publish platform position on uOrb topic.

reused SensorGps.msg with new topic platform_gps_position. Currently
only latitude_deg, longigude_deg and altitude_ellipsoid are set. check
out with listener platform_gps_position.

.gitattributes

@@ -72,7 +72,6 @@ Makefile.* text eol=lf
 *.tar    binary
 *.tgz    binary
 *.zip    binary
-*.hex    binary
 
 # everything else
 .gitattributes text eol=lf

.github/ISSUE_TEMPLATE/config.yml

@@ -3,3 +3,6 @@ contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
     about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/docs_bug_report.yml

@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false

.github/workflows/build_all_targets.yml

@@ -14,15 +14,9 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   group_targets:

.github/workflows/checks.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/clang-tidy.yml

@@ -4,15 +4,10 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -7,15 +7,9 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build_and_test:

.github/workflows/dev_container.yml

@@ -10,15 +10,9 @@ on:
       - 'release/**'
     tags:
       - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/docs_crowdin_download.yml

@@ -1,55 +0,0 @@
-name: Docs - Crowdin - Download Guide Translations
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  schedule:
-    - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
-  workflow_dispatch:
-
-permissions:
-  contents: write
-  pull-requests: write
-
-jobs:
-  synchronize-with-crowdin:
-    name: Synchronize with Crowdin
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1 # Should be 1 to avoid parallel builds
-      matrix:
-        lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Debug Environment Variables
-        run: |
-          echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
-          echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
-      - name: Matrix
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: false
-          upload_translations: false
-          download_translations: true
-          commit_message: New Crowdin translations - ${{ matrix.lc }}
-          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
-          crowdin_branch_name: main
-          create_pull_request: true
-          pull_request_base_branch_name: 'main'
-          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
-          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
-          pull_request_labels: 'Documentation 📑'
-          pull_request_reviewers: hamishwillee
-          download_language: ${{ matrix.lc }}
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_crowdin_upload.yml

@@ -1,44 +0,0 @@
-name: Docs - Crowdin - Upload Guide sources (en)
-
-# https://github.com/crowdin/github-action/tree/master
-
-on:
-  push:
-    branches:
-      - main
-    paths:
-      - 'docs/en/**'
-  #pull_request:
-  #  types:
-  #    - closed
-  #  branches:
-  #    - main
-  #  paths:
-  #    - 'docs/en/**'
-  workflow_dispatch:
-
-jobs:
-  upload-to-crowdin:
-    #if: github.event.pull_request.merged == true || github.event_name == 'push'  || github.event_name == 'workflow_dispatch'
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: crowdin push
-        uses: crowdin/github-action@v2
-        with:
-          config: 'docs/crowdin_docs.yml'
-          upload_sources: true
-          upload_translations: false
-          download_translations: false
-          crowdin_branch_name: main
-        env:
-          # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
-          GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-
-          # A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
-          CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
-
-          # Visit https://crowdin.com/settings#api-key to create this token
-          CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}

.github/workflows/docs_deploy.yml

@@ -1,99 +0,0 @@
-name: Docs - Deploy PX4 User Guide
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '*'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        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: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch      
-          cd docs.px4.io
-          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
-          git checkout --orphan "${CURRENT_DATETIME}_main"
-          rm -rf ${BRANCH_NAME}
-          mkdir -p ${BRANCH_NAME}
-          cp -r ~/_book/* ${BRANCH_NAME}/
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add .
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          # push branch as backup
-          git push origin "${CURRENT_DATETIME}_main"
-          # Now make main from backup and push updated
-          git branch -D main
-          git checkout -b main
-          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -1,74 +0,0 @@
-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: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '18'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english doc files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v35.9.2
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
-
-      - name: Save PR number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-        run: |
-          #mkdir -p ./pr
-          echo $PR_NUMBER > ./pr/pr_number
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -1,107 +0,0 @@
-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(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "${{ steps.read-errors-by-page.outputs.content }}"
-          echo "${{ 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

.github/workflows/ekf_functional_change_indicator.yml

@@ -4,9 +4,6 @@ on:
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -1,10 +1,6 @@
 name: EKF Update Change Indicator
 
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+on: push
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -9,15 +9,9 @@ on:
   push:
     branches:
       - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -94,9 +88,6 @@ jobs:
           echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
           echo "$EOF" >> $GITHUB_OUTPUT
 
-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
@@ -106,7 +97,7 @@ jobs:
       V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
       V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
       V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: ${{ github.event.pull_request }}
     steps:
       - name: Find Comment
         uses: peter-evans/find-comment@v3

.github/workflows/mavros_mission_tests.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -4,15 +4,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -1,123 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - 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
-
-name: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-  pull_request:
-    branches:
-    - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
-        rm -rf src/translation_node src/px4_msgs_old
-        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg

.github/workflows/ros_translation_node.yml

@@ -3,15 +3,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 defaults:
   run:
     shell: bash

.github/workflows/sitl_tests.yml

@@ -9,15 +9,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -116,7 +110,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
         timeout-minutes: 45
 
       - name: Upload failed logs
@@ -127,7 +121,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

.gitignore

@@ -108,4 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 
 # colcon
 log/
-keys/

.gitmodules

@@ -75,7 +75,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = main
+	branch = moving_platform_world
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

.vscode/cmake-variants.yaml

@@ -231,11 +231,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: bitcraze_crazyflie_default
-    bluerobotics_navigator_default:
-      short: bluerobotics_navigator
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bluerobotics_navigator_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
 
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)

Kconfig

@@ -73,6 +73,13 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

README.md

@@ -17,19 +17,17 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
   * [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)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-## Releases
-
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
 ## Building a PX4 based drone, rover, boat or robot
 
-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!
+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!
 
 
-## Changing Code and Contributing
+## Changing code and contributing
 
 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.
 
@@ -37,7 +35,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Weekly Dev Call
+### Weekly Dev Call
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
@@ -52,11 +50,69 @@ For the latest stats on contributors please see the latest stats for the Droneco
 
 ## Supported Hardware
 
-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
+
+For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+
+### Pixhawk Standard Boards
+
+These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+
+* FMUv6X and FMUv6C
+  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
+  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
+  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
+  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
+* FMUv5 and FMUv5X (STM32F7, 2019/20)
+  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
+* FMUv4 (STM32F4, 2015)
+  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+* FMUv3 (STM32F4, 2014)
+  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+* FMUv2 (STM32F4, 2013)
+  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+
+### Manufacturer supported
+
+These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
+
+* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+
+### Community supported
+
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
+
+### Experimental
+
+These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+
+* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+
+## Project Roadmap
+
+**Note: Outdated**
+
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
 
 ## 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>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
 <div style="padding:10px">&nbsp;</div>

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -35,11 +35,8 @@ add_subdirectory(airframes)
 
 px4_add_romfs_files(
 	px4-rc.mavlink
+	px4-rc.params
 	px4-rc.simulator
-	px4-rc.gzsim
-	px4-rc.jmavsim
-	px4-rc.mavlinksim
-	px4-rc.sihsim
 	rc.replay
 	rcS
 )

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
 
 param set-default FW_MAN_R_MAX 30
 
-param set-default FW_THR_TRIM 0.8
+param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -13,6 +13,10 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 

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

@@ -12,8 +12,13 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
+
+
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

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

@@ -13,6 +13,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 # TODO: Enable motor failure detection when the

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

@@ -14,6 +14,10 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
 # Commander Parameters
 param set-default COM_DISARM_LAND 0.5
 

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
 param set-default FW_LND_ANG 8

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -37,14 +37,20 @@ param set-default RO_YAW_P 5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_MIN1 70

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -11,6 +11,11 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -44,6 +44,12 @@ param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
 param set-default SIM_GZ_WH_MIN1 0

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -11,41 +11,34 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
-# Mecanum Parameters
+# Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_YAW_RATE_I 0.1
+param set-default RM_YAW_RATE_P 0.1
+param set-default RM_MAX_ACCEL 3
+param set-default RM_MAX_DECEL 5
+param set-default RM_MAX_JERK 5
+param set-default RM_MAX_SPEED 2
+param set-default RM_MAX_THR_SPD 2.2
 param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_MISS_SPD_GAIN 1
+param set-default RM_YAW_P 5
+param set-default RM_YAW_I 0.1
+param set-default RM_MAX_YAW_RATE 120
+param set-default RM_MAX_YAW_ACCEL 240
+param set-default RM_MISS_VEL_GAIN 1
+param set-default RM_SPEED_I 0.01
+param set-default RM_SPEED_P 0.1
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 30
-param set-default RO_MAX_THR_SPEED 2.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_ACCEL_LIM 240
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 0.5
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 0.5
 
 # Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -13,6 +13,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+
 param set-default MAV_TYPE 20
 
 param set-default CA_AIRFRAME 4

ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor

@@ -13,6 +13,11 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 param set-default MAV_TYPE 21
 
 param set-default CA_AIRFRAME 3

ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow

@@ -1,15 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 with downward optical flow and distance sensor
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-echo "Disabling Sim GPS"
-param set-default SYS_HAS_GPS 0
-param set-default SIM_GPS_USED 0
-param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -15,6 +15,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -83,6 +83,9 @@ param set-default CA_ROTOR7_AY -0.211325
 param set-default CA_ROTOR7_AZ -0.57735
 
 param set-default SIM_GZ_EN 1
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
 
 param set-default SIM_GZ_EC_FUNC1 101
 param set-default SIM_GZ_EC_FUNC2 102

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -91,7 +91,6 @@ px4_add_romfs_files(
 	4018_gz_quadtailsitter
 	4019_gz_x500_gimbal
 	4020_gz_tiltrotor
-	4021_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

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

@@ -1,180 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] Gazebo simulator"
-
-# Enforce minimum gz version as Harmonic (gz-sim8)
-MIN_GZ_VERSION="8.0.0"
-GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
-
-if [ -z "$GZ_SIM_VERSION" ]; then
-    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-    exit 1
-fi
-
-# Use sort compare, check that MIN_GZ_VERSION is ordered last
-if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
-	gz_command="gz"
-	gz_sub_command="sim"
-
-	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-	fi
-else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-    exit 1
-fi
-
-# If not standalone
-if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		# Setup gz environment variables
-		if [ -f ./gz_env.sh ]; then
-			. ./gz_env.sh
-
-		elif [ -f ../gz_env.sh ]; then
-			. ../gz_env.sh
-		fi
-
-		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			echo "INFO  [init] Starting gz gui"
-			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
-		fi
-
-	else
-		# Gazebo is already running
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
-else
-	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-fi
-
-# Wait for Gazebo world to be ready before proceeding
-check_scene_info() {
-	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
-	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
-		return 0
-	else
-		return 1
-	fi
-}
-
-ATTEMPTS=30
-while [ $ATTEMPTS -gt 0 ]; do
-	if check_scene_info; then
-		echo "INFO  [init] Gazebo world is ready"
-		break
-	fi
-	ATTEMPTS=$((ATTEMPTS-1))
-	if [ $ATTEMPTS -eq 0 ]; then
-		echo "ERROR [init] Timed out waiting for Gazebo world"
-		exit 1
-	fi
-	echo "INFO  [init] Waiting for Gazebo world..."
-	sleep 1
-done
-
-# Start gz_bridge - either spawn a model or connect to existing one
-if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-	# Spawn a model
-	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
-	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
-
-	POSE_ARG=""
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pos_x=${pos_x:-0}
-		pos_y=${pos_y:-0}
-		pos_z=${pos_z:-0}
-
-		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
-	fi
-
-	echo "INFO  [init] Spawning model"
-
-	# Spawn model
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
-
-	# Wait for model to spawn
-	sleep 1
-
-	# Start gz_bridge
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
-		echo "ERROR [init] gz_bridge failed to start and spawn model"
-		exit 1
-	fi
-
-	# Set physics parameters for faster-than-realtime simulation if needed
-	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
-		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
-		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
-	fi
-
-	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
-
-		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
-
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
-		# Set default camera offset if not specified
-		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
-		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
-		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
-
-		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
-
-		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
-	fi
-
-elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-	# Connect to existing model
-	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
-		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-		exit 1
-	fi
-else
-	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-	exit 1
-fi
-
-# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
-# the magnetometer sensor in the model.sdf.
-if param compare -s SENS_EN_MAGSIM 1
-then
-	sensor_mag_sim start
-fi
-# NOTE: new gz has airspeed sensor, remove once added
-if param compare -s SENS_EN_ARSPDSIM 1
-then
-	sensor_airspeed_sim start
-fi

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

@@ -1,14 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-echo "INFO  [init] jMAVSim simulator"
-
-if jps | grep -i jmavsim; then
-	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-	sleep 1
-fi
-
-param set IMU_INTEG_RATE 250
-./jmavsim_run.sh -l -r 250 &
-
-simulator_mavlink start -h localhost $((4560+px4_instance))

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

@@ -1,27 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-# EKF2 specifics
-param set-default EKF2_GPS_DELAY 10
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-simulator_tcp_port=$((4560+px4_instance))
-
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-		simulator_mavlink start -c $simulator_tcp_port
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-	fi
-
-else
-	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-fi

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

@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250

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

@@ -1,38 +0,0 @@
-#!/bin/sh
-
-echo "INFO  [init] SIH simulator"
-
-if [ -n "${PX4_HOME_LAT}" ]; then
-	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-fi
-
-if [ -n "${PX4_HOME_LON}" ]; then
-	param set SIH_LOC_LON0 ${PX4_HOME_LON}
-fi
-if [ -n "${PX4_HOME_ALT}" ]; then
-	param set SIH_LOC_H0 ${PX4_HOME_ALT}
-fi
-
-if simulator_sih start; then
-
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
-
-else
-	echo "ERROR [init] simulator_sih failed to start"
-	exit 1
-fi

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

@@ -8,18 +8,203 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-    # Run SIH
-    . px4-rc.sihsim
+
+	echo "INFO  [init] SIH simulator"
+
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
+
+	if simulator_sih start; then
+
+		if param compare -s SENS_EN_BAROSIM 1
+		then
+			sensor_baro_sim start
+		fi
+		if param compare -s SENS_EN_GPSSIM 1
+		then
+			sensor_gps_sim start
+		fi
+		if param compare -s SENS_EN_MAGSIM 1
+		then
+			sensor_mag_sim start
+		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi
+
+	else
+		echo "ERROR [init] simulator_sih failed to start"
+		exit 1
+	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-    # Run Gazebo (gz)
-    . px4-rc.gzsim
+	# Use Gazebo
+
+	echo "INFO  [init] Gazebo simulator"
+
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+
+			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+			fi
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
+		fi
+
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
+
+		else
+			# Gazebo is already running, do not start the simulator, nor the GUI
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
+	else
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+	fi
+
+	# start gz_bridge
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# model specified, gz_bridge will spawn model
+
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# model pose provided: [x, y, z, roll, pitch, yaw]
+
+			# Clean potential input line formatting.
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
+		else
+			# model pose not provided, origin will be used
+
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+
+		# start gz bridge with pose arg.
+		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
+			exit 1
+		fi
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# model name specificed, gz_bridge will attach to existing model
+
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+			exit 1
+		fi
+
+	else
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+		exit 1
+	fi
+
+	# Start the sensor simulator modules
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_ARSPDSIM 1
+	then
+		sensor_airspeed_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-    # Run jMAVSim
-    . px4-rc.jmavsim
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+		sleep 1
+	fi
+
+	param set IMU_INTEG_RATE 250
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))
 
 else
-    # Run simulator_mavlink module for interface with gazebo-classic
-    . px4-rc.mavlinksim
+	# otherwise start simulator (mavlink) module
+
+	# EKF2 specifics
+	param set-default EKF2_GPS_DELAY 10
+	param set-default EKF2_MULTI_IMU 3
+	param set-default SENS_IMU_MODE 0
+
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			simulator_mavlink start -c $simulator_tcp_port
+		else
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+		fi
+
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+	fi
+
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -236,6 +227,9 @@ then
 	exit 1
 fi
 
+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -22,6 +22,11 @@ param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
 
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1

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

@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -37,14 +37,14 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_I 0.01
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 5
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -30,12 +30,12 @@ param set-default RO_JERK_LIM 20
 param set-default RO_MAX_THR_SPEED 2.8
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 0.1
-param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 2.5
+param set-default RO_YAW_P 0
 
 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -16,6 +16,7 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_pos_control start
+fw_lat_lon_control start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -71,6 +71,12 @@ then
 fi
 
 
+# Heater driver for temperature regulated IMUs.
+if param compare -s SENS_EN_THERMAL 1
+then
+	heater start
+fi
+
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
@@ -226,9 +232,9 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
-	iis2mdc -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
+	lis2mdl -X -q start
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -28,6 +28,7 @@ fi
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_pos_control start vtol
+fw_lat_lon_control start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rcS

@@ -404,14 +404,6 @@ else
 		fi
 	fi
 
-	# Heater driver for temperature regulated IMUs.
-	# The heater needs to start after px4io.
-	if param compare -s SENS_EN_THERMAL 1
-	then
-		heater start
-	fi
-
-
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
@@ -496,14 +488,11 @@ else
 	rc_input start $RC_INPUT_ARGS
 
 	# Manages USB interface
-	if param greater -s SYS_USB_AUTO -1
+	if ! cdcacm_autostart start
 	then
-		if ! cdcacm_autostart start
-		then
-			sercon
-			echo "Starting MAVLink on /dev/ttyACM0"
-			mavlink start -d /dev/ttyACM0
-		fi
+		sercon
+		echo "Starting MAVLink on /dev/ttyACM0"
+		mavlink start -d /dev/ttyACM0
 	fi
 
 	#

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/cryptotools.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python3
+
+import nacl.encoding
+import nacl.signing
+import nacl.hash
+import struct
+import binascii
+import json
+import time
+import argparse
+from pathlib import Path
+import sys
+
+def make_public_key_h_file(signing_key,key_name):
+    """
+    This file generate the public key header file
+    to be included into the bootloader build.
+    """
+    public_key_c='\n'
+    for i,c in enumerate(signing_key.verify_key.encode(encoder=nacl.encoding.RawEncoder)):
+        public_key_c+= hex(c)
+        public_key_c+= ', '
+        if((i+1)%8==0):
+            public_key_c+= '\n'
+    with open(key_name+'.pub' ,mode='w') as f:
+        f.write("//Public key to verify signed binaries")
+        f.write(public_key_c)
+
+def make_key_file(signing_key, key_name):
+    """
+    Writes the key.json file.
+    Attention do not override your existing key files.
+    Do not publish your private key!!
+    """
+
+    key_file = Path(key_name+'.json')
+    if key_file.is_file():
+        print("ATTENTION: key.json already exists, are you sure you want to overwrite it?")
+        print("Remove file and run script again.")
+        print("Script aborted!")
+        sys.exit(1)
+
+    keys={}
+    keys["date"] = time.asctime()
+    keys["public"] = (signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)).decode()
+    keys["private"] = binascii.hexlify(signing_key._seed).decode()
+    #print (keys)
+    with open(key_name+'.json', "w") as write_file:
+        json.dump(keys, write_file)
+    return keys
+
+def ed25519_sign(private_key, signee_bin):
+    """
+    This function creates the signature. It takes the private key and the binary file
+    and returns the tuple (signature, public key)
+    """
+
+    signing_key = nacl.signing.SigningKey(private_key, encoder=nacl.encoding.HexEncoder)
+
+    # Sign a message with the signing key
+    signed = signing_key.sign(signee_bin,encoder=nacl.encoding.RawEncoder)
+
+    # Obtain the verify key for a given signing key
+    verify_key = signing_key.verify_key
+
+    # Serialize the verify key to send it to a third party
+    verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
+
+    return signed.signature, verify_key_hex
+
+
+def sign(bin_file_path, key_file_path=None, generated_key_file=None):
+    """
+    reads the binary file and the key file.
+    If the key file does not exist, it generates a
+    new key file.
+    """
+
+    with open(bin_file_path,mode='rb') as f:
+        signee_bin = f.read()
+        # Align to 4 bytes. Signature always starts at
+        # 4 byte aligned address, but the signee size
+        # might not be aligned
+        if len(signee_bin)%4 != 0:
+            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+
+    try:
+        with open(key_file_path,mode='r') as f:
+            keys = json.load(f)
+        #print(keys)
+    except:
+        print('ERROR: Key file',key_file_path,'not  found')
+        sys.exit(1)
+
+    signature, public_key = ed25519_sign(keys["private"], signee_bin)
+
+    # Do a sanity check. This type of signature is always 64 bytes long
+    assert len(signature) == 64
+
+    # Print out the signing information
+    print("Binary \"%s\" signed."%bin_file_path)
+    print("Signature:",binascii.hexlify(signature))
+    print("Public key:",binascii.hexlify(public_key))
+
+    return signee_bin + signature, public_key
+
+def generate_key(key_file):
+    """
+    Generate two files:
+      "key_file.pub" containing the public key in C-format to be included in the bootloader build
+      "key_file.json, containt both private and public key.
+    Do not leak or loose the key file. This is mandatory for signing
+    all future binaries you want to deploy!
+    """
+
+    # Generate a new random signing key
+    signing_key = nacl.signing.SigningKey.generate()
+     # Serialize the verify key to send it to a third party
+    verify_key_hex = signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)
+    print("public key :",verify_key_hex)
+
+    private_key_hex=binascii.hexlify(signing_key._seed)
+    print("private key :",private_key_hex)
+
+    keys = make_key_file(signing_key,key_file)
+    make_public_key_h_file(signing_key,key_file)
+    return keys
+
+if(__name__ == "__main__"):
+
+    parser = argparse.ArgumentParser(description="""CLI tool to calculate and add signature to px4. bin files\n
+                                                  if given it takes an existing key file, else it generate new keys""",
+                                    epilog="Output: SignedBin.bin and a key.json file")
+    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
+    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
+
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
+    parser.add_argument("--genkey", help="new generated key", default=None)
+    args = parser.parse_args()
+
+    # Only generate a key pair, don't sign
+    if args.genkey:
+        # Only create a key file, don't sign
+        generate_key(args.genkey)
+        print('New key file generated:',args.genkey)
+        sys.exit(0);
+
+    # Check that both signee and signed exist
+    if not args.signee or not args.signed:
+        print("ERROR: Must either provide file names for both signee and signed")
+        print("       or --genkey [key] to generate a new key pair")
+        sys.exit(1)
+
+    # Issue a warning when signing with testing key
+    if args.key=='Tools/test_keys/test_keys.json':
+        print("WARNING: Signing with PX4 test key")
+
+    # Sign the binary
+    signed, public_key = sign(args.signee, args.key, args.genkey)
+
+    with open(args.signed, mode='wb') as fs:
+        # Write signed binary
+        fs.write(signed)
+
+    # Append rdcert if given
+    try:
+        with open(args.rdct ,mode='rb') as f:
+            with open(args.signed, mode='ab') as fs:
+                fs.write(f.read())
+    except:
+        pass

Tools/decrypt_ulog.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+
+import sys
+
+try:
+    from Crypto.Cipher import ChaCha20
+except ImportError as e:
+    print("Failed to import crypto: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pycryptodome")
+    print("")
+    sys.exit(1)
+
+from Crypto.PublicKey import RSA
+from Crypto.Cipher import PKCS1_OAEP
+from Crypto.Hash import SHA256
+from pathlib import Path
+import argparse
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
+    parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
+    parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
+    parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
+
+    args = parser.parse_args()
+
+    # Check all arguments are given
+    if not args.rsa_key:
+        print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
+        sys.exit(1)
+
+    # Read the private RSA key to decrypt the cahcha key
+    with open(args.rsa_key, 'rb') as f:
+        r = RSA.importKey(f.read(), passphrase='')
+
+    if args.ulog_key == "":
+        key_data_filename = args.ulog_file
+        magic = "ULogEnc"
+    else:
+        key_data_filename = args.ulog_key
+        magic = "ULogKey"
+
+    with open(key_data_filename, 'rb') as f:
+        # Read the encrypted xchacha key and the nonce
+        ulog_key_header = f.read(22)
+
+        # Parse the header
+        try:
+            # magic
+            if not ulog_key_header.startswith(bytearray(magic.encode())):
+                print("Incorrect header magic")
+                raise Exception()
+            # version
+            if ulog_key_header[7] != 1:
+                print("Unsupported header version")
+                raise Exception()
+            # expected key exchange algorithm (RSA_OAEP)
+            if ulog_key_header[16] != 4:
+                print("Unsupported key algorithm")
+                raise Exception()
+            key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
+            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
+            ulog_key_cipher = f.read(key_size)
+            nonce = f.read(nonce_size)
+        except:
+            print("Keydata format error")
+            sys.exit(1)
+
+    if magic == "ULogEnc":
+        data_offset = 22 + key_size + nonce_size
+    else:
+        data_offset = 0
+
+    # Decrypt the xchacha key
+    cipher_rsa = PKCS1_OAEP.new(r,SHA256)
+    ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
+    #print(binascii.hexlify(ulog_key))
+
+    # Read and decrypt the ulog data
+    cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
+
+    outfilename = Path(args.ulog_file).stem + ".ulog"
+    with open(args.ulog_file, 'rb') as f:
+        if data_offset > 0:
+            f.seek(data_offset)
+        with open(outfilename, 'wb') as out:
+            out.write(cipher.decrypt(f.read()))

Tools/docker_run.sh

@@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64

Tools/ecl_ekf/analyse_logdata_ekf.py

@@ -111,13 +111,13 @@ def find_checks_that_apply(
         innov_fail_checks.append('yaw')
 
     # Velocity Sensor Checks
-    if (np.amax(estimator_status_flags['cs_gnss_vel']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
         sensor_checks.append('vel')
         innov_fail_checks.append('velh')
         innov_fail_checks.append('velv')
 
     # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gnss_pos']) > 0.5)
+    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
         or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
         sensor_checks.append('pos')
         innov_fail_checks.append('posh')

Tools/ecl_ekf/plotting/pdf_report.py

@@ -185,7 +185,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         # plot control mode summary A
         data_plot = ControlModeSummaryPlot(
             status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
-            ['cs_gnss_pos', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
+            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
              'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
             x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
             annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',

Tools/log_encryption/README.md

@@ -1,86 +0,0 @@
-# PX4 Log Encryption Tools
-
-Tools for generating encryption keys, building PX4 firmware with encrypted logs, downloading logs, and decrypting them.
-
-For more information see: https://docs.px4.io/main/en/dev_log/log_encryption.html
-
-## Usage
-
-1. **Get the board file**:
-   In order to use these tools you need to create an `encrypted_logs` target in your target board directory. For example:
-   ```bash
-   encrypted_logs.px4board
-   ```
-   Using `make menuconfig` you should enable these settings: `Blake2s hash algorithm`, `entropy pool` and `strong random number generator` and select `use interrupts` to feed timing randomness to the entropy pool.
-   Once you have generated the keys make sure you add them to the boardconfig.
-
-   ```bash
-   make <your_board_name>_encrypted_logs menuconfig
-   ```
-
-2. **Generate Keys**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-   python3 generate_keys.py
-   ```
-
-   Make sure you have the right key in your board file
-   ```CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"```
-
-3. **Build Firmware**:
-   ```bash
-   cd PX4-Autopilot
-
-   AND
-
-   make <your_board_name>_encrypted_logs
-
-   FOR INSTANCE
-   make_ark_fpv_encrypted_logs
-
-   Upload the custom firmware on your flight controller and record some logs
-   ```
-
-4. **Download Logs**:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   python3 download_logs.py /dev/ttyACM0 --baudrate 57600
-
-   OR
-
-   python3 download_logs.py udp:0.0.0.0:14550
-   ```
-
-   Addresses might need to be adjusted
-
-5. **Decrypt Logs**:
-   The easiest way to run this is to have your private key and encrypted logs in the following folders respectively:
-   ```bash
-   PX4-Autopilot/keys/private
-   PX4-Autopilot/logs/encrypted
-   ```
-   Then run:
-   ```bash
-   cd PX4-Autopilot/Tools/log_encryption
-
-   AND
-   # Uses default key + default folder
-   python3 decrypt_logs.py
-
-   OR
-   # Use --help to get all the options
-   python3 decrypt_logs.py --help
-   ```
-
-   Your decrypted logs can be found in:
-   ```bash
-   PX4-Autopilot/logs/decrypted
-   ```
-   Otherwise
-
-## Directory Structure
-
-- **`keys/`**: Encryption keys.
-- **`logs/encrypted/`**: Downloaded encrypted logs.
-- **`logs/decrypted/`**: Decrypted logs.

Tools/log_encryption/decrypt_logs.py

@@ -1,135 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import argparse
-from pathlib import Path
-
-try:
-    from Crypto.Cipher import ChaCha20
-    from Crypto.PublicKey import RSA
-    from Crypto.Cipher import PKCS1_OAEP
-    from Crypto.Hash import SHA256
-except ImportError as e:
-    print("Failed to import crypto: " + str(e))
-    print("You may need to install it using:")
-    print("    pip3 install --user pycryptodome")
-    sys.exit(1)
-
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-ENCRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/encrypted")
-DECRYPTED_LOGS_DIR = os.path.join(PX4_MAIN_DIR, "logs/decrypted")
-DEFAULT_PRIVATE_KEY = os.path.join(PX4_MAIN_DIR, "keys/private/private_key.pem")
-
-def decrypt_log_file(ulog_file, private_key, output_folder):
-    """Decrypts a single encrypted log file (.ulge) and saves it as .ulg in the output folder."""
-
-    try:
-        # Read the private RSA key
-        with open(private_key, 'rb') as f:
-            key = RSA.import_key(f.read())
-
-        magic = "ULogEnc"
-        header_size = 22
-
-        with open(ulog_file, 'rb') as f:
-            # Encrypted .ulge file contains following sections:
-            # -------------------------
-            # | Header                |
-            # -------------------------
-            # | Wrapped symmetric key |
-            # -------------------------
-            # | Encrypted ulog data   |
-            # -------------------------
-            header = f.read(header_size)
-
-            # Parse the header
-            if not header.startswith(bytearray(magic.encode())):
-                print(f"Skipping {ulog_file}: Incorrect header magic")
-                return
-            if header[7] != 1:
-                print(f"Skipping {ulog_file}: Unsupported header version")
-                return
-            if header[16] != 4:
-                print(f"Skipping {ulog_file}: Unsupported key algorithm")
-                return
-
-            key_size = header[19] << 8 | header[18]
-            nonce_size = header[21] << 8 | header[20]
-            cipher = f.read(key_size)
-            nonce = f.read(nonce_size)
-
-        data_offset = header_size + key_size + nonce_size
-
-        # Try to decrypt the ChaCha key
-        cipher_rsa = PKCS1_OAEP.new(key, SHA256)
-        try:
-            ulog_key = cipher_rsa.decrypt(cipher)
-        except ValueError:
-            print(f"Skipping {ulog_file}: Incorrect decryption (wrong key)")
-            return
-
-        # Read and decrypt the log data
-        cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
-
-        # Save decrypted log with .ulg extension
-        output_path = os.path.join(output_folder, Path(ulog_file).stem + ".ulg")
-        with open(ulog_file, 'rb') as f:
-            if data_offset > 0:
-                f.seek(data_offset)
-            with open(output_path, 'wb') as out:
-                out.write(cipher.decrypt(f.read()))
-
-        print(f"{output_path}")
-
-    except Exception as e:
-        print(f"Skipping {ulog_file}: Error occurred - {e}")
-
-
-def decrypt_all_logs(private_key_path, log_source_path=None):
-    """Decrypts all logs in the given folder or a single file."""
-
-    if log_source_path and os.path.isfile(log_source_path):
-        logs = [log_source_path]
-    else:
-        # Use default encrypted logs directory if not provided
-        folder = log_source_path if log_source_path else ENCRYPTED_LOGS_DIR
-        logs = [os.path.join(folder, f) for f in os.listdir(folder) if f.endswith(".ulge")]
-
-    if not logs:
-        print("No encrypted logs found.")
-        return
-
-    print(f"Found {len(logs)} encrypted log(s). Decrypting...")
-
-    os.makedirs(DECRYPTED_LOGS_DIR, exist_ok=True)
-
-    for log_path in logs:
-        decrypt_log_file(log_path, private_key_path, DECRYPTED_LOGS_DIR)
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(
-    description="Decrypt PX4 encrypted log files (.ulge) using a ChaCha20+RSA scheme.\n\n"
-                "Usage examples:\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/custom_log.ulge\n"
-                "  python3 decrypt_logs.py /path/to/private_key.pem /path/to/folder_with_ulge_files\n"
-                "  python3 decrypt_logs.py                  # Uses default key + default log folder\n",
-    formatter_class=argparse.RawTextHelpFormatter
-    )
-
-    parser.add_argument("private_key", nargs="?", default=None,
-                        help="Path to the private RSA key (.pem). If omitted, uses default key.")
-    parser.add_argument("log_file_or_folder", nargs="?", default=None,
-                        help="Path to a single .ulge file or folder containing them. If omitted, uses default encrypted log folder.")
-
-
-    args = parser.parse_args()
-
-    private_key_path = args.private_key if args.private_key else DEFAULT_PRIVATE_KEY
-
-    if not os.path.exists(private_key_path):
-        print(f"Error: Private key file not found at {private_key_path}")
-        sys.exit(1)
-
-    decrypt_all_logs(private_key_path, args.log_file_or_folder)

Tools/log_encryption/download_logs.py

@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import time
-import shutil
-import threading
-from pymavlink import mavutil
-from argparse import ArgumentParser
-
-class MavlinkLogDownloader:
-    def __init__(self, connection_url, output_dir, baudrate=57600, source_system=254):
-        self.connection_url = connection_url
-        self.output_dir = output_dir
-        self.encrypted_dir = os.path.join(output_dir, "encrypted")
-        self.running = True
-
-        # Ensure directories exist
-        os.makedirs(self.output_dir, exist_ok=True)
-        os.makedirs(self.encrypted_dir, exist_ok=True)
-
-        # # Handle serial or UDP connections
-        if os.path.exists(connection_url):  # likely a serial device
-            self.mav = mavutil.mavlink_connection(connection_url, baud=baudrate, source_system=source_system)
-        else:
-            self.mav = mavutil.mavlink_connection(connection_url, source_system=source_system)
-
-
-        self.mav.WIRE_PROTOCOL_VERSION = "2.0"
-
-        # Start heartbeat thread
-        self.heartbeat_thread = threading.Thread(target=self.send_heartbeat_thread)
-        self.heartbeat_thread.daemon = True
-        self.heartbeat_thread.start()
-
-        self.mav.wait_heartbeat()
-        print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
-
-        # Waking up the autopilot, it is needed to ensure we get answer for log request
-        self.mav.mav.command_long_send(
-            self.mav.target_system,
-            self.mav.target_component,
-            mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,  # Command ID 512
-            0,  # Confirmation
-            mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION,  # param1: Message ID 148
-            0, 0, 0, 0, 0, 0  # params 2–7 are not used for this message
-        )
-
-        # Allow heartbeats to establish connection
-        time.sleep(3)
-
-
-    def send_heartbeat_thread(self):
-        while self.running:
-            self.mav.mav.heartbeat_send(
-                mavutil.mavlink.MAV_TYPE_GCS,
-                mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
-                0, 0, 0
-            )
-            time.sleep(1)
-
-
-    def download_logs(self):
-        """Downloads logs to the output_dir."""
-        print("Request logs...")
-        self.mav.mav.log_request_list_send(self.mav.target_system, self.mav.target_component, 0, 0xFFFF)
-
-        log_entries = {}
-        total_logs = None
-        start_time = time.time()
-        last_entry_time = None
-
-        while True:
-            current_time = time.time()
-
-            # Case 1: If we haven't received any entries yet and we've waited more than 5 seconds
-            if not log_entries and current_time > start_time + 5:
-                print("Timed out waiting for first log entry (5s)")
-                break
-
-            # Case 2: If we have received at least one entry and it's been more than 3 seconds since the last one
-            if last_entry_time and current_time - last_entry_time > 3:
-                print(f"No new log entries received for 3 seconds. Moving on.")
-                break
-
-            # Case 3: If we've received all expected logs
-            if total_logs is not None and len(log_entries) >= total_logs:
-                print(f"Received all {total_logs} log entries.")
-                break
-
-            msg = self.mav.recv_match(type='LOG_ENTRY', blocking=True, timeout=1)
-
-            if msg and msg.id not in log_entries:
-                last_entry_time = time.time()
-                log_entries[msg.id] = msg
-
-                if total_logs is None:
-                    total_logs = msg.num_logs
-
-                print(f"Log ID: {msg.id}, Size: {msg.size} bytes, Date: {msg.time_utc} ({len(log_entries)}/{total_logs})")
-
-        if not log_entries:
-            print("No log entries found.")
-            return
-
-        for entry in log_entries.values():
-            self.download_log_file(entry)
-
-        self.classify_logs()
-
-
-    def download_log_file(self, log_entry):
-        """Downloads a log file to the output_dir."""
-        log_id = log_entry.id
-        log_size = log_entry.size
-        log_date = time.strftime("%Y-%m-%d_%H-%M-%S", time.gmtime(log_entry.time_utc))
-        output_filename = os.path.join(self.output_dir, f"log-{log_date}_{log_id}.ulg")
-
-        print(f"Downloading log {log_id} ({log_size} bytes) to {output_filename}...")
-
-        with open(output_filename, 'wb') as f:
-            self.mav.mav.log_request_data_send(self.mav.target_system, self.mav.target_component, log_id, 0, 0xFFFFFFFF)
-
-            bytes_received = 0
-            while bytes_received < log_size:
-                msg = self.mav.recv_match(type='LOG_DATA', blocking=True, timeout=5)
-                if msg:
-                    data_bytes = bytes(msg.data[:msg.count])
-                    f.write(data_bytes)
-                    bytes_received += msg.count
-                else:
-                    print("Timeout waiting for log data.")
-                    break
-
-        print(f"Finished downloading log {log_id}.")
-
-    def classify_logs(self):
-        """Classifies logs as encrypted (.ulge) based on file content."""
-        for log_file in os.listdir(self.output_dir):
-            log_path = os.path.join(self.output_dir, log_file)
-
-            if not os.path.isfile(log_path):
-                continue
-
-            # Read first 10 bytes to check for "ULogEnc"
-            with open(log_path, 'rb') as f:
-                first_bytes = f.read(10)
-
-            if b'ULogEnc' in first_bytes:
-                new_filename = log_file.replace(".ulg", ".ulge")
-                new_path = os.path.join(self.encrypted_dir, new_filename)
-                print(f"Found encrypted log: {new_path}")
-                shutil.move(log_path, new_path)
-
-
-    def cleanup(self):
-        """Stop the heartbeat thread and clean up resources."""
-        self.running = False
-        if self.heartbeat_thread.is_alive():
-            self.heartbeat_thread.join(timeout=2.0)
-
-
-def main():
-    parser = ArgumentParser(description="Download PX4 log files over MAVLink.")
-    parser.add_argument('connection_url', help="MAVLink connection URL (e.g., udp:0.0.0.0:14550, /dev/ttyACM0 --baudrate 57600)")
-    parser.add_argument('--output', '-o', default=os.path.join(os.path.dirname(__file__), "../..", "logs"), help="Output directory for log files (default: ../../logs)")
-    parser.add_argument('--baudrate', type=int, default=57600, help="Baudrate for serial connection (default: 57600)")
-    parser.add_argument('--source-system', type=int, default=254, help="MAVLink source system ID (default: 254)")
-
-
-    args = parser.parse_args()
-
-    output_dir = os.path.abspath(args.output)
-
-    print(f"Connecting to {args.connection_url}...")
-    log_downloader = MavlinkLogDownloader(
-        args.connection_url,
-        output_dir,
-        baudrate=args.baudrate,
-        source_system=args.source_system
-    )
-
-
-    try:
-        log_downloader.download_logs()
-    finally:
-        log_downloader.cleanup()
-
-if __name__ == '__main__':
-    main()

Tools/log_encryption/generate_keys.py

@@ -1,59 +0,0 @@
-import os
-import subprocess
-
-# Define the main PX4 directory (one level up from Tools)
-PX4_MAIN_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-
-# Define the key folder paths
-KEY_FOLDER = os.path.join(PX4_MAIN_DIR, "keys")
-PUBLIC_KEY_FOLDER = os.path.join(KEY_FOLDER, "public")
-PRIVATE_KEY_FOLDER = os.path.join(KEY_FOLDER, "private")
-
-# Define the key file paths
-PRIVATE_KEY_PATH = os.path.join(PRIVATE_KEY_FOLDER, "private_key.pem")
-PUBLIC_KEY_DER_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.der")
-PUBLIC_KEY_PUB_PATH = os.path.join(PUBLIC_KEY_FOLDER, "public_key.pub")
-
-def create_key_folders():
-    """Creates key, public, and private folders if they do not exist."""
-    for folder in [KEY_FOLDER, PUBLIC_KEY_FOLDER, PRIVATE_KEY_FOLDER]:
-        if not os.path.exists(folder):
-            os.makedirs(folder)
-            print(f"Created '{folder}' directory.")
-        else:
-            print(f"'{folder}' directory already exists.")
-
-def generate_private_key():
-    """Generates a private key if it does not exist."""
-    if not os.path.exists(PRIVATE_KEY_PATH):
-        print("Generating private key...")
-        subprocess.run(["openssl", "genpkey", "-algorithm", "RSA", "-out", PRIVATE_KEY_PATH, "-pkeyopt", "rsa_keygen_bits:2048"])
-        print(f"Private key generated at: {PRIVATE_KEY_PATH}")
-    else:
-        print("Private key already exists.")
-
-def generate_public_key():
-    """Generates a public key in DER and PUB formats if they do not exist."""
-    if not os.path.exists(PUBLIC_KEY_DER_PATH):
-        print("Generating public key in DER format...")
-        subprocess.run(["openssl", "rsa", "-pubout", "-in", PRIVATE_KEY_PATH, "-outform", "DER", "-out", PUBLIC_KEY_DER_PATH])
-        print(f"Public key (DER) generated at: {PUBLIC_KEY_DER_PATH}")
-    else:
-        print("Public key (DER) already exists.")
-
-    if not os.path.exists(PUBLIC_KEY_PUB_PATH):
-        print("Generating public key in hex format...")
-        with open(PUBLIC_KEY_PUB_PATH, "w") as pub_file:
-            process = subprocess.Popen(["xxd", "-p", PUBLIC_KEY_DER_PATH], stdout=subprocess.PIPE)
-            output, _ = process.communicate()
-            hex_string = output.decode().strip().replace("\n", "")
-            formatted_hex = ", ".join(f"0x{hex_string[i:i+2]}" for i in range(0, len(hex_string), 2))
-            pub_file.write(formatted_hex)
-        print(f"Public key (hex) generated at: {PUBLIC_KEY_PUB_PATH}")
-    else:
-        print("Public key (hex) already exists.")
-
-if __name__ == "__main__":
-    create_key_folders()
-    generate_private_key()
-    generate_public_key()

Tools/module_config/output_groups_from_timer_config.py

@@ -30,12 +30,12 @@ def find_matching_brackets(brackets, s, verbose):
 
 def extract_timer(line):
     # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-    search = re.search('Timer::([0-9a-zA-Z_]+)[,)]', line, re.IGNORECASE)
+    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
     if search:
         return search.group(1), 'generic'
 
     # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,)]', line, re.IGNORECASE)
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
     if search:
         return (search.group(1) + '_' +  search.group(2)), 'imxrt'
 

Tools/msg/px_generate_uorb_topic_files.py

@@ -173,7 +173,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
 
 def generate_by_template(output_file, template_file, em_globals):
     """
-    Invokes empy intepreter to generate output_file by the
+    Invokes empy intepreter to geneate output_file by the
     given template_file and predefined em_globals dict
     """
     # check if folder exists:

Tools/px4.py

@@ -59,7 +59,7 @@ from sys import platform as _platform
 
 def get_version():
     """
-        Get PX4-Autopilot Latest Git Tag.
+        Get PX4 Firmware latest Git tag.
     """
     px4_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 
@@ -74,7 +74,7 @@ def get_version():
             exit(1)
     else:
         # Else, get it from remote repo tags (requires network access)
-        cmd = "git ls-remote --tags git@github.com:PX4/PX4-Autopilot.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
+        cmd = "git ls-remote --tags git://github.com/PX4/Firmware.git | cut -d/ -f3- | sort -n -t. -k1,1 -k2,2 -k3,3 | awk '/^v[^{]*$/{version=$1}END{print version}'"
 
         try:
             version = subprocess.check_output(
@@ -94,7 +94,7 @@ else:
 
 
 def main():
-    print("PX4 Release", get_version())
+    print("PX4 release", get_version())
 
 
 if __name__ == '__main__':

Tools/px4airframes/rcout.py

@@ -47,7 +47,7 @@ class RCOutput():
                     continue
 
                 if post_start:
-                    # Path to post-start script
+                    # Path to post-start sript
                     path = airframe.GetPostPath()
                 else:
                     # Path to start script

Tools/px_uploader.py

@@ -296,7 +296,7 @@ class uploader:
         if c != self.OK:
             raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
 
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
+    # The control flow for reciving Sync is on the order of 16 Ms per Sync
     # This will validate all the SYNC,<results> for a window of programing
     # in about 13.81 Ms for 256 blocks written
     def __ackSyncWindow(self, count):

Tools/setup/requirements.txt

@@ -26,4 +26,3 @@ setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
-pycryptodome

Tools/simulation/jsbsim/sitl_run.sh

@@ -70,7 +70,7 @@ export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
 if [[ -n "$HEADLESS" ]]; then
 	echo "not running flightgear gui"
 else
-	export FG_AIRCRAFT="${src_path}/Tools/simulation/jsbsim/jsbsim_bridge/models"
+	export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"
 
 	$FG_BINARY --fdm=null \
 		--native-fdm=socket,in,60,,5550,udp \

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/airmind/mindpx-v2/default.px4board

@@ -47,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/airmind/mindpx-v2/src/init.c

@@ -129,7 +129,7 @@ __EXPORT void board_on_reset(int status)
  *
  * Description:
  *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
+ *   is called early in the intitialization -- after all memory has been configured
  *   and mapped but before any devices have been initialized.
  *
  ************************************************************************************/

boards/ark/can-flow-mr/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/can-flow/default.px4board

@@ -15,7 +15,6 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

boards/ark/can-gps/default.px4board

@@ -20,7 +20,6 @@ CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/can-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/can-rtk-gps/default.px4board

@@ -21,7 +21,6 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/can-rtk-gps/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/cannode/default.px4board

@@ -36,7 +36,6 @@ CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y

boards/ark/cannode/init/rc.board_sensors

@@ -107,7 +107,7 @@ icm20948_i2c_passthrough -X -q start
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-iis2mdc -X -q start
+lis2mdl -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start

boards/ark/cannode/src/led.c

@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;
 
-		/* Enable Clock to Block */
+		/* Enabel Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
 
 		/* Reload */

boards/ark/fmu-v6x/default.px4board

@@ -25,16 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -57,6 +48,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -75,7 +67,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/ark/fmu-v6x/encrypted_logs.px4board

@@ -1,8 +0,0 @@
-CONFIG_DRIVERS_BATT_SMBUS=n
-CONFIG_DRIVERS_PX4IO=n
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -84,8 +84,6 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
-CONFIG_CRYPTO=y
-CONFIG_CRYPTO_RANDOM_POOL=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
@@ -296,7 +294,6 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART5_RXBUFSIZE=800
 CONFIG_UART5_RXDMA=y
 CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y

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

@@ -420,9 +420,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/default.px4board

@@ -8,8 +8,6 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
@@ -27,7 +25,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
@@ -38,6 +35,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/fpv/encrypted_logs.px4board

@@ -1,7 +0,0 @@
-
-CONFIG_BOARD_CRYPTO=y
-CONFIG_DRIVERS_STUB_KEYSTORE=y
-CONFIG_DRIVERS_SW_CRYPTO=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
-CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"