fix(rc): warn and deny invalid Spektrum bind sub-type

Previously, an unrecognized param2 sub-type would silently leave
dsm_bind_pulses at 0 and return the generic UNSUPPORTED ACK. Add an
explicit else-branch that logs a PX4_WARN and returns DENIED so users
get clear feedback in QGC.

.clang-tidy

@@ -141,8 +141,6 @@ Checks:          '*,
                   -cppcoreguidelines-avoid-goto,
                   -hicpp-avoid-goto,
                   -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
                   -performance-enum-size,
                   -readability-avoid-nested-conditional-operator,
                   -cppcoreguidelines-prefer-member-initializer,
@@ -150,10 +148,8 @@ Checks:          '*,
                   -readability-convert-member-functions-to-static,
                   -readability-make-member-function-const,
                   -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-macro-parentheses,
                   -bugprone-multi-level-implicit-pointer-conversion,
                   -bugprone-signed-char-misuse,
-                  -bugprone-too-small-loop-variable,
                   -cppcoreguidelines-avoid-non-const-global-variables,
                   -cppcoreguidelines-use-default-member-init,
                   -hicpp-multiway-paths-covered,

.github/workflows/commit_checks.yml

@@ -0,0 +1,148 @@
+name: Commit Quality
+
+on:
+  pull_request:
+    types: [opened, edited, synchronize, reopened]
+
+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  PR_NUMBER: ${{ github.event.pull_request.number }}
+  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
+
+jobs:
+  pr-title:
+    name: PR Title
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR title
+        id: check
+        run: |
+          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
+          exit 1
+
+  commit-messages:
+    name: Commit Messages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check commit messages
+        id: check
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          gh api \
+            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
+            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
+          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
+          # Check for warnings (non-empty markdown on exit 0)
+          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
+            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
+          else
+            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
+          fi
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
+          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
+          else
+            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
+          fi
+
+      - name: Result
+        if: steps.check.outputs.exit_code != '0'
+        run: |
+          echo "::error::Commit message errors found. See the PR comment for details."
+          exit 1
+
+  pr-body:
+    name: PR Description
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        if: env.IS_FORK == 'false'
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: Tools/ci
+          fetch-depth: 1
+
+      - name: Check PR body
+        id: check
+        env:
+          PR_BODY: ${{ github.event.pull_request.body }}
+        run: |
+          message=""
+          if [ -z "$PR_BODY" ]; then
+            message="PR description is empty. Please add a summary of the changes."
+            echo "::warning::PR description is empty."
+          else
+            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
+            if [ -z "$cleaned" ]; then
+              message="PR description contains only template comments. Please fill in the details."
+              echo "::warning::PR description contains only template comments."
+            fi
+          fi
+          echo "message=$message" >> "$GITHUB_OUTPUT"
+
+      - name: Post or clear comment
+        if: env.IS_FORK == 'false'
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          if [ -n "${{ steps.check.outputs.message }}" ]; then
+            printf '%s\n' \
+              "## PR Description (advisory)" \
+              "" \
+              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
+              "" \
+              "${{ steps.check.outputs.message }}" \
+              "" \
+              "A good PR description helps reviewers understand what changed and why." \
+              "" \
+              "---" \
+              "*This comment will be automatically removed once the issue is resolved.*" \
+            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
+          else
+            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
+          fi

.github/workflows/dev_container.yml

@@ -130,8 +130,8 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry

.github/workflows/docs_crowdin_download.yml

@@ -34,13 +34,13 @@ jobs:
           upload_sources: false
           upload_translations: false
           download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
+          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
           localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
           crowdin_branch_name: main
           create_pull_request: true
           pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
           pull_request_labels: 'Documentation 📑'
           pull_request_reviewers: hamishwillee
           download_language: ${{ matrix.lc }}

CITATION.cff

@@ -0,0 +1,27 @@
+cff-version: 1.2.0
+title: "PX4 Autopilot"
+message: "If you use PX4 in your research, please cite it using this metadata."
+type: software
+authors:
+  - family-names: Meier
+    given-names: Lorenz
+  - name: "The PX4 Contributors"
+repository-code: "https://github.com/PX4/PX4-Autopilot"
+url: "https://px4.io"
+abstract: >-
+  PX4 is an open-source autopilot stack for drones and
+  unmanned vehicles. It supports multirotors, fixed-wing,
+  VTOL, rovers, and many more platforms. PX4 runs on both
+  RTOS and POSIX-compatible operating systems.
+keywords:
+  - autopilot
+  - drone
+  - uav
+  - flight-controller
+  - robotics
+  - ros2
+license: BSD-3-Clause
+identifiers:
+  - type: doi
+    value: "10.5281/zenodo.595432"
+    description: "Zenodo concept DOI (resolves to latest version)"

CONTRIBUTING.md

@@ -1,44 +1,170 @@
-# Contributing to PX4 Firmware
+# Contributing to PX4-Autopilot
 
-We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
 
-### Fork the project, then clone your repo
+## Fork the project, then clone your repo
 
-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
 
-### Create a feature branch
+## Create a feature branch
 
-*Always* branch off main for new features.
+Always branch off `main` for new features.
 
 ```
 git checkout -b mydescriptivebranchname
 ```
 
-### Edit and build the code
+## Edit and build the code
 
-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
 
-### Commit your changes
+### Coding standards
 
-Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
+All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
 
-**Example:**
+Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
+
+## Commit message convention
+
+PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
+
+### Format
 
 ```
-Change how the attitude controller works
-
-- Fixes rate feed forward
-- Allows a local body rate override
-
-Fixes issue #123
+type(scope): short description of the change
 ```
 
-### Test your changes
+| Part | Rule |
+|------|------|
+| **type** | Category of change (see types table below) |
+| **scope** | The module, driver, board, or area of PX4 affected |
+| **`!`** (optional) | Append before `:` to mark a breaking change |
+| **description** | What the change does, at least 5 characters, written in imperative form |
 
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+### Types
 
-### Push your changes
+| Type | Description |
+|------|-------------|
+| `feat` | A new feature |
+| `fix` | A bug fix |
+| `docs` | Documentation only changes |
+| `style` | Formatting, whitespace, no code change |
+| `refactor` | Code change that neither fixes a bug nor adds a feature |
+| `perf` | Performance improvement |
+| `test` | Adding or correcting tests |
+| `build` | Build system or external dependencies |
+| `ci` | CI configuration files and scripts |
+| `chore` | Other changes that don't modify src or test files |
+| `revert` | Reverts a previous commit |
 
-Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
+### Scopes
+
+The scope identifies which part of PX4 is affected. Common scopes:
+
+| Scope | Area |
+|-------|------|
+| `ekf2` | Extended Kalman Filter (state estimation) |
+| `mavlink` | MAVLink messaging protocol |
+| `commander` | Commander and mode management |
+| `navigator` | Mission, RTL, Land, and other navigation modes |
+| `sensors` | Sensor drivers and processing |
+| `drivers` | Hardware drivers |
+| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
+| `mc_att_control` | Multicopter attitude control |
+| `mc_pos_control` | Multicopter position control |
+| `fw_att_control` | Fixed-wing attitude control |
+| `vtol` | VTOL-specific logic |
+| `actuators` | Mixer and actuator output |
+| `battery` | Battery monitoring and estimation |
+| `logger` | On-board logging |
+| `param` | Parameter system |
+| `simulation` | SITL, Gazebo, SIH |
+| `ci` | Continuous integration and workflows |
+| `docs` | Documentation |
+| `build` | CMake, toolchain, build system |
+| `uorb` | Inter-module messaging |
+
+For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
+
+### Breaking changes
+
+Append `!` before the colon to indicate a breaking change:
+
+```
+feat(ekf2)!: remove deprecated height fusion API
+```
+
+### Good commit messages
+
+```
+feat(ekf2): add height fusion timeout
+fix(mavlink): correct BATTERY_STATUS_V2 parsing
+refactor(navigator): simplify RTL altitude logic
+ci(workflows): migrate to reusable workflows
+docs(ekf2): update tuning guide
+feat(boards/px4_fmu-v6x)!: remove deprecated driver API
+perf(mc_rate_control): reduce loop latency
+```
+
+### Commits to avoid
+
+These will be flagged by CI and should be squashed or reworded before merging:
+
+```
+fix                                    # too vague, no type or scope
+update                                 # too vague, no type or scope
+ekf2: fix something                   # missing type prefix
+apply suggestions from code review     # squash into parent commit
+do make format                         # squash into parent commit
+WIP: trying something                  # not ready for main
+oops                                   # not descriptive
+```
+
+### PR titles
+
+The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
+
+### Merge policy
+
+Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
+
+### Cleaning up commits
+
+If CI flags your commit messages, you can fix them with an interactive rebase:
+
+```bash
+# Squash all commits into one:
+git rebase -i HEAD~N   # replace N with the number of commits
+# mark all commits except the first as 'squash' or 'fixup'
+# reword the remaining commit to follow the format
+git push --force-with-lease
+
+# Or reword specific commits:
+git rebase -i HEAD~N
+# mark the bad commits as 'reword'
+git push --force-with-lease
+```
+
+## Test your changes
+
+PX4 is safety-critical software. All contributions must include adequate testing where practical:
+
+- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
+- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
+- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
+
+### Types of tests
+
+| Test type | When to use | How to run |
+|-----------|-------------|------------|
+| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
+| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
+| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
+
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+
+## Push your changes
+
+Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
 
 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.

README.md

@@ -10,6 +10,7 @@
 
 <p align="center">
   <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
+  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
   <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
   <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
   <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -34,6 +34,7 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -44,7 +44,8 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 # Rate controllers
 param set-default FW_RR_P 0.0500

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,7 +11,8 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1

ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol

@@ -27,7 +27,8 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0
 
 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60

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

@@ -44,4 +44,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 
-param set-default EKF2_GPS_DELAY 0
+param set-default SENS_GPS0_DELAY 0
+param set-default SENS_GPS1_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -44,8 +44,6 @@ param set-default FW_T_SINK_MIN 3
 
 param set-default FW_W_EN 1
 
-param set-default FD_ESCS_EN 0
-
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -104,4 +104,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
-param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -26,7 +26,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -28,7 +28,6 @@ param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
 
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -2,7 +2,8 @@
 # shellcheck disable=SC2154
 
 # EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
+param set-default SENS_GPS0_DELAY 10
+param set-default SENS_GPS1_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -119,10 +119,11 @@ else
 	param set SYS_AUTOCONFIG 1
 fi
 
-if param compare SYS_AUTOCONFIG 1
+# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+if param greater SYS_AUTOCONFIG 0
 then
-	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
+	param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -19,8 +19,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GPS0_OFFX 0.055
+param set-default SENS_GPS0_OFFZ -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -47,8 +47,9 @@ param set-default EKF2_BCOEF_Y 25.5
 
 param set-default EKF2_DRAG_CTRL 1
 
-param set-default EKF2_GPS_DELAY 100
-param set-default EKF2_GPS_POS_X 0.06
+param set-default SENS_GPS0_DELAY 100
+param set-default SENS_GPS1_DELAY 100
+param set-default SENS_GPS0_OFFX 0.06
 param set-default EKF2_GPS_V_NOISE 0.5
 
 param set-default EKF2_IMU_POS_X 0.06

ROMFS/px4fmu_common/init.d/rcS

@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi
 
 	#

SECURITY.md

@@ -2,24 +2,40 @@
 
 ## Supported Versions
 
-The following is a list of versions the development team is currently supporting.
+The following versions receive security updates:
 
 | Version | Supported          |
 | ------- | ------------------ |
-| 1.4.x   | :white_check_mark: |
-| 1.3.3   | :white_check_mark: |
-| < 1.3   | :x:                |
+| 1.16.x  | :white_check_mark: |
+| < 1.16  | :x:                |
 
 ## Reporting a Vulnerability
 
-We currently only receive security vulnerability reports through GitHub.
+We receive security vulnerability reports through GitHub Security Advisories.
 
-To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
-and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.
+To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
+and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
 
-Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive, and the development team can find all of the relevant details needed
-to verify on the description box. We recommend you add as much data as possible. We welcome logs,
-screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.
+Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive and the description contains all relevant details needed
+to verify the issue. We welcome logs, screenshots, photos, and videos.
 
-At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
+At the bottom of the form, click **Submit report**.
+
+## Response Process
+
+1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
+2. **Triage**: We will assess severity and impact and communicate next steps.
+3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
+
+If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
+
+## Secure Development Practices
+
+The PX4 development team applies the following practices to reduce security risk:
+
+- **Code review**: All changes require peer review before merging.
+- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
+- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
+- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
+- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.

Tools/ci/check_commit_messages.py

@@ -0,0 +1,331 @@
+#!/usr/bin/env python3
+"""Validate commit messages in a PR against conventional commits format.
+
+Reads a JSON array of GitHub commit objects from stdin (as returned by the
+GitHub API's /pulls/{n}/commits endpoint) and checks each message for
+blocking errors and advisory warnings.
+
+With --markdown, outputs a formatted PR comment body instead of plain text.
+"""
+
+import json
+import sys
+
+from conventional_commits import (
+    EXEMPT_PREFIXES,
+    parse_header,
+)
+
+# Blocking: prefixes that indicate unsquashed fixup commits
+FIXUP_PREFIXES = ('fixup!', 'squash!', 'amend!')
+
+# Blocking: single-word throwaway messages (case-insensitive exact match)
+THROWAWAY_WORDS = frozenset({
+    'fix', 'fixed', 'fixes',
+    'update', 'updated', 'updates',
+    'test', 'tests', 'testing',
+    'tmp', 'temp',
+    'oops', 'wip',
+    'debug', 'cleanup',
+})
+
+# Blocking: debug session leftovers
+DEBUG_KEYWORDS = ('tmate',)
+
+# Warning: review-response messages (case-insensitive substring match)
+REVIEW_RESPONSE_PATTERNS = (
+    'address review',
+    'apply suggestions from code review',
+    'code review',
+)
+
+# Warning: formatter-only commits
+FORMATTER_PATTERNS = (
+    'do make format',
+    'make format',
+    'run formatter',
+    'apply format',
+)
+
+MIN_MESSAGE_LENGTH = 5
+
+
+def check_commit(message: str) -> tuple[list[str], list[str]]:
+    """Return (errors, warnings) for a single commit message."""
+    errors: list[str] = []
+    warnings: list[str] = []
+
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    # --- Blocking checks ---
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            errors.append(f'Unsquashed commit: starts with "{prefix}"')
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        errors.append('WIP commit should not be merged')
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        errors.append(f'Message too short ({len(first_line)} chars, minimum {MIN_MESSAGE_LENGTH})')
+
+    if first_line.strip() and first_line.strip().lower() in THROWAWAY_WORDS:
+        errors.append(f'Single-word throwaway message: "{first_line.strip()}"')
+
+    for kw in DEBUG_KEYWORDS:
+        if kw in lower:
+            errors.append(f'Debug session leftover: contains "{kw}"')
+
+    # --- Warning checks ---
+
+    for pattern in REVIEW_RESPONSE_PATTERNS:
+        if pattern in lower:
+            warnings.append('Review-response commit')
+            break
+
+    for pattern in FORMATTER_PATTERNS:
+        if pattern in lower:
+            warnings.append('Formatter-only commit')
+            break
+
+    if not parse_header(first_line):
+        # Exempt merge commits
+        for prefix in EXEMPT_PREFIXES:
+            if first_line.startswith(prefix):
+                break
+        else:
+            warnings.append(
+                'Missing conventional commit format '
+                '(e.g. "feat(ekf2): add something")'
+            )
+
+    return errors, warnings
+
+
+def suggest_commit(message: str) -> str | None:
+    """Suggest how to fix a bad commit message."""
+    first_line = message.split('\n', 1)[0].strip()
+    lower = first_line.lower()
+
+    for prefix in FIXUP_PREFIXES:
+        if lower.startswith(prefix):
+            return 'Squash this into the commit it fixes'
+
+    if lower == 'wip' or lower.startswith('wip ') or lower.startswith('wip:'):
+        return 'Reword with a descriptive message (e.g. "feat(scope): what changed")'
+
+    if len(first_line) < MIN_MESSAGE_LENGTH:
+        return 'Reword with a descriptive message (e.g. "feat(ekf2): what changed")'
+
+    if first_line.strip().lower() in THROWAWAY_WORDS:
+        return 'Reword with a descriptive message (e.g. "fix(scope): what changed")'
+
+    return None
+
+
+def format_plain(data: list) -> tuple[bool, bool]:
+    """Print plain text output. Returns (has_blocking, has_warnings)."""
+    has_blocking = False
+    has_warnings = False
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, warnings = check_commit(message)
+
+        if errors or warnings:
+            print(f"\n  {sha}  {first_line}")
+
+        for err in errors:
+            print(f"    ERROR: {err}")
+            has_blocking = True
+
+        for warn in warnings:
+            print(f"    WARNING: {warn}")
+            has_warnings = True
+
+    if has_blocking:
+        print(
+            "\n"
+            "ERROR = must fix before merging (CI will block the PR)\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    elif has_warnings:
+        print(
+            "\n"
+            "WARNING = advisory, not blocking, but recommended to fix\n"
+            "\n"
+            "See the contributing guide for details:\n"
+            "  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        )
+
+    return has_blocking, has_warnings
+
+
+def format_markdown_blocking(data: list) -> str:
+    """Format a blocking error markdown comment."""
+    error_groups: dict[str, list[str]] = {}
+    unique_commits: list[tuple[str, str, list[str], str]] = []
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        errors, _ = check_commit(message)
+        if not errors:
+            continue
+
+        suggestion = suggest_commit(message) or ''
+        unique_commits.append((sha, first_line, errors, suggestion))
+
+        for err in errors:
+            error_groups.setdefault(err, []).append(sha)
+
+    lines = [
+        "## \u274c Commit messages need attention before merging",
+        "",
+    ]
+
+    has_large_group = any(len(shas) > 3 for shas in error_groups.values())
+
+    if has_large_group:
+        lines.extend([
+            "**Issues found:**",
+            "",
+        ])
+        for err_msg, shas in error_groups.items():
+            if len(shas) > 3:
+                lines.append(f"- **{len(shas)} commits**: {err_msg} "
+                             f"(`{shas[0]}`, `{shas[1]}`, ... `{shas[-1]}`)")
+            else:
+                sha_list = ', '.join(f'`{s}`' for s in shas)
+                lines.append(f"- {err_msg}: {sha_list}")
+
+        distinct_messages = {msg for _, msg, _, _ in unique_commits}
+        if len(distinct_messages) <= 5:
+            lines.extend(["", "**Affected commits:**", ""])
+            for sha, msg, errors, suggestion in unique_commits:
+                safe_msg = msg.replace('|', '\\|')
+                lines.append(f"- `{sha}` {safe_msg}")
+    else:
+        lines.extend([
+            "| Commit | Message | Issue | Suggested fix |",
+            "|--------|---------|-------|---------------|",
+        ])
+        for sha, msg, errors, suggestion in unique_commits:
+            issues = '; '.join(errors)
+            safe_msg = msg.replace('|', '\\|')
+            lines.append(f"| `{sha}` | {safe_msg} | {issues} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for how to clean up commits.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def format_markdown_advisory(data: list) -> str:
+    """Format an advisory warning markdown comment."""
+    lines = [
+        "## \U0001f4a1 Commit messages could be improved",
+        "",
+        "Not blocking, but these commit messages could use some cleanup.",
+        "",
+        "| Commit | Message | Suggestion |",
+        "|--------|---------|------------|",
+    ]
+
+    for commit in data:
+        sha = commit.get('sha', '?')[:10]
+        message = commit.get('commit', {}).get('message', '')
+        first_line = message.split('\n', 1)[0].strip()
+
+        _, warnings = check_commit(message)
+        if not warnings:
+            continue
+
+        suggestion = '; '.join(warnings)
+        safe_msg = first_line.replace('|', '\\|')
+        lines.append(f"| `{sha}` | {safe_msg} | {suggestion} |")
+
+    lines.extend([
+        "",
+        "See the [commit message convention](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issues are resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    markdown_stdout = '--markdown' in sys.argv
+    markdown_file = None
+    for i, a in enumerate(sys.argv):
+        if a == '--markdown-file' and i + 1 < len(sys.argv):
+            markdown_file = sys.argv[i + 1]
+        elif a.startswith('--markdown-file='):
+            markdown_file = a.split('=', 1)[1]
+
+    try:
+        data = json.load(sys.stdin)
+    except json.JSONDecodeError as exc:
+        print(f"Failed to parse JSON input: {exc}", file=sys.stderr)
+        sys.exit(2)
+
+    if not isinstance(data, list):
+        print("Expected a JSON array of commit objects.", file=sys.stderr)
+        sys.exit(2)
+
+    # Always compute blocking/warning state
+    has_blocking = False
+    has_warnings = False
+    for commit in data:
+        message = commit.get('commit', {}).get('message', '')
+        errors, warnings = check_commit(message)
+        if errors:
+            has_blocking = True
+        if warnings:
+            has_warnings = True
+
+    # Generate markdown if needed
+    md = None
+    if has_blocking:
+        md = format_markdown_blocking(data)
+    elif has_warnings:
+        md = format_markdown_advisory(data)
+
+    if md:
+        if markdown_stdout:
+            print(md)
+        if markdown_file:
+            with open(markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif markdown_file:
+        with open(markdown_file, 'w') as f:
+            pass
+
+    # Plain text output to stderr for CI logs (always, unless --markdown only)
+    if not markdown_stdout:
+        has_blocking, _ = format_plain(data)
+
+    sys.exit(1 if has_blocking else 0)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/check_pr_title.py

@@ -0,0 +1,163 @@
+#!/usr/bin/env python3
+"""Validate that a PR title follows conventional commits format.
+
+Format: type(scope): description
+
+Can output plain text for CI logs or markdown for PR comments.
+"""
+
+import re
+import sys
+
+from conventional_commits import (
+    CONVENTIONAL_TYPES,
+    EXEMPT_PREFIXES,
+    parse_header,
+    suggest_scope,
+    suggest_type,
+)
+
+
+def suggest_title(title: str) -> str | None:
+    """Try to suggest a corrected title in conventional commits format."""
+    stripped = title.strip()
+
+    # Remove common bracket prefixes like [docs], [CI], etc.
+    bracket_match = re.match(r'^\[([^\]]+)\]\s*(.+)', stripped)
+    if bracket_match:
+        prefix = bracket_match.group(1).strip().lower()
+        rest = bracket_match.group(2).strip()
+        rest = re.sub(r'^[\-:]\s*', '', rest).strip()
+        if len(rest) >= 5:
+            # Try to map bracket content to a type
+            commit_type = prefix if prefix in CONVENTIONAL_TYPES else suggest_type(rest)
+            scope = suggest_scope(rest)
+            if scope:
+                return f"{commit_type}({scope}): {rest}"
+
+    # Already has old-style "subsystem: description" format - convert it
+    colon_match = re.match(r'^([a-zA-Z][a-zA-Z0-9_/\-\. ]*): (.+)$', stripped)
+    if colon_match:
+        old_subsystem = colon_match.group(1).strip()
+        desc = colon_match.group(2).strip()
+        if len(desc) >= 5:
+            commit_type = suggest_type(desc)
+            # Use the old subsystem as scope (clean it up)
+            scope = old_subsystem.lower().replace(' ', '_')
+            return f"{commit_type}({scope}): {desc}"
+
+    # No format at all - try to guess both type and scope
+    commit_type = suggest_type(stripped)
+    scope = suggest_scope(stripped)
+    if scope:
+        desc = stripped[0].lower() + stripped[1:] if stripped else stripped
+        return f"{commit_type}({scope}): {desc}"
+
+    return None
+
+
+def check_title(title: str) -> bool:
+    title = title.strip()
+
+    if not title:
+        print("PR title is empty.", file=sys.stderr)
+        return False
+
+    for prefix in EXEMPT_PREFIXES:
+        if title.startswith(prefix):
+            return True
+
+    if parse_header(title):
+        return True
+
+    types_str = ', '.join(f'`{t}`' for t in CONVENTIONAL_TYPES.keys())
+    print(
+        f"PR title does not match conventional commits format.\n"
+        f"\n"
+        f"  Title: {title}\n"
+        f"\n"
+        f"Expected format:  type(scope): description\n"
+        f"\n"
+        f"Valid types: {types_str}\n"
+        f"\n"
+        f"Good examples:\n"
+        f"  feat(ekf2): add height fusion timeout\n"
+        f"  fix(mavlink): correct BATTERY_STATUS_V2 parsing\n"
+        f"  ci(workflows): migrate to reusable workflows\n"
+        f"  feat(boards/px4_fmu-v6x)!: remove deprecated driver API\n"
+        f"\n"
+        f"Bad examples:\n"
+        f"  fix stuff\n"
+        f"  Update file\n"
+        f"  ekf2: fix something   (missing type prefix)\n"
+        f"\n"
+        f"See the contributing guide for details:\n"
+        f"  https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention\n",
+        file=sys.stderr,
+    )
+    return False
+
+
+def format_markdown(title: str) -> str:
+    """Format a markdown PR comment body for a bad title."""
+    lines = [
+        "## \u274c PR title needs conventional commit format",
+        "",
+        "Expected format: `type(scope): description` "
+        "([conventional commits](https://www.conventionalcommits.org/)).",
+        "",
+        "**Your title:**",
+        f"> {title}",
+        "",
+    ]
+
+    suggestion = suggest_title(title)
+    if suggestion:
+        lines.extend([
+            "**Suggested fix:**",
+            f"> {suggestion}",
+            "",
+        ])
+
+    lines.extend([
+        "**To fix this:** click the ✏️ next to the PR title at the top "
+        "of this page and update it.",
+        "",
+        "See [CONTRIBUTING.md](https://github.com/PX4/PX4-Autopilot/blob/main/CONTRIBUTING.md#commit-message-convention) "
+        "for details.",
+        "",
+        "---",
+        "*This comment will be automatically removed once the issue is resolved.*",
+    ])
+
+    return '\n'.join(lines)
+
+
+def main() -> None:
+    import argparse
+    parser = argparse.ArgumentParser(description='Check PR title format')
+    parser.add_argument('title', help='The PR title to validate')
+    parser.add_argument('--markdown', action='store_true',
+                        help='Output markdown to stdout on failure')
+    parser.add_argument('--markdown-file', metavar='FILE',
+                        help='Write markdown to FILE on failure')
+    args = parser.parse_args()
+
+    passed = check_title(args.title)
+
+    if not passed:
+        md = format_markdown(args.title)
+        if args.markdown:
+            print(md)
+        if args.markdown_file:
+            with open(args.markdown_file, 'w') as f:
+                f.write(md + '\n')
+    elif args.markdown_file:
+        with open(args.markdown_file, 'w') as f:
+            pass
+
+    sys.exit(0 if passed else 1)
+
+
+if __name__ == '__main__':
+    main()

Tools/ci/conventional_commits.py

@@ -0,0 +1,146 @@
+"""Shared constants and helpers for conventional commit validation.
+
+Format: type(scope): description
+Optional breaking change marker: type(scope)!: description
+"""
+
+import re
+
+CONVENTIONAL_TYPES = {
+    'feat':     'A new feature',
+    'fix':      'A bug fix',
+    'docs':     'Documentation only changes',
+    'style':    'Formatting, whitespace, no code change',
+    'refactor': 'Code change that neither fixes a bug nor adds a feature',
+    'perf':     'Performance improvement',
+    'test':     'Adding or correcting tests',
+    'build':    'Build system or external dependencies',
+    'ci':       'CI configuration files and scripts',
+    'chore':    'Other changes that don\'t modify src or test files',
+    'revert':   'Reverts a previous commit',
+}
+
+# type(scope)[!]: description
+# - type: one of CONVENTIONAL_TYPES keys
+# - scope: required, alphanumeric with _/-/.
+# - !: optional breaking change marker
+# - description: at least 5 chars
+HEADER_PATTERN = re.compile(
+    r'^(' + '|'.join(CONVENTIONAL_TYPES.keys()) + r')'
+    r'\(([a-zA-Z0-9_/\-\.]+)\)'
+    r'(!)?'
+    r': (.{5,})$'
+)
+
+EXEMPT_PREFIXES = ('Merge ',)
+
+# Common PX4 subsystem scopes for suggestions
+KNOWN_SCOPES = [
+    'ekf2', 'mavlink', 'commander', 'navigator', 'sensors',
+    'mc_att_control', 'mc_pos_control', 'mc_rate_control',
+    'fw_att_control', 'fw_pos_control', 'fw_rate_control',
+    'vtol', 'actuators', 'battery', 'param', 'logger',
+    'uorb', 'drivers', 'boards', 'simulation', 'sitl',
+    'gps', 'rc', 'safety', 'can', 'serial',
+    'ci', 'docs', 'build', 'cmake', 'tools',
+    'mixer', 'land_detector', 'airspeed', 'gyroscope',
+    'accelerometer', 'magnetometer', 'barometer',
+]
+
+# Keyword patterns to suggest scopes from description text
+KEYWORD_SCOPES = [
+    (r'\b(ekf|estimator|height|fusion|imu|baro)\b', 'ekf2'),
+    (r'\b(mavlink|MAVLink|MAVLINK|command_int|heartbeat)\b', 'mavlink'),
+    (r'\b(uorb|orb|pub|sub|topic)\b', 'uorb'),
+    (r'\b(board|fmu|nuttx|stm32)\b', 'boards'),
+    (r'\b(mixer|actuator|motor|servo|pwm|dshot)\b', 'actuators'),
+    (r'\b(battery|power)\b', 'battery'),
+    (r'\b(param|parameter)\b', 'param'),
+    (r'\b(log|logger|sdlog)\b', 'logger'),
+    (r'\b(sensor|accel|gyro)\b', 'sensors'),
+    (r'\b(land|takeoff|rtl|mission|navigator|geofence)\b', 'navigator'),
+    (r'\b(position|velocity|attitude|rate)\s*(control|ctrl)\b', 'mc_att_control'),
+    (r'\b(mc|multicopter|quad)\b', 'mc_att_control'),
+    (r'\b(fw|fixedwing|fixed.wing|plane)\b', 'fw_att_control'),
+    (r'\b(vtol|transition)\b', 'vtol'),
+    (r'\b(ci|workflow|github.action|pipeline)\b', 'ci'),
+    (r'\b(doc|docs|documentation|readme)\b', 'docs'),
+    (r'\b(cmake|make|toolchain|compiler)\b', 'build'),
+    (r'\b(sitl|simulation|gazebo|jmavsim|sih)\b', 'simulation'),
+    (r'\b(can|uavcan|cyphal|dronecan)\b', 'can'),
+    (r'\b(serial|uart|spi|i2c)\b', 'serial'),
+    (r'\b(safety|failsafe|arm|disarm|kill)\b', 'safety'),
+    (r'\b(rc|radio|sbus|crsf|elrs|dsm)\b', 'rc'),
+    (r'\b(gps|gnss|rtk|ubx)\b', 'gps'),
+    (r'\b(optical.flow|flow|rangefinder|lidar|distance)\b', 'sensors'),
+    (r'\b(orbit|follow|offboard)\b', 'commander'),
+    (r'\b(driver)\b', 'drivers'),
+]
+
+# Verb patterns to suggest conventional commit type
+VERB_TYPE_MAP = [
+    (r'^fix(e[ds])?[\s:]', 'fix'),
+    (r'^bug[\s:]', 'fix'),
+    (r'^add(s|ed|ing)?[\s:]', 'feat'),
+    (r'^implement', 'feat'),
+    (r'^introduce', 'feat'),
+    (r'^support', 'feat'),
+    (r'^enable', 'feat'),
+    (r'^update[ds]?[\s:]', 'feat'),
+    (r'^improv(e[ds]?|ing)', 'perf'),
+    (r'^optimi[zs](e[ds]?|ing)', 'perf'),
+    (r'^refactor', 'refactor'),
+    (r'^clean\s*up', 'refactor'),
+    (r'^restructure', 'refactor'),
+    (r'^simplif(y|ied)', 'refactor'),
+    (r'^remov(e[ds]?|ing)', 'refactor'),
+    (r'^delet(e[ds]?|ing)', 'refactor'),
+    (r'^deprecat', 'refactor'),
+    (r'^replac(e[ds]?|ing)', 'refactor'),
+    (r'^renam(e[ds]?|ing)', 'refactor'),
+    (r'^migrat', 'refactor'),
+    (r'^revert', 'revert'),
+    (r'^doc(s|ument)', 'docs'),
+    (r'^test', 'test'),
+    (r'^format', 'style'),
+    (r'^lint', 'style'),
+    (r'^whitespace', 'style'),
+    (r'^build', 'build'),
+    (r'^ci[\s:]', 'ci'),
+]
+
+
+def parse_header(text: str) -> dict | None:
+    """Parse a conventional commit header into components.
+
+    Returns dict with keys {type, scope, breaking, subject} or None if
+    the text doesn't match conventional commits format.
+    """
+    text = text.strip()
+    m = HEADER_PATTERN.match(text)
+    if not m:
+        return None
+    return {
+        'type': m.group(1),
+        'scope': m.group(2),
+        'breaking': m.group(3) == '!',
+        'subject': m.group(4),
+    }
+
+
+def suggest_type(text: str) -> str:
+    """Infer a conventional commit type from description text."""
+    lower = text.strip().lower()
+    for pattern, commit_type in VERB_TYPE_MAP:
+        if re.search(pattern, lower):
+            return commit_type
+    return 'feat'
+
+
+def suggest_scope(text: str) -> str | None:
+    """Infer a scope from keywords in the text."""
+    lower = text.strip().lower()
+    for pattern, scope in KEYWORD_SCOPES:
+        if re.search(pattern, lower, re.IGNORECASE):
+            return scope
+    return None

Tools/ci/package_build_artifacts.sh

@@ -6,32 +6,42 @@ cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  mkdir artifacts/$build_dir
+  mkdir -p artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
+  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
+  airframes_src=""
+  if [ -f "$build_dir_path/airframes.xml" ]; then
+    airframes_src="$build_dir_path/airframes.xml"
+  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
+    airframes_src="$build_dir_path/docs/airframes.xml"
+  fi
+  if [ -n "$airframes_src" ]; then
+    cp "$airframes_src" "artifacts/$build_dir/"
+  fi
   # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
+  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
   # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
+  mkdir -p artifacts/$build_dir/events/
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
   ls -la artifacts/$build_dir
   echo "----------"
 done
 
 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # general metadata (used by Flight Review and other downstream consumers)
+  mkdir -p artifacts/_general/
   # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
+    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
+    exit 1
+  fi
   # Parameters
   cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
   cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -40,9 +50,11 @@ if [ -d artifacts/px4_sitl_default ]; then
   cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
   cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
   # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
+  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
+    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  else
+    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
+    exit 1
+  fi
   ls -la artifacts/_general/
 fi

Tools/ci/pr_comment.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+"""Post, update, or delete a PR comment with deduplication.
+
+Uses hidden HTML markers to find existing comments and avoid duplicates.
+Reads comment body from stdin when posting or updating.
+
+Usage:
+    echo "comment body" | python3 pr_comment.py --marker pr-title --pr 123 --result fail
+    python3 pr_comment.py --marker pr-title --pr 123 --result pass
+
+Results:
+    fail  - post/update comment with body from stdin
+    warn  - post/update comment with body from stdin
+    pass  - delete existing comment if any
+
+Requires GH_TOKEN and GITHUB_REPOSITORY environment variables.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+def gh_api(endpoint: str, method: str = 'GET', body: dict | None = None) -> str:
+    """Call the GitHub API via gh cli."""
+    cmd = ['gh', 'api', endpoint, '-X', method]
+    if body:
+        for key, value in body.items():
+            cmd.extend(['-f', f'{key}={value}'])
+    result = subprocess.run(cmd, capture_output=True, text=True)
+    if result.returncode != 0 and method != 'DELETE':
+        print(f"gh api error: {result.stderr}", file=sys.stderr)
+    return result.stdout
+
+
+def find_comment(repo: str, pr: int, marker: str) -> str | None:
+    """Find an existing comment by its hidden marker. Returns comment ID or None."""
+    response = gh_api(f"repos/{repo}/issues/{pr}/comments?per_page=100")
+    try:
+        comments = json.loads(response)
+    except json.JSONDecodeError:
+        return None
+
+    if not isinstance(comments, list):
+        return None
+
+    for comment in comments:
+        if isinstance(comment, dict) and comment.get('body', '').startswith(marker):
+            return str(comment['id'])
+    return None
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description='Manage PR quality comments')
+    parser.add_argument('--marker', required=True,
+                        help='Marker name (e.g. pr-title, commit-msgs, pr-body)')
+    parser.add_argument('--pr', required=True, type=int,
+                        help='Pull request number')
+    parser.add_argument('--result', required=True, choices=['pass', 'fail', 'warn'],
+                        help='Check result: pass deletes comment, fail/warn posts it')
+    args = parser.parse_args()
+
+    repo = os.environ.get('GITHUB_REPOSITORY', '')
+    if not repo:
+        print("GITHUB_REPOSITORY not set", file=sys.stderr)
+        sys.exit(2)
+
+    marker = f"<!-- commit-quality-{args.marker} -->"
+    existing_id = find_comment(repo, args.pr, marker)
+
+    if args.result == 'pass':
+        if existing_id:
+            gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='DELETE')
+        return
+
+    # Read comment body from stdin
+    body_content = sys.stdin.read().strip()
+    if not body_content:
+        print("No comment body provided on stdin", file=sys.stderr)
+        sys.exit(2)
+
+    full_body = f"{marker}\n{body_content}"
+
+    if existing_id:
+        gh_api(f"repos/{repo}/issues/comments/{existing_id}", method='PATCH',
+               body={'body': full_body})
+    else:
+        gh_api(f"repos/{repo}/issues/{args.pr}/comments", method='POST',
+               body={'body': full_body})
+
+
+if __name__ == '__main__':
+    main()

Tools/module_config/generate_actuators_metadata.py

@@ -234,14 +234,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         param_prefix = process_param_prefix(group['param_prefix'])
         standard_params = group.get('standard_params', {})
         standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False ),
-            ( 'disarmed', 'Disarmed', 'DIS', False ),
-            ( 'min', 'Minimum', 'MIN', False ),
-            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True ),
+            ( 'function', 'Function', 'FUNC', False, True ),
+            ( 'disarmed', 'Disarmed', 'DIS', False, True ),
+            ( 'min', 'Minimum', 'MIN', False, True ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False, False ),
+            ( 'max', 'Maximum', 'MAX', False, True ),
+            ( 'failsafe', 'Failsafe', 'FAIL', True, True ),
             ]
-        for key, label, param_suffix, advanced in standard_params_array:
+        for key, label, param_suffix, advanced, has_function in standard_params_array:
             show_if = None
             if key in standard_params and 'show_if' in standard_params[key]:
                 show_if = standard_params[key]['show_if']
@@ -250,13 +250,12 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 param = {
                         'label': label,
                         'name': param_prefix+'_'+param_suffix+'${i}',
-                        'function': key,
                     }
+                if has_function: param['function'] = key
                 if advanced: param['advanced'] = True
                 if show_if: param['show-if'] = show_if
                 per_channel_params.append(param)
 
-
         param = {
                 'label': 'Rev Range\n(for Servos)',
                 'name': param_prefix+'_REV',

Tools/module_config/generate_params.py

@@ -312,11 +312,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                 if standard_params[key]['max'] >= 1<<16:
                     raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
 
-                if key == 'failsafe':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
-                if key == 'center':
+                if key == 'failsafe' or key == 'center':
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 

Tools/px4events/srcparser.py

@@ -126,7 +126,7 @@ class SourceParser(object):
                         descr = descr[:i] + ' ' + descr[i+1:]
                 event.description = descr
             elif tag == "group":
-                known_groups = ["calibration", "health", "arming_check", "default", "ekf2"]
+                known_groups = ["calibration", "health", "arming_check", "default"]
                 event.group = value.strip()
                 if not event.group in known_groups:
                     raise Exception("Unknown event group: '{}'\nKnown groups: {}\n" \

Tools/px_mkfw.py

@@ -42,6 +42,7 @@
 import argparse
 import json
 import base64
+import os
 import zlib
 import time
 import subprocess
@@ -99,14 +100,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= p.read().strip().decode('utf-8')
-	p.close()
-	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= p.read().strip().decode('utf-8')
-	p.close()
+	git_dir = os.path.join(args.git_identity, '.git')
+	p = subprocess.run(["git", "--git-dir", git_dir, "describe", "--exclude", "ext/*", "--always", "--tags"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_identity']	= p.stdout.strip()
+	p = subprocess.run(["git", "--git-dir", git_dir, "rev-parse", "--verify", "HEAD"],
+		stdout=subprocess.PIPE, text=True)
+	desc['git_hash']	= p.stdout.strip()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
 	bytes = f.read()

Tools/setup/ubuntu.sh

@@ -196,6 +196,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi
 
+if [[ "${UBUNTU_RELEASE}" == "25.10" ]]; then
+	echo "[ubuntu.sh] Gazebo binaries are not available for 25.10, skipping installation"
+	INSTALL_SIM="false"
+fi
+
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then
 

boards/accton-godwit/ga1/src/board_config.h

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -286,7 +286,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/accton-godwit/ga1/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/accton-godwit/ga1/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fmu-v6x/default.px4board

@@ -28,12 +28,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -100,7 +100,7 @@ bmp388 -I start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi
 
 unset HAVE_PM2

boards/ark/fmu-v6x/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/fmu-v6x/src/board_config.h

@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -295,7 +295,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -421,9 +421,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1
@@ -455,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/ark/fmu-v6x/src/init.c

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 	SPI6_RESET(true);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	SPI6_RESET(false);

boards/ark/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/ark/fpv/init/rc.board_airframes

@@ -0,0 +1,19 @@
+4001_quad_x
+4050_generic_250
+6001_hexa_x
+12001_octo_cox
+13100_generic_vtol_tiltrotor
+5001_quad_+
+24001_dodeca_cox
+2100_standard_plane
+13000_generic_vtol_standard
+4601_droneblocks_dexi_5
+11001_hexa_cox
+14001_generic_mc_with_tilt
+16001_helicopter
+9001_octo_+
+7001_hexa_+
+3000_generic_wing
+2106_albatross
+13200_generic_vtol_tailsitter
+13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/init/rc.board_sensors

@@ -20,5 +20,5 @@ bmp388 -I -b 2 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/fpv/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/fpv/src/board_config.h

@@ -306,9 +306,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 3 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/init/rc.board_sensors

@@ -38,5 +38,5 @@ afbrs50 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/ark/pi6x/mavlink-dev.px4board

@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"

boards/ark/pi6x/src/board_config.h

@@ -311,9 +311,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -77,5 +77,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start
+	pca9685_pwm_out start -X
 fi

boards/auterion/fmu-v6x/src/board_config.h

@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -289,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -453,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/auterion/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -215,7 +215,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/auterion/fmu-v6x/src/spi.cpp

@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi
 
-if ! pca9685_pwm_out start
+if ! pca9685_pwm_out start -X
 then
 	echo "pca9685_pwm_out not found."
 fi

boards/cuav/fmu-v6x/src/board_config.h

@@ -271,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -297,7 +297,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -463,7 +463,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_SYNC,                        \

boards/cuav/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/cuav/fmu-v6x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/hkust/nxt-dual/src/timer_config.cpp

@@ -46,10 +46,10 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
 	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,11 +58,13 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Assigned in timer_config.cpp
-
-// TODO
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
+// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
+// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
+// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
+// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
+// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
+// Timer 15 - no TIM15UP DMA, cannot do DShot
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15),
-	initIOTimer(Timer::Timer3),
-	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
 };
 
+// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
+// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

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

@@ -1,9 +0,0 @@
-#!/bin/bash
-
-cd boards/modalai/voxl2/libfc-sensor-api
-rm -fR build
-mkdir build
-cd build
-CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
-make
-cd ../../../../..

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

@@ -65,7 +65,6 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
-adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"

boards/modalai/voxl2/target/voxl-px4

@@ -29,10 +29,12 @@ if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
     /bin/echo "Found DSP signature file"
 else
     /bin/echo "[WARNING] Could not find DSP signature file"
-    # Look for the DSP signature generation script
-    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file"
-        # Automatically generate the test signature so that px4 can run on SLPI DSP
+    # Look for the DSP signature generation script (platform-specific)
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file (qcs6490)"
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file (qrb5165)"
         /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
     else
         /bin/echo "[ERROR] Could not find the DSP signature file generation script"

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

@@ -6,10 +6,12 @@ if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
     /bin/echo "Found DSP signature file"
 else
     /bin/echo "[WARNING] Could not find DSP signature file"
-    # Look for the DSP signature generation script
-    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
-        /bin/echo "[INFO] Attempting to generate the DSP signature file"
-        # Automatically generate the test signature so that px4 can run on SLPI DSP
+    # Look for the DSP signature generation script (platform-specific)
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file (qcs6490)"
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "[INFO] Attempting to generate the DSP signature file (qrb5165)"
         /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
     else
         /bin/echo "[ERROR] Could not find the DSP signature file generation script"

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

@@ -143,7 +143,7 @@ if [ "$GPS" != "NONE" ]; then
     if [ "$PLATFORM" == "M0197" ]; then
 	gps start -d /dev/ttyHS7
     else
-	qshell gps start
+	qshell gps start -d 6
     fi
 fi
 
@@ -302,4 +302,28 @@ done
 # marked as optional will only be logged if they have been advertised when
 # this is started. By starting it last it makes sure to see those
 # advertisements as the other modules are starting before it.
-logger start
+#
+# Set logger mode based on SDLOG_MODE parameter:
+#   0: log when armed until disarm (default)
+#   1: log from boot until disarm
+#   2: log from boot until shutdown
+#   3: log based on AUX1 RC channel
+#   4: log from first armed until shutdown
+LOGGER_ARGS=""
+if param compare SDLOG_MODE 1
+then
+	LOGGER_ARGS="-e"
+fi
+if param compare SDLOG_MODE 2
+then
+	LOGGER_ARGS="-f"
+fi
+if param compare SDLOG_MODE 3
+then
+	LOGGER_ARGS="-x"
+fi
+if param compare SDLOG_MODE 4
+then
+	LOGGER_ARGS="-a"
+fi
+logger start $LOGGER_ARGS

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -405,7 +405,7 @@
 *(.text._ZN3Ekf33updateVerticalDeadReckoningStatusEv)
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
-*(.text._ZN4EKF210SendEventsEv)
+*(.text._ZN4EKF217PublishEventFlagsERKy)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -405,7 +405,7 @@
 *(.text._ZN3Ekf33updateVerticalDeadReckoningStatusEv)
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
-*(.text._ZN4EKF210SendEventsEv)
+*(.text._ZN4EKF217PublishEventFlagsERKy)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)

boards/px4/fmu-v5x/src/board_config.h

@@ -233,7 +233,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -258,7 +258,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -409,7 +409,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PH11,                        \

boards/px4/fmu-v5x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -217,7 +217,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/px4/fmu-v5x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -96,7 +96,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/px4/fmu-v6c/src/board_config.h

@@ -185,7 +185,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 
 /* Tone alarm output */
 

boards/px4/fmu-v6x/src/board_config.h

@@ -268,7 +268,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -290,7 +290,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -454,7 +454,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/px4/fmu-v6x/src/init.cpp

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/px4/fmu-v6x/src/spi.cpp

@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -97,7 +97,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -120,7 +120,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -143,7 +143,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -166,7 +166,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -190,7 +190,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -205,7 +205,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
+*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -413,7 +413,7 @@
 *(.text._ZN3Ekf33updateVerticalDeadReckoningStatusEv)
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
-*(.text._ZN4EKF210SendEventsEv)
+*(.text._ZN4EKF217PublishEventFlagsERKy)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)

boards/radiolink/PIX6/src/board_config.h

@@ -161,7 +161,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 

boards/radiolink/PIX6/src/init.cpp

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -123,7 +123,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -210,7 +210,7 @@
 #define GPIO_VDD_3V5_LTE_nOC            /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 
 
 /* Spare GPIO */
@@ -227,7 +227,7 @@
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_3V5_LTE_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_3V5_LTE_nEN, on_true)
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, on_true)
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 
 /* Tone alarm output */
 
@@ -342,7 +342,7 @@
 		GPIO_VDD_3V5_LTE_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,	  \
+		GPIO_VDD_3V3_SENSORS_EN,	  \
 		GPIO_PH11,                        \
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -109,7 +109,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V5_LTE_EN(false);
 	VDD_5V_HIPOWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 
 }
 
@@ -211,7 +211,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 
 	/* Need hrt running before using the ADC */
 

boards/svehicle/e2/src/board_config.h

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -276,7 +276,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -420,7 +420,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_ETH_POWER_EN,                \

boards/svehicle/e2/src/init.c

@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

boards/zeroone/x6/src/board_config.h

@@ -267,7 +267,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 
@@ -289,7 +289,7 @@
 
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
+		GPIO_VDD_3V3_SENSORS_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \

boards/zeroone/x6/src/init.c

@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS4_EN(false);
+	VDD_3V3_SENSORS_EN(false);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS4_EN(true);
+	VDD_3V3_SENSORS_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -2,7 +2,7 @@
 #
 # Stack: PX4 Pro
 # Vehicle: Amovlab F410
-# Version: 1.15.4 
+# Version: 1.15.4
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -301,7 +301,6 @@
 1	1	COM_FLTMODE5	-1	6
 1	1	COM_FLTMODE6	8	6
 1	1	COM_FLTT_LOW_ACT	3	6
-1	1	COM_FLT_PROFILE	0	6
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
@@ -309,10 +308,8 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
-1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
-1	1	COM_MOT_TEST_EN	1	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6
 1	1	COM_OBS_AVOID	0	6
@@ -479,11 +476,6 @@
 1	1	EKF2_WIND_NSD	0.050000000745058060	9
 1	1	EV_TSK_RC_LOSS	0	6
 1	1	EV_TSK_STAT_DIS	0	6
-1	1	FD_ACT_EN	1	6
-1	1	FD_ACT_MOT_C2T	2.000000000000000000	9
-1	1	FD_ACT_MOT_THR	0.200000002980232239	9
-1	1	FD_ACT_MOT_TOUT	100	6
-1	1	FD_ESCS_EN	1	6
 1	1	FD_EXT_ATS_EN	0	6
 1	1	FD_EXT_ATS_TRIG	1900	6
 1	1	FD_FAIL_P	60	6