Copilot Review instructions: Drivers

2026-05-31 00:30:05 +08:00 · 2026-02-11 10:45:28 +11:00
529 changed files with 6741 additions and 16805 deletions
@@ -105,89 +105,6 @@ Checks:          '*,
                  -readability-redundant-declaration,
                  -readability-static-accessed-through-instance,
                  -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -cppcoreguidelines-avoid-goto,
-                  -hicpp-avoid-goto,
-                  -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
-                  -performance-enum-size,
-                  -readability-avoid-nested-conditional-operator,
-                  -cppcoreguidelines-prefer-member-initializer,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -cppcoreguidelines-virtual-class-destructor,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-assignment-in-if-condition,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-incorrect-roundings,
-                  -bugprone-macro-parentheses,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -bugprone-too-small-loop-variable,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-duplicate-include,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -bugprone-unsafe-functions,
-                  -cert-msc24-c,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                 '
 WarningsAsErrors: '*'
 CheckOptions:
@@ -0,0 +1,212 @@
+---
+applyTo: "src/drivers/**"
+---
+
+# PX4 Driver Review Instructions
+
+This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
+
+## Copyright Statements
+
+### Required Files
+
+All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
+
+**Exceptions:** 
+- `Kconfig` files
+- `module.yaml` files
+
+### Copyright Format
+
+**For new files (created in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+```
+
+**For updated files (originally created in 2015, updated in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
+ *
+ * [... rest of copyright text ...]
+ *
+ ****************************************************************************/
+```
+
+### Key Points
+- First year should be the original creation year
+- When updating an existing file, update the year range: `YYYY-2026`
+- Use the current year (2026 in this case) for new files
+- Maintain consistent formatting with other PX4 driver files
+
+---
+
+## Driver Self-Documentation
+
+All drivers MUST be self-documenting through the `print_usage()` method.
+
+### Required Implementation
+
+Every driver `.cpp` file must implement a `print_usage()` method that includes:
+
+1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
+2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
+3. **Parameter documentation** - Relevant parameters, especially enablement parameters
+
+### PRINT_MODULE_DESCRIPTION Structure
+
+The description should follow this markdown format:
+
+```cpp
+PRINT_MODULE_DESCRIPTION(
+    R"DESCR_STR(
+### Description
+[Clear description of what the driver does and its primary functionality]
+
+### Implementation
+[Optional: High-level overview of how the driver works]
+
+### Examples
+[Optional: CLI usage examples if non-trivial]
+$ module_name start -d /dev/ttyS1
+$ module_name stop
+
+)DESCR_STR");
+```
+
+### Required Sections
+
+#### 1. Description Section
+- Brief explanation of the driver's purpose
+- Key features/capabilities
+- Important parameters (especially enable parameters like `SENS_XX_CFG`)
+
+#### 2. Documentation Links
+When applicable, include links to user documentation:
+```cpp
+Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
+```
+
+#### 3. Examples Section (when relevant)
+Provide CLI usage examples for non-trivial commands:
+```cpp
+### Examples
+Attempt to start driver on a specified serial device.
+$ vectornav start -d /dev/ttyS1
+Stop driver
+$ vectornav stop
+```
+
+### Complete Example
+
+```cpp
+int MyDriver::print_usage(const char *reason)
+{
+    if (reason) {
+        PX4_WARN("%s\n", reason);
+    }
+
+    PRINT_MODULE_DESCRIPTION(
+        R"DESCR_STR(
+### Description
+This driver interfaces with the XYZ sensor via I2C/SPI. It provides
+distance measurements and is automatically started when SENS_XYZ_CFG
+is set to the appropriate value.
+
+Key features:
+- Distance range: 0.2m to 50m
+- Update rate: up to 100Hz
+- I2C and SPI support
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
+
+### Examples
+Start driver on I2C bus 1 with address 0x29:
+$ xyz_sensor start -X -b 1 -a 0x29
+)DESCR_STR");
+
+    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
+    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+    PRINT_MODULE_USAGE_COMMAND("start");
+    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
+    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+    return 0;
+}
+```
+
+### Common Patterns by Driver Type
+
+**For UART/Serial Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
+```
+
+**For I2C/SPI Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+```
+
+**For Sensor Drivers:**
+```cpp
+PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
+```
+
+---
+
+## Review Checklist
+
+When reviewing driver files, verify:
+
+- [ ] Copyright header is present (except Kconfig and module.yaml)
+- [ ] Copyright year is correct (current year for new files, year range for updates)
+- [ ] `print_usage()` method exists
+- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
+- [ ] Description section explains driver purpose clearly
+- [ ] Relevant parameters are documented (especially enable parameters)
+- [ ] Documentation links are included when available
+- [ ] Examples are provided for complex CLI usage
+- [ ] Module name and category are correctly specified
+- [ ] Standard commands (start, stop, status) are documented
+
+---
+
+## Additional Resources
+
+- Driver template examples: `src/drivers/*/` (various sensor types)
+- Module macros: `platforms/common/include/px4_platform_common/module.h`
+- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)
@@ -2,37 +2,6 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-#
-# ===================================================================================
-# RELEASE UPLOAD LOGIC
-# ===================================================================================
-# This workflow handles building firmware and uploading to S3 + GitHub Releases.
-#
-# S3 Bucket Structure (s3://px4-travis/Firmware/):
-#   - master/          <- Latest main branch build (for QGC compatibility)
-#   - stable/          <- Latest stable release, controlled by 'stable' branch
-#   - beta/            <- Latest pre-release, controlled by 'beta' branch
-#   - vX.Y.Z/          <- Archived stable release
-#   - vX.Y.Z-beta1/    <- Archived pre-release
-#
-# Trigger Behavior:
-#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
-#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
-#   - Branch main        -> Upload to: master/ (for QGC compatibility)
-#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
-#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
-#   - Branch release/**  -> Build only, no S3 upload (CI validation)
-#   - Pull requests      -> Build only, no S3 upload (CI validation)
-#
-# GitHub Releases:
-#   - All version tags create a draft GitHub Release
-#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
-#
-# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
-# corresponding branch pushes control those directories. This prevents
-# pre-release tags from accidentally overwriting stable firmware (#26340)
-# and avoids race conditions between tag and branch builds.
-# ===================================================================================

 name: Build all targets

@@ -60,7 +29,6 @@ concurrency:
 permissions:
  contents: write
  actions: read
-  packages: read

 jobs:
  group_targets:
@@ -126,9 +94,6 @@ jobs:
      fail-fast: false
    container:
      image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
@@ -194,13 +159,6 @@ jobs:
          path: ~/.ccache
          key: ${{ steps.cc_restore.outputs.cache-primary-key }}

-  # ===========================================================================
-  # ARTIFACT UPLOAD JOB
-  # ===========================================================================
-  # Uploads build artifacts to S3 and creates GitHub Releases.
-  # Runs for version tags (v*), main, stable, and beta branch pushes.
-  # See header comments for full upload logic documentation.
-  # ===========================================================================
  artifacts:
    name: Upload Artifacts
    # runs-on: ubuntu-latest
@@ -219,31 +177,31 @@ jobs:
      - name: Choose Upload Location
        id: upload-location
        run: |
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
          set -euo pipefail

          ref="${GITHUB_REF}"
          branch=${{ needs.group_targets.outputs.branchname  }}
          location="$branch"
-          is_prerelease="false"

-          # Main branch uploads to "master" for QGC backward compatibility
          if [[ "$branch" == "main" ]]; then
            location="master"
          fi

-          # Version tags: upload to versioned directory (e.g., v1.16.1/)
          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
            tag="${ref#refs/tags/}"
            location="$tag"
-
-            # Pre-release tags contain -alpha, -beta, or -rc suffix
-            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
-              is_prerelease="true"
-            fi
          fi

          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT

      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
        uses: jakejarvis/s3-sync-action@master
@@ -257,13 +215,28 @@ jobs:
          SOURCE_DIR: artifacts/
          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/

-      # Create a draft GitHub Release for all version tags
-      # Pre-releases are automatically marked as such
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
+        with:
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/
+
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
      - name: Upload Artifacts to GitHub Release
        uses: softprops/action-gh-release@v2
        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
-          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
          files: artifacts/*.px4
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -19,10 +19,6 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    strategy:
      fail-fast: false
      matrix:
@@ -39,17 +35,20 @@ jobs:
          "px4_sitl_allyes",
          "module_documentation",
        ]
-
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}

      - name: Uploading Coverage to Codecov.io
        if: contains(matrix.check, 'coverage')
@@ -1,4 +1,4 @@
-name: Static Analysis
+name: Clang Tidy

 on:
  push:
@@ -11,59 +11,20 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
-
-permissions:
-  contents: read
-
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+  build:
+    runs-on: ubuntu-latest
    steps:
-    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-        fetch-tags: true

-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - name: Testing (clang-tidy)
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
-
-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
-
-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy
@@ -42,7 +42,7 @@ jobs:
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v4
      with:
@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -0,0 +1,116 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"
@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/
@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace
@@ -15,21 +15,21 @@ concurrency:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
          make tests TESTFILTER=EKF

-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication
@@ -8,47 +8,40 @@ on:
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
-
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
          make tests TESTFILTER=EKF

-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
+    - name: Check if there exists diff and save result in variable
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
+      working-directory: src/modules/ekf2/test/change_indication

-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+        commit_message: |
+          '[AUTO COMMIT] update change indication'

-            See .github/workflows/ekf_update_change_indicator.yml for more details
+          See .github/workflopws/ekf_update_change_indicator.yml for more details

-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
+      run: exit 1
@@ -19,27 +19,25 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
    strategy:
      fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box"}

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
@@ -19,26 +19,27 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
@@ -19,28 +19,27 @@ concurrency:
 jobs:
  build:
    runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
    strategy:
      matrix:
-        config:
-          - px4_fmu-v5_default
+        config: [
+          px4_fmu-v5_default,
+          ]

    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0

-      - name: Build PX4 and Run Test [${{ matrix.config }}]
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
          make ${{ matrix.config }} nuttx_context
-
          echo "Check that the config option is set"
          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/
@@ -492,29 +492,13 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

-# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
-# - All submodules (external code we consume, not edit)
-# - Test code (allowed looser style)
-# - Example code (educational, not production)
-# - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
-# - GPIO excluded here (NuttX platform headers)
-# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
-#   because CMake Unity Builds merge sources into a generated .cxx under build/
-#
-# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
-# Submodules are automatically excluded - no action needed when adding new ones.
-CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir
-CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
-
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -614,10 +598,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs
@@ -1,109 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot

-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)

-<p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

---
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-## About
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

-## Why PX4
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+## Releases

-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Building a PX4 based drone, rover, boat or robot

-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-## Supported Vehicles

-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+## Changing Code and Contributing

-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-## Quick Start
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```

-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+## Weekly Dev Call

-## Documentation & Resources
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

-## Community

- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+## Maintenance Team

-## Contributing
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).

-## Governance
+## Supported Hardware

-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>
@@ -36,20 +36,11 @@ if args.filter:
        target_filter.append(target)

 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = []
-
-# Container overrides for platforms/boards that need a non-default container
-platform_container_overrides = {
-    'qurt': voxl2_container,
-}
-board_container_overrides = {
-    'modalai_voxl2': voxl2_container,
-}
+excluded_platforms = ['qurt']
 excluded_labels = [
    'stackcheck',
    'nolockstep', 'replay', 'test',
@@ -97,20 +88,7 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        container = default_container
-
-        # Extract board name (manufacturer_board) from target name
-        board_name = '_'.join(target_name.split('_')[:2])
-
-        # Apply container overrides for specific platforms or boards
-        if platform in platform_container_overrides:
-            container = platform_container_overrides[platform]
-        if board_name in board_container_overrides:
-            container = board_container_overrides[board_name]
-
-        # Boards with container overrides get their own group
-        if board_name in board_container_overrides or platform in platform_container_overrides:
-            group = 'voxl2'
-        elif platform == 'posix':
+        if platform == 'posix':
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
@@ -225,7 +203,7 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -1,431 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_sync.sh - Unified metadata generation and synchronization for PX4 docs
-#
-# Usage:
-#   Tools/ci/metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Types:
-#   parameters    - Parameter reference (docs/en/advanced_config/parameter_reference.md)
-#   airframes     - Airframe reference (docs/en/airframes/airframe_reference.md)
-#   modules       - Module documentation (docs/en/modules/*.md)
-#   msg_docs      - uORB message docs (docs/en/msg_docs/*.md + docs/en/middleware/dds_topics.md)
-#   uorb_graphs   - uORB graph JSONs (docs/public/middleware/*.json)
-#   failsafe_web  - Failsafe simulator (docs/public/config/failsafe/*.{js,wasm,json})
-#   all           - All of the above (default)
-#
-# Options:
-#   --generate    Build the make targets to generate fresh metadata
-#   --sync        Copy generated files to docs/
-#   --verbose     Show detailed output
-#   --help        Show this help
-#
-# Exit codes:
-#   0 - Success (files synced or already up-to-date)
-#   1 - Error (build failed, missing files, etc.)
-#
-# Examples:
-#   # Full regeneration and sync (orchestrator use case)
-#   Tools/ci/metadata_sync.sh --generate --sync all
-#
-#   # Just sync specific type (assumes already built)
-#   Tools/ci/metadata_sync.sh --sync parameters
-#
-#   # Generate only, don't copy
-#   Tools/ci/metadata_sync.sh --generate uorb_graphs
-#
-set -euo pipefail
-shopt -s nullglob
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Configuration
-# ═══════════════════════════════════════════════════════════════════════════════
-
-EMSCRIPTEN_VERSION="3.1.64"
-EMSDK_DIR="${EMSDK_DIR:-_emscripten_sdk}"
-
-# All available metadata types
-ALL_TYPES=(parameters airframes modules msg_docs uorb_graphs failsafe_web)
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Logging
-# ═══════════════════════════════════════════════════════════════════════════════
-
-VERBOSE=false
-
-log() {
-    echo "[metadata_sync] $*"
-}
-
-log_verbose() {
-    if [[ "$VERBOSE" == "true" ]]; then
-        echo "[metadata_sync] $*"
-    fi
-}
-
-die() {
-    echo "[metadata_sync] ERROR: $*" >&2
-    exit 1
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Help
-# ═══════════════════════════════════════════════════════════════════════════════
-
-show_help() {
-    head -n 35 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Emscripten Setup
-# ═══════════════════════════════════════════════════════════════════════════════
-
-ensure_emscripten() {
-    if command -v emcc >/dev/null 2>&1; then
-        log_verbose "Emscripten already available: $(emcc --version | head -1)"
-        return 0
-    fi
-
-    log "Setting up Emscripten ${EMSCRIPTEN_VERSION}..."
-
-    if [[ ! -d "$EMSDK_DIR" ]]; then
-        log_verbose "Cloning emsdk to $EMSDK_DIR"
-        if [[ "$VERBOSE" == "true" ]]; then
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR"
-        else
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR" >/dev/null 2>&1
-        fi
-    fi
-
-    pushd "$EMSDK_DIR" >/dev/null
-    if [[ "$VERBOSE" == "true" ]]; then
-        ./emsdk install "$EMSCRIPTEN_VERSION"
-        ./emsdk activate "$EMSCRIPTEN_VERSION"
-    else
-        ./emsdk install "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-        ./emsdk activate "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-    fi
-    popd >/dev/null
-
-    # shellcheck source=/dev/null
-    source "${EMSDK_DIR}/emsdk_env.sh" >/dev/null 2>&1
-
-    log_verbose "Emscripten ready: $(emcc --version | head -1)"
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Generation Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-generate_parameters() {
-    log "Generating parameters metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make parameters_metadata
-    else
-        make parameters_metadata >/dev/null 2>&1
-    fi
-}
-
-generate_airframes() {
-    log "Generating airframes metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make airframe_metadata
-    else
-        make airframe_metadata >/dev/null 2>&1
-    fi
-}
-
-generate_modules() {
-    log "Generating modules documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make module_documentation
-    else
-        make module_documentation >/dev/null 2>&1
-    fi
-}
-
-generate_msg_docs() {
-    log "Generating message documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make msg_docs
-    else
-        make msg_docs >/dev/null 2>&1
-    fi
-}
-
-generate_uorb_graphs() {
-    log "Generating uORB graphs..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make uorb_graphs
-    else
-        make uorb_graphs >/dev/null 2>&1
-    fi
-}
-
-generate_failsafe_web() {
-    ensure_emscripten
-    log "Generating failsafe web..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make failsafe_web
-    else
-        make failsafe_web >/dev/null 2>&1
-    fi
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Sync Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-sync_parameters() {
-    local src="build/px4_sitl_default/docs/parameters.md"
-    local dest="docs/en/advanced_config/parameter_reference.md"
-
-    log "Syncing parameters..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_airframes() {
-    local src="build/px4_sitl_default/docs/airframes.md"
-    local dest="docs/en/airframes/airframe_reference.md"
-
-    log "Syncing airframes..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_modules() {
-    local src_dir="build/px4_sitl_default/docs/modules"
-    local dest_dir="docs/en/modules"
-
-    log "Syncing modules..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_msg_docs() {
-    local src_dir="build/msg_docs"
-    local dest_dir="docs/en/msg_docs"
-    local middleware_dir="docs/en/middleware"
-
-    log "Syncing message docs..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-    mkdir -p "$middleware_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-
-        # dds_topics.md goes to middleware dir
-        if [[ "$name" == "dds_topics.md" ]]; then
-            cp "$src" "$middleware_dir/$name"
-            log_verbose "  $src -> $middleware_dir/$name"
-        else
-            cp "$src" "$dest_dir/$name"
-            log_verbose "  $src -> $dest_dir/$name"
-        fi
-    done
-}
-
-sync_uorb_graphs() {
-    local src_dir="Tools/uorb_graph"
-    local dest_dir="docs/public/middleware"
-
-    log "Syncing uORB graphs..."
-
-    local src_files=("$src_dir"/*.json)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .json files found in $src_dir (did you run --generate?)"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_failsafe_web() {
-    local src_dir="build/px4_sitl_default_failsafe_web"
-    local dest_dir="docs/public/config/failsafe"
-
-    log "Syncing failsafe web..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    # Gather js, wasm, json files
-    local src_files=()
-    for ext in js wasm json; do
-        src_files+=("$src_dir"/*."$ext")
-    done
-
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .js/.wasm/.json files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Main Logic
-# ═══════════════════════════════════════════════════════════════════════════════
-
-DO_GENERATE=false
-DO_SYNC=false
-SELECTED_TYPES=()
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --generate)
-                DO_GENERATE=true
-                shift
-                ;;
-            --sync)
-                DO_SYNC=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                die "Unknown option: $1"
-                ;;
-            *)
-                # It's a type
-                SELECTED_TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types if none specified
-    if [[ ${#SELECTED_TYPES[@]} -eq 0 ]]; then
-        SELECTED_TYPES=("all")
-    fi
-
-    # Expand "all" to all types
-    local expanded_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ "$t" == "all" ]]; then
-            expanded_types+=("${ALL_TYPES[@]}")
-        else
-            expanded_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${expanded_types[@]}")
-
-    # Validate types
-    for t in "${SELECTED_TYPES[@]}"; do
-        local valid=false
-        for valid_type in "${ALL_TYPES[@]}"; do
-            if [[ "$t" == "$valid_type" ]]; then
-                valid=true
-                break
-            fi
-        done
-        if [[ "$valid" == "false" ]]; then
-            die "Unknown type: $t (valid: ${ALL_TYPES[*]})"
-        fi
-    done
-
-    # Must specify at least one action
-    if [[ "$DO_GENERATE" == "false" && "$DO_SYNC" == "false" ]]; then
-        die "Must specify at least one of: --generate, --sync"
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    log "Selected types: ${SELECTED_TYPES[*]}"
-    [[ "$DO_GENERATE" == "true" ]] && log "Actions: generate"
-    [[ "$DO_SYNC" == "true" ]] && log "Actions: sync"
-
-    # Remove duplicates from SELECTED_TYPES
-    local -A seen
-    local unique_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ -z "${seen[$t]:-}" ]]; then
-            seen[$t]=1
-            unique_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${unique_types[@]}")
-
-    # Generate phase
-    if [[ "$DO_GENERATE" == "true" ]]; then
-        log "=== Generation Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "generate_$t"
-        done
-    fi
-
-    # Sync phase
-    if [[ "$DO_SYNC" == "true" ]]; then
-        log "=== Sync Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "sync_$t"
-        done
-    fi
-
-    log "Done."
-    exit 0
-}
-
-main "$@"
@@ -1,8 +1,8 @@
 #!/bin/bash

 mkdir artifacts
-cp **/**/*.px4 artifacts/ 2>/dev/null || true
-cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.px4 artifacts/
+cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
@@ -1,163 +0,0 @@
-#!/usr/bin/env bash
-#
-# test_metadata_sync.sh - Test metadata_sync.sh locally using Docker
-#
-# Usage:
-#   Tools/ci/test_metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Options:
-#   --shell       Drop into interactive shell instead of running sync
-#   --verbose     Pass --verbose to metadata_sync.sh
-#   --skip-build  Skip SITL build (use existing build artifacts)
-#   --help        Show this help
-#
-# Types:
-#   Same as metadata_sync.sh: parameters, airframes, modules, msg_docs, uorb_graphs, failsafe_web, all
-#
-# Examples:
-#   # Test full regeneration
-#   Tools/ci/test_metadata_sync.sh all
-#
-#   # Test just parameters (faster)
-#   Tools/ci/test_metadata_sync.sh parameters
-#
-#   # Drop into shell for debugging
-#   Tools/ci/test_metadata_sync.sh --shell
-#
-#   # Skip build if you already have artifacts
-#   Tools/ci/test_metadata_sync.sh --skip-build --verbose all
-#
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
-
-DOCKER_IMAGE="px4io/px4-dev:v1.17.0-alpha1"
-CONTAINER_NAME="px4-metadata-test-$$"
-
-SHELL_MODE=false
-VERBOSE=""
-SKIP_BUILD=false
-TYPES=()
-
-show_help() {
-    head -n 28 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-cleanup() {
-    echo "[test] Cleaning up container..."
-    docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
-}
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --shell)
-                SHELL_MODE=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE="--verbose"
-                shift
-                ;;
-            --skip-build)
-                SKIP_BUILD=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                echo "Unknown option: $1" >&2
-                exit 1
-                ;;
-            *)
-                TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types
-    if [[ ${#TYPES[@]} -eq 0 ]]; then
-        TYPES=("all")
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    cd "$REPO_ROOT"
-
-    echo "[test] Using Docker image: $DOCKER_IMAGE"
-    echo "[test] Repository root: $REPO_ROOT"
-
-    # Pull image if not present
-    if ! docker image inspect "$DOCKER_IMAGE" >/dev/null 2>&1; then
-        echo "[test] Pulling Docker image..."
-        docker pull "$DOCKER_IMAGE"
-    fi
-
-    trap cleanup EXIT
-
-    # Handle git worktrees: the .git file points to the main repo's .git directory
-    # We need to mount that directory too so git works inside the container
-    local git_mounts=()
-    if [[ -f "$REPO_ROOT/.git" ]]; then
-        # It's a worktree - read the gitdir path and mount it
-        local gitdir
-        gitdir=$(grep '^gitdir:' "$REPO_ROOT/.git" | cut -d' ' -f2)
-        if [[ -n "$gitdir" ]]; then
-            # Mount the gitdir at the same path so the .git file reference works
-            git_mounts+=("-v" "$gitdir:$gitdir:ro")
-            # Also need the main .git directory (parent of worktrees/)
-            local main_git_dir
-            main_git_dir=$(dirname "$(dirname "$gitdir")")
-            git_mounts+=("-v" "$main_git_dir:$main_git_dir:ro")
-            echo "[test] Detected git worktree, mounting git directories"
-        fi
-    fi
-
-    if [[ "$SHELL_MODE" == "true" ]]; then
-        echo "[test] Starting interactive shell..."
-        echo "[test] Run: Tools/ci/metadata_sync.sh --generate --sync all"
-        docker run -it --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash
-    else
-        echo "[test] Running metadata sync for: ${TYPES[*]}"
-
-        # Build the command
-        local cmd=""
-
-        if [[ "$SKIP_BUILD" == "false" ]]; then
-            cmd="Tools/ci/metadata_sync.sh --generate --sync $VERBOSE ${TYPES[*]}"
-        else
-            cmd="Tools/ci/metadata_sync.sh --sync $VERBOSE ${TYPES[*]}"
-        fi
-
-        echo "[test] Command: $cmd"
-
-        docker run --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash -c "$cmd"
-
-        echo ""
-        echo "[test] Done! Check git status for changes:"
-        echo "  git status -s docs/"
-        echo ""
-        echo "[test] To see what changed:"
-        echo "  git diff docs/"
-    fi
-}
-
-main "$@"
@@ -1,27 +1,47 @@
 #! /bin/bash

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi

+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+fi
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

-SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=${SCRIPT_DIR}/../
+PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=$PWD/../

 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"

 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$@"
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -144,8 +144,6 @@ def main():
                      help='number of tidy instances to be run in parallel.')
  parser.add_argument('files', nargs='*', default=['.*'],
                      help='files to be processed (regex on path)')
-  parser.add_argument('-exclude', dest='exclude', default=None,
-                      help='regular expression matching files to exclude')
  parser.add_argument('-fix', action='store_true', help='apply fix-its')
  parser.add_argument('-format', action='store_true', help='Reformat code '
                      'after applying fixes')
@@ -194,7 +192,6 @@ def main():

  # Build up a big regexy filter from all command line arguments.
  file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
-  exclude_re = re.compile(args.exclude) if args.exclude else None

  try:
    # Spin up a bunch of tidy-launching threads.
@@ -208,8 +205,6 @@ def main():
    # Fill the queue with files.
    for name in files:
      if file_name_re.search(name):
-        if exclude_re and exclude_re.search(name):
-          continue
        queue.put(name)

    # Wait for all threads to be done.
@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"

-echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
+echo -e "$SCRIPTID Starting"

 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,4 +22,6 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"
@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##

 INSTALL_NUTTX="true"
@@ -207,18 +207,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;

-	# Gazebo Harmonic installation (Ubuntu 22.04+)
-	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-	# Add Gazebo binary repository
-	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-	sudo apt-get update -y --quiet
+	# Gazebo / Gazebo classic installation
+	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet

-	# Install Gazebo
-	gazebo_packages="gz-harmonic libunwind-dev"
+		# Install Gazebo classic
+		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+			gazebo_classic_version=9
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		else
+			# default and Ubuntu 20.04
+			gazebo_classic_version=11
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		fi
+	else
+		# Expects Ubuntu 22.04 > by default
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+		sudo apt-get update -y --quiet

-	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-		gazebo_packages="$gazebo_packages cppzmq-dev"
+		# Install Gazebo
+		gazebo_packages="gz-harmonic libunwind-dev"
+
+		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+			gazebo_packages="$gazebo_packages cppzmq-dev"
+		fi
 	fi

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -66,15 +66,15 @@ then
 	fi
 fi

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

 rm3100 -I -b 4 start

-bmp581 -b 2 -X -a 0x47 start
 icp201xx -I -a 0x64 start
+bmp581 -b 2 -X -a 0x47 start

 # 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)
 ist8310 -X -b 1 -R 10 start
@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)

-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)

 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))
@@ -31,34 +31,4 @@
 #
 ############################################################################

-# Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
-execute_process(
-	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-)
-
 include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
-
-# Build libfc_sensor.so stub library automatically if not already built
-set(FC_SENSOR_LIB ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so)
-if(NOT EXISTS ${FC_SENSOR_LIB})
-	execute_process(
-		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BOARD_DIR}/libfc-sensor-api/build
-	)
-	execute_process(
-		COMMAND ${CMAKE_COMMAND} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} ..
-		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
-		RESULT_VARIABLE FC_SENSOR_CMAKE_RESULT
-	)
-	if(NOT FC_SENSOR_CMAKE_RESULT EQUAL 0)
-		message(FATAL_ERROR "Failed to configure libfc_sensor stub library")
-	endif()
-	execute_process(
-		COMMAND ${CMAKE_COMMAND} --build .
-		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
-		RESULT_VARIABLE FC_SENSOR_BUILD_RESULT
-	)
-	if(NOT FC_SENSOR_BUILD_RESULT EQUAL 0)
-		message(FATAL_ERROR "Failed to build libfc_sensor stub library")
-	endif()
-endif()
@@ -23,7 +23,9 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
@@ -180,6 +180,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION

 	initSPIFmumID(V6X_16, {
 		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
@@ -1,22 +0,0 @@
-CONFIG_COMMON_DISTANCE_SENSOR=n
-CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_GIMBAL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_PAYLOAD_DELIVERER=n
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
-CONFIG_BOARD_TESTING=y
-CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -31,30 +31,6 @@
 #
 ############################################################################

-#=============================================================================
-#
-#	px4_setup_gtest_without_fuzztest
-#
-#	Fetches GTest standalone and stubs out fuzztest cmake functions.
-#	Used when fuzztest is not available (e.g. TSAN builds where fuzztest's
-#	coverage instrumentation is incompatible).
-#
-macro(px4_setup_gtest_without_fuzztest)
-	include(FetchContent)
-	FetchContent_Declare(
-		googletest
-		GIT_REPOSITORY https://github.com/google/googletest.git
-		GIT_TAG v1.16.0
-	)
-	FetchContent_MakeAvailable(googletest)
-
-	function(link_fuzztest name)
-		target_link_libraries(${name} PRIVATE gtest gtest_main)
-	endfunction()
-	macro(fuzztest_setup_fuzzing_flags)
-	endmacro()
-endmacro()
-
 #=============================================================================
 #
 #	px4_add_unit_gtest
@@ -122,28 +98,23 @@ function(px4_add_functional_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})

 		# link the libary to test and gtest
-		set(_FUNCTIONAL_GTEST_LIBS ${LINKLIBS} gtest_functional_main
-		                           px4_layer
-		                           px4_platform
-		                           uORB
-		                           systemlib
-		                           cdev
-		                           px4_work_queue
-		                           px4_daemon
-		                           work_queue
-		                           parameters
-		                           events
-		                           perf
-		                           tinybson
-		                           uorb_msgs)
-		if(TARGET fuzztest::fuzztest)
-			list(APPEND _FUNCTIONAL_GTEST_LIBS fuzztest::fuzztest) # Do not use link_fuzztest() here because that
-			                                                       # also links to fuzztest_gtest_main
-		else()
-			list(APPEND _FUNCTIONAL_GTEST_LIBS gtest)
-		endif()
-		list(APPEND _FUNCTIONAL_GTEST_LIBS test_stubs) # put test_stubs last
-		target_link_libraries(${TESTNAME} PRIVATE ${_FUNCTIONAL_GTEST_LIBS})
+		target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS} gtest_functional_main
+		                                              px4_layer
+		                                              px4_platform
+		                                              uORB
+		                                              systemlib
+		                                              cdev
+		                                              px4_work_queue
+		                                              px4_daemon
+		                                              work_queue
+		                                              parameters
+		                                              events
+		                                              perf
+		                                              tinybson
+		                                              uorb_msgs
+		                                              fuzztest::fuzztest # Do not use link_fuzztest() here because that
+				                                      # also links to fuzztest_gtest_main
+		                                              test_stubs)  # put test_stubs last

 		target_compile_definitions(${TESTNAME} PRIVATE MODULE_NAME="${TESTNAME}")

@@ -16,9 +16,6 @@ logs
 #Yarn log
 yarn-error.log

-# npm lockfile (project uses yarn)
-package-lock.json
-

 # Generated alternative _summary.md
 # **/*/_summary.md
@@ -1,8 +0,0 @@
-{
-  "proseWrap": "preserve",
-  "tabWidth": 2,
-  "useTabs": false,
-  "printWidth": 9999,
-  "endOfLine": "lf",
-  "embeddedLanguageFormatting": "off"
-}
@@ -254,63 +254,7 @@ export default defineConfig({
      head.push(["link", { rel: "canonical", href: canonicalUrlToAdd }]);
    }

-    // Build version-aware site URL for OG tags
-    const branch = process.env.BRANCH_NAME || "main";
-    const siteUrl = `https://docs.px4.io/${branch}`;
-
-    // OG image — same image for all pages, but URL includes version base
-    const ogImage =
-      pageData.frontmatter.ogImage || `${siteUrl}/og-image.png`;
-
-    // Build the actual page URL (version-aware, includes locale prefix)
-    let ogPath = pageData.relativePath.replace(/\.md$/, "");
-    if (ogPath === "index") ogPath = "";
-    else if (ogPath.endsWith("/index"))
-      ogPath = ogPath.slice(0, -"/index".length);
-    const ogUrl = `${siteUrl}/${ogPath}`;
-
-    // Open Graph
-    head.push(
-      [
-        "meta",
-        {
-          property: "og:title",
-          content: pageData.title || "PX4 Autopilot",
-        },
-      ],
-      [
-        "meta",
-        {
-          property: "og:description",
-          content:
-            pageData.description ||
-            "Open-source flight stack for drones and autonomous vehicles.",
-        },
-      ],
-      ["meta", { property: "og:url", content: ogUrl }],
-      ["meta", { property: "og:image", content: ogImage }],
-    );
-
-    // Twitter Card
-    head.push(
-      [
-        "meta",
-        {
-          name: "twitter:title",
-          content: pageData.title || "PX4 Autopilot",
-        },
-      ],
-      [
-        "meta",
-        {
-          name: "twitter:description",
-          content:
-            pageData.description ||
-            "Open-source flight stack for drones and autonomous vehicles.",
-        },
-      ],
-      ["meta", { name: "twitter:image", content: ogImage }],
-    );
+    // Add any other custom head tags you might want later

    // Return head that will be merged.
    return head;
@@ -332,14 +276,6 @@ export default defineConfig({
      gtag('js', new Date());
      gtag('config', 'G-91EWVWRQ93');`,
    ],
-    // Open Graph
-    ["meta", { property: "og:site_name", content: "PX4 Autopilot" }],
-    ["meta", { property: "og:type", content: "website" }],
-    ["meta", { property: "og:image:width", content: "1200" }],
-    ["meta", { property: "og:image:height", content: "630" }],
-    ["meta", { property: "og:image:type", content: "image/png" }],
-    // Twitter Card
-    ["meta", { name: "twitter:card", content: "summary_large_image" }],
  ],

  vue: {
@@ -653,7 +653,7 @@
         id="tspan2761"
         x="-83.335098"
         y="147.11555"
-         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">SimulatorMavlink.cpp</tspan></text>
+         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">simulator_mavlink.cpp</tspan></text>
    <path
       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.79375;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.5875, 0.79375;stroke-dashoffset:2.46063;stroke-opacity:1;marker-start:url(#marker3113)"
       d="m -42.713286,146.11223 h 8.466662"
@@ -1,86 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 24.2.3, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 612 335.8" style="enable-background:new 0 0 612 335.8;" xml:space="preserve">
-<style type="text/css">
-	.st0{fill:#4D4E4E;}
-	.st1{fill:#27B373;}
-	.st2{fill:#5DC4CD;}
-	.st3{fill:#1E8756;}
-</style>
-<g>
-	<g>
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-		c-5.3-0.1-7.66-3.05-6.53-8.27c1-4.6,1.94-9.22,2.93-13.82C399.02,317.88,399.05,317.89,401.48,317.9z"/>
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-	<path d="M286.85,332.35c1.43-6.47,2.82-12.74,4.23-19.1c9.78,0,19.55,0,29.52,0c-0.64,3.02-1.25,6-1.9,8.97
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-	<path d="M460.65,332.34c1.42-6.44,2.81-12.75,4.21-19.13c9.82,0,19.58,0,29.54,0c-0.65,3.08-1.27,6.11-1.94,9.14
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-</g>
-</svg>
@@ -253,7 +253,7 @@
      - [Benewake TFmini Lidar](sensor/tfmini.md)
      - [LeddarOne Lidar](sensor/leddar_one.md)
      - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
      - [TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
@@ -908,7 +908,6 @@
  - [Terminology/Notation](contribute/notation.md)
  - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
-  - [Release Process](releases/release_process.md)
  - [main (alpha)](releases/main.md)
  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
@@ -31,7 +31,6 @@ For more information see the topics for each data type:
 - [Parameters & Configurations > Creating/Defining Parameters](../advanced/parameters_and_configurations.md#creating-defining-parameters)
 - [Events Interface](../concept/events_interface.md)
 - [Actuator Metadata](#actuator-metadata) (below)
-
 ## Metadata Toolchain

 The process for handling metadata is the same for all metadata types.
@@ -70,7 +69,6 @@ The parameter XML file of the main branch is copied into the QGC source tree via
 The following diagram shows how actuator metadata is assembled from the source code and used by QGroundControl:

 ![Actuators Metadata](../../assets/diagrams/actuator_metadata_processing.svg)
-
 <!-- Source: https://docs.google.com/drawings/d/1hMQmIijdFjr21rREcXj50qz0C1b47JW0OEa6p5P231k/edit -->

 - **Left**: the metadata is defined in `module.yml` files in different modules.
@@ -34,3 +34,4 @@ You can locate the parameters in QGroundControl as shown below:
  Positive angles increase in CCW direction, negative angles increase in CW direction.
 - [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Rotation, in degrees, around PX4FMU's Z axis Yaw axis.
  Positive angles increase in CCW direction, negative angles increase in CW direction.
+  
@@ -63,6 +63,7 @@ The tool is available for Windows, Linux and macOS.
   ![Flash bootloader through Secure provisioning - Step 6](../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_step6.png)

   To get the Pixhawk V6X-RT into "ISP bootloader mode" there are 2 options:
+
   1. Launch QGC connect the Pixhawk select **Analayze Tools** and then **MAVLINK Console**.
      On the console type `reboot -i`.
      This will put the Pixhawk V6X-RT into "ISP bootloader mode"
@@ -89,6 +89,7 @@ To calibrate the ESCs:
   :::

   Verify the following values:
+
   - The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.

     You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
@@ -12,16 +12,19 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook
 ## Specifications

 - **Power Requirements**
+
  - 5V
  - 4A minimum (dependent on usage and peripherals)

 - **Additional Features**
+
  - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf))
  - MicroSD Slot
  - USA-built, NDAA compliant
  - Integrated 1W heater for sensor stability in extreme conditions

 - **Physical Details**
+
  - Weight:
    - Without Jetson and Flight Controller – 80g
    - With Jetson, no heatsink or Flight Controller – 108g
@@ -18,6 +18,7 @@ The board follows the [Pixhawk Connector Standard](https://github.com/pixhawk/Pi
 - [Holybro Pixhawk RPi CM4 Baseboard](https://holybro.com/products/pixhawk-rpi-cm4-baseboard) (www.holybro.com)

  The baseboard can be purchased with or without an RPi CM4 and/or flight controller:
+
  - The Raspberry Pi CM4 (CM4008032) supplied by Holybro has the following specification:
    - RAM: 8GB
    - eMMC: 32GB
@@ -166,6 +167,7 @@ To enable this MAVLink instance on the FC:
   ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)

 1. [Set the parameters](../advanced_config/parameters.md):
+
   - `MAV_1_CONFIG` = `102`
   - `MAV_1_MODE = 2`
   - `SER_TEL2_BAUD` = `921600`
@@ -178,6 +180,7 @@ On the RPi side:

 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle).
 1. Enable the RPi serial port by running `RPi-config`
+
   - Go to `3 Interface Options`, then `I6 Serial Port`.
     Then choose:
     - `login shell accessible over serial → No`
@@ -91,7 +91,7 @@ During PX4 setup and configuration the USB connection with your ground station l

 These instructions work on PX4 v1.14 and later.

-If you need to update the firmware then connect the Pixhawk to your laptop/desktop via the `USB` port and use QGroundControl to update the firmware as described [Firmware > Install Stable PX4](../config/firmware.md#install-stable-px4).
+If you need to update the firmware then connect the Pixhawk to your laptop/desktop via the `USB` port and use QGroundControl to update the firmware as described [Firmware > Install Stable PX4](../config/firmware.md#install-stable-px4). 
 If you want the latest developer version then update the firmware to the "main" as described in [Firmware > Installing PX4 Master, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware).

 ::: info
@@ -143,6 +143,7 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 1. Go to the **Interface Option** and then click **Serial Port**.
+
   - Select **No** to disable serial login shell.
   - Select **Yes** to enable the serial interface.
   - Click **Finish** and restart the RPi.
@@ -161,6 +162,7 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 1. Then save the file and restart the RPi.
+
   - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.

 1. Check that the serial port is available.
@@ -60,7 +60,7 @@ Configure collision prevention by [setting the following parameters](../advanced
 | <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY)                | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below.                                                                                                                                                                                                   |
 | <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG)    | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below.                                                                                                 |
 | <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`).                                                                                                                                                                                   |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Must be set to `Acceleration based`.                                                                                                                                                                                                                                                            |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Must be set to `Acceleration based`.                                                                                                                                                                                                                                                           |

 ## Algorithm Description

@@ -213,6 +213,7 @@ The steps are:

 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
   In the **Script Editor** tab, add following scripts in the appropriate sections:
+
   - **Global code, executed once:**

     ```lua
@@ -32,6 +32,7 @@ The instructions below might be used to create a task named _MyTask_:
   - FlightTaskMyTask.hpp
   - FlightTaskMyTask.cpp
 3. Update **CMakeLists.txt** for the new task
+
   - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt)
   - Update the copyright to the current year

@@ -134,6 +135,7 @@ The instructions below might be used to create a task named _MyTask_:
   Usually a parameter is used to select when a particular flight task should be used.

   For example, to enable our new `MyTask` in multicopter Position mode:
+
   - Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5:

     ```c
@@ -14,7 +14,7 @@ The directory structure/layout is shown below.
 | `/etc/`                 | Extra config. See [System Startup > Replacing the System Startup][replace system start]. |
 | `/log/`                 | Full [flight logs](../dev_log/logging.md)                                                |
 | `/mission_log/`         | Reduced flight logs                                                                      |
-| `/fw/`                  | [DroneCAN](../dronecan/index.md) firmware                                                |
+| `/fw/`                  | [DroneCAN](../dronecan/index.md) firmware                                               |
 | `/uavcan.db/`           | DroneCAN DNA server DB + logs                                                            |
 | `/params`               | Parameters (if not in FRAM/FLASH)                                                        |
 | `/dataman`              | Mission storage file                                                                     |
@@ -82,9 +82,14 @@ The test steps are:
   If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.

   </div></div>
+
   1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:

-   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.
+      ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
+
+   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
+   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
+   4. Read the warning popup and click on **OK** to start tuning.

 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">

@@ -192,8 +197,11 @@ By default, the autotune maneuvers ensure that a sufficient angular rate is reac

 If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.

+
+
 </div>

+
 ### The drone oscillates after auto-tuning

 Due to effects not included in the mathematical model such as delays, saturation, slew-rate, airframe flexibility, the loop gain can be too high.
@@ -4,15 +4,15 @@ This topic explains how to map [flight modes](../getting_started/px4_basic_conce

 :::tip
 In order to set up flight modes you must already have:
-
 - [Configured your radio](../config/radio.md)
 - [Setup your transmitter](#rc-transmitter-setup) to encode the physical positions of your mode switch(es) into a single channel.
-  We provide examples for the popular _Taranis_ transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
-  :::
+  We provide examples for the popular *Taranis* transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
+:::
+

 ## What Flight Modes and Switches Should I Set?

-Flight Modes provide different types of _autopilot-assisted flight_, and _fully autonomous flight_.
+Flight Modes provide different types of *autopilot-assisted flight*, and *fully autonomous flight*.
 You can set any (or none) of the flight modes [available to your vehicle](../flight_modes/index.md#flight-modes).

 Most users should set the following modes and functions, as these make the vehicle easier and safer to fly:
@@ -33,25 +33,26 @@ You can also separately specify channels for mapping a kill switch, return to la

 To configure single-channel flight mode selection:

-1. Start _QGroundControl_ and connect the vehicle.
+1. Start *QGroundControl* and connect the vehicle.
 1. Turn on your RC transmitter.
 1. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.

   ![Flight modes single-channel](../../assets/qgc/setup/flight_modes/flight_modes_single_channel.jpg)

-1. Specify _Flight Mode Settings_:
-   - Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
-   - Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
-     The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
+1. Specify *Flight Mode Settings*:
+   * Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
+   * Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
+     The mode slot matching your current switch position will be highlighted (above this is *Flight Mode 1*).
     ::: info
     While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
     :::
-   - Select the flight mode that you want triggered for each switch position.
-1. Specify _Switch Settings_:
-   - Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
+   * Select the flight mode that you want triggered for each switch position.
+1. Specify *Switch Settings*:
+   * Select the channels that you want to map to specific actions - e.g.: *Return* mode, *Kill switch*, *offboard* mode, etc. (if you have spare switches and channels on your transmitter).
+   
 1. Test that the modes are mapped to the right transmitter switches:
-   - Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
-   - Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
+   * Check the *Channel Monitor* to confirm that the expected channel is changed by each switch.
+   * Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on *QGroundControl* for the active mode).

 All values are automatically saved as they are changed.

@@ -60,6 +61,7 @@ All values are automatically saved as they are changed.
 This section contains a small number of possible setup configurations for taranis.
 QGroundControl _may_ have [setup information for other transmitters here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#transmitter-setup).

+
 <a id="taranis_setup"></a>

 ### Taranis Setup: 3-way Switch Configuration for Single-Channel Mode
@@ -68,7 +70,7 @@ If you only need to support selecting between two or three modes then you can ma
 Below we show how to map the Taranis 3-way "SD" switch to channel 5.

 ::: info
-This example shows how to set up the popular _FrSky Taranis_ transmitter.
+This example shows how to set up the popular *FrSky Taranis* transmitter.
 Transmitter setup will be different on other transmitters.
 :::

@@ -76,14 +78,15 @@ Open the Taranis UI **MIXER** page and scroll down to **CH5**, as shown below:

 ![Taranis - Map channel to switch](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_1.png)

-Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the _SD_ button.
+Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the *SD* button.

 ![Taranis - Configure channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_2.png)

 That's it!
 Channel 5 will now output 3 different PWM values for the three different **SD** switch positions.

-The _QGroundControl_ configuration is then as described in the previous section.
+The *QGroundControl* configuration is then as described in the previous section.
+

 ### Taranis Setup: Multi-Switch Configuration for Single-Channel Mode

@@ -93,18 +96,19 @@ Commonly this is done by encoding the positions of a 2- and a 3-position switch
 On the FrSky Taranis this process involves assigning a "logical switch" to each combination of positions of the two real switches.
 Each logical switch is then assigned to a different PWM value on the same channel.

-The video below shows how this is done with the _FrSky Taranis_ transmitter.
+The video below shows how this is done with the *FrSky Taranis* transmitter.

 <!-- [youtube](https://youtu.be/scqO7vbH2jo) Video has gone private and is no longer available -->
 <!-- @[youtube](https://youtu.be/BNzeVGD8IZI?t=427) - video showing how to set the QGC side - at about 7mins and 3 secs -->

 <lite-youtube videoid="TFEjEQZqdVA" title="Taranis Mode Switches"/>

-The _QGroundControl_ configuration is then [as described above](#flight-mode-selection).
+The *QGroundControl* configuration is then [as described above](#flight-mode-selection).
+

 ## Further Information

- [Flight Modes Overview](../flight_modes/index.md)
- [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
- [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
- [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
+* [Flight Modes Overview](../flight_modes/index.md)
+* [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
+* [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
+* [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
@@ -18,6 +18,7 @@ To level the horizon:
   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
   :::
 1. Place the vehicle in its level flight orientation on a level surface:
+
   - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
   - For copters this is the hover position.

@@ -128,10 +128,10 @@ Additional (and underlying) parameter settings are shown below.

 | Parameter                                                                                             | Setting                     | Description                                                                                                                                                                                                                                                                                                                                                                                              |
 | ----------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                                |
+| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T)    | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers.                                                                                                                                              |
 | <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay     | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
 | <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT)          | Failsafe Action             | Disabled, Loiter, Return, Land, Disarm, Terminate.                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                                                       |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions          | Set modes in which manual control loss is ignored.                                                                                                                                                                                                                                                                                                                        |

 ## Data Link Loss Failsafe

@@ -142,11 +142,11 @@ Users that want to disable this failsafe in specific modes can do so using the p

 The settings and underlying parameters are shown below.

-| Setting                                                     | Parameter                                                                  | Description                                                                       |
-| ----------------------------------------------------------- | -------------------------------------------------------------------------- | --------------------------------------------------------------------------------- |
-| Data Link Loss Timeout                                      | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T)   | Amount of time after losing the data connection before the failsafe will trigger. |
-| Failsafe Action                                             | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)       | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate.                   |
-| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored.                                     |
+| Setting                | Parameter                                                                | Description                                                                       |
+| ---------------------- | ------------------------------------------------------------------------ | --------------------------------------------------------------------------------- |
+| Data Link Loss Timeout | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | Amount of time after losing the data connection before the failsafe will trigger. |
+| Failsafe Action        | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)     | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate.                   |
+| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored. |

 ## Geofence Failsafe

@@ -13,7 +13,7 @@ These are covered in the following topics:
 - [Safe Points (Rally)](../flying/plan_safety_points.md)
 - [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
 - [Flight Termination Configuration](../advanced_config/flight_termination.md)
- [First Flight Guidelines](../flying/first_flight_guidelines.md)
+- [First Flight Guidelines](../flying/first_flight_guidelines.md) 

 ::: tip
 Note that the [First Flight Guidelines](../flying/first_flight_guidelines.md) are listed _last_.
@@ -42,12 +42,14 @@ To setup and configure a helicopter:
   ![Geometry: helicopter](../../assets/config/actuators/qgc_geometry_helicopter.png)

   The motors have no configurable geometry:
+
   - `Rotor (Motor 1)`: The main rotor
   - `Yaw tail motor (Motor 2)`: The tail rotor

   Swash plate servos: `3` | `4` <!-- 4 provides additional stability -->

   For each servo set:
+
   - `Angle`: Clockwise angle in degree on the swash plate circle at which the servo arm is attached starting from `0` pointing forwards.
     Example for a typical setup where three servos are controlling the swash plate equally distributed over the circle (360° / 3 =) 120° apart each which results in the angles:

@@ -63,6 +65,7 @@ To setup and configure a helicopter:
   - `Trim`: Offset individual servo positions. This is only needed in rare case when the swash plate is not level even though all servos are centered.

   Additional settings:
+
   - `Yaw compensation scale based on collective pitch`: How much yaw is feed forward compensated based on the current collective pitch.
   - `Main rotor turns counter-clockwise`: `Disabled` (clockwise rotation) | `Enabled`
   - `Throttle spoolup time`: Set value (in seconds) greater than the achievable minimum motor spool up time.
@@ -70,10 +73,12 @@ To setup and configure a helicopter:

 1. Remove the rotor blades and propellers
 1. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)):
+
   1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs).
   1. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction.

 1. Using an RC in [Acro mode](../flight_modes_mc/acro.md), verify the correct movement of the swash-plate. With most airframes you need to see the following:
+
   - Moving the roll stick to the right should tilt the swash-plate to the right.
   - Moving the pitch stick forward should tilt the swash-plate forward.

@@ -139,6 +144,7 @@ The rate controller should be tuned in [Acro mode](../flight_modes_mc/acro.md),

 3. Then enable the PID gains.
   Start off with following values:
+
   - [MC_ROLLRATE_P](../advanced_config/parameter_reference.md#MC_ROLLRATE_P), [MC_PITCHRATE_P](../advanced_config/parameter_reference.md#MC_PITCHRATE_P) a quarter of the value you found to work well as the corresponding feed forward value in the previous step. `P = FF / 4`

   ```sh
@@ -123,13 +123,15 @@ Tuning is the final step, carried out only after most other setup and configurat
  ::: info
  Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
  It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
-
+  
  Manual tuning using these guides are only needed if there is a problem with autotune:
+  
  - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
  - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
-
+  
  :::

+
 - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.
 - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
  - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
@@ -46,6 +46,7 @@ Then adjust the sliders (as discussed below) to improve the tracking of the resp
  These need to be set low, but such that the **motors never stop** when the vehicle is armed.

  This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Stabilized mode](../flight_modes_mc/manual_stabilized.md):
+
  - Remove propellers
  - Arm the vehicle and lower the throttle to the minimum
  - Tilt the vehicle to all directions, about 60 degrees
@@ -76,6 +77,7 @@ The tuning procedure is:
   As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.

   The thrust curve value can be used to compensate for this non-linearity:
+
   - For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
   - For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).

@@ -118,6 +120,7 @@ The tuning procedure is:
     :::
 1. Repeat the tuning process for the attitude controller on all the axes.
 1. Repeat the tuning process for the velocity and positions controllers (on all the axes).
+
   - Use Position mode when tuning these controllers
   - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)

@@ -18,37 +18,27 @@ A drive mode will only work properly if all the configuration for the preceding

 ## Flashing the Rover Build

-Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant).
+Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:

-The release versions of Rover firmware for different boards are attached to the associated GitHub release tag.
-For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1).
-For the `main` branch version of Rover you will need to [build the firmware](#building-rover).
+1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).

-Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+   To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
+   For example, to build rover for px4_fmu-v6x boards, you would use the command:

-## Building Rover
+   ```sh
+   make px4_fmu-v6x_rover
+   ```

-Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets).
-What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`.
+   ::: info
+   You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):

-For example, to build rover for `px4_fmu-v6x` boards, you would use the following command:
+   ```sh
+   CONFIG_MODULES_ROVER_ACKERMANN=y
+   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+   CONFIG_MODULES_ROVER_MECANUM=y
+   ```

-```sh
-make px4_fmu-v6x_rover
-```
+   Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
+   :::

-Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
-
-The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
-
-::: info
-You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
-
-```sh
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
-```
-
-Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
-:::
+2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
@@ -15,11 +15,13 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
   Small rovers especially can be prone to rolling over when steering aggressively at high speeds.

   If this is the case:
+
   1. In [Acro mode](../flight_modes_rover/manual.md#acro-mode), set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to a small value, drive the rover at full throttle and steer all the way to the left or right.
   2. Increase [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) until the wheels of the rover start to lift up.
   3. Set [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM) to the highest value that does not cause the rover to lift up.

   If you see no need to limit the yaw rate, set this parameter to the maximum yaw rate the rover can achieve:
+
   1. In [Manual mode](../flight_modes_rover/manual.md#manual-mode) drive the rover at full throttle and with the maximum steering angle.
   2. Plot the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) and enter the highest observed value for [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM).

@@ -49,6 +51,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun

   :::tip
   To tune this parameter:
+
   1. Put the rover in [Acro mode](../flight_modes_rover/manual.md#acro-mode) and hold the throttle stick and the right stick at a few different levels for a couple of seconds each.
   1. Disarm the rover and from the flight log plot the `adjusted_yaw_rate_setpoint` and the `measured_yaw_rate` from [RoverRateStatus](../msg_docs/RoverRateStatus.md) over each other.
   1. Increase [RO_YAW_RATE_P](#RO_YAW_RATE_P) if the measured value does not track the setpoint fast enough or decrease it if the measurement overshoots the setpoint by too much.
@@ -14,8 +14,7 @@ seconds. In each cycle, the rotors are spun for two seconds at a motor output of
 :::warning
 When enabling the feature on a new airframe, there is the risk of producing
 torques that disturb the fixed-wing rate controller. To mitigate this risk:
-
- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
-  produces 1% thrust
- Be prepared to take control and switch back to multicopter
-  :::
+ - Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+   produces 1% thrust
+ - Be prepared to take control and switch back to multicopter
+:::
@@ -66,7 +66,7 @@ Set the minimum front transition time ([VT_TRANS_MIN_TM](../advanced_config/para

 Because the risk of stalling is real, it is recommended to set the 'fixed-wing minimum altitude' (a.k.a. 'quad-chute') threshold ([VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)).

-This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude.
+This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude. 
 You could set this to 15 or 20 meters to give the multicopter time to recover from a stall.

 The position estimator tested for this mode is EKF2, which is enabled by default (for more information see [Switching State Estimators](../advanced/switching_state_estimators.md#how-to-enable-different-estimators) and [EKF2_EN ](../advanced_config/parameter_reference.md#EKF2_EN)).
@@ -306,6 +306,7 @@ If the airframe is for a **new group** you additionally need to:
   ```

 1. Update _QGroundControl_:
+
   - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
   - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:

@@ -33,12 +33,12 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 The parameters you are most likely to change are listed below.

-| Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                       |
-| ------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
+| ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [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.                                                                                                         |
+| [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:

@@ -39,6 +39,15 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz
 make px4_sitl gz_x500
 ```

+::: details  If you installed Gazebo Classic
+Start  [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
+
+```sh
+make px4_sitl gazebo-classic
+```
+
+:::
+
 This will bring up the PX4 console:

 ![PX4 Console](../../assets/toolchain/console_gazebo.png)
@@ -79,16 +88,6 @@ cd PX4-Autopilot
 make px4_fmu-v5_default
 ```

-:::tip
-You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
-From the PX4-Autopilot directory:
-
-```sh
-./Tools/docker_run.sh 'make px4_fmu-v5_default'
-```
-
-:::
-
 A successful run will end with similar output to:

 ```sh
@@ -127,8 +126,7 @@ The following list shows the build commands for the [Pixhawk standard](../flight
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`

  :::warning
-  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
-  Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
+  You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
  :::

 - Pixhawk 1 with 2 MB flash: `make px4_fmu-v3_default`
@@ -193,7 +191,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware
 This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB.

 If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC.
-In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
+In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.

 If building your own branch, it is possible that you have increased the firmware size over the 1MB limit.
 In this case you will need to remove any drivers/modules that you don't need from the build.
@@ -206,7 +204,7 @@ The PX4 build system opens a large number of files, so you may exceed this numbe
 The build toolchain will then report `Too many open files` for many files, as shown below:

 ```sh
-arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
+/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
 ```

 The solution is to increase the maximum allowed number of open files (e.g. to 300).
@@ -229,9 +227,34 @@ xcode-select --install
 sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
 ```

+### Ubuntu 18.04: Compile errors involving arm_none_eabi_gcc
+
+Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation.
+You can verify that this is the case by checking for missing dependencies using:
+
+```sh
+arm-none-eabi-gcc --version
+arm-none-eabi-g++ --version
+arm-none-eabi-gdb --version
+arm-none-eabi-size --version
+```
+
+Example of bash output with missing dependencies:
+
+```sh
+arm-none-eabi-gdb --version
+arm-none-eabi-gdb: command not found
+```
+
+This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa).
+
+### Ubuntu 18.04: Visual Studio Code is unable to watch for file changes in this large workspace
+
+See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting).
+
 ### Failed to import Python packages

-"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).
+"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected).

 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -239,12 +262,12 @@ You may need to install it using:
    pip3 install --user jinja2
 ```

-If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 Python 3.8.3), and the module is not present in the version used by the build toolchain.

-You should be able to fix this by installing the dependencies from the repository's requirements file:
+You should be able to fix this by explicitly installing the dependencies as shown:

 ```sh
-pip3 install --user -r Tools/setup/requirements.txt
+pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
 ```

 ## PX4 Make Build Targets
@@ -18,9 +18,10 @@ The equipment below is highly recommended:
  ::: info
  The listed computers have acceptable performance, but a more recent and powerful computer is recommended.
  :::
+
  - Lenovo Thinkpad with i5-core running Windows 11
  - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later

 - **Ground control station** (computer or tablet):
  - iPad (may require Wifi telemetry adapter)
@@ -39,9 +40,9 @@ Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) for a
 To configure the vehicle:

 1. [Install PX4 firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) (including "custom" firmware with your own changes).
-2. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
-3. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
-4. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
+1. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
+1. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
+1. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.

 ::: info

@@ -2,7 +2,7 @@

 The _supported platforms_ for PX4 development are:

- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)

@@ -11,13 +11,13 @@ The _supported platforms_ for PX4 development are:
 The table below shows what PX4 targets you can build on each OS.

 | Target                                                                                                                                 | Linux (Ubuntu) | macOS | Windows |
-| -------------------------------------------------------------------------------------------------------------------------------------- | :------------: | :---: | :-----: |
-| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |   ✓   |    ✓    |
-| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |       |         |
-| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |   ✓   |    ✓    |
-| **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |       |    ✓    |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                |   ✓   |    ✓    |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                |       |    ✓    |
+| -------------------------------------------------------------------------------------------------------------------------------------- | :------------: | :-: | :-----: |
+| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |  ✓  |    ✓    |
+| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |     |         |
+| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |  ✓  |    ✓    |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |       ✓        |  ✓  |    ✓    |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |       ✓        |     |    ✓    |
+| **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |     |    ✓    |

 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)

@@ -39,9 +39,8 @@ You may want to also install `python-pip` and `screen`.
 Execute the script below to install GCC 7-2017-q4:

 :::warning
-This version of GCC is very outdated.
-PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04).
-This CentOS guide is community-maintained and may not produce working builds.
+This version of GCC is out of date.
+At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28))
 :::

 ```sh
@@ -4,14 +4,20 @@ The following instructions use a bash script to set up the PX4 development envir

 The environment includes:

- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager.
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
+- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
+
+On Ubuntu 22.04:
+
+- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
+  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.

 The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.

-::: info
-PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported.
-Older Ubuntu versions are not supported and may not work.
+::: details Can I use an older version of Ubuntu?
+PX4 supports the current and last Ubuntu LTS release where possible.
+Older releases are not supported (so you can't raise defects against them), but may still work.
+For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
 :::

 ## Simulation and NuttX (Pixhawk) Targets
@@ -44,18 +50,19 @@ To install the toolchain:
   - Acknowledge any prompts as the script progress.
   - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.

-3. Restart the computer on completion.
+3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
+
+4. Restart the computer on completion.

 :::details Additional notes
 These notes are provided "for information only":

 - This setup is supported by the PX4 Dev Team.
  The instructions may also work on other Debian Linux based systems.
- You can verify the NuttX installation by confirming `gcc` is available.
-  The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04):
+- You can verify the NuttX installation by confirming the `gcc` version as shown:

  ```sh
-  $ arm-none-eabi-gcc --version
+  $arm-none-eabi-gcc --version

  arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
  Copyright (C) 2023 Free Software Foundation, Inc.
@@ -107,6 +107,7 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si
   sh macos.sh
   ```

+
 ## Next Steps

 Once you have finished setting up the command-line toolchain:
@@ -58,20 +58,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
     wsl --install
     ```

+   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-20.04
+     ```
+
   - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))

     ```sh
     wsl --install -d Ubuntu-22.04
     ```

-   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-24.04
-     ```
-
   ::: info
-   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.
+   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
   :::

 1. WSL will prompt you for a user name and password for the Ubuntu installation.
@@ -106,7 +106,7 @@ To open a WSL shell using a command prompt:
   ```

   ```sh
-   wsl -d Ubuntu-24.04
+   wsl -d Ubuntu-20.04
   ```

   If you only have one version of Ubuntu, you can just use `wsl`.
@@ -23,6 +23,7 @@ You must already have installed the command line [PX4 developer environment](../

 1. [Download and install VSCode](https://code.visualstudio.com/) (you will be offered the correct version for your OS).
 1. Open VSCode and add the PX4 source code:
+
   - Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):

     ![Open Folder](../../assets/toolchain/vscode/welcome_open_folder.jpg)
@@ -44,6 +45,7 @@ You must already have installed the command line [PX4 developer environment](../
   :::tip
   If the prompts disappear, click the little "alarm" icon on the right of the bottom blue bar.
   :::
+
   - If prompted to install a new version of _cmake_:
     - Say **No** (the right version is installed with the [PX4 developer environment](../dev_setup/dev_env.md)).
   - If prompted to sign into _github.com_ and add your credentials:
@@ -57,6 +59,7 @@ You must already have installed the command line [PX4 developer environment](../
 To build:

 1. Select your build target ("cmake build config"):
+
   - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
     ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg)

@@ -124,10 +127,10 @@ Once that is done you don't need to do anything else; the toolchain will automat

 This section includes guidance on setup and build errors.

-### "Visual Studio Code is unable to watch for file changes in this large workspace"
+### Ubuntu 18.04: "Visual Studio Code is unable to watch for file changes in this large workspace"

 This error surfaces on startup.
-On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
+On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.

 You can increase this limit to avoid the error, at the expense of memory consumption.
 Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).
@@ -83,10 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter

 On the ARK CANnode, you may need to configure the following parameters:

-| Parameter                                                                                                | Description                                                                                                                           |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

@@ -72,6 +72,7 @@ The Ark Flow will not boot if there is no SD card in the flight controller when

 ### Enable DroneCAN

+
 The steps are:

 - In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
@@ -110,10 +111,10 @@ When optical flow is the only source of horizontal position/velocity, then lower

 On the ARK Flow, you may need to configure the following parameters:

-| Parameter                                                                                                | Description                                                                                                                           |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

@@ -1,6 +1,6 @@
 # ARK Flow MR

-ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module.
+ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module. 
 It is the next generation of the [Ark Flow](ark_flow.md), designed for mid-range applications.

 ![ARK Flow MR](../../assets/hardware/sensors/optical_flow/ark_flow_mr.jpg)
@@ -28,7 +28,7 @@ Order this module from:
 - Invensense IIM-42653 6-Axis IMU
 - Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
 - Pixhawk Standard Debug Connector (6 Pin JST SH)
- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)
+- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)  
 - Small Form Factor
  - 3cm x 3cm x 1.4cm
 - LED Indicators
@@ -70,6 +70,7 @@ The Ark Flow MR will not boot if there is no SD card in the flight controller wh

 ### Enable DroneCAN

+
 The steps are:

 - In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
@@ -105,16 +106,17 @@ Set the following parameters in _QGroundControl_:

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:

-| Parameter                                                                                                | Description                                                                                                                           |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination.                                                                                                         |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination.                                                                                                                      |

 ## LED Meanings

 - Blinking green is normal operation
 - Rapid blinking blue and red is firmware update

+
 If you see a solid red LED there is an error and you should check the following:

 - Make sure the flight controller has an SD card installed.
@@ -97,10 +97,10 @@ If the sensor is not centred within the vehicle you will also need to define sen

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:

-| Parameter                                                                                                | Description                                                                                                                           |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |

 ## LED Meanings

@@ -91,10 +91,10 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if

 You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:

-| Parameter                                                                                                | Description                                                                                                                           |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
-| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)          | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                     |
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID.            |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)       | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                 |

 ### Setting Up Rover and Fixed Base

@@ -100,6 +100,7 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
 1. Components should be visible on the left panel.
   Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
 1. Click on the _GPS_ subsection and configure the parameters listed below:
+
   - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
     One F9P MUST be _rover_, and the other MUST be _base_.
   - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
@@ -32,10 +32,12 @@ Order this module from:
 - 10 Pin JST-SH Debug

 - Motor & Battery Connectors (with-connector version)
+
  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
  - Four MR30 Motor Connectors

 - Dimensions (with connectors)
+
  - Size: 77.00mm x 42.00mm x 9.43mm
  - Mounting Pattern: 30.5mm
  - Weight: 24g
@@ -26,6 +26,7 @@ AIRLink has two computers and integrated LTE Module:
 ## Specifications

 - **Sensors**
+
  - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
  - GNSS, Rangefinders, Lidars, Optical Flow, Cameras
  - 3x-redundant IMU
@@ -33,6 +34,7 @@ AIRLink has two computers and integrated LTE Module:
  - Temperature stabilization

 - **Flight Controller**
+
  - STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM
  - STM32F1, I/O co-processor
  - Ethernet, 10/100 Mbps
@@ -49,6 +51,7 @@ AIRLink has two computers and integrated LTE Module:
  - Safety switch / LED option

 - **AI Mission Computer**
+
  - 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53
  - GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1
  - VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding
@@ -62,6 +65,7 @@ AIRLink has two computers and integrated LTE Module:
  - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)

 - **LTE/5G Connectivity Module**
+
  - Up to 600 Mbps bandwidth
  - 5G sub-6 and mmWave, SA and NSA operations
  - 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL
@@ -138,6 +142,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg)

 - **Left side interfaces:**
+
  - Power input with voltage & current monitoring
  - AI Mission Computer micro SD card
  - Flight Controller micro SD card
@@ -164,12 +169,12 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 - **RC Connector - JST GH SM06B-GHS-TB**

  | Pin number | Pin name | Direction | Voltage | Function    |
-  | ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ |
+  | ---------- | -------- | --------- | ------- | ----------- |
  | 1          | 5V       | OUT       | +5V     | 5V output   |
  | 2          | PPM_IN   | IN        | +3.3V   | PPM input   |
  | 3          | RSSI_IN  | IN        | +3.3V   | RSSI input  |
  | 4          | FAN_OUT  | OUT       | +5V     | Fan output  |
-  | 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6   | GND | Ground |
+  | 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6 | GND | Ground |

 * **FMU SD card - microSD**

@@ -178,6 +183,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg)

 - **Right side interfaces:**
+
  - Ethernet port with power output
  - Telemetry port
  - Second GPS port
@@ -241,6 +247,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg)

 - **Front side interfaces:**
+
  - Main GNSS and compass port
  - Main telemetry port
  - CSI camera input
@@ -298,6 +305,7 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg)

 - **Rear side interfaces:**
+
  - SBUS input
  - 16 PWM output channels
  - 2x LTE antenna sockets (MIMO)
@@ -83,7 +83,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop

 ### Mechanical Data

- Not provided.
+ - Not provided.

 ## Purchase Channels

@@ -91,11 +91,11 @@ Order from [CUAV](https://store.cuav.net/).

 ## Assembly/Setup

- Not provided.
+ - Not provided.

 ## Pin Definitions

- Not provided.
+ - Not provided.

 ## Serial Port Mapping

@@ -112,13 +112,11 @@ Order from [CUAV](https://store.cuav.net/).
 ## Voltage Ratings

 The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
-
 - **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.

 **Normal Operation Maximum Ratings**

 Under these conditions, all power sources will be used to power the system in the following order:
-
 1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
 2. USB Input (4.75V to 5.25V)

@@ -145,14 +143,14 @@ make cuav_x25-evo_default

 The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.

-| Pin     | Signal         | Volt  |
-| ------- | -------------- | ----- |
-| 1 (red) | 5V+            | +5V   |
-| 2 (blk) | DEBUG TX (OUT) | +3.3V |
-| 3 (blk) | DEBUG RX (IN)  | +3.3V |
-| 4 (blk) | FMU_SWDIO      | +3.3V |
-| 5 (blk) | FMU_SWCLK      | +3.3V |
-| 6 (blk) | GND            | GND   |
+| Pin      | Signal           | Volt  |
+| -------- | ---------------- | ----- |
+| 1 (red)  | 5V+              | +5V   |
+| 2 (blk)  | DEBUG TX (OUT)   | +3.3V |
+| 3 (blk)  | DEBUG RX (IN)    | +3.3V |
+| 4 (blk)  | FMU_SWDIO        | +3.3V |
+| 5 (blk)  | FMU_SWCLK        | +3.3V |
+| 6 (blk)  | GND              | GND   |

 ## Supported Platforms / Airframes

@@ -39,20 +39,20 @@ The pin order is different from the Pixhawk standard (compatible to the Betaflig

 Current UART configuration:

-| UART   | Device     | Function             |
-| ------ | ---------- | -------------------- |
-| USART1 | /dev/ttyS0 | Console/Debug        |
-| USART2 | /dev/ttyS1 | RC Input             |
-| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)       |
-| UART4  | /dev/ttyS3 | TEL1                 |
-| UART5  | /dev/ttyS4 | TEL2                 |
-| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry) |
-| UART8  | /dev/ttyS6 | GPS1                 |
+| UART   | Device     | Function                     |
+| ------ | ---------- | ---------------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug                |
+| USART2 | /dev/ttyS1 | RC Input                     |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)               |
+| UART4  | /dev/ttyS3 | TEL1                         |
+| UART5  | /dev/ttyS4 | TEL2                         |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry)         |
+| UART8  | /dev/ttyS6 | GPS1                         |

 ### Motor/Servo Outputs

 | Connector | Pin | Function     |
-| --------- | --- | ------------ |
+| ----------| ------------------ |
 | ESC       | M1  | Motor 1      |
 | ESC       | M2  | Motor 2      |
 | ESC       | M3  | Motor 3      |
@@ -1,4 +1,4 @@
-# Holybro Kakute H743-Wing
+# Holybro Kakute H743-Wing 

 <Badge type="tip" text="PX4 v1.16" />

@@ -9,6 +9,7 @@ Contact the [manufacturer](https://holybro.com/) for hardware support or complia

 The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.

+
 ::: info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::
@@ -19,6 +20,7 @@ The board can be bought from one of the following shops (for example):

 - [Holybro](https://holybro.com/products/kakute-h743-wing)

+
 ## Connectors and Pins

 | Pin              | Function                          | PX4 default                |
@@ -67,15 +69,15 @@ Firmware can be manually installed in any of the normal ways:

 ## Serial Port Mapping

-| UART   | Device     | Port             | Default function |
-| ------ | ---------- | ---------------- | ---------------- |
-| USART1 | /dev/ttyS0 | GPS 1            | GPS1             |
-| USART2 | /dev/ttyS1 | R2, T2           | GPS2             |
-| USART3 | /dev/ttyS2 | R3, T3           | TELEM1           |
-| UART5  | /dev/ttyS3 | R5, T5           | TELEM2           |
-| USART6 | /dev/ttyS4 | R6, (T6)         | RC input         |
-| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS | TELEM3           |
-| UART8  | /dev/ttyS6 | R8, T8           | Console          |
+| UART   | Device     | Port                  | Default function |
+| ------ | ---------- | --------------------- | ---------------- |
+| USART1 | /dev/ttyS0 | GPS 1                 | GPS1             |
+| USART2 | /dev/ttyS1 | R2, T2                | GPS2             |
+| USART3 | /dev/ttyS2 | R3, T3                | TELEM1           |
+| UART5  | /dev/ttyS3 | R5, T5                | TELEM2           |
+| USART6 | /dev/ttyS4 | R6, (T6)              | RC input         |
+| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS      | TELEM3           |
+| UART8  | /dev/ttyS6 | R8, T8                | Console          |

 ## Debug Port

@@ -102,21 +102,21 @@ At very high level, the main differences are:

 ### FMUv6 Comparison

-| Feature            | **FMUv6X-RT**   | **FMUv6X**    | **FMUv6C**    |
-| ------------------ | --------------- | ------------- | ------------- |
-| **FMU MCU**        | NXP i.MX RT1176 | STM32H753     | STM32H743V    |
-| **RAM**            | 2 MB            | 1 MB          | 1 MB          |
-| **Flash**          | 64 MB Octal SPI | 2 MB internal | 2 MB internal |
-| **IO MCU**         | STM32F103       | STM32F103     | STM32F103     |
-| **Secure Element** | NXP SE051       | NXP SE051     | Not supported |
-| **PAB Standard**   | Supported       | Supported     | Not supported |
-| **Ethernet**       | Supported       | Supported     | Not supported |
-| **IMUs**           | 3×              | 3×            | 2×            |
-| **Barometers**     | 2×              | 2×            | 1×            |
-| **Magnetometer**   | 1×              | 1×            | 1×            |
-| **FMU PWM**        | 12×             | 8×            | 8×            |
-| **IO PWM**         | 8×              | 8×            | 8×            |
-| **CAN Bus**        | 3×              | 2×            | 2×            |
+| Feature            | **FMUv6X-RT**         | **FMUv6X**        | **FMUv6C**        |
+| ------------------ | --------------------- | ----------------- | ------------------ |
+| **FMU MCU**        | NXP i.MX RT1176       | STM32H753         | STM32H743V         |
+| **RAM**            | 2 MB                  | 1 MB              | 1 MB               |
+| **Flash**          | 64 MB Octal SPI       | 2 MB internal     | 2 MB internal      |
+| **IO MCU**         | STM32F103             | STM32F103         | STM32F103          |
+| **Secure Element** | NXP SE051             | NXP SE051         | Not supported      |
+| **PAB Standard**   | Supported             | Supported         | Not supported      |
+| **Ethernet**       | Supported             | Supported         | Not supported      |
+| **IMUs**           | 3×                    | 3×                | 2×                 |
+| **Barometers**     | 2×                    | 2×                | 1×                 |
+| **Magnetometer**   | 1×                    | 1×                | 1×                 |
+| **FMU PWM**        | 12×                   | 8×                | 8×                 |
+| **IO PWM**         | 8×                    | 8×                | 8×                 |
+| **CAN Bus**        | 3×                    | 2×                | 2×                 |

 ### Licensing and Trademarks

@@ -63,7 +63,6 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 Order from [S-Vehicle](https://svehicle.cn/).

 ## Radio Control
-
 A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).

 You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
@@ -228,7 +228,7 @@ The following MAVLink messages and their particular fields and field values are

    - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - The following input combinations are supported:
@@ -271,7 +271,7 @@ The following MAVLink messages and their particular fields and field values are
        - 12288: Loiter setpoint (fly a circle centred on setpoint).
        - 16384: Idle setpoint (zero throttle, zero roll / pitch).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - The following input combinations are supported:
@@ -280,29 +280,7 @@ The following MAVLink messages and their particular fields and field values are

 ### Rover

-Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
-These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
-For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2.
-
-::: info
-Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages).
-:::
-
- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
-  - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules).
-  - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
-  - `yaw`/`yaw_rate`:
-    - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction).
-    - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`.
-  - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules.
-
- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
-  - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components).
-  - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components).
-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
-
- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
-  - Not supported for rover offboard control.
+Rover does not support a MAVLink offboard API (ROS2 is supported).

 ## Offboard Parameters

@@ -18,7 +18,7 @@ Manual-Easy:
 - [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
  The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
 - Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
-  It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
+It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 - [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
  Thrust is directly set by the pilot.
  Turn coordination is still handled by the controller.
@@ -35,7 +35,6 @@ Manual-Acrobatic
 Autonomous:
 All autonomous flight modes require a valid position estimate (GPS).
 Airspeed is actively controlled if an airspeed sensor is installed in any autonomous flight mode.
-
 - [Hold](../flight_modes_fw/hold.md) — Vehicle circles around the GPS hold position at the current altitude.
  The mode can be used to pause a mission or to help regain control of a vehicle in an emergency.
  It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.
@@ -24,7 +24,6 @@ Where possible, instead use [Return mode](../flight_modes_fw/return.md) with a p
 - The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.

 <!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
-
 :::

 ## Technical Summary
@@ -41,12 +40,12 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/

 Land mode behaviour can be configured using the parameters below.

-| Parameter                                                                                                   | Description                                                                                                              |
-| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ |
-| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)       | The loiter radius that the controller tracks for the whole landing sequence.                                             |
-| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)                   | The flight path angle setpoint.                                                                                          |
-| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)          | The airspeed setpoint.                                                                                                   |
-| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
+| Parameter                                                                                             | Description                                                                  |
+| ----------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
+| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
+| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG)             | The flight path angle setpoint.                                              |
+| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD)    | The airspeed setpoint.                                                       |
+| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC)    | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN.

 ## See Also

@@ -28,6 +28,7 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
+
   - If flying the vehicle will loiter.
   - If landed the vehicle will "wait".

@@ -162,9 +163,9 @@ Mission Items:
 - [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
 - [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
 - [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
-  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
-  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
-    Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0).
+     Instead, the axis bitmask defined by [`FW_AT_AXES`](../advanced_config/parameter_reference.md#FW_AT_AXES) is used.

 GeoFence Definitions

@@ -43,8 +43,8 @@ The horizontal position of the vehicle can move due to wind (or pre-existing mom

 The mode is affected by the following parameters:

-| Parameter                                                                                                   | Description                                                                                                                                                                                                                            |
-| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                      |
-| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                     |
-| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
+| Parameter                                                                                                   | Description                                                                                                                                                                                                                                                                                         |
+| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Maximum vertical ascent velocity. Default: 3 m/s.                                                                                                                                                                                                                                                   |
+| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Maximum vertical descent velocity. Default: 1 m/s.                                                                                                                                                                                                                                                  |
+| <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                              |
@@ -115,6 +115,7 @@ The altitude control mode determine whether the vehicle altitude is relative to
  The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain).

 - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor.
+
  - If the vehicle does not have a distance sensor following will be identical to `2D tracking`.
  - Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode.
  - Note that that height is relative to the ground underneath the vehicle, not the follow target.
@@ -162,6 +163,7 @@ The follow-me behavior can be configured using the following parameters:

   <lite-youtube videoid="o3DhvCL_M1E" title="YUN0012 almostCinematic"/>

+
   This video demonstrates a Google-Earth view perspective, by adjusting the height to around 50 meters (high), distance to 1 meter (close). Which allows a perspective as shot from a satellite.

 ## Known Issues
@@ -30,6 +30,7 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
+
   - If flying the vehicle will hold.
   - If landed the vehicle will "wait".

@@ -166,8 +167,8 @@ Mission Items:
  - `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
    Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
 - [MAV_CMD_DO_AUTOTUNE_ENABLE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_AUTOTUNE_ENABLE)
-  - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
-  - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .
+   - Disabling autotune by setting `param1` to zero is currently not supported. To abort autotune during a mission, switch to another flight mode.
+   - Axis selection specified in the MAVLink message is ignored (`param2` must be set to 0) .

 GeoFence Definitions

@@ -47,6 +47,7 @@ If returning as a fixed-wing, the vehicle:
  A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND).

 - If the destination is a rally point or home it will:
+
  - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT).
  - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY).
  - Yaw towards the destination (centre of loiter).
@@ -13,24 +13,24 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac

 ![MC Controller Diagram](../../assets/diagrams/mc_control_arch.jpg)

- This is a standard cascaded control architecture.
- The controllers are a mix of P and PID controllers.
- Estimates come from [EKF2](../advanced_config/tuning_the_ecl_ekf.md).
- Depending on the mode, the outer (position) loop is bypassed (shown as a multiplexer after the outer loop).
+* This is a standard cascaded control architecture.
+* The controllers are a mix of P and PID controllers.
+* Estimates come from [EKF2](../advanced_config/tuning_the_ecl_ekf.md).
+* Depending on the mode, the outer (position) loop is bypassed (shown as a multiplexer after the outer loop).
  The position loop is only used when holding position or when the requested velocity in an axis is null.

 ### Multicopter Angular Rate Controller

 ![MC Rate Control Diagram](../../assets/diagrams/mc_angular_rate_diagram.jpg)

- K-PID controller. See [Rate Controller](../config_mc/pid_tuning_guide_multicopter.md#rate-controller) for more information.
- The integral authority is limited to prevent wind up.
- The outputs are limited (in the control allocation module), usually at -1 and 1.
- A Low Pass Filter (LPF) is used on the derivative path to reduce noise (the gyro driver provides a filtered derivative to the controller).
+* K-PID controller. See [Rate Controller](../config_mc/pid_tuning_guide_multicopter.md#rate-controller) for more information.
+* The integral authority is limited to prevent wind up.
+* The outputs are limited (in the control allocation module), usually at -1 and 1.
+* A Low Pass Filter (LPF) is used on the derivative path to reduce noise (the gyro driver provides a filtered derivative to the controller).

  ::: info
  The IMU pipeline is:
-  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle*angular_velocity (\_filtered angular rate used by the P and I controllers*) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle*angular_acceleration (\_filtered angular acceleration used by the D controller*)
+  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (*filtered angular rate used by the P and I controllers*) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (*filtered angular acceleration used by the D controller*)

  ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png)
  :::
@@ -41,51 +41,51 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac

 ![MC Angle Control Diagram](../../assets/diagrams/mc_angle_diagram.jpg)

- The attitude controller makes use of [quaternions](https://en.wikipedia.org/wiki/Quaternion).
- The controller is implemented from this [article](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf).
- When tuning this controller, the only parameter of concern is the P gain.
- The rate command is saturated.
+* The attitude controller makes use of [quaternions](https://en.wikipedia.org/wiki/Quaternion).
+* The controller is implemented from this [article](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf).
+* When tuning this controller, the only parameter of concern is the P gain.
+* The rate command is saturated.

 ### Multicopter Acceleration to Thrust and Attitude Setpoint Conversion

- The acceleration setpoints generated by the velocity controller will be converted to thrust and attitude setpoints.
- Converted acceleration setpoints will be saturated and prioritized in vertical and horizontal thrust.
- Thrust saturation is done after computing the corresponding thrust:
-  1.  Compute required vertical thrust (`thrust_z`)
-  1.  Saturate `thrust_z` with `MPC_THR_MAX`
-  1.  Saturate `thrust_xy` with `(MPC_THR_MAX^2 - thrust_z^2)^0.5`
-
-Implementation details can be found in `PositionControl.cpp` and `ControlMath.cpp`.
+* The acceleration setpoints generated by the velocity controller will be converted to thrust and attitude setpoints.
+* Converted acceleration setpoints will be saturated and prioritized in vertical and horizontal thrust. 
+* Thrust saturation is done after computing the corresponding thrust:
+   1. Compute required vertical thrust (`thrust_z`)
+   1. Saturate `thrust_z` with `MPC_THR_MAX`
+   1. Saturate `thrust_xy` with `(MPC_THR_MAX^2 - thrust_z^2)^0.5`
+   
+Implementation details can be found in `PositionControl.cpp` and `ControlMath.cpp`.   

 ### Multicopter Velocity Controller

 ![MC Velocity Control Diagram](../../assets/diagrams/mc_velocity_diagram.png)

- PID controller to stabilise velocity. Commands an acceleration.
- The integrator includes an anti-reset windup (ARW) using a clamping method.
- The commanded acceleration is NOT saturated - a saturation will be applied to the converted thrust setpoints in combination with the maximum tilt angle.
- Horizontal gains set via parameter `MPC_XY_VEL_P_ACC`, `MPC_XY_VEL_I_ACC` and `MPC_XY_VEL_D_ACC`.
- Vertical gains set via parameter `MPC_Z_VEL_P_ACC`, `MPC_Z_VEL_I_ACC` and `MPC_Z_VEL_D_ACC`.
+* PID controller to stabilise velocity. Commands an acceleration.
+* The integrator includes an anti-reset windup (ARW) using a clamping method.
+* The commanded acceleration is NOT saturated - a saturation will be applied to the converted thrust setpoints in combination with the maximum tilt angle. 
+* Horizontal gains set via parameter `MPC_XY_VEL_P_ACC`, `MPC_XY_VEL_I_ACC` and `MPC_XY_VEL_D_ACC`.
+* Vertical gains set via parameter `MPC_Z_VEL_P_ACC`, `MPC_Z_VEL_I_ACC` and `MPC_Z_VEL_D_ACC`.

 ### Multicopter Position Controller

 ![MC Position Control Diagram](../../assets/diagrams/mc_position_diagram.png)

- Simple P controller that commands a velocity.
- The commanded velocity is saturated to keep the velocity in certain limits. See parameter `MPC_XY_VEL_MAX`. This parameter sets the maximum possible horizontal velocity. This differs from the maximum **desired** speed `MPC_XY_CRUISE` (autonomous modes) and `MPC_VEL_MANUAL` (manual position control mode).
- Horizontal P gain set via parameter `MPC_XY_P`.
- Vertical P gain set via parameter `MPC_Z_P`.
+* Simple P controller that commands a velocity. 
+* The commanded velocity is saturated to keep the velocity in certain limits. See parameter `MPC_XY_VEL_MAX`. This parameter sets the maximum possible horizontal velocity. This differs from the maximum **desired** speed `MPC_XY_CRUISE` (autonomous modes) and `MPC_VEL_MANUAL` (manual position control mode).
+* Horizontal P gain set via parameter `MPC_XY_P`.
+* Vertical P gain set via parameter `MPC_Z_P`.
+  

 #### Combined Position and Velocity Controller Diagram

 ![MC Position Controller Diagram](../../assets/diagrams/px4_mc_position_controller_diagram.png)

- Mode dependent feedforwards (ff) - e.g. Mission mode trajectory generator (jerk-limited trajectory) computes position, velocity and acceleration setpoints.
- Acceleration setpoints (inertial frame) will be transformed (with yaw setpoint) into attitude setpoints (quaternion) and collective thrust setpoint.
+* Mode dependent feedforwards (ff) - e.g. Mission mode trajectory generator (jerk-limited trajectory) computes position, velocity and acceleration setpoints.
+* Acceleration setpoints (inertial frame) will be transformed (with yaw setpoint) into attitude setpoints (quaternion) and collective thrust setpoint.

 <!-- The drawing is on draw.io: https://drive.google.com/open?id=13Mzjks1KqBiZZQs15nDN0r0Y9gM_EjtX
 Request access from dev team. -->
-
 ## Fixed-Wing Position Controller

 ### Total Energy Control System (TECS)
@@ -117,6 +117,7 @@ An increase in pitch angle transfers kinetic to potential energy and a negative
 The control problem was therefore decoupled by transforming the initial setpoints into energy quantities which can be controlled independently.
 We use thrust to regulate the specific total energy of the vehicle and pitch maintain a specific balance between potential (height) and kinetic (speed) energy.

+
 #### Total energy control loop

 ![Energy loop](../../assets/diagrams/TECS_throttle.png)
@@ -129,6 +130,7 @@ We use thrust to regulate the specific total energy of the vehicle and pitch mai

 <!-- The drawing is on draw.io: https://drive.google.com/file/d/1bZtFULYmys-_EQNhC9MNcKLFauc7OYJZ/view -->

+
 The total energy of an aircraft is the sum of kinetic and potential energy:

 $$E_T = \frac{1}{2} m V_T^2 + m g h$$
@@ -176,7 +178,7 @@ The angular position of the control effectors (ailerons, elevators, rudders, ...
 Furthermore, since the control surfaces are more effective at high speed and less effective at low speed, the controller - tuned for cruise speed - is scaled using the airspeed measurements (if such a sensor is used).

 ::: info
-If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
+If no airspeed sensor is used then gain scheduling for the FW attitude controller is  disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
 :::

 The feedforward gain is used to compensate for aerodynamic damping.
@@ -186,12 +188,14 @@ In order to keep a constant rate, this damping can be compensated using feedforw
 ### Turn coordination

 The roll and pitch controllers have the same structure and the longitudinal and lateral dynamics are assumed to be uncoupled enough to work independently.
-The yaw controller, however, generates its yaw rate setpoint using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping. The turn coordination algorithm is based solely on coordinated turn geometry calculation.
+The yaw controller, however, generates its yaw rate setpoint using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping.  The turn coordination algorithm is based solely on coordinated turn geometry calculation.

 $$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$

 The yaw rate controller also helps to counteract [adverse yaw effects](https://youtu.be/sNV_SDDxuWk) and to damp the [Dutch roll mode](https://en.wikipedia.org/wiki/Dutch_roll) by providing extra directional damping.

+
+
 ## VTOL Flight Controller

 ![VTOL Attitude Controller Diagram](../../assets/diagrams/VTOL_controller_diagram.png)
@@ -208,11 +212,12 @@ The inputs into this block are called "virtual" as, depending on the current VTO
 For a standard and tilt-rotor VTOL, during transition the fixed-wing attitude controller produces the rate setpoints, which are then fed into the separate rate controllers, resulting in torque commands for the multicopter and fixed-wing actuators.
 For tailsitters, during transition the multicopter attitude controller is running.

-The outputs of the VTOL attitude block are separate torque and force commands for the multicopter and fixed-wing actuators (two instances for `vehicle_torque_setpoint` and `vehicle_thrust_setpoint`).
+The outputs of the VTOL attitude block are separate torque and force commands for the multicopter and fixed-wing actuators (two instances for `vehicle_torque_setpoint` and `vehicle_thrust_setpoint`). 
 These are handled in an airframe-specific control allocation class.

 For more information on the tuning of the transition logic inside the VTOL block, see [VTOL Configuration](../config_vtol/index.md).

+
 ### Airspeed Scaling

 The objective of this section is to explain with the help of equations why and how the output of the rate PI and feedforward (FF) controllers can be scaled with airspeed to improve the control performance.
@@ -1,6 +1,6 @@
 # First Flight Guidelines

-Learning to fly is a lot of fun!
+Learning to fly is a lot of fun! 
 These guidelines are designed to ensure that your first flight experience is enjoyable, educational, and safe.

 ## Know the Law
@@ -10,10 +10,10 @@ Familiarise yourself with the flight regulations in your area.

 ## Select a Good Location

-Selecting the right location for your first flight is critical.
+Selecting the right location for your first flight is critical. 
 The main things to look for are:

- Make sure the space is open.
+- Make sure the space is open. 
  There should be no high trees, hills or buildings nearby, because those will impair the GNSS reception.
 - Make sure no people are within 100 m (300 feet).
 - Make sure there is nothing that you shouldn't crash onto within 100 m - no houses, structures, cars, water, corn fields (hard to find drones in).
@@ -24,12 +24,12 @@ The main things to look for are:

 ## Bring a Pro

-Bring someone with experience for your first flight.
+Bring someone with experience for your first flight. 
 Get them to help you to run through the pre-flight checks and let them intervene if something goes wrong!

 ## Plan the Flight

-Plan the flight before taking off.
+Plan the flight before taking off. 
 Make sure you know the whole route and where/how the vehicle will land.

 ## Limit the Damage
@@ -5,7 +5,9 @@ A mission is a predefined flight plan, which can be planned in QGroundControl an
 Missions typically include items for controlling taking off, flying a sequence of waypoints, capturing images and/or video, deploying cargo, and landing.
 QGroundControl allows you to plan missions using a fully manual approach, or you can use its more advanced features to plan ground area surveys, corridor surveys, or structure surveys.

-This topic provides an overview of how to plan and fly missions.
+This topic provides an overview of how to plan and fly missions. 
+
+

 ## Planning Missions

@@ -32,6 +32,7 @@ To create a package delivery mission (with a Gripper):

 1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path.
 1. Add a waypoint on the map for where you'd like to release the package.
+
   - To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package).

   - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item.
@@ -47,6 +48,7 @@ To create a package delivery mission (with a Gripper):
 1. Configure the action for the gripper in the editor.

   ![Gripper action setting](../../assets/flying/qgc_mission_plan_gripper_action_setting.png)
+
   - Set it to "Release" in order to release the package.
   - The gripper ID does not need to be set for now.

@@ -1,26 +1,25 @@
 # Safety Points (Rally Points)

 Safety points are alternative [Return Mode](../flight_modes/return.md) destinations/landing points.
-When enabled, the vehicle will choose the _closest return destination_ of: home location, mission landing pattern or a _safety point_.
+When enabled, the vehicle will choose the *closest return destination* of: home location, mission landing pattern or a *safety point*.

 ![Safety Points](../../assets/qgc/plan/rally_point/rally_points.jpg)

 ## Creating/Defining Safety Points

-Safety points are created in _QGroundControl_ (which calls them "Rally Points").
+Safety points are created in *QGroundControl* (which calls them "Rally Points").

 At high level:
-
 1. Open **QGroundControl > Plan View**
-1. Select the **Rally** tab/button on the _Plan Editor_ (right of screen).
+1. Select the **Rally** tab/button on the *Plan Editor* (right of screen).
 1. Select the **Rally Point** button on the toolbar (left of screen).
 1. Click anywhere on the map to add a rally/safety point.
-   - The _Plan Editor_ displays and lets you edit the current rally point (shown as a green **R** on the map).
+   - The *Plan Editor* displays and lets you edit the current rally point (shown as a green **R** on the map).
   - You can select another rally point (shown as a more orange/yellow **R** on the map) to edit it instead.
 1. Select the **Upload Required** button to upload the rally points (along with any [mission](../flying/missions.md) and [geofence](../flying/geofence.md)) to the vehicle.

 :::tip
-More complete documentation can be found in the _QGroundControl User Guide_: [Plan View - Rally Points](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_rally_points.html).
+More complete documentation can be found in the *QGroundControl User Guide*: [Plan View - Rally Points](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_rally_points.html).
 :::

 ## Using Safety Points
@@ -28,5 +27,4 @@ More complete documentation can be found in the _QGroundControl User Guide_: [Pl
 Safety points are not enabled by default (there are a number of different [Return Mode Types](../flight_modes/return.md#return_types)).

 To enable safety points:
-
 1. [Use the QGroundControl Parameter Editor](../advanced_config/parameters.md) to set parameter: [RTL_TYPE=3](../advanced_config/parameter_reference.md#RTL_TYPE).
@@ -1,27 +1,27 @@
 # Terrain Following/Holding

-PX4 supports [Terrain Following](#terrain_following) and [Terrain Hold](#terrain_hold) in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
+PX4 supports [Terrain Following](#terrain_following) and [Terrain Hold](#terrain_hold) in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).

 ::: info
 PX4 does not "natively" support terrain following in missions.
-_QGroundControl_ can be used to define missions that _approximately_ follow terrain (this just sets waypoint altitudes based on height above terrain, where terrain height at waypoints is obtained from a map database).
+*QGroundControl* can be used to define missions that *approximately* follow terrain (this just sets waypoint altitudes based on height above terrain, where terrain height at waypoints is obtained from a map database).
 :::

 <a id="terrain_following"></a>

 ## Terrain Following

-_Terrain following_ enables a vehicle to automatically maintain a relatively constant height above ground level when traveling at low altitudes.
+*Terrain following* enables a vehicle to automatically maintain a relatively constant height above ground level when traveling at low altitudes.
 This is useful for avoiding obstacles and for maintaining constant height when flying over varied terrain (e.g. for aerial photography).

 :::tip
-This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
+This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).
 :::

-When _terrain following_ is enabled, PX4 uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using another estimator) to provide the altitude setpoint.
+When *terrain following* is enabled, PX4 uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using another estimator) to provide the altitude setpoint.
 As the distance to ground changes, the altitude setpoint adjusts to keep the height above ground constant.

-At higher altitudes (when the estimator reports that the distance sensor data is invalid) the vehicle switches to _altitude following_, and will typically fly at a near-constant height above mean sea level (AMSL) using an absolute height sensor for altitude data.
+At higher altitudes (when the estimator reports that the distance sensor data is invalid) the vehicle switches to *altitude following*, and will typically fly at a near-constant height above mean sea level (AMSL) using an absolute height sensor for altitude data.

 ::: info
 More precisely, the vehicle will use the available selected sources of altitude data as defined in [Using PX4's Navigation Filter (EKF2) > Height](../advanced_config/tuning_the_ecl_ekf.md#height).
@@ -29,23 +29,24 @@ More precisely, the vehicle will use the available selected sources of altitude

 Terrain following is enabled by setting [MPC_ALT_MODE](../advanced_config/parameter_reference.md#MPC_ALT_MODE) to `1`.

+
 <a id="terrain_hold"></a>

 ## Terrain Hold

-_Terrain hold_ uses a distance sensor to help a vehicle to better maintain a constant height above ground in altitude control modes, when horizontally stationary at low altitude.
+*Terrain hold* uses a distance sensor to help a vehicle to better maintain a constant height above ground in altitude control modes, when horizontally stationary at low altitude.
 This allows a vehicle to avoid altitude changes due to barometer drift or excessive barometer interference from rotor wash.

 ::: info
-This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on _multicopters_ and _VTOL vehicles in MC mode_ that have a [distance sensor](../sensor/rangefinders.md).
+This feature can be enabled in [Position](../flight_modes_mc/position.md) and [Altitude modes](../flight_modes_mc/altitude.md), on *multicopters* and *VTOL vehicles in MC mode* that have a [distance sensor](../sensor/rangefinders.md).
 :::

-When moving horizontally (`speed >` [MPC_HOLD_MAX_XY](../advanced_config/parameter_reference.md#MPC_HOLD_MAX_XY)), or above the altitude where the distance sensor is providing valid data, the vehicle will switch into _altitude following_.
+When moving horizontally (`speed >` [MPC_HOLD_MAX_XY](../advanced_config/parameter_reference.md#MPC_HOLD_MAX_XY)), or above the altitude where the distance sensor is providing valid data, the vehicle will switch into *altitude following*.

 Terrain holding is enabled by setting [MPC_ALT_MODE](../advanced_config/parameter_reference.md#MPC_ALT_MODE) to `2`.

 ::: info
-_Terrain hold_ is implemented similarly to [terrain following](#terrain_following).
+*Terrain hold* is implemented similarly to [terrain following](#terrain_following).
 It uses the output of the EKF estimator to provide the altitude estimate, and the estimated terrain altitude (calculated from distance sensor measurements using a separate, single state terrain estimator) to provide the altitude setpoint.
 If the distance to ground changes due to external forces, the altitude setpoint adjusts to keep the height above ground constant.
 :::
--- a/Show More
+++ b/Show More