UAVCAN: format uORB docu, disable not needed features, clean-up

UAVCAN: add static_assert, clean up a bit
UAVCAN: Fix counters and use correct indexing
2026-08-18 15:50:35 +08:00 · 2026-01-27 11:26:37 +01:00 · 2026-01-27 11:26:37 +01:00 · 2026-01-27 11:26:37 +01:00 · 2026-01-27 11:26:37 +01:00 · 2026-01-27 11:26:37 +01:00
88 changed files with 7089 additions and 2452 deletions
@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)
@@ -101,6 +101,7 @@ pipeline {
            echo $0;
            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
            cd _emscripten_sdk;
+            git checkout 4.0.15;
            ./emsdk install latest;
            ./emsdk activate latest;
            cd ..;
@@ -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
@@ -123,3 +123,9 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
+
+if(CONFIG_DRIVERS_VTXTABLE)
+	px4_add_romfs_files(
+		rc.vtxtable
+	)
+endif()
@@ -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 +153,116 @@ 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
+if param compare 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
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# VTX table loading script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+vtxtable load
@@ -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 +459,38 @@ 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
+
+	#
+	# Optional UAVCAN/DroneCAN or Cyphal
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		uavcan start
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi

 	#
 	# Configure vehicle type specific parameters.
@@ -551,12 +498,10 @@ 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
@@ -575,6 +520,11 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

@@ -601,67 +551,54 @@ 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 +620,25 @@ 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
+
+	#
+	# Start the VTX services.
+	#
+	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+	if [ -f ${RC_VTXTABLE} ]
+	then
+		. ${RC_VTXTABLE}
+	fi
+	unset RC_VTXTABLE

 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -706,40 +656,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# 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.
-		if ! uavcan start
-		then
-			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.
 #
@@ -1138,6 +1138,8 @@ if num_mags >= 1:

    if not math.isnan(sensor_mag_0['temperature'][0]):

+        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
+
        # find the min, max and reference temperature
        mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
        mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -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())
@@ -1,947 +0,0 @@
-#!/usr/bin/env python3
-############################################################################
-#
-#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-#       The firmware that will be uploaded.
-# image_size
-#       The size of the firmware in bytes.
-# board_id
-#       The board for which the firmware is intended.
-# board_revision
-#       Currently only used for informational purposes.
-#
-
-import sys
-import argparse
-import binascii
-import socket
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-import os
-
-from sys import platform as _platform
-
-try:
-    import serial
-except ImportError as e:
-    print(f"Failed to import serial: {e}")
-    print("")
-    print("You may need to install it using:")
-    print("    python -m pip install pyserial")
-    print("")
-    sys.exit(1)
-
-
-# Detect python version
-if sys.version_info[0] < 3:
-    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-    sys.exit(1)
-
-
-# Use monotonic time where available
-def _time():
-    try:
-        return time.monotonic()
-    except Exception:
-        return time.time()
-
-class FirmwareNotSuitableException(Exception):
-    def __init__(self, message):
-        super(FirmwareNotSuitableException, self).__init__(message)
-
-
-class firmware(object):
-    '''Loads a firmware file'''
-
-    desc = {}
-    image = bytes()
-
-    def __init__(self, path):
-
-        # read the file
-        f = open(path, "r")
-        self.desc = json.load(f)
-        f.close()
-
-        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-        # pad image to 4-byte length
-        while ((len(self.image) % 4) != 0):
-            self.image.extend(b'\xff')
-
-    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)
-
-        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
-
-
-class uploader:
-    '''Uploads a firmware file to the PX4 bootloader'''
-
-    # protocol bytes
-    INSYNC          = b'\x12'
-    EOC             = b'\x20'
-
-    # reply bytes
-    OK              = b'\x10'
-    FAILED          = b'\x11'
-    INVALID         = b'\x13'     # rev3+
-    BAD_SILICON_REV = b'\x14'     # rev5+
-
-    # command bytes
-    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
-    GET_SYNC        = b'\x21'
-    GET_DEVICE      = b'\x22'
-    CHIP_ERASE      = b'\x23'
-    CHIP_VERIFY     = b'\x24'     # rev2 only
-    PROG_MULTI      = b'\x27'
-    READ_MULTI      = b'\x28'     # rev2 only
-    GET_CRC         = b'\x29'     # rev3+
-    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
-    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
-    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
-    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
-    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
-    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
-    MAX_DES_LENGTH  = 20
-
-    REBOOT          = b'\x30'
-
-    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
-    BL_REV_MIN      = 2              # minimum supported bootloader protocol
-    BL_REV_MAX      = 5              # maximum supported bootloader protocol
-    INFO_BOARD_ID   = b'\x02'        # board type
-    INFO_BOARD_REV  = b'\x03'        # board revision
-    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-
-    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
-    READ_MULTI_MAX  = 252            # protocol max is 255
-
-    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
-    NSH_REBOOT_BL   = b"reboot -b\n"
-    NSH_REBOOT      = b"reboot\n"
-    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
-    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
-
-    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
-
-    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
-        # Open the port, keep the default timeout short so we can poll quickly.
-        # On some systems writes can suddenly get stuck without having a
-        # write_timeout > 0 set.
-        # chartime 8n1 * bit rate is us
-        self.chartime = 10 * (1.0 / baudrate_bootloader)
-
-        # we use a window approche to SYNC,<result> gathring
-        self.window = 0
-        self.window_max = 256
-        self.window_per = 2  # Sync,<result>
-        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
-        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
-        self.otp = b''
-        self.sn = b''
-        self.baudrate_bootloader = baudrate_bootloader
-        self.baudrate_flightstack = baudrate_flightstack
-        self.baudrate_flightstack_idx = -1
-        self.force_erase = False
-
-    def close(self):
-        if self.port is not None:
-            self.port.close()
-
-    def open(self):
-        # upload timeout
-        timeout = _time() + 0.2
-
-        # attempt to open the port while it exists and until timeout occurs
-        while self.port is not None:
-            portopen = True
-            try:
-                portopen = self.port.is_open
-            except AttributeError:
-                portopen = self.port.isOpen()
-
-            if not portopen and _time() < timeout:
-                try:
-                    self.port.open()
-                except OSError:
-                    # wait for the port to be ready
-                    time.sleep(0.04)
-                except serial.SerialException:
-                    # if open fails, try again later
-                    time.sleep(0.04)
-            else:
-                break
-
-    # debugging code
-    def __probe(self, state):
-        # self.port.setRTS(state)
-        return
-
-    def __send(self, c):
-        # print("send " + binascii.hexlify(c))
-        self.port.write(c)
-
-    def __recv(self, count=1):
-        c = self.port.read(count)
-        if len(c) < 1:
-            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
-        # print("recv " + binascii.hexlify(c))
-        return c
-
-    def __recv_int(self):
-        raw = self.__recv(4)
-        val = struct.unpack("<I", raw)
-        return val[0]
-
-    def __getSync(self, doFlush=True):
-        if (doFlush):
-            self.port.flush()
-        c = bytes(self.__recv())
-        if c != self.INSYNC:
-            raise RuntimeError("unexpected %s instead of INSYNC" % c)
-        c = self.__recv()
-        if c == self.INVALID:
-            raise RuntimeError("bootloader reports INVALID OPERATION")
-        if c == self.FAILED:
-            raise RuntimeError("bootloader reports OPERATION FAILED")
-        if c != self.OK:
-            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
-    # This will validate all the SYNC,<results> for a window of programing
-    # in about 13.81 Ms for 256 blocks written
-    def __ackSyncWindow(self, count):
-        if (count > 0):
-            data =  bytearray(bytes(self.__recv(count)))
-            if (len(data) != count):
-                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
-            for i in range(0, len(data), 2):
-                if bytes([data[i]]) != self.INSYNC:
-                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
-                if bytes([data[i+1]]) == self.INVALID:
-                    raise RuntimeError("bootloader reports INVALID OPERATION")
-                if bytes([data[i+1]]) == self.FAILED:
-                    raise RuntimeError("bootloader reports OPERATION FAILED")
-                if bytes([data[i+1]]) != self.OK:
-                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
-
-    # attempt to get back into sync with the bootloader
-    def __sync(self):
-        # send a stream of ignored bytes longer than the longest possible conversation
-        # that we might still have in progress
-        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-        self.port.flushInput()
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        self.__getSync()
-
-    def __trySync(self):
-        try:
-            self.port.flush()
-            if (self.__recv() != self.INSYNC):
-                # print("unexpected 0x%x instead of INSYNC" % ord(c))
-                return False
-            c = self.__recv()
-            if (c == self.BAD_SILICON_REV):
-                raise NotImplementedError()
-            if (c != self.OK):
-                # print("unexpected 0x%x instead of OK" % ord(c))
-                return False
-            return True
-
-        except NotImplementedError:
-            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
-        except RuntimeError:
-            # timeout, no response yet
-            return False
-
-    # attempt to determins if the device is CDCACM or A FTDI
-    def __determineInterface(self):
-        self.port.flushInput()
-        # Set a baudrate that can not work on a real serial port
-        # in that it is 233% off.
-        try:
-            self.port.baudrate = self.baudrate_bootloader * 2.33
-        except NotImplementedError as e:
-            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(f"{e} -> could not check for FTDI device, assuming USB connection")
-            return
-
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        try:
-            self.__getSync(False)
-        except RuntimeError:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if sys.platform.startswith('win'):
-                self.ackWindowedMode = True
-        finally:
-            try:
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-    # send the GET_DEVICE command and wait for an info parameter
-    def __getInfo(self, param):
-        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_OTP command and wait for an info parameter
-    def __getOTP(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_OTP + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_SN command and wait for an info parameter
-    def __getSN(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_SN + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIP(self):
-        self.__send(uploader.GET_CHIP + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIPDes(self):
-        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
-        length = self.__recv_int()
-        value = self.__recv(length)
-        self.__getSync()
-        pieces = value.split(b",")
-        return pieces
-
-    def __getVersion(self):
-        self.__send(uploader.GET_VERSION + uploader.EOC)
-        try:
-            length = self.__recv_int()
-            value = self.__recv(length)
-            self.__getSync()
-        except RuntimeError:
-            # Bootloader doesn't support version call
-            return "unknown"
-        return value.decode()
-
-    def __drawProgressBar(self, label, progress, maxVal):
-        if maxVal < progress:
-            progress = maxVal
-
-        percent = (float(progress) / float(maxVal)) * 100.0
-
-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
-        sys.stdout.flush()
-
-    # send the CHIP_ERASE command and wait for the bootloader to become ready
-    def __erase(self, label):
-        print(f"Windowed mode: {self.ackWindowedMode}")
-        print("\n", end='')
-
-        if self.force_erase:
-            print("Trying force erase of full chip...\n")
-            self.__send(uploader.CHIP_FULL_ERASE +
-                        uploader.EOC)
-        else:
-            self.__send(uploader.CHIP_ERASE +
-                        uploader.EOC)
-
-        # erase is very slow, give it 30s
-        deadline = _time() + 30.0
-        while _time() < deadline:
-
-            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-_time()
-            if estimatedTimeRemaining >= usualEraseDuration:
-                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
-            else:
-                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
-                sys.stdout.flush()
-
-            if self.__trySync():
-                self.__drawProgressBar(label, 10.0, 10.0)
-                if self.force_erase:
-                    print("\nForce erase done.\n")
-                return
-
-        if self.force_erase:
-            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
-        else:
-            raise RuntimeError("timed out waiting for erase")
-
-    # send a PROG_MULTI command to write a collection of bytes
-    def __program_multi(self, data, windowMode):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.PROG_MULTI)
-        self.__send(length)
-        self.__send(data)
-        self.__send(uploader.EOC)
-        if (not windowMode):
-            self.__getSync(False)
-        else:
-            # The following is done to have minimum delay on the transmission
-            # of the ne fw. The per block cost of __getSync was about 16 mS per.
-            # Passively wait on Sync and Result using board rates and
-            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
-            self.__probe(False)
-            self.__probe(True)
-            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
-            self.__probe(False)
-
-    # verify multiple bytes in flash
-    def __verify_multi(self, data):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.READ_MULTI)
-        self.__send(length)
-        self.__send(uploader.EOC)
-        self.port.flush()
-        programmed = self.__recv(len(data))
-        if programmed != data:
-            print("got    " + binascii.hexlify(programmed))
-            print("expect " + binascii.hexlify(data))
-            return False
-        self.__getSync()
-        return True
-
-    # send the reboot command
-    def __reboot(self):
-        self.__send(uploader.REBOOT +
-                    uploader.EOC)
-        self.port.flush()
-
-        # v3+ can report failure if the first word flash fails
-        if self.bl_rev >= 3:
-            self.__getSync()
-
-    # split a sequence into a list of size-constrained pieces
-    def __split_len(self, seq, length):
-        return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-    # upload code
-    def __program(self, label, fw):
-        self.__probe(False)
-        print("\n", end='')
-        code = fw.image
-        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-        # Give imedate feedback
-        self.__drawProgressBar(label, 0, len(groups))
-        uploadProgress = 0
-        for bytes in groups:
-            self.__program_multi(bytes, self.ackWindowedMode)
-            # If in Window mode, extend the window size for the __ackSyncWindow
-            if self.ackWindowedMode:
-                self.window += self.window_per
-
-            # Print upload progress (throttled, so it does not delay upload progress)
-            uploadProgress += 1
-            if uploadProgress % 256 == 0:
-                self.__probe(True)
-                self.__probe(False)
-                self.__probe(True)
-                self.__ackSyncWindow(self.window)
-                self.__probe(False)
-                self.window = 0
-                self.__drawProgressBar(label, uploadProgress, len(groups))
-
-        # Do any remaining fragment
-        self.__ackSyncWindow(self.window)
-        self.window = 0
-        self.__drawProgressBar(label, 100, 100)
-
-    # verify code
-    def __verify_v2(self, label, fw):
-        print("\n", end='')
-        self.__send(uploader.CHIP_VERIFY +
-                    uploader.EOC)
-        self.__getSync()
-        code = fw.image
-        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-        verifyProgress = 0
-        for bytes in groups:
-            verifyProgress += 1
-            if verifyProgress % 256 == 0:
-                self.__drawProgressBar(label, verifyProgress, len(groups))
-            if (not self.__verify_multi(bytes)):
-                raise RuntimeError("Verification failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __verify_v3(self, label, fw):
-        print("\n", end='')
-        self.__drawProgressBar(label, 1, 100)
-        expect_crc = fw.crc(self.fw_maxsize)
-        self.__send(uploader.GET_CRC + uploader.EOC)
-        time.sleep(0.5)
-        report_crc = self.__recv_int()
-        self.__getSync()
-        if report_crc != expect_crc:
-            print("Expected 0x%x" % expect_crc)
-            print("Got      0x%x" % report_crc)
-            raise RuntimeError("Program CRC failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __set_boot_delay(self, boot_delay):
-        self.__send(uploader.SET_BOOT_DELAY +
-                    struct.pack("b", boot_delay) +
-                    uploader.EOC)
-        self.__getSync()
-
-    # get basic data about the board
-    def identify(self):
-        self.__determineInterface()
-        # make sure we are in sync before starting
-        self.__sync()
-
-        # get the bootloader protocol ID first
-        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
-            raise RuntimeError("Bootloader protocol mismatch")
-
-        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-        self.version = self.__getVersion()
-
-    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
-        self.force_erase = force_erase
-        # select correct binary
-        found_suitable_firmware = False
-        for file in fw_list:
-            fw = firmware(file)
-            if self.board_type == fw.property('board_id'):
-                if len(fw_list) > 1: print("using firmware binary {}".format(file))
-                found_suitable_firmware = True
-                break
-
-        if not found_suitable_firmware:
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                if len(fw_list) > 1:
-                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        percent = fw.property('image_size') / fw.property('image_maxsize')
-        binary_size = float(fw.property('image_size'))
-        binary_max_size = float(fw.property('image_maxsize'))
-        percent = (binary_size / binary_max_size) * 100
-
-        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-        print()
-
-        print(f"Bootloader version: {self.version}")
-
-        # Make sure we are doing the right thing
-        start = _time()
-        if self.board_type != fw.property('board_id'):
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        # Prevent uploads where the image would overflow the flash
-        if self.fw_maxsize < fw.property('image_size'):
-            raise RuntimeError("Firmware image is too large for this board")
-
-        # OTP added in v4:
-        if self.bl_rev >= 4:
-            for byte in range(0, 32*6, 4):
-                x = self.__getOTP(byte)
-                self.otp = self.otp + x
-                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
-            # see src/modules/systemlib/otp.h in px4 code:
-            self.otp_id = self.otp[0:4]
-            self.otp_idtype = self.otp[4:5]
-            self.otp_vid = self.otp[8:4:-1]
-            self.otp_pid = self.otp[12:8:-1]
-            self.otp_coa = self.otp[32:160]
-            # show user:
-            try:
-                print("Sn: ", end='')
-                for byte in range(0, 12, 4):
-                    x = self.__getSN(byte)
-                    x = x[::-1]  # reverse the bytes
-                    self.sn = self.sn + x
-                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
-                print('')
-                print("Chip: %08x" % self.__getCHIP())
-
-                otp_id = self.otp_id.decode('Latin-1')
-                if ("PX4" in otp_id):
-                    print("OTP id: " + otp_id)
-                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-
-            except Exception as e:
-                # ignore bad character encodings
-                print(f"Exception ignored: {e}")
-                pass
-
-        # Silicon errata check was added in v5
-        if (self.bl_rev >= 5):
-            des = self.__getCHIPDes()
-            if (len(des) == 2):
-                family, revision = des
-                print(f"Family: {family.decode()}")
-                print(f"Revision: {revision.decode()}")
-                print(f"Flash: {self.fw_maxsize} bytes")
-
-                # Prevent uploads where the maximum image size of the board config is smaller than the flash
-                # of the board. This is a hint the user chose the wrong config and will lack features
-                # for this particular board.
-
-                # This check should also check if the revision is an unaffected revision
-                # and thus can support the full flash, see
-                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
-
-                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
-        else:
-            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
-            # have the silicon errata and therefore need to flash px4_fmu-v2
-            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
-            if fw.property('board_id') == 9 \
-                    and fw.property('image_size') > 1032192 \
-                    and not force:
-                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
-                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
-                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
-                                   "\n"
-                                   "If you know you that the board does not have the silicon errata, use\n"
-                                   "this script with --force, or update the bootloader. If you are invoking\n"
-                                   "upload using make, you can use force-upload target to force the upload.\n")
-        self.__erase("Erase  ")
-        self.__program("Program", fw)
-
-        if self.bl_rev == 2:
-            self.__verify_v2("Verify ", fw)
-        else:
-            self.__verify_v3("Verify ", fw)
-
-        if boot_delay is not None:
-            self.__set_boot_delay(boot_delay)
-
-        print("\nRebooting.", end='')
-        self.__reboot()
-        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (_time() - start))
-
-    def __next_baud_flightstack(self):
-        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
-            return False
-        try:
-            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
-            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
-        except serial.SerialException:
-            # Sometimes _configure_port fails
-            time.sleep(0.04)
-
-        return True
-
-    def send_protocol_splitter_format(self, data):
-        # Header Structure:
-        #      bits:   1 2 3 4 5 6 7 8
-        # header[0] - |     Magic     | (='S')
-        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
-        # header[2] - |     LenL      |
-        # header[3] - |   Checksum    |
-
-        MAGIC = 83
-
-        len_bytes = len(data).to_bytes(2, "big")
-        LEN_H = len_bytes[0] & 127
-        LEN_L = len_bytes[1] & 255
-        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
-
-        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
-        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
-
-        self.__send(header_bytes)
-        self.__send(data)
-
-    def send_reboot(self, use_protocol_splitter_format=False):
-        if (not self.__next_baud_flightstack()):
-            return False
-
-        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
-        if "ttyS" in self.port.port:
-            print("If the board does not respond, check the connection to the Flight Controller")
-        else:
-            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
-
-        try:
-            send_fct = self.__send
-            if use_protocol_splitter_format:
-                send_fct = self.send_protocol_splitter_format
-
-            # try MAVLINK command first
-            self.port.flush()
-            send_fct(uploader.MAVLINK_REBOOT_ID1)
-            send_fct(uploader.MAVLINK_REBOOT_ID0)
-            # then try reboot via NSH
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT_BL)
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT)
-            self.port.flush()
-            self.port.baudrate = self.baudrate_bootloader
-        except Exception:
-            try:
-                self.port.flush()
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-        return True
-
-
-def main():
-    # Parse commandline arguments
-    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
-    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
-    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
-    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
-    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
-    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
-    args = parser.parse_args()
-
-    if args.use_protocol_splitter_format:
-        print("Using protocol splitter format to reboot pixhawk!")
-
-    # warn people about ModemManager which interferes badly with Pixhawk
-    if os.path.exists("/usr/sbin/ModemManager"):
-        print("==========================================================================================================")
-        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
-        print("==========================================================================================================")
-
-    print("Waiting for bootloader...")
-    # tell any GCS that might be connected to the autopilot to give up
-    # control of the serial port
-
-    # send to localhost and default GCS port
-    ipaddr = '127.0.0.1'
-    portnum = 14550
-
-    # COMMAND_LONG in MAVLink 1
-    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
-    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
-
-    # initialize an UDP socket
-    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
-    # send heartbeat to initialize connection and command to free the link
-    s.sendto(heartbeatpacket, (ipaddr, portnum))
-    s.sendto(commandpacket, (ipaddr, portnum))
-
-    # close the socket
-    s.close()
-
-    # Spin waiting for a device to show up
-    try:
-        while True:
-            portlist = []
-            patterns = args.port.split(",")
-            # on unix-like platforms use glob to support wildcard ports. This allows
-            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
-            # causing modem hangups etc
-            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
-                import glob
-                for pattern in patterns:
-                    portlist += glob.glob(pattern)
-            else:
-                portlist = patterns
-
-            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
-
-            successful = False
-            unsuitable_board = False
-            for port in portlist:
-
-                # print("Trying %s" % port)
-
-                # create an uploader attached to the port
-                try:
-                    if "linux" in _platform:
-                        # Linux, don't open Mac OS and Win ports
-                        if "COM" not in port and "tty.usb" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "darwin" in _platform:
-                        # OS X, don't open Windows and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "cygwin" in _platform:
-                        # Cygwin, don't open native Windows COM and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "win" in _platform:
-                        # Windows, don't open POSIX ports
-                        if "/" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception as e:
-                    # open failed, rate-limit our attempts
-                    time.sleep(0.05)
-                    print(f"Exception ignored: {e}")
-
-                    # and loop to the next port
-                    continue
-
-                found_bootloader = False
-                while True:
-                    up.open()
-
-                    # port is open, try talking to it
-                    try:
-                        # identify the bootloader
-                        up.identify()
-                        found_bootloader = True
-                        print()
-                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
-                        break
-
-                    except (RuntimeError, serial.SerialException):
-
-                        if not up.send_reboot(args.use_protocol_splitter_format):
-                            break
-
-                        # wait for the reboot, without we might run into Serial I/O Error 5
-                        time.sleep(0.25)
-
-                        # always close the port
-                        up.close()
-
-                        # wait for the close, without we might run into Serial I/O Error 6
-                        time.sleep(0.3)
-
-                if not found_bootloader:
-                    # Go to the next port
-                    continue
-
-                try:
-                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
-
-                    # if we made this far without raising exceptions, the upload was successful
-                    successful = True
-
-                except RuntimeError as e:
-                    # print the error
-                    print(f"\n\nError: {e}")
-
-                except FirmwareNotSuitableException:
-                    unsuitable_board = True
-                    up.close()
-                    continue
-
-                except IOError:
-                    up.close()
-                    continue
-
-                finally:
-                    # always close the port
-                    up.close()
-
-                # we could loop here if we wanted to wait for more boards...
-                if successful:
-                    sys.exit(0)
-                else:
-                    sys.exit(1)
-
-            if unsuitable_board:
-                # If we land here, we went through all ports, did not flash any
-                # board and found at least one unsuitable board.
-                # Exit with 2, so a caller can distinguish from other errors
-                sys.exit(2)
-
-            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
-            time.sleep(0.05)
-
-    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
-    except KeyboardInterrupt:
-        print("\n Upload aborted by user.")
-        sys.exit(0)
-
-
-if __name__ == '__main__':
-    main()
-
-# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
@@ -176,8 +176,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 		echo
 		echo "Fetching Xtensa compilers"
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
+		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
+		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
+		rm $DIR/$XTENSA_FILE_NAME
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi

@@ -15,6 +15,8 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
+CONFIG_DRIVERS_VTX=y
+CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -92,3 +94,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_WQ_TTY_STACKSIZE=2500
@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MAXARGUMENTS=24
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -92,7 +92,7 @@ static bool phy_get_led(int led)
 {

 	if (g_ledmap[led] != 0) {
-		return imxrt_gpio_read(!g_ledmap[led]);
+		return !imxrt_gpio_read(g_ledmap[led]);
 	}

 	return false;
@@ -93,6 +93,7 @@
    - [Back-transition Tuning](config_vtol/vtol_back_transition_tuning.md)
    - [VTOL w/o Airspeed Sensor](config_vtol/vtol_without_airspeed_sensor.md)
    - [VTOL Weather Vane](config_vtol/vtol_weathervane.md)
+    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
  - [Flight Modes](flight_modes_vtol/index.md)
    - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
    - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -350,6 +351,7 @@
    - [FrSky Telemetry](peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
+    - [Analog Video Transmitters](vtx/index.md)

  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
@@ -9,3 +9,4 @@ Then perform VTOL-specific configuration and tuning:
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
+- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)
@@ -0,0 +1,20 @@
+# VTOL Ice Shedding feature
+
+## Overview
+
+Ice shedding is a feature that periodically spins unused motors in fixed-wing
+flight, to break off any ice that is starting to build up in the motors while it
+is still feasible to do so.
+
+It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+disabled, when it is above 0, it sets the duration of the ice shedding cycle in
+seconds. In each cycle, the rotors are spun for two seconds at a motor output of
+0.01.
+
+:::warning
+When enabling the feature on a new airframe, there is the risk of producing
+torques that disturb the fixed-wing rate controller. To mitigate this risk:
+ - Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+   produces 1% thrust
+ - Be prepared to take control and switch back to multicopter
+:::
@@ -0,0 +1,287 @@
+# Analog Video Transmitters
+
+Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
+
+The protocols allow writing and reading:
+
+- device status.
+- transmission frequency in MHz or via band and channel index.
+- transmission power in dBm or mW.
+- operation modes.
+
+VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
+The driver stores frequency and power tables that map band/channel indices to actual transmission values.
+Configuration is device-specific and set up using the command line interface.
+
+## Getting Started
+
+Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
+Then set the following parameters:
+
+- `VTX_SER_CFG`: Select the serial port used for VTX communication.
+- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
+
+Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
+
+You should now be able to see the VTX device in the driver status:
+
+```
+nsh> vtx status
+INFO  [vtx] UART device: /dev/ttyS4
+INFO  [vtx] VTX table "UNINITIALIZED":
+INFO  [vtx] Power levels:
+INFO  [vtx] RC mapping: Disabled
+INFO  [vtx] Parameters:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 0 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 = 0 mW
+INFO  [vtx]   pit mode: off
+INFO  [vtx] SmartAudio v2:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 6110 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 mW
+INFO  [vtx]   pit mode: on
+INFO  [vtx]   lock: unlocked
+```
+
+:::warning
+Without a configured power table, power mappings are unknown and default to 0 mW.
+Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
+:::
+
+## VTX Table Configuration
+
+The VTX table stores frequency and power mappings for your specific device.
+
+The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
+
+### Power Level Configuration
+
+```
+# Set table name ≤16 characters
+vtxtable name "Peak THOR T67"
+
+# Set the power values that are sent to the VTX for each power level index
+# Note: SmartAudio v1 and v2 use index values!
+vtxtable powervalues 0 1 2 3 4
+# Note: SmartAudio v2.1 uses dBm values instead!
+#       vtxtable powervalues 14 23 27 30 35
+# Note: Tramp uses mW values instead!
+#       vtxtable powervalues 25 200 500 1000 3000
+
+# Set the corresponding power labels for each power level index ≤4 characters.
+# These are used for status reporting.
+vtxtable powerlabels 25 200 500 1W 3W
+
+# Set number of power levels
+vtxtable powerlevels 5
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 5 power levels.
+
+```nsh> vtxtable status
+INFO  [vtxtable] VTX table "Peak THOR T67":
+INFO  [vtxtable] Power levels:
+INFO  [vtxtable]   1:  0 = 25
+INFO  [vtxtable]   2:  1 = 200
+INFO  [vtxtable]   3:  2 = 500
+INFO  [vtxtable]   4:  3 = 1W
+INFO  [vtxtable]   5:  4 = 3W
+```
+
+### Frequency Table Configuration
+
+```
+# Set the name of each band and the frequencies of each channel
+vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
+vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
+vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
+vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
+vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
+vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
+vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
+vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
+
+# Set number of bands and channels
+vtxtable bands 8
+vtxtable channels 8
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 8 bands and 8 channels.
+Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
+In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
+Setting a frequency to zero will skip setting it.
+
+```
+nsh> vtxtable status
+INFO  [vtxtable] VTX table 8x8: Peak THOR T67
+INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
+INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
+INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
+INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
+INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
+INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
+INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
+INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
+```
+
+### Table Constraints
+
+Maximum table dimensions:
+
+- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
+- ≤16 power levels.
+- ≤16 characters table name.
+- ≤12 characters band name and 1 character band letter.
+- ≤4 characters power label length (to support "2.5W").
+
+## AUX Channel Mapping
+
+The AUX mapping feature allows you to control VTX settings using RC AUX channels.
+Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
+
+To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
+
+- `0`: Disabled
+- `1`: Disabled (reserved for CRSF MSP integration)
+- `2`: Map AUX channels to power level control only
+- `3`: Map AUX channels to band and channel control only
+- `4`: Map AUX channels to all settings (power, band, and channel)
+
+### Configuring AUX Map Entries
+
+Use the following command format to add mapping entries:
+
+```
+vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
+```
+
+Parameters:
+
+- `index`: Map entry index (0-159)
+- `aux_channel`: AUX channel number (3-19, where AUX1=3)
+- `band`: Target band (1-24, or 0 to leave unchanged)
+- `channel`: Target channel (1-16, or 0 to leave unchanged)
+- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
+- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
+- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
+
+:::info
+AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
+:::
+
+Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
+
+```
+vtx  0 7 7 1 0  900 1025
+vtx  1 7 7 2 0 1025 1100
+vtx  2 7 7 4 0 1100 1175
+vtx  3 7 7 6 0 1175 1225
+vtx  4 7 7 8 0 1225 1300
+vtx  5 7 3 8 0 1300 2100
+```
+
+Example configuration for power control on AUX3 (channel 6):
+
+```
+vtxtable 16 6 0 0 -1  900 1250
+vtxtable 17 6 0 0  1 1250 1525
+vtxtable 18 6 0 0  2 1525 1650
+vtxtable 19 6 0 0  3 1650 1875
+vtxtable 20 6 0 0  4 1875 2010
+```
+
+Save the configuration with:
+
+```
+vtxtable save
+```
+
+The map status can be verified with `vtxtable status`.
+
+## CRSF MSP Integration
+
+When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
+This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
+
+To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
+
+- `1`: MSP controls both frequency (band/channel) and power
+- `2`: MSP controls frequency (band/channel) only, AUX controls power
+- `3`: MSP controls power only, AUX controls band/channel
+
+When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
+The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
+
+:::tip
+The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
+:::
+
+## Build Configuration
+
+Both the VTX driver and VTX table support are configured via Kconfig options.
+
+Key configuration options:
+
+- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
+- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
+- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
+
+## Parameter Reference
+
+### VTX Settings Parameters
+
+- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
+- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
+- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
+- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
+- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
+
+### Configuration Parameters
+
+- `VTX_SER_CFG`: Serial port assignment for VTX communication
+- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
+  - Without `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: Disabled
+    - `2`: AUX controls power only
+    - `3`: AUX controls band/channel only
+    - `4`: AUX controls both power and band/channel
+  - With `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: MSP controls both frequency and power
+    - `2`: MSP controls frequency, AUX controls power
+    - `3`: MSP controls power, AUX controls band/channel
+    - `4`: Not used with MSP support
+- `VTX_DEVICE`: Device-specific configuration (see below)
+
+## Device-Specific Configuration
+
+The `VTX_DEVICE` parameter allows device-specific workarounds.
+It encodes both the protocol type and device variant:
+
+- Low byte (bits 0-7): Protocol selection
+  - `0`: SmartAudio (default)
+  - `1`: Tramp
+- High byte (bits 8-15): Device-specific variant
+  - `0`: Generic device
+  - `20`: Peak THOR T67
+  - `40`: Rush Max Solo
+
+### Known Device Workarounds
+
+**Peak THOR T67** (`VTX_DEVICE` = 5120):
+This device incorrectly reports pit mode status but otherwise functions normally.
+The driver applies a workaround to override the reported status with the actual configured state.
+
+For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).
@@ -212,6 +212,8 @@ set(msg_files
 	SensorTemp.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	ServoReport.msg
+	ServoStatus.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg
@@ -240,6 +242,7 @@ set(msg_files
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VelocityLimits.msg
+	Vtx.msg
 	WheelEncoders.msg
 	YawEstimatorStatus.msg
 	versioned/ActuatorMotors.msg
@@ -66,17 +66,3 @@ bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis h
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
-
-
-# innovation test failures
-uint32 innovation_fault_status_changes    # number of innovation fault status (reject) changes
-bool reject_hor_vel                       #  0 - true if horizontal velocity observations have been rejected
-bool reject_ver_vel                       #  1 - true if vertical velocity observations have been rejected
-bool reject_hor_pos                       #  2 - true if horizontal position observations have been rejected
-bool reject_ver_pos                       #  3 - true if vertical position observations have been rejected
-bool reject_yaw                           #  7 - true if the yaw observation has been rejected
-bool reject_airspeed                      #  8 - true if the airspeed observation has been rejected
-bool reject_sideslip                      #  9 - true if the synthetic sideslip observation has been rejected
-bool reject_hagl                          # 10 - true if the height above ground observation has been rejected
-bool reject_optflow_x                     # 11 - true if the X optical flow observation has been rejected
-bool reject_optflow_y                     # 12 - true if the Y optical flow observation has been rejected
@@ -0,0 +1,33 @@
+# Servo report
+#
+# Contains information about a specific servo (position, force, speed, load).
+# Also contains auxiliary power data (voltage, current) and temperature.
+
+uint64 timestamp  # [us] Time since system start
+
+uint8 actuator_id  # [-] DroneCAN actuator id of servo. Set to 0 for non DroneCAN servos
+uint8 node_id      # [-] DroneCAN node id of servo. Set to 0 for non DroneCAN servos
+
+float32 position          # meter or radian
+float32 force             # Newton or Newton metre
+float32 speed             # meter per second or radian per second
+float32 power_rating_pct  # [%] [@range 0, 100] Servo load
+
+uint8 function  # [-] Servo output function
+
+uint16 temperature_counter  # [-] Incremented when temperature data got updated
+float32 temperature         # [degC] Servo temperature.
+
+uint8 temperature_error_flags  # [@enum ERROR_FLAG] Temperature error flags
+uint8 ERROR_FLAG_OVERHEATING = 1
+uint8 ERROR_FLAG_OVERCOOLING = 2
+
+uint16 power_counter  # [-] Incremented when power data got updated
+float32 voltage       # [V] Servo voltage
+float32 current       # [A] Servo current draw
+
+uint8 power_error_flags  # [@enum ERROR_FLAG] Power error flags
+uint8 ERROR_FLAG_OVERVOLTAGE  = 1
+uint8 ERROR_FLAG_UNDERVOLTAGE = 2
+uint8 ERROR_FLAG_OVERCURRENT  = 4
+uint8 ERROR_FLAG_UNDERCURRENT = 8
@@ -0,0 +1,21 @@
+# Servo status
+#
+# Overview message that contains general information about all servos.
+# In addition it contains the reports of all individual servos.
+
+uint64 timestamp  # [us] Time since system start
+
+uint8 count  # [-] Number of connected servos
+uint8 CONNECTED_SERVO_MAX = 8
+
+uint8 online_flags  # [-] Bitmask indicating which servo is online/offline
+# online_flags bit 0 : Set to 1 if SERVO0 is online
+# online_flags bit 1 : Set to 1 if SERVO1 is online
+# online_flags bit 2 : Set to 1 if SERVO2 is online
+# online_flags bit 3 : Set to 1 if SERVO3 is online
+# online_flags bit 4 : Set to 1 if SERVO4 is online
+# online_flags bit 5 : Set to 1 if SERVO5 is online
+# online_flags bit 6 : Set to 1 if SERVO6 is online
+# online_flags bit 7 : Set to 1 if SERVO7 is online
+
+ServoReport[8] servo
@@ -0,0 +1,32 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 BAND_NAME_LENGTH = 12
+uint8 POWER_LABEL_LENGTH = 4
+
+uint8 PROTOCOL_NONE = 0              # No protocol is detected, usually an error
+uint8 PROTOCOL_SMART_AUDIO_V1 = 10
+uint8 PROTOCOL_SMART_AUDIO_V2 = 20
+uint8 PROTOCOL_SMART_AUDIO_V2_1 = 21
+uint8 PROTOCOL_TRAMP = 100
+uint8 protocol
+
+uint8 DEVICE_UNKNOWN = 0
+uint8 DEVICE_PEAK_THOR_T67 = 20
+uint8 DEVICE_RUSH_MAX_SOLO = 40
+uint8 device
+
+uint8 MODE_NORMAL = 0
+uint8 MODE_PIT = 1
+uint8 mode
+
+# Band and Channel are 0-indexed! But the user expects a 1-indexed display!
+int8 band        # Band number (0-23), negative values indicate frequency mode
+int8 channel     # Channel number (0-15), negative values indicate frequency mode
+uint16 frequency # Frequency in MHz, zero indicates unknown
+
+uint8 band_letter   # Band letter as ASCII
+uint8[12] band_name # Band name in ASCII without null termination
+
+# Also 0-indexed, but the user expects a 1-indexed display!
+int8 power_level     # Current power level (0-15), negative values indicate unknown
+uint8[4] power_label # Current power label in ASCII without null termination
@@ -31,69 +31,32 @@
 #
 ############################################################################

-# NuttX CDCACM vendor and product strings
-set(vendorstr_underscore)
-set(productstr_underscore)
-string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
-string(REPLACE "," "_" vendorstr_underscore "${vendorstr_underscore}")
-string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
-
-set(serial_ports)
-if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
-
-	set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
-	set(px4_bl_usb_path "${vendorstr_underscore}_BL")
-
-	list(APPEND serial_ports
-		# NuttX vendor + product string
-		/dev/serial/by-id/*-${px4_usb_path}*
-
-		# Bootloader
-		/dev/serial/by-id/*_${px4_bl_usb_path}*
-		/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
-		/dev/serial/by-id/*BL_FMU*
-
-		# TODO: handle these per board
-		/dev/serial/by-id/usb-The_Autopilot*
-		/dev/serial/by-id/usb-Bitcraze*
-		/dev/serial/by-id/pci-Bitcraze*
-		/dev/serial/by-id/usb-Gumstix*
-		/dev/serial/by-id/usb-Hex_ProfiCNC*
-		/dev/serial/by-id/usb-UVify*
-		/dev/serial/by-id/usb-ArduPilot*
-		)
-
-elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
-	list(APPEND serial_ports
-		/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
-		)
-elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
-	list(APPEND serial_ports
-		/dev/ttyS*
-		)
-elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
-	foreach(port RANGE 32 0)
-		list(APPEND serial_ports
-			"COM${port}")
-	endforeach()
-endif()
-
-string(REPLACE ";" "," serial_ports "${serial_ports}")
+# Uploader script auto-detects PX4 devices by USB VID/PID
+set(PX4_UPLOADER_SCRIPT "${PX4_SOURCE_DIR}/Tools/px4_uploader.py")

 add_custom_target(upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4"
 	VERBATIM
 	USES_TERMINAL
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	)
+)

 add_custom_target(force-upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --force ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4 with --force"
 	VERBATIM
 	USES_TERMINAL
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	)
+)
+
+add_custom_target(upload-verbose
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_UPLOADER_SCRIPT} --verbose ${fw_package}
+	DEPENDS ${fw_package}
+	COMMENT "uploading px4 with verbose output"
+	VERBATIM
+	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+)
@@ -46,6 +46,9 @@
 #include "QueueBuffer.hpp"
 #include "CrsfParser.hpp"
 #include "Crc8.hpp"
+#ifdef CONFIG_VTX_CRSF_MSP_SUPPORT
+#include <px4_platform_common/param.h>
+#endif

 #define CRSF_CHANNEL_VALUE_MIN  172
 #define CRSF_CHANNEL_VALUE_MAX  1811
@@ -60,6 +63,7 @@ enum CRSF_PAYLOAD_SIZE {
 	CRSF_PAYLOAD_SIZE_LINK_STATISTICS_TX = -1,
 	CRSF_PAYLOAD_SIZE_RC_CHANNELS = 22,
 	CRSF_PAYLOAD_SIZE_ATTITUDE = 6,
+	CRSF_PAYLOAD_SIZE_MSP_WRITE = -1, // -1 means variable length
 	CRSF_PAYLOAD_SIZE_ELRS_STATUS = -1, // unclear how large this message is
 };

@@ -127,12 +131,18 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac
 static bool ProcessLinkStatistics(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
 static bool ProcessLinkStatisticsTx(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
 static bool ProcessElrsStatus(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
+#ifdef CONFIG_VTX_CRSF_MSP_SUPPORT
+static bool ProcessMspWrite(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet);
+#endif

 static const CrsfPacketDescriptor_t crsf_packet_descriptors[] = {
 	{CRSF_PACKET_TYPE_RC_CHANNELS_PACKED, CRSF_PAYLOAD_SIZE_RC_CHANNELS, ProcessChannelData},
 	{CRSF_PACKET_TYPE_LINK_STATISTICS, CRSF_PAYLOAD_SIZE_LINK_STATISTICS, ProcessLinkStatistics},
 	{CRSF_PACKET_TYPE_LINK_STATISTICS_TX, CRSF_PAYLOAD_SIZE_LINK_STATISTICS_TX, ProcessLinkStatisticsTx},
 	{CRSF_PACKET_TYPE_ELRS_STATUS, CRSF_PAYLOAD_SIZE_ELRS_STATUS, ProcessElrsStatus},
+#ifdef CONFIG_VTX_CRSF_MSP_SUPPORT
+	{CRSF_PACKET_TYPE_MSP_WRITE, CRSF_PAYLOAD_SIZE_MSP_WRITE, ProcessMspWrite},
+#endif
 };
 #define CRSF_PACKET_DESCRIPTOR_COUNT  (sizeof(crsf_packet_descriptors) / sizeof(CrsfPacketDescriptor_t))

@@ -259,6 +269,61 @@ static bool ProcessElrsStatus(const uint8_t *data, const uint32_t size, CrsfPack
 	return true;
 }

+#ifdef CONFIG_VTX_CRSF_MSP_SUPPORT
+static bool ProcessMspWrite(const uint8_t *data, const uint32_t size, CrsfPacket_t *const)
+{
+	// Write the band/channel into the parameters, so it is thread-safe
+	// data contains the following:
+	// 0: CRSF v3: destination
+	// 1: CRSF v3: origin
+	// 2: CRSF v3: status
+	// 3: MSP: size
+	// 4: MSP: command
+	// 5: MSP: data[≤57]
+	// Try: crsf_rc inject 0x7C 0xC8 0xEA 0x30 0x4 0x59 0x22 0x0 0x1 0x0
+
+	int32_t map_config{};
+	param_get(int(px4::params::VTX_MAP_CONFIG), &map_config);
+
+	if (map_config == 0) {
+		// no mapping, just return
+		return false;
+	}
+
+	if (data[2] == 0x30 && data[4] == 0x59) {
+		const uint8_t length = data[3];
+
+		if (map_config == 1 || map_config == 2) {
+			// Status = bit4=new frame, bit5,6=MSPv1
+			// MSP command 0x59 is MSP_SET_VTX_CONFIG
+			uint32_t frequency = (data[6] << 8) | data[5];
+
+			if (frequency <= 0x3f) {
+				// first byte contains band and channel: 0b00bb'bccc
+				const int32_t band = (data[5] >> 3) & 0x07;
+				const int32_t channel = data[5] & 0x07;
+
+				param_set_no_notification(int(px4::params::VTX_BAND), &band);
+				param_set_no_notification(int(px4::params::VTX_CHANNEL), &channel);
+				frequency = 0; // Disable the frequency override
+			}
+
+			param_set_no_notification(int(px4::params::VTX_FREQUENCY), &frequency);
+		}
+
+		if (length > 2 && (map_config == 1 || map_config == 3)) {
+			const int32_t pit_mode = (data[8] || (data[7] == 0)) ? 1 : 0;
+			param_set_no_notification(int(px4::params::VTX_PIT_MODE), &pit_mode);
+			const int32_t power{pit_mode ? 0 : data[7] - 1};
+			param_set_no_notification(int(px4::params::VTX_POWER), &power);
+		}
+	}
+
+	// nothing else is implemented yet
+	return false;
+}
+#endif
+
 static CrsfPacketDescriptor_t *FindCrsfDescriptor(const enum CRSF_PACKET_TYPE packet_type)
 {
 	uint32_t i;
@@ -38,14 +38,13 @@
 */

 #include "hardpoint.hpp"
-#include <systemlib/err.h>

 UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
 	_node(node),
-	_uavcan_pub_raw_cmd(node),
+	_uavcan_pub_hardpoint(node),
 	_timer(node)
 {
-	_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
+	_uavcan_pub_hardpoint.setPriority(uavcan::TransferPriority::MiddleLower);
 }

 UavcanHardpointController::~UavcanHardpointController()
@@ -59,33 +58,33 @@ UavcanHardpointController::init()
 	/*
 	 * Setup timer and call back function for periodic updates
 	 */
-	_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
-	return 0;
-}
-
-void
-UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
-{
-	_cmd.command = command;
-	_cmd.hardpoint_id = hardpoint_id;
-
-	/*
-	 * Publish the command message to the bus
-	 */
-	_uavcan_pub_raw_cmd.broadcast(_cmd);
-
-	/*
-	 * Start the periodic update timer after a command is set
-	 */
 	if (!_timer.isRunning()) {
-		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
+		_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
+		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_UPDATE_RATE_HZ));
 	}

+	return 0;
 }

 void
 UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
 {
-	// Broadcast command at MAX_RATE_HZ
-	_uavcan_pub_raw_cmd.broadcast(_cmd);
+	if (_vehicle_command_sub.updated()) {
+		vehicle_command_s vehicle_command;
+
+		if (_vehicle_command_sub.copy(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_GRIPPER) {
+				_cmd.hardpoint_id = vehicle_command.param1;
+				_cmd.command = vehicle_command.param2;
+				_next_publish_time = 0;
+			}
+		}
+	}
+
+	const hrt_abstime timestamp_now = hrt_absolute_time();
+
+	if (timestamp_now > _next_publish_time) {
+		_next_publish_time = timestamp_now + 1000000 / PUBLISH_RATE_HZ;
+		_uavcan_pub_hardpoint.broadcast(_cmd);
+	}
 }
@@ -42,7 +42,8 @@
 #include <uavcan/uavcan.hpp>
 #include <uavcan/equipment/hardpoint/Command.hpp>
 #include <uavcan/equipment/hardpoint/Status.hpp>
-#include <perf/perf_counter.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/vehicle_command.h>

 /**
 * @brief The UavcanHardpointController class
@@ -59,17 +60,12 @@ public:
 	*/
 	int init();

-
-	/*
-	 * set command
-	 */
-	void set_command(uint8_t hardpoint_id, uint16_t command);
-
 private:
 	/*
 	 * Max update rate to avoid exessive bus traffic
 	 */
-	static constexpr unsigned			MAX_RATE_HZ = 1;	///< XXX make this configurable
+	static constexpr unsigned			MAX_UPDATE_RATE_HZ = 10;
+	static constexpr unsigned			PUBLISH_RATE_HZ = 1;

 	uavcan::equipment::hardpoint::Command		_cmd;

@@ -83,7 +79,10 @@ private:
 	 * libuavcan related things
 	 */
 	uavcan::INode							&_node;
-	uavcan::Publisher<uavcan::equipment::hardpoint::Command>	_uavcan_pub_raw_cmd;
+	uavcan::Publisher<uavcan::equipment::hardpoint::Command>	_uavcan_pub_hardpoint;
 	uavcan::TimerEventForwarder<TimerCbBinder>			_timer;

+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
+
+	hrt_abstime _next_publish_time = 0;
 };
@@ -34,14 +34,77 @@
 #include "servo.hpp"
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
+#include <lib/atmosphere/atmosphere.h>
+
+#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof(arr[0]))

 using namespace time_literals;

 UavcanServoController::UavcanServoController(uavcan::INode &node) :
 	_node(node),
-	_uavcan_pub_array_cmd(node)
+	_uavcan_pub_array_cmd(node),
+	_uavcan_sub_status(node),
+	_uavcan_sub_temperature(node),
+	_uavcan_sub_circuit_status(node)
 {
+	/* Ensure that future changes do not cause any out-of-bounds access */
+	static_assert(ARRAY_SIZE(_servo_status.servo) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_last_temperature) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_last_temperature_error_flag) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_last_voltage) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_last_current) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_last_power_error_flag) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_servo_temperature_counter) == servo_status_s::CONNECTED_SERVO_MAX);
+	static_assert(ARRAY_SIZE(_servo_power_counter) == servo_status_s::CONNECTED_SERVO_MAX);
+
 	_uavcan_pub_array_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
+
+	/* Init the arrays to zero */
+	memset(_last_temperature, 0, sizeof(_last_temperature));
+	memset(_last_temperature_error_flag, 0, sizeof(_last_temperature_error_flag));
+	memset(_last_voltage, 0, sizeof(_last_voltage));
+	memset(_last_current, 0, sizeof(_last_current));
+	memset(_last_power_error_flag, 0, sizeof(_last_power_error_flag));
+	memset(_servo_temperature_counter, 0, sizeof(_servo_temperature_counter));
+	memset(_servo_power_counter, 0, sizeof(_servo_power_counter));
+}
+
+int
+UavcanServoController::init()
+{
+	// Servo status subscription
+	int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanServoController::servo_status_sub_cb));
+
+	if (res < 0) {
+		PX4_ERR("Servo status sub failed %i", res);
+		return res;
+	}
+
+	// Servo temperature subscription
+	res = _uavcan_sub_temperature.start(TemperatureCbBinder(this, &UavcanServoController::servo_temperature_sub_cb));
+
+	if (res < 0) {
+		PX4_ERR("Servo Temperature sub failed %i", res);
+		return res;
+	}
+
+	// Servo circuit status subscription
+	res = _uavcan_sub_circuit_status.start(CircuitStatusCbBinder(this, &UavcanServoController::servo_circuit_status_sub_cb));
+
+	if (res < 0) {
+		PX4_ERR("Servo circuit status sub failed %i", res);
+		return res;
+	}
+
+	_servo_status_pub.advertise(); // advertise to ensure messages are logged
+
+	return res; // return if both subscriptions are successful
+}
+
+void
+UavcanServoController::set_servo_count(uint8_t count)
+{
+	_servo_count = count;
 }

 void
@@ -60,3 +123,93 @@ UavcanServoController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned

 	_uavcan_pub_array_cmd.broadcast(msg);
 }
+
+void
+UavcanServoController::servo_temperature_sub_cb(const
+		uavcan::ReceivedDataStructure<uavcan::equipment::device::Temperature>
+		&msg)
+{
+	for (int i = 0; i < servo_status_s::CONNECTED_SERVO_MAX; i++) {
+		auto &ref = _servo_status.servo[i];
+
+		const bool is_servo_online = _servo_status.online_flags & (1 << i);
+		const bool is_servo_matching = ref.node_id == msg.getSrcNodeID().get();
+
+		if (is_servo_online && is_servo_matching) {
+			_servo_temperature_counter[i] += 1;
+			_last_temperature[i] = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius;
+			_last_temperature_error_flag[i] = msg.error_flags;
+			break;
+		}
+	}
+}
+
+void
+UavcanServoController::servo_circuit_status_sub_cb(const
+		uavcan::ReceivedDataStructure<uavcan::equipment::power::CircuitStatus>
+		&msg)
+{
+	for (int i = 0; i < servo_status_s::CONNECTED_SERVO_MAX; i++) {
+		auto &ref = _servo_status.servo[i];
+
+		const bool is_servo_online = _servo_status.online_flags & (1 << i);
+		const bool is_servo_matching = ref.node_id == msg.getSrcNodeID().get();
+
+		if (is_servo_online && is_servo_matching) {
+			_servo_power_counter[i] += 1;
+			_last_voltage[i] = msg.voltage;
+			_last_current[i] = msg.current;
+			_last_power_error_flag[i] = msg.error_flags;
+			break;
+		}
+	}
+}
+
+void
+UavcanServoController::servo_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::Status>
+		&msg)
+{
+	if (msg.actuator_id < servo_status_s::CONNECTED_SERVO_MAX) {
+		auto &ref = _servo_status.servo[msg.actuator_id];
+
+		ref.timestamp = hrt_absolute_time();
+		ref.node_id = msg.getSrcNodeID().get();
+		ref.actuator_id = msg.actuator_id;
+		ref.position = msg.position;
+		ref.force = msg.force;
+		ref.speed = msg.speed;
+		ref.power_rating_pct = msg.power_rating_pct;
+
+		// Add servo temperature data
+		ref.temperature_counter = _servo_temperature_counter[msg.actuator_id];
+		ref.temperature = _last_temperature[msg.actuator_id];
+		ref.temperature_error_flags = _last_temperature_error_flag[msg.actuator_id];
+
+		// Add servo power data
+		ref.power_counter = _servo_power_counter[msg.actuator_id];
+		ref.voltage = _last_voltage[msg.actuator_id];
+		ref.current = _last_current[msg.actuator_id];
+		ref.power_error_flags = _last_power_error_flag[msg.actuator_id];
+
+		_servo_status.count = _servo_count;
+		_servo_status.online_flags = check_servos_status();
+		_servo_status.timestamp = hrt_absolute_time();
+		_servo_status_pub.publish(_servo_status);
+	}
+}
+
+uint8_t
+UavcanServoController::check_servos_status()
+{
+	int servo_status_flags = 0;
+	const hrt_abstime now = hrt_absolute_time();
+
+	for (int index = 0; index < servo_status_s::CONNECTED_SERVO_MAX; index++) {
+
+		if (_servo_status.servo[index].timestamp > 0 && now - _servo_status.servo[index].timestamp < 1200_ms) {
+			servo_status_flags |= (1 << index);
+		}
+	}
+
+	return servo_status_flags;
+}
@@ -36,9 +36,12 @@
 #include <uavcan/uavcan.hpp>
 #include <uavcan/equipment/actuator/Status.hpp>
 #include <uavcan/equipment/actuator/ArrayCommand.hpp>
+#include <uavcan/equipment/device/Temperature.hpp>
+#include <uavcan/equipment/power/CircuitStatus.hpp>
 #include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/servo_status.h>
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>

@@ -48,13 +51,75 @@ public:
 	static constexpr int MAX_ACTUATORS = 8;
 	static constexpr unsigned MAX_RATE_HZ = 50;
 	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 6;	///< 0..31, inclusive, 0 - highest, 31 - lowest
+	static_assert(uavcan::equipment::actuator::ArrayCommand::FieldTypes::commands::MaxSize >= MAX_ACTUATORS,
+		      "Too many actuators");

 	UavcanServoController(uavcan::INode &node);
 	~UavcanServoController() = default;

+	int init();
+	void set_servo_count(uint8_t count);
 	void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);

+	servo_status_s &servo_status() { return _servo_status; }
+
+
 private:
+
+	/**
+	 * Servo status message reception will be reported via this callback.
+	 */
+	void servo_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::Status> &msg);
+
+	/**
+	 * Servo temperature message reception will be reported via this callback.
+	 */
+	void servo_temperature_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::device::Temperature> &msg);
+
+	/**
+	 * Servo circuit status message reception will be reported via this callback.
+	 */
+	void servo_circuit_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::CircuitStatus> &msg);
+
+
+	/**
+	 * Checks all the servo freshness based on timestamp, if an servo exceeds the timeout then is flagged offline.
+	 */
+	uint8_t check_servos_status();
+
+	typedef uavcan::MethodBinder<UavcanServoController *,
+		void (UavcanServoController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::Status>&)>
+		StatusCbBinder;
+
+	typedef uavcan::MethodBinder<UavcanServoController *,
+		void (UavcanServoController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::device::Temperature>&)>
+		TemperatureCbBinder;
+
+	typedef uavcan::MethodBinder<UavcanServoController *,
+		void (UavcanServoController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::power::CircuitStatus>&)>
+		CircuitStatusCbBinder;
+
+	servo_status_s	_servo_status{};
+	uint8_t _servo_count{0};
+
+	uORB::PublicationMulti<servo_status_s> _servo_status_pub{ORB_ID(servo_status)};
+
+	/*
+	 * libuavcan related things
+	 */
+
 	uavcan::INode								&_node;
 	uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand> _uavcan_pub_array_cmd;
+	uavcan::Subscriber<uavcan::equipment::actuator::Status, StatusCbBinder>	_uavcan_sub_status;
+	uavcan::Subscriber<uavcan::equipment::device::Temperature, TemperatureCbBinder> _uavcan_sub_temperature;
+	uavcan::Subscriber<uavcan::equipment::power::CircuitStatus, CircuitStatusCbBinder> _uavcan_sub_circuit_status;
+
+
+	float _last_temperature[servo_status_s::CONNECTED_SERVO_MAX];
+	uint8_t _last_temperature_error_flag[servo_status_s::CONNECTED_SERVO_MAX];
+	float _last_voltage[servo_status_s::CONNECTED_SERVO_MAX];
+	float _last_current[servo_status_s::CONNECTED_SERVO_MAX];
+	uint8_t _last_power_error_flag[servo_status_s::CONNECTED_SERVO_MAX];
+	uint16_t _servo_temperature_counter[servo_status_s::CONNECTED_SERVO_MAX];
+	uint16_t _servo_power_counter[servo_status_s::CONNECTED_SERVO_MAX];
 };
@@ -528,7 +528,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)

 #endif

-	// Actuators
+	// ESCs
 #if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
 	int32_t uavcan_enable = -1;
 	(void)param_get(param_find("UAVCAN_ENABLE"), &uavcan_enable);
@@ -544,6 +544,17 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)

 #endif

+	// Servos
+#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
+	ret = _servo_controller.init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
+#endif
+
+
 #if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
 	ret = _hardpoint_controller.init();

@@ -994,9 +1005,10 @@ UavcanNode::Run()
 void UavcanNode::publish_can_interface_statuses()
 {
 	constexpr hrt_abstime status_pub_interval = 100_ms;
+	const hrt_abstime now = hrt_absolute_time();

-	if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) {
-		_last_can_status_pub = hrt_absolute_time();
+	if (now - _last_can_status_pub >= status_pub_interval) {
+		_last_can_status_pub = now;

 		for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
 			if (i > UAVCAN_NUM_IFACES) {
@@ -1011,7 +1023,7 @@ void UavcanNode::publish_can_interface_statuses()

 			auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
 			can_interface_status_s status{
-				.timestamp = hrt_absolute_time(),
+				.timestamp = now,
 				.io_errors = iface_perf_cnt.errors,
 				.frames_tx = iface_perf_cnt.frames_tx,
 				.frames_rx = iface_perf_cnt.frames_rx,
@@ -1031,13 +1043,15 @@ void UavcanNode::publish_can_interface_statuses()
 void UavcanNode::publish_node_statuses()
 {
 	constexpr hrt_abstime status_pub_interval = 100_ms;
+	const hrt_abstime now = hrt_absolute_time();

-	if (hrt_absolute_time() - _last_node_status_pub >= status_pub_interval) {
-		_last_node_status_pub = hrt_absolute_time();
+	if (now - _last_node_status_pub >= status_pub_interval) {
+		_last_node_status_pub = now;

 		_node_status_monitor.forEachNode([this](uavcan::NodeID node_id, uavcan::NodeStatusMonitor::NodeStatus node_status) {
+			auto node_id_val = node_id.get();

-			if (node_id.get() == 0) {
+			if (node_id_val == 0) {
 				return;
 			}

@@ -1045,7 +1059,7 @@ void UavcanNode::publish_node_statuses()
 			int uorb_index = -1;

 			for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-				if (_node_status_uorb_index_map[i] == node_id.get()) {
+				if (_node_status_uorb_index_map[i] == node_id_val) {
 					uorb_index = i;
 					break;
 				}
@@ -1055,10 +1069,10 @@ void UavcanNode::publish_node_statuses()
 				// use next available index
 				for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
 					if (_node_status_uorb_index_map[i] == 0) {
-						_node_status_uorb_index_map[i] = node_id.get();
+						_node_status_uorb_index_map[i] = node_id_val;
 						uorb_index = i;
 						// advertise
-						PX4_INFO("advertising node_id %u on index %u", node_id.get(), i);
+						PX4_INFO("advertising node_id %u on index %u", node_id_val, i);
 						int instance{0};
 						_node_status_pub_handles[i] = orb_advertise_multi(ORB_ID(dronecan_node_status), nullptr, &instance);
 						break;
@@ -1071,7 +1085,7 @@ void UavcanNode::publish_node_statuses()
 				dronecan_node_status_s status{
 					.timestamp = hrt_absolute_time(),
 					.uptime_sec = node_status.uptime_sec,
-					.node_id = node_id.get(),
+					.node_id = node_id_val,
 					.vendor_specific_status_code = node_status.vendor_specific_status_code,
 					.health = node_status.health,
 					.mode = node_status.mode,
@@ -1132,6 +1146,21 @@ void UavcanMixingInterfaceESC::mixerChanged()
 	_esc_controller.set_rotor_count(rotor_count);
 }

+void UavcanMixingInterfaceServo::mixerChanged()
+{
+	int servo_count = 0;
+
+	for (unsigned i = 0; i < MAX_ACTUATORS; ++i) {
+		servo_count += _mixing_output.isFunctionSet(i);
+
+		if (i < servo_status_s::CONNECTED_SERVO_MAX) {
+			_servo_controller.servo_status().servo[i].function = (uint8_t)_mixing_output.outputFunction(i);
+		}
+	}
+
+	_servo_controller.set_servo_count(servo_count);
+}
+
 bool UavcanMixingInterfaceServo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
@@ -165,6 +165,8 @@ public:
 	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;

+	void mixerChanged() override;
+
 	MixingOutput &mixingOutput() { return _mixing_output; }

 protected:
@@ -384,7 +384,13 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 #endif // CONFIG_UAVCANNODE_GNSS_FIX

 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
-	_publisher_list.add(new MagneticFieldStrength2(this, _node));
+	int32_t cannode_pub_mag = 1;
+	param_get(param_find("CANNODE_PUB_MAG"), &cannode_pub_mag);
+
+	if (cannode_pub_mag == 1) {
+		_publisher_list.add(new MagneticFieldStrength2(this, _node));
+	}
+
 #endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH

 #if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
@@ -421,12 +427,25 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 	_publisher_list.add(new SafetyButton(this, _node));
 #endif // CONFIG_UAVCANNODE_SAFETY_BUTTON

+#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE) || defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
+	int32_t cannode_pub_bar = 1;
+	param_get(param_find("CANNODE_PUB_BAR"), &cannode_pub_bar);
+#endif
+
 #if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
-	_publisher_list.add(new StaticPressure(this, _node));
+
+	if (cannode_pub_bar == 1) {
+		_publisher_list.add(new StaticPressure(this, _node));
+	}
+
 #endif // CONFIG_UAVCANNODE_STATIC_PRESSURE

 #if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
-	_publisher_list.add(new StaticTemperature(this, _node));
+
+	if (cannode_pub_bar == 1) {
+		_publisher_list.add(new StaticTemperature(this, _node));
+	}
+
 #endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE

 #if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
@@ -94,3 +94,29 @@ PARAM_DEFINE_INT32(CANNODE_PUB_MBD, 0);
 * @group UAVCAN
 */
 PARAM_DEFINE_INT32(CANNODE_PUB_IMU, 0);
+
+/**
+ * Enable barometer publication
+ *
+ * Enables publication of static pressure and static temperature
+ * from the barometer sensor over UAVCAN.
+ *
+ * @boolean
+ * @max 1
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(CANNODE_PUB_BAR, 1);
+
+/**
+ * Enable magnetometer publication
+ *
+ * Enables publication of magnetic field strength
+ * from the magnetometer sensor over UAVCAN.
+ *
+ * @boolean
+ * @max 1
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(CANNODE_PUB_MAG, 1);
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__vtx
+	MAIN vtx
+	COMPILE_FLAGS
+	SRCS
+		VTX.cpp
+		smart_audio.cpp
+		tramp.cpp
+	MODULE_CONFIG
+		module.yaml
+	)
@@ -0,0 +1,18 @@
+menuconfig DRIVERS_VTX
+	bool "VTX Driver"
+	default n
+	select DRIVERS_VTXTABLE
+	select VTXTABLE_AUX_MAP
+	---help---
+		Control VTX devices via serial interface.
+
+if DRIVERS_VTX
+
+	config VTX_CRSF_MSP_SUPPORT
+		bool "Support using CRSF MSP commands to configure VTX"
+		depends on DRIVERS_RC_CRSF_RC
+		default n
+		---help---
+			Set VTX frequency and power via CRSF MSP messages.
+
+endif # DRIVERS_VTX
@@ -0,0 +1,482 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "VTX.hpp"
+
+#include <fcntl.h>
+#include <termios.h>
+#include <drivers/drv_hrt.h>
+#include "smart_audio.h"
+#include "tramp.h"
+
+using namespace time_literals;
+
+VTX::VTX(const char *device) :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
+	_perf_cycle(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
+	_perf_error(perf_alloc(PC_COUNT, MODULE_NAME": errors")),
+	_perf_get_settings(perf_alloc(PC_COUNT, MODULE_NAME": errors get settings")),
+	_perf_set_power(perf_alloc(PC_COUNT, MODULE_NAME": errors set power")),
+	_perf_set_frequency(perf_alloc(PC_COUNT, MODULE_NAME": errors set frequency")),
+	_perf_set_pit_mode(perf_alloc(PC_COUNT, MODULE_NAME": errors set pit mode"))
+{
+	if (device) {
+		strlcpy(_serial_path, device, sizeof(_serial_path));
+	}
+}
+
+VTX::~VTX()
+{
+	delete _protocol;
+	perf_free(_perf_cycle);
+	perf_free(_perf_error);
+	perf_free(_perf_get_settings);
+	perf_free(_perf_set_power);
+	perf_free(_perf_set_frequency);
+	perf_free(_perf_set_pit_mode);
+}
+
+int VTX::init()
+{
+	_param_vtx_device.update();
+	_device = (_param_vtx_device.get() >> 8);
+	const uint8_t protocol = (_param_vtx_device.get() & 0xff);
+
+	if (_protocol == nullptr) {
+		if (protocol == vtx_s::PROTOCOL_TRAMP) {
+			_protocol = new vtx::Tramp();
+
+		} else {
+			_protocol = new vtx::SmartAudio();
+		}
+	}
+
+	if (_protocol == nullptr) {
+		PX4_ERR("Protocol alloc failed");
+		return PX4_ERROR;
+	}
+
+	if (_protocol->init(_serial_path) != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void VTX::Run()
+{
+	static constexpr auto _INTERVAL{50_ms};
+
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_perf_cycle);
+
+	switch (_state) {
+	case STATE_INIT:
+		if (init() == PX4_OK) {
+			_state = STATE_UPDATE;
+			_pending = STATE_SET_ALL;
+
+		} else {
+			perf_count(_perf_error);
+		}
+
+		break;
+
+	case STATE_GET_SETTINGS:
+		if (_protocol->get_settings() == PX4_OK) {
+			if (!_comms_ok) {
+				// previous get settings failed, send all settings again
+				_pending |= STATE_SET_ALL;
+			}
+
+			_pending &= ~STATE_GET_SETTINGS;
+			_comms_ok = true;
+
+		} else {
+			perf_count(_perf_get_settings);
+			_comms_ok = false;
+		}
+
+		_update_counter = 1_s / _INTERVAL;
+		_state = STATE_UPDATE;
+		break;
+
+	case STATE_SET_FREQUENCY:
+		if ((_frequency ? _protocol->set_frequency(_frequency) : _protocol->set_channel(_band, _channel)) == PX4_OK) {
+			_pending &= ~STATE_SET_FREQUENCY;
+			_pending |= STATE_GET_SETTINGS;
+
+		} else {
+			perf_count(_perf_set_frequency);
+		}
+
+		_state = STATE_UPDATE;
+		break;
+
+	case STATE_SET_POWER:
+		if (_protocol->set_power(_power) == PX4_OK) {
+			_pending &= ~STATE_SET_POWER;
+			_pending |= STATE_GET_SETTINGS;
+
+		} else {
+			perf_count(_perf_set_power);
+		}
+
+		_state = STATE_UPDATE;
+		break;
+
+	case STATE_SET_PIT_MODE:
+		if (_protocol->set_pit_mode(_pit_mode) == PX4_OK) {
+			_pending &= ~STATE_SET_PIT_MODE;
+			_pending |= STATE_GET_SETTINGS;
+
+		} else {
+			perf_count(_perf_set_pit_mode);
+		}
+
+		_state = STATE_UPDATE;
+		break;
+
+	default:
+		// Poll parameters and update settings if needed
+		int new_band{_band}, new_channel{_channel}, new_frequency{_frequency}, new_power{_power}, new_pit_mode{_pit_mode};
+		update_params(&new_band, &new_channel, &new_frequency, &new_power, &new_pit_mode);
+
+		const vtx::Config::ChangeType current_change = vtxtable().get_change();
+
+		if (_last_config_change != current_change) {
+			_last_config_change = current_change;
+			_pending |= STATE_SET_ALL;
+		}
+
+		if (_band != new_band || _channel != new_channel) {
+			_band = new_band;
+			_channel = new_channel;
+			_pending |= STATE_SET_FREQUENCY;
+		}
+
+		if (_frequency != new_frequency) {
+			_frequency = new_frequency;
+			_pending |= STATE_SET_FREQUENCY;
+		}
+
+		if (_power != new_power) {
+			_power = new_power;
+			_pending |= STATE_SET_POWER;
+		}
+
+		if (_pit_mode != new_pit_mode) {
+			_pit_mode = new_pit_mode;
+			// Some VTX set power to 0 in pit mode, so also set power again
+			_pending |= STATE_SET_PIT_MODE | STATE_SET_POWER;
+		}
+
+		if (_update_counter <= 0) {
+			_pending |= STATE_GET_SETTINGS;
+
+		} else {
+			_update_counter--;
+		}
+
+		// Round robin schedule the next pending flag test
+		uint8_t current{0};
+
+		while (_pending && !current) {
+			current = uint8_t(_pending & _schedule);
+			_schedule <<= 1;
+
+			if (!(_schedule & STATE_MASK)) {
+				_schedule = STATE_GET_SETTINGS;
+				break;
+			}
+		}
+
+		// Convert pending flags to state
+		if (current & STATE_GET_SETTINGS) {
+			_state = STATE_GET_SETTINGS;
+
+		} else if (current & STATE_SET_FREQUENCY) {
+			_state = STATE_SET_FREQUENCY;
+
+		} else if (current & STATE_SET_POWER) {
+			_state = STATE_SET_POWER;
+
+		} else if (current & STATE_SET_PIT_MODE) {
+			_state = STATE_SET_PIT_MODE;
+		}
+
+		handle_uorb();
+		break;
+	}
+
+	ScheduleDelayed(_INTERVAL);
+	perf_end(_perf_cycle);
+}
+
+void VTX::update_params(int *new_band, int *new_channel, int *new_frequency, int *new_power, int *new_pit_mode)
+{
+	_param_vtx_band.update();
+	_param_vtx_channel.update();
+	_param_vtx_power.update();
+	_param_vtx_frequency.update();
+	_param_vtx_pit_mode.update();
+	_param_vtx_map_config.update();
+	const int map_config = _param_vtx_map_config.get();
+
+	// Set transmit channel based on either parameter or manual auxiliary channel input
+	if (map_config > 1) {
+		input_rc_s input_rc{};
+
+		if (_input_rc_sub.update(&input_rc) && !input_rc.rc_lost) {
+			int8_t band{0}, channel{0}, power{0};
+			vtxtable().map_lookup(input_rc.values, input_rc.channel_count, &band, &channel, &power);
+
+			if (map_config > 2) {
+				if (band > 0) { _param_vtx_band.commit_no_notification(band - 1); }
+
+				if (channel > 0) { _param_vtx_channel.commit_no_notification(channel - 1); }
+			}
+
+			if (map_config == 2 || map_config == 4) {
+				if (power == -1) {
+					_param_vtx_power.commit_no_notification(0);
+					_param_vtx_pit_mode.commit_no_notification(true);
+
+				} else if (power > 0) {
+					_param_vtx_power.commit_no_notification(power - 1);
+					_param_vtx_pit_mode.commit_no_notification(false);
+				}
+			}
+		}
+	}
+
+	*new_band = _param_vtx_band.get() % 24;
+	*new_channel = _param_vtx_channel.get() & 0xF;
+	*new_power = _param_vtx_power.get() & 0xF;
+	*new_frequency = _param_vtx_frequency.get();
+	*new_pit_mode = _param_vtx_pit_mode.get();
+}
+
+void VTX::handle_uorb()
+{
+	vtx_s msg{};
+	msg.band = _band;
+	msg.channel = _channel;
+	msg.power_level = _power;
+	msg.device = _device;
+
+	if (!_comms_ok || !_protocol->copy_to(&msg)) {
+		msg.protocol = vtx_s::PROTOCOL_NONE;
+		msg.frequency = (_frequency ? _frequency : vtxtable().frequency(_band, _channel));
+		msg.mode = _pit_mode ? vtx_s::MODE_PIT : vtx_s::MODE_NORMAL;
+	}
+
+	// If frequency is set, overwrite band and channel to -1
+	if (_frequency) {
+		msg.band = -1;
+		msg.channel = -1;
+		msg.band_letter = 'f';
+		strncpy((char *)msg.band_name, "FREQUENCY", sizeof(msg.band_name));
+
+	} else {
+		msg.band_letter = vtxtable().band_letter(msg.band);
+		strncpy((char *)msg.band_name, vtxtable().band_name(msg.band), sizeof(msg.band_name));
+	}
+
+	strncpy((char *)msg.power_label, vtxtable().power_label(msg.power_level), sizeof(msg.power_label));
+
+	// Workarounds for specific devices
+	if (_device == vtx_s::DEVICE_PEAK_THOR_T67) {
+		// This device always reports pit mode, but still works fine
+		msg.frequency = vtxtable().frequency(_band, _channel);
+		msg.mode = _pit_mode ? vtx_s::MODE_PIT : vtx_s::MODE_NORMAL;
+	}
+
+	// Only publish if something changed
+	if (memcmp(&msg, &_vtx_msg, sizeof(msg)) != 0) {
+		_vtx_msg = msg;
+		msg.timestamp = hrt_absolute_time();
+		_vtx_pub.publish(msg);
+	}
+}
+
+int VTX::custom_command(int argc, char *argv[])
+{
+	if (!strcmp(argv[0], "start")) {
+		if (is_running()) {
+			return print_usage("already running");
+		}
+
+		int ret = VTX::task_spawn(argc, argv);
+
+		if (ret) {
+			return ret;
+		}
+	}
+
+	if (!is_running()) {
+		return print_usage("not running");
+	}
+
+	// Check if the first argument is a number and delegate to the VtxTable
+	char *endptr{};
+	strtol(argv[0], &endptr, 10);
+
+	if (endptr != argv[0]) {
+		extern int vtxtable_custom_command(int argc, char *argv[]);
+		return vtxtable_custom_command(argc, argv);
+	}
+
+	return print_usage("unknown command");
+}
+
+int VTX::task_spawn(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+	const char *device_name = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = myoptarg;
+			break;
+
+		default:
+			PX4_WARN("unrecognized flag");
+			return -1;
+			break;
+		}
+	}
+
+	if (device_name && (access(device_name, R_OK | W_OK) == 0)) {
+		auto *const instance = new VTX(device_name);
+
+		if (instance == nullptr) {
+			PX4_ERR("alloc failed");
+			return PX4_ERROR;
+		}
+
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		instance->ScheduleNow();
+
+		return PX4_OK;
+
+	} else {
+		if (device_name) {
+			PX4_ERR("invalid device (-d) %s", device_name);
+
+		} else {
+			PX4_INFO("valid device required");
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+int VTX::print_status()
+{
+	if (_serial_path[0]) {
+		PX4_INFO("UART device: %s", _serial_path);
+	}
+
+#ifdef CONFIG_VTX_CRSF_MSP_SUPPORT
+	const char *const config_map[] {"Disabled", "MSP", "MSP=Band/Channel, AUX=Power", "MSP=Power, AUX=Band/Channel", "AUX"};
+#else
+	const char *const config_map[] {"Disabled", "Disabled", "Power", "Band/Channel", "Power/Band/Channel"};
+#endif
+	const char *const config_str = config_map[_param_vtx_map_config.get() <= 4 ? _param_vtx_map_config.get() : 0];
+	PX4_INFO("RC mapping: %s", config_str);
+
+	PX4_INFO("Parameters:");
+	PX4_INFO("  band: %d", (_frequency ? -1 : (_band + 1)));
+	PX4_INFO("  channel: %d", (_frequency ? -1 : (_channel + 1)));
+	PX4_INFO("  frequency: %u MHz", (_frequency ? _frequency : vtxtable().frequency(_band, _channel)));
+	PX4_INFO("  power level: %u", _power + 1);
+	PX4_INFO("  power: %hi = %s", vtxtable().power_value(_power), vtxtable().power_label(_power));
+	PX4_INFO("  pit mode: %s", _pit_mode ? "on" : "off");
+
+	if (!(_comms_ok && _protocol && _protocol->print_settings())) {
+		PX4_ERR("%s device not found", _param_vtx_device.get() == 1 ? "Tramp" : "SmartAudio");
+	}
+
+	perf_print_counter(_perf_cycle);
+	perf_print_counter(_perf_error);
+	perf_print_counter(_perf_get_settings);
+	perf_print_counter(_perf_set_power);
+	perf_print_counter(_perf_set_frequency);
+	perf_print_counter(_perf_set_pit_mode);
+
+	return 0;
+}
+
+int VTX::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module communicates with a VTX camera via serial port. It can be used to
+configure the camera settings and to control the camera's video transmission.
+Supported protocols are:
+- SmartAudio v1, v2.0, v2.1
+- Tramp
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vtx", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "VTX device", false);
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("<int>", "Sets an entry in the mapping table: <index> <aux channel> <band> <channel> <power level> <start range> <end range>");
+
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vtx_main(int argc, char *argv[])
+{
+	return VTX::main(argc, argv);
+}
@@ -0,0 +1,134 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <float.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/Serial.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/vtx.h>
+#include <uORB/topics/input_rc.h>
+
+#include "protocol.h"
+#include "../vtxtable/VtxTable.hpp"
+
+/**
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+class VTX : public ModuleBase<VTX>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+
+	VTX(const char *device);
+	virtual ~VTX();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	int init();
+
+private:
+	void Run() override;
+
+	void update_params(int *new_band, int *new_channel, int *new_frequency, int *new_power, int *new_pit_mode);
+	void handle_uorb();
+
+	char _serial_path[20] {};
+	vtx::Protocol *_protocol{nullptr};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::VTX_BAND>) _param_vtx_band,
+		(ParamInt<px4::params::VTX_CHANNEL>) _param_vtx_channel,
+		(ParamInt<px4::params::VTX_FREQUENCY>) _param_vtx_frequency,
+		(ParamInt<px4::params::VTX_POWER>) _param_vtx_power,
+		(ParamBool<px4::params::VTX_PIT_MODE>) _param_vtx_pit_mode,
+		(ParamInt<px4::params::VTX_MAP_CONFIG>) _param_vtx_map_config,
+		(ParamInt<px4::params::VTX_DEVICE>) _param_vtx_device
+	);
+
+	perf_counter_t _perf_cycle;
+	perf_counter_t _perf_error;
+	perf_counter_t _perf_get_settings;
+	perf_counter_t _perf_set_power;
+	perf_counter_t _perf_set_frequency;
+	perf_counter_t _perf_set_pit_mode;
+
+	uORB::PublicationMulti<vtx_s> _vtx_pub{ORB_ID(vtx)};
+	uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
+
+	vtx_s _vtx_msg{};
+
+	int8_t _band{0};
+	int8_t _channel{0};
+	int16_t _frequency{0};
+	int16_t _power{0};
+	uint8_t _device{0};
+	bool _pit_mode{};
+
+	enum : uint8_t {
+		STATE_INIT = 0,
+		STATE_GET_SETTINGS = 0b0001,
+		STATE_SET_PIT_MODE = 0b0010,
+		STATE_SET_FREQUENCY = 0b0100,
+		STATE_SET_POWER = 0b1000,
+		STATE_UPDATE = 0b1'0000,
+		STATE_SET_ALL = STATE_SET_FREQUENCY | STATE_SET_POWER | STATE_SET_PIT_MODE,
+		STATE_MASK = 0b1111,
+	} _state{STATE_INIT};
+	uint8_t _pending{};
+	uint8_t _schedule{STATE_GET_SETTINGS};
+	int8_t _update_counter{};
+
+	bool _comms_ok{};
+	vtx::Config::ChangeType _last_config_change{};
+};
@@ -0,0 +1,133 @@
+module_name: VTX SmartAudio
+serial_config:
+  - command: vtx start -d ${SERIAL_DEV}
+    port_config_param:
+      name: VTX_SER_CFG
+      group: VTX
+    label: VTX Serial Port
+
+parameters:
+  - group: VTX
+    definitions:
+      VTX_BAND:
+        description:
+          short: VTX band
+          long: VTX table band 1-24
+        type: enum
+        values:
+          0: Band 1
+          1: Band 2
+          2: Band 3
+          3: Band 4
+          4: Band 5
+          5: Band 6
+          6: Band 7
+          7: Band 8
+          8: Band 9
+          9: Band 10
+          10: Band 11
+          11: Band 12
+          12: Band 13
+          13: Band 14
+          14: Band 15
+          15: Band 16
+          16: Band 17
+          17: Band 18
+          18: Band 19
+          19: Band 20
+          20: Band 21
+          21: Band 22
+          22: Band 23
+          23: Band 24
+        default: 0
+      VTX_CHANNEL:
+        description:
+          short: VTX channel
+          long: VTX table channel 1-16
+        type: enum
+        values:
+          0: Channel 1
+          1: Channel 2
+          2: Channel 3
+          3: Channel 4
+          4: Channel 5
+          5: Channel 6
+          6: Channel 7
+          7: Channel 8
+          8: Channel 9
+          9: Channel 10
+          10: Channel 11
+          11: Channel 12
+          12: Channel 13
+          13: Channel 14
+          14: Channel 15
+          15: Channel 16
+        default: 0
+      VTX_FREQUENCY:
+        description:
+          short: VTX frequency in MHz
+          long: |
+            If the VTX frequency is set, it will overwrite the band and channel
+            settings. Set to 0 to use band and channel settings.
+        type: int32
+        min: 0
+        max: 32000
+        default: 0
+      VTX_POWER:
+        description:
+          short: VTX power level
+          long: VTX transmission power level 1-16
+        type: enum
+        values:
+          0: Level 1
+          1: Level 2
+          2: Level 3
+          3: Level 4
+          4: Level 5
+          5: Level 6
+          6: Level 7
+          7: Level 8
+          8: Level 9
+          9: Level 10
+          10: Level 11
+          11: Level 12
+          12: Level 13
+          13: Level 14
+          14: Level 15
+          15: Level 16
+        default: 0
+      VTX_PIT_MODE:
+        description:
+          short: VTX pit mode
+          long: VTX pit mode reduces power to the minimum
+        type: boolean
+        default: false
+      VTX_MAP_CONFIG:
+        description:
+          short: VTX mapping configuration
+          long: |
+            Configure how VTX settings are controlled. Options include using
+            MSP commands, AUX channels or a combination of both. To use MSP
+            commands, you must use a CRSF receiver with MSP support enabled in
+            the PX4 build.
+        type: enum
+        values:
+          0: Disabled
+          1: MSP for Power, Band and Channel
+          2: MSP for Band and Channel, AUX for Power
+          3: MSP for Power, AUX for Band and Channel
+          4: AUX for Power, Band and Channel
+        default: 0
+      VTX_DEVICE:
+        description:
+          short: VTX device
+          long: Specific VTX device useful for workarounds and optimizations
+        type: enum
+        # Note: keep values in sync with msg/Vtx.msg: lower 8-bit is protocol, next 8-bit is device
+        values:
+          0: SmartAudio v1, v2, v2.1 Protocol
+          100: Tramp Protocol
+          5120: Peak THOR T67
+          10240: Rush MAX SOLO
+        default: 0
+        reboot_required: true
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include <board_config.h>
+#include <px4_platform_common/Serial.hpp>
+#include <px4_platform_common/log.h>
+#include <uORB/topics/vtx.h>
+#include "../vtxtable/VtxTable.hpp"
+
+namespace vtx
+{
+
+/**
+ * Parser class for working with Tramp protocol.
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+class Protocol
+{
+public:
+	/// @brief Constructor
+	/// @param baudrate The baud rate for the serial connection
+	constexpr Protocol(uint16_t baudrate) :
+		_baudrate(baudrate)
+	{}
+	virtual inline ~Protocol()
+	{
+		if (_serial) {
+			_serial->close();
+			delete _serial;
+		}
+	}
+
+	inline int init(const char *device)
+	{
+		if (_serial == nullptr) {
+			_serial = new device::Serial(device, _baudrate);
+
+		} else {
+			_serial->close();
+		}
+
+		if (_serial == nullptr) {
+			PX4_ERR("Serial alloc failed");
+			return PX4_ERROR;
+		}
+
+#ifdef CONFIG_BOARD_SERIAL_RC
+
+		// All RC serial ports are RX by default, so we need to swap RX and TX
+		// to get the TX pin on the RX pin.
+		if (strcmp(device, CONFIG_BOARD_SERIAL_RC) == 0 && !board_rc_swap_rxtx(device)) {
+			_serial->setSwapRxTxMode();
+		}
+
+#endif
+		_serial->setStopbits(device::SerialConfig::StopBits::Two);
+		_serial->setSingleWireMode();
+
+		if (!_serial->open()) {
+			PX4_ERR("Serial open failed");
+			delete _serial;
+			_serial = nullptr;
+			return PX4_ERROR;
+		}
+
+		if (reset() != 0) {
+			return PX4_ERROR;
+		}
+
+		return PX4_OK;
+	}
+
+	/// @brief Reset the VTX
+	/// @return 0 on success, negative error code on failure
+	virtual int reset() { return 0; }
+
+	/// @brief Get the current settings from the VTX
+	/// @return 0 on success, negative error code on failure
+	virtual int get_settings() = 0;
+
+	/// @brief Set the power
+	/// @param power_level The power level to set, negative values set dBm or mW depending on the implementation
+	/// @return 0 on success, negative error code on failure
+	virtual int set_power(int16_t power_level) = 0;
+
+	/// @brief Set the frequency
+	/// @param frequency_MHz The frequency to set, negative values set pit frequency
+	/// @return 0 on success, negative error code on failure
+	virtual int set_frequency(int16_t frequency_MHz) = 0;
+
+	/// @brief Set the frequency based on band and channel
+	/// @param band The band (0-7)
+	/// @param channel The channel (0-7)
+	/// @return 0 on success, negative error code on failure
+	virtual int set_channel(uint8_t band, uint8_t channel)
+	{
+		return set_frequency(vtxtable().frequency(band, channel));
+	}
+
+	/// @brief Set the pit mode
+	/// @param onoff true to enable pit mode, false to disable
+	/// @return 0 on success, negative error code on failure
+	virtual int set_pit_mode(bool onoff) = 0;
+
+	/// @brief Print the current settings
+	/// @return true if device is connected and settings are valid
+	virtual bool print_settings() = 0;
+
+	/// @brief Copy the current settings to a uORB message
+	/// @param msg The message to copy the settings to
+	/// @return true if data is valid and has been copied
+	virtual bool copy_to(vtx_s *msg) = 0;
+
+protected:
+	/// @brief Parse incoming bytes
+	/// @param value The incoming byte
+	/// @return Number of remaining bytes to read, 0 if a full message has been received, negative on error
+	virtual int rx_parser(uint8_t value) = 0;
+
+	inline int rx_msg()
+	{
+		using namespace time_literals;
+		memset(_rx_buf, 0, sizeof(_rx_buf));
+		_read_state = 0;
+
+		const hrt_abstime start_time_us = hrt_absolute_time();
+		int remaining{3};
+
+		while (true) {
+			const int new_bytes = _serial->readAtLeast(_serial_buf, sizeof(_serial_buf), remaining, 20);
+
+			for (int i = 0; i < new_bytes; i++) {
+				remaining = rx_parser(_serial_buf[i]);
+
+				if (remaining <= 0) { return remaining; }
+			}
+
+			if (hrt_elapsed_time(&start_time_us) > 200_ms) {
+				return -ETIMEDOUT;
+			}
+		}
+
+		return -1;
+	}
+
+	const uint16_t _baudrate{};
+	device::Serial *_serial{};
+	uint8_t _tx_buf[32] {};
+	uint8_t _rx_buf[32] {};
+	uint8_t _serial_buf[32] {};
+	uint8_t _read_state{};
+};
+
+} // namespace vtx
@@ -0,0 +1,368 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "smart_audio.h"
+#include <string.h>
+#include <cerrno>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/log.h>
+#include <math.h>
+
+namespace vtx
+{
+
+using namespace time_literals;
+
+int SmartAudio::get_settings()
+{
+	const uint8_t buf[] = {COMMAND_GET_SETTINGS, 0};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	Settings s;
+	memcpy(&s, _rx_buf + 2, sizeof(Settings));
+	// Fix frequency endianess
+	s.frequency = __builtin_bswap16(s.frequency);
+	const uint8_t version = _rx_buf[0] >> 3;
+
+	if (version == 0) { // v1
+		s.number_of_power_levels = 4;
+		s.power_levels[0] = 7;
+		s.power_levels[1] = 16;
+		s.power_levels[2] = 25;
+		s.power_levels[3] = 40;
+
+	} else if (version == 1) { // v2
+		s.number_of_power_levels = 8;
+
+	} else if (version == 2) { // v2.1
+		if (s.number_of_power_levels > 7) {
+			s.number_of_power_levels = 7;
+		}
+
+		for (int i = 0; i < s.number_of_power_levels; i++) {
+			s.power_levels[i] = s.power_levels[i + 1];
+		}
+	}
+
+	s.version = version;
+
+	// copy the settings to storage
+	_settings = s;
+
+	return PX4_OK;
+}
+
+bool SmartAudio::print_settings()
+{
+	if (_settings.version > 2) { return false; }
+
+	PX4_INFO("SmartAudio v%s%s:", ((const char *[]) {"1", "2", "2.1"})[_settings.version],
+	(_settings.mode & SmartAudio::MODE_SET_FREQUENCY) ? "+fr" : "+ch");
+	PX4_INFO("  band: %u", ((_settings.channel >> 3) & 0b111) + 1);
+	PX4_INFO("  channel: %u", (_settings.channel & 0b111) + 1);
+	PX4_INFO("  frequency: %u MHz", _settings.frequency);
+	PX4_INFO("  power level: %u", _settings.current_power_level + 1);
+	const char *power_label = vtxtable().power_label(_settings.current_power_level);
+
+	if (_settings.version == 2) {
+		PX4_INFO("  power: %u dBm = %s", _settings.current_power_dBm, power_label);
+
+	} else {
+		PX4_INFO("  power: %s", power_label);
+	}
+
+	PX4_INFO("  pit mode: %s", (_settings.mode & (SmartAudio::MODE_IN_RANGE_PIT_MODE |
+				    SmartAudio::MODE_OUT_RANGE_PIT_MODE)) ? "on" : "off");
+	PX4_INFO("  lock: %slocked", (_settings.mode & SmartAudio::MODE_UNLOCKED) ? "un" : "");
+	return true;
+}
+
+bool SmartAudio::copy_to(vtx_s *msg)
+{
+	if (_settings.version > 2) { return false; }
+
+	if (_settings.version == 0) { msg->protocol = vtx_s::PROTOCOL_SMART_AUDIO_V1; }
+
+	else if (_settings.version == 1) { msg->protocol = vtx_s::PROTOCOL_SMART_AUDIO_V2; }
+
+	else { msg->protocol = vtx_s::PROTOCOL_SMART_AUDIO_V2_1; }
+
+	msg->band = _settings.channel >> 3;
+	msg->channel = _settings.channel & 0b111;
+	msg->frequency = _settings.frequency;
+	msg->power_level = _settings.current_power_level;
+	bool pm = (_settings.mode & (SmartAudio::MODE_IN_RANGE_PIT_MODE | SmartAudio::MODE_OUT_RANGE_PIT_MODE));
+	msg->mode = pm ? vtx_s::MODE_PIT : vtx_s::MODE_NORMAL;
+
+	return true;
+}
+
+int SmartAudio::set_power(uint8_t power_level, bool is_dBm)
+{
+	if (power_level >= _settings.number_of_power_levels) {
+		return PX4_ERROR;
+	}
+
+	power_level = vtxtable().power_value(power_level);
+
+	if (_settings.version == 2 && is_dBm) { power_level |= 0x80; }
+
+	const uint8_t buf[] = {COMMAND_SET_POWER, 1, power_level};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	return ((_rx_buf[0] == COMMAND_SET_POWER) && (_rx_buf[2] == (power_level & ~0x80))) ? PX4_OK : PX4_ERROR;
+}
+
+int SmartAudio::set_channel(uint8_t band, uint8_t channel)
+{
+	if (vtxtable().band_attribute(band) == Config::BandAttribute::CUSTOM) {
+		const uint16_t freq = vtxtable().frequency(band, channel);
+
+		if (freq) { return set_frequency(freq, false); }
+	}
+
+	const uint8_t value = ((band & 0b111) << 3) | (channel & 0b111);
+	const uint8_t buf[] = {COMMAND_SET_CHANNEL, 1, value};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	return ((_rx_buf[0] == COMMAND_SET_CHANNEL) && (_rx_buf[2] == value)) ? PX4_OK : PX4_ERROR;
+}
+
+int SmartAudio::set_frequency(uint16_t frequency, bool pit)
+{
+	pit ? frequency |= 0x8000 : frequency &= ~0x8000;
+	const uint8_t buf[] = {COMMAND_SET_FREQUENCY, 2, uint8_t(frequency >> 8), uint8_t(frequency)};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	const bool success = (_rx_buf[0] == COMMAND_SET_FREQUENCY) && (_rx_buf[2] == (frequency >> 8));
+
+	if (_settings.version == 2) {
+		return (success && (_rx_buf[3] == (frequency & 0xff))) ? PX4_OK : PX4_ERROR;
+
+	} else {
+		// Some v1/v2 firmwares do not echo the low byte back
+		// But the CRC is still correct, so we assume success
+		return success ? PX4_OK : PX4_ERROR;
+	}
+}
+
+int SmartAudio::set_operating_mode(uint8_t mode)
+{
+	if (_settings.version == 0) {
+		return -1;
+	}
+
+	const uint8_t buf[] = {COMMAND_SET_MODE, 1, mode};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	return ((_rx_buf[0] == COMMAND_SET_MODE) && (_rx_buf[2] == mode)) ? PX4_OK : PX4_ERROR;
+}
+
+int SmartAudio::set_pit_mode(bool onoff)
+{
+	// only v2 supports pit mode
+	if (_settings.version == 0) {
+		return 0;
+	}
+
+	uint8_t mode{SET_MODE_UNLOCKED};
+
+	if (onoff) {
+		if (_settings.mode & MODE_OUT_RANGE_PIT_MODE) {
+			mode |= SET_MODE_OUT_RANGE;
+
+		} else {
+			mode |= SET_MODE_IN_RANGE;
+		}
+
+	} else {
+		mode |= SET_MODE_DISABLE_PIT_MODE;
+	}
+
+	return set_operating_mode(mode);
+}
+
+int SmartAudio::transmit(const uint8_t *buf, size_t len)
+{
+	if (len > 28) { return -1; }
+
+	// copy the message data
+	memcpy(_tx_buf + 3, buf, len);
+	// shift the command to the left
+	// const uint8_t cmd = buf[0];
+	_tx_buf[3] = (buf[0] << 1) | 0x01;
+	// compute the CRC
+	_tx_buf[3 + len] = crc8(_tx_buf + 1, 2 + len);
+	// some devices need an additional 0 byte at the end
+	_tx_buf[4 + len] = 0;
+
+	// send command
+	if (_serial->write(_tx_buf, 5 + len) < ssize_t(5 + len)) {
+		return -errno;
+	}
+
+	_serial->flush();
+
+	return rx_msg();
+}
+
+bool SmartAudio::is_rsp(uint8_t cmd, uint8_t length)
+{
+	if (length == 0) { return false; }
+
+	if (cmd == COMMAND_SET_POWER && length == 0x03) { return true; }
+
+	if (cmd == COMMAND_SET_CHANNEL && length == 0x03) { return true; }
+
+	if (cmd == COMMAND_SET_FREQUENCY && length == 0x04) { return true; }
+
+	if (cmd == COMMAND_SET_MODE && length == 0x03) { return true; }
+
+	if (((cmd == COMMAND_GET_SETTINGS) || (cmd == COMMAND_GET_SETTINGS_V2) ||
+	     (cmd == COMMAND_GET_SETTINGS_V21)) && length >= 0x06) { return true; }
+
+	return false;
+}
+
+int SmartAudio::rx_parser(uint8_t c)
+{
+	enum {
+		SYNC1 = 0,
+		SYNC2 = 1,
+		COMMAND = 2,
+		LENGTH = 3,
+		DATA = 4,
+		CRC = 5,
+	};
+
+	switch (_read_state) {
+	case SYNC1:
+		PX4_DEBUG("SYNC1 %x", c);
+
+		if (c == 0xAA) {
+			_read_state = SYNC2;
+		}
+
+		return 1;
+
+	case SYNC2:
+		PX4_DEBUG("SYNC2 %x", c);
+
+		if (c == 0x55) {
+			_read_state = COMMAND;
+			return 3;
+
+		} else {
+			_read_state = SYNC1;
+			return 1;
+		}
+
+	case COMMAND:
+		PX4_DEBUG("COMMAND %x", c);
+		_rx_buf[0] = c;
+		_read_state = LENGTH;
+		return 2;
+
+	case LENGTH:
+		PX4_DEBUG("LENGTH %x", c);
+
+		if (c >= 20) {
+			_read_state = SYNC1;
+			return 1;
+		}
+
+		_rx_buf[1] = c;
+
+		// command response: has one length too many
+		if (is_rsp(_rx_buf[0], c) && c) { c--; }
+
+		_read_length = c;
+		_read_data_length = 0;
+		_read_state = _read_length ? DATA : CRC;
+		return _read_length + 1;
+
+	case DATA:
+		PX4_DEBUG("DATA %x", c);
+		_rx_buf[2 + _read_data_length] = c;
+
+		if (++_read_data_length >= _read_length) {
+			_read_state = CRC;
+		}
+
+		return _read_length - _read_data_length + 1;
+
+	case CRC:
+		PX4_DEBUG("CRC %x", c);
+		_read_state = SYNC1;
+
+		if (!is_rsp(_rx_buf[0], _rx_buf[1])) { return 1; }
+
+		return (c == crc8(_rx_buf, 2u + _read_length)) ? 0 : -CRC;
+	}
+
+	return -6000;
+}
+
+uint8_t SmartAudio::crc8(const uint8_t *data, const uint8_t len)
+{
+	// Implementation adapted from lib/crc/crc.c
+	uint8_t crc{};
+	const uint8_t poly{0xd5};
+
+	for (uint8_t i = 0 ; i < len; i++) {
+		crc ^= data[i];
+
+		for (uint8_t j = 0; j < 8; j++) {
+			if (crc & (1u << 7u)) {
+				crc = (uint8_t)((crc << 1u) ^ poly);
+
+			} else {
+				crc = (uint8_t)(crc << 1u);
+			}
+		}
+	}
+
+	return crc;
+}
+
+}
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include "protocol.h"
+
+namespace vtx
+{
+
+/**
+ * Implementation for working with SmartAudio protocol.
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+class SmartAudio final : public Protocol
+{
+public:
+	static constexpr int BAUDRATE{4800};
+
+	struct Settings {
+		uint8_t channel;
+		uint8_t current_power_level;
+		uint8_t mode;
+		uint16_t frequency;
+		uint8_t current_power_dBm;
+		uint8_t number_of_power_levels;
+		uint8_t power_levels[8];
+		uint8_t version;
+	} __attribute__((packed));
+
+	enum {
+		MODE_SET_FREQUENCY = 0b0001,
+		MODE_PIT_MODE_ACTIVE = 0b0010,
+		MODE_IN_RANGE_PIT_MODE = 0b0100,
+		MODE_OUT_RANGE_PIT_MODE = 0b1000,
+		MODE_UNLOCKED = 0b10000,
+	};
+	const Settings &settings() const { return _settings; }
+
+	inline SmartAudio() : Protocol(BAUDRATE)
+	{
+		_tx_buf[1] = 0xAA;
+		_tx_buf[2] = 0x55;
+	}
+	virtual ~SmartAudio() = default;
+
+	inline int set_power(int16_t power_level) override
+	{
+		// negative values do not force dBm mode
+		if (power_level < 0) { return set_power(-power_level, false); }
+
+		return set_power(power_level, true);
+	}
+	inline int set_frequency(int16_t frequency_MHz) override
+	{
+		if (frequency_MHz < 0) { return set_frequency(-frequency_MHz, true); }
+
+		return set_frequency(frequency_MHz, false);
+	}
+	int set_channel(uint8_t band, uint8_t channel) override;
+	int get_settings() override;
+	int set_pit_mode(bool onoff) override;
+	bool print_settings() override;
+	bool copy_to(vtx_s *msg) override;
+
+	// Additional methods not part of the Protocol interface
+	int set_frequency(uint16_t frequency_MHz, bool pit = false);
+	int set_power(uint8_t power_level, bool is_dBm = true);
+	int set_operating_mode(uint8_t mode);
+
+private:
+	int rx_parser(uint8_t c) override;
+	int transmit(const uint8_t *buf, size_t len);
+	static uint8_t crc8(const uint8_t *data, uint8_t len);
+	static bool is_rsp(uint8_t cmd, uint8_t length);
+
+	enum {
+		COMMAND_GET_SETTINGS = 0x01,
+		COMMAND_SET_POWER = 0x02,
+		COMMAND_SET_CHANNEL = 0x03,
+		COMMAND_SET_FREQUENCY = 0x04,
+		COMMAND_SET_MODE = 0x05,
+
+		COMMAND_GET_SETTINGS_V2 = 0x09,
+		COMMAND_GET_SETTINGS_V21 = 0x11,
+	};
+
+	enum {
+		SET_MODE_IN_RANGE = 0b0001,
+		SET_MODE_OUT_RANGE = 0b0010,
+		SET_MODE_DISABLE_PIT_MODE = 0b0100,
+		SET_MODE_UNLOCKED = 0b1000,
+	};
+
+	Settings _settings{.version = 99};
+	uint8_t _read_length{};
+	uint8_t _read_data_length{};
+};
+
+}
@@ -0,0 +1,294 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "tramp.h"
+#include <string.h>
+#include <cerrno>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/log.h>
+#include <math.h>
+
+namespace vtx
+{
+
+using namespace time_literals;
+
+int Tramp::get_settings()
+{
+	const int rv = get_status();
+
+	if (rv != 0) { return rv; }
+
+	px4_usleep(30_ms);
+	return get_temperature();
+}
+
+
+bool Tramp::print_settings()
+{
+	PX4_INFO("Tramp:");
+	PX4_INFO("  frequency: %hu MHz", _settings.frequency);
+	PX4_INFO("  requested power: %hu mW", _settings.requested_power_mW);
+	PX4_INFO("  power: %hu mW", _settings.power_mW);
+	PX4_INFO("  pit mode: %s", _settings.pit_mode ? "on" : "off");
+
+	PX4_INFO("  temperature: %hi C", _settings.temperature);
+
+	PX4_INFO("  min frequency: %hu MHz", _settings.min_frequency);
+	PX4_INFO("  max frequency: %hu MHz", _settings.max_frequency);
+	PX4_INFO("  max power: %hu mW", _settings.max_power_mW);
+	return true;
+}
+
+bool Tramp::copy_to(vtx_s *msg)
+{
+	msg->protocol = vtx_s::PROTOCOL_TRAMP;
+
+	msg->frequency = _settings.frequency;
+	msg->power_level = _requested_power_level;
+	msg->mode = _settings.pit_mode ? vtx_s::MODE_PIT : vtx_s::MODE_NORMAL;
+
+	return true;
+}
+
+int Tramp::get_status()
+{
+	const uint8_t buf[] = {COMMAND_GET_SETTINGS};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	_settings.frequency = (_rx_buf[2] | (_rx_buf[3] << 8));
+	_settings.requested_power_mW = (_rx_buf[4] | (_rx_buf[5] << 8));
+	_settings.control_mode = _rx_buf[6];
+	_settings.pit_mode = _rx_buf[7];
+	_settings.power_mW = (_rx_buf[8] | (_rx_buf[9] << 8));
+
+	return PX4_OK;
+}
+
+int Tramp::get_temperature()
+{
+	const uint8_t buf[] = {COMMAND_GET_TEMPERATURE};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	_settings.temperature = int16_t(_rx_buf[6] | (_rx_buf[7] << 8));
+
+	return PX4_OK;
+}
+
+int Tramp::reset()
+{
+	const uint8_t buf[] = {COMMAND_RESET};
+	const int rv = transmit(buf, sizeof(buf));
+
+	if (rv != 0) { return rv; }
+
+	_settings.min_frequency = int16_t(_rx_buf[2] | (_rx_buf[3] << 8));
+	_settings.max_frequency = int16_t(_rx_buf[4] | (_rx_buf[5] << 8));
+	_settings.max_power_mW = int16_t(_rx_buf[6] | (_rx_buf[7] << 8));
+
+	return PX4_OK;
+}
+
+int Tramp::set_power(int16_t power_level)
+{
+	int16_t power_mW;
+	_requested_power_level = -1;
+
+	if (power_level < 0) {
+		power_mW = -power_level;
+
+	} else {
+		power_mW = vtxtable().power_value(power_level);
+
+		if (power_mW == 0) { return -EINVAL; }
+
+		_requested_power_level = power_level;
+	}
+
+	const uint8_t buf[] = {COMMAND_SET_POWER, uint8_t(power_mW), uint8_t(power_mW >> 8)};
+	int rv = transmit(buf, sizeof(buf));
+
+	if (rv) { return rv; }
+
+	px4_usleep(30_ms);
+	rv = get_status();
+
+	if (rv) { return rv; }
+
+	return (_settings.requested_power_mW == power_mW) ? PX4_OK : PX4_ERROR;
+}
+
+int Tramp::set_frequency(int16_t frequency_MHz)
+{
+	if (frequency_MHz < 0) { return -EINVAL; } // Tramp does not support pit frequency setting
+
+	const uint8_t buf[] = {COMMAND_SET_FREQUENCY, uint8_t(frequency_MHz), uint8_t(frequency_MHz >> 8)};
+	int rv = transmit(buf, sizeof(buf));
+
+	if (rv) { return rv; }
+
+	px4_usleep(30_ms);
+	rv = get_status();
+
+	if (rv) { return rv; }
+
+	return (_settings.frequency == frequency_MHz) ? PX4_OK : PX4_ERROR;
+}
+
+int Tramp::set_pit_mode(bool onoff)
+{
+	const uint8_t mode = onoff ? 0u : 1u;
+	const uint8_t buf[] = {COMMAND_SET_MODE, mode};
+	int rv = transmit(buf, sizeof(buf));
+
+	if (rv) { return rv; }
+
+	px4_usleep(30_ms);
+	rv = get_status();
+
+	if (rv) { return rv; }
+
+	return (_settings.pit_mode == onoff ? 1u : 0u) ? PX4_OK : PX4_ERROR;
+}
+
+int Tramp::transmit(const uint8_t *buf, size_t len)
+{
+	if (len > 28) { return -1; }
+
+	memset(_tx_buf + 1, 0, sizeof(_tx_buf) - 1);
+	// copy the message data
+	memcpy(_tx_buf + 1, buf, len);
+	// compute the CRC
+	_tx_buf[offsetof(Frame, crc)] = crc8(_tx_buf);
+
+	// send command
+	if (_serial->write(_tx_buf, sizeof(Frame)) < ssize_t(sizeof(Frame))) {
+		return -errno;
+	}
+
+	_serial->flush();
+
+	return rx_msg();
+}
+
+int Tramp::rx_parser(uint8_t c)
+{
+	enum {
+		SYNC = 0,
+		COMMAND = 1,
+		DATA = 2,
+		CRC = 3,
+		END = 4,
+	};
+	static constexpr uint8_t CRCPOS{offsetof(Frame, crc)};
+
+	switch (_read_state) {
+	case SYNC:
+		PX4_DEBUG("SYNC %x", c);
+
+		if (c == 0x0F) {
+			_rx_buf[0] = c;
+			_read_state = COMMAND;
+			return 1;
+
+		} else {
+			_read_state = SYNC;
+			return 1;
+		}
+
+	case COMMAND:
+		PX4_DEBUG("COMMAND %x", c);
+
+		switch (c) {
+		case COMMAND_RESET:
+		case COMMAND_GET_TEMPERATURE:
+		case COMMAND_GET_SETTINGS:
+		case COMMAND_SET_POWER:
+		case COMMAND_SET_FREQUENCY:
+		case COMMAND_SET_MODE:
+			_rx_buf[1] = c;
+			_read_state = DATA;
+			_read_data_length = 2;
+			return CRCPOS;
+		}
+
+		_read_state = SYNC;
+		return 1;
+
+	case DATA:
+		PX4_DEBUG("DATA %x", c);
+		_rx_buf[_read_data_length] = c;
+
+		if (++_read_data_length >= CRCPOS) {
+			_read_state = CRC;
+		}
+
+		return sizeof(Frame) - _read_data_length;
+
+	case CRC:
+		PX4_DEBUG("CRC %x", c);
+		_read_state = END;
+		_rx_buf[CRCPOS] = c;
+		return 1;
+
+	case END:
+		PX4_DEBUG("END %x", c);
+		_read_state = SYNC;
+
+		// small letter commands with empty payloads were sent by us
+		if ((_rx_buf[1] & 0x20) && !_rx_buf[2] && !_rx_buf[3]) { return 1; }
+
+		// large letter command do not get a response
+		// Check the CRC for the received data
+		return (_rx_buf[CRCPOS] == crc8(_rx_buf)) ? 0 : -CRC;
+	}
+
+	return -6000;
+}
+
+uint8_t Tramp::crc8(const uint8_t *data)
+{
+	uint8_t crc{0};
+
+	for (uint_fast8_t ii{1}; ii < offsetof(Frame, crc); ii++) {
+		crc += data[ii];
+	}
+
+	return crc;
+}
+
+}
@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include "protocol.h"
+
+namespace vtx
+{
+
+/**
+ * Implementation for working with Tramp protocol.
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+class Tramp final : public Protocol
+{
+public:
+	static constexpr int BAUDRATE{9600};
+
+	struct Settings {
+		// command 'v'
+		uint16_t frequency;
+		uint16_t requested_power_mW;
+		uint8_t control_mode;
+		uint8_t pit_mode;
+		uint16_t power_mW;
+
+		// command 's'
+		int16_t temperature;
+
+		// command 'r'
+		uint16_t min_frequency;
+		uint16_t max_frequency;
+		uint16_t max_power_mW;
+	};
+	const Settings &settings() const { return _settings; }
+
+	inline Tramp() : Protocol(BAUDRATE)
+	{
+		_tx_buf[0] = 0x0F;
+	}
+
+	int get_settings() override;
+	int reset() override;
+	int set_power(int16_t power_mW) override;
+	int set_frequency(int16_t frequency_MHz) override;
+	int set_pit_mode(bool onoff) override;
+	bool print_settings() override;
+	bool copy_to(vtx_s *msg) override;
+
+	// Additional methods not part of the Protocol interface
+	int get_status();
+	int get_temperature();
+
+private:
+	int rx_parser(uint8_t c) override;
+	int transmit(const uint8_t *buf, size_t len);
+	static uint8_t crc8(const uint8_t *data);
+
+	enum {
+		COMMAND_RESET = 'r', // 0x72
+		COMMAND_GET_TEMPERATURE = 's', // 0x73
+		COMMAND_GET_SETTINGS = 'v', // 0x76
+		COMMAND_SET_POWER = 'P', // 0x50
+		COMMAND_SET_FREQUENCY = 'F', // 0x46
+		COMMAND_SET_MODE = 'I', // 0x49
+	};
+
+	struct Frame {
+		uint8_t start{0x0F};
+		uint8_t command;
+		uint8_t payload[12];
+		uint8_t crc;
+		uint8_t end{0x00};
+	} __attribute__((packed));
+	static_assert(sizeof(Frame) == 16, "Tramp frame size wrong");
+
+	Settings _settings{};
+	uint8_t _read_data_length{};
+	int8_t _requested_power_level{-1};
+};
+
+} // namespace vtx
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__vtxtable
+	MAIN vtxtable
+	COMPILE_FLAGS
+	SRCS
+		VtxTable.cpp
+	DEPENDS
+		crc
+	)
@@ -0,0 +1,28 @@
+menuconfig DRIVERS_VTXTABLE
+	bool "VTX Table"
+	default n
+	---help---
+		Manages the configuration of VTX frequencies and power levels.
+
+if DRIVERS_VTXTABLE
+
+	config VTXTABLE_CONFIG_FILE
+		string "VTX Configuration File Path"
+		default "/fs/microsd/vtx_config"
+		---help---
+			Allows saving/loading the VTX table and aux config
+			from a file system.
+
+	config VTXTABLE_USE_STORAGE
+		bool
+		default y if VTXTABLE_CONFIG_FILE != ""
+		default n if !(VTXTABLE_CONFIG_FILE != "")
+
+	config VTXTABLE_AUX_MAP
+		string "VTX Auxiliary Map"
+		default n
+		---help---
+			Enable the AUX map for mapping AUX channel ranges to VTX
+			table settings.
+
+endif # DRIVERS_VTXTABLE
@@ -0,0 +1,369 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "VtxTable.hpp"
+
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+#include <px4_platform_common/workqueue.h>
+#endif
+
+using namespace time_literals;
+
+static vtx::Config vtxtable_data;
+
+vtx::Config &vtxtable()
+{
+	return vtxtable_data;
+}
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+int vtxtable_store(const char *filename)
+{
+	if (filename == nullptr) { filename = CONFIG_VTXTABLE_CONFIG_FILE; }
+
+	const int rv = vtxtable().store(filename);
+
+	if (rv < 0) {
+		PX4_ERR("%s is not accessible!", filename);
+		return PX4_ERROR;
+	}
+
+	PX4_INFO("saved to %s", filename);
+	return PX4_OK;
+}
+
+int vtxtable_load(const char *filename)
+{
+	if (filename == nullptr) { filename = CONFIG_VTXTABLE_CONFIG_FILE; }
+
+	const int rv = vtxtable().load(filename);
+
+	if (rv < 0) {
+		switch (rv) {
+		case -ENOENT:
+			PX4_ERR("%s not found!", filename);
+			break;
+
+		case -EPROTO:
+			PX4_ERR("VTX config serialization format is unsupported in %s!", filename);
+			break;
+
+		case -EBADMSG:
+			PX4_ERR("VTX config has a corrupt CRC in %s!", filename);
+			break;
+
+		case -EMSGSIZE:
+			PX4_ERR("VTX config in %s is incomplete!", filename);
+			break;
+
+		default:
+			PX4_ERR("Loading VTX config from %s failed!", filename);
+			break;
+		}
+
+		return PX4_ERROR;
+	}
+
+	PX4_INFO("loaded from %s", filename);
+	return PX4_OK;
+}
+
+static struct work_s storing_work;
+#endif
+
+static void vtxtable_autosave()
+{
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+	work_queue(LPWORK, &storing_work, [](void *) { vtxtable_store(nullptr); }, nullptr, USEC2TICK(1_s));
+#endif
+}
+
+static int vtxtable_print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Manages the VTX frequency, power level and RC mapping table for VTX configuration.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vtxtable", "driver");
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Shows the current VTX table configuration.");
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("name", "Sets the VTX table name: <string>");
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("bands", "Sets the number of bands: <int>");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("band", "Sets the band frequencies: <1-index> <name> <letter> <attribute> <frequencies...>");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("channels", "Sets the number of channels: <int>");
+
+	PRINT_MODULE_USAGE_COMMAND_DESCR("powerlevels", "Sets number of power levels: <int>");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("powervalues", "Sets the power level values: <int...>");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("powerlabels", "Sets the power level labels: <3 chars...>");
+
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+	PRINT_MODULE_USAGE_COMMAND_DESCR("<int>", "Sets an entry in the mapping table: <0-index> <aux channel> <band> <channel> <power level> <start range> <end range>");
+#endif
+	PRINT_MODULE_USAGE_COMMAND_DESCR("clear", "Clears the VTX table configuration.");
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+	PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Saves the VTX config to a file: <file>");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("load", "Loads the VTX config from a file: <file>");
+#endif
+
+	return 0;
+}
+
+void vtxtable_print_status()
+{
+	if (vtxtable().bands() == 0) {
+		PX4_INFO("VTX table: <not configured>");
+
+	} else {
+		PX4_INFO("VTX table %ux%u: %s", vtxtable().bands(), vtxtable().channels(), vtxtable().name());
+		vtxtable_print_frequencies();
+	}
+
+	if (vtxtable().power_levels() == 0) {
+		PX4_INFO("Power levels: <not configured>");
+
+	} else {
+		PX4_INFO("Power levels:");
+		vtxtable_print_power_levels();
+	}
+
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+
+	if (vtxtable().map_size() == 0) {
+		PX4_INFO("RC mapping: <not configured>");
+
+	} else {
+		PX4_INFO("RC mapping:");
+		vtxtable_print_aux_map();
+	}
+
+#endif
+}
+
+int vtxtable_custom_command(int argc, char *argv[])
+{
+	if (!strcmp(argv[0], "status")) {
+		vtxtable_print_status();
+		return PX4_OK;
+	}
+
+	if (!strcmp(argv[0], "name")) {
+		if (argc < 2) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		vtxtable_autosave();
+		return vtxtable().set_name(argv[1]) ? PX4_OK : PX4_ERROR;
+	}
+
+	if (!strcmp(argv[0], "band")) {
+		if (argc < 5) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		const size_t band = atoi(argv[1]) - 1;
+		vtxtable().set_band_name(band, argv[2]);
+		vtxtable().set_band_letter(band, argv[3][0]);
+		vtxtable().set_band_attribute(band,
+						  argv[4][0] == 'F' ? vtx::Config::BandAttribute::FACTORY : vtx::Config::BandAttribute::CUSTOM);
+
+		for (int i = 5; i < argc; i++) {
+			vtxtable().set_frequency(band, i - 5, atoi(argv[i]));
+		}
+
+		vtxtable_autosave();
+		return PX4_OK;
+	}
+
+	if (!strcmp(argv[0], "bands")) {
+		if (argc < 2) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		vtxtable_autosave();
+		return vtxtable().set_bands(atoi(argv[1])) ? PX4_OK : PX4_ERROR;
+	}
+
+	if (!strcmp(argv[0], "channels")) {
+		if (argc < 2) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		vtxtable_autosave();
+		return vtxtable().set_channels(atoi(argv[1])) ? PX4_OK : PX4_ERROR;
+	}
+
+	if (!strcmp(argv[0], "powervalues")) {
+		uint8_t levels{1};
+
+		for (; levels < argc; levels++) {
+			vtxtable().set_power_value(levels - 1, atoi(argv[levels]));
+		}
+
+		vtxtable_autosave();
+		return PX4_OK;
+	}
+
+	if (!strcmp(argv[0], "powerlabels")) {
+		uint8_t levels{1};
+
+		for (; levels < argc; levels++) {
+			vtxtable().set_power_label(levels - 1, argv[levels]);
+		}
+
+		vtxtable_autosave();
+		return PX4_OK;
+	}
+
+	if (!strcmp(argv[0], "powerlevels")) {
+		if (argc < 2) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		vtxtable_autosave();
+		return vtxtable().set_power_levels(atoi(argv[1])) ? PX4_OK : PX4_ERROR;
+	}
+
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+	char *endptr {};
+	strtol(argv[0], &endptr, 10);
+
+	if (endptr != argv[0]) {
+		if (argc < 7) {
+			return vtxtable_print_usage("not enough arguments");
+		}
+
+		vtxtable_autosave();
+		return vtxtable().set_map_entry(
+			       atoi(argv[0]), atoi(argv[1]) + 4 - 1, atoi(argv[2]),
+			       atoi(argv[3]), atoi(argv[4]), atoi(argv[5]), atoi(argv[6])) ? PX4_OK : PX4_ERROR;
+	}
+
+#endif
+
+	if (!strcmp(argv[0], "clear")) {
+		vtxtable().clear();
+		return PX4_OK;
+	}
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+	const char *const filename = (argc == 2) ? argv[1] : nullptr;
+
+	if (!strcmp(argv[0], "save")) {
+		return vtxtable_store(filename);
+	}
+
+	if (!strcmp(argv[0], "load")) {
+		return vtxtable_load(filename);
+	}
+
+#endif
+
+	return vtxtable_print_usage("unknown command");
+}
+
+void vtxtable_print_frequencies()
+{
+	for (uint8_t b = 0; b < vtxtable().bands(); b++) {
+		PX4_INFO_RAW("INFO  [vtxtable]  %c: %-*s=", vtxtable().band_letter(b), vtx::Config::NAME_LENGTH, vtxtable().band_name(b));
+
+		for (uint8_t c = 0; c < vtxtable().channels(); c++) {
+			PX4_INFO_RAW(" %4hu", vtxtable().frequency(b, c));
+		}
+
+		if (vtxtable().band_attribute(b) == vtx::Config::BandAttribute::CUSTOM) {
+			PX4_INFO_RAW("  CUSTOM\n");
+
+		} else {
+			PX4_INFO_RAW("\n");
+		}
+	}
+}
+
+void vtxtable_print_power_levels()
+{
+	for (uint8_t p = 0; p < vtxtable().power_levels(); p++) {
+		PX4_INFO("  %u: %2hi = %s", p + 1, vtxtable().power_value(p), vtxtable().power_label(p));
+	}
+}
+
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+void vtxtable_print_aux_map()
+{
+	for (uint8_t i = 0; i < vtx::Config::MAP_LENGTH; i++) {
+		uint8_t rc_channel{}, band{}, channel{};
+		int8_t power_level{};
+		uint16_t start_range{}, end_range{};
+		vtxtable().map_entry(i, &rc_channel, &band, &channel, &power_level, &start_range, &end_range);
+
+		if (!start_range && !end_range) { break; }
+
+		if (!band && !channel) {
+			if (power_level == -1) {
+				PX4_INFO("  %2u: Ch%-2u, %4hu - %4hu = pit mode",
+					 i, rc_channel, start_range, end_range);
+
+			} else {
+				PX4_INFO("  %2u: Ch%-2u, %4hu - %4hu = %s",
+					 i, rc_channel, start_range, end_range,
+					 vtxtable().power_label(power_level - 1));
+			}
+
+		} else {
+			PX4_INFO("  %2u: Ch%-2u, %4hu - %4hu =  %u + %u",
+				 i, rc_channel, start_range, end_range,
+				 band, channel);
+		}
+	}
+}
+#endif
+
+extern "C" __EXPORT int vtxtable_main(int argc, char *argv[])
+{
+	if (argc <= 1) {
+		return vtxtable_print_usage("missing command");
+	}
+	argc--; argv++;
+	return vtxtable_custom_command(argc, argv);
+}
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "config.h"
+
+/**
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+
+extern vtx::Config &vtxtable();
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+extern int vtxtable_store(const char *filename);
+extern int vtxtable_load(const char *filename);
+#endif
+
+extern void vtxtable_print_frequencies();
+extern void vtxtable_print_power_levels();
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+extern void vtxtable_print_aux_map();
+#endif
@@ -0,0 +1,545 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <math.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <containers/LockGuard.hpp>
+#include <board_config.h>
+extern "C" {
+#include <lib/crc/crc.h>
+}
+
+namespace vtx
+{
+
+/**
+ * Class storing the VTX frequencies and power levels and the map from RC channels to VTX settings.
+ * Everything is 0-indexed.
+ * @author Niklas Hauser <niklas@auterion.com>
+ */
+class Config
+{
+public:
+	static constexpr size_t BANDS{24};
+	static constexpr size_t CHANNELS{16};
+	static constexpr size_t POWER_LEVELS{16};
+	static constexpr size_t MAP_LENGTH{160};
+	static constexpr size_t NAME_LENGTH{16};
+	static constexpr size_t BAND_NAME_LENGTH{12};
+	static constexpr size_t POWER_LABEL_LENGTH{4};
+	enum class BandAttribute : uint8_t {
+		FACTORY = 0,
+		CUSTOM = 1,
+	};
+	// Allows to detect changes in the configuration
+	using ChangeType = uint16_t;
+	inline ChangeType get_change() { return _change_value; }
+
+	constexpr Config() = default;
+	inline ~Config()
+	{
+		pthread_mutex_destroy(&_mutex);
+	}
+
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+	// ================================== RC MAP ==================================
+	inline int set_map_entry(uint8_t index, uint8_t rc_channel, uint8_t band, uint8_t channel,
+				 int8_t power_level, uint16_t start_range, uint16_t end_range)
+	{
+		if (index >= MAP_LENGTH) {
+			return -EINVAL;
+		}
+
+		LockGuard lg{_mutex};
+		_data.rc_map[index].rc_channel = rc_channel;
+		_data.rc_map[index].band = band;
+		_data.rc_map[index].channel = channel;
+		_data.rc_map[index].power_level = power_level;
+		_data.rc_map[index].start_range = start_range;
+		_data.rc_map[index].end_range = end_range;
+		_change_value++;
+
+		return 0;
+	}
+
+	inline int map_entry(uint8_t index, uint8_t *rc_channel, uint8_t *band, uint8_t *channel,
+			     int8_t *power_level, uint16_t *start_range, uint16_t *end_range) const
+	{
+		if (index >= MAP_LENGTH) {
+			return -EINVAL;
+		}
+
+		LockGuard lg{_mutex};
+
+		if (rc_channel) { *rc_channel = _data.rc_map[index].rc_channel; }
+
+		if (band) { *band = _data.rc_map[index].band; }
+
+		if (channel) { *channel = _data.rc_map[index].channel; }
+
+		if (power_level) { *power_level = _data.rc_map[index].power_level; }
+
+		if (start_range) { *start_range = _data.rc_map[index].start_range; }
+
+		if (end_range) { *end_range = _data.rc_map[index].end_range; }
+
+		return 0;
+	}
+
+	inline int map_lookup(uint16_t *rc_values, size_t rc_count,
+			      int8_t *band, int8_t *channel, int8_t *power_level) const
+	{
+		LockGuard lg{_mutex};
+
+		for (uint8_t i = 0; i < MAP_LENGTH; i++) {
+			if (_data.rc_map[i].rc_channel >= rc_count || _data.rc_map[i].is_empty()) {
+				continue;
+			}
+
+			const uint16_t pwm_value = rc_values[_data.rc_map[i].rc_channel];
+
+			if (pwm_value >= _data.rc_map[i].start_range &&
+			    pwm_value < _data.rc_map[i].end_range) {
+				if (_data.rc_map[i].band) { *band = _data.rc_map[i].band; }
+
+				if (_data.rc_map[i].channel) { *channel = _data.rc_map[i].channel; }
+
+				if (_data.rc_map[i].power_level) { *power_level = _data.rc_map[i].power_level; }
+			}
+		}
+
+		return 0;
+	}
+
+	inline int map_clear()
+	{
+		LockGuard lg{_mutex};
+		memset(&_data.rc_map, 0, sizeof(_data.rc_map));
+		_change_value++;
+		return 0;
+	}
+
+	inline size_t map_size() const
+	{
+		LockGuard lg{_mutex};
+		size_t count{};
+
+		for (uint_fast8_t i = 0; i < MAP_LENGTH; i++) {
+			if (!_data.rc_map[i].is_empty()) {
+				count++;
+			}
+		}
+
+		return count;
+	}
+#endif
+
+	// ================================ VTX TABLE =================================
+	inline const char *name() const
+	{
+		LockGuard lg{_mutex};
+		return _data.table.name;
+	}
+	inline bool set_name(const char *name)
+	{
+		if (!name) { return false; }
+
+		LockGuard lg{_mutex};
+		strncpy(_data.table.name, name, NAME_LENGTH);
+		_data.table.name[NAME_LENGTH] = 0;
+		_change_value++;
+		return true;
+	}
+	inline uint16_t frequency(uint8_t band, uint8_t channel) const
+	{
+		LockGuard lg{_mutex};
+
+		if (band >= _data.table.bands || channel >= _data.table.channels) {
+			return 0;
+		}
+
+		return _data.table.frequency[band][channel];
+	}
+	inline bool set_frequency(uint8_t band, uint8_t channel, uint16_t frequency)
+	{
+		if (band >= BANDS || channel >= CHANNELS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.frequency[band][channel] = frequency;
+		_change_value++;
+		return true;
+	}
+	inline bool find_band_channel(uint16_t frequency, uint8_t *band, uint8_t *channel) const
+	{
+		LockGuard lg{_mutex};
+
+		for (uint8_t bandi = 0; bandi < _data.table.bands; bandi++) {
+			for (uint8_t channeli = 0; channeli < _data.table.channels; channeli++) {
+				if (_data.table.frequency[bandi][channeli] == frequency) {
+					*band = bandi;
+					*channel = channeli;
+					return true;
+				}
+			}
+		}
+
+		return false;
+	}
+
+	inline size_t channels() const
+	{
+		LockGuard lg{_mutex};
+		return _data.table.channels;
+	}
+	inline bool set_channels(size_t channels)
+	{
+		if (channels > CHANNELS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.channels = channels;
+		_change_value++;
+		return true;
+	}
+
+	inline size_t bands() const
+	{
+		LockGuard lg{_mutex};
+		return _data.table.bands;
+	}
+	inline bool set_bands(size_t bands)
+	{
+		if (bands > BANDS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.bands = bands;
+		_change_value++;
+		return true;
+	}
+
+	inline const char *band_name(uint8_t band) const
+	{
+		LockGuard lg{_mutex};
+
+		if (band >= _data.table.bands) {
+			return "?";
+		}
+
+		return const_cast<const char *>(_data.table.band[band]);
+	}
+	inline bool set_band_name(uint8_t band, const char *name)
+	{
+		if (band >= BANDS || !name) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		strncpy(_data.table.band[band], name, BAND_NAME_LENGTH);
+		_data.table.band[band][BAND_NAME_LENGTH] = 0;
+		_change_value++;
+		return true;
+	}
+
+	inline char band_letter(uint8_t band) const
+	{
+		LockGuard lg{_mutex};
+
+		if (band >= _data.table.bands) {
+			return '?';
+		}
+
+		const char c = _data.table.letter[band];
+		return c ? c : '?';
+	}
+	inline bool set_band_letter(uint8_t band, char c)
+	{
+		if (band >= BANDS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.letter[band] = c;
+		_change_value++;
+		return true;
+	}
+
+	inline BandAttribute band_attribute(uint8_t band) const
+	{
+		LockGuard lg{_mutex};
+
+		if (band >= _data.table.bands) {
+			return BandAttribute::FACTORY;
+		}
+
+		return _data.table.attribute[band];
+	}
+	inline bool set_band_attribute(uint8_t band, BandAttribute attribute)
+	{
+		if (band >= BANDS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.attribute[band] = attribute;
+		_change_value++;
+		return true;
+	}
+
+	inline size_t power_levels() const
+	{
+		LockGuard lg{_mutex};
+		return _data.table.power_levels;
+	}
+	inline bool set_power_levels(size_t levels)
+	{
+		if (levels > POWER_LEVELS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.power_levels = levels;
+		_change_value++;
+		return true;
+	}
+
+	inline int16_t power_value(uint8_t level) const
+	{
+		LockGuard lg{_mutex};
+
+		if (level >= _data.table.power_levels) {
+			return 0;
+		}
+
+		return _data.table.power_value[level];
+	}
+	inline bool set_power_value(uint8_t level, int16_t value)
+	{
+		if (level >= POWER_LEVELS) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		_data.table.power_value[level] = value;
+		_change_value++;
+		return true;
+	}
+	inline const char *power_label(uint8_t level) const
+	{
+		LockGuard lg{_mutex};
+
+		if (level >= _data.table.power_levels) {
+			return "?";
+		}
+
+		return _data.table.power_label[level];
+	}
+	inline bool set_power_label(uint8_t level, const char *label)
+	{
+		if (level >= POWER_LEVELS || !label) {
+			return false;
+		}
+
+		LockGuard lg{_mutex};
+		strncpy(_data.table.power_label[level], label, POWER_LABEL_LENGTH);
+		_data.table.power_label[level][POWER_LABEL_LENGTH] = 0;
+		_change_value++;
+		return true;
+	}
+
+	inline void table_clear()
+	{
+		LockGuard lg{_mutex};
+		_data.table = {};
+		_change_value++;
+	}
+
+	inline void clear()
+	{
+		LockGuard lg{_mutex};
+		_data = {};
+		_change_value++;
+	}
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+	inline int store(const char *filename) const
+	{
+		LockGuard lg{_mutex};
+		int fd = open(filename, O_WRONLY | O_CREAT | O_TRUNC);
+
+		if (fd < 0) {
+			return errno;
+		}
+
+		// first write the magic/version
+		const uint64_t magic = MAGIC;
+		int written = write(fd, &magic, sizeof(MAGIC));
+
+		// Then write the rest of the data
+		written += write(fd, &_data, sizeof(Storage));
+
+		// finally compute and write the crc16
+		const uint16_t crc = crc16_signature(CRC16_INITIAL, sizeof(Storage), (const uint8_t *)&_data);
+		written += write(fd, &crc, sizeof(crc));
+
+		close(fd);
+		return (written == FILE_SIZE) ? 0 : -EMSGSIZE;
+	}
+
+	inline int load(const char *filename)
+	{
+		if (access(filename, R_OK)) {
+			return -ENOENT;
+		}
+
+		LockGuard lg{_mutex};
+		int fd = open(filename, O_RDONLY);
+
+		if (fd < 0) {
+			return errno;
+		}
+
+		// Check file size first
+		const off_t file_size = lseek(fd, 0, SEEK_END);
+
+		if (file_size != FILE_SIZE) {
+			close(fd);
+			return -EMSGSIZE;
+		}
+
+		// Check the version next
+		lseek(fd, 0, SEEK_SET);
+		uint64_t magic{};
+		const int read_size = read(fd, &magic, sizeof(magic));
+
+		if (read_size != sizeof(magic) || magic != MAGIC) {
+			close(fd);
+			return -EPROTO;
+		}
+
+		// Compute and check crc16 of the data in chunks
+		const size_t CHUNK{128};
+		uint8_t buffer[CHUNK];
+		size_t remaining{sizeof(Storage)};
+		uint16_t computed_crc{0xffff};
+
+		while (remaining > 0) {
+			const int r = read(fd, buffer, (remaining < CHUNK) ? remaining : CHUNK);
+
+			if (r <= 0) {
+				close(fd);
+				return -EIO;
+			}
+
+			computed_crc = crc16_signature(computed_crc, r, buffer) ^ CRC16_OUTPUT_XOR;
+			remaining -= r;
+		}
+
+		// read the stored crc16
+		uint16_t stored_crc{};
+		const int r = read(fd, &stored_crc, sizeof(stored_crc));
+
+		if (r != sizeof(stored_crc)) {
+			close(fd);
+			return -EIO;
+		}
+
+		if (computed_crc != stored_crc) {
+			close(fd);
+			return -EBADMSG;
+		}
+
+		// now read into the data structure directly
+		lseek(fd, sizeof(magic), SEEK_SET);
+		read(fd, &_data, sizeof(Storage));
+		close(fd);
+
+		_change_value++;
+		return 0;
+	}
+#endif
+
+private:
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+	struct MapEntry {
+		uint8_t rc_channel;
+		uint8_t band;
+		uint8_t channel;
+		int8_t power_level;
+		uint16_t start_range;
+		uint16_t end_range;
+		constexpr bool is_empty() const { return !start_range && !end_range; }
+	} __attribute__((packed));
+#endif
+
+	struct Table {
+		uint16_t frequency[BANDS][CHANNELS] {};
+		int16_t power_value[POWER_LEVELS] {};
+		char band[BANDS][BAND_NAME_LENGTH + 1] {};
+		char power_label[POWER_LEVELS][POWER_LABEL_LENGTH + 1] {};
+		char name[NAME_LENGTH + 1] {};
+		char letter[BANDS] {};
+		BandAttribute attribute[BANDS] {};
+		uint8_t bands{};
+		uint8_t channels{};
+		uint8_t power_levels{};
+	} __attribute__((packed));
+
+	struct Storage {
+		Table table{};
+#ifdef CONFIG_VTXTABLE_AUX_MAP
+		MapEntry rc_map[MAP_LENGTH];
+#endif
+	} __attribute__((packed));
+
+#ifdef CONFIG_VTXTABLE_USE_STORAGE
+	static constexpr uint16_t VERSION {3};
+	static constexpr uint64_t MAGIC{0x767478'636e66'0000ull | VERSION}; // "vtxcnf" + version magic
+	static constexpr size_t FILE_SIZE{sizeof(Storage) + sizeof(MAGIC) + sizeof(uint16_t)};
+#endif
+
+	mutable pthread_mutex_t _mutex = PTHREAD_MUTEX_INITIALIZER;
+	Storage _data{};
+	ChangeType _change_value{};
+};
+
+}
@@ -66,7 +66,7 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_thrust_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/airspeed_wind.h>
 #include <uORB/topics/flight_phase_estimation.h>

@@ -127,7 +127,7 @@ private:
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	uORB::Subscription _vehicle_thrust_setpoint_0_sub{ORB_ID(vehicle_thrust_setpoint), 0};
+	uORB::Subscription _vehicle_rates_setpoint_sub{ORB_ID(vehicle_rates_setpoint)};
 	uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)};
 	uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
 	uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};
@@ -841,16 +841,16 @@ float AirspeedModule::get_synthetic_airspeed(float throttle)
 void AirspeedModule::update_throttle_filter(hrt_abstime now)
 {
 	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
-		vehicle_thrust_setpoint_s vehicle_thrust_setpoint_0{};
-		_vehicle_thrust_setpoint_0_sub.copy(&vehicle_thrust_setpoint_0);
+		vehicle_rates_setpoint_s vehicle_rates_setpoint{};
+		_vehicle_rates_setpoint_sub.copy(&vehicle_rates_setpoint);

-		float forward_thrust = vehicle_thrust_setpoint_0.xyz[0];
+		float forward_thrust = vehicle_rates_setpoint.thrust_body[0];

 		// if VTOL, use the total thrust vector length (otherwise needs special handling for tailsitters and tiltrotors)
 		if (_vehicle_status.is_vtol) {
-			forward_thrust = sqrtf(vehicle_thrust_setpoint_0.xyz[0] * vehicle_thrust_setpoint_0.xyz[0] +
-					       vehicle_thrust_setpoint_0.xyz[1] * vehicle_thrust_setpoint_0.xyz[1] +
-					       vehicle_thrust_setpoint_0.xyz[2] * vehicle_thrust_setpoint_0.xyz[2]);
+			forward_thrust = sqrtf(vehicle_rates_setpoint.thrust_body[0] * vehicle_rates_setpoint.thrust_body[0] +
+					       vehicle_rates_setpoint.thrust_body[1] * vehicle_rates_setpoint.thrust_body[1] +
+					       vehicle_rates_setpoint.thrust_body[2] * vehicle_rates_setpoint.thrust_body[2]);
 		}

 		const float dt = static_cast<float>(now - _t_last_throttle_fw) * 1e-6f;
@@ -74,6 +74,8 @@ ControlAllocator::ControlAllocator() :
 	}

 	parameters_updated();
+
+	_slew_limited_ice_shedding_output.setSlewRate(ICE_SHEDDING_MAX_SLEWRATE);
 }

 ControlAllocator::~ControlAllocator()
@@ -339,6 +341,7 @@ ControlAllocator::Run()
 		if (_vehicle_status_sub.update(&vehicle_status)) {

 			_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
+			_is_vtol = vehicle_status.is_vtol;

 			ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};

@@ -646,6 +649,39 @@ ControlAllocator::publish_control_allocator_status(int matrix_index)
 	_control_allocator_status_pub[matrix_index].publish(control_allocator_status);
 }

+float
+ControlAllocator::get_ice_shedding_output(hrt_abstime now, bool any_stopped_motor_failed)
+{
+	const float period_sec = _param_ice_shedding_period.get();
+
+	const bool feature_disabled_by_param = period_sec <= FLT_EPSILON;
+	const bool in_forward_flight = _actuator_effectiveness->getFlightPhase() == ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
+
+	// If any stopped motor has failed, the feature will create much more
+	// torque than in the nominal case, and becomes pointless anyway as we
+	// cannot go back to multicopter
+	const bool apply_shedding = _is_vtol && in_forward_flight && !any_stopped_motor_failed;
+
+	if (feature_disabled_by_param || !apply_shedding) {
+		// Bypass slew limit and immediately set zero, to not
+		// interfere with backtransition in any way
+		_slew_limited_ice_shedding_output.setForcedValue(0.0f);
+
+	} else {
+		// Raw square wave output
+		const float elapsed_in_period = fmodf(static_cast<float>(now) / 1_s, period_sec);
+		const float raw_ice_shedding_output = elapsed_in_period < ICE_SHEDDING_ON_SEC ? ICE_SHEDDING_OUTPUT : 0.0f;
+
+		// Apply slew rate limit
+		const float dt = static_cast<float>(now - _last_ice_shedding_update) / 1_s;
+		_slew_limited_ice_shedding_output.update(raw_ice_shedding_output, dt);
+	}
+
+	_last_ice_shedding_update = now;
+
+	return _slew_limited_ice_shedding_output.getState();
+}
+
 void
 ControlAllocator::publish_actuator_controls()
 {
@@ -666,9 +702,15 @@ ControlAllocator::publish_actuator_controls()
 	int actuator_idx = 0;
 	int actuator_idx_matrix[ActuatorEffectiveness::MAX_NUM_MATRICES] {};

-	uint32_t stopped_motors = _actuator_effectiveness->getStoppedMotors()
-				  | _handled_motor_failure_bitmask
-				  | _motor_stop_mask;
+	const uint32_t stopped_motors_due_to_effectiveness = _actuator_effectiveness->getStoppedMotors();
+
+	const uint32_t stopped_motors = stopped_motors_due_to_effectiveness
+					| _handled_motor_failure_bitmask
+					| _motor_stop_mask;
+
+	const bool any_stopped_motor_failed = 0 != (stopped_motors_due_to_effectiveness & (_handled_motor_failure_bitmask | _motor_stop_mask));
+
+	const float ice_shedding_output = get_ice_shedding_output(actuator_motors.timestamp, any_stopped_motor_failed);

 	// motors
 	int motors_idx;
@@ -680,6 +722,10 @@ ControlAllocator::publish_actuator_controls()

 		if (stopped_motors & (1u << motors_idx)) {
 			actuator_motors.control[motors_idx] = NAN;
+
+			if (ice_shedding_output > FLT_EPSILON) {
+				actuator_motors.control[motors_idx] = ice_shedding_output;
+			}
 		}

 		++actuator_idx_matrix[selected_matrix];
@@ -826,13 +872,110 @@ int ControlAllocator::print_status()
 			PX4_INFO("Instance: %i", i);
 		}

-		PX4_INFO("  Effectiveness.T =");
-		effectiveness.T().print();
+		PX4_INFO("  Effectiveness =");
+		int num_configured = _control_allocation[i]->numConfiguredActuators();
+
+		// print column numbering
+		if (num_configured > 1) {
+			printf("  ");
+
+			for (int col = 0; col < num_configured; col++) {
+				printf("|%2u      ", col);
+			}
+
+			printf("\n");
+		}
+
+		// Print effectiveness matrix with row labels
+		const char *row_labels[] = {"Mx", "My", "Mz", "Fx", "Fy", "Fz"};
+
+		for (int row = 0; row < 6; row++) {
+			printf("%2s|", row_labels[row]);
+
+			for (int col = 0; col < num_configured; col++) {
+				double d = static_cast<double>(effectiveness(row, col));
+
+				// avoid -0.0 for display
+				if (fabs(d - 0.0) < 1e-9) {
+					// print fixed width zero
+					printf(" 0       ");
+
+				} else if ((fabs(d) < 1e-4) || (fabs(d) >= 10.0)) {
+					printf("% .1e ", d);
+
+				} else {
+					printf("% 6.5f ", d);
+				}
+			}
+
+			printf("\n");
+		}
+
 		PX4_INFO("  minimum =");
-		_control_allocation[i]->getActuatorMin().T().print();
+
+		// print column numbering
+		if (num_configured > 1) {
+			printf("  ");
+
+			for (int col = 0; col < num_configured; col++) {
+				printf("|%2u      ", col);
+			}
+
+			printf("\n");
+		}
+
+		printf("  |");
+
+		for (int col = 0; col < num_configured; col++) {
+			double d = static_cast<double>(_control_allocation[i]->getActuatorMin()(col));
+
+			// avoid -0.0 for display
+			if (fabs(d - 0.0) < 1e-9) {
+				// print fixed width zero
+				printf(" 0       ");
+
+			} else if ((fabs(d) < 1e-4) || (fabs(d) >= 10.0)) {
+				printf("% .1e ", d);
+
+			} else {
+				printf("% 6.5f ", d);
+			}
+		}
+
+		printf("\n");
 		PX4_INFO("  maximum =");
-		_control_allocation[i]->getActuatorMax().T().print();
-		PX4_INFO("  Configured actuators: %i", _control_allocation[i]->numConfiguredActuators());
+
+		// print column numbering
+		if (num_configured > 1) {
+			printf("  ");
+
+			for (int col = 0; col < num_configured; col++) {
+				printf("|%2u      ", col);
+			}
+
+			printf("\n");
+		}
+
+		printf("  |");
+
+		for (int col = 0; col < num_configured; col++) {
+			double d = static_cast<double>(_control_allocation[i]->getActuatorMax()(col));
+
+			// avoid -0.0 for display
+			if (fabs(d - 0.0) < 1e-9) {
+				// print fixed width zero
+				printf(" 0       ");
+
+			} else if ((fabs(d) < 1e-4) || (fabs(d) >= 10.0)) {
+				printf("% .1e ", d);
+
+			} else {
+				printf("% 6.5f ", d);
+			}
+		}
+
+		printf("\n");
+		PX4_INFO("  Configured actuators: %i", num_configured);
 	}

 	if (_handled_motor_failure_bitmask) {
@@ -89,6 +89,11 @@ public:
 	static constexpr int MAX_NUM_MOTORS = actuator_motors_s::NUM_CONTROLS;
 	static constexpr int MAX_NUM_SERVOS = actuator_servos_s::NUM_CONTROLS;

+	static constexpr float ICE_SHEDDING_MAX_SLEWRATE = 0.1f;
+	static constexpr float ICE_SHEDDING_ON_SEC = 2.0f;
+	static constexpr float ICE_SHEDDING_OUTPUT = 0.01f;
+
+
 	using ActuatorVector = ActuatorEffectiveness::ActuatorVector;

 	ControlAllocator();
@@ -139,6 +144,8 @@ private:

 	void publish_actuator_controls();

+	float get_ice_shedding_output(hrt_abstime now, bool any_stopped_motor_failed);
+
 	AllocationMethod _allocation_method_id{AllocationMethod::NONE};
 	ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; 	///< class for control allocation calculations
 	int _num_control_allocation{0};
@@ -206,6 +213,7 @@ private:
 	perf_counter_t	_loop_perf;			/**< loop duration performance counter */

 	bool _armed{false};
+	bool _is_vtol{false};
 	hrt_abstime _last_run{0};
 	hrt_abstime _timestamp_sample{0};
 	hrt_abstime _last_status_pub{0};
@@ -214,11 +222,16 @@ private:
 	Params _params{};
 	bool _has_slew_rate{false};

+
+	SlewRate<float> _slew_limited_ice_shedding_output;
+	hrt_abstime _last_ice_shedding_update{};
+
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe,
 		(ParamInt<px4::params::CA_METHOD>) _param_ca_method,
 		(ParamInt<px4::params::CA_FAILURE_MODE>) _param_ca_failure_mode,
-		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
+		(ParamInt<px4::params::CA_R_REV>) _param_r_rev,
+		(ParamFloat<px4::params::CA_ICE_PERIOD>) _param_ice_shedding_period
 	)

 };
@@ -605,6 +605,22 @@ parameters:
                1: Remove first failed motor from effectiveness
            default: 0

+        CA_ICE_PERIOD:
+            description:
+                short: Ice shedding cycle period
+                long: |
+                    Ice shedding prevents ice buildup in VTOL aircraft motors by
+                    periodically spinning inactive rotors. When enabled (period
+                    > 0), every cycle lasts for the defined period and includes
+                    a 2‑second spin at 0.01 motor output. If period <= 0, the
+                    feature is disabled.
+            type: float
+            decimal: 1
+            unit: s
+            increment: 0.1
+            min: 0.0
+            default: 0.0
+
 # Mixer
 mixer:
    actuator_types:
@@ -93,9 +93,6 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)

 		updateAirspeed(airspeed_sample, _aid_src_airspeed);

-		_innov_check_fail_status.flags.reject_airspeed =
-			_aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
-
 		const bool continuing_conditions_passing = _control_status.flags.in_air && (_control_status.flags.fixed_wing
 				|| _control_status.flags.in_transition_to_fw)
 				&& !_control_status.flags.fake_pos;
@@ -159,7 +159,6 @@ void Ekf::fuseGnssYaw(float antenna_yaw_offset)
 	auto &aid_src = _aid_src_gnss_yaw;

 	if (aid_src.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_yaw = true;
 		return;
 	}

@@ -189,7 +188,6 @@ void Ekf::fuseGnssYaw(float antenna_yaw_offset)
 	}

 	_fault_status.flags.bad_hdg = false;
-	_innov_check_fail_status.flags.reject_yaw = false;

 	if ((fabsf(aid_src.test_ratio_filtered) > 0.2f)
 	    && !_control_status.flags.in_air && isTimedOut(aid_src.time_last_fuse, (uint64_t)1e6)
@@ -149,11 +149,6 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 				      innov_var,                               // innovation variance
 				      math::max(_params.ekf2_mag_gate, 1.f)); // innovation gate

-		// Perform an innovation consistency check and report the result
-		_innov_check_fail_status.flags.reject_mag_x = (aid_src.test_ratio[0] > 1.f);
-		_innov_check_fail_status.flags.reject_mag_y = (aid_src.test_ratio[1] > 1.f);
-		_innov_check_fail_status.flags.reject_mag_z = (aid_src.test_ratio[2] > 1.f);
-
 		// determine if we should use mag fusion
 		bool continuing_conditions_passing = ((_params.ekf2_mag_type == MagFuseType::INIT)
 						      || (_params.ekf2_mag_type == MagFuseType::AUTO)
@@ -173,7 +168,14 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)

 		checkMagHeadingConsistency(mag_sample);

+		if (_control_status.flags.mag_fault && _control_status.flags.mag_heading_consistent
+		    && _control_status.flags.mag
+		    && isTimedOut(_time_last_heading_fuse, _params.reset_timeout_max)) {
+			_control_status.flags.mag_fault = false;
+		}
+
 		{
+
 			const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !isNorthEastAidingActive();
 			const bool common_conditions_passing = _control_status.flags.mag
 							       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
@@ -193,8 +195,6 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 							    || (_params.ekf2_mag_type == MagFuseType::AUTO && !_control_status.flags.mag_3D));
 		}

-		// TODO: allow clearing mag_fault if mag_3d is good?
-
 		if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) {
 			ECL_INFO("starting mag 3D fusion");

@@ -211,10 +211,18 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)

 			if (continuing_conditions_passing && _control_status.flags.yaw_align) {

-				if ((checkHaglYawResetReq() && (_control_status.flags.mag_hdg || _control_status.flags.mag_3D
-								|| _control_status.flags.yaw_manual))
-				    || (wmm_updated && no_ne_aiding_or_not_moving)) {
+				if (checkHaglYawResetReq() && (_control_status.flags.mag_hdg || _control_status.flags.mag_3D
+							       || _control_status.flags.yaw_manual)) {
 					ECL_INFO("reset to %s", AID_SRC_NAME);
+					const bool reset_heading = ((_control_status.flags.mag_hdg || _control_status.flags.mag_3D) && !isNorthEastAidingActive());
+					resetMagStates(_mag_lpf.getState(), reset_heading);
+
+					// record the start time for the magnetic field alignment
+					_control_status.flags.mag_aligned_in_flight = true;
+					_flt_mag_align_start_time = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
+
+				} else if (wmm_updated && no_ne_aiding_or_not_moving) {
 					const bool reset_heading = _control_status.flags.mag_hdg || _control_status.flags.mag_3D;
 					resetMagStates(_mag_lpf.getState(), reset_heading);
 					aid_src.time_last_fuse = imu_sample.time_us;
@@ -448,12 +456,6 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			 (double)mag_B_before_reset(0), (double)mag_B_before_reset(1), (double)mag_B_before_reset(2),
 			 (double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2));
 	}
-
-	// record the start time for the magnetic field alignment
-	if (_control_status.flags.in_air && (reset_heading || _control_status.flags.yaw_manual)) {
-		_control_status.flags.mag_aligned_in_flight = true;
-		_flt_mag_align_start_time = _time_delayed_us;
-	}
 }

 void Ekf::checkMagHeadingConsistency(const magSample &mag_sample)
@@ -475,16 +477,17 @@ void Ekf::checkMagHeadingConsistency(const magSample &mag_sample)
 	const Vector3f mag_earth_pred = R_to_earth * (mag_sample.mag - mag_bias);
 	const float declination = getMagDeclination();
 	const float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination;
+	float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg);

 	if (_control_status.flags.yaw_align) {
-		const float innovation = wrap_pi(getEulerYaw(_R_to_earth) - measured_hdg);
 		_mag_heading_innov_lpf.update(innovation);

 	} else {
-		_mag_heading_innov_lpf.reset(0.f);
+		innovation = 0.f;
+		_mag_heading_innov_lpf.reset(innovation);
 	}

-	if (fabsf(_mag_heading_innov_lpf.getState()) < _params.ekf2_head_noise) {
+	if ((fabsf(_mag_heading_innov_lpf.getState()) < _params.ekf2_head_noise) && (fabsf(innovation) < _params.ekf2_head_noise)) {
 		// Check if there has been enough change in horizontal velocity to make yaw observable

 		if (isNorthEastAidingActive() && (_accel_horiz_lpf.getState().longerThan(_params.ekf2_mag_acclim))) {
@@ -233,9 +233,6 @@ void Ekf::resetFlowFusion(const flowSample &flow_sample)
 	resetHorizontalVelocityTo(getFilteredFlowVelNE(), flow_vel_var);

 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);
-
-	_innov_check_fail_status.flags.reject_optflow_X = false;
-	_innov_check_fail_status.flags.reject_optflow_Y = false;
 }

 void Ekf::resetTerrainToFlow()
@@ -265,10 +262,6 @@ void Ekf::resetTerrainToFlow()

 	resetAidSourceStatusZeroInnovation(_aid_src_optical_flow);

-	_innov_check_fail_status.flags.reject_optflow_X = false;
-	_innov_check_fail_status.flags.reject_optflow_Y = false;
-
-
 	// record the state change
 	if (_state_reset_status.reset_count.hagl == _state_reset_count_prev.hagl) {
 		_state_reset_status.hagl_change = delta_terrain;
@@ -291,9 +284,6 @@ void Ekf::stopFlowFusion()
 		_fault_status.flags.bad_optflow_X = false;
 		_fault_status.flags.bad_optflow_Y = false;

-		_innov_check_fail_status.flags.reject_optflow_X = false;
-		_innov_check_fail_status.flags.reject_optflow_Y = false;
-
 		_flow_counter = 0;
 	}
 }
@@ -48,8 +48,6 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)

 	// if either axis fails we abort the fusion
 	if (_aid_src_optical_flow.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_optflow_X = true;
-		_innov_check_fail_status.flags.reject_optflow_Y = true;
 		return false;
 	}

@@ -100,9 +98,6 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
 	_fault_status.flags.bad_optflow_X = false;
 	_fault_status.flags.bad_optflow_Y = false;

-	_innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f);
-	_innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f);
-
 	_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
 	_aid_src_optical_flow.fused = true;

@@ -37,7 +37,6 @@
 bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain)
 {
 	if (aid_src.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_hagl = true;
 		return false;
 	}

@@ -60,9 +59,6 @@ bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, boo

 	measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation);

-	// record last successful fusion event
-	_innov_check_fail_status.flags.reject_hagl = false;
-
 	aid_src.time_last_fuse = _time_delayed_us;
 	aid_src.fused = true;

@@ -62,7 +62,6 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed)
 		if (beta_fusion_time_triggered) {

 			updateSideslip(_aid_src_sideslip);
-			_innov_check_fail_status.flags.reject_sideslip = _aid_src_sideslip.innovation_rejected;

 			if (fuseSideslip(_aid_src_sideslip)) {
 				_control_status.flags.wind = true;
@@ -527,26 +527,6 @@ bool bad_sideslip      :
 	uint32_t value;
 };

-// define structure used to communicate innovation test failures
-union innovation_fault_status_u {
-	struct {
-		bool reject_hor_vel   : 1; ///< 0 - true if horizontal velocity observations have been rejected
-		bool reject_ver_vel   : 1; ///< 1 - true if vertical velocity observations have been rejected
-		bool reject_hor_pos   : 1; ///< 2 - true if horizontal position observations have been rejected
-		bool reject_ver_pos   : 1; ///< 3 - true if true if vertical position observations have been rejected
-		bool reject_mag_x     : 1; ///< 4 - true if the X magnetometer observation has been rejected
-		bool reject_mag_y     : 1; ///< 5 - true if the Y magnetometer observation has been rejected
-		bool reject_mag_z     : 1; ///< 6 - true if the Z magnetometer observation has been rejected
-		bool reject_yaw       : 1; ///< 7 - true if the yaw observation has been rejected
-		bool reject_airspeed  : 1; ///< 8 - true if the airspeed observation has been rejected
-		bool reject_sideslip  : 1; ///< 9 - true if the synthetic sideslip observation has been rejected
-		bool reject_hagl      : 1; ///< 10 - unused
-		bool reject_optflow_X : 1; ///< 11 - true if the X optical flow observation has been rejected
-		bool reject_optflow_Y : 1; ///< 12 - true if the Y optical flow observation has been rejected
-	} flags;
-	uint16_t value;
-};
-
 // bitmask containing filter control status
 union filter_control_status_u {
 	struct {
@@ -91,7 +91,6 @@ void Ekf::reset()
 	_control_status_prev.flags.in_air = true;

 	_fault_status.value = 0;
-	_innov_check_fail_status.value = 0;

 #if defined(CONFIG_EKF2_GNSS)
 	_gnss_checks.resetHard();
@@ -1263,10 +1263,15 @@ void Ekf::clearInhibitedStateKalmanGains(VectorState &K) const

 float Ekf::getHeadingInnov() const
 {
+	float innov = 0.f;
+
 #if defined(CONFIG_EKF2_MAGNETOMETER)

 	if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
-		return Vector3f(_aid_src_mag.innovation).max();
+		innov = Vector3f(_aid_src_mag.innovation).max();
+
+	} else {
+		innov = _mag_heading_innov_lpf.getState();
 	}

 #endif // CONFIG_EKF2_MAGNETOMETER
@@ -1274,7 +1279,7 @@ float Ekf::getHeadingInnov() const
 #if defined(CONFIG_EKF2_GNSS_YAW)

 	if (_control_status.flags.gnss_yaw) {
-		return _aid_src_gnss_yaw.innovation;
+		innov = _aid_src_gnss_yaw.innovation;
 	}

 #endif // CONFIG_EKF2_GNSS_YAW
@@ -1282,12 +1287,12 @@ float Ekf::getHeadingInnov() const
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)

 	if (_control_status.flags.ev_yaw) {
-		return _aid_src_ev_yaw.innovation;
+		innov = _aid_src_ev_yaw.innovation;
 	}

 #endif // CONFIG_EKF2_EXTERNAL_VISION

-	return 0.f;
+	return innov;
 }

 float Ekf::getHeadingInnovVar() const
@@ -313,9 +313,6 @@ public:
 	const fault_status_u &fault_status() const { return _fault_status; }
 	const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }

-	const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
-	const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
-
 	const information_event_status_u &information_event_status() const { return _information_events; }
 	const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; }
 	void clear_information_events() { _information_events.value = 0; }
@@ -433,8 +430,6 @@ protected:
 	dragSample _drag_down_sampled{};	// down sampled drag specific force data (filter prediction rate -> observation rate)
 #endif // CONFIG_EKF2_DRAG_FUSION

-	innovation_fault_status_u _innov_check_fail_status{};
-
 	bool _horizontal_deadreckon_time_exceeded{true};
 	bool _vertical_position_deadreckon_time_exceeded{true};
 	bool _vertical_velocity_deadreckon_time_exceeded{true};
@@ -75,8 +75,6 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H

 	// set the heading unhealthy if the test fails
 	if (aid_src_status.innovation_rejected) {
-		_innov_check_fail_status.flags.reject_yaw = true;
-
 		// if we are in air we don't want to fuse the measurement
 		// we allow to use it when on the ground because the large innovation could be caused
 		// by interference or a large initial gyro bias
@@ -98,9 +96,6 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
 		} else {
 			return false;
 		}
-
-	} else {
-		_innov_check_fail_status.flags.reject_yaw = false;
 	}

 	measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation);
@@ -1898,13 +1898,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		_filter_fault_status_changes++;
 	}

-	// innovation check fail status
-	if (_ekf.innov_check_fail_status().value != _innov_check_fail_status) {
-		update = true;
-		_innov_check_fail_status = _ekf.innov_check_fail_status().value;
-		_innov_check_fail_status_changes++;
-	}
-
 	if (update) {
 		estimator_status_flags_s status_flags{};
 		status_flags.timestamp_sample = _ekf.time_delayed_us();
@@ -1972,18 +1965,6 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.fs_bad_acc_vertical      = _ekf.fault_status_flags().bad_acc_vertical;
 		status_flags.fs_bad_acc_clipping      = _ekf.fault_status_flags().bad_acc_clipping;

-		status_flags.innovation_fault_status_changes = _innov_check_fail_status_changes;
-		status_flags.reject_hor_vel                  = _ekf.innov_check_fail_status_flags().reject_hor_vel;
-		status_flags.reject_ver_vel                  = _ekf.innov_check_fail_status_flags().reject_ver_vel;
-		status_flags.reject_hor_pos                  = _ekf.innov_check_fail_status_flags().reject_hor_pos;
-		status_flags.reject_ver_pos                  = _ekf.innov_check_fail_status_flags().reject_ver_pos;
-		status_flags.reject_yaw                      = _ekf.innov_check_fail_status_flags().reject_yaw;
-		status_flags.reject_airspeed                 = _ekf.innov_check_fail_status_flags().reject_airspeed;
-		status_flags.reject_sideslip                 = _ekf.innov_check_fail_status_flags().reject_sideslip;
-		status_flags.reject_hagl                     = _ekf.innov_check_fail_status_flags().reject_hagl;
-		status_flags.reject_optflow_x                = _ekf.innov_check_fail_status_flags().reject_optflow_X;
-		status_flags.reject_optflow_y                = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
-
 		status_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 		_estimator_status_flags_pub.publish(status_flags);

@@ -414,11 +414,9 @@ private:

 	uint64_t _filter_control_status{0};
 	uint32_t _filter_fault_status{0};
-	uint32_t _innov_check_fail_status{0};

 	uint32_t _filter_control_status_changes{0};
 	uint32_t _filter_fault_status_changes{0};
-	uint32_t _innov_check_fail_status_changes{0};
 	uint32_t _filter_information_event_changes{0};

 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
@@ -67,325 +67,325 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 6490000,1,-0.0093,-0.011,0.00023,0.0049,0.0057,-0.052,0,0,-4.9e+02,-0.0015,-0.0057,-7.5e-05,0,0,-0.00015,0,0,0,0,0,0,0,0,-4.9e+02,0.0018,0.0018,0.0001,0.26,0.26,1.5,0.15,0.15,0.26,0.00012,0.00012,2.8e-06,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,1.7
 6590000,1,-0.0093,-0.011,0.00016,0.0037,0.0057,-0.099,0,0,-4.9e+02,-0.0014,-0.0057,-7.6e-05,0,0,2.9e-05,0,0,0,0,0,0,0,0,-4.9e+02,0.0015,0.0015,9.6e-05,0.2,0.2,1.1,0.12,0.12,0.23,9.7e-05,9.7e-05,2.6e-06,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,1.7
 6690000,1,-0.0093,-0.011,9.4e-05,0.0046,0.0053,-0.076,0,0,-4.9e+02,-0.0014,-0.0057,-7.6e-05,0,0,-0.00029,0,0,0,0,0,0,0,0,-4.9e+02,0.0016,0.0016,9.9e-05,0.23,0.23,0.78,0.14,0.14,0.21,9.7e-05,9.7e-05,2.6e-06,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1,1.7
-6790000,0.71,0.0012,-0.014,0.71,-0.0056,0.0034,-0.11,0,0,-4.9e+02,-0.0014,-0.0057,-7.5e-05,0,0,-7e-05,0.21,8e-05,0.43,3.5e-05,0.00033,-0.0024,0,0,-4.9e+02,0.0013,0.0013,0.053,0.18,0.18,0.6,0.1,0.1,0.2,7.8e-05,7.7e-05,2.4e-06,0.04,0.04,0.04,0.0015,0.0012,0.0014,0.0018,0.0015,0.0014,1,1,1.7
-6890000,0.71,0.0013,-0.014,0.7,-0.0076,0.0039,-0.12,0,0,-4.9e+02,-0.0015,-0.0057,-7.6e-05,0,0,-9.8e-05,0.21,1.3e-05,0.43,6.1e-07,0.00089,-0.00086,0,0,-4.9e+02,0.0013,0.0013,0.047,0.18,0.18,0.46,0.1,0.1,0.18,7.8e-05,7.6e-05,2.4e-06,0.04,0.04,0.04,0.0014,0.00065,0.0013,0.0017,0.0014,0.0013,1,1,1.8
-6990000,0.71,0.0013,-0.014,0.71,-0.0078,0.0042,-0.12,0,0,-4.9e+02,-0.0014,-0.0057,-7.7e-05,-2.8e-05,-0.00025,-0.00041,0.21,-3.9e-05,0.43,-0.00025,0.00056,-0.00042,0,0,-4.9e+02,0.0013,0.0013,0.044,0.19,0.19,0.36,0.11,0.11,0.16,7.8e-05,7.6e-05,2.4e-06,0.04,0.04,0.04,0.0013,0.00044,0.0013,0.0017,0.0013,0.0013,1,1,1.8
-7090000,0.71,0.0012,-0.014,0.71,-0.0084,0.0028,-0.13,0,0,-4.9e+02,-0.0014,-0.0057,-7.9e-05,0.0002,-0.00056,-0.00078,0.21,-3.8e-05,0.43,-0.00038,0.00025,-0.00041,0,0,-4.9e+02,0.0013,0.0013,0.043,0.2,0.2,0.29,0.12,0.12,0.16,7.8e-05,7.6e-05,2.4e-06,0.04,0.04,0.04,0.0013,0.00034,0.0013,0.0017,0.0013,0.0013,1,1,1.8
-7190000,0.71,0.0013,-0.014,0.71,-0.01,0.0027,-0.15,0,0,-4.9e+02,-0.0014,-0.0057,-7.8e-05,0.00014,-0.0005,-0.00057,0.21,-3.1e-05,0.43,-0.00036,0.00035,-0.00045,0,0,-4.9e+02,0.0013,0.0013,0.042,0.21,0.21,0.24,0.14,0.14,0.15,7.7e-05,7.6e-05,2.4e-06,0.04,0.04,0.04,0.0013,0.00027,0.0013,0.0016,0.0013,0.0013,1,1,1.8
-7290000,0.71,0.0015,-0.014,0.71,-0.012,0.0052,-0.15,0,0,-4.9e+02,-0.0015,-0.0057,-7.5e-05,-0.00022,-0.00021,-0.0012,0.21,-3.3e-05,0.43,-0.00035,0.00077,-0.00038,0,0,-4.9e+02,0.0013,0.0013,0.042,0.22,0.23,0.2,0.16,0.16,0.14,7.7e-05,7.6e-05,2.4e-06,0.04,0.04,0.04,0.0013,0.00023,0.0013,0.0016,0.0013,0.0013,1,1,1.9
-7390000,0.71,0.0016,-0.014,0.71,-0.012,0.0081,-0.16,0,0,-4.9e+02,-0.0016,-0.0057,-7.3e-05,-0.00029,-4.1e-05,-0.0014,0.21,-2.9e-05,0.43,-0.00035,0.00086,-0.00031,0,0,-4.9e+02,0.0013,0.0013,0.041,0.24,0.25,0.18,0.18,0.18,0.13,7.7e-05,7.6e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.0002,0.0013,0.0016,0.0013,0.0013,1,1,1.9
-7490000,0.71,0.0015,-0.014,0.71,-0.013,0.0071,-0.16,0,0,-4.9e+02,-0.0015,-0.0057,-7.4e-05,-0.00019,-7.7e-05,-0.0022,0.21,-2.2e-05,0.43,-0.00032,0.00079,-0.00042,0,0,-4.9e+02,0.0013,0.0013,0.041,0.27,0.27,0.15,0.21,0.21,0.12,7.6e-05,7.6e-05,2.4e-06,0.04,0.04,0.039,0.0013,0.00017,0.0013,0.0016,0.0013,0.0013,1,1,1.9
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@@ -210,6 +210,11 @@ bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
 	return _ekf->control_status_flags().ev_yaw;
 }

+bool EkfWrapper::isIntendingMagFusion() const
+{
+	return _ekf->control_status_flags().mag;
+}
+
 bool EkfWrapper::isIntendingMagHeadingFusion() const
 {
 	return _ekf->control_status_flags().mag_hdg;
@@ -225,6 +230,11 @@ bool EkfWrapper::isMagHeadingConsistent() const
 	return _ekf->control_status_flags().mag_heading_consistent;
 }

+bool EkfWrapper::isMagFaultDetected() const
+{
+	return _ekf->control_status_flags().mag_fault;
+}
+
 void EkfWrapper::setMagFuseTypeNone()
 {
 	_ekf_params->ekf2_mag_type = MagFuseType::NONE;
@@ -102,9 +102,11 @@ public:
 	void disableExternalVisionHeadingFusion();
 	bool isIntendingExternalVisionHeadingFusion() const;

+	bool isIntendingMagFusion() const;
 	bool isIntendingMagHeadingFusion() const;
 	bool isIntendingMag3DFusion() const;
 	bool isMagHeadingConsistent() const;
+	bool isMagFaultDetected() const;
 	void setMagFuseTypeNone();
 	void enableMagStrengthCheck();
 	void enableMagInclinationCheck();
@@ -15,7 +15,7 @@ Mag::~Mag()

 void Mag::send(uint64_t time)
 {
-	_ekf->setMagData(magSample{time, _mag_data});
+	_ekf->setMagData(magSample{time, _mag_data + _bias});
 }

 void Mag::setData(const Vector3f &mag)
@@ -52,9 +52,11 @@ public:
 	~Mag();

 	void setData(const Vector3f &mag);
+	void setBias(const Vector3f &bias) { _bias = bias; }

 private:
 	Vector3f _mag_data;
+	Vector3f _bias;

 	void send(uint64_t time) override;

@@ -271,3 +271,41 @@ TEST_F(EkfMagTest, velocityRotationOnYawReset)
 	const float yaw_change = fabsf(wrap_pi(yaw_after - yaw_before));
 	EXPECT_GT(yaw_change, 0.3f) << "Yaw change: " << degrees(yaw_change) << " deg";
 }
+
+TEST_F(EkfMagTest, magFaultCleared)
+{
+	// GIVEN: biased mag data
+	_sensor_simulator._mag.setBias(Vector3f(-0.3f, 0.2f, 0.f));
+	_ekf_wrapper.enableGpsFusion();
+	_sensor_simulator.startGps();
+	_sensor_simulator.runSeconds(11);
+
+	// THEN: the initial heading is incorrect
+	EXPECT_NEAR(degrees(_ekf_wrapper.getYawAngle()), -110.f, 5.f);
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+
+	// WHEN: motion allows the yaw estimator to converge
+	_sensor_simulator.setTrajectoryTargetVelocity(Vector3f(2.f, -2.f, -1.f));
+	_ekf->set_in_air_status(true);
+
+	_sensor_simulator.runTrajectorySeconds(3.f);
+
+	// THEN: the heading error is detected, solved and mag is declared faulty
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
+	EXPECT_TRUE(_ekf_wrapper.isMagFaultDetected());
+
+	// BUT when: the mag disturbance is gone
+	_sensor_simulator._mag.setBias(Vector3f());
+	_sensor_simulator.setTrajectoryTargetVelocity(Vector3f(0.f, 0.f, 0.f));
+
+	_sensor_simulator.runTrajectorySeconds(7.f);
+
+	// THEN: the fault is cleared and mag fusion restarts
+	EXPECT_FALSE(_ekf_wrapper.isMagFaultDetected());
+	EXPECT_TRUE(_ekf_wrapper.isMagHeadingConsistent());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); // because in-flight alignment is required
+}
@@ -305,7 +305,7 @@ void OutputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool y
 	_stabilize[2] = yaw_stabilize;
 }

-void OutputBase::set_last_valid_setpoint(const bool compensate[3], const matrix::Eulerf euler_vehicle)
+void OutputBase::set_last_valid_setpoint(const bool compensate[3], const matrix::Eulerf &euler_vehicle)
 {
 	// No updates from angular velocity, hence no modification of last valid setpoint
 	if (!PX4_ISFINITE(_angle_velocity[0]) && !PX4_ISFINITE(_angle_velocity[1]) && !PX4_ISFINITE(_angle_velocity[2])) {
@@ -106,9 +106,9 @@ protected:
 	 * the received MAVLink command, the last valid setpoint is updated to account for the vehicle attitude.
 	 *
 	 * @param compensate Boolean per axis (roll, pitch, yaw). If true, the vehicle attitude is taken into account.
-	 * @param euler_vehicle
+	 * @param euler_vehicle Reference to Euler float
 	 */
-	void set_last_valid_setpoint(const bool compensate[3], const matrix::Eulerf euler_vehicle);
+	void set_last_valid_setpoint(const bool compensate[3], const matrix::Eulerf &euler_vehicle);

 	float _angle_outputs[3] = { 0.f, 0.f, 0.f }; ///< calculated output angles (roll, pitch, yaw) [rad]

@@ -38,8 +38,6 @@
 #include <px4_platform_common/defines.h>
 #include <matrix/matrix/math.hpp>

-using math::constrain;
-
 namespace gimbal
 {

@@ -126,6 +126,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
 	add_optional_topic("spoilers_setpoint", 1000);
+	add_optional_topic("servo_status", 100);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);
 	add_optional_topic("tecs_status", 200);
@@ -150,6 +151,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_rates_setpoint", 20);
 	add_topic("vehicle_roi", 1000);
 	add_topic("vehicle_status");
+	add_topic("vtx");
 	add_optional_topic("vtol_vehicle_status", 200);
 	add_topic("wind", 1000);
 	add_topic("fixed_wing_lateral_setpoint");
@@ -1714,8 +1714,8 @@ void Logger::write_formats(LogType type)

 	formats_to_write.set(_event_subscription.get_topic()->o_id);

-
-	static_assert(sizeof(msg.format) > uORB::orb_tokenized_fields_max_length, "uORB message definition too long");
+	// Due to leftover_length we need to add 150 bytes of margin, measured empirically
+	static_assert(sizeof(msg.format) > (uORB::orb_untokenized_fields_max_length + 150u), "uORB message definition too long");
 	uORB::MessageFormatReader format_reader(msg.format, sizeof(msg.format));
 	bool done = false;

@@ -450,8 +450,8 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
 		break;

 	default:
-		target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid)
-				|| (target_component == MAV_COMP_ID_ALL));
+		target_ok = ((target_system == 0) || (target_system == mavlink_system.sysid))
+			    && ((target_component == mavlink_system.compid) || (target_component == MAV_COMP_ID_ALL));
 		break;
 	}

@@ -112,7 +112,7 @@ private:
 			//  Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle
 			//  (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.)
 			for (auto &pc : msg.pose_covariance) {
-				pc = NAN;
+				pc = 0.f;
 			}

 			msg.pose_covariance[0]  = odom.position_variance[0];  // X  row 0, col 0
@@ -127,7 +127,7 @@ private:
 			//  Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle
 			//  (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.)
 			for (auto &vc : msg.velocity_covariance) {
-				vc = NAN;
+				vc = 0.f;
 			}

 			msg.velocity_covariance[0]  = odom.velocity_variance[0];   // X  row 0, col 0
@@ -226,7 +226,10 @@ void RTL::on_activation()
 	case RtlType::RTL_DIRECT_MISSION_LAND:	// Fall through
 	case RtlType::RTL_MISSION_FAST: // Fall through
 	case RtlType::RTL_MISSION_FAST_REVERSE:
-		_rtl_mission_type_handle->setReturnAltMin(_enforce_rtl_alt);
+		if (_rtl_mission_type_handle) {
+			_rtl_mission_type_handle->setReturnAltMin(_enforce_rtl_alt);
+		}
+
 		break;

 	case RtlType::RTL_DIRECT:
@@ -310,171 +313,235 @@ bool RTL::isLanding()

 void RTL::setRtlTypeAndDestination()
 {
+	uint8_t safe_point_index = UINT8_MAX;
+	RtlType new_rtl_type{RtlType::RTL_DIRECT};

-	init_rtl_mission_type();
+	// init destination with Home (used also with Type 2 and 4 as backup)
+	DestinationType destination_type = DestinationType::DESTINATION_TYPE_HOME;
+	PositionYawSetpoint destination;
+	destination.lat = _home_pos_sub.get().lat;
+	destination.lon = _home_pos_sub.get().lon;
+	destination.alt = _home_pos_sub.get().alt;
+	destination.yaw = _home_pos_sub.get().yaw;

-	uint8_t safe_point_index{0U};
+	loiter_point_s landing_loiter;
+	landing_loiter.lat = destination.lat;
+	landing_loiter.lon = destination.lon;
+	landing_loiter.height_m = NAN;

-	if (_param_rtl_type.get() != 2 && _param_rtl_type.get() != 4) {
+	if (_param_rtl_type.get() == 2) {
+		if (hasMissionLandStart()) {
+			new_rtl_type = RtlType::RTL_MISSION_FAST;
+
+		} else if (_navigator->get_mission_result()->valid) {
+			new_rtl_type = RtlType::RTL_MISSION_FAST_REVERSE;
+
+		} else {
+			// no valid mission, go direct to home
+			new_rtl_type = RtlType::RTL_DIRECT;
+		}
+
+	} else if (_param_rtl_type.get() == 4) {
+		if (hasMissionLandStart() && reverseIsFurther()) {
+			new_rtl_type = RtlType::RTL_MISSION_FAST;
+
+		} else if (_navigator->get_mission_result()->valid) {
+			new_rtl_type = RtlType::RTL_MISSION_FAST_REVERSE;
+
+		} else {
+			// no valid mission, go direct to home
+			new_rtl_type = RtlType::RTL_DIRECT;
+		}
+
+	} else {
 		// check the closest allowed destination.
-		DestinationType destination_type{DestinationType::DESTINATION_TYPE_HOME};
-		PositionYawSetpoint rtl_position;
-		float rtl_alt;
-		findRtlDestination(destination_type, rtl_position, rtl_alt, safe_point_index);
+		findRtlDestination(destination_type, destination, safe_point_index);

-		switch (destination_type) {
-		case DestinationType::DESTINATION_TYPE_MISSION_LAND:
-			_rtl_type = RtlType::RTL_DIRECT_MISSION_LAND;
-			_rtl_mission_type_handle->setRtlAlt(rtl_alt);
-			break;
+		if (destination_type == DestinationType::DESTINATION_TYPE_MISSION_LAND) {
+			new_rtl_type = RtlType::RTL_DIRECT_MISSION_LAND;

-		case DestinationType::DESTINATION_TYPE_SAFE_POINT: // Fallthrough
-		case DestinationType::DESTINATION_TYPE_HOME: // Fallthrough
-		default:
+		} else {

-			loiter_point_s landing_loiter;
-			landing_loiter.lat = rtl_position.lat;
-			landing_loiter.lon = rtl_position.lon;
+			new_rtl_type = RtlType::RTL_DIRECT;
+
+			land_approaches_s rtl_land_approaches{readVtolLandApproaches(destination)};
+
+			// set loiter position to destination initially, overwrite for VTOL if land approaches exist
+			landing_loiter.lat = destination.lat;
+			landing_loiter.lon = destination.lon;
 			landing_loiter.height_m = NAN;

-			land_approaches_s rtl_land_approaches{readVtolLandApproaches(rtl_position)};
-
 			if (_vehicle_status_sub.get().is_vtol
 			    && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)
 			    && rtl_land_approaches.isAnyApproachValid()) {
 				landing_loiter = chooseBestLandingApproach(rtl_land_approaches);
 			}
-
-			_rtl_type = RtlType::RTL_DIRECT;
-			_rtl_direct.setRtlAlt(rtl_alt);
-			_rtl_direct.setRtlPosition(rtl_position, landing_loiter);
-
-			break;
 		}
 	}

+	const float rtl_alt = computeReturnAltitude(destination, destination_type, (float)_param_rtl_cone_ang.get());
+	_rtl_direct.setRtlAlt(rtl_alt);
+	_rtl_direct.setRtlPosition(destination, landing_loiter);
+
+	const bool new_type_is_mission_based = (new_rtl_type == RtlType::RTL_MISSION_FAST)
+					       || (new_rtl_type == RtlType::RTL_MISSION_FAST_REVERSE)
+					       || (new_rtl_type == RtlType::RTL_DIRECT_MISSION_LAND);
+
+	if (new_type_is_mission_based && (_rtl_type != new_rtl_type)) {
+		initRtlMissionType(new_rtl_type, rtl_alt);
+	}
+
+	_rtl_type = new_rtl_type;
+
 	// Publish rtl status
-	_rtl_status_pub.get().timestamp = hrt_absolute_time();
-	_rtl_status_pub.get().safe_points_id = _safe_points_id;
-	_rtl_status_pub.get().is_evaluation_pending = _dataman_state != DatamanState::UpdateRequestWait;
-	_rtl_status_pub.get().has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach;
-
-	_rtl_status_pub.get().rtl_type = static_cast<uint8_t>(_rtl_type);
-	_rtl_status_pub.get().safe_point_index = safe_point_index;
-
-	_rtl_status_pub.update();
-
+	rtl_status_s rtl_status{};
+	rtl_status.safe_points_id = _safe_points_id;
+	rtl_status.is_evaluation_pending = _dataman_state != DatamanState::UpdateRequestWait;
+	rtl_status.has_vtol_approach = _home_has_land_approach || _one_rally_point_has_land_approach;
+	rtl_status.rtl_type = static_cast<uint8_t>(_rtl_type);
+	rtl_status.safe_point_index = safe_point_index;
+	rtl_status.timestamp = hrt_absolute_time();
+	_rtl_status_pub.publish(rtl_status);
 }

-void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt,
-			     uint8_t &safe_point_index)
+PositionYawSetpoint RTL::findClosestSafePoint(float min_dist, uint8_t &safe_point_index)
 {
-	// set destination to home per default, then check if other valid landing spot is closer
-	rtl_position.alt = _home_pos_sub.get().alt;
-	rtl_position.lat = _home_pos_sub.get().lat;
-	rtl_position.lon = _home_pos_sub.get().lon;
-	rtl_position.yaw = _home_pos_sub.get().yaw;
-	destination_type = DestinationType::DESTINATION_TYPE_HOME;
-
-	const bool vtol_in_rw_mode = _vehicle_status_sub.get().is_vtol
-				     && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
-
 	const bool vtol_in_fw_mode = _vehicle_status_sub.get().is_vtol
 				     && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);

-	// get distance to home position
-	float home_dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, rtl_position.lat, rtl_position.lon)};
-	float min_dist;
-
-	_home_has_land_approach = hasVtolLandApproach(rtl_position);
-
-	if (((_param_rtl_type.get() == 1) && !vtol_in_rw_mode) || (vtol_in_fw_mode && (_param_rtl_approach_force.get() == 1)
-			&& !_home_has_land_approach)) {
-		// Set minimum distance to maximum value when RTL_TYPE is set to 1 and we are not in RW mode or we forces approach landing for vtol in fw and it is not defined for home.
-		min_dist = FLT_MAX;
-
-	} else {
-		min_dist = home_dist;
-	}
-
-	// consider the mission landing if available and allowed
-	if (((_param_rtl_type.get() == 1) || (_param_rtl_type.get() == 3) || (fabsf(FLT_MAX - min_dist) < FLT_EPSILON))
-	    && hasMissionLandStart()) {
-		mission_item_s land_mission_item;
-		const dm_item_t dm_item = static_cast<dm_item_t>(_mission_sub.get().mission_dataman_id);
-		bool success = _dataman_cache_landItem.loadWait(dm_item, _mission_sub.get().land_index,
-				reinterpret_cast<uint8_t *>(&land_mission_item), sizeof(mission_item_s), 500_ms);
-
-		if (!success) {
-			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission land item could not be read.\t");
-			events::send(events::ID("rtl_failed_to_read_land_item"), events::Log::Error,
-				     "Mission land item could not be read");
-		}
-
-		float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, land_mission_item.lat, land_mission_item.lon)};
-
-		if ((dist + MIN_DIST_THRESHOLD) < min_dist) {
-			if (_param_rtl_type.get() != 0) {
-				min_dist = dist;
-
-			} else {
-				// Mission landing is not allowed, but home has no approaches. Still use mission landing.
-				min_dist = FLT_MAX;
-			}
-
-			setLandPosAsDestination(rtl_position, land_mission_item);
-			destination_type = DestinationType::DESTINATION_TYPE_MISSION_LAND;
-		}
-	}
+	PositionYawSetpoint safe_point{(double)NAN, (double)NAN, NAN, NAN};

 	if (_safe_points_updated) {
-
 		_one_rally_point_has_land_approach = false;

 		for (int current_seq = 0; current_seq < _dataman_cache_safepoint.size(); ++current_seq) {
 			mission_item_s mission_safe_point;

-			bool success = _dataman_cache_safepoint.loadWait(static_cast<dm_item_t>(_stats.dataman_id), current_seq,
-					reinterpret_cast<uint8_t *>(&mission_safe_point),
-					sizeof(mission_item_s), 500_ms);
+			const bool success = _dataman_cache_safepoint.loadWait(static_cast<dm_item_t>(_stats.dataman_id), current_seq,
+					     reinterpret_cast<uint8_t *>(&mission_safe_point),
+					     sizeof(mission_item_s), 500_ms);

 			if (!success) {
 				PX4_ERR("dm_read failed");
 				continue;
 			}

-			// Ignore safepoints which are too close to the homepoint
-			const float dist_to_home = get_distance_to_next_waypoint(_home_pos_sub.get().lat, _home_pos_sub.get().lon,
-						   mission_safe_point.lat, mission_safe_point.lon);
+			// Ignore safepoints which are too close to the homepoint (only if home is an option to return to)
+			const bool far_from_home = get_distance_to_next_waypoint(_home_pos_sub.get().lat, _home_pos_sub.get().lon,
+						   mission_safe_point.lat, mission_safe_point.lon) > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES;

-			if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && dist_to_home > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES) {
-				float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)};
+			if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && (far_from_home || (_param_rtl_type.get() == 5))) {
+				const float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)};

 				PositionYawSetpoint safepoint_position;
 				setSafepointAsDestination(safepoint_position, mission_safe_point);

-				bool current_safe_point_has_approaches{hasVtolLandApproach(safepoint_position)};
+				const bool current_safe_point_has_approaches{hasVtolLandApproach(safepoint_position)};

 				_one_rally_point_has_land_approach |= current_safe_point_has_approaches;

-				if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_approach_force.get() == 0)
-						|| current_safe_point_has_approaches)) {
+				if (((dist + MIN_DIST_THRESHOLD) < min_dist)
+				    && (!vtol_in_fw_mode || (_param_rtl_appr_force.get() == 0) || current_safe_point_has_approaches)) {
 					min_dist = dist;
-					rtl_position = safepoint_position;
-					destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT;
+					safe_point = safepoint_position;
 					safe_point_index = current_seq;
 				}
 			}
 		}
 	}

-	if (_param_rtl_cone_half_angle_deg.get() > 0
-	    && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-		rtl_alt = calculate_return_alt_from_cone_half_angle(rtl_position, (float)_param_rtl_cone_half_angle_deg.get());
+	return safe_point;
+}

-	} else {
-		rtl_alt = max(_global_pos_sub.get().alt, rtl_position.alt + _param_rtl_return_alt.get());
+void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &destination, uint8_t &safe_point_index)
+{
+	const bool vtol_in_rw_mode = _vehicle_status_sub.get().is_vtol
+				     && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
+
+	const bool vtol_in_fw_mode = _vehicle_status_sub.get().is_vtol
+				     && (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
+
+	float min_dist = FLT_MAX;
+
+	if (_param_rtl_type.get() != 5) {
+		_home_has_land_approach = hasVtolLandApproach(destination);
+
+		const bool prioritize_safe_points_over_home = ((_param_rtl_type.get() == 1) && !vtol_in_rw_mode);
+		const bool required_approach_missing_for_home = (vtol_in_fw_mode && (_param_rtl_appr_force.get() == 1) && !_home_has_land_approach);
+
+		// Set minimum distance to maximum value when RTL_TYPE is set to 1 and we are not in RW mode or we force approach landing for vtol in fw and it is not defined for home.
+		const bool deprioritize_home = prioritize_safe_points_over_home || required_approach_missing_for_home;
+
+		if (!deprioritize_home) {
+			// distance to home position
+			min_dist = get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, destination.lat, destination.lon);
+		}
+
+		// Mission landing
+		if (((_param_rtl_type.get() == 1) || (_param_rtl_type.get() == 3) || (fabsf(FLT_MAX - min_dist) < FLT_EPSILON)) && hasMissionLandStart()) {
+			mission_item_s land_mission_item;
+			const dm_item_t dm_item = static_cast<dm_item_t>(_mission_sub.get().mission_dataman_id);
+			bool success = _dataman_cache_landItem.loadWait(dm_item, _mission_sub.get().land_index,
+					reinterpret_cast<uint8_t *>(&land_mission_item), sizeof(mission_item_s), 500_ms);
+
+			if (!success) {
+				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission land item could not be read.\t");
+				events::send(events::ID("rtl_failed_to_read_land_item"), events::Log::Error,
+					     "Mission land item could not be read");
+			}
+
+			float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, land_mission_item.lat, land_mission_item.lon)};
+
+			if ((dist + MIN_DIST_THRESHOLD) < min_dist) {
+				if (_param_rtl_type.get() != 0) {
+					min_dist = dist;
+
+				} else {
+					// Mission landing is not allowed, but home has no approaches. Still use mission landing.
+					min_dist = FLT_MAX;
+				}
+
+				setLandPosAsDestination(destination, land_mission_item);
+				destination_type = DestinationType::DESTINATION_TYPE_MISSION_LAND;
+			}
+		}
+	}
+
+	// Safe/rally points
+	PositionYawSetpoint safe_point = findClosestSafePoint(min_dist, safe_point_index);
+
+	if (safe_point_index != UINT8_MAX) {
+		destination = safe_point;
+		destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT;
+
+	} else if (_param_rtl_type.get() == 5) {
+		// Safe points only but no valid safe point, fallback to last position with valid data link
+		for (auto &telemetry_status :  _telemetry_status_subs) {
+			telemetry_status_s telemetry;
+
+			if (telemetry_status.update(&telemetry)) {
+
+				if (telemetry.heartbeat_type_gcs) {
+					_last_position_before_link_loss.alt = _global_pos_sub.get().alt;
+					_last_position_before_link_loss.lat = _global_pos_sub.get().lat;
+					_last_position_before_link_loss.lon = _global_pos_sub.get().lon;
+					break;
+				}
+			}
+		}
+
+		if (PX4_ISFINITE(_last_position_before_link_loss.lat) && PX4_ISFINITE(_last_position_before_link_loss.lon)) {
+			destination = _last_position_before_link_loss;
+
+		} else {
+			// If no valid data link position, fallback to current position
+			destination.alt = _global_pos_sub.get().alt;
+			destination.lat = _global_pos_sub.get().lat;
+			destination.lon = _global_pos_sub.get().lon;
+		}
+
+		destination_type = DestinationType::DESTINATION_TYPE_LAST_LINK_POSITION;
 	}
 }

@@ -484,11 +551,9 @@ void RTL::setLandPosAsDestination(PositionYawSetpoint &rtl_position, mission_ite
 			   _home_pos_sub.get().alt : land_mission_item.altitude;
 	rtl_position.lat = land_mission_item.lat;
 	rtl_position.lon = land_mission_item.lon;
-	rtl_position.yaw = _home_pos_sub.get().yaw;
 }

-void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position,
-				    const mission_item_s &mission_safe_point) const
+void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mission_item_s &mission_safe_point) const
 {
 	// There is a safe point closer than home/mission landing
 	// TODO: handle all possible mission_safe_point.frame cases
@@ -497,14 +562,12 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position,
 		rtl_position.lat = mission_safe_point.lat;
 		rtl_position.lon = mission_safe_point.lon;
 		rtl_position.alt = mission_safe_point.altitude;
-		rtl_position.yaw = _home_pos_sub.get().yaw;;
 		break;

 	case 3: // MAV_FRAME_GLOBAL_RELATIVE_ALT
 		rtl_position.lat = mission_safe_point.lat;
 		rtl_position.lon = mission_safe_point.lon;
 		rtl_position.alt = mission_safe_point.altitude + _home_pos_sub.get().alt; // alt of safe point is rel to home
-		rtl_position.yaw = _home_pos_sub.get().yaw;;
 		break;

 	default:
@@ -515,102 +578,95 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position,
 	}
 }

-float RTL::calculate_return_alt_from_cone_half_angle(const PositionYawSetpoint &rtl_position,
-		float cone_half_angle_deg) const
+float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const
 {
-	// horizontal distance to destination
-	const float destination_dist = get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon,
-				       rtl_position.lat, rtl_position.lon);
+	if (destination_type == DestinationType::DESTINATION_TYPE_LAST_LINK_POSITION) {
+		// when returning to last known link position, do not modify altitude
+		return rtl_position.alt;
+	}

-	// minium rtl altitude to use when outside of horizontal acceptance radius of target position.
-	// We choose the minimum height to be two times the distance from the land position in order to
-	// avoid the vehicle touching the ground while still moving horizontally.
-	const float return_altitude_min_outside_acceptance_rad_amsl = rtl_position.alt + 2.0f * _param_nav_acc_rad.get();
+	if (_param_rtl_cone_ang.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+		// horizontal distance to destination
+		const float destination_dist =
+			get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, rtl_position.lat, rtl_position.lon);

-	const float max_return_altitude = rtl_position.alt + _param_rtl_return_alt.get();
+		// minium rtl altitude to use when outside of horizontal acceptance radius of target position.
+		// We choose the minimum height to be two times the distance from the land position in order to
+		// avoid the vehicle touching the ground while still moving horizontally.
+		const float return_altitude_min_outside_acceptance_rad_amsl = rtl_position.alt + 2.0f * _param_nav_acc_rad.get();

-	float return_altitude_amsl = max_return_altitude;
+		const float max_return_altitude = rtl_position.alt + _param_rtl_return_alt.get();

-	if (destination_dist <= _param_nav_acc_rad.get()) {
-		return_altitude_amsl = rtl_position.alt + 2.0f * destination_dist;
+		float return_altitude_amsl = max_return_altitude;
+
+		if (destination_dist <= _param_nav_acc_rad.get()) {
+			return_altitude_amsl = rtl_position.alt + 2.0f * destination_dist;
+
+		} else {
+			if (destination_dist <= _param_rtl_min_dist.get()) {
+
+				// constrain cone half angle to meaningful values. All other cases are already handled above.
+				const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f));
+
+				// minimum altitude we need in order to be within the user defined cone
+				const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + rtl_position.alt;
+
+				return_altitude_amsl = min(cone_intersection_altitude_amsl, return_altitude_amsl);
+			}
+
+			return_altitude_amsl = max(return_altitude_amsl, return_altitude_min_outside_acceptance_rad_amsl);
+		}
+
+		return constrain(return_altitude_amsl, _global_pos_sub.get().alt, max_return_altitude);

 	} else {
-		if (destination_dist <= _param_rtl_min_dist.get()) {
-
-			// constrain cone half angle to meaningful values. All other cases are already handled above.
-			const float cone_half_angle_rad = radians(constrain(cone_half_angle_deg, 1.0f, 89.0f));
-
-			// minimum altitude we need in order to be within the user defined cone
-			const float cone_intersection_altitude_amsl = destination_dist / tanf(cone_half_angle_rad) + rtl_position.alt;
-
-			return_altitude_amsl = min(cone_intersection_altitude_amsl, return_altitude_amsl);
-		}
-
-		return_altitude_amsl = max(return_altitude_amsl, return_altitude_min_outside_acceptance_rad_amsl);
+		// standard behaviour: return altitude above rtl destination
+		return max(_global_pos_sub.get().alt, rtl_position.alt + _param_rtl_return_alt.get());
 	}
-
-	return constrain(return_altitude_amsl, _global_pos_sub.get().alt, max_return_altitude);
 }

-void RTL::init_rtl_mission_type()
+void RTL::initRtlMissionType(RtlType new_rtl_type, float rtl_alt)
 {
-	RtlType new_rtl_mission_type{RtlType::RTL_DIRECT_MISSION_LAND};
-
-	if (_param_rtl_type.get() == 2) {
-		if (hasMissionLandStart()) {
-			new_rtl_mission_type = RtlType::RTL_MISSION_FAST;
-
-		} else {
-			new_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE;
-		}
-
-	} else if (_param_rtl_type.get() == 4) {
-		if (hasMissionLandStart() && reverseIsFurther()) {
-			new_rtl_mission_type = RtlType::RTL_MISSION_FAST;
-
-		} else {
-			new_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE;
-		}
-	}
-
-	if (_set_rtl_mission_type == new_rtl_mission_type) {
-		return;
-	}
-
 	if (_rtl_mission_type_handle) {
 		delete _rtl_mission_type_handle;
 		_rtl_mission_type_handle = nullptr;
-		_set_rtl_mission_type = RtlType::NONE;
 	}

 	mission_s new_mission = _mission_sub.get();

-	switch (new_rtl_mission_type) {
+	switch (new_rtl_type) {
 	case RtlType::RTL_DIRECT_MISSION_LAND:
 		_rtl_mission_type_handle = new RtlDirectMissionLand(_navigator);
-		_set_rtl_mission_type = RtlType::RTL_DIRECT_MISSION_LAND;
+
+		if (_rtl_mission_type_handle) {
+			_rtl_mission_type_handle->setRtlAlt(rtl_alt);
+			_rtl_mission_type_handle->initialize();
+		}
+
 		// RTL type is either direct or mission land have to set it later.
 		break;

 	case RtlType::RTL_MISSION_FAST:
 		_rtl_mission_type_handle = new RtlMissionFast(_navigator, new_mission);
-		_set_rtl_mission_type = RtlType::RTL_MISSION_FAST;
-		_rtl_type = RtlType::RTL_MISSION_FAST;
+
+		if (_rtl_mission_type_handle) {
+			_rtl_mission_type_handle->initialize();
+		}
+
 		break;

 	case RtlType::RTL_MISSION_FAST_REVERSE:
 		_rtl_mission_type_handle = new RtlMissionFastReverse(_navigator, new_mission);
-		_set_rtl_mission_type = RtlType::RTL_MISSION_FAST_REVERSE;
-		_rtl_type = RtlType::RTL_MISSION_FAST_REVERSE;
+
+		if (_rtl_mission_type_handle) {
+			_rtl_mission_type_handle->initialize();
+		}
+
 		break;

 	default:
 		break;
 	}
-
-	if (_rtl_mission_type_handle) {
-		_rtl_mission_type_handle->initialize();
-	}
 }

 void RTL::parameters_update()
@@ -55,11 +55,13 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/rtl_status.h>
 #include <uORB/topics/rtl_time_estimate.h>
+#include <uORB/topics/telemetry_status.h>

 class Navigator;

@@ -71,11 +73,11 @@ public:
 	~RTL() = default;

 	enum class RtlType {
-		NONE,
-		RTL_DIRECT,
-		RTL_DIRECT_MISSION_LAND,
-		RTL_MISSION_FAST,
-		RTL_MISSION_FAST_REVERSE,
+		NONE = rtl_status_s::RTL_STATUS_TYPE_NONE,
+		RTL_DIRECT = rtl_status_s::RTL_STATUS_TYPE_DIRECT_SAFE_POINT,
+		RTL_DIRECT_MISSION_LAND = rtl_status_s::RTL_STATUS_TYPE_DIRECT_MISSION_LAND,
+		RTL_MISSION_FAST = rtl_status_s::RTL_STATUS_TYPE_FOLLOW_MISSION,
+		RTL_MISSION_FAST_REVERSE = rtl_status_s::RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE,
 	};

 	void on_inactive() override;
@@ -95,6 +97,7 @@ private:
 		DESTINATION_TYPE_HOME,
 		DESTINATION_TYPE_MISSION_LAND,
 		DESTINATION_TYPE_SAFE_POINT,
+		DESTINATION_TYPE_LAST_LINK_POSITION
 	};

 private:
@@ -130,8 +133,13 @@ private:
 	 * @brief Find RTL destination.
 	 *
 	 */
-	void findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt,
-				uint8_t &safe_point_index);
+	void findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &destination, uint8_t &safe_point_index);
+
+	/**
+	 * @brief Find RTL destination if only safe points are considered
+	 *
+	 */
+	PositionYawSetpoint findClosestSafePoint(float min_dist, uint8_t &safe_point_index);

 	/**
 	 * @brief Set the position of the land start marker in the planned mission as destination.
@@ -147,20 +155,20 @@ private:
 	void setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mission_item_s &mission_safe_point) const;

 	/**
-	 * @brief calculate return altitude from cone half angle
+	 * @brief calculate return altitude from return altitude parameter, current altitude and cone angle
 	 *
 	 * @param[in] rtl_position landing position of the rtl
+	 * @param[in] destination_type type of the rtl destination
 	 * @param[in] cone_half_angle_deg half angle of the cone [deg]
 	 * @return return altitude
 	 */
-	float calculate_return_alt_from_cone_half_angle(const PositionYawSetpoint &rtl_position,
-			float cone_half_angle_deg) const;
+	float computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const;

 	/**
 	 * @brief initialize RTL mission type
 	 *
 	 */
-	void init_rtl_mission_type();
+	void initRtlMissionType(RtlType new_rtl_type, float rtl_alt);

 	/**
 	 * @brief Update parameters
@@ -206,8 +214,6 @@ private:
 	hrt_abstime _destination_check_time{0};

 	RtlBase *_rtl_mission_type_handle{nullptr};
-	RtlType _set_rtl_mission_type{RtlType::NONE};
-
 	RtlType _rtl_type{RtlType::RTL_DIRECT};

 	bool _home_has_land_approach;			///< Flag if the home position has a land approach defined
@@ -223,6 +229,7 @@ private:
 	mutable DatamanCache _dataman_cache_landItem{"rtl_dm_cache_miss_land", 2};
 	uint32_t _mission_id = 0u;
 	uint32_t _safe_points_id = 0u;
+	PositionYawSetpoint _last_position_before_link_loss{(double)NAN, (double)NAN, NAN, NAN};

 	mission_stats_entry_s _stats;

@@ -232,11 +239,11 @@ private:

 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::RTL_TYPE>)          _param_rtl_type,
-		(ParamInt<px4::params::RTL_CONE_ANG>)      _param_rtl_cone_half_angle_deg,
+		(ParamInt<px4::params::RTL_CONE_ANG>)      _param_rtl_cone_ang,
 		(ParamFloat<px4::params::RTL_RETURN_ALT>)  _param_rtl_return_alt,
 		(ParamFloat<px4::params::RTL_MIN_DIST>)    _param_rtl_min_dist,
 		(ParamFloat<px4::params::NAV_ACC_RAD>)     _param_nav_acc_rad,
-		(ParamInt<px4::params::RTL_APPR_FORCE>)    _param_rtl_approach_force
+		(ParamInt<px4::params::RTL_APPR_FORCE>)    _param_rtl_appr_force
 	)

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -246,7 +253,8 @@ private:
 	uORB::SubscriptionData<mission_s> _mission_sub{ORB_ID(mission)};
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};
 	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};
+	uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};

 	uORB::Publication<rtl_time_estimate_s> _rtl_time_estimate_pub{ORB_ID(rtl_time_estimate)};
-	uORB::PublicationData<rtl_status_s> _rtl_status_pub{ORB_ID(rtl_status)};
+	uORB::Publication<rtl_status_s> _rtl_status_pub{ORB_ID(rtl_status)};
 };
@@ -54,8 +54,6 @@ RtlDirect::RtlDirect(Navigator *navigator) :
 	MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL),
 	ModuleParams(navigator)
 {
-	_destination.lat = static_cast<double>(NAN);
-	_destination.lon = static_cast<double>(NAN);
 	_land_approach.lat = static_cast<double>(NAN);
 	_land_approach.lon = static_cast<double>(NAN);
 	_land_approach.height_m = NAN;
@@ -127,8 +125,6 @@ void RtlDirect::on_inactive()

 void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s loiter_pos)
 {
-	_home_pos_sub.update();
-
 	parameters_update();

 	// Only allow to set a new approach if the mode is not activated yet.
@@ -136,20 +132,6 @@ void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s
 		_destination = rtl_position;
 		_force_heading = false;

-		// Input sanitation
-		if (!PX4_ISFINITE(_destination.lat) || !PX4_ISFINITE(_destination.lon)) {
-			// We don't have a valid rtl position, use the home position instead.
-			_destination.lat = _home_pos_sub.get().lat;
-			_destination.lon = _home_pos_sub.get().lon;
-			_destination.alt = _home_pos_sub.get().alt;
-			_destination.yaw = _home_pos_sub.get().yaw;
-		}
-
-		if (!PX4_ISFINITE(_destination.alt)) {
-			// Not a valid rtl land altitude. Assume same altitude as home position.
-			_destination.alt = _home_pos_sub.get().alt;
-		}
-
 		_land_approach = sanitizeLandApproach(loiter_pos);

 		const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)};
@@ -507,7 +489,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate()
 		case RTLState::MOVE_TO_LAND:
 		case RTLState::TRANSITION_TO_MC:
 		case RTLState::MOVE_TO_LAND_HOVER: {
-				// Add cruise segment to home
+				// Add cruise segment to destination
 				float move_to_land_dist{0.f};
 				matrix::Vector2f direction{};

@@ -46,7 +46,6 @@
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/home_position.h>
 #include <uORB/topics/navigator_mission_item.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/rtl_time_estimate.h>
@@ -167,10 +166,10 @@ private:
 	bool _force_heading{false};
 	RtlTimeEstimator _rtl_time_estimator;

-	PositionYawSetpoint _destination; ///< the RTL position to fly to
+	PositionYawSetpoint _destination{(double)NAN, (double)NAN, NAN, NAN}; ///< the RTL position to fly to
 	loiter_point_s _land_approach;

-	float _rtl_alt{0.0f};	///< AMSL altitude at which the vehicle should return to the home position
+	float _rtl_alt{0.0f}; ///< AMSL altitude at which the vehicle should transit to the destination

 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
@@ -185,7 +184,6 @@ private:

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::SubscriptionData<vehicle_global_position_s> _global_pos_sub{ORB_ID(vehicle_global_position)};	/**< global position subscription */
-	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
 	uORB::SubscriptionData<vehicle_land_detected_s> _land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */
 	uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};	/**< vehicle status subscription */
 	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};
@@ -257,10 +257,12 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 		} else if ((_work_item_type == WorkItemType::WORK_ITEM_TYPE_CLIMB ||
 			    _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND ||
 			    _work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) {
-			_mission_item.nav_cmd = NAV_CMD_LAND;
+
 			_mission_item.lat = _home_pos_sub.get().lat;
 			_mission_item.lon = _home_pos_sub.get().lon;
 			_mission_item.yaw = NAN;
+			_mission_item.altitude = _global_pos_sub.get().alt;
+			_mission_item.altitude_is_relative = false;

 			// make previous and next setpoints invalid, such that there will be no line following.
 			// If the vehicle drifted off the path during back-transition it should just go straight to the landing point.
@@ -271,15 +273,17 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 			    do_need_move_to_item()) {
 				new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;

-				_mission_item.altitude = _global_pos_sub.get().alt;
-				_mission_item.altitude_is_relative = false;
 				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 				_mission_item.autocontinue = true;
 				_mission_item.time_inside = 0.0f;

 			} else {
-				_mission_item.altitude = _home_pos_sub.get().alt;
-				_mission_item.altitude_is_relative = false;
+				_mission_item.nav_cmd = NAV_CMD_LAND;
+
+				if (_param_rtl_land_delay.get() < -FLT_EPSILON) { // parameter negative -> loiter indefinitely instead of landing
+					_mission_item.altitude = _home_pos_sub.get().alt + _param_rtl_descend_alt.get();
+					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+				}

 				_mission_item.land_precision = _param_rtl_pld_md.get();

@@ -76,6 +76,8 @@ private:
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};		/**< home position subscription */
 	DEFINE_PARAMETERS_CUSTOM_PARENT(
 		RtlBase,
-		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md
+		(ParamInt<px4::params::RTL_PLD_MD>)       _param_rtl_pld_md,
+		(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
+		(ParamFloat<px4::params::RTL_LAND_DELAY>)  _param_rtl_land_delay
 	)
 };
@@ -109,10 +109,11 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 10.0f);
 * Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
 *
 * @value 0 Return to closest safe point (home or rally point) via direct path.
- * @value 1 Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.
+ * @value 1 Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always choose closest safe landing point if vehicle is a VTOL in hover mode.
 * @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
 * @value 3 Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
 * @value 4 Return to the planned mission landing, or to home via the reverse mission path, whichever is closer by counting waypoints. Do not consider rally points.
+ * @value 5 Return directly to safe landing point (do not consider mission landing and Home)
 * @group Return Mode
 */
 PARAM_DEFINE_INT32(RTL_TYPE, 0);
Author	SHA1	Message	Date
Alexander Lerach	50ae022a80	UAVCAN: format uORB docu, disable not needed features, clean-up	2026-01-27 11:26:37 +01:00
Alexander Lerach	59b4b777e5	UAVCAN: add static_assert, clean up a bit	2026-01-27 11:26:37 +01:00
Alexander Lerach	1635e1cfc0	UAVCAN: Fix counters and use correct indexing	2026-01-27 11:26:37 +01:00
Alexander Lerach	175c4454f3	UAVCAN: Match servo status and temp/circuit via node id	2026-01-27 11:26:37 +01:00
TedObrien	2c0f0f1693	UAVCAN: Read servo telemetry over CAN bus and publish to uorb	2026-01-27 11:26:37 +01:00
Balduin	0676647d8a	ControlAllocator: Periodically spin MC motors to shed ice (#26322 ) This feature periodically spins the unused motors on VTOL airframes, to break off ice that has built up in the motor while it is still feasible to do so. Each ice shedding event sends a motor ouput of 0.01 to the unused motors for 2 seconds. Configured by `CA_ICE_PERIOD`, the duration of the entire cycle. Set to 0 to disable.	2026-01-27 11:15:24 +01:00
Balduin	50bb31491b	AirspeedModule: Change to throttle without battery scaling (#26347 ) rather than the vehicle_thrust_setpoint used previously, which includes battery scaling which we don't want, neither for synthetic airspeed nor for the airspeed validator.	2026-01-27 11:03:44 +01:00
Matthias Grob	cac3c3c133	boot script: start uavcan and zenoh before logger because they publish optional topics which need to be advertised before logger starts otherwise they do not get logged!	2026-01-27 10:06:22 +01:00
Nick	c2490e01a5	tiny uavcan optimizations (#26344 ) Reduce number of hrt_absolute_time() calls and node_id.get()	2026-01-27 09:06:18 +01:00
Marin D	01d8113f8b	modify: remove xtensa-tarfile after installation (#26326 ) Signed-off-by: Marin Doetterer <marin@auterion.com>	2026-01-26 11:33:27 -09:00
Niklas Hauser	091ac918b1	[vtx] Remove unused uORB messages (#26345 )	2026-01-26 11:31:55 -09:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
Julian Oes	fad4450d7d	Jenkins: pin emscripten version (#26339 ) This would match GitHub action and hopefully fix CI.	2026-01-25 12:56:17 -08:00
David Meng	1cfab8feb2	mavlink: odometry: Initialize the covariance matrix to 0 to prevent the entire matrix from becoming invalid after mavros performs coordinate transformation. (#26321 )	2026-01-24 12:52:13 -09:00
Tarmo Tänav	e2864e521f	Fill TC_M0_ID in offboard thermal calibration script (#26290 )	2026-01-23 15:47:27 -09:00
Julian Oes	9460625c99	Tools: rewrite uploader script (#26310 ) * Tools: rewrite uploader script This adds a script called px4_uploader.py which is a complete rewrite using Claude Code of px_uploader.py. The main improvements over the previous px_uploader.py script are: - Separate smaller classes instead of one big uploader class. - Easier debugging with --verbose or --debug flags. - Nicer progress animation. - No more hard to debug Exception swallowing over multiple levels. - Auto-detection and looping of devices, removing the functionality from cmake. - Auto-detection of PX4 devices by USB VID/PID. - Add noninteractive mode - Add JSON output mode	2026-01-24 11:09:17 +13:00
Silvan Fuhrer	32fc5cb5b9	RTL: only run initRtlMissionType() when new type is of any mission type Otherwise it kills the mission when the type jumps from mission to Home. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Matthias Grob	7a6506f2dd	rtl: redability suggestions from review, remove unused subscription	2026-01-23 17:16:42 +01:00
Silvan	a416437561	rtl: guard access of dynamically created _rtl_mission_type_handle behind if() To avoid hard faults from NULL access. Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	554b52c6a1	RTL: fix RTL_TYPE=2 with RTL_LAND_DELAY set to indefinitely wait Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	fc992385a9	RTL: fix RTL_TYPE=2 stuck without valid mission Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Silvan	0577a40440	RTL Direct: remove unnecessary sanitization Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
Matthias Grob	2239c10192	rtl: restructure findRtlDestination() to one flow	2026-01-23 17:16:42 +01:00
Matthias Grob	8117fce790	rtl: never set arbitrary yaw, initialize _destination and _last_position_before_link_loss with NAN	2026-01-23 17:16:42 +01:00
Matthias Grob	18c3d889fe	rtl: keep rtl_status struct on stack	2026-01-23 17:16:42 +01:00
Matthias Grob	31c7d70342	rtl refactor: name destination "destination"	2026-01-23 17:16:42 +01:00
Matthias Grob	6386f10ba2	rtl: unify finding closest safe point and move finding the destination into the dedicated function returning the destination	2026-01-23 17:16:42 +01:00
Matthias Grob	deb9a1ad4e	rtl: remove duplication for safe landing only in setRtlTypeAndDestination()	2026-01-23 17:16:42 +01:00
Matthias Grob	f685df32bc	rtl refactor: make dependency of rtl_type in status clear	2026-01-23 17:16:42 +01:00
Matthias Grob	432b0e8c58	rtl: adhere to parameter member naming convention	2026-01-23 17:16:42 +01:00
Silvan	024b3d27ac	RTL: add new RTL_TYPE to only allow returns to safe points or last link position Do not allow RTL to Home or mission landings. Signed-off-by: Silvan <silvan@auterion.com>	2026-01-23 17:16:42 +01:00
bresch	5d5e1db97f	ekf2: update change indicator	2026-01-23 14:46:08 +01:00
bresch	d3da4fe608	ekf2 mag: clear mag_fault when healthy again	2026-01-23 14:46:08 +01:00
Jacob Dahl	76b58b6f0b	remove unused CTestConfig.cmake (#26333 )	2026-01-22 15:07:38 -09:00
Atsunori Saito	75d7395daa	v6xrt: correct LED state read logic (#26316 ) Move negation to return value instead of GPIO map argument for proper active-low handling.	2026-01-22 14:11:37 -09:00
David Meng	11f4d5c4e7	control_allocator: improve status output formatting (#26277 )	2026-01-22 14:09:56 -09:00
Pernilla	522c15284f	Gimbal: (#26331 ) * passing const reference instead to avoid the copy * remove unused using declaration	2026-01-22 14:02:03 -09:00
Dmitry Ponomarev	93ab802202	add ability to control uavcan hardpoint by MAV_CMD_DO_GRIPPER (#19124 ) * update uavcan hardpoint: add ability to use it via mavlink cmd and during mission and removed send_command() dedicated for usage via mavlink console * uavcan hardpoint: allow gripper ID 0 --------- Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>	2026-01-22 16:43:18 -05:00
Jacob Dahl	3381b270ea	uavcannode: add CANNODE_PUB_BAR and CANNODE_PUB_MAG parameters to optionally disable baro and mag data publication (#26324 )	2026-01-22 09:59:59 -08:00
Julian Oes	aed8a78c1d	mavlink: accept broadcast commands (#26311 ) I think - per MAVLink spec - PX4 ought to accept broadcast commands which are aimed at system ID 0, so anyone/all.	2026-01-23 06:55:34 +13:00
Niklas Hauser	9cf07c2452	[logger] Ensure msg buffer is large enough for all uORB message headers	2026-01-22 17:58:04 +01:00
bresch	230276540f	estimator_status_flags: remove useless logged flags Those flags are not so useful for log analysis and can be found in the aid_src topics	2026-01-22 17:58:04 +01:00