boat: add module for rudder-steered boats

sv: rename rover parameters to surface vehicle
sv: extend rover control lib to surface vehicles
2026-06-13 02:50:04 +08:00 · 2025-09-05 13:48:57 +02:00 · 2025-09-05 13:48:17 +02:00 · 2025-09-05 13:28:30 +02:00 · 2025-09-05 08:41:59 +02:00 · 2025-09-05 08:27:58 +02:00
141 changed files with 5980 additions and 1300 deletions
@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
 | Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
 | Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


@@ -1,10 +1,21 @@
 #!/bin/sh
 #
-# @name 3DoF Spacecraft Model
+# @name KTH-ATMOS
 #
-# @type 2D Freeflyer with 8 thrusters - Planar motion
+# @type Free-Flyer
+# @class Spacecraft
 #
-# @maintainer Pedro Roque <padr@kth.se>
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -54,6 +54,13 @@ if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
 	)
 endif()

+if(CONFIG_MODULES_BOAT_RUDDER)
+	px4_add_romfs_files(
+		rc.boat_rudder_apps
+		rc.boat_rudder_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_FW_RATE_CONTROL)
 	px4_add_romfs_files(
 		rc.fw_apps
@@ -83,13 +90,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		rc.sc_apps
-		rc.sc_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps
@@ -97,6 +97,13 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -5,7 +5,17 @@
 # @type Free-Flyer
 # @class Spacecraft
 #
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
 # @maintainer DISCOWER
+# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a boat rudder.
+
+# Start boat rudder module.
+boat_rudder start
+
+# Start Land Detector.
+land_detector start rover
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Rudder-steered boats parameters.
+
+set VEHICLE_TYPE boat
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
@@ -8,6 +8,9 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

+#
+# Set SD logging mode
+#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -28,8 +31,28 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -a"
 fi

+#
+# Set logging backend
+#
+if param compare SDLOG_BACKEND 1
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m file"
+fi

-if ! param compare SDLOG_MODE -1
+if param compare SDLOG_BACKEND 2
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
+fi
+
+if param compare SDLOG_BACKEND 3
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -m all"
+fi
+
+#
+# Start logger if any logging backend is enabled
+#
+if ! param compare SDLOG_BACKEND 0
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi
@@ -237,6 +237,7 @@ then
 	qmc5883p -X -q start
 	rm3100 -X -q start
 	bmm350 -X -q start
+	iis2mdc -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -14,7 +14,6 @@ class AirframeGroup(object):
        self.af_class = af_class
        self.airframes = []

-
    def AddAirframe(self, airframe):
        """
        Add airframe to the airframe group
@@ -107,6 +106,8 @@ class AirframeGroup(object):
            return "Balloon"
        elif (self.type == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
+        elif self.type == "Free-Flyer":
+            return "FreeFlyer"
        return "AirframeUnknown"

    def GetAirframes(self):
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-set LOGGER_ARGS "-m mavlink"
+param set-default SDLOG_BACKEND 2

 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21
@@ -12,17 +12,20 @@ board_adc start
 bmi088 -A -R 0 -s start
 bmi088 -G -R 0 -s start

+# MAG on I2C4, ROTATION_ROLL_180=8
 if ver hwtypecmp V6S013 V6S015
 then
-	# Revision(s) with BMM150
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm150 -I -R 8 start
 else
-	# Revision(s) with BMM350
-	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm350 -I -R 8 start
 fi

+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start
+
+
+# External sensors on I2C1
+
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -59,14 +62,17 @@ fi

 if param compare BAT1_V_CHANNEL -2
 then
-    if [ "$INA_CONFIGURED" != "yes" ]
-    then
-        param set BAT1_V_CHANNEL -1
-    fi
+	if [ "$INA_CONFIGURED" != "yes" ]
+	then
+		param set BAT1_V_CHANNEL -1
+	fi
 fi

-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+# External compass IST8310 on I2C1
 ist8310 -X -b 1 -R 10 start

-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start -b 1
+fi
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Don't try to log onto SD card
-param set-default SDLOG_MODE -1
+# Disable logging
+param set-default SDLOG_BACKEND 0
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 19.2.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   version="1.1"
+   id="draw"
+   x="0px"
+   y="0px"
+   viewBox="0 0 291.424 291.77"
+   enable-background="new 0 0 291.424 291.77"
+   xml:space="preserve"
+   sodipodi:docname="FreeFlyer.svg"
+   inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/"><metadata
+   id="metadata13908"><rdf:RDF><cc:Work
+       rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+         rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title>QuadRotorX</dc:title></cc:Work></rdf:RDF></metadata><defs
+   id="defs13906"><rect
+     x="64.295094"
+     y="257.16159"
+     width="20.004284"
+     height="19.434001"
+     id="rect1674" /><rect
+     x="57.181928"
+     y="12.768183"
+     width="21.455602"
+     height="14.069247"
+     id="rect1668" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-3" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-6" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-8" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-9" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-9-0" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-9-0-3" /><rect
+     x="64.295097"
+     y="257.16159"
+     width="20.004284"
+     height="19.434002"
+     id="rect1674-9-0-5" /></defs><sodipodi:namedview
+   pagecolor="#ffffff"
+   bordercolor="#666666"
+   borderopacity="1"
+   objecttolerance="10"
+   gridtolerance="10"
+   guidetolerance="10"
+   inkscape:pageopacity="0"
+   inkscape:pageshadow="2"
+   inkscape:window-width="1920"
+   inkscape:window-height="1131"
+   id="namedview13904"
+   showgrid="true"
+   showguides="false"
+   inkscape:zoom="2"
+   inkscape:cx="37"
+   inkscape:cy="143.75"
+   inkscape:window-x="0"
+   inkscape:window-y="0"
+   inkscape:window-maximized="1"
+   inkscape:current-layer="draw"
+   inkscape:showpageshadow="2"
+   inkscape:pagecheckerboard="0"
+   inkscape:deskcolor="#d1d1d1"><inkscape:grid
+     type="xygrid"
+     id="grid14610" /></sodipodi:namedview><title
+   id="title13869">QuadRotorX</title>
+     <rect
+   style="fill:#4ec3e8;fill-opacity:0.8;stroke-width:0.703099"
+   id="rect866"
+   width="182.87863"
+   height="182.87863"
+   x="54.336742"
+   y="54.008221" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 41.75804,283.31181 64.75142,-0.1091 -34.35904,-46.53234"
+   id="path978" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 8.0625538,189.05596 0.1091,64.75142 46.5323452,-34.35904"
+   id="path978-3" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 7.6111718,42.233006 0.1091,64.751414 46.5323442,-34.359034"
+   id="path978-3-5" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="M 283.3143,102.92315 283.2052,38.171731 236.67284,72.530766"
+   id="path978-3-0" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 283.76568,249.7461 -0.1091,-64.75142 -46.53235,34.35904"
+   id="path978-3-5-9" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 186.0159,282.76127 64.75142,-0.1091 -34.35904,-46.53235"
+   id="path978-5" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="m 249.48837,7.3723165 -64.75142,0.1091 34.35904,46.5323455"
+   id="path978-6" /><path
+   style="fill:#159e1f;fill-opacity:0.8;stroke-width:1.32638"
+   d="M 105.23051,7.9228645 40.479095,8.0319644 74.838131,54.56431"
+   id="path978-5-2" /><path
+   fill="#ffffff"
+   stroke="#000000"
+   stroke-miterlimit="10"
+   d="m 177.46535,152.08429 -25.44869,25.44869 c -2.72029,2.72029 -7.13013,2.72029 -9.84972,0 l -25.44868,-25.44869 c -2.7203,-2.72029 -2.7203,-7.13013 0,-9.84972 l 25.44868,-25.44868 c 2.72029,-2.72029 7.13013,-2.72029 9.84972,0 l 25.44869,25.44868 c 2.72029,2.72029 2.72029,7.13013 0,9.84972 z"
+   id="path13875-2"
+   style="stroke-width:0.703099" /><polygon
+   fill="#ff442b"
+   stroke="#000000"
+   stroke-miterlimit="10"
+   points="145.645,117.211 163.823,168.211 127.468,168.211 "
+   id="polygon13877-7"
+   transform="matrix(0.70309945,0,0,0.70309945,44.68853,44.358917)" /><text
+   xml:space="preserve"
+   id="text1666"
+   style="fill:#ffffff;fill-opacity:0.80000001;white-space:pre;shape-inside:url(#rect1668)" /><text
+   xml:space="preserve"
+   id="text1672"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674);fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,-56.149908,-232.98716)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2022">1</tspan></text><text
+   xml:space="preserve"
+   id="text1672-6"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-3);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,-54.90599,-471.96664)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2024">2</tspan></text><text
+   xml:space="preserve"
+   id="text1672-1"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-6);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,88.181331,-233.48182)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2026">3</tspan></text><text
+   xml:space="preserve"
+   id="text1672-7"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-8);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,89.923516,-472.9994)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2028">4</tspan></text><text
+   xml:space="preserve"
+   id="text1672-2"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-9);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,-107.88311,-425.85878)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2030">5</tspan></text><text
+   xml:space="preserve"
+   id="text1672-2-2"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-9-0);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,140.31603,-426.60417)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2032">6</tspan></text><text
+   xml:space="preserve"
+   id="text1672-2-2-7"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-9-0-3);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,-106.57328,-277.85487)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2034">7</tspan></text><text
+   xml:space="preserve"
+   id="text1672-2-2-9"
+   style="font-size:16px;white-space:pre;shape-inside:url(#rect1674-9-0-5);display:inline;fill:#ffffff;fill-opacity:0.8"
+   transform="matrix(1.8712033,0,0,1.8712033,140.59859,-279.63807)"><tspan
+     x="64.294922"
+     y="271.72011"
+     id="tspan2036">8</tspan></text></svg>
@@ -35,14 +35,15 @@ The parameters you are most likely to change are listed below.

 | Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
 | ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
 | [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
 | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
+- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)

 ### Logger module

@@ -3,12 +3,6 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.

-::: info
-At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
-Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
-:::
-
-
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -176,15 +176,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAttitudeSetpoint.msg
-	RoverAttitudeStatus.msg
-	RoverPositionSetpoint.msg
-	RoverRateSetpoint.msg
-	RoverRateStatus.msg
-	RoverSpeedSetpoint.msg
-	RoverSpeedStatus.msg
-	RoverSteeringSetpoint.msg
-	RoverThrottleSetpoint.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
@@ -208,6 +199,15 @@ set(msg_files
 	SensorsStatusImu.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	SurfaceVehicleAttitudeSetpoint.msg
+	SurfaceVehicleAttitudeStatus.msg
+	SurfaceVehiclePositionSetpoint.msg
+	SurfaceVehicleRateSetpoint.msg
+	SurfaceVehicleRateStatus.msg
+	SurfaceVehicleSpeedSetpoint.msg
+	SurfaceVehicleSpeedStatus.msg
+	SurfaceVehicleSteeringSetpoint.msg
+	SurfaceVehicleThrottleSetpoint.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg
@@ -1,4 +1,4 @@
-# Rover Attitude Setpoint
+# Surface Vehicle Attitude Setpoint

 uint64 timestamp # [us] Time since system start
 float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
@@ -1,5 +1,5 @@
-# Rover Attitude Status
+# Surface Vehicle Attitude Status

 uint64 timestamp # [us] Time since system start
-float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
+float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED] Measured yaw
 float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
@@ -1,8 +1,8 @@
-# Rover Position Setpoint
+# Surface Vehicle Position Setpoint

 uint64 timestamp # [us] Time since system start
 float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
 float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
 float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
-float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
-float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
+float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the vehicle should arrive at the target with
+float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Omnidirectional only: Specify vehicle yaw during travel
@@ -1,4 +1,4 @@
-# Rover Rate setpoint
+# Surface Vehicle Rate setpoint

 uint64 timestamp # [us] Time since system start
 float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
@@ -1,4 +1,4 @@
-# Rover Rate Status
+# Surface Vehicle Rate Status

 uint64 timestamp # [us] Time since system start
 float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
@@ -1,5 +1,5 @@
-# Rover Speed Setpoint
+# Surface Vehicle Speed Setpoint

 uint64 timestamp # [us] Time since system start
 float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
-float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Speed setpoint in body y direction
@@ -1,9 +1,9 @@
-# Rover Velocity Status
+# Surface Vehicle Velocity Status

 uint64 timestamp # [us] Time since system start
 float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
 float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
-float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
-float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
+float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Measured speed in body y direction
+float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
+float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not omnidirectional] Omnidirectional only: Integral of the PID for the closed loop controller of the speed in body y direction
@@ -1,4 +1,4 @@
-# Rover Steering setpoint
+# Surface Vehicle Steering setpoint

 uint64 timestamp # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Omnidirectional: Normalized speed difference between the left and right wheels
@@ -1,5 +1,5 @@
-# Rover Throttle setpoint
+# Surface Vehicle Throttle setpoint

 uint64 timestamp # [us] Time since system start
 float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not omnidirectional] Omnidirectional only: Throttle setpoint along body Y axis
@@ -847,6 +847,8 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
 		request.offset  += length;
 		bootloader.percentage_done = (request.offset / a_percent);

+		watchdog_pet();
+
 	} while (request.offset < fw_image_size &&
 		 length == sizeof(response.data)  &&
 		 flash_status == FLASH_OK);
@@ -2,11 +2,9 @@ menu "Distance sensors"
    menuconfig COMMON_DISTANCE_SENSOR
        bool "Common distance sensor's"
        default n
-        select DRIVERS_DISTANCE_SENSOR_CM8JL65
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
        select DRIVERS_DISTANCE_SENSOR_LL40LS
-        select DRIVERS_DISTANCE_SENSOR_TERARANGER
        select DRIVERS_DISTANCE_SENSOR_TF02PRO
        select DRIVERS_DISTANCE_SENSOR_TFMINI
        select DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR
@@ -254,6 +254,7 @@
 #define DRV_INS_DEVTYPE_ILABS           0xE9

 #define DRV_INS_DEVTYPE_MICROSTRAIN	0xEA
+#define DRV_INS_DEVTYPE_BAHRS           0xEB

 #define DRV_DEVTYPE_UNUSED		0xff

@@ -16,7 +16,7 @@ parameters:
                    sure to set this high enough so that the motors are always spinning while
                    armed.
            type: float
-            unit: '%'
+            unit: norm
            min: 0
            max: 1
            decimal: 2
@@ -5,6 +5,7 @@ menu "Inertial Navigation Systems (INS)"
        select DRIVERS_INS_VECTORNAV
        select DRIVERS_INS_ILABS
        select DRIVERS_INS_MICROSTRAIN
+	select DRIVERS_INS_EULERNAV_BAHRS
        ---help---
            Enable default set of INS sensors
    rsource "*/Kconfig"
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__ins__eulerav_bahrs
+	MAIN eulernav_bahrs
+	INCLUDES
+		bahrs
+	SRCS
+		eulernav_bahrs_main.cpp
+		eulernav_driver.cpp
+		eulernav_driver.h
+	DEPENDS
+		ringbuffer
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_INS_EULERNAV_BAHRS
+	bool "eulernav_bahrs"
+	default n
+	---help---
+		Enable support for EULER-NAV Baro-Inertial AHRS
@@ -0,0 +1,371 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * The header is a modified version of a header from this repo:
+ * https://github.com/euler-nav/bahrs-oss
+ *
+ * Copyright 2023 AMS Advanced Air Mobility Sensors UG
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED.IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#define PROTOCOL_WORD_LEN (4)
+#define PADDING_SIZE(SPayloadType) (PROTOCOL_WORD_LEN - ((sizeof(SMessageHeader) + sizeof(SPayloadType)) % PROTOCOL_WORD_LEN))
+
+#define BIT_VALID_HEIGHT           (0x01)
+#define BIT_VALID_VELOCITY_DOWN    (0x02)
+#define BIT_VALID_ROLL             (0x04)
+#define BIT_VALID_PITCH            (0x08)
+#define BIT_VALID_MAGNETIC_HEADING (0x10)
+#define BIT_VALID_SPECIFIC_FORCE_X (0x01)
+#define BIT_VALID_SPECIFIC_FORCE_Y (0x02)
+#define BIT_VALID_SPECIFIC_FORCE_Z (0x04)
+#define BIT_VALID_ANGULAR_RATE_X   (0x08)
+#define BIT_VALID_ANGULAR_RATE_Y   (0x10)
+#define BIT_VALID_ANGULAR_RATE_Z   (0x20)
+
+/**
+ * @brief The class that describes and implements the BAHRS serial protocol.
+*/
+class CSerialProtocol
+{
+public:
+	static constexpr uint8_t uMarker1_ { 0x4E }; ///< Sync byte 1, symbol 'N'
+	static constexpr uint8_t uMarker2_ { 0x45 }; ///< Sync char 2, symbol 'E'
+	static constexpr uint16_t uVersion_ { 2U }; ///< Protocol version
+
+	static constexpr float skfSpecificForceScale_ { 1.495384e-3F }; ///< Integer to float, +-5g range
+	static constexpr float skfAngularRateScale_ { 1.597921e-4F }; ///< Integer to float, +-300 deg/s range
+	static constexpr float skfHeightScale_ { 0.16784924F }; ///< Integer to float, -1000 to 10000 m range
+	static constexpr float skfHeighOffset_ { 1000.0F }; ///< An offset to convert unsigned integer to float
+	static constexpr float skfVelocityDownScale_ { 9.155413e-3F }; ///< Integer to float, -300 to 300 m/s range
+	static constexpr float skfAngleScale_ { 9.587526e-5F }; ///< Integer to float, -pi to pi or 0 to 2 pi range
+
+	// Signal ranges
+	static constexpr float skfMaxHeight_ { 10000.0F };
+	static constexpr float skfMinHeight_ { -1000.0F };
+	static constexpr float skfMaxVelocityDown_ { 300.0F };
+	static constexpr float skfMinVelocityDown_ { -300.0F };
+
+	enum class EMessageIds : uint8_t {
+		eInvalid = 0x00, ///< Invalid
+		eInertialData = 0x01, ///< Inertial data message
+		eNavigationData = 0x02, ///< Navigation data message
+		eAccuracy = 0x03, ///< Attitude accuracy information
+		eTimeOfNavigationData = 0x04, ///< "Time of navigation data" message
+		eTimeOfInertialData = 0x05, ///< "Time of inertial data" message
+		eTimeOfSyncPulse = 0x06, ///< "Time of the latest sync pulse" message
+		eSoftwareVersion = 0x0F, ///< "Software version" message
+
+		eDebugEventWriteToPort = 0xC0, ///< Debug information: SWC port data
+		eDebugEventRunnableCall = 0xC1, ///< Debug information: SWC API call
+
+		eTypeOpenDiagnostic = 0xF0, ///< Request to enter diagnostics mode
+		eTypeCloseDiagnostic = 0xF1, ///< Request to exit diagnostics mode
+		eTypeReadNVMPage = 0xF2, ///< Request to read NVM page
+		eTypeNVMPageData = 0xF3, ///< A message with NVM page data
+		eTypeAccept = 0xFF ///< Acknowledgment of diagnostics message reception
+	};
+
+	typedef uint32_t CrcType_t;
+
+#pragma pack(push, 1)
+
+	/**
+	 * @brief Message header struct.
+	*/
+	struct SMessageHeader {
+		uint8_t uMarker1_ { 0x4E };
+		uint8_t uMarker2_ { 0x45 };
+		uint16_t uVersion_ { CSerialProtocol::uVersion_ };
+		uint8_t uMsgType_ { 0U };
+	};
+
+	/**
+	 * @brief Inertial data message payload.
+	*/
+	struct SInertialData {
+		uint8_t uSequenceCounter_ { 0U };
+		int16_t iSpecificForceX_ { 0 };
+		int16_t iSpecificForceY_ { 0 };
+		int16_t iSpecificForceZ_ { 0 };
+		int16_t iAngularRateX_ { 0 };
+		int16_t iAngularRateY_ { 0 };
+		int16_t iAngularRateZ_ { 0 };
+		uint8_t uValidity_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the time of inertial data message.
+	*/
+	struct STimeOfInertialData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint8_t uInertialDataSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data message payload.
+	*/
+	struct SNavigationData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint16_t uPressureHeight_ { 0 };
+		int16_t iVelocityDown_ { 0 };
+		int16_t iRoll_ { 0 };
+		int16_t iPitch_ { 0 };
+		uint16_t uMagneticHeading_ { 0U };
+		uint8_t uValidity_ { 0 };
+	};
+
+	/**
+	 * @brief Payload of the "time of navigation data" message.
+	*/
+	struct STimeOfNavigationData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint8_t uNavigationDataSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Accuracy message payload.
+	*/
+	struct SAccuracyData {
+		uint8_t uSequenceCounter_ { 0U };
+		uint16_t uAttitudeStdN_ { 0U };
+		uint16_t uAttitudeStdE_ { 0U };
+		uint16_t uMagneticHeadingStd_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the "time of the latest pulse" message.
+	*/
+	struct STimeOfLatestSyncPulse {
+		uint8_t uSequenceCounter_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Payload of the "software version" message.
+	*/
+	struct SSoftwareVersionData {
+		char acProjectCode_[3] { '\0', '\0', '\0' };
+		uint16_t uMajor_ { 0U };
+		uint16_t uMinor_ { 0U };
+	};
+
+	/**
+	 * @brief Partial data of the "write to port event".
+	 * The struct does not include a variable size array of data written to a port.
+	 */
+	struct SWriteToPortEventPartialData {
+		uint8_t uPortId_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+		uint16_t uDataLen_ { 0U };
+	};
+
+	/**
+	 * @brief Debug information on runnable call.
+	 */
+	struct SRunnableCallEventData {
+		uint8_t uRunnableId_ { 0U };
+		uint64_t uTimestampUs_ { 0U };
+	};
+
+	/**
+	 * @brief Inertial data message.
+	*/
+	struct SInertialDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eInertialData) };
+
+		SInertialData oInertialData_;
+		uint8_t auPadding_[PADDING_SIZE(SInertialData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of inertial data message.
+	*/
+	struct STimeOfInertialDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfInertialData) };
+
+		STimeOfInertialData oTimeOfInertialData_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfInertialData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data message.
+	*/
+	struct SNavigationDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eNavigationData) };
+
+		SNavigationData oNavigationData_;
+		uint8_t auPadding_[PADDING_SIZE(SNavigationData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Navigation data accuracy message.
+	*/
+	struct SAccuracyDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eAccuracy) };
+
+		SAccuracyData oAccuracy_;
+		uint8_t auPadding_[PADDING_SIZE(SAccuracyData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of navigation data message.
+	*/
+	struct STimeOfNavigationDataMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfNavigationData) };
+
+		STimeOfNavigationData oTimeOfNavigationData_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfNavigationData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Time of the latest sync pulse message.
+	*/
+	struct STimeOfLatestSyncPulseMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTimeOfSyncPulse) };
+
+		STimeOfLatestSyncPulse oTimeOfLatestSyncPulse_;
+		uint8_t auPadding_[PADDING_SIZE(STimeOfLatestSyncPulse)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief Software version message.
+	*/
+	struct SSoftwareVersionMessage {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eSoftwareVersion) };
+
+		SSoftwareVersionData oSoftwareVersion_;
+		uint8_t auPadding_[PADDING_SIZE(SSoftwareVersionData)];
+		CrcType_t uCrc_ { 0U };
+	};
+
+	/**
+	 * @brief A debug message with runnable call data.
+	*/
+	struct SRunnableCallEventDebugMessage {
+		SMessageHeader oHeader_{ CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eDebugEventRunnableCall) };
+
+		SRunnableCallEventData oRunnableCallData_;
+		uint8_t auPadding_[PADDING_SIZE(oRunnableCallData_)];
+		CrcType_t uCrc_{ 0U };
+	};
+
+	/**
+	 * @brief Diagnostic Mode Messages
+	 ****************************************************************************/
+
+	/**
+	 * @brief Diagnostic message: Page request from NVM.
+	*/
+	struct SPacketReadNVMPage {
+		SMessageHeader oHeader_;
+		uint8_t uPageNumber { 0U };
+		CrcType_t uCrc32 { 0U };
+	};
+
+	/**
+	 * @brief Diagnostic message: confirmation of request processing by the device.
+	*/
+	struct SPacketReceiveConfirmation {
+		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
+				       CSerialProtocol::uMarker2_,
+				       CSerialProtocol::uVersion_,
+				       static_cast<uint8_t>(EMessageIds::eTypeAccept) };
+		EMessageIds eMessageType;    // message type to confirm.
+		uint8_t uStatus { 0U };      // 0 - OK, other values - error codes
+		CrcType_t uCrc32 { 0U };
+	};
+
+#pragma pack(pop)
+
+};
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file eulernav_bahrs_main.cpp
+ * A driver module for EULER-NAV Baro-Inertial AHRS.
+ *
+ * @author Fedor Baklanov <fedor.baklanov@euler-nav.com>
+ */
+
+#include <px4_platform_common/log.h>
+#include "eulernav_driver.h"
+
+extern "C" __EXPORT int eulernav_bahrs_main(int argc, char *argv[])
+{
+	EulerNavDriver::main(argc, argv);
+	return OK;
+}
@@ -0,0 +1,514 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "eulernav_driver.h"
+#include <px4_platform_common/getopt.h>
+#include <drivers/drv_sensor.h>
+#include <matrix/Quaternion.hpp>
+#include <matrix/Euler.hpp>
+#include <atmosphere/atmosphere.h>
+
+EulerNavDriver::EulerNavDriver(const char *device_name)
+	: ModuleParams{nullptr}
+	, _serial_port{device_name, 115200, ByteSize::EightBits, Parity::None, StopBits::One, FlowControl::Disabled}
+	, _data_buffer{}
+	, _px4_accel{DRV_INS_DEVTYPE_BAHRS}
+	, _px4_gyro{DRV_INS_DEVTYPE_BAHRS}
+{
+}
+
+EulerNavDriver::~EulerNavDriver()
+{
+	deinitialize();
+}
+
+int EulerNavDriver::task_spawn(int argc, char *argv[])
+{
+	int task_id = px4_task_spawn_cmd("bahrs", SCHED_DEFAULT, SCHED_PRIORITY_FAST_DRIVER,
+					 Config::TASK_STACK_SIZE, (px4_main_t)&run_trampoline, argv);
+
+	if (task_id < 0) {
+		_task_id = -1;
+		PX4_ERR("Failed to spawn task.");
+
+	} else {
+		_task_id = task_id;
+	}
+
+	return (_task_id < 0) ? 1 : 0;
+}
+
+EulerNavDriver *EulerNavDriver::instantiate(int argc, char *argv[])
+{
+	int option_index = 1;
+	const char *option_arg{nullptr};
+	const char *device_name{nullptr};
+
+	while (true) {
+		int option{px4_getopt(argc, argv, "d:", &option_index, &option_arg)};
+
+		if (EOF == option) {
+			break;
+		}
+
+		switch (option) {
+		case 'd':
+			device_name = option_arg;
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	auto *instance = new EulerNavDriver(device_name);
+
+	if (nullptr != instance) {
+		instance->initialize();
+
+	} else {
+		PX4_ERR("Failed to initialize EULER-NAV driver.");
+	}
+
+	return instance;
+}
+
+int EulerNavDriver::custom_command(int argc, char *argv[])
+{
+	return print_usage("unrecognized command");
+}
+
+int EulerNavDriver::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+$ eulernav_bahrs start -d /dev/ttyS1
+Stop driver
+$ eulernav_bahrs stop
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("eulernav_bahrs", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("ins");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print driver status");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+
+	return PX4_OK;
+}
+
+int EulerNavDriver::print_status()
+{
+	if (_is_initialized)
+	{
+		PX4_INFO("Elapsed time: %llu [us].\n", hrt_elapsed_time(&_statistics.start_time));
+		PX4_INFO("Total bytes received: %lu.\n", _statistics.total_bytes_received);
+		PX4_INFO("Inertial messages received: %lu. Navigation messages received: %lu.\n",
+			_statistics.inertial_message_counter, _statistics.navigation_message_counter);
+		PX4_INFO("Failed CRC count: %lu.\n", _statistics.crc_failures);
+
+	}
+	else
+	{
+		PX4_INFO("Initialization failed. The driver is not running.\n");
+	}
+
+	return PX4_OK;
+}
+
+void EulerNavDriver::run()
+{
+	_statistics.start_time = hrt_absolute_time();
+
+	while(!should_exit())
+	{
+		if (_is_initialized)
+		{
+			const auto bytes_read{_serial_port.readAtLeast(_serial_read_buffer, sizeof(_serial_read_buffer),
+								       Config::MIN_BYTES_TO_READ, Config::SERIAL_READ_TIMEOUT_MS)};
+
+			_statistics.total_bytes_received += bytes_read;
+
+			if (bytes_read > 0)
+			{
+				if (!_data_buffer.push_back(_serial_read_buffer, bytes_read))
+				{
+					PX4_ERR("No space in data buffer");
+				}
+			}
+
+			processDataBuffer();
+		}
+		else
+		{
+			// The driver failed to initialize in the instantiate() method, so we exit the loop.
+			request_stop();
+		}
+	}
+}
+
+void EulerNavDriver::initialize()
+{
+	if (!_is_initialized)
+	{
+		if (_serial_port.open())
+		{
+			PX4_INFO("Serial port opened successfully.");
+			_is_initialized = true;
+		}
+		else
+		{
+			PX4_ERR("Failed to open serial port");
+		}
+
+		if (_is_initialized)
+		{
+			if (!_data_buffer.allocate(Config::DATA_BUFFER_SIZE))
+			{
+				PX4_ERR("Failed to allocate data buffer");
+				_is_initialized = false;
+			}
+		}
+
+		if (_is_initialized)
+		{
+			_attitude_pub.advertise();
+			_barometer_pub.advertise();
+		}
+	}
+}
+
+void EulerNavDriver::deinitialize()
+{
+	if (_serial_port.isOpen())
+	{
+		_serial_port.close();
+	}
+
+	_data_buffer.deallocate();
+	_attitude_pub.unadvertise();
+	_barometer_pub.unadvertise();
+	_is_initialized = false;
+}
+
+void EulerNavDriver::processDataBuffer()
+{
+	static_assert(Config::MIN_MESSAGE_LENGTH >= (sizeof(CSerialProtocol::SMessageHeader) + sizeof(CSerialProtocol::CrcType_t)));
+	using EMessageIds = CSerialProtocol::EMessageIds;
+
+	while (_data_buffer.space_used() >= Config::MIN_MESSAGE_LENGTH)
+	{
+		if (!_next_message_info.is_detected)
+		{
+			_next_message_info.is_detected = findNextMessageHeader(_data_buffer);
+
+			if (!_next_message_info.is_detected)
+			{
+				// No message header found, wait for more bytes to arrive.
+				break;
+			}
+
+			if (!retrieveProtocolVersionAndMessageType(_data_buffer, _next_message_info.protocol_version, _next_message_info.message_code))
+			{
+				_next_message_info.is_detected = false;
+			}
+		}
+
+		if (_next_message_info.is_detected)
+		{
+			static_assert(sizeof(CSerialProtocol::SMessageHeader) < Config::MIN_MESSAGE_LENGTH);
+
+			const EMessageIds message_id{static_cast<EMessageIds>(_next_message_info.message_code)};
+			const int32_t message_length{getMessageLength(message_id)};
+
+			if ((message_length < 0) || (message_length < Config::MIN_MESSAGE_LENGTH) ||
+			    (message_length > static_cast<int32_t>(sizeof(_message_storage))) || ((message_length % sizeof(uint32_t)) != 0U))
+			{
+				// The message is unknown, not supported, or does not fit into the temporary storage.
+				_next_message_info.is_detected = false;
+				continue;
+			}
+
+			const int32_t bytes_to_retrieve{message_length - static_cast<int32_t>(sizeof(CSerialProtocol::SMessageHeader))};
+
+			if (static_cast<int32_t>(_data_buffer.space_used()) < bytes_to_retrieve)
+			{
+				// Do nothing and wait for more bytes to arrive.
+				break;
+			}
+
+			// Get message from the data buffer
+			uint8_t* bytes{reinterpret_cast<uint8_t*>(_message_storage)};
+
+			bytes[0] = CSerialProtocol::uMarker1_;
+			bytes[1] = CSerialProtocol::uMarker2_;
+			bytes[2] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[0];
+			bytes[3] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[1];
+			bytes[4] = _next_message_info.message_code;
+
+			if (static_cast<size_t>(bytes_to_retrieve) == _data_buffer.pop_front(bytes + sizeof(CSerialProtocol::SMessageHeader), bytes_to_retrieve))
+			{
+				const uint32_t message_length_in_words{message_length / sizeof(uint32_t)};
+				const uint32_t actual_crc{crc32(_message_storage, message_length_in_words - 1)};
+				const uint32_t expected_crc = _message_storage[message_length_in_words - 1];
+
+				if (expected_crc != actual_crc)
+				{
+					++_statistics.crc_failures;
+				}
+				else
+				{
+					decodeMessageAndPublishData(bytes, message_id);
+				}
+			}
+
+			_next_message_info.is_detected = false;
+		}
+	}
+}
+
+bool EulerNavDriver::findNextMessageHeader(Ringbuffer& buffer)
+{
+	bool result{false};
+
+	while (buffer.space_used() >= sizeof(CSerialProtocol::SMessageHeader))
+	{
+		uint8_t sync_byte{0U};
+
+		if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker1_ == sync_byte))
+		{
+			sync_byte = 0U;
+
+			if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker2_ == sync_byte))
+			{
+				result = true;
+				break;
+			}
+		}
+	}
+
+	return result;
+}
+
+bool EulerNavDriver::retrieveProtocolVersionAndMessageType(Ringbuffer& buffer, uint16_t& protocol_ver, uint8_t& message_code)
+{
+	bool status{true};
+	auto bytes_to_pop{sizeof(protocol_ver)};
+
+	// Note: BAHRS uses little endian
+	if (bytes_to_pop != buffer.pop_front(reinterpret_cast<uint8_t*>(&protocol_ver), bytes_to_pop))
+	{
+		status = false;
+	}
+
+	if (status)
+	{
+		bytes_to_pop = 1;
+
+		if (bytes_to_pop != buffer.pop_front(&message_code, bytes_to_pop))
+		{
+			status = false;
+		}
+	}
+
+	return status;
+}
+
+void EulerNavDriver::decodeMessageAndPublishData(const uint8_t* data, CSerialProtocol::EMessageIds messsage_id)
+{
+	switch (messsage_id)
+	{
+	case CSerialProtocol::EMessageIds::eInertialData:
+		handleInertialDataMessage(data);
+		break;
+	case CSerialProtocol::EMessageIds::eNavigationData:
+		handleNavigationDataMessage(data);
+		break;
+	default:
+		break;
+	}
+}
+
+void EulerNavDriver::handleInertialDataMessage(const uint8_t* data)
+{
+	const CSerialProtocol::SInertialDataMessage* imu_msg{reinterpret_cast<const CSerialProtocol::SInertialDataMessage*>(data)};
+
+	if (nullptr != imu_msg)
+	{
+		const auto& imu_data{imu_msg->oInertialData_};
+		const bool accel_valid{((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_X) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Y) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Z) > 0)};
+
+		const bool gyro_valid{((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_X) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Y) > 0) &&
+					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Z) > 0)};
+
+		const auto time = hrt_absolute_time();
+
+		if (accel_valid)
+		{
+			const float accel_x{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceX_)};
+			const float accel_y{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceY_)};
+			const float accel_z{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceZ_)};
+
+			_px4_accel.update(time, accel_x, accel_y, accel_z);
+		}
+
+		if (gyro_valid)
+		{
+			const float gyro_x{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateX_)};
+			const float gyro_y{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateY_)};
+			const float gyro_z{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateZ_)};
+
+			_px4_gyro.update(time, gyro_x, gyro_y, gyro_z);
+		}
+
+		++_statistics.inertial_message_counter;
+	}
+}
+
+void EulerNavDriver::handleNavigationDataMessage(const uint8_t* data)
+{
+	const CSerialProtocol::SNavigationDataMessage* nav_msg{reinterpret_cast<const CSerialProtocol::SNavigationDataMessage*>(data)};
+
+	if (nullptr != nav_msg)
+	{
+		const auto& nav_data{nav_msg->oNavigationData_};
+		const bool roll_valid{(nav_data.uValidity_ & BIT_VALID_ROLL) > 0};
+		const bool pitch_valid{(nav_data.uValidity_ & BIT_VALID_PITCH) > 0};
+		const bool yaw_valid{(nav_data.uValidity_ & BIT_VALID_MAGNETIC_HEADING) > 0};
+		const auto time{hrt_absolute_time()};
+
+		if (roll_valid && pitch_valid && yaw_valid)
+		{
+			const float roll{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iRoll_)};
+			const float pitch{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iPitch_)};
+			const float yaw{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.uMagneticHeading_)};
+
+			const matrix::Quaternionf quat{matrix::Eulerf{roll, pitch, yaw}};
+			px4::msg::VehicleAttitude attitude{};
+
+			attitude.q[0] = quat(0);
+			attitude.q[1] = quat(1);
+			attitude.q[2] = quat(2);
+			attitude.q[3] = quat(3);
+
+			attitude.timestamp = time;
+			attitude.timestamp_sample = time;
+
+			_attitude_pub.publish(attitude);
+		}
+
+		const bool height_valid{(nav_data.uValidity_ & BIT_VALID_HEIGHT) > 0};
+
+		if (height_valid)
+		{
+			const float height{(CSerialProtocol::skfHeightScale_ * static_cast<float>(nav_data.uPressureHeight_)) - CSerialProtocol::skfHeighOffset_};
+			px4::msg::SensorBaro pressure{};
+
+			pressure.pressure = atmosphere::getPressureFromAltitude(height);
+
+			// EULER-NAV Baro-Inertial AHRS provides height estimate from a Kalman filter. It has got low noise and resolution
+			// of about 17 cm. It causes PX4 autopilot to mistakenly report that pressure signal is stale. In order to prevent
+			// the false alarms we add a small noise to the received height data.
+			if (_statistics.navigation_message_counter % 2U == 0)
+			{
+				pressure.pressure += 0.01F;
+			}
+
+			pressure.timestamp = time;
+			pressure.timestamp_sample = time;
+			pressure.device_id = DRV_INS_DEVTYPE_BAHRS;
+			pressure.temperature = NAN;
+
+			_barometer_pub.publish(pressure);
+		}
+
+		++_statistics.navigation_message_counter;
+	}
+}
+
+int32_t EulerNavDriver::getMessageLength(CSerialProtocol::EMessageIds messsage_id)
+{
+	int message_length{-1};
+
+	switch (messsage_id)
+	{
+	case CSerialProtocol::EMessageIds::eInertialData:
+		message_length = sizeof(CSerialProtocol::SInertialDataMessage);
+		break;
+	case CSerialProtocol::EMessageIds::eNavigationData:
+		message_length = sizeof(CSerialProtocol::SNavigationDataMessage);
+		break;
+	default:
+		break;
+	}
+
+	return message_length;
+}
+
+uint32_t EulerNavDriver::crc32(const uint32_t* buffer, size_t length)
+{
+	uint32_t crc = 0xFFFFFFFF;
+
+	for (size_t i = 0; i < length; ++i)
+	{
+		crc = crc ^ buffer[i];
+
+		for (uint8_t j = 0; j < 32; j++)
+		{
+			if (crc & 0x80000000)
+			{
+				crc = (crc << 1) ^ 0x04C11DB7;
+			}
+			else
+			{
+				crc = (crc << 1);
+			}
+		}
+	}
+
+	return crc;
+}
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/Serial.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/vehicle_attitude.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <uORB/topics/sensor_baro.h>
+#include <Ringbuffer.hpp>
+#include <containers/Array.hpp>
+#include "CSerialProtocol.h"
+
+class EulerNavDriver : public ModuleBase<EulerNavDriver>, public ModuleParams
+{
+public:
+	/// @brief Class constructor
+	/// @param device_name Serial port to open
+	EulerNavDriver(const char *device_name);
+
+	~EulerNavDriver();
+
+	/// @brief Required by ModuleBase
+	static int task_spawn(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static EulerNavDriver *instantiate(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static int custom_command(int argc, char *argv[]);
+
+	/// @brief Required by ModuleBase
+	static int print_usage(const char *reason = nullptr);
+
+	/// @brief Overload of the method from the ModuleBase
+	int print_status() final;
+
+	/// @brief The main loop of the task.
+	void run() final;
+
+private:
+	/// @brief Driver performance indicators
+	class Statistics
+	{
+	public:
+		uint32_t total_bytes_received{0U}; ///< Total number of received bytes
+		uint32_t inertial_message_counter{0U}; ///< Total number of received inertial data messages
+		uint32_t navigation_message_counter{0U}; ///< Total number of received navigation messages
+		uint32_t crc_failures{0U}; ///< CRC failure counter
+		hrt_abstime start_time{0U}; ///< Driver start time, [us]
+	};
+
+	/// @brief  Configuration constants
+	class Config
+	{
+	public:
+		static constexpr uint32_t TASK_STACK_SIZE{2048}; ///< Driver task stack size
+		static constexpr uint32_t SERIAL_READ_BUFFER_SIZE{128}; ///< Buffer size for serial port read operations
+		static constexpr uint32_t MIN_BYTES_TO_READ{16}; ///< Minimum number of bytes to wait for when reading from a serial port
+		static constexpr uint32_t SERIAL_READ_TIMEOUT_MS{5}; ///< A timeout for serial port read operation
+		static constexpr uint32_t DATA_BUFFER_SIZE{512}; ///< Size of a ring buffer for storing RX data stream
+		static constexpr int32_t MIN_MESSAGE_LENGTH{12}; ///< Min length of a valid message. 5 bytes header + 4 bytes CRC + padding to 12 (multiple of 32 bit words)
+	};
+
+	/// @brief An object for grouping message-related attributes
+	class NextMessageInfo
+	{
+	public:
+		bool is_detected{false}; ///< A flag to indicate that the next message header was detected
+		uint16_t protocol_version{0U}; ///< Protocol version retrieved from the next message header
+		uint8_t message_code{0U}; ///< Message code retrieved from the next message header
+	};
+
+	/// @brief Perform initialization
+	/// If the driver is not initialized, the function does the following:
+	/// 1. Opens serial port
+	/// 2. Allocates a ring buffer for RX data stream
+	/// 3. Cleans up if any of the previous operations fails
+	/// 4. Sets the "is initialized" flag to true on success
+	void initialize();
+
+	/// @brief De-initialize
+	/// The function does the following:
+	/// 1. Close the serial port, if it is opened
+	/// 2. Deallocates the ring buffer
+	/// 3. Resets the "is initialized" flag to false
+	void deinitialize();
+
+	/// @brief Process data in the ring buffer.
+	/// Extracts and parses protocol messages.
+	void processDataBuffer();
+
+	/// @brief Searches the ring buffer for sync bytes.
+	/// @param buffer Ring buffer to search
+	/// @return True if sync bytes found, false if the number of bytes remaining in the buffer is less then message header length.
+	static bool findNextMessageHeader(Ringbuffer &buffer);
+
+	/// @brief Get protocol version and message code from the ring buffer.
+	/// @param buffer The buffer to process
+	/// @param protocol_ver Output protocol version
+	/// @param message_code Output message code
+	/// @return True on success, false on failure
+	static bool retrieveProtocolVersionAndMessageType(Ringbuffer &buffer, uint16_t &protocol_ver, uint8_t &message_code);
+
+	/// @brief Decode a message from BAHRS and publish its content.
+	/// @param data An array of message bytes
+	/// @param messsage_id Message ID
+	void decodeMessageAndPublishData(const uint8_t *data, CSerialProtocol::EMessageIds messsage_id);
+
+	/// @brief Decode and publish IMU data.
+	/// @param data Inertial message data bytes
+	void handleInertialDataMessage(const uint8_t *data);
+
+	/// @brief Decode and publish vehicle attitude and pressure height.
+	/// @param data Navigation message data bytes
+	void handleNavigationDataMessage(const uint8_t *data);
+
+	/// @brief Get message length by message ID
+	/// @param messsage_id Query message ID
+	/// @return Message length, or -1 if the message ID is unknown or not supported.
+	static int32_t getMessageLength(CSerialProtocol::EMessageIds messsage_id);
+
+	/// @brief Perform CRC
+	/// @param buf Data buffer pointer
+	/// @param len Number of words to include in the CRC.
+	/// @return CRC value
+	static uint32_t crc32(const uint32_t *buf, size_t len);
+
+	device::Serial _serial_port; ///< Serial port object to read data from
+	Ringbuffer _data_buffer; ///< A buffer for RX data stream
+	uint8_t _serial_read_buffer[Config::SERIAL_READ_BUFFER_SIZE]; ///< A buffer for serial port read operation
+	uint32_t _message_storage[8]; ///< A temporary storage for BAHRS messages being extracted
+	NextMessageInfo _next_message_info{}; ///< Attributes of the next message detected in the data buffer
+	Statistics _statistics{}; ///< Driver performance indicators
+	bool _is_initialized{false}; ///< Initialization flag
+	PX4Accelerometer _px4_accel; ///< Accelerometer sensor object for publishing acceleration data
+	PX4Gyroscope _px4_gyro; ///< Gyroscope sensor object for publishing angular rate data
+	uORB::PublicationMulti<px4::msg::VehicleAttitude> _attitude_pub{ORB_ID(vehicle_attitude)}; ///< Vehicle attitude publisher
+	uORB::PublicationMulti<px4::msg::SensorBaro> _barometer_pub{ORB_ID(sensor_baro)}; ///< Pressure data publisher
+};
@@ -0,0 +1,7 @@
+module_name: EULER-NAV BAHRS
+
+serial_config:
+    - command: eulernav_bahrs start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_BAHRS_CFG
+        group: Sensors
@@ -19,6 +19,16 @@ actuator_output:
 parameters:
  - group: Actuator Outputs
    definitions:
+      PCA9685_EN_BUS:
+        description:
+          short: Enable the PCA9685 output driver
+          long: |
+            Enable the PCA9685 output driver.
+            The integer refers to the I2C bus number where PCA9685 is connected.
+        type: int32
+        min: 0
+        max: 10
+        default: 0
      PCA9685_SCHD_HZ:
        description:
          short: PWM update rate
@@ -96,7 +96,7 @@ UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned to

 	_prev_cmd_pub = timestamp;

-	uavcan::equipment::esc::RawCommand msg;
+	uavcan::equipment::esc::RawCommand msg = {};

 	// directly output values from mixer
 	for (unsigned i = 0; i < total_outputs; i++) {
@@ -644,7 +644,7 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter

 bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 {
-#if UAVCAN_STM32_NUTTX
+#if UAVCAN_STM32H7_NUTTX
 	const unsigned Timeout = 1000;
 #else
 	const unsigned Timeout = 2000000;
@@ -657,7 +657,7 @@ bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 			return true;
 		}

-#if UAVCAN_STM32_NUTTX
+#if UAVCAN_STM32H7_NUTTX
 		::usleep(1000);
 #endif
 	}
@@ -505,12 +505,16 @@ void UavcanNode::Run()

 			if (can_init_res < 0) {
 				PX4_ERR("CAN driver init failed %i", can_init_res);
+				ScheduleClear();
+				return;
 			}

 			int rv = _node.start();

 			if (rv < 0) {
 				PX4_ERR("Failed to start the node");
+				ScheduleClear();
+				return;
 			}

 			// If the node_id was not supplied by the bootloader do Dynamic Node ID allocation
@@ -528,6 +532,8 @@ void UavcanNode::Run()

 				if (client_start_res < 0) {
 					PX4_ERR("Failed to start the dynamic node ID client");
+					ScheduleClear();
+					return;
 				}
 			}
 		}
@@ -67,11 +67,11 @@ add_subdirectory(pure_pursuit EXCLUDE_FROM_ALL)
 add_subdirectory(rate_control EXCLUDE_FROM_ALL)
 add_subdirectory(rc EXCLUDE_FROM_ALL)
 add_subdirectory(ringbuffer EXCLUDE_FROM_ALL)
-add_subdirectory(rover_control EXCLUDE_FROM_ALL)
 add_subdirectory(rtl EXCLUDE_FROM_ALL)
 add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
 add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
 add_subdirectory(stick_yaw EXCLUDE_FROM_ALL)
+add_subdirectory(surface_vehicle_control EXCLUDE_FROM_ALL)
 add_subdirectory(systemlib EXCLUDE_FROM_ALL)
 add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
@@ -150,5 +150,18 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}

+	// 2025-08-22: translate SDLOG_MODE (disabled) to SDLOG_BACKEND (no logging backend)
+	{
+		if (strcmp("SDLOG_MODE", node->name) == 0) {
+			if (node->i32 == -1) {
+				node->i32 = 0;
+
+				int32_t sdlog_backend_val = 0;
+				param_set(param_find("SDLOG_BACKEND"), &sdlog_backend_val);
+				PX4_INFO("migrating %s -> %s", "SDLOG_MODE", "SDLOG_BACKEND");
+			}
+		}
+	}
+
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }
@@ -55,7 +55,7 @@ RtlTimeEstimator::RtlTimeEstimator() : ModuleParams(nullptr)
 	_param_fw_sink_rate = param_find("FW_T_SINK_R_SP");
 	_param_fw_airspeed_trim = param_find("FW_AIRSPD_TRIM");
 	_param_mpc_xy_cruise = param_find("MPC_XY_CRUISE");
-	_param_rover_cruise_speed = param_find("RO_SPEED_LIM");
+	_param_rover_cruise_speed = param_find("SV_SPEED_LIM");
 };

 rtl_time_estimate_s RtlTimeEstimator::getEstimate() const
@@ -31,11 +31,11 @@
 #
 ############################################################################

-px4_add_library(rover_control
-	RoverControl.cpp
-	RoverControl.hpp
+px4_add_library(surface_vehicle_control
+	SurfaceVehicleControl.cpp
+	SurfaceVehicleControl.hpp
 )

-target_link_libraries(rover_control PUBLIC PID)
-target_link_libraries(rover_control PUBLIC geo)
-px4_add_unit_gtest(SRC RoverControlTest.cpp LINKLIBS rover_control)
+target_link_libraries(surface_vehicle_control PUBLIC PID)
+target_link_libraries(surface_vehicle_control PUBLIC geo)
+px4_add_unit_gtest(SRC SurfaceVehicleControlTest.cpp LINKLIBS surface_vehicle_control)
@@ -31,9 +31,9 @@
 *
 ****************************************************************************/

-#include "RoverControl.hpp"
+#include "SurfaceVehicleControl.hpp"
 using namespace matrix;
-namespace RoverControl
+namespace SurfaceVehicleControl
 {
 float throttleControl(SlewRate<float> &motor_setpoint, const float throttle_setpoint,
 		      const float current_motor_setpoint, const float max_accel, const float max_decel, const float max_thr_spd,
@@ -265,4 +265,4 @@ float calcWaypointTransitionAngle(Vector2f &prev_wp_ned, Vector2f &curr_wp_ned,
 	return acosf(cosin);
 }

-} // RoverControl
+} // SurfaceVehicleControl
@@ -32,10 +32,10 @@
 ****************************************************************************/

 /**
- * @file RoverControl.hpp
+ * @file SurfaceVehicleControl.hpp
 *
- * Functions that are shared among the different rover modules.
- * Also includes the parameters that are shared among the rover modules.
+ * Functions that are shared among the different surface vehicles.
+ * Also includes the parameters that are shared among them.
 */

 #pragma once
@@ -47,7 +47,7 @@
 #include <lib/geo/geo.h>

 using namespace matrix;
-namespace RoverControl
+namespace SurfaceVehicleControl
 {
 /**
 * Applies acceleration/deceleration slew rate to a throttle setpoint.
@@ -56,7 +56,7 @@ namespace RoverControl
 * @param current_motor_setpoint Currently applied motor input [-1, 1]
 * @param max_accel Maximum allowed acceleration [m/s^2]
 * @param max_decel Maximum allowed deceleration [m/s^2]
- * @param max_thr_spd Speed the rover drives at maximum throttle [m/s]
+ * @param max_thr_spd Speed the vehicle drives at maximum throttle [m/s]
 * @param dt Time since last update [s]
 * @return Motor Setpoint [-1, 1]
 */
@@ -76,6 +76,7 @@ float throttleControl(SlewRate<float> &motor_setpoint, float throttle_setpoint,
 */
 float attitudeControl(SlewRateYaw<float> &adjusted_yaw_setpoint, PID &pid_yaw, float yaw_slew_rate,
 		      float vehicle_yaw, float yaw_setpoint, float dt);
+
 /**
 * Applies acceleration/deceleration slew rate to a speed setpoint and calculates the necessary throttle setpoint
 * using a feed forward term and PID controller.
@@ -95,7 +96,7 @@ float speedControl(SlewRate<float> &speed_with_rate_limit, PID &pid_speed, float
 /**
 * Applies yaw acceleration slew rate to a yaw rate setpoint and calculates the necessary speed diff setpoint
 * using a feedforward term and/or a PID controller.
- * Note: This function is only for rovers that control the rate through a speed difference between the left/right wheels.
+ * Note: This function is only for vehicles that control the rate through a speed difference between the left/right wheels.
 * @param adjusted_yaw_rate_setpoint Yaw rate setpoint with applied slew rate [-1, 1] (Updated by this function).
 * @param pid_yaw_rate Yaw rate PID (Updated by this function).
 * @param yaw_rate_setpoint Yaw rate setpoint [rad/s].
@@ -119,7 +120,7 @@ float rateControl(SlewRate<float> &adjusted_yaw_rate_setpoint, PID &pid_yaw_rate
 * @param prev_wp_ned Previous waypoint in NED frame (Updated by this function)
 * @param next_wp_ned Next waypoint in NED frame (Updated by this function)
 * @param position_setpoint_triplet Position Setpoint Triplet
- * @param curr_pos Current position of the rover in global frame
+ * @param curr_pos Current position of the vehicle in global frame
 * @param global_ned_proj_ref Global to ned projection
 */
 void globalToLocalSetpointTriplet(Vector2f &curr_wp_ned, Vector2f &prev_wp_ned, Vector2f &next_wp_ned,
@@ -33,24 +33,24 @@

 /******************************************************************
 * Test code for the Pure Pursuit algorithm
- * Run this test only using "make tests TESTFILTER=RoverControl"
+ * Run this test only using "make tests TESTFILTER=SurfaceVehicleControl"
 ******************************************************************/

 #include <gtest/gtest.h>
-#include "RoverControl.hpp"
+#include "SurfaceVehicleControl.hpp"

 TEST(calcWaypointTransitionAngle, invalidInputs)
 {
 	Vector2f prev_wp_ned(NAN, NAN);
 	Vector2f curr_wp_ned(10.f, 10.f);
 	Vector2f next_wp_ned(10.f, 10.f);
-	float prevInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float prevInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	prev_wp_ned = Vector2f(10.f, 10.f);
 	curr_wp_ned = Vector2f(NAN, NAN);
-	float currInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float currInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	curr_wp_ned = Vector2f(10.f, 10.f);
 	next_wp_ned = Vector2f(NAN, NAN);
-	float nextInvalid = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	float nextInvalid = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(prevInvalid));
 	EXPECT_FALSE(PX4_ISFINITE(currInvalid));
 	EXPECT_FALSE(PX4_ISFINITE(nextInvalid));
@@ -63,7 +63,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	Vector2f prev_wp_ned(0.f, 0.f);
 	Vector2f curr_wp_ned(10.f, 0.f);
 	Vector2f next_wp_ned(20.f, 0.f);
-	const float angle1 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle1 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle1, M_PI_F);

 	/**
@@ -74,7 +74,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(20.f, 10.f);
-	const float angle2 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle2 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle2, M_PI_F - M_PI_4_F);

 	/**
@@ -85,7 +85,7 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 10.f);
-	const float angle3 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle3 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle3, M_PI_2_F);

 	/**
@@ -96,20 +96,20 @@ TEST(calcWaypointTransitionAngle, validInputs)
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(0.f, 10.f);
-	const float angle4 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle4 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FLOAT_EQ(angle4, M_PI_4_F);

 	// P/C -- N
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(0.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 0.f);
-	const float angle5 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle5 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(angle5));

 	// P -- C/N
 	prev_wp_ned = Vector2f(0.f, 0.f);
 	curr_wp_ned = Vector2f(10.f, 0.f);
 	next_wp_ned = Vector2f(10.f, 0.f);
-	const float angle6 = RoverControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
+	const float angle6 = SurfaceVehicleControl::calcWaypointTransitionAngle(prev_wp_ned, curr_wp_ned, next_wp_ned);
 	EXPECT_FALSE(PX4_ISFINITE(angle6));
 }
@@ -32,9 +32,9 @@
 ****************************************************************************/

 /**
- * @file rovercontrol_params.c
+ * @file surface_vehicle_params.c
 *
- * Parameters defined by the rover control lib.
+ * Parameters defined by the surface vehicle control lib.
 */

 /**
@@ -46,9 +46,9 @@
 * @max 1
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_STICK_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(SV_YAW_STICK_DZ, 0.1f);

 /**
 * Yaw rate expo factor
@@ -61,14 +61,14 @@ PARAM_DEFINE_FLOAT(RO_YAW_STICK_DZ, 0.1f);
 * @min 0
 * @max 1
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_EXPO, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_EXPO, 0.f);

 /**
 * Yaw rate super expo factor
 *
- * "Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
+ * "Superexponential" factor for refining the input curve shape tuned using SV_YAW_EXPO.
 *
 * 0 Pure Expo function
 * 0.7 reasonable shape enhancement for intuitive stick feel
@@ -77,9 +77,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_EXPO, 0.f);
 * @min 0
 * @max 0.95
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_SUPEXPO, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_SUPEXPO, 0.f);

 /**
 * Yaw rate measurement threshold
@@ -91,9 +91,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_SUPEXPO, 0.f);
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_RATE_TH, 3.f);
+PARAM_DEFINE_FLOAT(SV_YAW_RATE_TH, 3.f);

 /**
 * Proportional gain for closed loop yaw rate controller
@@ -102,9 +102,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_RATE_TH, 3.f);
 * @max 100
 * @increment 0.01
 * @decimal 3
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_RATE_P, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_RATE_P, 0.f);

 /**
 * Integral gain for closed loop yaw rate controller
@@ -113,9 +113,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_RATE_P, 0.f);
 * @max 100
 * @increment 0.01
 * @decimal 3
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_RATE_I, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_RATE_I, 0.f);

 /**
 * Yaw rate limit
@@ -128,9 +128,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_RATE_I, 0.f);
 * @max 10000
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_RATE_LIM, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_RATE_LIM, 0.f);

 /**
 * Yaw acceleration limit
@@ -143,9 +143,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_RATE_LIM, 0.f);
 * @max 10000
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_ACCEL_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_YAW_ACCEL_LIM, -1.f);

 /**
 * Yaw deceleration limit
@@ -158,9 +158,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_ACCEL_LIM, -1.f);
 * @max 10000
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_DECEL_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_YAW_DECEL_LIM, -1.f);

 /**
 * Yaw rate correction factor
@@ -174,9 +174,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_DECEL_LIM, -1.f);
 * @max 10000
 * @increment 0.01
 * @decimal 2
- * @group Rover Rate Control
+ * @group SV Rate Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_RATE_CORR, 1.f);
+PARAM_DEFINE_FLOAT(SV_YAW_RATE_CORR, 1.f);

 /**
 * Proportional gain for closed loop yaw controller
@@ -185,12 +185,12 @@ PARAM_DEFINE_FLOAT(RO_YAW_RATE_CORR, 1.f);
 * @max 100
 * @increment 0.01
 * @decimal 3
- * @group Rover Attitude Control
+ * @group SV Attitude Control
 */
-PARAM_DEFINE_FLOAT(RO_YAW_P, 0.f);
+PARAM_DEFINE_FLOAT(SV_YAW_P, 0.f);

 /**
- * Speed the rover drives at maximum throttle
+ * Speed the vehicle drives at maximum throttle
 *
 * Used to linearly map speeds [m/s] to throttle values [-1. 1].
 *
@@ -199,9 +199,9 @@ PARAM_DEFINE_FLOAT(RO_YAW_P, 0.f);
 * @unit m/s
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_MAX_THR_SPEED, 0.f);
+PARAM_DEFINE_FLOAT(SV_MAX_THR_SPEED, 0.f);

 /**
 * Proportional gain for ground speed controller
@@ -210,9 +210,9 @@ PARAM_DEFINE_FLOAT(RO_MAX_THR_SPEED, 0.f);
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_SPEED_P, 0.f);
+PARAM_DEFINE_FLOAT(SV_SPEED_P, 0.f);

 /**
 * Integral gain for ground speed controller
@@ -221,9 +221,9 @@ PARAM_DEFINE_FLOAT(RO_SPEED_P, 0.f);
 * @max 100
 * @increment 0.001
 * @decimal 3
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_SPEED_I, 0.f);
+PARAM_DEFINE_FLOAT(SV_SPEED_I, 0.f);

 /**
 * Speed limit
@@ -235,56 +235,56 @@ PARAM_DEFINE_FLOAT(RO_SPEED_I, 0.f);
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_SPEED_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_SPEED_LIM, -1.f);

 /**
 * Acceleration limit
 *
 * Set to -1 to disable.
- * For mecanum rovers this limit is used for longitudinal and lateral acceleration.
+ * For omnidirectional vehicles this limit is used for longitudinal and lateral acceleration.
 *
 * @unit m/s^2
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_ACCEL_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_ACCEL_LIM, -1.f);

 /**
 * Deceleration limit
 *
 * Set to -1 to disable.
- * Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
- * For mecanum rovers this limit is used for longitudinal and lateral deceleration.
+ * Note that if it is disabled the vehicle will not slow down when approaching waypoints in auto modes.
+ * For omnidirectional vehicles this limit is used for longitudinal and lateral deceleration.
 *
 * @unit m/s^2
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_DECEL_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_DECEL_LIM, -1.f);

 /**
 * Jerk limit
 *
 * Set to -1 to disable.
- * Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
- * For mecanum rovers this limit is used for longitudinal and lateral jerk.
+ * Note that if it is disabled the vehicle will not slow down when approaching waypoints in auto modes.
+ * For omnidirectional vehicles this limit is used for longitudinal and lateral jerk.
 *
 * @unit m/s^3
 * @min -1
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_JERK_LIM, -1.f);
+PARAM_DEFINE_FLOAT(SV_JERK_LIM, -1.f);

 /**
 * Speed measurement threshold
@@ -297,14 +297,14 @@ PARAM_DEFINE_FLOAT(RO_JERK_LIM, -1.f);
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_SPEED_TH, 0.1f);
+PARAM_DEFINE_FLOAT(SV_SPEED_TH, 0.1f);

 /**
 * Tuning parameter for the speed reduction based on the course error
 *
- * Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
+ * Reduced_speed = SV_MAX_THR_SPEED * (1 - normalized_course_error * SV_SPEED_RED)
 * The normalized course error is the angle between the current course and the bearing setpoint
 * interpolated from [0, 180] -> [0, 1].
 * Higher value -> More speed reduction.
@@ -315,6 +315,6 @@ PARAM_DEFINE_FLOAT(RO_SPEED_TH, 0.1f);
 * @max 100
 * @increment 0.01
 * @decimal 2
- * @group Rover Velocity Control
+ * @group SV Speed Control
 */
-PARAM_DEFINE_FLOAT(RO_SPEED_RED, -1.f);
+PARAM_DEFINE_FLOAT(SV_SPEED_RED, -1.f);
@@ -0,0 +1,241 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudder.hpp"
+
+using namespace time_literals;
+
+BoatRudder::BoatRudder() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
+{
+	updateParams();
+}
+
+bool BoatRudder::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+	return true;
+}
+
+void BoatRudder::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void BoatRudder::Run()
+{
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s param_update{};
+		_parameter_update_sub.copy(&param_update);
+		updateParams();
+		runSanityChecks();
+	}
+
+	if (_vehicle_control_mode_sub.updated()) {
+		vehicle_control_mode_s vehicle_control_mode{};
+		_vehicle_control_mode_sub.copy(&vehicle_control_mode);
+
+		// Run sanity checks if the control mode changes (Note: This has to be done this way, because the topic is periodically updated at 2 Hz)
+		if (_vehicle_control_mode.flag_control_position_enabled != vehicle_control_mode.flag_control_position_enabled ||
+		    _vehicle_control_mode.flag_control_velocity_enabled != vehicle_control_mode.flag_control_velocity_enabled ||
+		    _vehicle_control_mode.flag_control_attitude_enabled != vehicle_control_mode.flag_control_attitude_enabled ||
+		    _vehicle_control_mode.flag_control_rates_enabled != vehicle_control_mode.flag_control_rates_enabled ||
+		    _vehicle_control_mode.flag_control_allocation_enabled != vehicle_control_mode.flag_control_allocation_enabled) {
+			_vehicle_control_mode = vehicle_control_mode;
+			runSanityChecks();
+			reset();
+
+		} else {
+			_vehicle_control_mode = vehicle_control_mode;
+		}
+	}
+
+	if (_vehicle_control_mode.flag_armed && _sanity_checks_passed) {
+		_was_armed = true;
+		generateSetpoints();
+		updateControllers();
+
+	} else if (_was_armed) { // Reset all controllers and stop the vehicle
+		reset();
+		_boat_rudder_act_control.stopVehicle();
+		_was_armed = false;
+	}
+
+}
+
+void BoatRudder::generateSetpoints()
+{
+	vehicle_status_s vehicle_status{};
+	_vehicle_status_sub.copy(&vehicle_status);
+
+	switch (vehicle_status.nav_state) {
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
+		_boat_rudder_auto_mode.autoControl();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
+		_boat_rudder_offboard_mode.offboardControl();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
+		_boat_rudder_manual_mode.manual();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_ACRO:
+		_boat_rudder_manual_mode.acro();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_STAB:
+		_boat_rudder_manual_mode.stab();
+		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_POSCTL:
+		_boat_rudder_manual_mode.position();
+		break;
+
+	default:
+		break;
+	}
+
+}
+
+void BoatRudder::updateControllers()
+{
+	if (_vehicle_control_mode.flag_control_position_enabled) {
+		_boat_rudder_pos_control.updatePosControl();
+	}
+
+	if (_vehicle_control_mode.flag_control_velocity_enabled) {
+		_boat_rudder_speed_control.updateSpeedControl();
+	}
+
+	if (_vehicle_control_mode.flag_control_attitude_enabled) {
+		_boat_rudder_att_control.updateAttControl();
+	}
+
+	if (_vehicle_control_mode.flag_control_rates_enabled) {
+		_boat_rudder_rate_control.updateRateControl();
+	}
+
+	if (_vehicle_control_mode.flag_control_allocation_enabled) {
+		_boat_rudder_act_control.updateActControl();
+	}
+}
+
+void BoatRudder::runSanityChecks()
+{
+	if (_vehicle_control_mode.flag_control_rates_enabled && !_boat_rudder_rate_control.runSanityChecks()) {
+		_sanity_checks_passed = false;
+		return;
+	}
+
+	if (_vehicle_control_mode.flag_control_attitude_enabled && !_boat_rudder_att_control.runSanityChecks()) {
+		_sanity_checks_passed = false;
+		return;
+	}
+
+	if (_vehicle_control_mode.flag_control_velocity_enabled && !_boat_rudder_speed_control.runSanityChecks()) {
+		_sanity_checks_passed = false;
+		return;
+	}
+
+	if (_vehicle_control_mode.flag_control_position_enabled && !_boat_rudder_pos_control.runSanityChecks()) {
+		_sanity_checks_passed = false;
+		return;
+	}
+
+	_sanity_checks_passed = true;
+}
+
+void BoatRudder::reset()
+{
+	_boat_rudder_pos_control.reset();
+	_boat_rudder_speed_control.reset();
+	_boat_rudder_att_control.reset();
+	_boat_rudder_rate_control.reset();
+	_boat_rudder_manual_mode.reset();
+}
+
+int BoatRudder::task_spawn(int argc, char *argv[])
+{
+	BoatRudder *instance = new BoatRudder();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int BoatRudder::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int BoatRudder::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Module for rudder-steered boats.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("boat_rudder", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int boat_rudder_main(int argc, char *argv[])
+{
+	return BoatRudder::main(argc, argv);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+// Library includes
+#include <math.h>
+
+// uORB includes
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
+
+// Local includes
+#include "BoatRudderActControl/BoatRudderActControl.hpp"
+#include "BoatRudderRateControl/BoatRudderRateControl.hpp"
+#include "BoatRudderAttControl/BoatRudderAttControl.hpp"
+#include "BoatRudderSpeedControl/BoatRudderSpeedControl.hpp"
+#include "BoatRudderPosControl/BoatRudderPosControl.hpp"
+#include "BoatRudderDriveModes/BoatRudderAutoMode/BoatRudderAutoMode.hpp"
+#include "BoatRudderDriveModes/BoatRudderManualMode/BoatRudderManualMode.hpp"
+#include "BoatRudderDriveModes/BoatRudderOffboardMode/BoatRudderOffboardMode.hpp"
+
+class BoatRudder : public ModuleBase<BoatRudder>, public ModuleParams,
+	public px4::ScheduledWorkItem
+{
+public:
+	BoatRudder();
+	~BoatRudder() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+protected:
+	void updateParams() override;
+
+private:
+	void Run() override;
+
+	/**
+	 * @brief Generate surface vehicle setpoints if the vehicle is in a
+	 * supported PX4 internal mode.
+	 * Note: The surface vehicle setpoints are expected to be published from outside this module
+	 * if the vehicle is not in a PX4 internal mode.
+	 */
+	void generateSetpoints();
+
+	void updateControllers();
+
+	/**
+	 * @brief Check proper parameter setup for the controllers
+	 *
+	 * Modifies:
+	 *
+	 *   - _sanity_checks_passed: true if checks for all active controllers pass
+	 */
+	void runSanityChecks();
+
+	/**
+	 * @brief Reset controllers and manual mode variables.
+	 */
+	void reset();
+
+	// uORB subscriptions
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
+	vehicle_control_mode_s _vehicle_control_mode{};
+
+	// Class instances
+	BoatRudderActControl   _boat_rudder_act_control{this};
+	BoatRudderRateControl  _boat_rudder_rate_control{this};
+	BoatRudderAttControl   _boat_rudder_att_control{this};
+	BoatRudderSpeedControl _boat_rudder_speed_control{this};
+	BoatRudderPosControl   _boat_rudder_pos_control{this};
+	BoatRudderAutoMode     _boat_rudder_auto_mode{this};
+	BoatRudderManualMode   _boat_rudder_manual_mode{this};
+	BoatRudderOffboardMode _boat_rudder_offboard_mode{this};
+
+	// Variables
+	bool _sanity_checks_passed{true}; // True if checks for all active controllers pass
+	bool _was_armed{false}; // True if the vehicle was armed before the last reset
+};
@@ -0,0 +1,125 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderActControl.hpp"
+
+using namespace time_literals;
+
+BoatRudderActControl::BoatRudderActControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+}
+
+void BoatRudderActControl::updateParams()
+{
+	ModuleParams::updateParams();
+
+	if (_param_br_str_rate_limit.get() > FLT_EPSILON && _param_br_max_str_ang.get() > FLT_EPSILON) {
+		_servo_setpoint.setSlewRate((M_DEG_TO_RAD_F * _param_br_str_rate_limit.get()) / _param_br_max_str_ang.get());
+	}
+
+	if (_param_sv_accel_limit.get() > FLT_EPSILON && _param_sv_max_thr_speed.get() > FLT_EPSILON) {
+		_motor_setpoint.setSlewRate(_param_sv_accel_limit.get() / _param_sv_max_thr_speed.get());
+	}
+}
+
+void BoatRudderActControl::updateActControl()
+{
+	const hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
+
+	// Motor control
+	if (_surface_vehicle_throttle_setpoint_sub.updated()) {
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		_surface_vehicle_throttle_setpoint_sub.copy(&surface_vehicle_throttle_setpoint);
+		_throttle_setpoint = surface_vehicle_throttle_setpoint.throttle_body_x;
+	}
+
+	if (PX4_ISFINITE(_throttle_setpoint)) {
+		actuator_motors_s actuator_motors_sub{};
+		_actuator_motors_sub.copy(&actuator_motors_sub);
+		actuator_motors_s actuator_motors{};
+		actuator_motors.reversible_flags = _param_r_rev.get();
+		actuator_motors.control[0] = SurfaceVehicleControl::throttleControl(_motor_setpoint,
+					     _throttle_setpoint, actuator_motors_sub.control[0], _param_sv_accel_limit.get(),
+					     _param_sv_decel_limit.get(), _param_sv_max_thr_speed.get(), dt);
+		actuator_motors.timestamp = _timestamp;
+		_actuator_motors_pub.publish(actuator_motors);
+
+	}
+
+	// Servo control
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_steering_setpoint = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
+	}
+
+	if (PX4_ISFINITE(_steering_setpoint)) {
+		actuator_servos_s actuator_servos_sub{};
+		_actuator_servos_sub.copy(&actuator_servos_sub);
+
+		if (_param_br_str_rate_limit.get() > FLT_EPSILON
+		    && _param_br_max_str_ang.get() > FLT_EPSILON) { // Apply slew rate if configured
+			if (fabsf(_servo_setpoint.getState() - actuator_servos_sub.control[0]) > fabsf(
+				    _steering_setpoint -
+				    actuator_servos_sub.control[0])) {
+				_servo_setpoint.setForcedValue(actuator_servos_sub.control[0]);
+			}
+
+			_servo_setpoint.update(_steering_setpoint, dt);
+
+		} else {
+			_servo_setpoint.setForcedValue(_steering_setpoint);
+		}
+
+		actuator_servos_s actuator_servos{};
+		actuator_servos.control[0] = _servo_setpoint.getState();
+		actuator_servos.timestamp = _timestamp;
+		_actuator_servos_pub.publish(actuator_servos);
+	}
+}
+
+void BoatRudderActControl::stopVehicle()
+{
+	actuator_motors_s actuator_motors{};
+	actuator_motors.reversible_flags = _param_r_rev.get();
+	actuator_motors.control[0] = 0.f;
+	actuator_motors.timestamp = _timestamp;
+	_actuator_motors_pub.publish(actuator_motors);
+	actuator_servos_s actuator_servos{};
+	actuator_servos.control[0] = 0.f;
+	actuator_servos.timestamp = _timestamp;
+	_actuator_servos_pub.publish(actuator_servos);
+}
@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+
+// Libraries
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <lib/slew_rate/SlewRate.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_motors.h>
+#include <uORB/topics/actuator_servos.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+
+/**
+ * @brief Class for actuator control of rudder-steered boats.
+ */
+class BoatRudderActControl : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderActControl.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderActControl(ModuleParams *parent);
+	~BoatRudderActControl() = default;
+
+	/**
+	 * @brief Generate and publish actuatorMotors/actuatorServos setpoints from SurfaceVehicleThrottleSetpoint/SurfaceVehicleSteeringSetpoint.
+	 */
+	void updateActControl();
+
+	/**
+	 * @brief Stop the vehicle by sending 0 commands to motors and servos.
+	 */
+	void stopVehicle();
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+
+	// uORB subscriptions
+	uORB::Subscription _actuator_servos_sub{ORB_ID(actuator_servos)};
+	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_throttle_setpoint_sub{ORB_ID(surface_vehicle_throttle_setpoint)};
+
+	// uORB publications
+	uORB::Publication<actuator_motors_s> 	     _actuator_motors_pub{ORB_ID(actuator_motors)};
+	uORB::Publication<actuator_servos_s> 	     _actuator_servos_pub{ORB_ID(actuator_servos)};
+
+	// Variables
+	hrt_abstime _timestamp{0};
+	float _throttle_setpoint{NAN};
+	float _steering_setpoint{NAN};
+
+	// Controllers
+	SlewRate<float> _servo_setpoint{0.f};
+	SlewRate<float> _motor_setpoint{0.f};
+
+	// Parameters
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::CA_R_REV>) 	    _param_r_rev,
+		(ParamFloat<px4::params::BR_STR_RATE_LIM>)  _param_br_str_rate_limit,
+		(ParamFloat<px4::params::BR_MAX_STR_ANG>)   _param_br_max_str_ang,
+		(ParamFloat<px4::params::SV_ACCEL_LIM>)     _param_sv_accel_limit,
+		(ParamFloat<px4::params::SV_DECEL_LIM>)     _param_sv_decel_limit,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed
+	)
+};
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderActControl
+	BoatRudderActControl.cpp
+)
+
+target_include_directories(BoatRudderActControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderAttControl.hpp"
+
+using namespace time_literals;
+
+BoatRudderAttControl::BoatRudderAttControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_status_pub.advertise();
+	updateParams();
+}
+
+void BoatRudderAttControl::updateParams()
+{
+	ModuleParams::updateParams();
+
+	if (_param_sv_yaw_rate_limit.get() > FLT_EPSILON) {
+		_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	}
+
+	// Set up PID controller
+	_pid_yaw.setGains(_param_sv_yaw_p.get(), 0.f, 0.f);
+	_pid_yaw.setIntegralLimit(0.f);
+	_pid_yaw.setOutputLimit(_max_yaw_rate);
+
+	// Set up slew rate
+	_adjusted_yaw_setpoint.setSlewRate(_max_yaw_rate);
+}
+
+void BoatRudderAttControl::updateAttControl()
+{
+	updateSubscriptions();
+
+	hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
+
+	if (PX4_ISFINITE(_yaw_setpoint)) {
+		// Calculate yaw rate limit for slew rate
+		float max_possible_yaw_rate = fabsf(_estimated_speed_body_x) * tanf(_param_br_max_str_ang.get()) /
+					      _param_br_wheel_base.get(); // Maximum possible yaw rate at current velocity
+		float yaw_slew_rate = math::min(max_possible_yaw_rate, _max_yaw_rate);
+
+		float yaw_rate_setpoint = SurfaceVehicleControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
+					  _vehicle_yaw, _yaw_setpoint, dt);
+
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = _timestamp;
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
+
+	}
+
+	// Publish attitude controller status (logging only)
+	surface_vehicle_attitude_status_s surface_vehicle_attitude_status;
+	surface_vehicle_attitude_status.timestamp = _timestamp;
+	surface_vehicle_attitude_status.measured_yaw = _vehicle_yaw;
+	surface_vehicle_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
+	_surface_vehicle_attitude_status_pub.publish(surface_vehicle_attitude_status);
+
+}
+
+void BoatRudderAttControl::updateSubscriptions()
+{
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+		_vehicle_attitude_sub.copy(&vehicle_attitude);
+		matrix::Quatf vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
+		_vehicle_yaw = matrix::Eulerf(vehicle_attitude_quaternion).psi();
+	}
+
+	// Estimate forward speed based on throttle
+	if (_actuator_motors_sub.updated()) {
+		actuator_motors_s actuator_motors;
+		_actuator_motors_sub.copy(&actuator_motors);
+		_estimated_speed_body_x = math::interpolate<float> (actuator_motors.control[0], -1.f, 1.f,
+					  -_param_sv_max_thr_speed.get(), _param_sv_max_thr_speed.get());
+	}
+
+	if (_surface_vehicle_attitude_setpoint_sub.updated()) {
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		_surface_vehicle_attitude_setpoint_sub.copy(&surface_vehicle_attitude_setpoint);
+		_yaw_setpoint = surface_vehicle_attitude_setpoint.yaw_setpoint;
+	}
+}
+
+bool BoatRudderAttControl::runSanityChecks()
+{
+	bool ret = true;
+
+	if (_param_sv_max_thr_speed.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	if (_param_br_wheel_base.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	if (_param_br_max_str_ang.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	if (_param_sv_yaw_rate_limit.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	return ret;
+}
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+
+// Library includes
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <lib/pid/PID.hpp>
+#include <lib/slew_rate/SlewRateYaw.hpp>
+#include <math.h>
+#include <matrix/matrix/math.hpp>
+
+// uORB includes
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/surface_vehicle_attitude_status.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_motors.h>
+
+/**
+ * @brief Class for attitude control of rudder-steered boats.
+ */
+class BoatRudderAttControl : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderAttControl.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderAttControl(ModuleParams *parent);
+	~BoatRudderAttControl() = default;
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleRateSetpoint from SurfaceVehicleAttitudeSetpoint.
+	 */
+	void updateAttControl();
+
+	/**
+	 * @brief Reset attitude controller.
+	 */
+	void reset() {_pid_yaw.resetIntegral(); _yaw_setpoint = NAN;};
+
+	/**
+	 * @brief Check if the necessary parameters are set.
+	 * @return True if all checks pass.
+	 */
+	bool runSanityChecks();
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	/**
+	 * @brief Update uORB subscriptions used in attitude controller.
+	 */
+	void updateSubscriptions();
+
+	// uORB subscriptions
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
+	uORB::Subscription _surface_vehicle_attitude_setpoint_sub{ORB_ID(surface_vehicle_attitude_setpoint)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_status_s>   _surface_vehicle_attitude_status_pub{ORB_ID(surface_vehicle_attitude_status)};
+
+	// Variables
+	float _vehicle_yaw{0.f};
+	hrt_abstime _timestamp{0};
+	float _max_yaw_rate{0.f};
+	float _estimated_speed_body_x{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed_body_x]
+					       between [0, 0] and [1, _param_sv_max_thr_speed].*/
+	float _yaw_setpoint{NAN};
+
+	// Controllers
+	PID _pid_yaw;
+	SlewRateYaw<float> _adjusted_yaw_setpoint;
+
+	// Parameters
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
+		(ParamFloat<px4::params::BR_WHEEL_BASE>)    _param_br_wheel_base,
+		(ParamFloat<px4::params::BR_MAX_STR_ANG>)   _param_br_max_str_ang,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_P>)         _param_sv_yaw_p,
+		(ParamFloat<px4::params::SV_YAW_STICK_DZ>)  _param_sv_yaw_stick_dz
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderAttControl
+	BoatRudderAttControl.cpp
+)
+
+target_link_libraries(BoatRudderAttControl PUBLIC PID)
+target_include_directories(BoatRudderAttControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderAutoMode.hpp"
+
+using namespace time_literals;
+
+BoatRudderAutoMode::BoatRudderAutoMode(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+	_surface_vehicle_position_setpoint_pub.advertise();
+}
+
+void BoatRudderAutoMode::updateParams()
+{
+	ModuleParams::updateParams();
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+
+	if (_param_br_wheel_base.get() > FLT_EPSILON && _max_yaw_rate > FLT_EPSILON
+	    && _param_br_max_str_ang.get() > FLT_EPSILON) {
+		_min_speed = _param_br_wheel_base.get() * _max_yaw_rate / tanf(_param_br_max_str_ang.get());
+	}
+}
+
+void BoatRudderAutoMode::autoControl()
+{
+	if (_position_setpoint_triplet_sub.updated()) {
+		if (_vehicle_local_position_sub.updated()) {
+			vehicle_local_position_s vehicle_local_position{};
+			_vehicle_local_position_sub.copy(&vehicle_local_position);
+
+			if (!_global_ned_proj_ref.isInitialized()
+			    || (_global_ned_proj_ref.getProjectionReferenceTimestamp() != vehicle_local_position.ref_timestamp)) {
+				_global_ned_proj_ref.initReference(vehicle_local_position.ref_lat, vehicle_local_position.ref_lon,
+								   vehicle_local_position.ref_timestamp);
+			}
+
+			_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
+		}
+
+		updateWaypointsAndAcceptanceRadius();
+
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = _curr_wp_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = _curr_wp_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _prev_wp_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _prev_wp_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = arrivalSpeed(_cruising_speed, _min_speed, _acceptance_radius,
+				_curr_wp_type,
+				_waypoint_transition_angle, _max_yaw_rate);
+		surface_vehicle_position_setpoint.cruising_speed = _cruising_speed;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
+	}
+
+}
+
+void BoatRudderAutoMode::updateWaypointsAndAcceptanceRadius()
+{
+	position_setpoint_triplet_s position_setpoint_triplet{};
+	_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
+	_curr_wp_type = position_setpoint_triplet.current.type;
+
+	SurfaceVehicleControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
+			_curr_pos_ned, _global_ned_proj_ref);
+
+	_waypoint_transition_angle = SurfaceVehicleControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned,
+				     _next_wp_ned);
+
+	// Update acceptance radius
+	if (_param_br_acc_rad_max.get() >= _param_nav_acc_rad.get()) {
+		_acceptance_radius = updateAcceptanceRadius(_waypoint_transition_angle, _param_nav_acc_rad.get(),
+				     _param_br_acc_rad_gain.get(), _param_br_acc_rad_max.get(), _param_br_wheel_base.get(), _param_br_max_str_ang.get());
+
+	} else {
+		_acceptance_radius = _param_nav_acc_rad.get();
+	}
+
+	// Waypoint cruising speed
+	_cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
+				  position_setpoint_triplet.current.cruising_speed, 0.f, _param_sv_speed_limit.get()) : _param_sv_speed_limit.get();
+}
+
+float BoatRudderAutoMode::updateAcceptanceRadius(const float waypoint_transition_angle,
+		const float default_acceptance_radius, const float acceptance_radius_gain,
+		const float acceptance_radius_max, const float wheel_base, const float max_steer_angle)
+{
+	// Calculate acceptance radius s.t. the rover cuts the corner tangential to the current and next line segment
+	float acceptance_radius = default_acceptance_radius;
+
+	if (PX4_ISFINITE(_waypoint_transition_angle)) {
+		const float theta = waypoint_transition_angle / 2.f;
+		const float min_turning_radius = wheel_base / sinf(max_steer_angle);
+		const float acceptance_radius_temp = min_turning_radius / tanf(theta);
+		const float acceptance_radius_temp_scaled = acceptance_radius_gain *
+				acceptance_radius_temp; // Scale geometric ideal acceptance radius to account for kinematic and dynamic effects
+		acceptance_radius = math::constrain<float>(acceptance_radius_temp_scaled, default_acceptance_radius,
+				    acceptance_radius_max);
+	}
+
+	// Publish updated acceptance radius
+	position_controller_status_s pos_ctrl_status{};
+	pos_ctrl_status.acceptance_radius = acceptance_radius;
+	pos_ctrl_status.timestamp = hrt_absolute_time();
+	_position_controller_status_pub.publish(pos_ctrl_status);
+	return acceptance_radius;
+}
+
+float BoatRudderAutoMode::arrivalSpeed(const float cruising_speed, const float min_speed, const float acc_rad,
+				       const int curr_wp_type, const float waypoint_transition_angle, const float max_yaw_rate)
+{
+	if (!PX4_ISFINITE(waypoint_transition_angle)
+	    || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND
+	    || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
+		return 0.f; // Stop at the waypoint
+
+	} else if (_param_sv_speed_red.get() > FLT_EPSILON) {
+		const float speed_reduction = math::constrain(_param_sv_speed_red.get() * math::interpolate(
+						      M_PI_F - waypoint_transition_angle,
+						      0.f, M_PI_F, 0.f, 1.f), 0.f, 1.f);
+		return math::constrain(_param_sv_max_thr_speed.get() * (1.f - speed_reduction), min_speed,
+				       cruising_speed); // Slow down for cornering
+	}
+
+	return cruising_speed; // Fallthrough
+}
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+
+// Libraries
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/position_controller_status.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+
+/**
+ * @brief Class for auto mode for rudder-steered boats.
+ */
+class BoatRudderAutoMode : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for auto mode.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderAutoMode(ModuleParams *parent);
+	~BoatRudderAutoMode() = default;
+
+	/**
+	 * @brief Generate and publish SurfaceVehiclePositionSetpoint from positionSetpointTriplet.
+	 */
+	void autoControl();
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	/**
+	 * @brief Update global/NED waypoint coordinates and acceptance radius.
+	 */
+	void updateWaypointsAndAcceptanceRadius();
+
+	/**
+	 * @brief Publish the acceptance radius for current waypoint based on the angle between a line segment
+	 * from the previous to the current waypoint/current to the next waypoint and maximum steer angle of the vehicle.
+	 * @param waypoint_transition_angle Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
+	 * @param default_acceptance_radius Default acceptance radius for waypoints [m].
+	 * @param acceptance_radius_gain Tuning parameter that scales the geometric optimal acceptance radius for the corner cutting [-].
+	 * @param acceptance_radius_max Maximum value for the acceptance radius [m].
+	 * @param wheel_base Rover wheelbase [m].
+	 * @param max_steer_angle Rover maximum steer angle [rad].
+	 * @return Updated acceptance radius [m].
+	 */
+	float updateAcceptanceRadius(float waypoint_transition_angle, float default_acceptance_radius,
+				     float acceptance_radius_gain, float acceptance_radius_max, float wheel_base, float max_steer_angle);
+
+	/**
+	 * @brief Calculate the speed at which the rover should arrive at the current waypoint based on the upcoming corner.
+	 * @param cruising_speed Cruising speed [m/s].
+	 * @param min_speed Minimum speed setpoint [m/s].
+	 * @param acc_rad Acceptance radius of the current waypoint [m].
+	 * @param curr_wp_type Type of the current waypoint.
+	 * @param waypoint_transition_angle Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
+	 * @param max_yaw_rate Maximum yaw rate setpoint [rad/s]
+	 * @return Speed setpoint [m/s].
+	 */
+	float arrivalSpeed(float cruising_speed, float min_speed, float acc_rad, int curr_wp_type,
+			   float waypoint_transition_angle, float max_yaw_rate);
+
+	// uORB subscriptions
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_position_setpoint_s>    _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
+	uORB::Publication<position_controller_status_s>	_position_controller_status_pub{ORB_ID(position_controller_status)};
+
+	// Variables
+	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates
+	Vector2f _curr_wp_ned{NAN, NAN};
+	Vector2f _prev_wp_ned{NAN, NAN};
+	Vector2f _next_wp_ned{NAN, NAN};
+	Vector2f _curr_pos_ned{NAN, NAN};
+	float _acceptance_radius{0.5f};
+	float _cruising_speed{0.f};
+	float _waypoint_transition_angle{0.f}; // Angle between the prevWP-currWP and currWP-nextWP line segments [rad]
+	float _max_yaw_rate{NAN};
+	float _min_speed{NAN}; // Speed at which the maximum yaw rate limit is enforced given the maximum steer angle and wheel base.
+	int _curr_wp_type{position_setpoint_s::SETPOINT_TYPE_IDLE};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit,
+		(ParamFloat<px4::params::BR_WHEEL_BASE>)    _param_br_wheel_base,
+		(ParamFloat<px4::params::BR_MAX_STR_ANG>)   _param_br_max_str_ang,
+		(ParamFloat<px4::params::NAV_ACC_RAD>)      _param_nav_acc_rad,
+		(ParamFloat<px4::params::BR_ACC_RAD_MAX>)   _param_br_acc_rad_max,
+		(ParamFloat<px4::params::BR_ACC_RAD_GAIN>)  _param_br_acc_rad_gain,
+		(ParamFloat<px4::params::SV_SPEED_RED>)     _param_sv_speed_red,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed
+	)
+};
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderAutoMode
+	BoatRudderAutoMode.cpp
+)
+
+target_include_directories(BoatRudderAutoMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderManualMode.hpp"
+
+using namespace time_literals;
+
+BoatRudderManualMode::BoatRudderManualMode(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
+}
+
+void BoatRudderManualMode::updateParams()
+{
+	ModuleParams::updateParams();
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+}
+
+void BoatRudderManualMode::manual()
+{
+	manual_control_setpoint_s manual_control_setpoint{};
+	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
+	surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+	surface_vehicle_steering_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
+	_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+}
+
+void BoatRudderManualMode::acro()
+{
+	manual_control_setpoint_s manual_control_setpoint{};
+	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+	surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+			math::superexpo<float>
+			(manual_control_setpoint.roll, _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+	_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
+}
+
+void BoatRudderManualMode::stab()
+{
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+		_vehicle_attitude_sub.copy(&vehicle_attitude);
+		_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
+		_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
+	}
+
+	manual_control_setpoint_s manual_control_setpoint{};
+	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+
+	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
+	    || fabsf(surface_vehicle_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
+		_stab_yaw_setpoint = NAN;
+
+		// Rate control
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_sv_yaw_stick_dz.get()), _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
+
+		// Set uncontrolled setpoint invalid
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+
+	} else { // Heading control
+		if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
+			_stab_yaw_setpoint = _vehicle_yaw;
+		}
+
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+	}
+}
+
+void BoatRudderManualMode::position()
+{
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+		_vehicle_attitude_sub.copy(&vehicle_attitude);
+		_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
+		_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		vehicle_local_position_s vehicle_local_position{};
+		_vehicle_local_position_sub.copy(&vehicle_local_position);
+
+		if (!_global_ned_proj_ref.isInitialized()
+		    || (_global_ned_proj_ref.getProjectionReferenceTimestamp() != vehicle_local_position.ref_timestamp)) {
+			_global_ned_proj_ref.initReference(vehicle_local_position.ref_lat, vehicle_local_position.ref_lon,
+							   vehicle_local_position.ref_timestamp);
+		}
+
+		_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
+	}
+
+	manual_control_setpoint_s manual_control_setpoint{};
+	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
+
+	const float speed_setpoint = math::interpolate<float>(manual_control_setpoint.throttle,
+				     -1.f, 1.f, -_param_sv_speed_limit.get(), _param_sv_speed_limit.get());
+
+	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
+	    || fabsf(speed_setpoint) < FLT_EPSILON) {
+		_pos_ctl_course_direction = Vector2f(NAN, NAN);
+
+		// Speed control
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+
+		// Rate control
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_sv_yaw_stick_dz.get()), _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
+
+		// Set uncontrolled setpoints invalid
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = NAN;
+		surface_vehicle_position_setpoint.position_ned[1] = NAN;
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
+
+	} else { // Course control
+		if (!_pos_ctl_course_direction.isAllFinite()) {
+			_pos_ctl_course_direction = Vector2f(cos(_vehicle_yaw), sin(_vehicle_yaw));
+			_pos_ctl_start_position_ned = _curr_pos_ned;
+		}
+
+		// Construct a 'target waypoint' for course control s.t. it is never within the maximum lookahead of the rover
+		const Vector2f start_to_curr_pos = _curr_pos_ned - _pos_ctl_start_position_ned;
+		const float vector_scaling = fabsf(start_to_curr_pos * _pos_ctl_course_direction) + _param_pp_lookahd_max.get();
+		const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + sign(speed_setpoint) *
+						     vector_scaling * _pos_ctl_course_direction;
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = target_waypoint_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = target_waypoint_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = speed_setpoint;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
+	}
+}
+
+void BoatRudderManualMode::reset()
+{
+	_stab_yaw_setpoint = NAN;
+	_pos_ctl_course_direction = Vector2f(NAN, NAN);
+	_pos_ctl_start_position_ned = Vector2f(NAN, NAN);
+	_curr_pos_ned = Vector2f(NAN, NAN);
+}
@@ -0,0 +1,134 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+
+// Libraries
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+
+/**
+ * @brief Class for manual modes for rudder-steered boats.
+ */
+class BoatRudderManualMode : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderManualMode.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderManualMode(ModuleParams *parent);
+	~BoatRudderManualMode() = default;
+
+	/**
+	 * @brief Publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleSteeringSetpoint from manualControlSetpoint.
+	 */
+	void manual();
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleRateSetpoint from manualControlSetpoint.
+	 */
+	void acro();
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleAttitudeSetpoint from manualControlSetpoint.
+	 */
+	void stab();
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint/SurfaceVehicleRateSetpoint or SurfaceVehiclePositionSetpoint from manualControlSetpoint.
+	 */
+	void position();
+
+	/**
+	 * @brief Reset manual mode variables.
+	 */
+	void reset();
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	// uORB subscriptions
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
+
+	// Variables
+	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates
+	Quatf _vehicle_attitude_quaternion{};
+	Vector2f _pos_ctl_course_direction{NAN, NAN};
+	Vector2f _pos_ctl_start_position_ned{NAN, NAN};
+	Vector2f _curr_pos_ned{NAN, NAN};
+	float _stab_yaw_setpoint{NAN};
+	float _vehicle_yaw{NAN};
+	float _max_yaw_rate{NAN};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_P>)         _param_sv_yaw_p,
+		(ParamFloat<px4::params::SV_YAW_STICK_DZ>)  _param_sv_yaw_stick_dz,
+		(ParamFloat<px4::params::SV_YAW_EXPO>)      _param_sv_yaw_expo,
+		(ParamFloat<px4::params::SV_YAW_SUPEXPO>)   _param_sv_yaw_supexpo,
+		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit
+	)
+};
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderManualMode
+	BoatRudderManualMode.cpp
+)
+
+target_include_directories(BoatRudderManualMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderOffboardMode.hpp"
+
+using namespace time_literals;
+
+BoatRudderOffboardMode::BoatRudderOffboardMode(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+}
+
+void BoatRudderOffboardMode::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void BoatRudderOffboardMode::offboardControl()
+{
+	offboard_control_mode_s offboard_control_mode{};
+	_offboard_control_mode_sub.copy(&offboard_control_mode);
+
+	trajectory_setpoint_s trajectory_setpoint{};
+	_trajectory_setpoint_sub.copy(&trajectory_setpoint);
+
+	if (offboard_control_mode.position) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
+		surface_vehicle_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
+
+	} else if (offboard_control_mode.velocity) {
+		const Vector2f velocity_ned(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_ned.norm();
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+	}
+}
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+
+// Libraries
+#include <math.h>
+#include <matrix/matrix/math.hpp>
+
+// uORB includes
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+#include <uORB/topics/offboard_control_mode.h>
+#include <uORB/topics/trajectory_setpoint.h>
+
+using namespace matrix;
+
+/**
+ * @brief Class for offboard mode for rudder-steered boats.
+ */
+class BoatRudderOffboardMode : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderOffboardMode.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderOffboardMode(ModuleParams *parent);
+	~BoatRudderOffboardMode() = default;
+
+	/**
+	 * @brief Generate and publish roverSetpoints from trajectorySetpoint.
+	 */
+	void offboardControl();
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	// uORB subscriptions
+	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
+	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+};
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderOffboardMode
+	BoatRudderOffboardMode.cpp
+)
+
+target_include_directories(BoatRudderOffboardMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(BoatRudderAutoMode)
+add_subdirectory(BoatRudderManualMode)
+add_subdirectory(BoatRudderOffboardMode)
@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderPosControl.hpp"
+
+using namespace time_literals;
+
+BoatRudderPosControl::BoatRudderPosControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	_pure_pursuit_status_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+
+	updateParams();
+}
+
+void BoatRudderPosControl::updateParams()
+{
+	ModuleParams::updateParams();
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	_min_speed = _param_br_wheel_base.get() * _max_yaw_rate / tanf(_param_br_max_str_ang.get());
+
+}
+
+void BoatRudderPosControl::updatePosControl()
+{
+	updateSubscriptions();
+
+	hrt_abstime timestamp = hrt_absolute_time();
+
+	if (_target_waypoint_ned.isAllFinite()) {
+		float distance_to_target = (_target_waypoint_ned - _curr_pos_ned).norm();
+
+		if (_arrival_speed > FLT_EPSILON) {
+			distance_to_target -= _acceptance_radius; // shift target to the edge of the acceptance radius if arrival speed not zero
+		}
+
+		if (distance_to_target > _acceptance_radius || _arrival_speed > FLT_EPSILON) {
+
+			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_sv_jerk_limit.get(),
+					       _param_sv_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
+			speed_setpoint = math::min(speed_setpoint, _cruising_speed);
+
+			pure_pursuit_status_s pure_pursuit_status{};
+			pure_pursuit_status.timestamp = timestamp;
+
+			const float bearing_setpoint = PurePursuit::calcTargetBearing(pure_pursuit_status, _param_pp_lookahd_gain.get(),
+						       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _target_waypoint_ned, _start_ned,
+						       _curr_pos_ned, fabsf(speed_setpoint));
+
+			if (_param_sv_speed_red.get() > FLT_EPSILON) {
+				const float course_error = fabsf(matrix::wrap_pi(bearing_setpoint - _vehicle_yaw));
+				const float speed_reduction = math::constrain(_param_sv_speed_red.get() * math::interpolate(course_error,
+							      0.f, M_PI_F, 0.f, 1.f), 0.f, 1.f);
+				const float max_speed = math::constrain(_param_sv_max_thr_speed.get() * (1.f - speed_reduction), _min_speed,
+									_param_sv_max_thr_speed.get());
+				speed_setpoint = math::constrain(speed_setpoint, -max_speed, max_speed);
+			}
+
+			_pure_pursuit_status_pub.publish(pure_pursuit_status);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
+						bearing_setpoint + M_PI_F);
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+
+		} else {
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = 0.f;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
+
+			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
+				_stopped = true;
+				_target_waypoint_ned = _curr_pos_ned;
+			}
+
+			if (_stopped && _updated_reset_counter != _reset_counter) {
+				_target_waypoint_ned = _curr_pos_ned;
+				_reset_counter = _updated_reset_counter;
+			}
+		}
+	}
+}
+
+void BoatRudderPosControl::updateSubscriptions()
+{
+	if (_position_controller_status_sub.updated()) {
+		position_controller_status_s position_controller_status{};
+		_position_controller_status_sub.copy(&position_controller_status);
+		_acceptance_radius = position_controller_status.acceptance_radius;
+	}
+
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+		_vehicle_attitude_sub.copy(&vehicle_attitude);
+		_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
+		_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		vehicle_local_position_s vehicle_local_position{};
+		_vehicle_local_position_sub.copy(&vehicle_local_position);
+		_updated_reset_counter = vehicle_local_position.xy_reset_counter;
+		_curr_pos_ned = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
+		Vector3f velocity_ned(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
+		Vector3f velocity_xyz = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
+		Vector2f velocity_2d = Vector2f(velocity_xyz(0), velocity_xyz(1));
+		_vehicle_speed = velocity_2d.norm() > _param_sv_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
+	}
+
+	if (_surface_vehicle_position_setpoint_sub.updated()) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint;
+		_surface_vehicle_position_setpoint_sub.copy(&surface_vehicle_position_setpoint);
+		_start_ned = Vector2f(surface_vehicle_position_setpoint.start_ned[0], surface_vehicle_position_setpoint.start_ned[1]);
+		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
+		_arrival_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.arrival_speed) ?
+				 surface_vehicle_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
+				  surface_vehicle_position_setpoint.cruising_speed :
+				  _param_sv_speed_limit.get();
+		_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
+						surface_vehicle_position_setpoint.position_ned[1]);
+		_stopped = false;
+	}
+
+}
+
+bool BoatRudderPosControl::runSanityChecks()
+{
+	bool ret = true;
+
+	if (_param_sv_speed_limit.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	return ret;
+}
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/events.h>
+
+// Library includes
+#include <matrix/matrix/math.hpp>
+#include <lib/pure_pursuit/PurePursuit.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/position_controller_status.h>
+#include <uORB/topics/pure_pursuit_status.h>
+
+using namespace matrix;
+
+/**
+ * @brief Class for position control of rudder-steered boats.
+ */
+class BoatRudderPosControl : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderPosControl.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderPosControl(ModuleParams *parent);
+	~BoatRudderPosControl() = default;
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint and SurfaceVehicleAttitudeSetpoint from SurfaceVehiclePositionSetpoint.
+	 */
+	void updatePosControl();
+
+	/**
+	 * @brief Check if the necessary parameters are set.
+	 * @return True if all checks pass.
+	 */
+	bool runSanityChecks();
+
+	/**
+	 * @brief Reset position controller.
+	 */
+	void reset() {_start_ned = Vector2f{NAN, NAN}; _target_waypoint_ned = Vector2f{NAN, NAN}; _arrival_speed = 0.f; _cruising_speed = _param_sv_speed_limit.get(); _stopped = false;};
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	/**
+	 * @brief Update uORB subscriptions used in position controller.
+	 */
+	void updateSubscriptions();
+
+	// uORB subscriptions
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription _surface_vehicle_position_setpoint_sub{ORB_ID(surface_vehicle_position_setpoint)};
+	uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};
+
+	// Variables
+	Quatf _vehicle_attitude_quaternion{};
+	Vector2f _curr_pos_ned{};
+	Vector2f _start_ned{};
+	Vector2f _target_waypoint_ned{};
+	float _arrival_speed{0.f};
+	float _vehicle_yaw{0.f};
+	float _max_yaw_rate{0.f};
+	float _acceptance_radius{0.f}; // Acceptance radius for the waypoint.
+	float _min_speed{NAN};
+	float _vehicle_speed{0.f};
+	float _cruising_speed{NAN};
+	bool _stopped{false};
+	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
+	uint8_t _updated_reset_counter{0}; /**< counter for estimator resets in xy-direction */
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
+		(ParamFloat<px4::params::SV_SPEED_RED>)     _param_sv_speed_red,
+		(ParamFloat<px4::params::SV_DECEL_LIM>)     _param_sv_decel_limit,
+		(ParamFloat<px4::params::SV_JERK_LIM>)      _param_sv_jerk_limit,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit,
+		(ParamFloat<px4::params::PP_LOOKAHD_GAIN>)  _param_pp_lookahd_gain,
+		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
+		(ParamFloat<px4::params::PP_LOOKAHD_MIN>)   _param_pp_lookahd_min,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::BR_WHEEL_BASE>)    _param_br_wheel_base,
+		(ParamFloat<px4::params::BR_MAX_STR_ANG>)   _param_br_max_str_ang,
+		(ParamFloat<px4::params::SV_SPEED_TH>)      _param_sv_speed_th
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderPosControl
+	BoatRudderPosControl.cpp
+)
+
+target_link_libraries(BoatRudderPosControl PUBLIC PID)
+target_include_directories(BoatRudderPosControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,182 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderRateControl.hpp"
+
+using namespace time_literals;
+
+BoatRudderRateControl::BoatRudderRateControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_status_pub.advertise();
+	updateParams();
+}
+
+void BoatRudderRateControl::updateParams()
+{
+	ModuleParams::updateParams();
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+
+	// Set up PID controller
+	_pid_yaw_rate.setGains(_param_sv_yaw_rate_p.get(), _param_sv_yaw_rate_i.get(), 0.f);
+	_pid_yaw_rate.setIntegralLimit(1.f);
+	_pid_yaw_rate.setOutputLimit(1.f);
+
+	// Set up slew rate
+	_adjusted_yaw_rate_setpoint.setSlewRate(_param_sv_yaw_accel_limit.get() * M_DEG_TO_RAD_F);
+}
+
+void BoatRudderRateControl::updateRateControl()
+{
+	updateSubscriptions();
+
+	hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
+
+	if (PX4_ISFINITE(_yaw_rate_setpoint)) {
+		if (fabsf(_estimated_speed) > FLT_EPSILON) {
+			// Set up feasible yaw rate setpoint
+			float steering_setpoint{0.f};
+			float max_possible_yaw_rate = fabsf(_estimated_speed) * tanf(_param_br_max_str_ang.get()) /
+						      _param_br_wheel_base.get(); // Maximum possible yaw rate at current velocity
+			float yaw_rate_limit = math::min(max_possible_yaw_rate, _max_yaw_rate);
+			float constrained_yaw_rate = math::constrain(_yaw_rate_setpoint, -yaw_rate_limit, yaw_rate_limit);
+
+			if (_param_sv_yaw_accel_limit.get() > FLT_EPSILON) { // Apply slew rate if configured
+				if (fabsf(_adjusted_yaw_rate_setpoint.getState() - _vehicle_yaw_rate) > fabsf(constrained_yaw_rate -
+						_vehicle_yaw_rate)) {
+					_adjusted_yaw_rate_setpoint.setForcedValue(_vehicle_yaw_rate);
+				}
+
+				_adjusted_yaw_rate_setpoint.update(constrained_yaw_rate, dt);
+
+			} else {
+				_adjusted_yaw_rate_setpoint.setForcedValue(constrained_yaw_rate);
+			}
+
+			// Feed forward
+			steering_setpoint = atanf(_adjusted_yaw_rate_setpoint.getState() * _param_br_wheel_base.get() / _estimated_speed) *
+					    _param_sv_yaw_rate_corr.get();
+
+			// Feedback (Only when driving forwards because backwards driving is NMP and can introduce instability)
+			if (_estimated_speed > FLT_EPSILON) {
+				_pid_yaw_rate.setSetpoint(_adjusted_yaw_rate_setpoint.getState());
+				steering_setpoint += _pid_yaw_rate.update(_vehicle_yaw_rate, dt);
+			}
+
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
+					-_param_br_max_str_ang.get(), _param_br_max_str_ang.get(), -1.f, 1.f); // Normalize steering setpoint
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+
+		} else {
+			_pid_yaw_rate.resetIntegral();
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = 0.f;
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+		}
+	}
+
+
+	// Publish rate controller status (logging only)
+	surface_vehicle_rate_status_s surface_vehicle_rate_status;
+	surface_vehicle_rate_status.timestamp = _timestamp;
+	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
+	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
+	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
+	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);
+
+}
+
+void BoatRudderRateControl::updateSubscriptions()
+{
+	if (_vehicle_angular_velocity_sub.updated()) {
+		vehicle_angular_velocity_s vehicle_angular_velocity{};
+		_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
+		_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_sv_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
+				    vehicle_angular_velocity.xyz[2] : 0.f;
+	}
+
+	// Estimate forward speed based on throttle
+	if (_actuator_motors_sub.updated()) {
+		actuator_motors_s actuator_motors;
+		_actuator_motors_sub.copy(&actuator_motors);
+		_estimated_speed = math::interpolate<float>(actuator_motors.control[0], -1.f, 1.f,
+				   -_param_sv_max_thr_speed.get(), _param_sv_max_thr_speed.get());
+		_estimated_speed = fabsf(_estimated_speed) >  _param_sv_speed_th.get() ? _estimated_speed : 0.f;
+	}
+
+	if (_surface_vehicle_rate_setpoint_sub.updated()) {
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
+		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
+	}
+}
+
+bool BoatRudderRateControl::runSanityChecks()
+{
+	bool ret = true;
+
+	if (_param_sv_max_thr_speed.get() < FLT_EPSILON) {
+		ret = false;
+		events::send<float>(events::ID("boat_rudder_rate_control_conf_invalid_max_thr_speed"), events::Log::Error,
+				    "Invalid configuration of necessary parameter SV_MAX_THR_SPEED", _param_sv_max_thr_speed.get());
+
+	}
+
+	if (_param_br_wheel_base.get() < FLT_EPSILON) {
+		ret = false;
+		events::send<float>(events::ID("boat_rudder_rate_control_conf_invalid_wheel_base"), events::Log::Error,
+				    "Invalid configuration of necessary parameter RA_WHEEL_BASE", _param_br_wheel_base.get());
+
+	}
+
+	if (_param_br_max_str_ang.get() < FLT_EPSILON) {
+		ret = false;
+		events::send<float>(events::ID("boat_rudder_rate_control_conf_invalid_max_str_ang"), events::Log::Error,
+				    "Invalid configuration of necessary parameter RA_MAX_STR_ANG", _param_br_max_str_ang.get());
+
+	}
+
+	if (_param_sv_yaw_rate_limit.get() < FLT_EPSILON) {
+		ret = false;
+		events::send<float>(events::ID("boat_rudder_rate_control_conf_invalid_yaw_rate_lim"), events::Log::Error,
+				    "Invalid configuration of necessary parameter SV_YAW_RATE_LIM", _param_sv_yaw_rate_limit.get());
+
+	}
+
+	return ret;
+}
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/events.h>
+
+// Libraries
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <lib/pid/PID.hpp>
+#include <lib/slew_rate/SlewRate.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_status.h>
+#include <uORB/topics/actuator_motors.h>
+
+/**
+ * @brief Class for rate control of rudder-steered boats.
+ */
+class BoatRudderRateControl : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderRateControl.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderRateControl(ModuleParams *parent);
+	~BoatRudderRateControl() = default;
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleSteeringSetpoint from SurfaceVehicleRateSetpoint.
+	 */
+	void updateRateControl();
+
+	/**
+	 * @brief Check if the necessary parameters are set.
+	 * @return True if all checks pass.
+	 */
+	bool runSanityChecks();
+
+	/**
+	 * @brief Reset rate controller.
+	 */
+	void reset() {_pid_yaw_rate.resetIntegral(); _yaw_rate_setpoint = NAN;};
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	/**
+	 * @brief Update uORB subscriptions used in rate controller.
+	 */
+	void updateSubscriptions();
+
+	// uORB subscriptions
+	uORB::Subscription _surface_vehicle_rate_setpoint_sub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
+	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_status_s>       _surface_vehicle_rate_status_pub{ORB_ID(surface_vehicle_rate_status)};
+
+	// Variables
+	float _estimated_speed{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed]
+					       between [0, 0] and [1, _param_sv_max_thr_speed].*/
+	float _max_yaw_rate{0.f};
+	float _vehicle_yaw_rate{0.f};
+	float _yaw_rate_setpoint{NAN};
+	hrt_abstime _timestamp{0};
+
+	// Controllers
+	PID _pid_yaw_rate;
+	SlewRate<float> _adjusted_yaw_rate_setpoint{0.f};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
+		(ParamFloat<px4::params::BR_WHEEL_BASE>)    _param_br_wheel_base,
+		(ParamFloat<px4::params::BR_MAX_STR_ANG>)   _param_br_max_str_ang,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_RATE_TH>)   _param_sv_yaw_rate_th,
+		(ParamFloat<px4::params::SV_YAW_RATE_P>)    _param_sv_yaw_rate_p,
+		(ParamFloat<px4::params::SV_YAW_RATE_I>)    _param_sv_yaw_rate_i,
+		(ParamFloat<px4::params::SV_YAW_ACCEL_LIM>) _param_sv_yaw_accel_limit,
+		(ParamFloat<px4::params::SV_SPEED_TH>)      _param_sv_speed_th,
+		(ParamFloat<px4::params::SV_YAW_RATE_CORR>) _param_sv_yaw_rate_corr
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderRateControl
+	BoatRudderRateControl.cpp
+)
+
+target_link_libraries(BoatRudderRateControl PUBLIC PID)
+target_include_directories(BoatRudderRateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,134 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BoatRudderSpeedControl.hpp"
+
+using namespace time_literals;
+
+BoatRudderSpeedControl::BoatRudderSpeedControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_speed_status_pub.advertise();
+	updateParams();
+}
+
+void BoatRudderSpeedControl::updateParams()
+{
+	ModuleParams::updateParams();
+
+	// Set up PID controller
+	_pid_speed.setGains(_param_sv_speed_p.get(), _param_sv_speed_i.get(), 0.f);
+	_pid_speed.setIntegralLimit(1.f);
+	_pid_speed.setOutputLimit(1.f);
+
+	// Set up slew rate
+	if (_param_sv_accel_limit.get() > FLT_EPSILON) {
+		_adjusted_speed_setpoint.setSlewRate(_param_sv_accel_limit.get());
+	}
+}
+
+void BoatRudderSpeedControl::updateSpeedControl()
+{
+	updateSubscriptions();
+
+	const hrt_abstime timestamp_prev = _timestamp;
+	_timestamp = hrt_absolute_time();
+	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;
+
+	// Throttle Setpoint
+	if (PX4_ISFINITE(_speed_setpoint)) {
+		const float speed_setpoint = math::constrain(_speed_setpoint, -_param_sv_speed_limit.get(),
+					     _param_sv_speed_limit.get());
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		surface_vehicle_throttle_setpoint.timestamp = _timestamp;
+		surface_vehicle_throttle_setpoint.throttle_body_x = SurfaceVehicleControl::speedControl(_adjusted_speed_setpoint,
+				_pid_speed,
+				speed_setpoint, _vehicle_speed, _param_sv_accel_limit.get(), _param_sv_decel_limit.get(),
+				_param_sv_max_thr_speed.get(), dt);
+		surface_vehicle_throttle_setpoint.throttle_body_y = NAN;
+		_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	}
+
+	// Publish speed controller status (logging only)
+	surface_vehicle_speed_status_s surface_vehicle_speed_status;
+	surface_vehicle_speed_status.timestamp = _timestamp;
+	surface_vehicle_speed_status.measured_speed_body_x = _vehicle_speed;
+	surface_vehicle_speed_status.adjusted_speed_body_x_setpoint = _adjusted_speed_setpoint.getState();
+	surface_vehicle_speed_status.pid_throttle_body_x_integral = _pid_speed.getIntegral();
+	surface_vehicle_speed_status.measured_speed_body_y = NAN;
+	surface_vehicle_speed_status.adjusted_speed_body_y_setpoint = NAN;
+	surface_vehicle_speed_status.pid_throttle_body_y_integral = NAN;
+	_surface_vehicle_speed_status_pub.publish(surface_vehicle_speed_status);
+}
+
+void BoatRudderSpeedControl::updateSubscriptions()
+{
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+		_vehicle_attitude_sub.copy(&vehicle_attitude);
+		_vehicle_attitude_quaternion = matrix::Quatf(vehicle_attitude.q);
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		vehicle_local_position_s vehicle_local_position{};
+		_vehicle_local_position_sub.copy(&vehicle_local_position);
+		Vector3f velocity_ned(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
+		Vector3f velocity_xyz = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
+		Vector2f velocity_2d = Vector2f(velocity_xyz(0), velocity_xyz(1));
+		_vehicle_speed = velocity_2d.norm() > _param_sv_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
+	}
+
+	if (_surface_vehicle_speed_setpoint_sub.updated()) {
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint;
+		_surface_vehicle_speed_setpoint_sub.copy(&surface_vehicle_speed_setpoint);
+		_speed_setpoint = surface_vehicle_speed_setpoint.speed_body_x;
+	}
+}
+
+bool BoatRudderSpeedControl::runSanityChecks()
+{
+	bool ret = true;
+
+	if (_param_sv_max_thr_speed.get() < FLT_EPSILON) {
+		ret = false;
+	}
+
+	if (_param_sv_speed_limit.get() < FLT_EPSILON) {
+		ret = false;
+		events::send<float>(events::ID("boat_rudder_speed_control_conf_invalid_speed_lim"), events::Log::Error,
+				    "Invalid configuration of necessary parameter SV_SPEED_LIM", _param_sv_speed_limit.get());
+
+	}
+
+	return ret;
+}
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// PX4 includes
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/events.h>
+
+// Library includes
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
+#include <lib/pid/PID.hpp>
+#include <matrix/matrix/math.hpp>
+#include <lib/slew_rate/SlewRate.hpp>
+#include <math.h>
+
+// uORB includes
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+using namespace matrix;
+
+/**
+ * @brief Class for speed control of rudder-steered boats.
+ */
+class BoatRudderSpeedControl : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatRudderSpeedControl.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatRudderSpeedControl(ModuleParams *parent);
+	~BoatRudderSpeedControl() = default;
+
+	/**
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint from SurfaceVehicleSpeedSetpoint.
+	 */
+	void updateSpeedControl();
+
+	/**
+	 * @brief Check if the necessary parameters are set.
+	 * @return True if all checks pass.
+	 */
+	bool runSanityChecks();
+
+	/**
+	 * @brief Reset speed controller.
+	 */
+	void reset() {_pid_speed.resetIntegral(); _speed_setpoint = NAN; _adjusted_speed_setpoint.setForcedValue(0.f);};
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	/**
+	 * @brief Update uORB subscriptions used in speed controller.
+	 */
+	void updateSubscriptions();
+
+	// uORB subscriptions
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription _surface_vehicle_speed_setpoint_sub{ORB_ID(surface_vehicle_speed_setpoint)};
+
+	// uORB publications
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_speed_status_s>      _surface_vehicle_speed_status_pub{ORB_ID(surface_vehicle_speed_status)};
+
+	// Variables
+	hrt_abstime _timestamp{0};
+	Quatf _vehicle_attitude_quaternion{};
+	float _vehicle_speed{0.f}; // [m/s] Positiv: Forwards, Negativ: Backwards
+	float _speed_setpoint{NAN};
+
+	// Controllers
+	PID _pid_speed;
+	SlewRate<float> _adjusted_speed_setpoint{0.f};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
+		(ParamFloat<px4::params::SV_SPEED_P>) 	    _param_sv_speed_p,
+		(ParamFloat<px4::params::SV_SPEED_I>)       _param_sv_speed_i,
+		(ParamFloat<px4::params::SV_ACCEL_LIM>)     _param_sv_accel_limit,
+		(ParamFloat<px4::params::SV_DECEL_LIM>)     _param_sv_decel_limit,
+		(ParamFloat<px4::params::SV_JERK_LIM>)      _param_sv_jerk_limit,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit,
+		(ParamFloat<px4::params::SV_SPEED_TH>)      _param_sv_speed_th
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatRudderSpeedControl
+	BoatRudderSpeedControl.cpp
+)
+
+target_link_libraries(BoatRudderSpeedControl PUBLIC PID)
+target_include_directories(BoatRudderSpeedControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,61 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(BoatRudderActControl)
+add_subdirectory(BoatRudderRateControl)
+add_subdirectory(BoatRudderAttControl)
+add_subdirectory(BoatRudderSpeedControl)
+add_subdirectory(BoatRudderPosControl)
+add_subdirectory(BoatRudderDriveModes)
+
+px4_add_module(
+	MODULE modules__boat_rudder
+	MAIN boat_rudder
+	SRCS
+		BoatRudder.cpp
+		BoatRudder.hpp
+	DEPENDS
+		BoatRudderActControl
+		BoatRudderRateControl
+		BoatRudderAttControl
+		BoatRudderSpeedControl
+		BoatRudderPosControl
+		BoatRudderAutoMode
+		BoatRudderManualMode
+		BoatRudderOffboardMode
+		px4_work_queue
+		surface_vehicle_control
+		pure_pursuit
+	MODULE_CONFIG
+		module.yaml
+)
@@ -0,0 +1,5 @@
+menuconfig MODULES_BOAT_RUDDER
+	bool "boat_rudder"
+	default n
+	---help---
+		Enable support for rudder-steered boats
@@ -0,0 +1,69 @@
+module_name: Boat Rudder
+
+parameters:
+  - group: Boat Rudder
+    definitions:
+      BR_WHEEL_BASE:
+        description:
+          short: Wheel base
+          long: Distance from the front to the rear axle.
+        type: float
+        unit: m
+        min: 0
+        max: 100
+        increment: 0.001
+        decimal: 3
+        default: 0
+
+      BR_MAX_STR_ANG:
+        description:
+          short: Maximum steering angle
+        type: float
+        unit: rad
+        min: 0
+        max: 1.5708
+        increment: 0.01
+        decimal: 2
+        default: 0
+
+      BR_STR_RATE_LIM:
+        description:
+          short: Steering rate limit
+          long: Set to -1 to disable.
+        type: float
+        unit: deg/s
+        min: -1
+        max: 1000
+        increment: 0.01
+        decimal: 2
+        default: -1
+
+      BR_ACC_RAD_MAX:
+        description:
+          short: Maximum acceptance radius for the waypoints
+          long: |
+            The controller scales the acceptance radius based on the angle between
+            the previous, current and next waypoint.
+            Higher value -> smoother trajectory at the cost of how close the rover gets
+            to the waypoint (Set to -1 to disable corner cutting).
+        type: float
+        unit: m
+        min: -1
+        max: 100
+        increment: 0.01
+        decimal: 2
+        default: -1
+
+      BR_ACC_RAD_GAIN:
+        description:
+          short: Tuning parameter for corner cutting
+          long: |
+            The geometric ideal acceptance radius is multiplied by this factor
+            to account for kinematic and dynamic effects.
+            Higher value -> The rover starts to cut the corner earlier.
+        type: float
+        min: 1
+        max: 100
+        increment: 0.01
+        decimal: 2
+        default: 1
@@ -125,11 +125,13 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)

 		if (_flow_counter == 0) {
 			_flow_vel_body_lpf.reset(_flow_vel_body);
+			_flow_rate_compensated_lpf.reset(_flow_rate_compensated);
 			_flow_counter = 1;

 		} else {

 			_flow_vel_body_lpf.update(_flow_vel_body);
+			_flow_rate_compensated_lpf.update(_flow_rate_compensated);
 			_flow_counter++;
 		}

@@ -240,8 +242,23 @@ void Ekf::resetTerrainToFlow()
 {
 	ECL_INFO("reset hagl to flow");

-	// TODO: use the flow data
-	const float new_terrain = -_gpos.altitude() + _params.ekf2_min_rng;
+	float new_terrain = -_gpos.altitude() + _params.ekf2_min_rng;
+
+	if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
+		// ||vel_NE|| = ||( R * flow_body * range).xy()||
+		// range = ||vel_NE|| / ||P * R * flow_body||
+		constexpr float kProjXY[2][3] = {{1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}};
+		const matrix::Matrix<float, 2, 3> proj(kProjXY);
+
+		const Vector3f flow_body(-_flow_rate_compensated_lpf.getState()(1), _flow_rate_compensated_lpf.getState()(0), 0.f);
+		const float denom = Vector2f(proj * _R_to_earth * flow_body).norm();
+
+		if (denom > 1e-6f) {
+			const float range = _state.vel.xy().norm() / denom;
+			new_terrain = -_gpos.altitude() + max(range, _params.ekf2_min_rng);
+		}
+	}
+
 	const float delta_terrain = new_terrain - _state.terrain;
 	_state.terrain = new_terrain;
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);
@@ -529,6 +529,7 @@ private:
 	uint32_t _flow_counter{0};                      ///< number of flow samples read for initialization

 	Vector2f _flow_rate_compensated{}; ///< measured angular rate of the image about the X and Y body axes after removal of body rotation (rad/s), RH rotation is positive
+	AlphaFilter<Vector2f> _flow_rate_compensated_lpf{_dt_ekf_avg, _kSensorLpfTimeConstant};
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 #if defined(CONFIG_EKF2_AIRSPEED)
@@ -106,15 +106,15 @@ void LoggedTopics::add_default_topics()
 	add_topic("position_setpoint_triplet", 200);
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_optional_topic("rover_attitude_setpoint", 100);
-	add_optional_topic("rover_attitude_status", 100);
-	add_optional_topic("rover_position_setpoint", 100);
-	add_optional_topic("rover_rate_setpoint", 100);
-	add_optional_topic("rover_rate_status", 100);
-	add_optional_topic("rover_speed_setpoint", 100);
-	add_optional_topic("rover_speed_status", 100);
-	add_optional_topic("rover_steering_setpoint", 100);
-	add_optional_topic("rover_throttle_setpoint", 100);
+	add_optional_topic("surface_vehicle_attitude_setpoint", 100);
+	add_optional_topic("surface_vehicle_attitude_status", 100);
+	add_optional_topic("surface_vehicle_position_setpoint", 100);
+	add_optional_topic("surface_vehicle_rate_setpoint", 100);
+	add_optional_topic("surface_vehicle_rate_status", 100);
+	add_optional_topic("surface_vehicle_speed_setpoint", 100);
+	add_optional_topic("surface_vehicle_speed_status", 100);
+	add_optional_topic("surface_vehicle_steering_setpoint", 100);
+	add_optional_topic("surface_vehicle_throttle_setpoint", 100);
 	add_topic("rtl_time_estimate", 1000);
 	add_topic("rtl_status", 2000);
 	add_optional_topic("sensor_airflow", 100);
@@ -55,7 +55,10 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
 * Determines when to start and stop logging. By default, logging is started
 * when arming the system, and stopped when disarming.
 *
- * @value -1 disabled
+ * Note: The logging start/end points that can be configured here only apply to
+ * SD logging. The mavlink backend is started/stopped independently
+ * of these points.
+ *
 * @value 0 when armed until disarm (default)
 * @value 1 from boot until disarm
 * @value 2 from boot until shutdown
@@ -67,6 +70,25 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
 */
 PARAM_DEFINE_INT32(SDLOG_MODE, 0);

+/**
+ * Logging Backend (integer bitmask).
+ *
+ * If no logging is set the logger will not be started.
+ *
+ * Set bits true to enable:
+ * 0: SD card logging
+ * 1: Mavlink logging
+ *
+ * @min 0
+ * @max 3
+ * @bit 0 SD card logging
+ * @bit 1 Mavlink logging
+ *
+ * @reboot_required true
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_BACKEND, 3);
+
 /**
 * Battery-only Logging
 *
@@ -48,8 +48,8 @@ void AckermannActControl::updateParams()
 		_servo_setpoint.setSlewRate((M_DEG_TO_RAD_F * _param_ra_str_rate_limit.get()) / _param_ra_max_str_ang.get());
 	}

-	if (_param_ro_accel_limit.get() > FLT_EPSILON && _param_ro_max_thr_speed.get() > FLT_EPSILON) {
-		_motor_setpoint.setSlewRate(_param_ro_accel_limit.get() / _param_ro_max_thr_speed.get());
+	if (_param_sv_accel_limit.get() > FLT_EPSILON && _param_sv_max_thr_speed.get() > FLT_EPSILON) {
+		_motor_setpoint.setSlewRate(_param_sv_accel_limit.get() / _param_sv_max_thr_speed.get());
 	}
 }

@@ -60,10 +60,10 @@ void AckermannActControl::updateActControl()
 	const float dt = math::constrain(_timestamp - timestamp_prev, 1_ms, 10_ms) * 1e-6f;

 	// Motor control
-	if (_rover_throttle_setpoint_sub.updated()) {
-		rover_throttle_setpoint_s rover_throttle_setpoint{};
-		_rover_throttle_setpoint_sub.copy(&rover_throttle_setpoint);
-		_throttle_setpoint = rover_throttle_setpoint.throttle_body_x;
+	if (_surface_vehicle_throttle_setpoint_sub.updated()) {
+		surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+		_surface_vehicle_throttle_setpoint_sub.copy(&surface_vehicle_throttle_setpoint);
+		_throttle_setpoint = surface_vehicle_throttle_setpoint.throttle_body_x;
 	}

 	if (PX4_ISFINITE(_throttle_setpoint)) {
@@ -71,19 +71,19 @@ void AckermannActControl::updateActControl()
 		_actuator_motors_sub.copy(&actuator_motors_sub);
 		actuator_motors_s actuator_motors{};
 		actuator_motors.reversible_flags = _param_r_rev.get();
-		actuator_motors.control[0] = RoverControl::throttleControl(_motor_setpoint,
-					     _throttle_setpoint, actuator_motors_sub.control[0], _param_ro_accel_limit.get(),
-					     _param_ro_decel_limit.get(), _param_ro_max_thr_speed.get(), dt);
+		actuator_motors.control[0] = SurfaceVehicleControl::throttleControl(_motor_setpoint,
+					     _throttle_setpoint, actuator_motors_sub.control[0], _param_sv_accel_limit.get(),
+					     _param_sv_decel_limit.get(), _param_sv_max_thr_speed.get(), dt);
 		actuator_motors.timestamp = _timestamp;
 		_actuator_motors_pub.publish(actuator_motors);

 	}

 	// Servo control
-	if (_rover_steering_setpoint_sub.updated()) {
-		rover_steering_setpoint_s rover_steering_setpoint{};
-		_rover_steering_setpoint_sub.copy(&rover_steering_setpoint);
-		_steering_setpoint = rover_steering_setpoint.normalized_steering_setpoint;
+	if (_surface_vehicle_steering_setpoint_sub.updated()) {
+		surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+		_surface_vehicle_steering_setpoint_sub.copy(&surface_vehicle_steering_setpoint);
+		_steering_setpoint = surface_vehicle_steering_setpoint.normalized_steering_setpoint;
 	}

 	if (PX4_ISFINITE(_steering_setpoint)) {
@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>

 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>

@@ -46,8 +46,8 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_motors.h>
 #include <uORB/topics/actuator_servos.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>

 /**
 * @brief Class for ackermann actuator control.
@@ -63,7 +63,7 @@ public:
 	~AckermannActControl() = default;

 	/**
-	 * @brief Generate and publish actuatorMotors/actuatorServos setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
+	 * @brief Generate and publish actuatorMotors/actuatorServos setpoints from SurfaceVehicleThrottleSetpoint/SurfaceVehicleSteeringSetpoint.
 	 */
 	void updateActControl();

@@ -83,8 +83,8 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _actuator_servos_sub{ORB_ID(actuator_servos)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
-	uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
+	uORB::Subscription _surface_vehicle_steering_setpoint_sub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Subscription _surface_vehicle_throttle_setpoint_sub{ORB_ID(surface_vehicle_throttle_setpoint)};

 	// uORB publications
 	uORB::Publication<actuator_motors_s> 	     _actuator_motors_pub{ORB_ID(actuator_motors)};
@@ -104,8 +104,8 @@ private:
 		(ParamInt<px4::params::CA_R_REV>) 	    _param_r_rev,
 		(ParamFloat<px4::params::RA_STR_RATE_LIM>)  _param_ra_str_rate_limit,
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
-		(ParamFloat<px4::params::RO_ACCEL_LIM>)     _param_ro_accel_limit,
-		(ParamFloat<px4::params::RO_DECEL_LIM>)     _param_ro_decel_limit,
-		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed
+		(ParamFloat<px4::params::SV_ACCEL_LIM>)     _param_sv_accel_limit,
+		(ParamFloat<px4::params::SV_DECEL_LIM>)     _param_sv_decel_limit,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed
 	)
 };
@@ -37,8 +37,8 @@ using namespace time_literals;

 AckermannAttControl::AckermannAttControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_status_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_status_pub.advertise();
 	updateParams();
 }

@@ -46,12 +46,12 @@ void AckermannAttControl::updateParams()
 {
 	ModuleParams::updateParams();

-	if (_param_ro_yaw_rate_limit.get() > FLT_EPSILON) {
-		_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	if (_param_sv_yaw_rate_limit.get() > FLT_EPSILON) {
+		_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
 	}

 	// Set up PID controller
-	_pid_yaw.setGains(_param_ro_yaw_p.get(), 0.f, 0.f);
+	_pid_yaw.setGains(_param_sv_yaw_p.get(), 0.f, 0.f);
 	_pid_yaw.setIntegralLimit(0.f);
 	_pid_yaw.setOutputLimit(_max_yaw_rate);

@@ -73,22 +73,22 @@ void AckermannAttControl::updateAttControl()
 					      _param_ra_wheel_base.get(); // Maximum possible yaw rate at current velocity
 		float yaw_slew_rate = math::min(max_possible_yaw_rate, _max_yaw_rate);

-		float yaw_rate_setpoint = RoverControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
+		float yaw_rate_setpoint = SurfaceVehicleControl::attitudeControl(_adjusted_yaw_setpoint, _pid_yaw, yaw_slew_rate,
 					  _vehicle_yaw, _yaw_setpoint, dt);

-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = _timestamp;
-		rover_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = _timestamp;
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = math::constrain(yaw_rate_setpoint, -_max_yaw_rate, _max_yaw_rate);
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);

 	}

 	// Publish attitude controller status (logging only)
-	rover_attitude_status_s rover_attitude_status;
-	rover_attitude_status.timestamp = _timestamp;
-	rover_attitude_status.measured_yaw = _vehicle_yaw;
-	rover_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
-	_rover_attitude_status_pub.publish(rover_attitude_status);
+	surface_vehicle_attitude_status_s surface_vehicle_attitude_status;
+	surface_vehicle_attitude_status.timestamp = _timestamp;
+	surface_vehicle_attitude_status.measured_yaw = _vehicle_yaw;
+	surface_vehicle_attitude_status.adjusted_yaw_setpoint = matrix::wrap_pi(_adjusted_yaw_setpoint.getState());
+	_surface_vehicle_attitude_status_pub.publish(surface_vehicle_attitude_status);

 }

@@ -106,13 +106,13 @@ void AckermannAttControl::updateSubscriptions()
 		actuator_motors_s actuator_motors;
 		_actuator_motors_sub.copy(&actuator_motors);
 		_estimated_speed_body_x = math::interpolate<float> (actuator_motors.control[0], -1.f, 1.f,
-					  -_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
+					  -_param_sv_max_thr_speed.get(), _param_sv_max_thr_speed.get());
 	}

-	if (_rover_attitude_setpoint_sub.updated()) {
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		_rover_attitude_setpoint_sub.copy(&rover_attitude_setpoint);
-		_yaw_setpoint = rover_attitude_setpoint.yaw_setpoint;
+	if (_surface_vehicle_attitude_setpoint_sub.updated()) {
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		_surface_vehicle_attitude_setpoint_sub.copy(&surface_vehicle_attitude_setpoint);
+		_yaw_setpoint = surface_vehicle_attitude_setpoint.yaw_setpoint;
 	}
 }

@@ -120,7 +120,7 @@ bool AckermannAttControl::runSanityChecks()
 {
 	bool ret = true;

-	if (_param_ro_max_thr_speed.get() < FLT_EPSILON) {
+	if (_param_sv_max_thr_speed.get() < FLT_EPSILON) {
 		ret = false;
 	}

@@ -132,7 +132,7 @@ bool AckermannAttControl::runSanityChecks()
 		ret = false;
 	}

-	if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
+	if (_param_sv_yaw_rate_limit.get() < FLT_EPSILON) {
 		ret = false;
 	}

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>

 // Library includes
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <math.h>
@@ -46,10 +46,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/rover_attitude_status.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_status.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/actuator_motors.h>

 /**
@@ -66,7 +66,7 @@ public:
 	~AckermannAttControl() = default;

 	/**
-	 * @brief Generate and publish roverRateSetpoint from roverAttitudeSetpoint.
+	 * @brief Generate and publish SurfaceVehicleRateSetpoint from SurfaceVehicleAttitudeSetpoint.
 	 */
 	void updateAttControl();

@@ -96,18 +96,18 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
-	uORB::Subscription _rover_attitude_setpoint_sub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Subscription _surface_vehicle_attitude_setpoint_sub{ORB_ID(surface_vehicle_attitude_setpoint)};

 	// uORB publications
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_status_s>   _rover_attitude_status_pub{ORB_ID(rover_attitude_status)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_status_s>   _surface_vehicle_attitude_status_pub{ORB_ID(surface_vehicle_attitude_status)};

 	// Variables
 	float _vehicle_yaw{0.f};
 	hrt_abstime _timestamp{0};
 	float _max_yaw_rate{0.f};
 	float _estimated_speed_body_x{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed_body_x]
-					       between [0, 0] and [1, _param_ro_max_thr_speed].*/
+					       between [0, 0] and [1, _param_sv_max_thr_speed].*/
 	float _yaw_setpoint{NAN};

 	// Controllers
@@ -116,11 +116,11 @@ private:

 	// Parameters
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
 		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
-		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
-		(ParamFloat<px4::params::RO_YAW_P>)         _param_ro_yaw_p,
-		(ParamFloat<px4::params::RO_YAW_STICK_DZ>)  _param_ro_yaw_stick_dz
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_P>)         _param_sv_yaw_p,
+		(ParamFloat<px4::params::SV_YAW_STICK_DZ>)  _param_sv_yaw_stick_dz
 	)
 };
@@ -38,13 +38,13 @@ using namespace time_literals;
 AckermannAutoMode::AckermannAutoMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }

 void AckermannAutoMode::updateParams()
 {
 	ModuleParams::updateParams();
-	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;

 	if (_param_ra_wheel_base.get() > FLT_EPSILON && _max_yaw_rate > FLT_EPSILON
 	    && _param_ra_max_str_ang.get() > FLT_EPSILON) {
@@ -70,17 +70,18 @@ void AckermannAutoMode::autoControl()

 		updateWaypointsAndAcceptanceRadius();

-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = _curr_wp_ned(0);
-		rover_position_setpoint.position_ned[1] = _curr_wp_ned(1);
-		rover_position_setpoint.start_ned[0] = _prev_wp_ned(0);
-		rover_position_setpoint.start_ned[1] = _prev_wp_ned(1);
-		rover_position_setpoint.arrival_speed = arrivalSpeed(_cruising_speed, _min_speed, _acceptance_radius, _curr_wp_type,
-							_waypoint_transition_angle, _max_yaw_rate);
-		rover_position_setpoint.cruising_speed = _cruising_speed;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = _curr_wp_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = _curr_wp_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _prev_wp_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _prev_wp_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = arrivalSpeed(_cruising_speed, _min_speed, _acceptance_radius,
+				_curr_wp_type,
+				_waypoint_transition_angle, _max_yaw_rate);
+		surface_vehicle_position_setpoint.cruising_speed = _cruising_speed;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}

 }
@@ -91,10 +92,11 @@ void AckermannAutoMode::updateWaypointsAndAcceptanceRadius()
 	_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
 	_curr_wp_type = position_setpoint_triplet.current.type;

-	RoverControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
+	SurfaceVehicleControl::globalToLocalSetpointTriplet(_curr_wp_ned, _prev_wp_ned, _next_wp_ned, position_setpoint_triplet,
 			_curr_pos_ned, _global_ned_proj_ref);

-	_waypoint_transition_angle = RoverControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned, _next_wp_ned);
+	_waypoint_transition_angle = SurfaceVehicleControl::calcWaypointTransitionAngle(_prev_wp_ned, _curr_wp_ned,
+				     _next_wp_ned);

 	// Update acceptance radius
 	if (_param_ra_acc_rad_max.get() >= _param_nav_acc_rad.get()) {
@@ -107,7 +109,7 @@ void AckermannAutoMode::updateWaypointsAndAcceptanceRadius()

 	// Waypoint cruising speed
 	_cruising_speed = position_setpoint_triplet.current.cruising_speed > 0.f ? math::constrain(
-				  position_setpoint_triplet.current.cruising_speed, 0.f, _param_ro_speed_limit.get()) : _param_ro_speed_limit.get();
+				  position_setpoint_triplet.current.cruising_speed, 0.f, _param_sv_speed_limit.get()) : _param_sv_speed_limit.get();
 }

 float AckermannAutoMode::updateAcceptanceRadius(const float waypoint_transition_angle,
@@ -143,11 +145,11 @@ float AckermannAutoMode::arrivalSpeed(const float cruising_speed, const float mi
 	    || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
 		return 0.f; // Stop at the waypoint

-	} else if (_param_ro_speed_red.get() > FLT_EPSILON) {
-		const float speed_reduction = math::constrain(_param_ro_speed_red.get() * math::interpolate(
+	} else if (_param_sv_speed_red.get() > FLT_EPSILON) {
+		const float speed_reduction = math::constrain(_param_sv_speed_red.get() * math::interpolate(
 						      M_PI_F - waypoint_transition_angle,
 						      0.f, M_PI_F, 0.f, 1.f), 0.f, 1.f);
-		return math::constrain(_param_ro_max_thr_speed.get() * (1.f - speed_reduction), min_speed,
+		return math::constrain(_param_sv_max_thr_speed.get() * (1.f - speed_reduction), min_speed,
 				       cruising_speed); // Slow down for cornering
 	}

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>

 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>

 // uORB includes
@@ -46,7 +46,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/position_controller_status.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>

 /**
 * @brief Class for ackermann auto mode.
@@ -62,7 +62,7 @@ public:
 	~AckermannAutoMode() = default;

 	/**
-	 * @brief Generate and publish roverPositionSetpoint from positionSetpointTriplet.
+	 * @brief Generate and publish SurfaceVehiclePositionSetpoint from positionSetpointTriplet.
 	 */
 	void autoControl();

@@ -110,7 +110,7 @@ private:
 	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};

 	// uORB publications
-	uORB::Publication<rover_position_setpoint_s>    _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s>    _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
 	uORB::Publication<position_controller_status_s>	_position_controller_status_pub{ORB_ID(position_controller_status)};

 	// Variables
@@ -127,14 +127,14 @@ private:
 	int _curr_wp_type{position_setpoint_s::SETPOINT_TYPE_IDLE};

 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
-		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit,
 		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
 		(ParamFloat<px4::params::NAV_ACC_RAD>)      _param_nav_acc_rad,
 		(ParamFloat<px4::params::RA_ACC_RAD_MAX>)   _param_ra_acc_rad_max,
 		(ParamFloat<px4::params::RA_ACC_RAD_GAIN>)  _param_ra_acc_rad_gain,
-		(ParamFloat<px4::params::RO_SPEED_RED>)     _param_ro_speed_red,
-		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed
+		(ParamFloat<px4::params::SV_SPEED_RED>)     _param_sv_speed_red,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed
 	)
 };
@@ -38,50 +38,50 @@ using namespace time_literals;
 AckermannManualMode::AckermannManualMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_throttle_setpoint_pub.advertise();
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
+	_surface_vehicle_throttle_setpoint_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
 }

 void AckermannManualMode::updateParams()
 {
 	ModuleParams::updateParams();
-	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
 }

 void AckermannManualMode::manual()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_steering_setpoint_s rover_steering_setpoint{};
-	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
-	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+	surface_vehicle_steering_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
+	_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
 }

 void AckermannManualMode::acro()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
-	rover_rate_setpoint_s rover_rate_setpoint{};
-	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-						math::superexpo<float>
-						(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);
+	surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+	surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+			math::superexpo<float>
+			(manual_control_setpoint.roll, _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+	_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);
 }

 void AckermannManualMode::stab()
@@ -95,39 +95,39 @@ void AckermannManualMode::stab()

 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
-	rover_throttle_setpoint_s rover_throttle_setpoint{};
-	rover_throttle_setpoint.timestamp = hrt_absolute_time();
-	rover_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
-	rover_throttle_setpoint.throttle_body_y = 0.f;
-	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
+	surface_vehicle_throttle_setpoint_s surface_vehicle_throttle_setpoint{};
+	surface_vehicle_throttle_setpoint.timestamp = hrt_absolute_time();
+	surface_vehicle_throttle_setpoint.throttle_body_x = manual_control_setpoint.throttle;
+	surface_vehicle_throttle_setpoint.throttle_body_y = 0.f;
+	_surface_vehicle_throttle_setpoint_pub.publish(surface_vehicle_throttle_setpoint);

 	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
-	    || fabsf(rover_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
+	    || fabsf(surface_vehicle_throttle_setpoint.throttle_body_x) < FLT_EPSILON) {
 		_stab_yaw_setpoint = NAN;

 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
-									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_sv_yaw_stick_dz.get()), _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);

 		// Set uncontrolled setpoint invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);

 	} else { // Heading control
 		if (!PX4_ISFINITE(_stab_yaw_setpoint)) {
 			_stab_yaw_setpoint = _vehicle_yaw;
 		}

-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = _stab_yaw_setpoint;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }

@@ -157,42 +157,42 @@ void AckermannManualMode::position()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);

 	const float speed_setpoint = math::interpolate<float>(manual_control_setpoint.throttle,
-				     -1.f, 1.f, -_param_ro_speed_limit.get(), _param_ro_speed_limit.get());
+				     -1.f, 1.f, -_param_sv_speed_limit.get(), _param_sv_speed_limit.get());

 	if (fabsf(manual_control_setpoint.roll) > FLT_EPSILON
 	    || fabsf(speed_setpoint) < FLT_EPSILON) {
 		_pos_ctl_course_direction = Vector2f(NAN, NAN);

 		// Speed control
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = speed_setpoint;
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);

 		// Rate control
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
-							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
-									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
-		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		surface_vehicle_rate_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+				math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+						       _param_sv_yaw_stick_dz.get()), _param_sv_yaw_expo.get(), _param_sv_yaw_supexpo.get());
+		_surface_vehicle_rate_setpoint_pub.publish(surface_vehicle_rate_setpoint);

 		// Set uncontrolled setpoints invalid
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = NAN;
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = NAN;
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);

-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = NAN;
-		rover_position_setpoint.position_ned[1] = NAN;
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = NAN;
+		surface_vehicle_position_setpoint.position_ned[1] = NAN;
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);

 	} else { // Course control
 		if (!_pos_ctl_course_direction.isAllFinite()) {
@@ -205,16 +205,16 @@ void AckermannManualMode::position()
 		const float vector_scaling = fabsf(start_to_curr_pos * _pos_ctl_course_direction) + _param_pp_lookahd_max.get();
 		const Vector2f target_waypoint_ned = _pos_ctl_start_position_ned + sign(speed_setpoint) *
 						     vector_scaling * _pos_ctl_course_direction;
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = target_waypoint_ned(0);
-		rover_position_setpoint.position_ned[1] = target_waypoint_ned(1);
-		rover_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
-		rover_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.cruising_speed = speed_setpoint;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = target_waypoint_ned(0);
+		surface_vehicle_position_setpoint.position_ned[1] = target_waypoint_ned(1);
+		surface_vehicle_position_setpoint.start_ned[0] = _pos_ctl_start_position_ned(0);
+		surface_vehicle_position_setpoint.start_ned[1] = _pos_ctl_start_position_ned(1);
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = speed_setpoint;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);
 	}
 }

@@ -37,7 +37,7 @@
 #include <px4_platform_common/module_params.h>

 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <math.h>

 // uORB includes
@@ -47,12 +47,12 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/rover_throttle_setpoint.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_throttle_setpoint.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>

 /**
 * @brief Class for ackermann manual mode.
@@ -68,22 +68,22 @@ public:
 	~AckermannManualMode() = default;

 	/**
-	 * @brief Publish roverThrottleSetpoint and roverSteeringSetpoint from manualControlSetpoint.
+	 * @brief Publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleSteeringSetpoint from manualControlSetpoint.
 	 */
 	void manual();

 	/**
-	 * @brief Generate and publish roverThrottleSetpoint and RoverRateSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleRateSetpoint from manualControlSetpoint.
 	 */
 	void acro();

 	/**
-	 * @brief Generate and publish roverThrottleSetpoint and RoverAttitudeSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleThrottleSetpoint and SurfaceVehicleAttitudeSetpoint from manualControlSetpoint.
 	 */
 	void stab();

 	/**
-	 * @brief Generate and publish roverSpeedSetpoint/roverRateSetpoint or roverPositionSetpoint from manualControlSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint/SurfaceVehicleRateSetpoint or SurfaceVehiclePositionSetpoint from manualControlSetpoint.
 	 */
 	void position();

@@ -105,12 +105,12 @@ private:
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};

 	// uORB publications
-	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_setpoint_s>     _rover_rate_setpoint_pub{ORB_ID(rover_rate_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
-	uORB::Publication<rover_speed_setpoint_s>    _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
+	uORB::Publication<surface_vehicle_throttle_setpoint_s> _surface_vehicle_throttle_setpoint_pub{ORB_ID(surface_vehicle_throttle_setpoint)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_setpoint_s>     _surface_vehicle_rate_setpoint_pub{ORB_ID(surface_vehicle_rate_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};

 	// Variables
 	MapProjection _global_ned_proj_ref{}; // Transform global to NED coordinates
@@ -123,12 +123,12 @@ private:
 	float _max_yaw_rate{NAN};

 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
-		(ParamFloat<px4::params::RO_YAW_P>)         _param_ro_yaw_p,
-		(ParamFloat<px4::params::RO_YAW_STICK_DZ>)  _param_ro_yaw_stick_dz,
-		(ParamFloat<px4::params::RO_YAW_EXPO>)      _param_ro_yaw_expo,
-		(ParamFloat<px4::params::RO_YAW_SUPEXPO>)   _param_ro_yaw_supexpo,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_P>)         _param_sv_yaw_p,
+		(ParamFloat<px4::params::SV_YAW_STICK_DZ>)  _param_sv_yaw_stick_dz,
+		(ParamFloat<px4::params::SV_YAW_EXPO>)      _param_sv_yaw_expo,
+		(ParamFloat<px4::params::SV_YAW_SUPEXPO>)   _param_sv_yaw_supexpo,
 		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
-		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit
 	)
 };
@@ -38,9 +38,9 @@ using namespace time_literals;
 AckermannOffboardMode::AckermannOffboardMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_position_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_position_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();
 }

 void AckermannOffboardMode::updateParams()
@@ -57,26 +57,26 @@ void AckermannOffboardMode::offboardControl()
 	_trajectory_setpoint_sub.copy(&trajectory_setpoint);

 	if (offboard_control_mode.position) {
-		rover_position_setpoint_s rover_position_setpoint{};
-		rover_position_setpoint.timestamp = hrt_absolute_time();
-		rover_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
-		rover_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
-		rover_position_setpoint.start_ned[0] = NAN;
-		rover_position_setpoint.start_ned[1] = NAN;
-		rover_position_setpoint.cruising_speed = NAN;
-		rover_position_setpoint.arrival_speed = NAN;
-		rover_position_setpoint.yaw = NAN;
-		_rover_position_setpoint_pub.publish(rover_position_setpoint);
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint{};
+		surface_vehicle_position_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_position_setpoint.position_ned[0] = trajectory_setpoint.position[0];
+		surface_vehicle_position_setpoint.position_ned[1] = trajectory_setpoint.position[1];
+		surface_vehicle_position_setpoint.start_ned[0] = NAN;
+		surface_vehicle_position_setpoint.start_ned[1] = NAN;
+		surface_vehicle_position_setpoint.cruising_speed = NAN;
+		surface_vehicle_position_setpoint.arrival_speed = NAN;
+		surface_vehicle_position_setpoint.yaw = NAN;
+		_surface_vehicle_position_setpoint_pub.publish(surface_vehicle_position_setpoint);

 	} else if (offboard_control_mode.velocity) {
 		const Vector2f velocity_ned(trajectory_setpoint.velocity[0], trajectory_setpoint.velocity[1]);
-		rover_speed_setpoint_s rover_speed_setpoint{};
-		rover_speed_setpoint.timestamp = hrt_absolute_time();
-		rover_speed_setpoint.speed_body_x = velocity_ned.norm();
-		_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-		rover_attitude_setpoint_s rover_attitude_setpoint{};
-		rover_attitude_setpoint.timestamp = hrt_absolute_time();
-		rover_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
-		_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+		surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+		surface_vehicle_speed_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_speed_setpoint.speed_body_x = velocity_ned.norm();
+		_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+		surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+		surface_vehicle_attitude_setpoint.timestamp = hrt_absolute_time();
+		surface_vehicle_attitude_setpoint.yaw_setpoint = atan2f(velocity_ned(1), velocity_ned(0));
+		_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);
 	}
 }
@@ -43,9 +43,9 @@
 // uORB includes
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
-#include <uORB/topics/rover_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
 #include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/trajectory_setpoint.h>

@@ -81,7 +81,7 @@ private:
 	uORB::Subscription _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};

 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s>    _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_position_setpoint_s> _rover_position_setpoint_pub{ORB_ID(rover_position_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s>    _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_position_setpoint_s> _surface_vehicle_position_setpoint_pub{ORB_ID(surface_vehicle_position_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 };
@@ -38,8 +38,8 @@ using namespace time_literals;
 AckermannPosControl::AckermannPosControl(ModuleParams *parent) : ModuleParams(parent)
 {
 	_pure_pursuit_status_pub.advertise();
-	_rover_speed_setpoint_pub.advertise();
-	_rover_attitude_setpoint_pub.advertise();
+	_surface_vehicle_speed_setpoint_pub.advertise();
+	_surface_vehicle_attitude_setpoint_pub.advertise();

 	updateParams();
 }
@@ -47,7 +47,7 @@ AckermannPosControl::AckermannPosControl(ModuleParams *parent) : ModuleParams(pa
 void AckermannPosControl::updateParams()
 {
 	ModuleParams::updateParams();
-	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
 	_min_speed = _param_ra_wheel_base.get() * _max_yaw_rate / tanf(_param_ra_max_str_ang.get());

 }
@@ -67,8 +67,8 @@ void AckermannPosControl::updatePosControl()

 		if (distance_to_target > _acceptance_radius || _arrival_speed > FLT_EPSILON) {

-			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
-					       _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
+			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_sv_jerk_limit.get(),
+					       _param_sv_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
 			speed_setpoint = math::min(speed_setpoint, _cruising_speed);

 			pure_pursuit_status_s pure_pursuit_status{};
@@ -78,35 +78,35 @@ void AckermannPosControl::updatePosControl()
 						       _param_pp_lookahd_max.get(), _param_pp_lookahd_min.get(), _target_waypoint_ned, _start_ned,
 						       _curr_pos_ned, fabsf(speed_setpoint));

-			if (_param_ro_speed_red.get() > FLT_EPSILON) {
+			if (_param_sv_speed_red.get() > FLT_EPSILON) {
 				const float course_error = fabsf(matrix::wrap_pi(bearing_setpoint - _vehicle_yaw));
-				const float speed_reduction = math::constrain(_param_ro_speed_red.get() * math::interpolate(course_error,
+				const float speed_reduction = math::constrain(_param_sv_speed_red.get() * math::interpolate(course_error,
 							      0.f, M_PI_F, 0.f, 1.f), 0.f, 1.f);
-				const float max_speed = math::constrain(_param_ro_max_thr_speed.get() * (1.f - speed_reduction), _min_speed,
-									_param_ro_max_thr_speed.get());
+				const float max_speed = math::constrain(_param_sv_max_thr_speed.get() * (1.f - speed_reduction), _min_speed,
+									_param_sv_max_thr_speed.get());
 				speed_setpoint = math::constrain(speed_setpoint, -max_speed, max_speed);
 			}

 			_pure_pursuit_status_pub.publish(pure_pursuit_status);
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = speed_setpoint;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
-					bearing_setpoint + M_PI_F);
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = speed_setpoint;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = speed_setpoint > -FLT_EPSILON ? bearing_setpoint : matrix::wrap_pi(
+						bearing_setpoint + M_PI_F);
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);

 		} else {
-			rover_speed_setpoint_s rover_speed_setpoint{};
-			rover_speed_setpoint.timestamp = timestamp;
-			rover_speed_setpoint.speed_body_x = 0.f;
-			_rover_speed_setpoint_pub.publish(rover_speed_setpoint);
-			rover_attitude_setpoint_s rover_attitude_setpoint{};
-			rover_attitude_setpoint.timestamp = timestamp;
-			rover_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
-			_rover_attitude_setpoint_pub.publish(rover_attitude_setpoint);
+			surface_vehicle_speed_setpoint_s surface_vehicle_speed_setpoint{};
+			surface_vehicle_speed_setpoint.timestamp = timestamp;
+			surface_vehicle_speed_setpoint.speed_body_x = 0.f;
+			_surface_vehicle_speed_setpoint_pub.publish(surface_vehicle_speed_setpoint);
+			surface_vehicle_attitude_setpoint_s surface_vehicle_attitude_setpoint{};
+			surface_vehicle_attitude_setpoint.timestamp = timestamp;
+			surface_vehicle_attitude_setpoint.yaw_setpoint = _vehicle_yaw;
+			_surface_vehicle_attitude_setpoint_pub.publish(surface_vehicle_attitude_setpoint);

 			if (!_stopped && fabsf(_vehicle_speed) < FLT_EPSILON) {
 				_stopped = true;
@@ -144,18 +144,21 @@ void AckermannPosControl::updateSubscriptions()
 		Vector3f velocity_ned(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
 		Vector3f velocity_xyz = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_ned);
 		Vector2f velocity_2d = Vector2f(velocity_xyz(0), velocity_xyz(1));
-		_vehicle_speed = velocity_2d.norm() > _param_ro_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
+		_vehicle_speed = velocity_2d.norm() > _param_sv_speed_th.get() ? sign(velocity_2d(0)) * velocity_2d.norm() : 0.f;
 	}

-	if (_rover_position_setpoint_sub.updated()) {
-		rover_position_setpoint_s rover_position_setpoint;
-		_rover_position_setpoint_sub.copy(&rover_position_setpoint);
-		_start_ned = Vector2f(rover_position_setpoint.start_ned[0], rover_position_setpoint.start_ned[1]);
+	if (_surface_vehicle_position_setpoint_sub.updated()) {
+		surface_vehicle_position_setpoint_s surface_vehicle_position_setpoint;
+		_surface_vehicle_position_setpoint_sub.copy(&surface_vehicle_position_setpoint);
+		_start_ned = Vector2f(surface_vehicle_position_setpoint.start_ned[0], surface_vehicle_position_setpoint.start_ned[1]);
 		_start_ned = _start_ned.isAllFinite() ? _start_ned : _curr_pos_ned;
-		_arrival_speed = PX4_ISFINITE(rover_position_setpoint.arrival_speed) ? rover_position_setpoint.arrival_speed : 0.f;
-		_cruising_speed = PX4_ISFINITE(rover_position_setpoint.cruising_speed) ? rover_position_setpoint.cruising_speed :
-				  _param_ro_speed_limit.get();
-		_target_waypoint_ned = Vector2f(rover_position_setpoint.position_ned[0], rover_position_setpoint.position_ned[1]);
+		_arrival_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.arrival_speed) ?
+				 surface_vehicle_position_setpoint.arrival_speed : 0.f;
+		_cruising_speed = PX4_ISFINITE(surface_vehicle_position_setpoint.cruising_speed) ?
+				  surface_vehicle_position_setpoint.cruising_speed :
+				  _param_sv_speed_limit.get();
+		_target_waypoint_ned = Vector2f(surface_vehicle_position_setpoint.position_ned[0],
+						surface_vehicle_position_setpoint.position_ned[1]);
 		_stopped = false;
 	}

@@ -165,7 +168,7 @@ bool AckermannPosControl::runSanityChecks()
 {
 	bool ret = true;

-	if (_param_ro_speed_limit.get() < FLT_EPSILON) {
+	if (_param_sv_speed_limit.get() < FLT_EPSILON) {
 		ret = false;
 	}

@@ -45,9 +45,9 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_position_setpoint.h>
-#include <uORB/topics/rover_speed_setpoint.h>
-#include <uORB/topics/rover_attitude_setpoint.h>
+#include <uORB/topics/surface_vehicle_position_setpoint.h>
+#include <uORB/topics/surface_vehicle_speed_setpoint.h>
+#include <uORB/topics/surface_vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_controller_status.h>
@@ -69,7 +69,7 @@ public:
 	~AckermannPosControl() = default;

 	/**
-	 * @brief Generate and publish roverSpeedSetpoint and roverAttitudeSetpoint from roverPositionSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSpeedSetpoint and SurfaceVehicleAttitudeSetpoint from SurfaceVehiclePositionSetpoint.
 	 */
 	void updatePosControl();

@@ -82,7 +82,7 @@ public:
 	/**
 	 * @brief Reset position controller.
 	 */
-	void reset() {_start_ned = Vector2f{NAN, NAN}; _target_waypoint_ned = Vector2f{NAN, NAN}; _arrival_speed = 0.f; _cruising_speed = _param_ro_speed_limit.get(); _stopped = false;};
+	void reset() {_start_ned = Vector2f{NAN, NAN}; _target_waypoint_ned = Vector2f{NAN, NAN}; _arrival_speed = 0.f; _cruising_speed = _param_sv_speed_limit.get(); _stopped = false;};

 protected:
 	/**
@@ -99,12 +99,12 @@ private:
 	// uORB subscriptions
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _rover_position_setpoint_sub{ORB_ID(rover_position_setpoint)};
+	uORB::Subscription _surface_vehicle_position_setpoint_sub{ORB_ID(surface_vehicle_position_setpoint)};
 	uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};

 	// uORB publications
-	uORB::Publication<rover_speed_setpoint_s> _rover_speed_setpoint_pub{ORB_ID(rover_speed_setpoint)};
-	uORB::Publication<rover_attitude_setpoint_s> _rover_attitude_setpoint_pub{ORB_ID(rover_attitude_setpoint)};
+	uORB::Publication<surface_vehicle_speed_setpoint_s> _surface_vehicle_speed_setpoint_pub{ORB_ID(surface_vehicle_speed_setpoint)};
+	uORB::Publication<surface_vehicle_attitude_setpoint_s> _surface_vehicle_attitude_setpoint_pub{ORB_ID(surface_vehicle_attitude_setpoint)};
 	uORB::Publication<pure_pursuit_status_s>     _pure_pursuit_status_pub{ORB_ID(pure_pursuit_status)};

 	// Variables
@@ -124,17 +124,17 @@ private:
 	uint8_t _updated_reset_counter{0}; /**< counter for estimator resets in xy-direction */

 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
-		(ParamFloat<px4::params::RO_SPEED_RED>)     _param_ro_speed_red,
-		(ParamFloat<px4::params::RO_DECEL_LIM>)     _param_ro_decel_limit,
-		(ParamFloat<px4::params::RO_JERK_LIM>)      _param_ro_jerk_limit,
-		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
+		(ParamFloat<px4::params::SV_SPEED_RED>)     _param_sv_speed_red,
+		(ParamFloat<px4::params::SV_DECEL_LIM>)     _param_sv_decel_limit,
+		(ParamFloat<px4::params::SV_JERK_LIM>)      _param_sv_jerk_limit,
+		(ParamFloat<px4::params::SV_SPEED_LIM>)     _param_sv_speed_limit,
 		(ParamFloat<px4::params::PP_LOOKAHD_GAIN>)  _param_pp_lookahd_gain,
 		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
 		(ParamFloat<px4::params::PP_LOOKAHD_MIN>)   _param_pp_lookahd_min,
-		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
 		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
-		(ParamFloat<px4::params::RO_SPEED_TH>)      _param_ro_speed_th
+		(ParamFloat<px4::params::SV_SPEED_TH>)      _param_sv_speed_th
 	)
 };
@@ -37,23 +37,23 @@ using namespace time_literals;

 AckermannRateControl::AckermannRateControl(ModuleParams *parent) : ModuleParams(parent)
 {
-	_rover_steering_setpoint_pub.advertise();
-	_rover_rate_status_pub.advertise();
+	_surface_vehicle_steering_setpoint_pub.advertise();
+	_surface_vehicle_rate_status_pub.advertise();
 	updateParams();
 }

 void AckermannRateControl::updateParams()
 {
 	ModuleParams::updateParams();
-	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
+	_max_yaw_rate = _param_sv_yaw_rate_limit.get() * M_DEG_TO_RAD_F;

 	// Set up PID controller
-	_pid_yaw_rate.setGains(_param_ro_yaw_rate_p.get(), _param_ro_yaw_rate_i.get(), 0.f);
+	_pid_yaw_rate.setGains(_param_sv_yaw_rate_p.get(), _param_sv_yaw_rate_i.get(), 0.f);
 	_pid_yaw_rate.setIntegralLimit(1.f);
 	_pid_yaw_rate.setOutputLimit(1.f);

 	// Set up slew rate
-	_adjusted_yaw_rate_setpoint.setSlewRate(_param_ro_yaw_accel_limit.get() * M_DEG_TO_RAD_F);
+	_adjusted_yaw_rate_setpoint.setSlewRate(_param_sv_yaw_accel_limit.get() * M_DEG_TO_RAD_F);
 }

 void AckermannRateControl::updateRateControl()
@@ -73,7 +73,7 @@ void AckermannRateControl::updateRateControl()
 			float yaw_rate_limit = math::min(max_possible_yaw_rate, _max_yaw_rate);
 			float constrained_yaw_rate = math::constrain(_yaw_rate_setpoint, -yaw_rate_limit, yaw_rate_limit);

-			if (_param_ro_yaw_accel_limit.get() > FLT_EPSILON) { // Apply slew rate if configured
+			if (_param_sv_yaw_accel_limit.get() > FLT_EPSILON) { // Apply slew rate if configured
 				if (fabsf(_adjusted_yaw_rate_setpoint.getState() - _vehicle_yaw_rate) > fabsf(constrained_yaw_rate -
 						_vehicle_yaw_rate)) {
 					_adjusted_yaw_rate_setpoint.setForcedValue(_vehicle_yaw_rate);
@@ -87,7 +87,7 @@ void AckermannRateControl::updateRateControl()

 			// Feed forward
 			steering_setpoint = atanf(_adjusted_yaw_rate_setpoint.getState() * _param_ra_wheel_base.get() / _estimated_speed) *
-					    _param_ro_yaw_rate_corr.get();
+					    _param_sv_yaw_rate_corr.get();

 			// Feedback (Only when driving forwards because backwards driving is NMP and can introduce instability)
 			if (_estimated_speed > FLT_EPSILON) {
@@ -95,29 +95,29 @@ void AckermannRateControl::updateRateControl()
 				steering_setpoint += _pid_yaw_rate.update(_vehicle_yaw_rate, dt);
 			}

-			rover_steering_setpoint_s rover_steering_setpoint{};
-			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = math::interpolate<float>(steering_setpoint,
 					-_param_ra_max_str_ang.get(), _param_ra_max_str_ang.get(), -1.f, 1.f); // Normalize steering setpoint
-			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);

 		} else {
 			_pid_yaw_rate.resetIntegral();
-			rover_steering_setpoint_s rover_steering_setpoint{};
-			rover_steering_setpoint.timestamp = _timestamp;
-			rover_steering_setpoint.normalized_steering_setpoint = 0.f;
-			_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
+			surface_vehicle_steering_setpoint_s surface_vehicle_steering_setpoint{};
+			surface_vehicle_steering_setpoint.timestamp = _timestamp;
+			surface_vehicle_steering_setpoint.normalized_steering_setpoint = 0.f;
+			_surface_vehicle_steering_setpoint_pub.publish(surface_vehicle_steering_setpoint);
 		}
 	}


 	// Publish rate controller status (logging only)
-	rover_rate_status_s rover_rate_status;
-	rover_rate_status.timestamp = _timestamp;
-	rover_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
-	rover_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
-	rover_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
-	_rover_rate_status_pub.publish(rover_rate_status);
+	surface_vehicle_rate_status_s surface_vehicle_rate_status;
+	surface_vehicle_rate_status.timestamp = _timestamp;
+	surface_vehicle_rate_status.measured_yaw_rate = _vehicle_yaw_rate;
+	surface_vehicle_rate_status.adjusted_yaw_rate_setpoint = _adjusted_yaw_rate_setpoint.getState();
+	surface_vehicle_rate_status.pid_yaw_rate_integral = _pid_yaw_rate.getIntegral();
+	_surface_vehicle_rate_status_pub.publish(surface_vehicle_rate_status);

 }

@@ -126,7 +126,7 @@ void AckermannRateControl::updateSubscriptions()
 	if (_vehicle_angular_velocity_sub.updated()) {
 		vehicle_angular_velocity_s vehicle_angular_velocity{};
 		_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity);
-		_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_ro_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
+		_vehicle_yaw_rate = fabsf(vehicle_angular_velocity.xyz[2]) > _param_sv_yaw_rate_th.get() * M_DEG_TO_RAD_F ?
 				    vehicle_angular_velocity.xyz[2] : 0.f;
 	}

@@ -135,14 +135,14 @@ void AckermannRateControl::updateSubscriptions()
 		actuator_motors_s actuator_motors;
 		_actuator_motors_sub.copy(&actuator_motors);
 		_estimated_speed = math::interpolate<float>(actuator_motors.control[0], -1.f, 1.f,
-				   -_param_ro_max_thr_speed.get(), _param_ro_max_thr_speed.get());
-		_estimated_speed = fabsf(_estimated_speed) >  _param_ro_speed_th.get() ? _estimated_speed : 0.f;
+				   -_param_sv_max_thr_speed.get(), _param_sv_max_thr_speed.get());
+		_estimated_speed = fabsf(_estimated_speed) >  _param_sv_speed_th.get() ? _estimated_speed : 0.f;
 	}

-	if (_rover_rate_setpoint_sub.updated()) {
-		rover_rate_setpoint_s rover_rate_setpoint{};
-		_rover_rate_setpoint_sub.copy(&rover_rate_setpoint);
-		_yaw_rate_setpoint = rover_rate_setpoint.yaw_rate_setpoint;
+	if (_surface_vehicle_rate_setpoint_sub.updated()) {
+		surface_vehicle_rate_setpoint_s surface_vehicle_rate_setpoint{};
+		_surface_vehicle_rate_setpoint_sub.copy(&surface_vehicle_rate_setpoint);
+		_yaw_rate_setpoint = surface_vehicle_rate_setpoint.yaw_rate_setpoint;
 	}
 }

@@ -150,10 +150,10 @@ bool AckermannRateControl::runSanityChecks()
 {
 	bool ret = true;

-	if (_param_ro_max_thr_speed.get() < FLT_EPSILON) {
+	if (_param_sv_max_thr_speed.get() < FLT_EPSILON) {
 		ret = false;
 		events::send<float>(events::ID("ackermann_rate_control_conf_invalid_max_thr_speed"), events::Log::Error,
-				    "Invalid configuration of necessary parameter RO_MAX_THR_SPEED", _param_ro_max_thr_speed.get());
+				    "Invalid configuration of necessary parameter SV_MAX_THR_SPEED", _param_sv_max_thr_speed.get());

 	}

@@ -171,10 +171,10 @@ bool AckermannRateControl::runSanityChecks()

 	}

-	if (_param_ro_yaw_rate_limit.get() < FLT_EPSILON) {
+	if (_param_sv_yaw_rate_limit.get() < FLT_EPSILON) {
 		ret = false;
 		events::send<float>(events::ID("ackermann_rate_control_conf_invalid_yaw_rate_lim"), events::Log::Error,
-				    "Invalid configuration of necessary parameter RO_YAW_RATE_LIM", _param_ro_yaw_rate_limit.get());
+				    "Invalid configuration of necessary parameter SV_YAW_RATE_LIM", _param_sv_yaw_rate_limit.get());

 	}

@@ -38,7 +38,7 @@
 #include <px4_platform_common/events.h>

 // Libraries
-#include <lib/rover_control/RoverControl.hpp>
+#include <lib/surface_vehicle_control/SurfaceVehicleControl.hpp>
 #include <lib/pid/PID.hpp>
 #include <lib/slew_rate/SlewRate.hpp>
 #include <math.h>
@@ -46,10 +46,10 @@
 // uORB includes
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/rover_rate_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_setpoint.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
-#include <uORB/topics/rover_steering_setpoint.h>
-#include <uORB/topics/rover_rate_status.h>
+#include <uORB/topics/surface_vehicle_steering_setpoint.h>
+#include <uORB/topics/surface_vehicle_rate_status.h>
 #include <uORB/topics/actuator_motors.h>

 /**
@@ -66,7 +66,7 @@ public:
 	~AckermannRateControl() = default;

 	/**
-	 * @brief Generate and publish roverSteeringSetpoint from roverRateSetpoint.
+	 * @brief Generate and publish SurfaceVehicleSteeringSetpoint from SurfaceVehicleRateSetpoint.
 	 */
 	void updateRateControl();

@@ -94,17 +94,17 @@ private:
 	void updateSubscriptions();

 	// uORB subscriptions
-	uORB::Subscription _rover_rate_setpoint_sub{ORB_ID(rover_rate_setpoint)};
+	uORB::Subscription _surface_vehicle_rate_setpoint_sub{ORB_ID(surface_vehicle_rate_setpoint)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};

 	// uORB publications
-	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};
-	uORB::Publication<rover_rate_status_s>       _rover_rate_status_pub{ORB_ID(rover_rate_status)};
+	uORB::Publication<surface_vehicle_steering_setpoint_s> _surface_vehicle_steering_setpoint_pub{ORB_ID(surface_vehicle_steering_setpoint)};
+	uORB::Publication<surface_vehicle_rate_status_s>       _surface_vehicle_rate_status_pub{ORB_ID(surface_vehicle_rate_status)};

 	// Variables
 	float _estimated_speed{0.f}; /*Vehicle speed estimated by interpolating [actuatorMotorSetpoint,  _estimated_speed]
-					       between [0, 0] and [1, _param_ro_max_thr_speed].*/
+					       between [0, 0] and [1, _param_sv_max_thr_speed].*/
 	float _max_yaw_rate{0.f};
 	float _vehicle_yaw_rate{0.f};
 	float _yaw_rate_setpoint{NAN};
@@ -115,15 +115,15 @@ private:
 	SlewRate<float> _adjusted_yaw_rate_setpoint{0.f};

 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed,
+		(ParamFloat<px4::params::SV_MAX_THR_SPEED>) _param_sv_max_thr_speed,
 		(ParamFloat<px4::params::RA_WHEEL_BASE>)    _param_ra_wheel_base,
 		(ParamFloat<px4::params::RA_MAX_STR_ANG>)   _param_ra_max_str_ang,
-		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
-		(ParamFloat<px4::params::RO_YAW_RATE_TH>)   _param_ro_yaw_rate_th,
-		(ParamFloat<px4::params::RO_YAW_RATE_P>)    _param_ro_yaw_rate_p,
-		(ParamFloat<px4::params::RO_YAW_RATE_I>)    _param_ro_yaw_rate_i,
-		(ParamFloat<px4::params::RO_YAW_ACCEL_LIM>) _param_ro_yaw_accel_limit,
-		(ParamFloat<px4::params::RO_SPEED_TH>)      _param_ro_speed_th,
-		(ParamFloat<px4::params::RO_YAW_RATE_CORR>) _param_ro_yaw_rate_corr
+		(ParamFloat<px4::params::SV_YAW_RATE_LIM>)  _param_sv_yaw_rate_limit,
+		(ParamFloat<px4::params::SV_YAW_RATE_TH>)   _param_sv_yaw_rate_th,
+		(ParamFloat<px4::params::SV_YAW_RATE_P>)    _param_sv_yaw_rate_p,
+		(ParamFloat<px4::params::SV_YAW_RATE_I>)    _param_sv_yaw_rate_i,
+		(ParamFloat<px4::params::SV_YAW_ACCEL_LIM>) _param_sv_yaw_accel_limit,
+		(ParamFloat<px4::params::SV_SPEED_TH>)      _param_sv_speed_th,
+		(ParamFloat<px4::params::SV_YAW_RATE_CORR>) _param_sv_yaw_rate_corr
 	)
 };
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
chfriedrich98	79043dd5c7	boat: add module for rudder-steered boats	2025-09-05 13:48:57 +02:00
chfriedrich98	9c38602c12	sv: rename rover parameters to surface vehicle	2025-09-05 13:48:17 +02:00
chfriedrich98	fb05dedb7b	sv: extend rover control lib to surface vehicles	2025-09-05 13:28:30 +02:00
chfriedrich98	ae65b33ba0	rover: apply sp renaming to rover modules	2025-09-05 08:41:59 +02:00
chfriedrich98	7670989769	sv: rename rover sp to surface vehicle	2025-09-05 08:27:58 +02:00
alexklimaj	89c6d24946	Update GPS submodule	2025-09-04 17:02:31 -06:00
Alex Klimaj	af6bf931c1	uavcan bootloader watchdog_pet during long flashes (#25523 )	2025-09-04 12:20:03 -08:00
fbaklanov	fc8e2021e7	A driver for EULER-NAV Baro-Inertial AHRS (#24534 ) * Create a dummy BAHRS driver * Resolve compilation * Switch back to cpp, fix compilation * Create module.yaml * Implement required module APIs and open serial port * Revise info and error messages * Poll serial port * Push received bytes into the ring buffer * Process data buffer (1) * Process data buffer (2) * Process data buffer (3) * Process data buffer (4) * Process data buffer (5) * Process data buffer (6) * Implement and use initialize() and deinitialize() methods * Implement print_usage() and print_status() * Collect all config constants in a class * Put info about next found message into a class * Print CRC failure count * Remove unneeded print * Add comments * Disable EKF2, advertise vehicle attitude * Decode and publish BAHRS signals (1) * Run the driver as an additional source of sensor signals * Add tiny noise to baro-inertial pressure signal * Fix the sensor ID * Add copyrights * Fix formatting * Remove redundant newline character * Fix long parameter name * Fix findings (1) * Fix finding (2) * Fix formatting * Fix the timeout value * Remove aliases * Fix copyright * Fix indent * Comply with naming convention * Rework comparison to false * Reduce nesting (1) * Reduce nesting (2) * Reduce nesting (3) * Fix BAHRS sensor ID	2025-09-04 09:31:36 -08:00
Silvan Fuhrer	e6f60ef403	Sensors: remove some distance sensors from COMMON_DISTANCE_SENSOR again (#25522 ) * distance sensors common: remove DISTANCE_SENSOR_TERARANGER Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * distance sensors common: remove DISTANCE_SENSOR_CM8JL65 Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-09-04 09:28:37 -08:00
Pedro Roque	944b3e763a	doc: Change email for Pedro Roque (#25514 )	2025-09-02 16:07:55 -08:00
Pedro Roque	271cb49597	feat: airframe documentation for spacecraft (#25294 )	2025-09-02 16:27:26 -07:00
Alexander Lerach	9015001b42	uavcan: fix driver init after stop/start (#25511 )	2025-09-02 10:02:15 -08:00
Silvan	ce207837cf	rc.sensors: add iis2mdc mag to list of probed for sensors Signed-off-by: Silvan <silvan@auterion.com>	2025-09-02 10:16:32 -06:00
Niklas Hauser	3a734bc846	[board] Add PCA9685 driver to FMUv6s board	2025-08-29 14:05:40 +02:00
Niklas Hauser	9062d0cc7d	[driver] Add a parameter to enable the PCA9685 driver	2025-08-29 14:05:40 +02:00
Niklas Hauser	b2b80e8075	[board] Reformat FMUv6s init script to start internal sensor first	2025-08-29 14:05:40 +02:00
Balduin	2eac6cca38	dds_topics: accept landing_gear command from external modes (#25496 )	2025-08-28 08:30:27 -08:00
Claudio Chies	fe1abb5b92	the PR has long been merged (#25495 )	2025-08-28 08:28:44 -08:00
Marco Hauswirth	073013cf85	reset terrain w flow based on current horizontal velocity	2025-08-28 13:58:29 +02:00
Silvan Fuhrer	547582b16b	DSHOT: fix unit for DSHOT_MIN parameter (#25493 ) Signed-off-by: Silvan <silvan@auterion.com>	2025-08-27 09:21:16 -08:00
Alexander Lerach	8f2c36689d	logging: allow logging backend config * logging: allow logging backend config * correct board comments * documentation: updated logging section	2025-08-27 15:44:36 +02:00
Jacob Dahl	30fcb4fcb1	uavcan: esc: init msg to avoid publishing random values (#25485 )	2025-08-27 17:09:36 +12:00
Davide Iafrate	ec436d3be3	Enable selectively disabling sensors in the Gazebo bridge. (#25484 ) * Initial plan * Add configurable sensor subscription parameters Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com>	2025-08-26 10:00:47 -08:00