Updted tests mostly for the spec overview

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.github/workflows/build_all_targets.yml

@@ -268,4 +268,5 @@ jobs:
           files: |
             artifacts/*.px4
             artifacts/*.deb
+            artifacts/**/*.sbom.spdx.json
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -46,6 +46,8 @@ jobs:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
+        env:
+          PX4_SBOM_DISABLE: 1
         run: |
           cd "$GITHUB_WORKSPACE"
           git config --global --add safe.directory "$GITHUB_WORKSPACE"

.github/workflows/mavros_mission_tests.yml

@@ -36,8 +36,8 @@ jobs:
             px4io/px4-dev-ros-melodic:2021-09-08 \
             bash -c '
               git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
               ./test/rostest_px4_run.sh \
                 mavros_posix_test_mission.test \
                 mission:=MC_mission_box \

.github/workflows/mavros_offboard_tests.yml

@@ -36,8 +36,8 @@ jobs:
             px4io/px4-dev-ros-melodic:2021-09-08 \
             bash -c '
               git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
+              PX4_SBOM_DISABLE=1 make px4_sitl_default
+              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
               ./test/rostest_px4_run.sh \
                 mavros_posix_tests_offboard_posctl.test \
                 vehicle:=iris

.github/workflows/ros_integration_tests.yml

@@ -110,6 +110,8 @@ jobs:
       run: ccache -s
 
     - name: Build PX4
+      env:
+        PX4_SBOM_DISABLE: 1
       run: make px4_sitl_default
     - name: ccache post-run px4/firmware
       run: ccache -s

.github/workflows/sbom_license_check.yml

@@ -0,0 +1,42 @@
+name: SBOM License Check
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+      - 'stable'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - '.gitmodules'
+      - 'Tools/ci/license-overrides.yaml'
+      - 'Tools/ci/generate_sbom.py'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  verify-licenses:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          submodules: false
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Verify submodule licenses
+        run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .

.github/workflows/sbom_monthly_audit.yml

@@ -0,0 +1,132 @@
+name: SBOM Monthly Audit
+
+on:
+  schedule:
+    # First Monday of each month at 09:00 UTC
+    - cron: '0 9 1-7 * 1'
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to audit (leave empty for current)'
+        required: false
+        type: string
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  audit:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.branch || github.ref }}
+          fetch-depth: 1
+          submodules: recursive
+
+      - name: Install PyYAML
+        run: pip install pyyaml --break-system-packages
+
+      - name: Run license verification
+        id: verify
+        continue-on-error: true
+        run: |
+          python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
+          echo "exit_code=$?" >> "$GITHUB_OUTPUT"
+
+      - name: Check for issues
+        id: check
+        run: |
+          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
+            echo "has_issues=true" >> "$GITHUB_OUTPUT"
+            # Extract NOASSERTION lines
+            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
+            # Extract copyleft lines
+            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
+          else
+            echo "has_issues=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Create issue if problems found
+        if: steps.check.outputs.has_issues == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const fs = require('fs');
+
+            const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
+            let issueLines = '';
+            try {
+              issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
+            } catch (e) {
+              issueLines = 'No specific NOASSERTION lines captured.';
+            }
+            let copyleftLines = '';
+            try {
+              copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
+            } catch (e) {
+              copyleftLines = '';
+            }
+
+            const date = new Date().toISOString().split('T')[0];
+            const branch = '${{ inputs.branch || github.ref_name }}';
+
+            // Check for existing open issue to avoid duplicates
+            const existing = await github.rest.issues.listForRepo({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              labels: 'sbom-audit',
+              state: 'open',
+            });
+
+            if (existing.data.length > 0) {
+              // Update existing issue with new findings
+              await github.rest.issues.createComment({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: existing.data[0].number,
+                body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
+              });
+              return;
+            }
+
+            await github.rest.issues.create({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
+              labels: ['sbom-audit'],
+              assignees: ['mrpollo'],
+              body: [
+                `## SBOM Monthly Audit -- ${branch} -- ${date}`,
+                '',
+                'The automated SBOM license audit found submodules with unresolved licenses.',
+                '',
+                '### NOASSERTION entries',
+                '',
+                '```',
+                issueLines,
+                '```',
+                '',
+                copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
+                '### How to fix',
+                '',
+                '1. Check the submodule repo for a LICENSE file',
+                '2. Add an override to `Tools/ci/license-overrides.yaml`',
+                '3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
+                '',
+                '### Full output',
+                '',
+                '<details>',
+                '<summary>Click to expand</summary>',
+                '',
+                '```',
+                fullOutput,
+                '```',
+                '',
+                '</details>',
+                '',
+                'cc @mrpollo',
+              ].join('\n'),
+            });

.github/workflows/sitl_tests.yml

@@ -71,6 +71,7 @@ jobs:
       - name: Build PX4
         env:
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          PX4_SBOM_DISABLE: 1
         run: make px4_sitl_default
 
       - name: Cache Post-Run [px4_sitl_default]

CMakeLists.txt

@@ -240,8 +240,15 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()
 
+if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
+	set(PX4_DEBUG_OPT_LEVEL -Og)
+	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
+else()
+	set(PX4_DEBUG_OPT_LEVEL -O0)
+endif()
+
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
+	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
@@ -484,6 +491,7 @@ include(bloaty)
 
 include(metadata)
 include(package)
+include(sbom)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements

Kconfig

@@ -67,6 +67,16 @@ menu "Toolchain"
         help
             Enables Cmake Release for -O3 optimization
 
+    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
+        bool "Fortified toolchain support"
+        default n
+        help
+            Enable compatibility with toolchains that define
+            _FORTIFY_SOURCE.
+
+            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
+            disabled unless the fortified toolchain requires optimization.
+
     config BOARD_ROMFSROOT
         string "ROMFSROOT"
         default "px4fmu_common"

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -18,6 +18,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
 param set SIH_VEHICLE_TYPE 4
+param set-default MAV_TYPE 13
 
 # Symmetric hexacopter X clockwise motor numbering
 param set-default CA_ROTOR_COUNT 6

Tools/HIL/test_airframes.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 # exit when any command fails
 set -e

Tools/astyle/fix_code_style.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [[ $# -eq 0 ]] ; then
   exit 0

Tools/auterion/remote_update_fmu.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Flash PX4 to a device running AuterionOS in the local network
 if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
 	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"

Tools/ci/build_all_runner.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script is meant to be used by the build_all.yml workflow in a github runner
 # Please only modify if you know what you are doing
 set -e

Tools/ci/check_msg_versioning.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy a git diff between two commits if msg versioning is added
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/ci/generate_sbom.py

@@ -0,0 +1,603 @@
+#!/usr/bin/env python3
+"""Generate SPDX 2.3 JSON SBOM for a PX4 firmware build.
+
+Produces one SBOM per board target containing:
+- PX4 firmware as the primary package
+- Git submodules as CONTAINS dependencies
+- Python build requirements as BUILD_DEPENDENCY_OF packages
+- Board-specific modules as CONTAINS packages
+
+Requires PyYAML (pyyaml) for loading license overrides.
+"""
+import argparse
+import configparser
+import json
+import re
+import subprocess
+import uuid
+from datetime import datetime, timezone
+from pathlib import Path
+
+import yaml
+
+# Ordered most-specific first: all keywords must appear for a match.
+LICENSE_PATTERNS = [
+    # Copyleft licenses first (more specific keywords prevent false matches)
+    ("GPL-3.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("GPL-2.0-only",    ["GNU GENERAL PUBLIC LICENSE", "Version 2"]),
+    ("LGPL-3.0-only",   ["GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"]),
+    ("LGPL-2.1-only",   ["GNU Lesser General Public License", "Version 2.1"]),
+    ("AGPL-3.0-only",   ["GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"]),
+    # Permissive licenses
+    ("Apache-2.0",      ["Apache License", "Version 2.0"]),
+    ("MIT",             ["Permission is hereby granted"]),
+    ("BSD-3-Clause",    ["Redistribution and use", "Neither the name"]),
+    ("BSD-2-Clause",    ["Redistribution and use", "THIS SOFTWARE IS PROVIDED"]),
+    ("ISC",             ["Permission to use, copy, modify, and/or distribute"]),
+    ("EPL-2.0",         ["Eclipse Public License", "2.0"]),
+    ("Unlicense",       ["The Unlicense", "unlicense.org"]),
+]
+
+COPYLEFT_LICENSES = {
+    "GPL-2.0-only", "GPL-3.0-only",
+    "LGPL-2.1-only", "LGPL-3.0-only",
+    "AGPL-3.0-only",
+}
+
+def load_license_overrides(source_dir):
+    """Load license overrides and comments from YAML config file.
+
+    Returns (overrides, comments) dicts mapping submodule path to values.
+    Falls back to empty dicts if the file is missing.
+    """
+    yaml_path = source_dir / "Tools" / "ci" / "license-overrides.yaml"
+    if not yaml_path.exists():
+        return {}, {}
+
+    with open(yaml_path) as f:
+        data = yaml.safe_load(f)
+
+    overrides = {}
+    comments = {}
+    for path, entry in (data.get("overrides") or {}).items():
+        overrides[path] = entry["license"]
+        if "comment" in entry:
+            comments[path] = entry["comment"]
+
+    return overrides, comments
+
+LICENSE_FILENAMES = ["LICENSE", "LICENSE.md", "LICENSE.txt", "LICENCE", "LICENCE.md", "COPYING", "COPYING.md"]
+
+
+def detect_license(submodule_dir):
+    """Auto-detect SPDX license ID from LICENSE/COPYING file in a directory.
+
+    Reads the first 100 lines of the first license file found and matches
+    keywords against LICENSE_PATTERNS. Returns 'NOASSERTION' if no file
+    is found or no pattern matches.
+    """
+    for fname in LICENSE_FILENAMES:
+        license_file = submodule_dir / fname
+        if license_file.is_file():
+            try:
+                lines = license_file.read_text(errors="replace").splitlines()[:100]
+                text = "\n".join(lines)
+            except OSError:
+                continue
+
+            text_upper = text.upper()
+            for spdx_id_val, keywords in LICENSE_PATTERNS:
+                if all(kw.upper() in text_upper for kw in keywords):
+                    return spdx_id_val
+
+            return "NOASSERTION"
+
+    return "NOASSERTION"
+
+
+def get_submodule_license(source_dir, sub_path, license_overrides):
+    """Return the SPDX license for a submodule: override > auto-detect."""
+    if sub_path in license_overrides:
+        return license_overrides[sub_path]
+    return detect_license(source_dir / sub_path)
+
+
+def spdx_id(name: str) -> str:
+    """Convert a name to a valid SPDX identifier (letters, digits, dots, hyphens)."""
+    return re.sub(r"[^a-zA-Z0-9.\-]", "-", name)
+
+
+def parse_gitmodules(source_dir):
+    """Parse .gitmodules and return list of {name, path, url}."""
+    gitmodules_path = source_dir / ".gitmodules"
+    if not gitmodules_path.exists():
+        return []
+
+    config = configparser.ConfigParser()
+    config.read(str(gitmodules_path))
+
+    submodules = []
+    for section in config.sections():
+        if section.startswith("submodule "):
+            name = section.split('"')[1] if '"' in section else section.split(" ", 1)[1]
+            path = config.get(section, "path", fallback="")
+            url = config.get(section, "url", fallback="")
+            submodules.append({"name": name, "path": path, "url": url})
+
+    return submodules
+
+
+def get_submodule_commits(source_dir):
+    """Get commit hashes for all submodules via git ls-tree -r (works without init)."""
+    try:
+        result = subprocess.run(
+            ["git", "ls-tree", "-r", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        return {}
+
+    commits = {}
+    for line in result.stdout.splitlines():
+        parts = line.split()
+        if len(parts) >= 4 and parts[1] == "commit":
+            commits[parts[3]] = parts[2]
+
+    return commits
+
+
+def get_git_info(source_dir: Path) -> dict:
+    """Get PX4 git version and hash."""
+    info = {"version": "unknown", "hash": "unknown"}
+    try:
+        result = subprocess.run(
+            ["git", "describe", "--always", "--tags", "--dirty"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["version"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    try:
+        result = subprocess.run(
+            ["git", "rev-parse", "HEAD"],
+            cwd=str(source_dir),
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+            check=True,
+        )
+        info["hash"] = result.stdout.strip()
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+    return info
+
+
+def parse_requirements(requirements_path):
+    """Parse pip requirements.txt into list of {name, version_spec}."""
+    if not requirements_path.exists():
+        return []
+
+    deps = []
+    for line in requirements_path.read_text().splitlines():
+        line = line.strip()
+        if not line or line.startswith("#") or line.startswith("-"):
+            continue
+        # Split on version specifiers
+        match = re.match(r"^([a-zA-Z0-9_\-]+)(.*)?$", line)
+        if match:
+            deps.append({
+                "name": match.group(1),
+                "version_spec": match.group(2).strip() if match.group(2) else "",
+            })
+    return deps
+
+
+def read_module_list(modules_file, source_dir):
+    """Read board-specific module list from file.
+
+    Paths may be absolute; they are converted to relative paths under src/.
+    Duplicates are removed while preserving order.
+    """
+    if not modules_file or not modules_file.exists():
+        return []
+
+    seen = set()
+    modules = []
+    source_str = str(source_dir.resolve()) + "/"
+
+    for line in modules_file.read_text().splitlines():
+        path = line.strip()
+        if not path or path.startswith("#"):
+            continue
+        # Convert absolute path to relative
+        if path.startswith(source_str):
+            path = path[len(source_str):]
+        if path not in seen:
+            seen.add(path)
+            modules.append(path)
+
+    return modules
+
+
+def make_purl(pkg_type: str, namespace: str, name: str, version: str = "") -> str:
+    """Construct a Package URL (purl)."""
+    purl = f"pkg:{pkg_type}/{namespace}/{name}"
+    if version:
+        purl += f"@{version}"
+    return purl
+
+
+def extract_git_host_org_repo(url):
+    """Extract host type, org, and repo from a git URL.
+
+    Returns (host, org, repo) where host is 'github', 'gitlab', or ''.
+    """
+    match = re.search(r"github\.com[:/]([^/]+)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "github", match.group(1), match.group(2)
+    match = re.search(r"gitlab\.com[:/](.+?)/([^/]+?)(?:\.git)?$", url)
+    if match:
+        return "gitlab", match.group(1), match.group(2)
+    return "", "", ""
+
+
+def generate_sbom(source_dir, board, modules_file, compiler, platform=""):
+    """Generate a complete SPDX 2.3 JSON document."""
+    license_overrides, license_comments = load_license_overrides(source_dir)
+    git_info = get_git_info(source_dir)
+    timestamp = datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%SZ")
+
+    # Deterministic namespace using UUID5 from git hash + board
+    ns_seed = f"{git_info['hash']}:{board}"
+    doc_namespace = f"https://spdx.org/spdxdocs/{board}-{uuid.uuid5(uuid.NAMESPACE_URL, ns_seed)}"
+
+    doc = {
+        "spdxVersion": "SPDX-2.3",
+        "dataLicense": "CC0-1.0",
+        "SPDXID": "SPDXRef-DOCUMENT",
+        "name": f"PX4 Firmware SBOM for {board}",
+        "documentNamespace": doc_namespace,
+        "creationInfo": {
+            "created": timestamp,
+            "creators": [
+                "Tool: px4-generate-sbom",
+                "Organization: Dronecode Foundation",
+            ],
+            "licenseListVersion": "3.22",
+        },
+        "packages": [],
+        "relationships": [],
+    }
+
+    # Primary package: PX4 firmware
+    primary_spdx_id = f"SPDXRef-PX4-{spdx_id(board)}"
+    doc["packages"].append({
+        "SPDXID": primary_spdx_id,
+        "name": board,
+        "versionInfo": git_info["version"],
+        "packageFileName": f"{board}.px4",
+        "supplier": "Organization: Dronecode Foundation",
+        "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+        "filesAnalyzed": False,
+        "primaryPackagePurpose": "FIRMWARE",
+        "licenseConcluded": "BSD-3-Clause",
+        "licenseDeclared": "BSD-3-Clause",
+        "copyrightText": "Copyright (c) PX4 Development Team",
+        "externalRefs": [
+            {
+                "referenceCategory": "PACKAGE-MANAGER",
+                "referenceType": "purl",
+                "referenceLocator": make_purl(
+                    "github", "PX4", "PX4-Autopilot", git_info["version"]
+                ),
+            }
+        ],
+    })
+
+    doc["relationships"].append({
+        "spdxElementId": "SPDXRef-DOCUMENT",
+        "relationshipType": "DESCRIBES",
+        "relatedSpdxElement": primary_spdx_id,
+    })
+
+    # Git submodules (filtered to those relevant to this board's modules)
+    submodules = parse_gitmodules(source_dir)
+    submodule_commits = get_submodule_commits(source_dir)
+    modules = read_module_list(modules_file, source_dir)
+
+    def submodule_is_relevant(sub_path):
+        """A submodule is relevant if any board module path overlaps with it."""
+        # NuttX platform submodules are only relevant for NuttX builds
+        if sub_path.startswith("platforms/nuttx/"):
+            return platform in ("nuttx", "")
+        if not modules:
+            return True  # no module list means include all
+        # Other platform submodules are always relevant
+        if sub_path.startswith("platforms/"):
+            return True
+        for mod in modules:
+            # Module is under this submodule, or submodule is under a module
+            if mod.startswith(sub_path + "/") or sub_path.startswith(mod + "/"):
+                return True
+        return False
+
+    for sub in submodules:
+        if not submodule_is_relevant(sub["path"]):
+            continue
+        sub_path = sub["path"]
+        sub_path_id = sub_path.replace("/", "-")
+        sub_spdx_id = f"SPDXRef-Submodule-{spdx_id(sub_path_id)}"
+        commit = submodule_commits.get(sub_path, "unknown")
+        license_id = get_submodule_license(source_dir, sub_path, license_overrides)
+
+        host, org, repo = extract_git_host_org_repo(sub["url"])
+        download = sub["url"] if sub["url"] else "NOASSERTION"
+
+        # Use repo name from URL for human-readable name, fall back to last path component
+        display_name = repo if repo else sub_path.rsplit("/", 1)[-1]
+
+        pkg = {
+            "SPDXID": sub_spdx_id,
+            "name": display_name,
+            "versionInfo": commit,
+            "supplier": f"Organization: {org}" if org else "NOASSERTION",
+            "downloadLocation": download,
+            "filesAnalyzed": False,
+            "licenseConcluded": license_id,
+            "licenseDeclared": license_id,
+            "copyrightText": "NOASSERTION",
+        }
+
+        comment = license_comments.get(sub_path)
+        if comment:
+            pkg["licenseComments"] = comment
+
+        if host and org and repo:
+            pkg["externalRefs"] = [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": make_purl(host, org, repo, commit),
+                }
+            ]
+
+        doc["packages"].append(pkg)
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": sub_spdx_id,
+        })
+
+    # Python build dependencies
+    requirements_path = source_dir / "Tools" / "setup" / "requirements.txt"
+    py_deps = parse_requirements(requirements_path)
+
+    for dep in py_deps:
+        dep_name = dep["name"]
+        dep_spdx_id = f"SPDXRef-PyDep-{spdx_id(dep_name)}"
+        version_str = dep["version_spec"] if dep["version_spec"] else "NOASSERTION"
+
+        doc["packages"].append({
+            "SPDXID": dep_spdx_id,
+            "name": dep_name,
+            "versionInfo": version_str,
+            "supplier": "NOASSERTION",
+            "downloadLocation": f"https://pypi.org/project/{dep_name}/",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+            "externalRefs": [
+                {
+                    "referenceCategory": "PACKAGE-MANAGER",
+                    "referenceType": "purl",
+                    "referenceLocator": f"pkg:pypi/{dep_name}",
+                }
+            ],
+        })
+        doc["relationships"].append({
+            "spdxElementId": dep_spdx_id,
+            "relationshipType": "BUILD_DEPENDENCY_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    # Board-specific modules (already read above for submodule filtering)
+    for mod in modules:
+        mod_path_id = mod.replace("/", "-")
+        mod_spdx_id = f"SPDXRef-Module-{spdx_id(mod_path_id)}"
+
+        # Derive short name: strip leading src/ for readability
+        display_name = mod
+        if display_name.startswith("src/"):
+            display_name = display_name[4:]
+
+        doc["packages"].append({
+            "SPDXID": mod_spdx_id,
+            "name": display_name,
+            "versionInfo": git_info["version"],
+            "supplier": "Organization: Dronecode Foundation",
+            "downloadLocation": "https://github.com/PX4/PX4-Autopilot",
+            "filesAnalyzed": False,
+            "licenseConcluded": "BSD-3-Clause",
+            "licenseDeclared": "BSD-3-Clause",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": primary_spdx_id,
+            "relationshipType": "CONTAINS",
+            "relatedSpdxElement": mod_spdx_id,
+        })
+
+    # Compiler as a build tool
+    if compiler:
+        compiler_spdx_id = f"SPDXRef-Compiler-{spdx_id(compiler)}"
+        doc["packages"].append({
+            "SPDXID": compiler_spdx_id,
+            "name": compiler,
+            "versionInfo": "NOASSERTION",
+            "supplier": "NOASSERTION",
+            "downloadLocation": "NOASSERTION",
+            "filesAnalyzed": False,
+            "primaryPackagePurpose": "APPLICATION",
+            "licenseConcluded": "NOASSERTION",
+            "licenseDeclared": "NOASSERTION",
+            "copyrightText": "NOASSERTION",
+        })
+        doc["relationships"].append({
+            "spdxElementId": compiler_spdx_id,
+            "relationshipType": "BUILD_TOOL_OF",
+            "relatedSpdxElement": primary_spdx_id,
+        })
+
+    return doc
+
+
+def verify_licenses(source_dir):
+    """Verify license detection for all submodules. Returns exit code."""
+    license_overrides, _ = load_license_overrides(source_dir)
+    submodules = parse_gitmodules(source_dir)
+    if not submodules:
+        print("No submodules found in .gitmodules")
+        return 1
+
+    has_noassertion = False
+    print(f"{'Submodule Path':<65} {'Detected':<16} {'Override':<16} {'Final'}")
+    print("-" * 115)
+
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        if not checked_out:
+            detected = "(not checked out)"
+            override = license_overrides.get(sub_path, "")
+            final = override if override else "NOASSERTION"
+        else:
+            detected = detect_license(sub_dir)
+            override = license_overrides.get(sub_path, "")
+            final = override if override else detected
+
+        if final == "NOASSERTION" and checked_out:
+            has_noassertion = True
+            marker = " <-- NOASSERTION"
+        elif final == "NOASSERTION" and not checked_out:
+            marker = " (skipped)"
+        else:
+            marker = ""
+
+        print(f"{sub_path:<65} {str(detected):<16} {str(override) if override else '':<16} {final}{marker}")
+
+    # Copyleft warning (informational, not a failure)
+    copyleft_found = []
+    for sub in submodules:
+        sub_path = sub["path"]
+        sub_dir = source_dir / sub_path
+        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
+        override = license_overrides.get(sub_path, "")
+        if checked_out:
+            final_lic = override if override else detect_license(sub_dir)
+        else:
+            final_lic = override if override else "NOASSERTION"
+        for cl in COPYLEFT_LICENSES:
+            if cl in final_lic:
+                copyleft_found.append((sub_path, final_lic))
+                break
+
+    print()
+    if copyleft_found:
+        print("Copyleft licenses detected (informational):")
+        for path, lic in copyleft_found:
+            print(f"  {path}: {lic}")
+        print()
+
+    if has_noassertion:
+        print("FAIL: Some submodules resolved to NOASSERTION. "
+              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
+        return 1
+
+    print("OK: All submodules have a resolved license.")
+    return 0
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Generate SPDX 2.3 JSON SBOM for PX4 firmware"
+    )
+    parser.add_argument(
+        "--source-dir",
+        type=Path,
+        default=Path.cwd(),
+        help="PX4 source directory (default: cwd)",
+    )
+    parser.add_argument(
+        "--verify-licenses",
+        action="store_true",
+        help="Verify license detection for all submodules and exit",
+    )
+    parser.add_argument(
+        "--board",
+        default=None,
+        help="Board target name (e.g. px4_fmu-v5x_default)",
+    )
+    parser.add_argument(
+        "--modules-file",
+        type=Path,
+        default=None,
+        help="Path to config_module_list.txt",
+    )
+    parser.add_argument(
+        "--compiler",
+        default="",
+        help="Compiler identifier (e.g. arm-none-eabi-gcc)",
+    )
+    parser.add_argument(
+        "--platform",
+        default="",
+        help="PX4 platform (nuttx, posix, qurt). Filters platform-specific submodules.",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=None,
+        help="Output SBOM file path",
+    )
+
+    args = parser.parse_args()
+
+    if args.verify_licenses:
+        raise SystemExit(verify_licenses(args.source_dir))
+
+    if not args.board:
+        parser.error("--board is required when not using --verify-licenses")
+    if not args.output:
+        parser.error("--output is required when not using --verify-licenses")
+
+    sbom = generate_sbom(
+        source_dir=args.source_dir,
+        board=args.board,
+        modules_file=args.modules_file,
+        compiler=args.compiler,
+        platform=args.platform,
+    )
+
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    with open(args.output, "w") as f:
+        json.dump(sbom, f, indent=2)
+        f.write("\n")
+
+    pkg_count = len(sbom["packages"])
+    print(f"SBOM generated: {args.output} ({pkg_count} packages)")
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/inspect_sbom.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Inspect a PX4 SPDX SBOM file.
+
+Usage:
+    inspect_sbom.py <sbom.spdx.json>                  # full summary
+    inspect_sbom.py <sbom.spdx.json> search <term>    # search packages by name
+    inspect_sbom.py <sbom.spdx.json> ntia             # NTIA minimum elements check
+    inspect_sbom.py <sbom.spdx.json> licenses         # license summary
+    inspect_sbom.py <sbom.spdx.json> list <type>      # list packages (Submodule|PyDep|Module|all)
+"""
+
+import json
+import sys
+from collections import Counter
+from pathlib import Path
+
+
+def load(path):
+    return json.loads(Path(path).read_text())
+
+
+def pkg_type(pkg):
+    spdx_id = pkg["SPDXID"]
+    for prefix in ("Submodule", "PyDep", "Module", "Compiler", "PX4"):
+        if f"-{prefix}-" in spdx_id or spdx_id.startswith(f"SPDXRef-{prefix}"):
+            return prefix
+    return "Other"
+
+
+def summary(doc):
+    print(f"spdxVersion:  {doc['spdxVersion']}")
+    print(f"name:         {doc['name']}")
+    print(f"namespace:    {doc['documentNamespace']}")
+    print(f"created:      {doc['creationInfo']['created']}")
+    print(f"creators:     {', '.join(doc['creationInfo']['creators'])}")
+    print()
+
+    types = Counter(pkg_type(p) for p in doc["packages"])
+    print(f"Packages: {len(doc['packages'])}")
+    for t, c in types.most_common():
+        print(f"  {t}: {c}")
+    print()
+
+    rc = Counter(r["relationshipType"] for r in doc["relationships"])
+    print(f"Relationships: {len(doc['relationships'])}")
+    for t, n in rc.most_common():
+        print(f"  {t}: {n}")
+    print()
+
+    primary = doc["packages"][0]
+    print(f"Primary package:")
+    print(f"  name:    {primary['name']}")
+    print(f"  version: {primary['versionInfo']}")
+    print(f"  purpose: {primary.get('primaryPackagePurpose', 'N/A')}")
+    print(f"  license: {primary['licenseDeclared']}")
+    print()
+
+    noassert = [
+        p["name"]
+        for p in doc["packages"]
+        if pkg_type(p) == "Submodule" and p["licenseDeclared"] == "NOASSERTION"
+    ]
+    if noassert:
+        print(f"WARNING: {len(noassert)} submodules with NOASSERTION license:")
+        for n in noassert:
+            print(f"  - {n}")
+    else:
+        print("All submodule licenses mapped")
+
+    print(f"\nFile size: {Path(sys.argv[1]).stat().st_size // 1024}KB")
+
+
+def search(doc, term):
+    term = term.lower()
+    found = [p for p in doc["packages"] if term in p["name"].lower()]
+    if not found:
+        print(f"No packages matching '{term}'")
+        return
+    print(f"Found {len(found)} packages matching '{term}':\n")
+    for p in found:
+        print(json.dumps(p, indent=2))
+        print()
+
+
+def ntia_check(doc):
+    required = ["SPDXID", "name", "versionInfo", "supplier", "downloadLocation"]
+    missing = []
+    for p in doc["packages"]:
+        for f in required:
+            if f not in p or p[f] in ("", None):
+                missing.append((p["name"], f))
+
+    if missing:
+        print(f"FAIL: {len(missing)} missing fields:")
+        for name, field in missing:
+            print(f"  {name}: missing {field}")
+    else:
+        print(f"PASS: All {len(doc['packages'])} packages have required fields")
+
+    print(f"\nCreators:  {doc['creationInfo']['creators']}")
+    print(f"Timestamp: {doc['creationInfo']['created']}")
+
+    rels = [r for r in doc["relationships"] if r["relationshipType"] == "DESCRIBES"]
+    print(f"DESCRIBES relationships: {len(rels)}")
+
+    return len(missing) == 0
+
+
+def licenses(doc):
+    by_license = {}
+    for p in doc["packages"]:
+        lic = p.get("licenseDeclared", "NOASSERTION")
+        by_license.setdefault(lic, []).append(p["name"])
+
+    for lic in sorted(by_license.keys()):
+        names = by_license[lic]
+        print(f"\n{lic} ({len(names)}):")
+        for n in sorted(names):
+            print(f"  {n}")
+
+
+def list_packages(doc, filter_type):
+    filter_type = filter_type.lower()
+    for p in sorted(doc["packages"], key=lambda x: x["name"]):
+        t = pkg_type(p)
+        if filter_type != "all" and t.lower() != filter_type:
+            continue
+        lic = p.get("licenseDeclared", "?")
+        ver = p["versionInfo"][:20] if len(p["versionInfo"]) > 20 else p["versionInfo"]
+        print(f"  {t:10s}  {p['name']:50s}  {ver:20s}  {lic}")
+
+
+def main():
+    if len(sys.argv) < 2:
+        print(__doc__)
+        sys.exit(1)
+
+    doc = load(sys.argv[1])
+    cmd = sys.argv[2] if len(sys.argv) > 2 else "summary"
+
+    if cmd == "summary":
+        summary(doc)
+    elif cmd == "search":
+        if len(sys.argv) < 4:
+            print("Usage: inspect_sbom.py <file> search <term>")
+            sys.exit(1)
+        search(doc, sys.argv[3])
+    elif cmd == "ntia":
+        if not ntia_check(doc):
+            sys.exit(1)
+    elif cmd == "licenses":
+        licenses(doc)
+    elif cmd == "list":
+        filter_type = sys.argv[3] if len(sys.argv) > 3 else "all"
+        list_packages(doc, filter_type)
+    else:
+        print(f"Unknown command: {cmd}")
+        print(__doc__)
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()

Tools/ci/license-overrides.yaml

@@ -0,0 +1,56 @@
+# SPDX license overrides for submodules where auto-detection fails or is wrong.
+# Each entry maps a submodule path to its SPDX license identifier and an
+# optional comment explaining why the override exists.
+#
+# Run `python3 Tools/ci/generate_sbom.py --verify-licenses` to validate.
+
+overrides:
+  src/modules/mavlink/mavlink:
+    license: "LGPL-3.0-only AND MIT"
+    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."
+
+  src/lib/cdrstream/cyclonedds:
+    license: "EPL-2.0 OR BSD-3-Clause"
+    comment: >-
+      Dual-licensed. PX4 elects BSD-3-Clause.
+      No board currently enables CONFIG_LIB_CDRSTREAM.
+
+  src/lib/cdrstream/rosidl:
+    license: "Apache-2.0"
+
+  src/lib/crypto/monocypher:
+    license: "BSD-2-Clause OR CC0-1.0"
+    comment: >-
+      Dual-licensed. LICENCE.md offers BSD-2-Clause with CC0-1.0 as
+      public domain fallback.
+
+  src/lib/crypto/libtomcrypt:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  src/lib/crypto/libtommath:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+
+  platforms/nuttx/NuttX/nuttx:
+    license: "Apache-2.0"
+    comment: >-
+      Composite LICENSE (6652 lines) includes BSD/MIT/ISC sub-components.
+      Primary license is Apache-2.0. NOTICE file contains FAT LFN patent warnings.
+
+  platforms/nuttx/NuttX/apps:
+    license: "Apache-2.0"
+
+  boards/modalai/voxl2/libfc-sensor-api:
+    license: "NOASSERTION"
+    comment: >-
+      No LICENSE file in repo. README describes it as public interface
+      for proprietary sensor library.
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-json:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."
+
+  boards/modalai/voxl2/src/lib/mpa/libmodal-pipe:
+    license: "LGPL-3.0-only"
+    comment: "LGPL-3.0 weak copyleft. Used via header includes in VOXL2 mpa library."

Tools/ci/package_build_artifacts.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
@@ -29,6 +29,8 @@ for build_dir_path in build/*/ ; do
   # Events
   mkdir -p artifacts/$build_dir/events/
   cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
+  # SBOM
+  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 2>/dev/null || true
   ls -la artifacts/$build_dir
   echo "----------"
 done

Tools/ci/run_fuzz_tests.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # This script runs the fuzz tests from a given binary for a certain amount of time
 set -e
 

Tools/copy_to_ros_ws.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 # Copy msgs and the message translation node into a ROS workspace directory
 
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/docker_run.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/usr/bin/env bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"

Tools/run-shellcheck.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Script to run ShellCheck (a static analysis tool for shell scripts) over a
 # script directory

Tools/setup/docker-entrypoint.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color

Tools/setup/macos.sh

@@ -79,6 +79,13 @@ if [[ $INSTALL_SIM == "--sim-tools" ]]; then
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim
 	fi
+
+	# jMAVSim requires a JDK (Java 17 LTS recommended)
+	if ! brew ls --versions openjdk@17 > /dev/null; then
+		echo "[macos.sh] Installing OpenJDK 17 (required for jMAVSim)"
+		brew install openjdk@17
+		sudo ln -sfn $(brew --prefix openjdk@17)/libexec/openjdk.jdk /Library/Java/JavaVirtualMachines/openjdk-17.jdk
+	fi
 fi
 
 echo "[macos.sh] All set! The PX4 Autopilot toolchain was installed."

Tools/simulation/gazebo-classic/setup_gazebo.bash

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #
 # Setup environment to make PX4 visible to Gazebo.
 #

Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
 # It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
 

Tools/simulation/sitl_multiple_run.sh

@@ -1,25 +1,28 @@
-#!/bin/bash
-# run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make px4_sitl_default'
+#!/usr/bin/env bash
+# Run multiple instances of the 'px4' binary, without starting an external simulator.
+# It assumes px4 is already built with the specified build target.
+#
+# Usage: ./Tools/simulation/sitl_multiple_run.sh [num_instances] [model] [build_target]
+# Examples:
+#   ./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
+#   ./Tools/simulation/sitl_multiple_run.sh 2 gazebo-classic_iris px4_sitl_default
+#   ./Tools/simulation/sitl_multiple_run.sh     # defaults: 2 instances, gazebo-classic_iris, px4_sitl_default
 
-# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
-# For example jmavsim can be run like this:
-#./Tools/simulation/jmavsim/jmavsim_run.sh -p 4561 -l
-
-sitl_num=2
-[ -n "$1" ] && sitl_num="$1"
+sitl_num=${1:-2}
+sim_model=${2:-gazebo-classic_iris}
+build_target=${3:-px4_sitl_default}
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/../../"
 
-build_path=${src_path}/build/px4_sitl_default
+build_path=${src_path}/build/${build_target}
 
 echo "killing running instances"
 pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=gazebo-classic_iris
+export PX4_SIM_MODEL=${sim_model}
 
 n=0
 while [ $n -lt $sitl_num ]; do

boards/diatone/mamba-f405-mk2/default.px4board

@@ -25,7 +25,14 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/modalai/fc-v2/scripts/run_docker.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Run this from the px4 project top level directory
 docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12

boards/modalai/voxl2/debian/postinst

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Create px4-* symlinks from px4-alias.sh

boards/modalai/voxl2/debian/prerm

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Stop voxl-px4 service if running

boards/modalai/voxl2/scripts/build-apps.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
 

boards/modalai/voxl2/scripts/build-pkg.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
 

boards/modalai/voxl2/scripts/build-slpi.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "*** Starting qurt slpi build ***"
 

boards/modalai/voxl2/scripts/clean.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Clean out the build artifacts
 # source /home/build-env.sh

boards/modalai/voxl2/scripts/install-voxl-bins.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Push slpi image to voxl2
 adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Push slpi image to voxl2
 adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

boards/modalai/voxl2/scripts/patch-gazebo.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/src
 patch < ../../../../../boards/modalai/voxl2/gazebo-docker/patch/mavlink_interface.patch

boards/modalai/voxl2/scripts/run-docker.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Run this from the px4 project top level directory
 docker run -it --rm -v `pwd`:/usr/local/workspace rb5-flight-px4-build-docker

boards/modalai/voxl2/scripts/voxl-configure-px4

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 ################################################################################
 # Copyright 2023 ModalAI Inc.
 #

boards/modalai/voxl2/target/voxl-px4

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 CONFIG_FILE="/etc/modalai/voxl-px4.conf"
 

boards/modalai/voxl2/target/voxl-px4-hitl

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
 # on the DSP

boards/px4/fmu-v2/default.px4board

@@ -31,6 +31,8 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_DRAG_FUSION is not set
 # CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y

boards/px4/sitl/sih.px4board

@@ -0,0 +1,3 @@
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
+CONFIG_MODULES_SIMULATION_GZ_MSGS=n
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=n

cmake/coverage.cmake

@@ -52,10 +52,10 @@ endif()
 
 # add code coverage build type
 if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
-	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions"
+	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths ${PX4_DEBUG_OPT_LEVEL} -fprofile-arcs -fno-inline-functions"
 		CACHE STRING "Flags used by the C compiler during coverage builds" FORCE)
 
-	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0-fprofile-arcs -fno-inline-functions -fno-elide-constructors"
+	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths ${PX4_DEBUG_OPT_LEVEL} -fprofile-arcs -fno-inline-functions -fno-elide-constructors"
 		CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
 
 	set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "-ftest-coverage -fdiagnostics-absolute-paths"
@@ -63,11 +63,11 @@ if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}"
 
 else()
 	# Add  -fprofile-abs-path for GCC v8/9 later on
-	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline"
+	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs ${PX4_DEBUG_OPT_LEVEL} -fno-default-inline -fno-inline"
 		CACHE STRING "Flags used by the C compiler during coverage builds" FORCE)
 
 	# Add  -fprofile-abs-path for GCC v8/9 later on
-	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline -fno-elide-constructors"
+	set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs ${PX4_DEBUG_OPT_LEVEL} -fno-default-inline -fno-inline -fno-elide-constructors"
 		CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
 
 	set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "--coverage -ftest-coverage -lgcov"

cmake/px4_add_gtest.cmake

@@ -31,6 +31,15 @@
 #
 ############################################################################
 
+# Attach only matching test binaries to `test_results` when TESTFILTER is set.
+# `ctest -R` filters execution only; without this helper the build still
+# compiles every gtest target before running the filtered subset.
+function(add_filtered_test_dependencies TESTNAME)
+	if(NOT TESTFILTER OR "${TESTNAME}" MATCHES "${TESTFILTER}")
+		add_dependencies(test_results ${TESTNAME})
+	endif()
+endfunction()
+
 #=============================================================================
 #
 #	px4_add_unit_gtest
@@ -74,7 +83,7 @@ function(px4_add_unit_gtest)
 		         WORKING_DIRECTORY ${PX4_BINARY_DIR})
 
 		# attach it to the unit test target
-		add_dependencies(test_results ${TESTNAME})
+		add_filtered_test_dependencies(${TESTNAME})
 	endif()
 endfunction()
 
@@ -133,6 +142,6 @@ function(px4_add_functional_gtest)
 		         COMMAND ${PX4_BINARY_DIR}/${TESTNAME})
 
 		# attach it to the unit test target
-		add_dependencies(test_results ${TESTNAME})
+		add_filtered_test_dependencies(${TESTNAME})
 	endif()
 endfunction()

cmake/sbom.cmake

@@ -0,0 +1,72 @@
+############################################################################
+#
+#   Copyright (c) 2026 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.
+#
+############################################################################
+
+# SBOM - SPDX 2.3 JSON Software Bill of Materials generation
+
+option(GENERATE_SBOM "Generate SPDX 2.3 SBOM" ON)
+
+if(DEFINED ENV{PX4_SBOM_DISABLE})
+	set(GENERATE_SBOM OFF)
+endif()
+
+if(GENERATE_SBOM)
+
+	# Write board-specific module list for the SBOM generator
+	set(sbom_module_list_file "${PX4_BINARY_DIR}/config_module_list.txt")
+	get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
+	string(REPLACE ";" "\n" module_list_content "${module_list}")
+	file(GENERATE OUTPUT ${sbom_module_list_file} CONTENT "${module_list_content}\n")
+
+	set(sbom_output "${PX4_BINARY_DIR}/${PX4_CONFIG}.sbom.spdx.json")
+
+	add_custom_command(
+		OUTPUT ${sbom_output}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/ci/generate_sbom.py
+			--source-dir ${PX4_SOURCE_DIR}
+			--board ${PX4_CONFIG}
+			--modules-file ${sbom_module_list_file}
+			--compiler ${CMAKE_C_COMPILER}
+			--platform ${PX4_PLATFORM}
+			--output ${sbom_output}
+		DEPENDS
+			${PX4_SOURCE_DIR}/Tools/ci/generate_sbom.py
+			${PX4_SOURCE_DIR}/Tools/ci/license-overrides.yaml
+			${PX4_SOURCE_DIR}/.gitmodules
+			${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+			${sbom_module_list_file}
+		COMMENT "Generating SPDX SBOM for ${PX4_CONFIG}"
+	)
+
+	add_custom_target(sbom ALL DEPENDS ${sbom_output})
+
+endif()

docs/assets/simulation/sih_overview.svg

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 520 160" width="520" height="160" font-family="Inter, -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif">
+  <!-- Arrow marker -->
+  <defs>
+    <marker id="arrow" viewBox="0 0 10 7" refX="10" refY="3.5" markerWidth="10" markerHeight="7" orient="auto-start-reverse">
+      <path d="M 0 0 L 10 3.5 L 0 7 z" fill="#4a5568"/>
+    </marker>
+  </defs>
+
+  <!-- Left label: Actuator Outputs -->
+  <text x="20" y="72" font-size="13" fill="#4a5568" font-weight="500" text-anchor="start">Actuator</text>
+  <text x="20" y="90" font-size="13" fill="#4a5568" font-weight="500" text-anchor="start">Outputs</text>
+  <text x="20" y="108" font-size="11" fill="#718096" text-anchor="start">(uORB)</text>
+
+  <!-- Left arrow -->
+  <line x1="100" y1="80" x2="170" y2="80" stroke="#4a5568" stroke-width="2" marker-end="url(#arrow)"/>
+
+  <!-- SIH Module box -->
+  <rect x="180" y="30" width="160" height="100" rx="8" ry="8" fill="#edf2f7" stroke="#4a5568" stroke-width="2"/>
+  <text x="260" y="72" font-size="16" fill="#2d3748" font-weight="600" text-anchor="middle">SIH Module</text>
+  <text x="260" y="96" font-size="12" fill="#718096" text-anchor="middle">C++ / uORB</text>
+
+  <!-- Right arrow -->
+  <line x1="350" y1="80" x2="420" y2="80" stroke="#4a5568" stroke-width="2" marker-end="url(#arrow)"/>
+
+  <!-- Right label: Simulated Sensor Data -->
+  <text x="432" y="72" font-size="13" fill="#4a5568" font-weight="500" text-anchor="start">Simulated</text>
+  <text x="432" y="90" font-size="13" fill="#4a5568" font-weight="500" text-anchor="start">Sensor Data</text>
+  <text x="432" y="108" font-size="11" fill="#718096" text-anchor="start">(uORB)</text>
+</svg>

docs/en/SUMMARY.md

@@ -466,6 +466,7 @@
       - [Plugins](sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
+    - [SIH Simulation](sim_sih/index.md)
     - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
       - [Vehicles](sim_gazebo_classic/vehicles.md)
       - [Worlds](sim_gazebo_classic/worlds.md)
@@ -565,6 +566,8 @@
         - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
         - [DronecanNodeStatus](msg_docs/DronecanNodeStatus.md)
         - [Ekf2Timestamps](msg_docs/Ekf2Timestamps.md)
+        - [EscEepromRead](msg_docs/EscEepromRead.md)
+        - [EscEepromWrite](msg_docs/EscEepromWrite.md)
         - [EscReport](msg_docs/EscReport.md)
         - [EscStatus](msg_docs/EscStatus.md)
         - [EstimatorAidSource1d](msg_docs/EstimatorAidSource1d.md)
@@ -755,6 +758,7 @@
         - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
         - [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
+        - [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
     - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
@@ -849,8 +853,9 @@
         - [Multi-Vehicle Sim with JMAVSim](sim_jmavsim/multi_vehicle.md)
       - [JSBSim Simulation](sim_jsbsim/index.md)
       - [AirSim Simulation](sim_airsim/index.md)
-      - [HITL Simulation](simulation/hitl.md)
-      - [Simulation-In-Hardware](sim_sih/index.md)
+      - [Hardware Simulation](simulation/hardware.md)
+        - [HITL Simulation](simulation/hitl.md)
+        - [SIH on Hardware](sim_sih/hardware.md)
       - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md)
   - [Platform Testing and CI](test_and_ci/index.md)
     - [Test Flights](test_and_ci/test_flights.md)
@@ -904,6 +909,7 @@
   - [Translation](contribute/translation.md)
   - [Terminology/Notation](contribute/notation.md)
   - [Licenses](contribute/licenses.md)
+  - [SBOM](contribute/sbom.md)
 - [Releases](releases/index.md)
   - [Release Process](releases/release_process.md)
   - [main (alpha)](releases/main.md)

docs/en/advanced/pps_time_sync.md

@@ -91,7 +91,7 @@ For FMUv6S, you need to route the PPS signal separately:
 
 For ARK FMUv6X on the Jetson carrier board:
 
-1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab.md#gps1)
 2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
 
 ## Verification

docs/en/advanced_config/bootloader_update.md

@@ -160,7 +160,7 @@ After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.
 ## FMUv2 Bootloader Update
 
 If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
-This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
+This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) to update the bootloader.
 
 ::: info
 Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.

docs/en/advanced_config/parameter_reference.md

@@ -21557,6 +21557,49 @@ Maximum vertical drift speed to use GPS.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 0.1      | 1.5      |           | 0.2     | m/s  |
 
+### EKF2_RNGBC_CTRL (`INT32`) {#EKF2_RNGBC_CTRL}
+
+Ranging beacon fusion control.
+
+Enable/disable ranging beacon fusion.
+
+**Values:**
+
+- `0`: Disable ranging beacon fusion
+- `1`: Enable ranging beacon fusion
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |      |
+
+### EKF2_RNGBC_DELAY (`FLOAT`) {#EKF2_RNGBC_DELAY}
+
+Ranging beacon measurement delay relative to IMU measurements.
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_RNGBC_GATE (`FLOAT`) {#EKF2_RNGBC_GATE}
+
+Gate size for ranging beacon fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 5.0     | SD   |
+
+### EKF2_RNGBC_NOISE (`FLOAT`) {#EKF2_RNGBC_NOISE}
+
+Measurement noise for ranging beacon fusion.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.1      | 500.0    |           | 30.0    | m    |
+
 ### EKF2_RNG_A_HMAX (`FLOAT`) {#EKF2_RNG_A_HMAX}
 
 Maximum height above ground allowed for conditional range aid mode.
@@ -40080,6 +40123,16 @@ This value is usually about few percent of the maximum thrust force.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 0.0      |          | 0.05      | 0.1     | Nm   |
 
+### SIH_RNGBC_NOISE (`FLOAT`) {#SIH_RNGBC_NOISE}
+
+Ranging beacon measurement noise standard deviation.
+
+Gaussian noise added to simulated ranging beacon measurements. Set to 0 to disable noise.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 100.0    |           | 30.0    | m    |
+
 ### SIH_T_MAX (`FLOAT`) {#SIH_T_MAX}
 
 Max propeller thrust force.

docs/en/can/index.md

@@ -37,7 +37,7 @@ The wiring for CAN networks is the same for both DroneCAN and Cyphal/CAN (in fac
 Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
 
 :::warning Don't connect each CAN peripheral to a separate CAN port!
-Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](#redundancy).
 :::
 
 At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
@@ -83,7 +83,7 @@ You only _need_ one CAN port to support an arbitrary number of CAN devices using
 Don't connect each CAN peripheral to a separate CAN port!
 :::
 
-Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](#redundancy).
 If three are three ports, you might use the remaining network for devices that support another CAN protocol.
 
 The documentation for your flight controller should indicate which ports are supported/enabled.

docs/en/config_mc/filter_tuning.md

@@ -76,13 +76,13 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT
 
 The following parameters should be set to enable and configure dynamic notch filters:
 
-| Parameter                                                                                                     | Description                                                              |
-| ------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ |
-| <a href="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN)    | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
-| <a href="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN)    | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`).        |
-| <a href="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz.                                   |
-| <a href="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW)    | Bandwidth for each notch filter in Hz.                                   |
-| <a href="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW)  | Number of harmonics to filter.                                           |
+| Parameter                                                                                                   | Description                                                              |
+| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------ |
+| <a id="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN)    | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
+| <a id="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN)    | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`).        |
+| <a id="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz.                                   |
+| <a id="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW)    | Bandwidth for each notch filter in Hz.                                   |
+| <a id="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW)  | Number of harmonics to filter.                                           |
 
 ### Low-pass Filter
 

docs/en/contribute/sbom.md

@@ -0,0 +1,226 @@
+# Software Bill of Materials (SBOM)
+
+PX4 generates a [Software Bill of Materials](https://ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format.
+
+## Why SBOM?
+
+- **Regulatory compliance**: The EU Cyber Resilience Act (CRA) requires SBOMs for products with digital elements (reporting obligations begin in September 2026).
+- **Supply chain transparency**: SBOMs enumerate every component compiled into firmware, enabling users and integrators to audit dependencies.
+- **NTIA minimum elements**: Each SBOM satisfies all seven [NTIA required fields](https://www.ntia.gov/report/2021/minimum-elements-software-bill-materials-sbom): supplier, component name, version, unique identifier, dependency relationship, author, and timestamp.
+
+## Format
+
+PX4 uses SPDX 2.3 JSON.
+SPDX is the Linux Foundation's own standard (ISO/IEC 5962), aligning with PX4's position as a Dronecode/LF project.
+Zephyr RTOS also uses SPDX.
+
+Each SBOM contains:
+
+- **Primary package**: The PX4 firmware for a specific board target, marked with `primaryPackagePurpose: FIRMWARE`.
+- **Git submodules**: All third-party libraries included via git submodules (~33 packages), with SPDX license identifiers and commit hashes.
+- **Python build dependencies**: Packages from `Tools/setup/requirements.txt` marked as `BUILD_DEPENDENCY_OF` the firmware.
+- **Board-specific modules**: Internal PX4 modules compiled for the target board.
+- **Compiler**: The C compiler used for the build.
+
+Typical SBOM size: 70-100 packages, ~500 lines, ~20 KB JSON.
+
+## Generation
+
+SBOMs are generated automatically as part of every CMake build.
+The output file is:
+
+```txt
+build/<target>/<target>.sbom.spdx.json
+```
+
+For example:
+
+```txt
+build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json
+```
+
+The generator script is `Tools/ci/generate_sbom.py`.
+It requires PyYAML (`pyyaml`) for loading license overrides.
+
+### CMake Integration
+
+The `sbom` CMake target is included in the default `ALL` target.
+The relevant CMake module is `cmake/sbom.cmake`.
+
+### Disabling SBOM Generation
+
+Set the environment variable before building.
+This is checked at CMake configure time, so a clean build or reconfigure is required:
+
+```sh
+PX4_SBOM_DISABLE=1 make px4_fmu-v6x_default
+```
+
+If the build directory already exists, force a reconfigure:
+
+```sh
+PX4_SBOM_DISABLE=1 cmake -B build/px4_fmu-v6x_default .
+```
+
+### Manual Generation
+
+You can also run the generator directly:
+
+```sh
+python3 Tools/ci/generate_sbom.py \
+    --source-dir . \
+    --board px4_fmu-v6x_default \
+    --modules-file build/px4_fmu-v6x_default/config_module_list.txt \
+    --compiler arm-none-eabi-gcc \
+    --output build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json
+```
+
+## Artifacts
+
+SBOMs are available in:
+
+| Location        | Path                                     |
+| --------------- | ---------------------------------------- |
+| Build directory | `build/<target>/<target>.sbom.spdx.json` |
+| GitHub Releases | Alongside `.px4` firmware files          |
+| S3              | Same directory as firmware artifacts     |
+
+## Validation
+
+Validate an SBOM against the SPDX JSON schema:
+
+```sh
+python3 -c "
+import json
+doc = json.load(open('build/px4_sitl_default/px4_sitl_default.sbom.spdx.json'))
+assert doc['spdxVersion'] == 'SPDX-2.3'
+assert doc['dataLicense'] == 'CC0-1.0'
+assert len(doc['packages']) > 0
+print(f'Valid: {len(doc[\"packages\"])} packages')
+"
+```
+
+For full schema validation, use the [SPDX online validator](https://tools.spdx.org/app/validate/) or the `spdx-tools` CLI.
+
+## License Detection
+
+Submodule licenses are identified through a combination of auto-detection and manual overrides.
+
+### Auto-Detection
+
+The generator reads the first 100 lines of each submodule's LICENSE or COPYING file
+and matches keywords against known patterns.
+Copyleft licenses (GPL, LGPL, AGPL) are checked before permissive ones
+to prevent false positives.
+
+Supported patterns include:
+
+| SPDX Identifier | Matched Keywords                                      |
+| --------------- | ----------------------------------------------------- |
+| GPL-3.0-only    | "GNU GENERAL PUBLIC LICENSE", "Version 3"             |
+| GPL-2.0-only    | "GNU GENERAL PUBLIC LICENSE", "Version 2"             |
+| LGPL-3.0-only   | "GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"      |
+| LGPL-2.1-only   | "GNU Lesser General Public License", "Version 2.1"    |
+| AGPL-3.0-only   | "GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"      |
+| Apache-2.0      | "Apache License", "Version 2.0"                       |
+| MIT             | "Permission is hereby granted"                        |
+| BSD-3-Clause    | "Redistribution and use", "Neither the name"          |
+| BSD-2-Clause    | "Redistribution and use", "THIS SOFTWARE IS PROVIDED" |
+| ISC             | "Permission to use, copy, modify, and/or distribute"  |
+| EPL-2.0         | "Eclipse Public License", "2.0"                       |
+| Unlicense       | "The Unlicense", "unlicense.org"                      |
+
+If no pattern matches, the license is set to `NOASSERTION`.
+
+### Override File
+
+When auto-detection fails or returns the wrong result,
+add an entry to `Tools/ci/license-overrides.yaml`:
+
+```yaml
+overrides:
+  src/lib/crypto/libtomcrypt:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+```
+
+Each entry maps a submodule path to its correct SPDX license identifier.
+The optional `comment` field is emitted as `licenseComments` in the SBOM,
+providing context for auditors reviewing complex licensing situations
+(dual licenses, composite LICENSE files, public domain dedications).
+
+### Copyleft Guardrail
+
+The `--verify-licenses` command flags submodules with copyleft licenses
+(GPL, LGPL, AGPL) in a dedicated warning section.
+This is informational only and does not cause a failure.
+It helps maintainers track copyleft obligations when adding new submodules.
+
+### Platform Filtering
+
+Submodules under `platforms/nuttx/` are excluded from POSIX and QURT SBOMs.
+The `--platform` argument (set automatically by CMake via `${PX4_PLATFORM}`)
+controls which platform-specific submodules are included.
+This ensures SITL builds do not list NuttX RTOS packages.
+
+### Verification
+
+Run the verify command to check detection for all submodules:
+
+```sh
+python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .
+```
+
+This prints each submodule with its detected license, any override, and the final value.
+It exits non-zero if any checked-out submodule resolves to `NOASSERTION` without an override.
+Copyleft warnings are printed after the main table.
+
+### Adding a New Submodule
+
+1. Add the submodule normally.
+2. Run `--verify-licenses` to confirm the license is detected.
+3. If detection fails, add an override to `Tools/ci/license-overrides.yaml`.
+4. If the license is not in the SPDX list, use `LicenseRef-<name>`.
+
+### EU CRA Compliance
+
+The EU Cyber Resilience Act requires SBOMs for products with digital elements.
+The goal is zero `NOASSERTION` licenses in shipped firmware SBOMs.
+Every submodule should have either a detected or overridden license.
+The `--verify-licenses` check enforces this in CI.
+
+## What's in an SBOM
+
+This section is for integrators, compliance teams, and anyone reviewing SBOM artifacts.
+
+### Where to Find SBOMs
+
+| Location        | Path                                     |
+| --------------- | ---------------------------------------- |
+| Build directory | `build/<target>/<target>.sbom.spdx.json` |
+| GitHub Releases | Alongside `.px4` firmware files          |
+| S3              | Same directory as firmware artifacts     |
+
+### Reading the JSON
+
+Each SBOM is a single JSON document following SPDX 2.3.
+Key fields:
+
+- **`packages`**: Array of all components. Each has `name`, `versionInfo`, `licenseConcluded`, and `SPDXID`.
+- **`relationships`**: How packages relate. `CONTAINS` means a submodule is compiled into firmware. `BUILD_DEPENDENCY_OF` means a tool used only during build.
+- **`licenseConcluded`**: The SPDX license identifier determined for that package.
+- **`licenseComments`**: Free-text explanation for complex cases (dual licenses, composite files, public domain).
+- **`externalRefs`**: Package URLs (purls) linking to GitHub repos or PyPI.
+
+### Understanding NOASSERTION
+
+`NOASSERTION` means no license could be determined.
+For submodules, this happens when:
+
+- The submodule is not checked out (common in CI shallow clones).
+- No LICENSE/COPYING file exists.
+- The LICENSE file does not match any known pattern and no override is configured.
+
+For shipped firmware, `NOASSERTION` should be resolved by adding an override.
+For build-only dependencies (Python packages), `NOASSERTION` is acceptable
+since these are not compiled into the firmware binary.

docs/en/debug/gdb_debugging.md

@@ -25,7 +25,7 @@ See the debug probe documentation for details on how to setup your debug connect
 
 - [SEGGER J-Link](probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
 - [Black Magic Probe](probe_bmp.md): integrated GDB server and serial console, requires adapter.
-- [STLink](probe_stlink): best value, integrated serial console, adapter must be soldered.
+- [STLink](probe_stlink.md): best value, integrated serial console, adapter must be soldered.
 
 We recommend using the J-Link with the Pixhawk Debug Adapter or the STLinkv3-MINIE with a soldered custom cable.
 

docs/en/debug/swd_debug.md

@@ -5,7 +5,7 @@ PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for
 The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
 Therefore it can be used to debug bootloaders and operating systems such as NuttX.
 
-## Debug Signals
+## Debug Signals {#debug-signals}
 
 Four signals are required for debugging (in bold) while the rest is recommended.
 
@@ -29,7 +29,7 @@ They are usually not accessible and are typically only used to debug very specif
 
 ## Autopilot Debug Ports {#debug-ports}
 
-Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
+Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).
 
 The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version.
 However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout.
@@ -91,7 +91,7 @@ There FMU and Pixhawk versions are (only) consistent after FMUv5X.
 
 ### Pixhawk Debug Mini
 
-The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
+The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).
 
 This is used in FMUv4 and FMUv5.
 
@@ -122,7 +122,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi
 
 ### Pixhawk Debug Full
 
-The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
+The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).
 This essentially moves the solder pads from beside the [Pixhawk Debug Mini](#pixhawk-debug-mini) into the connector, and also adds an SWO pin.
 
 This port is specified for use in FMUv5x, FMUv6, FMUv6x.
@@ -154,14 +154,14 @@ You can connect to the debug port using a [cable like this one](https://www.digi
 
 ## Debug Probes for PX4 Hardware {#debug-probes}
 
-Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
+Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).
 
 There are several debug probes that are tested and supported for connecting to one or both of these interfaces:
 
 - [SEGGER J-Link](../debug/probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
 - [Black Magic Probe](../debug/probe_bmp.md): integrated GDB server and serial console, requires adapter.
-- [STLink](../debug/probe_stlink): best value, integrated serial console, adapter must be soldered.
-- [MCU-Link](../debug/probe_mculink): best value, integrated serial console, requires adapter.
+- [STLink](../debug/probe_stlink.md): best value, integrated serial console, adapter must be soldered.
+- [MCU-Link](../debug/probe_mculink.md): best value, integrated serial console, requires adapter.
 
 An adapter to connect to the debug port may come with your flight controller or debug probe.
 Other options are given below.
@@ -199,7 +199,7 @@ Probes that are known to come with connectors are listed below:
 
 ### Board-specific Adapters
 
-Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console).
+Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md).
 
 - [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable:
 
@@ -213,7 +213,7 @@ You can also create custom cables for connecting to different boards or probes:
 - Connect the VREF pin, if supported by the debug probe.
 - Connect the remaining pins, if present.
 
-See the [STLinkv3-MINIE](probe_stlink) for a guide on how to solder a custom cable.
+See the [STLinkv3-MINIE](probe_stlink.md) for a guide on how to solder a custom cable.
 
 :::tip
 Where possible, we highly recommend that you create or obtain an adapter board rather than custom cables for connecting to SWD/JTAG debuggers and computers.

docs/en/dev_setup/building_px4.md

@@ -263,7 +263,7 @@ make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD]
 - **VENDOR:** The manufacturer of the board: `px4`, `aerotenna`, `airmind`, `atlflight`, `auav`, `beaglebone`, `intel`, `nxp`, etc.
   The vendor name for Pixhawk series boards is `px4`.
 - **MODEL:** The _board model_ "model": `sitl`, `fmu-v2`, `fmu-v3`, `fmu-v4`, `fmu-v5`, `navio2`, etc.
-- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, which contain components that are not present in the `default` configuration.
+- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, `sih`, which add or remove components to/from the `default` configuration.
   Most commonly this is `default`, and may be omitted.
 
 :::tip

docs/en/dev_setup/dev_env_linux_arch.md

@@ -1,7 +1,7 @@
 # Arch Linux Development Environment
 
 :::warning
-This development environment is [community supported and maintained](../advanced/community_supported_dev_env).
+This development environment is [community supported and maintained](../advanced/community_supported_dev_env.md).
 It may or may not work with current versions of PX4.
 
 See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.

docs/en/dronecan/ark_rtk_gps.md

@@ -84,7 +84,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 
 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
-- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
+- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline-gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
 

docs/en/dronecan/escs.md

@@ -5,7 +5,7 @@ PX4 supports DroneCAN compliant ESCs.
 ## Supported ESC
 
 :::info
-[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
+[Supported ESCs](../peripherals/esc_motors.md#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
 :::
 
 The following articles have specific hardware/firmware information:

docs/en/flight_controller/ark_v6x.md

@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
 :::
 
-The USA-built [ARKV6X](<(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x)>) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
+The USA-built [ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
 
 With triple synced IMUs, data averaging, voting, and filtering is possible.
 The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).

docs/en/flight_modes_rover/auto.md

@@ -13,14 +13,14 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 The following commands can be used in missions at time of writing (PX4 v1.16):
 
-| QGC mission item    | Command                                                      | Description                                       |
-| ------------------- | ------------------------------------------------------------ | ------------------------------------------------- |
-| Mission start       | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START)               | Starts the mission.                               |
-| Waypoint            | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT)                 | Navigate to waypoint.                             |
-| Return to launch    | [MAV_CMD_NAV_RETURN_TO_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location.                    |
-| Change speed        | [MAV_CMD_DO_CHANGE_SPEED][MAV_CMD_DO_CHANGE_SPEED]           | Change the speed setpoint                         |
-| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME)                   | Changes launch location to specified coordinates. |
-| Jump to item (all)  | [MAV_CMD_DO_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item.                   |
+| QGC mission item    | Command                                     | Description                                       |
+| ------------------- | ------------------------------------------- | ------------------------------------------------- |
+| Mission start       | [MAV_CMD_MISSION_START]                     | Starts the mission.                               |
+| Waypoint            | [MAV_CMD_NAV_WAYPOINT]                      | Navigate to waypoint.                             |
+| Return to launch    | [MAV_CMD_NAV_RETURN_TO_LAUNCH]              | Return to the launch location.                    |
+| Change speed        | [MAV_CMD_DO_CHANGE_SPEED]                   | Change the speed setpoint                         |
+| Set launch location | [MAV_CMD_DO_SET_HOME]                       | Changes launch location to specified coordinates. |
+| Jump to item (all)  | [MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item.                   |
 
 [MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
 [MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT

docs/en/frames_sub/bluerov2.md

@@ -33,14 +33,67 @@ the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
 - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
 - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
 
+## Basic Control Axes
+
+For underwater vehicles, motion is defined in terms of body axes:
+
+- **Surge:** forward/back motion - translation along the body X axis.
+- **Sway:** left/right motion - translation along the body Y axis.
+- **Heave:** up/down motion - translation along the body Z axis.
+- **Yaw:** rotation about the (vertical) body Z axis.
+
+### Stick Mapping (Mode 2)
+
+The mapping below illustrates the default joystick behavior:
+
+- **Pitch stick (forward/back):** surge
+- **Roll stick (left/right):** sway
+- **Throttle stick (up/down):** heave
+- **Yaw stick (left/right):** yaw
+
+![RC Basic Commands](../../assets/flying/rc_mode2_mc_position_mode.png)
+
 ## Manual Modes
 
-| Mode     | Description                                                                                                          |
-| -------- | -------------------------------------------------------------------------------------------------------------------- |
-| Manual   | Direct manual control of yaw and thrust.                                                                             |
-| Acro     | Manual control of yaw/thrust, but keeps roll/pitch zero                                                              |
-| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
-| Position | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero                                           |
+The following manual and assisted modes are currently supported on BlueROV2 Heavy:
+
+| Mode       | Description                                                                                                                 |
+| ---------- | --------------------------------------------------------------------------------------------------------------------------- |
+| Manual     | Direct manual control of thrust and yaw.                                                                                    |
+| Stabilized | Manual control of thurst and yaw with roll/pitch stabilization.                                                             |
+| Acro       | Manual control of yaw-rate and direct thrust commands with roll/pitch stabilization.                                        |
+| Altitude   | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch stabilized. |
+| Position   | Controls x, y, z and yaw with position hold when sticks are released. Keeps roll/pitch stabilized.                          |
+
+## Joystick Stick Mode
+
+BlueROV2 supports two joystick mappings for manual control, selected using the
+[UUV_STICK_MODE](../advanced_config/parameter_reference.md#UUV_STICK_MODE) parameter.
+
+By default, `UUV_STICK_MODE` is set to `0`, which enables the UUV stick mapping intended for vectored underwater vehicles.
+
+### UUV_STICK_MODE = 0 (default)
+
+This mode is intended for normal BlueROV2 operation.
+In `Manual`, `Stabilized`, and `Acro` modes, the sticks command:
+
+- **Pitch stick:** surge - moving stick up -> moving forward, +X translation in body frame.
+- **Roll stick:** sway - moving stick right -> moving sideways right, +Y translation in body frame.
+- **Throttle stick:** heave - moving stick up -> moving upwards, -Z translation in body frame (note the Z axis points Down of the vehicle in PX4).
+- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
+
+In this mode, roll and pitch are kept level rather than commanded directly.
+
+### UUV_STICK_MODE = 1
+
+This mode enables the legacy multicopter-style stick mapping for `Manual`, `Stabilized`, and `Acro` modes:
+
+- **Throttle stick:** surge - moving stick up -> moving forward, +X translation in body frame.
+- **Roll stick:** roll - moving stick right -> rolling to the right side, +X rotation in body frame.
+- **Pitch stick:** pitch - moving stick up -> pitching down, -X translation in body frame (note signs are switched to follow PX4 standard).
+- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
+
+This mode is mainly provided for compatibility with older setups and user preference.
 
 ## Airframe Configuration
 

docs/en/frames_sub/index.md

@@ -6,15 +6,15 @@
 Support for UUVs is [experimental](../airframes/index.md#experimental-vehicles).
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
 
-At time of writing it has only been tested using ROS in offboard mode.
+At time of writing manual and assisted manual modes are available for supported UUV frames, as well as ROS in offboard mode.
 The following features have not been implemented:
 
-- Modes like missions, depth hold, stabilised manual control, etc.
+- Autonomous mission-style underwater workflows are still limited compared to aerial vehicles.
 - BlueRobotics gripper support.
 
 :::
 
-PX4 has basic support for UUVs.
+PX4 has basic support for UUVs. For BlueROV2 Heavy, PX4 currently supports Manual, Stabilized, Acro, Altitude and Position modes.
 
 ## Supported Frames
 

docs/en/frames_vtol/index.md

@@ -14,50 +14,52 @@ This section describes the VTOL types and configurations supported by PX4, and p
 
 ## VTOL Types
 
-PX4 supports the three most important/main VTOL types.
+PX4 supports the three most important/main VTOL types: [Standard VTOL](standardvtol.md), [Tiltrotor](tiltrotor.md), and [Tailsitter](tailsitter.md).
 
-<div class="grid_wrapper three_column">
-  <div class="grid_item">
-    <div class="grid_item_heading"><a href="tailsitter.html" title="Tailsitter"><big>Tailsitter</big></a></div>
-    <div class="grid_text">
-    Rotors permanently in fixed-wing position.
-    Takes off and lands on tail. Whole vehicle tilts forward to enter forward flight.
-    <img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="wingtraone" />
-    <ul>
-      <li>Simple and robust</li>
-      <li>Minimal set of actuators</li>
-      <li>Can be hard to control, particularly in wind</li>
-      <li>Tradeoff between efficiency in hover and forward flight, as same actuators are used</li>
-    </ul>
-    </div>
-  </div>
-<div class="grid_item">
-  <div class="grid_item_heading"><a href="tiltrotor.html" title="Tiltrotor"><big>Tiltrotor</big></a></div>
-  Rotors swivel 90 degrees to transition from multicopter to forward flight orientation.
-  Takes off and lands on belly.
-  <div class="grid_text">
-  <img src="../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg" title="Eflight Confvergence" />
-  <ul>
-    <li>Additional actuators for motor tilts</li>
-    <li>Mechanically complex tilting mechanism</li>
-    <li>Easier to control in hover than tailsitters due to more control authority</li>
-  </ul>
-  </div>
-</div>
-<div class="grid_item">
-  <div class="grid_item_heading"><a href="standardvtol.html" title="Standard VTOL"><big>Standard VTOL</big></a></div>
-  <div class="grid_text">
-  Separate rotors/flight controls for multicopter and forward flight. Takes off and lands on belly.
-  <img src="../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png" title="Vertical Technologies: Deltaquad" />
-  <ul>
-    <li>Additional weight from separate hover/forward flight propulsion systems</li>
-    <li>Easiest to control due to dedicated hover/forward flight actuators</li>
-    <li>Can hover</li>
-    <li>Fuel engines for forward flight propulsion can be used</li>
-  </ul>
-  </div>
- </div>
-</div>
+:::: tabs
+
+::: tab Standard VTOL
+
+Separate rotors/flight controls for multicopter and forward flight.
+Takes off and lands on belly.
+
+![Vertical Technologies: Deltaquad](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png)
+
+- Additional weight from separate hover/forward flight propulsion systems
+- Easiest to control due to dedicated hover/forward flight actuators
+- Can hover
+- Fuel engines can be used for forward flight propulsion
+
+:::
+
+::: tab Tailsitter
+
+Rotors permanently in fixed-wing position.
+Takes off and lands on tail. Whole vehicle tilts forward to enter forward flight.
+
+![wingtraone](../../assets/airframes/vtol/wingtraone/hero.jpg)
+
+- Simple and robust
+- Minimal set of actuators
+- Can be hard to control, particularly in wind
+- Tradeoff between efficiency in hover and forward flight, as same actuators are used
+
+:::
+
+::: tab Tiltrotor
+
+Rotors swivel 90 degrees to transition from multicopter to forward flight orientation.
+Takes off and lands on belly.
+
+![Eflight Confvergence](../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg)
+
+- Additional actuators for motor tilts
+- Mechanically complex tilting mechanism
+- Easier to control in hover than tailsitters due to more control authority
+
+:::
+
+::::
 
 In general, as mechanical complexity increases the vehicles are easier to fly, but the cost and weight increase.
 Each type has advantages and disadvantages, and there are successful commercial ventures based on all of them.
@@ -125,7 +127,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
 
 <!-- 20190704 -->
 
-### Tailsitter
+### Tailsitter {#tailsitter_video}
 
 [UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
 
@@ -135,7 +137,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
 
 <lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
 
-### Tiltrotor
+### Tiltrotor {#tiltrotor_video}
 
 [Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)
 

docs/en/frames_vtol/tailsitter.md

@@ -88,35 +88,36 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
 
 ## Gallery
 
-<div class="grid_wrapper three_column">
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://wingtra.com/mapping-drone-fast-accurate-surveying/">WingtraOne</a></big></div>
-    <div class="grid_text">
-    <img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="Wingtra: WingtraOne VTOL Duo Tailsitter" alt="wingtraone" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://www.skypull.technology/">Skypull</a></big></div>
-    <div class="grid_text">
-      <img title="Skypull SP-1 VTOL QuadTailsitter" src="../../assets/airframes/vtol/skypull/skypull_sp1.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html">TBS Caipiroshka</a></big></div>
-    <div class="grid_text">
-      <img title="TBS Caipiroshka" src="../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="http://uav-cas.ac.cn/WOSHARK/">Woshark</a></big></div>
-    <div class="grid_text">
-      <img title="Woshark" src="../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://www.valaqpatrol.com/valaq_patrol_technical_data/">UAV Works VALAQ Patrol Tailsitter</a></big></div>
-    <div class="grid_text">
-      <img title="UAV Works VALAQ Patrol Tailsitter" src="../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg" />
-    </div>
-  </div>
-</div>
+:::: tabs
+
+::: tab WingtraOne
+[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/)
+
+![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg)
+:::
+
+::: tab Skypull
+[Skypull](https://www.skypull.technology/)
+
+![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg)
+:::
+
+::: tab TBS Caipiroshka
+[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md)
+
+![TBS Caipiroshka](../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg)
+:::
+
+::: tab Woshark
+[Woshark](http://uav-cas.ac.cn/WOSHARK/)
+
+![Woshark](../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg)
+:::
+
+::: tab VALAQ Patrol Tailsitter
+[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
+
+!["UAV Works VALAQ Patrol Tailsitte](../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg)
+:::
+
+::::

docs/en/hardware/board_packaging.md

@@ -159,7 +159,7 @@ Runs after the package is installed. Common tasks:
 - Board-specific setup (e.g., DSP signature generation)
 
 ```bash
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Create px4-* symlinks
@@ -185,7 +185,7 @@ fi
 Runs before the package is removed:
 
 ```bash
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # Stop the service

docs/en/hardware/porting_guide_config.md

@@ -70,3 +70,19 @@ The command line and GUI interfaces are shown below.
 ### menuconfig Command Line Interface
 
 ![menuconfig command line interface](../../assets/hardware/kconfig-guiconfig.png)
+
+## Fortified Toolchain Compatibility
+
+Some toolchains define `_FORTIFY_SOURCE` by default. Those toolchains generally require some optimization, which means PX4 configurations that use `-O0` may fail.
+
+PX4 keeps the default debug optimization unchanged unless you explicitly opt in. To switch `PX4_DEBUG_OPT_LEVEL` from `-O0` to `-Og`, enable:
+
+- `Toolchain > Fortified toolchain support`
+
+This is the Kconfig symbol:
+
+```sh
+CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN=y
+```
+
+You can set it either in `boardconfig`/`boardguiconfig` or directly in your board's `*.px4board` file.

docs/en/middleware/dds_topics.md

@@ -95,205 +95,206 @@ They are not build into the module, and hence are neither published or subscribe
 
 ::: details See messages
 
-- [GainCompression](../msg_docs/GainCompression.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [LogMessage](../msg_docs/LogMessage.md)
-- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [Mission](../msg_docs/Mission.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [DebugVect](../msg_docs/DebugVect.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [GpsDump](../msg_docs/GpsDump.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [GpioConfig](../msg_docs/GpioConfig.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
 - [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
 - [DebugArray](../msg_docs/DebugArray.md)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
 - [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [Cpuload](../msg_docs/Cpuload.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
 - [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
 - [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
 - [Event](../msg_docs/Event.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
 - [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
 - [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
 - [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
-- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [SensorMag](../msg_docs/SensorMag.md)
 - [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [GpioIn](../msg_docs/GpioIn.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [FollowTarget](../msg_docs/FollowTarget.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [EscEepromRead](../msg_docs/EscEepromRead.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [NeuralControl](../msg_docs/NeuralControl.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [OrbTest](../msg_docs/OrbTest.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [QshellReq](../msg_docs/QshellReq.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
 - [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
 - [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [Vtx](../msg_docs/Vtx.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
 - [Ping](../msg_docs/Ping.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
 - [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
 - [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [RangingBeacon](../msg_docs/RangingBeacon.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [TuneControl](../msg_docs/TuneControl.md)
   :::

docs/en/msg_docs/EstimatorAidSource1d.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorAidSource1d (UORB message)
 
-**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
+**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
 
 ## Fields
 
@@ -55,7 +55,7 @@ float32 test_ratio_filtered  # signed filtered test ratio
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
-# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
+# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon
 # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
 # TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

docs/en/msg_docs/RangingBeacon.md

@@ -0,0 +1,72 @@
+---
+pageClass: is-wide-page
+---
+
+# RangingBeacon (UORB message)
+
+Ranging beacon measurement data (e.g. LoRa, UWB).
+
+**TOPICS:** ranging_beacon
+
+## Fields
+
+| Name             | Type      | Unit [Frame] | Range/Enum            | Description                                 |
+| ---------------- | --------- | ------------ | --------------------- | ------------------------------------------- |
+| timestamp        | `uint64`  | us           |                       | time since system start                     |
+| timestamp_sample | `uint64`  | us           |                       | the timestamp of the raw data               |
+| beacon_id        | `uint8`   |              |                       |
+| range            | `float32` | m            |                       | Range measurement                           |
+| lat              | `float64` | deg          |                       | Latitude                                    |
+| lon              | `float64` | deg          |                       | Longitude                                   |
+| alt              | `float32` | m            |                       | Beacon altitude (frame defined in alt_type) |
+| alt_type         | `uint8`   |              | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field                |
+| hacc             | `float32` | m            |                       | Groundbeacon horizontal accuracy            |
+| vacc             | `float32` | m            |                       | Groundbeacon vertical accuracy              |
+| sequence_nr      | `uint8`   |              |                       |
+| status           | `uint8`   |              |                       |
+| carrier_freq     | `uint16`  | MHz          |                       | Carrier frequency                           |
+| range_accuracy   | `float32` | m            |                       | Range accuracy estimate                     |
+
+## Enums
+
+### ALT_TYPE {#ALT_TYPE}
+
+| Name                                        | Type    | Value | Description                          |
+| ------------------------------------------- | ------- | ----- | ------------------------------------ |
+| <a id="#ALT_TYPE_WGS84"></a> ALT_TYPE_WGS84 | `uint8` | 0     | Altitude above WGS84 ellipsoid       |
+| <a id="#ALT_TYPE_MSL"></a> ALT_TYPE_MSL     | `uint8` | 1     | Altitude above Mean Sea Level (AMSL) |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RangingBeacon.msg)
+
+::: details Click here to see original file
+
+```c
+# Ranging beacon measurement data (e.g. LoRa, UWB)
+
+uint64 timestamp                # [us] time since system start
+uint64 timestamp_sample         # [us] the timestamp of the raw data
+uint8 beacon_id
+float32 range                   # [m] Range measurement
+
+float64 lat                     # [deg] Latitude
+float64 lon                     # [deg] Longitude
+float32 alt                     # [m] Beacon altitude (frame defined in alt_type)
+uint8 alt_type                  # [@enum ALT_TYPE] Altitude frame for alt field
+uint8 ALT_TYPE_WGS84 = 0        # Altitude above WGS84 ellipsoid
+uint8 ALT_TYPE_MSL   = 1        # Altitude above Mean Sea Level (AMSL)
+
+float32 hacc                    # [m] Groundbeacon horizontal accuracy
+float32 vacc                    # [m] Groundbeacon vertical accuracy
+
+uint8 sequence_nr
+uint8 status
+uint16 carrier_freq             # [MHz] Carrier frequency
+float32 range_accuracy          # [m] Range accuracy estimate
+
+
+# TOPICS ranging_beacon
+```
+
+:::

docs/en/msg_docs/index.md

@@ -192,6 +192,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [QshellReq](QshellReq.md)
 - [QshellRetval](QshellRetval.md)
 - [RadioStatus](RadioStatus.md)
+- [RangingBeacon](RangingBeacon.md) — Ranging beacon measurement data (e.g. LoRa, UWB).
 - [RateCtrlStatus](RateCtrlStatus.md)
 - [RcChannels](RcChannels.md)
 - [RcParameterMap](RcParameterMap.md)

docs/en/peripherals/dshot.md

@@ -13,7 +13,7 @@ This topic shows how to connect and configure DShot ESCs.
 
 ## Supported ESC
 
-[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
+[ESCs & Motors > Supported ESCs](../peripherals/esc_motors.md#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
 
 ## Wiring/Connections {#wiring}
 

docs/en/sim_jmavsim/index.md

@@ -22,36 +22,31 @@ jMAVSim can also be used for HITL Simulation ([as shown here](../simulation/hitl
 
 ## Installation
 
-jMAVSim setup is included in our [standard build instructions](../dev_setup/dev_env.md) for Ubuntu Linux and Windows.
-Follow the instructions below to install jMAVSim on macOS.
+jMAVSim requires JDK 17 or later.
+On Ubuntu and Windows, the [standard development environment setup](../dev_setup/dev_env.md) scripts install all required dependencies including Java.
+On macOS, you need to install Java manually as shown below.
 
 ### macOS
 
-To setup the environment for [jMAVSim](../sim_jmavsim/index.md) simulation:
+jMAVSim requires OpenJDK 17 or later.
+Install it via Homebrew:
 
-1. Install a recent version of Java (e.g. Java 15).
-   You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/downloads/?er=221886) or use [Eclipse Temurin](https://adoptium.net):
+```sh
+brew install openjdk@17
+```
 
-   ```sh
-   brew install --cask temurin
-   ```
+Homebrew installs OpenJDK but does not link it into your `PATH`, so you need to set `JAVA_HOME` for jMAVSim to find it.
+Add this to your shell profile (e.g. `~/.zshrc`):
 
-1. Install jMAVSim:
-
-   ```sh
-   brew install px4-sim-jmavsim
-   ```
-
-   :::warning
-   PX4 v1.11 and beyond require at least JDK 15 for jMAVSim simulation.
-
-   For earlier versions, macOS users might see the error `Exception in thread "main" java.lang.UnsupportedClassVersionError:`.
-   You can find the fix in the [jMAVSim with SITL > Troubleshooting](../sim_jmavsim/index.md#troubleshooting)).
-   :::
+```sh
+export JAVA_HOME=$(/usr/libexec/java_home -v 17)
+```
 
 ## Simulation Environment
 
-Software in the Loop Simulation runs the complete system on the host machine and simulates the autopilot. It connects via local network to the simulator. The setup looks like this:
+Software in the Loop Simulation runs the complete system on the host machine and simulates the autopilot.
+It connects via local network to the simulator.
+The setup looks like this:
 
 [![Mermaid graph: SITL Simulator](https://mermaid.ink/img/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
 
@@ -94,7 +89,8 @@ It will also bring up a window showing a 3D view of the [jMAVSim](https://github
 
 ## Taking it to the Sky
 
-The system will start printing status information. You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
+The system will start printing status information.
+You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
 
 To takeoff enter the following into the console:
 
@@ -196,8 +192,8 @@ Lockstep makes it possible to [change the simulation speed](#change-simulation-s
 The sequence of steps for lockstep are:
 
 1. The simulation sends a sensor message [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) including a timestamp `time_usec` to update the sensor state and time of PX4.
-1. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
-1. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.
+2. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
+3. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.
 
 The system starts with a "freewheeling" period where the simulation sends sensor messages including time and therefore runs PX4 until it has initialized and responds with an actuator message.
 
@@ -217,11 +213,13 @@ To disable lockstep in:
 
 ## Extending and Customizing
 
-To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
+To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder.
+The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
 
 ::: info
 The build system enforces the correct submodule to be checked out for all dependencies, including the simulator.
-It will not overwrite changes in files in the directory, however, when these changes are committed the submodule needs to be registered in the Firmware repo with the new commit hash. To do so, `git add Tools/jMAVSim` and commit the change.
+It will not overwrite changes in files in the directory, however, when these changes are committed the submodule needs to be registered in the Firmware repo with the new commit hash.
+To do so, `git add Tools/jMAVSim` and commit the change.
 This will update the GIT hash of the simulator.
 :::
 
@@ -234,6 +232,75 @@ The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the sa
 - The startup scripts are discussed in [System Startup](../concept/system_startup.md).
 - The simulated root file system ("`/`" directory) is created inside the build directory here: `build/px4_sitl_default/rootfs`.
 
+## Display-Only Mode
+
+jMAVSim can run as a display-only renderer for other simulators (like [SIH](../sim_sih/index.md)), with its internal physics disabled.
+In this mode, jMAVSim receives vehicle position via MAVLink and only renders the 3D view.
+
+To use jMAVSim as a display for SIH running in SITL:
+
+```sh
+# Start SIH first
+make px4_sitl_sih sihsim_quadx
+
+# In another terminal, start jMAVSim in display-only mode
+./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o  # 19410 is the default SIH display port
+```
+
+For SIH running on flight controller hardware:
+
+```sh
+./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+```
+
+Use `-a` for airplane display or `-t` for tailsitter display.
+
+## Command-Line Reference
+
+The `jmavsim_run.sh` launch script accepts the following flags:
+
+| Flag          | Description                                      |
+| ------------- | ------------------------------------------------ |
+| `-b <rate>`   | Serial baud rate (default: 921600)               |
+| `-d <device>` | Serial device path (e.g., `/dev/ttyACM0`)        |
+| `-u`          | Use UDP connection instead of serial             |
+| `-i <id>`     | Simulated MAVLink system ID                      |
+| `-p <port>`   | UDP port (default: 14560)                        |
+| `-q`          | No interactive console                           |
+| `-s <port>`   | TCP serial port                                  |
+| `-r <rate>`   | Render rate in Hz                                |
+| `-l`          | Enable lockstep                                  |
+| `-o`          | Display-only mode (disable physics, render only) |
+| `-a`          | Use airplane model                               |
+| `-t`          | Use tailsitter model                             |
+| `HEADLESS=1`  | Environment variable: run without GUI window     |
+
+## How jMAVSim Works
+
+jMAVSim is a Java-based lightweight simulator that communicates with PX4 via MAVLink HIL (Hardware-In-the-Loop) messages.
+
+In normal mode:
+
+1. PX4 sends actuator commands via [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
+2. jMAVSim runs its physics engine to compute the vehicle state.
+3. jMAVSim sends sensor data back via [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) and [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS).
+
+In **display-only mode** (`-o` flag), jMAVSim disables its physics engine and only reads [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages to render the vehicle position.
+This allows it to visualize vehicles from other simulators like SIH.
+
+jMAVSim supports [lockstep synchronization](#lockstep) with PX4 (enabled with `-l` flag), ensuring deterministic simulation results.
+
+## Keyboard Shortcuts
+
+Camera modes in the jMAVSim 3D view:
+
+| Key           | Camera Mode                          |
+| ------------- | ------------------------------------ |
+| **F**         | First person (attached to vehicle)   |
+| **S**         | Stationary (fixed position)          |
+| **G**         | Gimbal (follows vehicle orientation) |
+| **(default)** | Third person follow                  |
+
 ## Troubleshooting
 
 ### java.long.NoClassDefFoundError
@@ -324,8 +391,8 @@ Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmav
 This error is telling you, you need a more recent version of Java in your environment.
 Class file version 58 corresponds to jdk14, version 59 to jdk15, version 60 to jdk 16 etc.
 
-To fix it under macOS, we recommend installing OpenJDK through homebrew
+To fix it under macOS, install a newer OpenJDK via Homebrew:
 
 ```sh
-brew install --cask adoptopenjdk16
+brew install openjdk@17
 ```

docs/en/sim_sih/hardware.md

@@ -0,0 +1,170 @@
+# SIH on Flight Controller Hardware
+
+SIH can run directly on flight controller hardware with `SYS_HITL=2`.
+This replaces real sensors with simulated data while running on the actual autopilot, useful for testing without propellers.
+
+For a comparison of SIH and HITL on hardware, see [Hardware Simulation](../simulation/hardware.md).
+
+## Firmware Builds with SIH
+
+The SIH module is included in many, but not all, default firmware builds.
+This list can change between PX4 releases. Always verify using the method in [Check if SIH is in Firmware](#check-if-sih-is-in-firmware).
+
+The table below lists build targets that include SIH at the time of writing:
+
+| Build Target                         | Board                      |
+| ------------------------------------ | -------------------------- |
+| `px4_fmu-v3_default`                 | Pixhawk 2 (Cube Black)     |
+| `px4_fmu-v4_default`                 | Pixhawk 3 Pro              |
+| `px4_fmu-v4pro_default`              | Pixracer                   |
+| `px4_fmu-v5_default`                 | Pixhawk 4                  |
+| `px4_fmu-v5x_default`                | Pixhawk 5X                 |
+| `px4_fmu-v6c_default`                | Pixhawk 6C                 |
+| `px4_fmu-v6c_raptor`                 | Pixhawk 6C (Raptor)        |
+| `px4_fmu-v6x_multicopter`            | Pixhawk 6X (multicopter)   |
+| `auterion_fmu-v6s_default`           | Auterion FMU-v6S           |
+| `auterion_fmu-v6x_default`           | Auterion FMU-v6X           |
+| `holybro_durandal-v1_default`        | Holybro Durandal           |
+| `holybro_kakuteh7_default`           | Holybro Kakute H7          |
+| `holybro_kakuteh7v2_default`         | Holybro Kakute H7 V2       |
+| `holybro_pix32v5_default`            | Holybro Pix32 V5           |
+| `cuav_nora_default`                  | CUAV Nora                  |
+| `cuav_x7pro_default`                 | CUAV X7 Pro                |
+| `cuav_x25-evo_default`               | CUAV X25 EVO               |
+| `cuav_x25-super_default`             | CUAV X25 Super             |
+| `cubepilot_cubeyellow_default`       | CubePilot Cube Yellow      |
+| `mro_pixracerpro_default`            | MRO PixRacer Pro           |
+| `mro_x21_default`                    | MRO X2.1                   |
+| `mro_ctrl-zero-h7_default`           | MRO Ctrl Zero H7           |
+| `mro_ctrl-zero-h7-oem_default`       | MRO Ctrl Zero H7 OEM       |
+| `mro_ctrl-zero-f7_default`           | MRO Ctrl Zero F7           |
+| `mro_ctrl-zero-f7-oem_default`       | MRO Ctrl Zero F7 OEM       |
+| `mro_ctrl-zero-classic_default`      | MRO Ctrl Zero Classic      |
+| `3dr_ctrl-zero-h7-oem-revg_default`  | 3DR Ctrl Zero H7 OEM RevG  |
+| `modalai_fc-v1_default`              | ModalAI FC V1              |
+| `nxp_fmuk66-v3_default`              | NXP FMUK66-V3              |
+| `nxp_fmuk66-e_default`               | NXP FMUK66-E               |
+| `radiolink_PIX6_default`             | Radiolink PIX6             |
+| `siyi_n7_default`                    | SIYI N7                    |
+| `sky-drones_smartap-airlink_default` | Sky-Drones SmartAP Airlink |
+| `uvify_core_default`                 | UVify Core                 |
+| `atl_mantis-edu_default`             | ATL Mantis EDU             |
+| `av_x-v1_default`                    | AV X-V1                    |
+| `narinfc_h7_default`                 | NarinFC H7                 |
+| `thepeach_k1_default`                | ThePeach K1                |
+| `thepeach_r1_default`                | ThePeach R1                |
+| `airmind_mindpx-v2_default`          | AirMind MindPX V2          |
+| `beaglebone_blue_default`            | BeagleBone Blue            |
+| `bluerobotics_navigator_default`     | BlueRobotics Navigator     |
+| `emlid_navio2_default`               | Emlid Navio2               |
+| `px4_raspberrypi_default`            | Raspberry Pi               |
+| `scumaker_pilotpi_default`           | Scumaker PilotPi           |
+
+::: info
+Some boards (e.g., `px4_fmu-v6x_default`, `cubepilot_cubeorange_default`) do not include SIH in their default build due to flash memory constraints.
+You can add SIH to any board -- see [Check if SIH is in Firmware](#check-if-sih-is-in-firmware).
+:::
+
+## Requirements
+
+- A flight controller with SIH module included in firmware (see [Firmware Builds with SIH](#firmware-builds-with-sih)).
+- USB connection for QGroundControl.
+- Optional: jMAVSim for 3D visualization via serial link (see [Visualization](#hardware-visualization)).
+
+## Check if SIH is in Firmware
+
+SIH is included in most default firmware builds. To verify, search for `sih` in the parameter list in QGroundControl. If `SIH_*` parameters are available, the module is included.
+
+To add SIH to a custom build, enable it in the board configuration:
+
+```txt
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+```
+
+## Starting SIH
+
+1. Connect the flight controller to QGroundControl via USB.
+2. Set `SYS_HITL` parameter to `2`.
+3. Reboot the flight controller.
+4. The SIH module starts automatically and provides simulated sensor data.
+
+Once running, the vehicle can be controlled from QGroundControl or an RC controller.
+
+:::warning
+To save flash memory on boards with limited storage, SIH can be built with only quadrotor support.
+Set `SIH_VEHICLE_TYPE` before building to limit included vehicle models.
+:::
+
+## Visualization (Optional) {#hardware-visualization}
+
+If you need a visual aid to see what the simulated vehicle is doing on hardware:
+
+### QGroundControl
+
+Connect the flight controller via USB. QGC shows the vehicle on the map view with attitude, position, and telemetry, the same as a real flight.
+
+### jMAVSim (3D Display-Only)
+
+jMAVSim can render a 3D view of the vehicle over a serial connection. No physics are simulated in jMAVSim -- it is display-only.
+
+```sh
+./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+```
+
+Where `/dev/ttyACM0` is the serial device for the flight controller.
+On macOS, this is typically `/dev/tty.usbmodem*`.
+
+## Controlling Actuators
+
+:::warning
+If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
+:::
+
+In some scenarios, it may be useful to control an actuator while running SIH on hardware. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
+
+**To enable actuator control in SIH:**
+
+1. Configure PWM parameters in the airframe file:
+
+   Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
+
+   For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
+
+   `param set-default PWM_MAIN_FUNC3 407`
+
+   You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
+
+   Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
+
+   You may also configure the output as desired:
+   - Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
+   - Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
+   - Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
+
+2. Manually start the PWM output driver
+
+   For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
+
+   ```sh
+   pwm_out start
+   ```
+
+   **And to disable it again:**
+
+   ```sh
+   pwm_out stop
+   ```
+
+## Adding New Airframes (FC)
+
+Airframe configuration for SIH on a flight controller differs from SITL in a few ways:
+
+- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name.
+- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target.
+- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters).
+  This is to avoid using the real actuator outputs in SIH.
+  Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`.
+
+For general airframe setup (SIH parameters, EKF2 tuning), see [Adding New Airframes](index.md#adding-new-airframes) on the main SIH page.
+
+For examples, see the `.hil` airframes in [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes).

docs/en/sim_sih/index.md

@@ -1,284 +1,221 @@
-# Simulation-In-Hardware (SIH)
+# SIH Simulation
 
-<Badge type="tip" text="PX4 v1.9 (MC)" /><Badge type="tip" text="PX4 v1.13 (MC, VTOL, FW)" />
+<Badge type="tip" text="PX4 v1.9 (MC)" /><Badge type="tip" text="PX4 v1.13 (MC, VTOL, FW)" /> <Badge type="tip" text="PX4 v1.16 (Rover)" />
 
-:::warning
-This simulator is [community supported and maintained](../simulation/community_supported_simulators.md).
-It may or may not work with current versions of PX4 (known to work in PX4 v1.14).
-
-See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
-:::
-
-Simulation-In-Hardware (SIH) is an alternative to [Hardware In The Loop simulation (HITL)](../simulation/hitl.md) for quadrotors, fixed-wing vehicles (airplane), and VTOL tailsitters.
-
-SIH can be used by new PX4 users to get familiar with PX4 and the different modes and features, and of course to learn to fly a vehicle using an RC controller in simulation, which is not possible using SITL.
+SIH (Simulation-In-Hardware) is a lightweight, headless simulator with zero external dependencies that runs physics directly inside PX4 via uORB messages.
+No GUI, no external processes, no rendering overhead — just PX4 running a C++ physics model.
+This makes it the fastest way to iterate on flight code.
 
 ## Overview
 
-With SIH the whole simulation is running on embedded hardware: the controller, the state estimator, and the simulator.
-The Desktop computer is only used to display the virtual vehicle.
+SIH runs as a PX4 module that replaces real sensor and actuator hardware with a simulated physics model.
+It provides simulated IMU, GPS, barometer, magnetometer, and airspeed sensor data via uORB, and reads actuator outputs to update the vehicle state at each timestep.
 
-![Simulator MAVLink API](../../assets/diagrams/SIH_diagram.png)
+The simulation runs in lockstep with PX4, ensuring deterministic and reproducible results.
+It also integrates seamlessly with ROS 2 via with no additional configuration (see [ROS 2 Integration](#ros-2-integration) below).
 
-### Compatibility
+Two modes are supported:
 
-- SIH is compatible with all PX4 supported boards except those based on FMUv2.
-- SIH for MC quadrotor is supported from PX4 v1.9.
-- SIH for FW (airplane) and VTOL tailsitter are supported from PX4 v1.13.
-- SIH as SITL (without hardware) from PX4 v1.14.
-- SIH for Standard VTOL from PX4 v1.16.
-- SIH for MC Hexacopter X from PX4 v1.17.
-- SIH for Ackermann Rover from PX4 v1.17.
+- **[SITL](#sih-as-sitl-no-fc):** Runs on your computer with no hardware needed, and headless (without a UI) by default.
+  _This is the fastest and easiest way to start a simulation on PX4._
 
-### Benefits
+- **[SIH on flight controller hardware](#sih-on-flight-controller-hardware):** Runs the entire simulation on the autopilot (`SYS_HITL=2`).
 
-SIH provides several benefits over HITL:
+### Supported Vehicle Types
 
-- It ensures synchronous timing by avoiding the bidirectional connection to the computer.
-  As a result the user does not need such a powerful desktop computer.
-- The whole simulation remains inside the PX4 environment.
-  Developers who are familiar with PX4 can more easily incorporate their own mathematical model into the simulator.
-  They can, for instance, modify the aerodynamic model, or noise level of the sensors, or even add a sensor to be simulated.
-- The physical parameters representing the vehicle (such as mass, inertia, and maximum thrust force) can easily be modified from the [SIH parameters](../advanced_config/parameter_reference.md#simulation-in-hardware).
+The following vehicle types are supported:
 
-## Requirements
-
-To run the SIH, you will need a:
-
-- [Flight controller](../flight_controller/index.md), such as a Pixhawk-series board.
-
-  ::: info
-  From PX4 v1.14 you can run [SIH "as SITL"](#sih-as-sitl-no-fc), in which case a flight controller is not required.
-  :::
-
-- [Manual controller](../getting_started/px4_basic_concepts.md#manual-control): either a [radio control system](../getting_started/rc_transmitter_receiver.md) or a [joystick](../config/joystick.md).
-- QGroundControl for flying the vehicle via GCS.
-- Development computer for visualizing the virtual vehicle (optional).
-
-## Check if SIH is in Firmware
-
-The modules required for SIH are built into most PX4 firmware by default.
-These include: [`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim), [`sensor_baro_sim`](../modules/modules_system.md#sensor-baro-sim), [`sensor_gps_sim`](../modules/modules_system.md#sensor-gps-sim) and [`sensor_mag_sim`](../modules/modules_system.md#sensor-mag-sim).
-
-To check that these are present on your flight controller:
-
-1. Start QGroundControl.
-2. Open **Analyze Tools > Mavlink Console**.
-3. Enter the following commands in the console:
-
-   ```sh
-   pwm_out_sim status
-   ```
-
-   ```sh
-   sensor_baro_sim status
-   ```
-
-   ```sh
-   sensor_gps_sim status
-   ```
-
-   ```sh
-   sensor_mag_sim status
-   ```
-
-   ::: tip
-   Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
-   :::
-
-4. If a valid status is returned you can start using SIH.
-
-If any of the returned values above are `nsh: MODULENAME: command not found`, then you don't have the module installed.
-In this case you will have to add them to your board configuration and then rebuild and install the firmware.
-
-### Adding SIH to the Firmware
-
-Add the following key to the configuration file for your flight controller to include all the required modules (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)).
-Then re-build the firmware and flash it to the board.
-
-```text
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-```
-
-::: details What does this do?
-
-This installs the dependencies in [simulator_sih/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/Kconfig).
-It is equivalent to:
-
-```text
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
-CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
-CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
-CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
-```
+| Vehicle                                                         | Make Target                              | Status       |
+| --------------------------------------------------------------- | ---------------------------------------- | ------------ |
+| Quadrotor X <Badge type="tip" text="PX4 v1.9" />                | `make px4_sitl_sih sihsim_quadx`         | Stable       |
+| Hexarotor X <Badge type="tip" text="PX4 v1.16" />               | `make px4_sitl_sih sihsim_hexa`          | Experimental |
+| Fixed-wing (airplane) <Badge type="tip" text="PX4 v1.13" />     | `make px4_sitl_sih sihsim_airplane`      | Experimental |
+| Tailsitter VTOL <Badge type="tip" text="PX4 v1.13" />           | `make px4_sitl_sih sihsim_xvert`         | Experimental |
+| Standard VTOL (QuadPlane) <Badge type="tip" text="PX4 v1.16" /> | `make px4_sitl_sih sihsim_standard_vtol` | Experimental |
+| Ackermann Rover <Badge type="tip" text="PX4 v1.16" />           | `make px4_sitl_sih sihsim_rover`         | Experimental |
 
+::: warning
+Only the quadrotor vehicle type is stable and recommended for development. All other vehicle types (hexarotor, fixed-wing, VTOL, rover) are experimental and may have aerodynamic model or controller interaction issues that produce unrealistic flight behavior.
 :::
 
-As an alternative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**.
-For example, to update the fmu-v6x configuration you would use:
+### How SIH Works
+
+![SIH Overview](../../assets/simulation/sih_overview.svg)
+
+SIH differs from external simulators:
+
+- **No MAVLink simulator API:** SIH communicates entirely via uORB (PX4's internal message bus).
+- **No external process:** The physics model runs in the same PX4 process.
+- **Lockstep by default:** Simulation time is synchronized with PX4 scheduling.
+
+## SIH as SITL {#sih-as-sitl-no-fc}
+
+SIH as SITL is the easiest and fastest way to set up a simulator with PX4.
+It requires no hardware, and very few extra dependencies.
+
+### Quick Start
+
+To build PX4 and run SIH for a quadrotor:
 
 ```sh
-make px4_fmu-v6x boardconfig
+make px4_sitl_sih sihsim_quadx
 ```
 
-After uploading, check that the required modules are present.
+QGroundControl auto-connects on UDP port 14550 — just open it and you'll see the vehicle.
+Note that the simulation is "headless" by default (has no GUI), but you can use an external viewer.
 
-::: info
-To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration.
-:::
-
-## Starting SIH
-
-To set up/start SIH:
-
-1. Connect the flight controller to the desktop computer with a USB cable.
-2. Open QGroundControl and wait for the flight controller too boot and connect.
-3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
-   - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
-   - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
-   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
-   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
-   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
-
-The autopilot will then reboot.
-The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
-
-:::warning
-The airplane needs to takeoff in manual mode at full throttle.
-Also, if the airplane crashes the state estimator might lose its fix.
-:::
-
-## Simulation Configuration
-
-### Wind
-
-SIH supports setting a wind velocity with the PX4 parameters [`SIH_WIND_N`](../advanced_config/parameter_reference.md#SIH_WIND_E) and [`SIH_WIND_E`](../advanced_config/parameter_reference.md#SIH_WIND_E) [m/s]. The parameters can also be changed during flight to simulate changing wind.
-
-## Display/Visualisation (optional)
-
-The SIH-simulated vehicle can be displayed using [jMAVSim](../sim_jmavsim/index.md) as a visualiser.
+See [Supported vehicle types](#supported-vehicle-types) for other vehicles.
 
 ::: tip
-SIH does not _need_ a visualiser — you can connect with QGroundControl and fly the vehicle without one.
+Use the `px4_sitl_sih` build target!
+The `px4_sitl` target will work, but will also build Gazebo libraries.
 :::
 
-To display the simulated vehicle:
+### Visualization (Optional) {#sitl-visualization}
 
-1. Close _QGroundControl_ (if open).
-1. Unplug and replug the flight controller (allow a few seconds for it to boot).
-1. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:
+SIH is intentionally headless by default.
+If you need a visual aid to see what the vehicle is doing you can use QGroundControl to track path over ground, and/or jMAVSim as a 3D viewer.
 
-   ```sh
-   ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
-   ```
+#### QGroundControl
 
-   where the flags are:
-   - `-q` to allow the communication to _QGroundControl_ (optional).
-   - `-d` to start the serial device `/dev/ttyACM0` on Linux.
-     On macOS this would be `/dev/tty.usbmodem1`.
-   - `-b` to set the serial baud rate to `2000000`.
-   - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
-   - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-     If this flag is not present a quadrotor will be displayed by default.
+QGC auto-connects on UDP port 14550. Open QGC while SIH is running and the vehicle appears on the map view with attitude, position, and telemetry.
 
-1. After few seconds, _QGroundControl_ can be opened again.
+#### jMAVSim (3D Display-Only)
 
-At this point, the system can be armed and flown.
-The vehicle can be observed moving in jMAVSim, and on the QGC _Fly_ view.
-
-## SIH as SITL (no FC)
-
-SIH can be run as SITL (Software-In-The-Loop) from v1.14.
-What this means is that the simulation code is executed on the laptop/computer instead of a flight controller, similar to Gazebo or jMAVSim.
-In this case you don't need the flight controller hardware.
-
-To run SIH as SITL:
-
-1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
-2. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
-   - Quadcopter
-
-     ```sh
-     make px4_sitl sihsim_quadx
-     ```
-
-   - Hexacopter
-
-     ```sh
-     make px4_sitl sihsim_hex
-     ```
-
-   - Fixed-wing (plane)
-
-     ```sh
-     make px4_sitl sihsim_airplane
-     ```
-
-   - XVert VTOL tailsitter
-
-     ```sh
-     make px4_sitl sihsim_xvert
-     ```
-
-   - Standard VTOL
-
-     ```sh
-     make px4_sitl sihsim_standard_vtol
-     ```
-
-   - Ackermann Rover
-
-     ```sh
-     make px4_sitl sihsim_rover_ackermann
-     ```
-
-### Change Simulation Speed
-
-SITL allows the simulation to be run faster than real time.
-To run the airplane simulation 10 times faster than real time, run the command:
-
-```sh
-PX4_SIM_SPEED_FACTOR=10 make px4_sitl sihsim_airplane
-```
-
-To display the vehicle in jMAVSim during SITL mode, enter the following command in another terminal:
+jMAVSim can render a 3D view of the vehicle using MAVLink position data. No physics are simulated in jMAVSim — it is display-only.
 
 ```sh
 ./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o
 ```
 
-- add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-  If this flag is not present a quadrotor will be displayed by default.
+Flags:
 
-### Set Custom Takeoff Location
+- `-a` for airplane model
+- `-t` for tailsitter model
+- `-o` enable display-only mode.
 
-The takeoff location in SIH on SITL can be set using environment variables.
-This will override the default takeoff location.
+See [jMAVSim Display-Only Mode](../sim_jmavsim/index.md#display-only-mode) for details.
 
-The variables to set are: `PX4_HOME_LAT`, `PX4_HOME_LON`, and `PX4_HOME_ALT`.
+### Environment Configuration
 
-For example:
+#### Change Simulation Speed
+
+SIH supports faster-than-realtime simulation via the `PX4_SIM_SPEED_FACTOR` environment variable:
+
+```sh
+# Run at 10x speed
+PX4_SIM_SPEED_FACTOR=10 make px4_sitl_sih sihsim_quadx
+```
+
+#### Wind Simulation
+
+SIH supports setting a wind velocity with the PX4 parameters [`SIH_WIND_N`](../advanced_config/parameter_reference.md#SIH_WIND_E) and [`SIH_WIND_E`](../advanced_config/parameter_reference.md#SIH_WIND_E) [m/s]. The parameters can also be changed during flight to simulate changing wind.
+
+#### Set Custom Takeoff Location
+
+The default takeoff location can be set using environment variables:
 
 ```sh
 export PX4_HOME_LAT=28.452386
 export PX4_HOME_LON=-13.867138
 export PX4_HOME_ALT=28.5
-make px4_sitl sihsim_quadx
+make px4_sitl_sih sihsim_quadx
 ```
 
+### ROS 2 Integration
+
+SIH works with ROS 2 via the [uXRCE-DDS](../middleware/uxrce_dds.md) client, which auto-starts in SITL mode.
+This is the same mechanism used by Gazebo — both simulators expose the same set of uORB topics to ROS 2.
+The DDS agent connects on UDP port **8888** by default (configurable via `UXRCE_DDS_PRT` parameter or `PX4_UXRCE_DDS_PORT` environment variable).
+
+To use SIH with ROS 2:
+
+1. Start SIH:
+
+   ```sh
+   make px4_sitl_sih sihsim_quadx
+   ```
+
+2. In a separate terminal, start the Micro XRCE-DDS Agent:
+
+   ```sh
+   MicroXRCEAgent udp4 -p 8888
+   ```
+
+See [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) for full setup instructions, including agent installation and ROS 2 workspace configuration.
+
+### Port Reference
+
+PX4 SITL opens the following UDP ports (all instance-aware, offset by instance number N).
+
+| PX4 sends to (remote) | PX4 listens on (local) | Use for                         | Instance offset                           |
+| --------------------- | ---------------------- | ------------------------------- | ----------------------------------------- |
+| **14550**             | 18570 (+N)             | QGroundControl, GCS tools       | Yes                                       |
+| **14540** (+N)        | 14580 (+N)             | MAVSDK, MAVROS, offboard APIs   | Yes (capped at 14549 for 10+ instances)   |
+| **14030** (+N)        | 14280 (+N)             | Onboard camera/payload          | Yes                                       |
+| **13280** (+N)        | 13030 (+N)             | Gimbal control                  | Yes                                       |
+| **19410** (+N)        | 19450 (+N)             | jMAVSim display-only (SIH only) | Yes                                       |
+| **8888**              | -                      | uXRCE-DDS / ROS 2               | No (use DDS namespace for multi-instance) |
+
+QGC auto-connects on port **14550** by default. MAVSDK connects on **14540**. No manual port configuration needed for single-instance use.
+
+### Multi-Vehicle Simulation
+
+SIH supports multi-vehicle simulation using PX4's instance system.
+Each instance gets unique MAVLink ports, a unique system ID, and a separate DDS namespace.
+
+To launch multiple SIH vehicles, first build:
+
+```sh
+make px4_sitl_sih sihsim_quadx
+```
+
+Then use the multi-instance launch script:
+
+```sh
+./Tools/simulation/sitl_multiple_run.sh 3 sihsim_quadx px4_sitl_sih
+```
+
+Or launch instances manually:
+
+```sh
+# Terminal 1 (instance 0)
+make px4_sitl_sih sihsim_quadx
+
+# Terminal 2 (instance 1)
+./build/px4_sitl_sih/bin/px4 -i 1 -d ./build/px4_sitl_sih/etc
+
+# Terminal 3 (instance 2)
+./build/px4_sitl_sih/bin/px4 -i 2 -d ./build/px4_sitl_sih/etc
+```
+
+Each instance allocates ports automatically (all offset by instance number):
+
+| Instance | MAVLink (18570+N) | MAVLink (14540+N) | DDS (8888) Namespace |
+| -------- | ----------------- | ----------------- | -------------------- |
+| 0        | 18570             | 14540             | (default)            |
+| 1        | 18571             | 14541             | px4_1                |
+| 2        | 18572             | 14542             | px4_2                |
+
+See [Port Reference](#port-reference) for the complete list of ports.
+
+## SIH on Flight Controller Hardware {#sih-on-flight-controller-hardware}
+
+SIH can also run on flight controller hardware with `SYS_HITL=2`, replacing real sensors with simulated data while running on the actual autopilot.
+See [SIH on Flight Controller Hardware](hardware.md) for setup instructions.
+
 ## Adding New Airframes
 
 [Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases.
 You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle.
 
 ::: warning
-Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp).
+Not every vehicle can be simulated with SIH — there are currently [six supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE) (quadcopter, fixed-wing, tailsitter, standard VTOL, hexacopter, rover), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp).
 :::
 
 The specific differences for SIH simulation airframes are listed in the sections below.
 
-For all variants of SIH:
+### All Variants
 
 - Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle.
 
@@ -298,15 +235,11 @@ For all variants of SIH:
 
 - `param set-default SENS_GPS0_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH).
 
-For SIH on FC:
+### SIH on Flight Controller
 
-- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name.
-- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target.
-- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters).
-  This is to avoid using the real actuator outputs in SIH.
-  Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`.
+For FC-specific airframe setup (file locations, `HIL_ACT_FUNC*` parameters), see [Adding New Airframes (FC)](hardware.md#adding-new-airframes-fc).
 
-For SIH as SITL (no FC):
+### SIH as SITL
 
 - Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name.
 - Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target.
@@ -322,57 +255,28 @@ For SIH as SITL (no FC):
 
 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix/airframes) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
 
-## Controlling Actuators in SIH
-
-:::warning
-If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
-:::
-
-In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
-
-To enable actuator control in SIH:
-
-1. Configure PWM parameters in the airframe file:
-
-Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
-
-For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
-
-`param set-default PWM_MAIN_FUNC3 407`
-
-You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
-
-Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
-
-You may also configure the output as desired:
-
-- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
-- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
-- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
-
-2. Manually start the PWM output driver
-
-For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
-
-`pwm_out start`
-
-And to disable it again:
-
-`pwm_out stop`
-
 ## Dynamic Models
 
 The dynamic models for the various vehicles are:
 
-- Quadcopter: [pdf report](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf).
-- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
-- Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
-- Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
-- Ackermann Rover: Based on lateral vehicle dynamics of the bicycle model adapted from [Sri Anumakonda, Everything you need to know about Self-Driving Cars in <30 minutes](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427)
+- Quadrotor: [pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf)
+- Fixed-wing: based on Khan (2016), see references below
+- Tailsitter: based on Chiappinelli (2018), see references below
+- Rover: bicycle model with linear tire model
+
+Since PX4 v1.17, the propeller model for fixed-wing, tailsitter, and VTOL pusher vehicles is based on [UIUC propeller data](https://m-selig.ae.illinois.edu/props/propDB.html).
+The maximum thrust force is realistically reduced as aircraft speed increases.
+
+**References:**
+
+1. PX4 Development Team, "SIH Dynamic Model," PX4-Autopilot, 2019. [PDF](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf)
+2. W. Khan, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles," Ph.D. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2016.
+3. R. Chiappinelli, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle," M.Sc. thesis, Dept. of Mechanical Engineering, McGill University, Montreal, 2018.
+4. S. Anumakonda, "Everything you need to know about Self-Driving Cars," 2021. [Link](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427)
 
 ## Video
 
-<lite-youtube videoid="PzIpSCRD8Jo" title="SIH FW demo"/>
+@[youtube](https://youtu.be/PzIpSCRD8Jo)
 
 ## Credits
 

docs/en/simulation/community_supported_simulators.md

@@ -12,10 +12,13 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
 The tools have variable levels of support from their communities (some are well supported and others are not).
 Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat)
 
-| Simulator                                           | Description                                                                                                                                                                                                                                                                                                                                                                                                                                |
-| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot. </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover</p> |
-| [FlightGear](../sim_flightgear/index.md)            | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p>                         |
-| [JMAVSim](../sim_jmavsim/index.md)                  | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                                    |
-| [JSBSim](../sim_jsbsim/index.md)                    | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                                              |
-| [AirSim](../sim_airsim/index.md)                    | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                                        |
+| Simulator                                | Description                                                                                                                                                                                                                                                                                                                                                                                                        |
+| ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| [FlightGear](../sim_flightgear/index.md) | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
+| [JMAVSim](../sim_jmavsim/index.md)       | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                            |
+| [JSBSim](../sim_jsbsim/index.md)         | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                      |
+| [AirSim](../sim_airsim/index.md)         | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                |
+
+:::tip
+[Gazebo](../sim_gazebo_gz/index.md) and [SIH](../sim_sih/index.md) are the officially supported simulators. See the [Simulation](index.md) page for more information.
+:::

docs/en/simulation/hardware.md

@@ -0,0 +1,29 @@
+# Hardware Simulation
+
+PX4 can run simulation directly on a real flight controller, replacing real sensors with simulated data, while otherwise executing the full flight stack on actual autopilot hardware.
+
+::: info
+Simulating PX4 on flight controller hardware exercises more flight stack code than SITL, and tests more of your hardware integration.
+It can surface issues with running PX4 that might hidden when running on a desktop OS and hardware, or even a different flight controller board.
+:::
+
+Two simulation approaches are available, controlled by the [SYS_HITL](../advanced_config/parameter_reference.md#SYS_HITL) parameter:
+
+- **[HITL Simulation](../simulation/hitl.md) (`SYS_HITL=1`):** An external simulator (Gazebo Classic or jMAVSim) runs physics on a companion computer and sends sensor data to the flight controller via MAVLink HIL messages. Requires a USB/UART connection and simulator setup.
+- **[SIH on Hardware](../sim_sih/hardware.md) (`SYS_HITL=2`):** A C++ physics model runs directly on the flight controller itself. No external simulator, no companion computer, no MAVLink sensor data. Just set the parameter and reboot.
+
+## HITL vs SIH {#comparision}
+
+|                   | HITL (`SYS_HITL=1`)                          | SIH (`SYS_HITL=2`)                                   |
+| ----------------- | -------------------------------------------- | ---------------------------------------------------- |
+| Physics model     | External simulator (Gazebo Classic, jMAVSim) | Internal C++ module                                  |
+| Communication     | MAVLink HIL messages                         | uORB (internal)                                      |
+| External process  | Required                                     | Not required                                         |
+| Setup complexity  | Higher                                       | Lower                                                |
+| Sensor simulation | Camera, lidar, etc. (via simulator)          | IMU, GPS, baro, mag, airspeed only                   |
+| Vehicle types     | Quadcopter, Standard VTOL                    | Quad, Hex, FW, VTOL Tailsitter, Standard VTOL, Rover |
+
+## When to Use Which
+
+- Use **SIH** if you want the simplest possible setup. No external dependencies.
+- Use **HITL** if you need an external physics engine, 3D visualization from Gazebo Classic, or camera/lidar sensor simulation that SIH does not provide.

docs/en/simulation/hitl.md

@@ -12,20 +12,18 @@ This approach has the benefit of testing most of the actual flight code on the r
 
 PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic).
 
-<a id="compatible_airframe"></a>
+For a comparison of HITL and SIH on hardware, see [Hardware Simulation](../simulation/hardware.md).
 
-## HITL-Compatible Airframes
+## HITL-Compatible Airframes {#compatible_airframe}
 
 The set of compatible airframes vs simulators is:
 
 | Airframe                                                                                                         | `SYS_AUTOSTART` | Gazebo Classic | jMAVSim |
 | ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
 | [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x)                        | 1001            | Y              | Y       |
-| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002            | Y              |
+| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002            | Y              |         |
 
-<a id="simulation_environment"></a>
-
-## HITL Simulation Environment
+## HITL Simulation Environment {#simulation_environment}
 
 With Hardware-in-the-Loop (HITL) simulation the normal PX4 firmware is run on real hardware.
 JMAVSim or Gazebo Classic (running on a development computer) are connected to the flight controller hardware via USB/UART.
@@ -135,8 +133,8 @@ Make sure _QGroundControl_ is not running!
    DONT_RUN=1 make px4_sitl_default gazebo-classic
    ```
 
-1. Open the vehicle model's sdf file (e.g. **Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf**).
-1. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.
+2. Open the vehicle model's sdf file (e.g. **Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf**).
+3. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.
 
    ::: info
    The serial device depends on what port is used to connect the vehicle to the computer (this is usually `/dev/ttyACM0`).
@@ -144,7 +142,7 @@ Make sure _QGroundControl_ is not running!
    The correct device will be the last one shown.
    :::
 
-1. Set up the environment variables:
+4. Set up the environment variables:
 
    ```sh
    source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
@@ -156,7 +154,7 @@ Make sure _QGroundControl_ is not running!
    gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world
    ```
 
-1. Start _QGroundControl_.
+5. Start _QGroundControl_.
    It should autoconnect to PX4 and Gazebo Classic.
 
 #### jMAVSim (Quadrotor only)
@@ -166,7 +164,7 @@ Make sure _QGroundControl_ is not running!
 :::
 
 1. Connect the flight controller to the computer and wait for it to boot.
-1. Run jMAVSim in HITL mode:
+2. Run jMAVSim in HITL mode:
 
    ```sh
    ./Tools/simulation/jmavsim/jmavsim_run.sh -q -s -d /dev/ttyACM0 -b 921600 -r 250
@@ -178,7 +176,7 @@ Make sure _QGroundControl_ is not running!
    On Windows (including Cygwin) it would be the COM1 or another port - check the connection in the Windows Device Manager.
    :::
 
-1. Start _QGroundControl_.
+3. Start _QGroundControl_.
    It should autoconnect to PX4 and jMAVSim.
 
 ## Fly an Autonomous Mission in HITL

docs/en/simulation/index.md

@@ -3,38 +3,79 @@
 Simulators allow PX4 flight code to control a computer modeled vehicle in a simulated "world".
 You can interact with this vehicle just as you might with a real vehicle, using _QGroundControl_, an offboard API, or a radio controller/gamepad.
 
-:::tip
-Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
-It is also a good way to start flying with PX4 when you haven't yet got a vehicle to experiment with.
-:::
-
 PX4 supports both _Software In the Loop (SITL)_ simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and _Hardware In the Loop (HITL)_ simulation using a simulation firmware on a real flight controller board.
 
 Information about available simulators and how to set them up are provided in the next section.
 The other sections provide general information about how the simulator works, and are not required to _use_ the simulators.
 
+:::tip
+Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
+It is also a good way to start flying with PX4 when you haven't yet got a vehicle to experiment with.
+:::
+
 ## Supported Simulators
 
 The following simulators are supported by the PX4 core development team.
 
+:::info
+Gazebo Classic is being downgraded to [community supported](../simulation/community_supported_simulators.md) and is no longer recommended as the default simulation solution.
+Use [Gazebo](../sim_gazebo_gz/index.md) (formerly Gazebo Ignition) for new projects.
+If you have an older workflow that does not yet work in newer Gazebo, Gazebo Classic remains available but will not receive core team maintenance going forward.
+See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for the deprecation timeline and migration status.
+:::
+
 | Simulator                                        | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
 | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [Gazebo](../sim_gazebo_gz/index.md)              | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers |
 | [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine                    |
+| [SIH](../sim_sih/index.md)                       | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).<br><br>**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover                                                                                                                                                                                                                                                                                                                      |
 
 There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md).
 
----
+### Simulator Comparison
 
-The remainder of this topic is a "somewhat generic" description of how the simulation infrastructure works.
-It is not required to _use_ the simulators.
+| Feature                   | Gazebo                                    | SIH                                                                 |
+| ------------------------- | ----------------------------------------- | ------------------------------------------------------------------- |
+| **Default Mode**          | GUI with 3D rendering                     | Headless (fastest iteration)                                        |
+| **3D Visualization**      | Built-in (photorealistic)                 | Optional: QGC map or jMAVSim display-only                           |
+| **Physics Engine**        | External (gz-physics)                     | Internal (C++ module, uORB)                                         |
+| **External Dependencies** | Gazebo packages, rendering libs           | None                                                                |
+| **Vehicle Types**         | Quad, VTOL, Plane, Rovers                 | Quad, Hex, Plane, Tailsitter, Std VTOL, Rover                       |
+| **Multi-vehicle**         | Yes (documented)                          | Yes ([multi-vehicle](../sim_sih/index.md#multi-vehicle-simulation)) |
+| **Sensor Simulation**     | Camera, LiDAR, depth, IMU, GPS, baro, mag | IMU, GPS, baro, mag, airspeed                                       |
+| **Custom Worlds/Models**  | Yes (SDF, large model library)            | No                                                                  |
+| **ROS 2 Integration**     | Yes (uXRCE-DDS)                           | Yes (uXRCE-DDS)                                                     |
+| **Extensibility**         | Plugins, custom sensors, environments     | Modify C++ source, tune SIH\_\* parameters                          |
+| **Community/Ecosystem**   | Large Gazebo community, model repos       | PX4-internal                                                        |
+| **Faster-than-Realtime**  | Yes                                       | Yes                                                                 |
+| **Runs on FC Hardware**   | No                                        | Yes (SYS_HITL=2)                                                    |
+| **macOS Apple Silicon**   | Unstable (known issues)                   | Works natively                                                      |
+| **Lockstep**              | Yes                                       | Yes                                                                 |
+
+:::tip
+For a detailed analysis of PX4 simulation user needs, priorities, and pain points, see the [PX4 Simulation Integration Survey Report](https://www.mcguirerobotics.com/px4_sim_research_report/) (K. McGuire, Dronecode Foundation, Dec 2025, 120 respondents).
+:::
+
+### Which Simulator Should I Use?
+
+- **Full-featured simulation with 3D rendering, custom worlds, camera/lidar sensors, or rich sensor ecosystems:** Use [Gazebo](../sim_gazebo_gz/index.md). Largest ecosystem, custom models and plugins, photorealistic rendering, extensive sensor library, large community.
+- **Fast headless iteration, controls research, zero-dependency setup, or macOS:** Use [SIH](../sim_sih/index.md). Runs entirely inside PX4 with no external dependencies, headless by default for maximum speed, physics parameters directly tunable via `SIH_*` params. Supports ROS 2 via uXRCE-DDS.
+- **Hardware integration testing without propellers:** Use [SIH on flight controller hardware](../sim_sih/index.md#sih-on-flight-controller-hardware) (`SYS_HITL=2`).
+
+:::info
+SIH is headless by default. For optional 3D visualization, you can use [jMAVSim in display-only mode](../sim_sih/index.md#visualization-optional) or monitor the vehicle in QGroundControl's map view.
+:::
 
 ## Simulator MAVLink API
 
-All simulators except for Gazebo communicate with PX4 using the Simulator MAVLink API.
+Most external simulators communicate with PX4 using the Simulator MAVLink API.
 This API defines a set of MAVLink messages that supply sensor data from the simulated world to PX4 and return motor and actuator values from the flight code that will be applied to the simulated vehicle.
 The image below shows the message flow.
 
+:::info
+SIH does not use the MAVLink simulator API. It runs physics internally via uORB messages. Gazebo communicates with PX4 via gz_bridge (Gazebo transport), not MAVLink.
+:::
+
 ![Simulator MAVLink API](../../assets/simulation/px4_simulator_messages.svg)
 
 ::: info
@@ -95,7 +136,7 @@ See [System Startup](../concept/system_startup.md) to learn more.
 
 ## SITL Simulation Environment
 
-The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. all of them except Gazebo).
+The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. most external simulators, but not Gazebo or SIH).
 
 ![PX4 SITL overview](../../assets/simulation/px4_sitl_overview.svg)
 
@@ -149,8 +190,16 @@ make px4_sitl jmavsim
 
 # Start PX4 with no simulator (i.e. to use your own "custom" simulator)
 make px4_sitl none_iris
+
+# SIH (headless, zero dependencies)
+make px4_sitl_sih sihsim_quadx
+make px4_sitl_sih sihsim_airplane
 ```
 
+::: info
+Use `px4_sitl_sih` instead of `px4_sitl` to avoid building Gazebo dependencies.
+:::
+
 The simulation can be further configured via environment variables:
 
 - Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
@@ -161,7 +210,7 @@ For more information see: [Building the Code > PX4 Make Build Targets](../dev_se
 
 ### Run Simulation Faster than Realtime {#simulation_speed}
 
-SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, or jMAVSim.
+SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, jMAVSim, or SIH.
 
 The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`.
 
@@ -175,6 +224,7 @@ For more information see:
 - Gazebo: [Change Simulation Speed](../sim_gazebo_gz/index.md#change-simulation-speed)
 - Gazebo Classic: [Change Simulation Speed](../sim_gazebo_classic/index.md#change-simulation-speed) and [Lockstep](../sim_gazebo_classic/index.md#lockstep)
 - jMAVSim: [Change Simulation Speed](../sim_jmavsim/index.md#change-simulation-speed) and [Lockstep](../sim_jmavsim/index.md#lockstep)
+- SIH: Supports `PX4_SIM_SPEED_FACTOR` for faster-than-realtime simulation.
 
 ### Startup Scripts
 

docs/en/simulation/multi-vehicle-simulation.md

@@ -6,6 +6,7 @@ PX4 supports multi-vehicle simulation using the following simulators:
 - [Multi-Vehicle Sim with Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md) (both with and without ROS)
 - [Multi-Vehicle Sim with FlightGear](../sim_flightgear/multi_vehicle.md)
 - [Multi-Vehicle Sim with JMAVSim](../sim_jmavsim/multi_vehicle.md)
+- [Multi-Vehicle Sim with SIH](../sim_sih/index.md#multi-vehicle-simulation)
 
 The choice of the simulator depends on the vehicle to be simulated, how "good" the simulation needs to be (and for what features), and how many vehicles need to be simulated at a time:
 
@@ -18,5 +19,8 @@ The choice of the simulator depends on the vehicle to be simulated, how "good" t
   Note, this is the successor of [Gazebo Classic](../sim_gazebo_classic/index.md) (below).
 - [Gazebo Classic](../sim_gazebo_classic/index.md) is less accurate and less heavy-weight and supports many features and vehicles that aren't available for FlightGear.
   It can simulate many more vehicles at a time than FlightGear and it allows for different types of vehicles to be simulated at the same time.
-- JMAVSim is a very light-weight simulator that supports only quadcopters.
+- [JMAVSim](../sim_jmavsim/index.md) is a very light-weight simulator that supports only quadcopters.
   It is recommended if you need to support a lot of quadcopters, and the simulation only needs to be approximate.
+- [SIH](../sim_sih/index.md) is the lightest-weight option with zero external dependencies.
+  Since SIH is headless and runs physics internally, it can launch many instances with minimal resource usage.
+  It supports all 6 vehicle types (quad, hex, plane, tailsitter, standard VTOL, rover).

docs/ko/SUMMARY.md

@@ -487,6 +487,7 @@
       - [Plugins](sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
+    - [SIH Simulation](sim_sih/index.md)
     - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
       - [Vehicles](sim_gazebo_classic/vehicles.md)
       - [Worlds](sim_gazebo_classic/worlds.md)
@@ -586,6 +587,8 @@
         - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
         - [DronecanNodeStatus](msg_docs/DronecanNodeStatus.md)
         - [Ekf2Timestamps](msg_docs/Ekf2Timestamps.md)
+        - [EscEepromRead](msg_docs/EscEepromRead.md)
+        - [EscEepromWrite](msg_docs/EscEepromWrite.md)
         - [EscReport](msg_docs/EscReport.md)
         - [EscStatus](msg_docs/EscStatus.md)
         - [EstimatorAidSource1d](msg_docs/EstimatorAidSource1d.md)
@@ -776,6 +779,7 @@
         - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
         - [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
+        - [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
     - [MAVLink Messaging](mavlink/index.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
@@ -870,8 +874,9 @@
         - [jMAVSim 다중 차량 시뮬레이션](sim_jmavsim/multi_vehicle.md)
       - [JSBSim Simulation](sim_jsbsim/index.md)
       - [AirSim Simulation](sim_airsim/index.md)
-      - [HITL Simulation](simulation/hitl.md)
-      - [Simulation-In-Hardware](sim_sih/index.md)
+      - [Hardware Simulation](simulation/hardware.md)
+        - [HITL Simulation](simulation/hitl.md)
+        - [SIH on Hardware](sim_sih/hardware.md)
       - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md)
   - [플랫폼 시험과 지속 통합](test_and_ci/index.md)
     - [시험 비행](test_and_ci/test_flights.md)
@@ -927,6 +932,7 @@
   - [Translation](contribute/translation.md)
   - [용어/표기법](contribute/notation.md)
   - [라이센스](contribute/licenses.md)
+  - [SBOM](contribute/sbom.md)
 
 - [출시](releases/index.md)
   - [Release Process](releases/release_process.md)

docs/ko/advanced/nn_module_utilities.md

@@ -1,86 +0,0 @@
-# Neural Network Module: System Integration
-
-The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks.
-
-The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md).
-This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration.
-
-:::tip
-This topic should help you to shape the module to your own needs.
-
-You will need some familiarity with PX4 development.
-For more information see the developer [Getting Started](../dev_setup/getting_started.md).
-:::
-
-## 자동 실행
-
-A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script.
-
-It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN).
-If this is set to `1` (the default value), the module will be started when booting PX4.
-Similarly you could create other parameters in the [`mc_nn_control_params.c`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/mc_nn_control_params.c) file for other startup script checks.
-
-## Custom Flight Mode
-
-The module creates its own flight mode "Neural Control" which lets you choose it from the flight mode menu in QGC and bind it to a switch on you RC controller.
-This is done by using the [ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) internally.
-This involves several steps and is visualized here:
-
-:::info
-The module does not actually use ROS 2, it just uses the API exposed through uORB topics.
-:::
-
-:::info
-In some QGC versions the flight mode does not show up, so make sure to update to the newest version.
-This only works for some flight controllers, so you might have to use an RC controller to switch to the correct external flight mode.
-:::
-
-![neural_mode_registration](../../assets/advanced/neural_mode_registration.png)
-
-1. Publish a [RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md).
-   This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
-   In this case we register an arming check and a mode.
-2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
-   This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
-3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
-   Here you can configure what other modules run in parallel.
-   The example controller replaces everything, so it turns off allocation.
-   If you want to replace other parts you can enable or disable the modules accordingly.
-4. [Optional] With the mode id, publish a [ConfigOverrides](../msg_docs/ConfigOverrides.md) on the `config_overrides_request` topic.
-   (This is not done in the example module) This will let you defer failsafes or stop it from automatically disarming.
-5. When the mode has been registered a [ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) will be sent, asking if your mode has everything it needs to run.
-   This message must be answered with a [ArmingCheckReply](../msg_docs/ArmingCheckReply.md) so the mode is not flagged as unresponsive.
-   In this response it is possible to set what requirements the mode needs to run, like local position.
-   If any of these requirements are set the commander will stop you from switching to the mode if they are not fulfilled.
-   It is also important to set health_component_index and num_events to 0 to not get a segmentation fault.
-   Unless you have a health component or events.
-6. Listen to the [VehicleStatus](../msg_docs/VehicleStatus.md) topic.
-   If the nav_state equals the assigned `mode_id`, then the Neural Controller is activated.
-7. When active the module will run the controller and publish to [ActuatorMotors](../msg_docs/ActuatorMotors.md).
-   If you want to replace a different part of the controller, you should find the appropriate topic to publish to.
-
-To see how the requests are handled you can check out [src/modules/commander/ModeManagement.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeManagement.cpp).
-
-## 로깅
-
-To add module-specific logging a new topic has been added to [uORB](../middleware/uorb.md) called [NeuralControl](../msg_docs/NeuralControl.md).
-The message definition is also added in `msg/CMakeLists.txt`, and to [`src/modules/logger/logged_topics.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/logger/logged_topics.cpp) under the debug category.
-For these messages to be saved in your logs you need to include `debug` in the [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) parameter.
-
-## Timing
-
-The module has two includes for measuring the inference times.
-The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
-Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
-
-## Changing the setpoint
-
-The module uses the [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) message’s position fields to define its target.
-To follow a trajectory, you can send updated setpoints.
-For an example of how to do this in a PX4 module, see the [mc_nn_testing](https://github.com/SindreMHegre/PX4-Autopilot-public/tree/main/src/modules/mc_nn_testing) module in this fork.
-Note that this is not included in upstream PX4.
-To use it, copy the module folder from the linked repository into your workspace, and enable it by adding the following line to your `.px4board` file:
-
-```sh
-CONFIG_MODULES_MC_NN_TESTING=y
-```

docs/ko/advanced/pps_time_sync.md

@@ -91,7 +91,7 @@ For FMUv6S, you need to route the PPS signal separately:
 
 For ARK FMUv6X on the Jetson carrier board:
 
-1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab.md#gps1)
 2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
 
 ## 검증

docs/ko/advanced/tflm.md

@@ -1,77 +0,0 @@
-# TensorFlow Lite Micro (TFLM)
-
-The PX4 [Multicopter Neural Network](../advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library.
-
-This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4.
-
-This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network.
-
-:::tip
-For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started).
-:::
-
-## TLMF NN Formats
-
-TFLM uses networks in its own [tflite format](https://ai.google.dev/edge/litert/models/convert).
-However, since many microcontrollers do not have native filesystem support, a tflite file can be converted to a C++ source and header file.
-
-This is what is done in `mc_nn_control`.
-The tflight neural network is represented in code by the files [`control_net.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.cpp) and [`control_net.hpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_nn_control/control_net.hpp).
-
-### Getting a Network in tflite Format
-
-There are many online resource for generating networks in the `.tflite` format.
-
-For this example we trained the network in the open source [Aerial Gym Simulator](https://ntnu-arl.github.io/aerial_gym_simulator/).
-Aerial Gym includes a guide, and supports RL both for control and vision-based navigation tasks.
-
-The project includes conversion code for `PyTorch -> TFLM` in the [resources/conversion](https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/resources/conversion) folder.
-
-### Updating `mc_nn_control` with your own NN
-
-You can convert a `.tflite` network into a `.cc` file in the ubuntu terminal with this command:
-
-```sh
-xxd -i converted_model.tflite > model_data.cc
-```
-
-You will then have to modify the `control_net.hpp` and `control_net.cpp` to include the data from `model_data.cc`:
-
-- Take the size of the network in the bottom of the `.cc` file and replace the size in `control_net.hpp`.
-- Take the data in the model array in the `cc` file, and replace the ones in `control_net.cpp`.
-
-You are now ready to run your own network.
-
-## Code Explanation
-
-This section explains the code used to integrate the NN in `control_net.cpp`.
-
-### Operations and Resolver
-
-Firstly we need to create the resolver and load the needed operators to run inference on the NN.
-This is done in the top of `mc_nn_control.cpp`.
-The number in `MicroMutableOpResolver<3>` represents how many operations you need to run the inference.
-
-A full list of the operators can be found in the [micro_mutable_op_resolver.h](https://github.com/tensorflow/tflite-micro/blob/main/tensorflow/lite/micro/micro_mutable_op_resolver.h) file.
-There are quite a few supported operators, but you will not find the most advanced ones.
-In the control example the network is fully connected so we use `AddFullyConnected()`.
-Then the activation function is ReLU, and we `AddAdd()` for the bias on each neuron.
-
-### Interpreter
-
-In the `InitializeNetwork()` we start by setting up the model that we loaded from the source and header file.
-Next is to set up the interpreter, this code is taken from the TFLM documentation and is thoroughly explained there.
-The end state is that the `_control_interpreter` is set up to later run inference with the `Invoke()` member function.
-The `_input_tensor` is also defined, it is fetched from `_control_interpreter->input(0)`.
-
-### 입력
-
-The `_input_tensor` is filled in the `PopulateInputTensor()` function.
-`_input_tensor` works by accessing the `->data.f` member array and fill in the required inputs for your network.
-The inputs used in the control network is covered in [Neural Networks](../advanced/neural_networks.md).
-
-### 출력
-
-For the outputs the approach is fairly similar to the inputs.
-After setting the correct inputs, calling the `Invoke()` function the outputs can be found by getting `_control_interpreter->output(0)`.
-And from the output tensor you get the `->data.f` array.

docs/ko/advanced_config/bootloader_update.md

@@ -170,7 +170,7 @@ After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.
 ## FMUv2 Bootloader Update
 
 If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
-This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
+This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) to update the bootloader.
 
 :::info
 Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.

docs/ko/advanced_config/prearm_arm_disarm.md

@@ -94,6 +94,28 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f
 | <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)    | 착륙후 자동 시동 해제 대기 시간. 기본값: 2s (-1 비활성화).                                                    |
 | <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 이륙 속도가 너무 느리면 자동 시동 해제 시간이 초과됩니다. Default: 10s (<=0 to disable). |
 
+## Auto-Arming on Boot
+
+The vehicle can be configured to arm automatically on boot once all preflight checks pass,
+using the `COM_ARM_ON_BOOT` parameter. For safety, PX4 enforces a minimum 5-second delay after boot before attempting to arm.
+
+Once armed this way, the vehicle will not re-arm automatically after a manual disarm.
+
+:::info
+The parameter value is read once at boot.
+Changing it while the system is running has no effect until the next reboot.
+:::
+
+:::warning
+Use with caution.
+A vehicle that arms automatically can spin up motors and actuators without any operator gesture.
+Ensure the vehicle is in a safe state before powering on.
+:::
+
+| 매개변수                                                                                                                                                                    | 설명                                                                                                                                                   |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_ARM_ON_BOOT"></a>[COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). |
+
 ## Pre-Arm Checks
 
 To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable).