fix: remove iostream

fix: format
feat: spacecraft tooling for commander and VehicleStatus
2026-05-25 04:37:35 +08:00 · 2025-04-13 15:14:09 +02:00 · 2025-04-13 15:02:09 +02:00 · 2025-04-13 14:53:16 +02:00 · 2025-04-13 14:51:38 +02:00 · 2025-04-11 23:48:40 +02:00
270 changed files with 7399 additions and 3504 deletions
@@ -41,7 +41,7 @@ jobs:
          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_labels: 'Documentation 📑'
          pull_request_reviewers: hamishwillee
          download_language: ${{ matrix.lc }}
        env:
@@ -21,13 +21,13 @@ jobs:
      - name: Install Node.js
        uses: actions/setup-node@v3
        with:
-          node-version: '16'
+          node-version: '18'

      - name: Create logs directory
        run: |
          mkdir logs

-      - name: Get changed english files
+      - name: Get changed english doc files
        id: get_changed_markdown_english
        uses: tj-actions/changed-files@v35.9.2
        with:
@@ -48,10 +48,10 @@ jobs:
      - name: Run link checker
        id: link-check
        run: |
-          npm -g install markdown_link_checker_sc@0.0.134
-          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
+          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 ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md

      - name: Read errorsFilteredByPrPages.md file
        id: read-errors-by-page
@@ -0,0 +1,123 @@
+# 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
@@ -116,7 +116,7 @@ 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
+        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
        timeout-minutes: 45

      - name: Upload failed logs
@@ -108,3 +108,4 @@ src/systemcmds/topic_listener/listener_generated.cpp

 # colcon
 log/
+keys/
@@ -231,6 +231,11 @@ 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
@@ -20,7 +20,7 @@ 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?

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 7  # Using Airship

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -126,6 +126,15 @@ 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))
@@ -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
-param set-default RO_YAW_RATE_P 0
-param set-default RO_YAW_RATE_LIM 0
+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

 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 0
+param set-default RO_YAW_P 2.5

 # Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 7

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -5,8 +5,8 @@

 set VEHICLE_TYPE sc

-# MAV_TYPE_QUADROTOR 2
-#param set-default MAV_TYPE 12
+# MAV_TYPE_SPACECRAFT
+param set-default MAV_TYPE 7

 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775
@@ -71,12 +71,6 @@ 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
@@ -232,10 +226,7 @@ then

 	# compasses
 	hmc5883 -T -X -q start
-	if ! iis2mdc -X -q start
-	then
-		lis2mdl -X -q start
-	fi
+	iis2mdc -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
 	if ! lis3mdl -X -q start
@@ -32,6 +32,15 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi

+#
+# Spapcecraft setup.
+#
+if [ $VEHICLE_TYPE = sc ]
+then
+	# Start standard multicopter apps.
+	. ${R}etc/init.d/rc.sc_apps
+fi
+
 #
 # Differential Rover setup.
 #
@@ -404,6 +404,14 @@ 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
@@ -1,172 +0,0 @@
-#!/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
@@ -1,91 +0,0 @@
-#!/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()))
@@ -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 ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
@@ -0,0 +1,86 @@
+# 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.
@@ -0,0 +1,135 @@
+#!/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)
@@ -0,0 +1,190 @@
+#!/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()
@@ -0,0 +1,59 @@
+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()
@@ -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'

@@ -26,3 +26,4 @@ setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
+pycryptodome
@@ -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 intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -107,7 +107,7 @@ icm20948_i2c_passthrough -X -q start
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-lis2mdl -X -q start
+iis2mdc -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -25,7 +25,16 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=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_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -0,0 +1,8 @@
+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"
@@ -84,6 +84,8 @@ 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
@@ -294,6 +296,7 @@ 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
@@ -8,6 +8,8 @@ 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
@@ -25,6 +27,7 @@ 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
@@ -0,0 +1,7 @@
+
+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"
@@ -82,6 +82,8 @@ 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
@@ -0,0 +1,6 @@
+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"
@@ -82,6 +82,8 @@ 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
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -67,7 +67,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -100,7 +100,7 @@ __END_DECLS
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -100,7 +100,7 @@ __END_DECLS
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,12 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE drivers__lis2mdl
-	MAIN lis2mdl
-	SRCS
-		lis2mdl_i2c.cpp
-		lis2mdl_spi.cpp
-		lis2mdl_main.cpp
-		lis2mdl.cpp
-	)
+
+add_subdirectory(neopixel)
@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if(DEFINED ENV{AUTOPILOT_HOST})
+	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
+else()
+	set(AUTOPILOT_HOST "raspberrypi")
+endif()
+
+if(DEFINED ENV{AUTOPILOT_USER})
+	set(AUTOPILOT_USER $ENV{AUTOPILOT_USER})
+else()
+	set(AUTOPILOT_USER "pi")
+endif()
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/navigator/*.config ${PX4_BINARY_DIR}/etc # source
+			"${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4" # destination
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
@@ -0,0 +1,78 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_RC=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# system_power not implemented
+param set CBRK_SUPPLY_CHK 894281
+
+# 1K + 4.7K
+param set BAT1_V_DIV 5.7
+
+# Always keep current config
+param set SYS_AUTOCONFIG 0
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+rc_input start -d /dev/ttyAMA1
+rc_update start
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# Navigator specific board sensors init
+#------------------------------------------------------------------------------
+
+if ! mmc5983ma start -s -m 0 -R 4
+then
+	echo "mmc5983ma not found."
+fi
+
+if ! ak09916 start -I -R 6
+then
+	echo "AK09916 not found."
+fi
+
+if ! icm20602 start -s -m 0 -R 14
+then
+	echo "ICM20602 not found."
+fi
+
+if ! bmp280 start -I
+then
+	echo "bmp280 not found."
+fi
+
+if ! ads1115 start -I
+then
+	echo "ads1115 not found."
+fi
+
+if ! pca9685_pwm_out start -a 0x40 -b 4
+then
+	echo "pca9685_pwm_out not found."
+fi
+
+if ! neopixel start
+then
+	echo "neopixel not found."
+fi
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_srgbled_dma
+	srgbled_impl.cpp
+)
@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file srgbled_impl.cpp
+ *
+ * Implementation of functions to control NeoPixel LEDs on the BlueRobotics Navigator for the neopixel driver.
+ *
+ * Definitions:
+ * - BOARD_HAS_N_S_RGB_LED: Number of NeoPixel LEDs on the Navigator.
+ * - BOARD_RGB_SPI_BUS: SPI bus connected to the NeoPixel data line.
+ * - BOARD_RGB_SPI_FREQ: SPI bus frequency for the NeoPixel connection.
+ */
+
+#include <board_config.h>
+#include <drivers/drv_neopixel.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/sem.h>
+
+#if defined(BOARD_HAS_N_S_RGB_LED)
+
+#if !defined(BOARD_RGB_SPI_BUS)
+#  error  BOARD_RGB_SPI_BUS must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
+#endif
+#if !defined(BOARD_RGB_SPI_FREQ)
+#  error  BOARD_RGB_SPI_FREQ must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
+#endif
+
+#define LED_T0 0b11000000
+#define LED_T1 0b11110000
+
+class NavigatorLED : public device::SPI
+{
+public:
+	NavigatorLED();
+	~NavigatorLED() override = default;
+
+	int init();
+	int write(uint8_t red, uint8_t green, uint8_t blue);
+	int deinit();
+
+protected:
+	void _setup_data(uint8_t red, uint8_t green, uint8_t blue);
+
+private:
+	uint8_t _data[24];
+	px4_sem_t _sem;
+};
+
+NavigatorLED::NavigatorLED() :
+	// By default we don't use the CS line and MODE must be 0 for compatibility with Raspberry Pi
+	SPI(DRV_DEVTYPE_UNUSED, "navigator-neopixel", BOARD_RGB_SPI_BUS, 0, SPIDEV_MODE0, BOARD_RGB_SPI_FREQ)
+{
+	px4_sem_init(&_sem, 0, 1);
+}
+
+int NavigatorLED::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("Neopixel SPI init failed");
+		return ret;
+	}
+
+	return PX4_OK;
+}
+
+void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue)
+{
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[i] = (green & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[8 + i] = (red & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[16 + i] = (blue & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+}
+
+int NavigatorLED::write(uint8_t red, uint8_t green, uint8_t blue)
+{
+	_setup_data(red, green, blue);
+
+	px4_sem_wait(&_sem);
+
+	int ret = transfer(_data, nullptr, sizeof(_data));
+
+	px4_sem_post(&_sem);
+
+	if (ret != PX4_OK) {
+		PX4_ERR("Failed to write data to NeoPixel %d", ret);
+	}
+
+	return ret;
+}
+
+int NavigatorLED::deinit()
+{
+	PX4_INFO("Neopixel deinitialized");
+	return PX4_OK;
+}
+
+// Neopixel driver impl
+
+NavigatorLED navigator_led;
+
+int neopixel_init(neopixel::NeoLEDData *led_data, int number_of_packages)
+{
+	return navigator_led.init();
+}
+
+int neopixel_write(neopixel::NeoLEDData *led_data, int number_of_packages)
+{
+	return navigator_led.write(led_data->R(), led_data->G(), led_data->B());
+}
+
+int neopixel_deinit()
+{
+	return navigator_led.deinit();
+}
+#endif // defined(BOARD_HAS_N_S_RGB_LED)
@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	spi.cpp
+)
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -32,92 +32,35 @@
 ****************************************************************************/

 /**
- * @file lis2mdl_i2c.cpp
+ * @file board_config.h
 *
- * I2C interface for LIS2MDL
+ * BlueRobotics Navigator board configuration.
 */

-#include <px4_platform_common/px4_config.h>
+#pragma once

-#include <assert.h>
-#include <errno.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <sys/types.h>
-#include <unistd.h>
+#define BOARD_OVERRIDE_UUID "BRNAVID000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI

-#include <drivers/device/i2c.h>
+#define BOARD_MAX_LEDS 1

-#include "board_config.h"
-#include "lis2mdl.h"
+// Neopixel config
+#define BOARD_HAS_N_S_RGB_LED 1
+#define BOARD_RGB_SPI_BUS 0
+#define BOARD_RGB_SPI_FREQ 8 * 1000 * 1000 // Emulated 800Kbps since we use 1 byte as 1 bit

-class LIS2MDL_I2C : public device::I2C
-{
-public:
-	LIS2MDL_I2C(const I2CSPIDriverConfig &config);
-	virtual ~LIS2MDL_I2C() = default;
+// I2C
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    3

-	virtual int     read(unsigned address, void *data, unsigned count);
-	virtual int     write(unsigned address, void *data, unsigned count);
+// SPI
+#define CONFIG_SPI 1

-protected:
-	virtual int     probe();
+#define ADC_BATTERY_VOLTAGE_CHANNEL  3
+#define ADC_BATTERY_CURRENT_CHANNEL  2
+#define ADC_5V_RAIL_SENSE            0

-};
+#define ADC_DP_V_DIV 1.0f

-device::Device *
-LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config);
-
-device::Device *
-LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config)
-{
-	return new LIS2MDL_I2C(config);
-}
-
-LIS2MDL_I2C::LIS2MDL_I2C(const I2CSPIDriverConfig &config) :
-	I2C(config)
-{
-}
-
-int
-LIS2MDL_I2C::probe()
-{
-	uint8_t data = 0;
-
-	_retries = 1;
-
-	if (read(ADDR_WHO_AM_I, &data, 1)) {
-		DEVICE_DEBUG("read_reg fail");
-		return -EIO;
-	}
-
-	if (data != ID_WHO_AM_I) {
-		DEVICE_DEBUG("LIS2MDL bad ID: %02x", data);
-		return -EIO;
-	}
-
-	return OK;
-}
-
-int
-LIS2MDL_I2C::read(unsigned address, void *data, unsigned count)
-{
-	uint8_t cmd = address;
-	return transfer(&cmd, 1, (uint8_t *)data, count);
-}
-
-int
-LIS2MDL_I2C::write(unsigned address, void *data, unsigned count)
-{
-	uint8_t buf[32];
-
-	if (sizeof(buf) < (count + 1)) {
-		return -EIO;
-	}
-
-	buf[0] = address;
-	memcpy(&buf[1], data, count);
-
-	return transfer(&buf[0], count + 1, nullptr, 0);
-}
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusInternal(4),
+	initI2CBusExternal(6),
+};
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_MAG_DEVTYPE_MMC5983MA, 1),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 2),
+	}),
+	initSPIBus(0, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 0),
+	}),
+};
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -58,6 +58,8 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

+#define PX4IO_HEATER_ENABLED
+
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

@@ -32,6 +32,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -12,6 +12,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0

-param set-default -s SENS_TEMP_ID 2621474
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -17,6 +17,9 @@ ms5611 -s -b 4 start

 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
+	# We need to use the temperature of the first isolated IMU for heater control.
+	param set-default SENS_TEMP_ID 2490402
+
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
 		icm42688p -s -b 4 -R 6 start -c 13
@@ -24,6 +27,8 @@ then
 else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
+
+	param set-default SENS_TEMP_ID 3407906
 fi

 # SPI1, body-fixed
@@ -33,7 +38,6 @@ then
 	ak09916 start -I -R 13
 else
 	icm20649 -s -b 1 start
-
 fi

 ms5611 -s -b 1 start
@@ -68,6 +68,8 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

+#define PX4IO_HEATER_ENABLED
+
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

@@ -77,7 +77,7 @@
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -71,7 +71,7 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
+		/* Enable Clock to Block */
 		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -59,7 +59,7 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
 * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -77,7 +77,7 @@
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -62,6 +62,10 @@ param select /data/px4/param/parameters
 # Load in all of the parameters that have been saved in the file
 param load

+# This was the default pre-v1.16.0 and for folks relying on that
+# we set it up here
+param set-default EKF2_EV_CTRL 15
+
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
@@ -154,7 +154,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -517,7 +517,7 @@ extern "C"
 *
 * Description:
 *   All kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -120,7 +120,7 @@ __END_DECLS
 #define GPIO_SPEKTRUM_P_EN          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)

 /* For binding the Spektrum 3-pin interfaces is used with it TX (output)
- * as an input Therefore we drive are UARTx_RX (normaly an input) as an
+ * as an input Therefore we drive are UARTx_RX (normally an input) as an
 * output
 */

@@ -289,7 +289,7 @@ __END_DECLS
 #define GPIO_USB_VBUS_VALID         /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)

 /* PWM input driver. Use FMU PWM14 pin
- * todo:desing this
+ * todo:design this
 */
 #define PWMIN_TIMER		0
 #define PWMIN_TIMER_CHANNEL	2
@@ -171,7 +171,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * Description:
 *   All Kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -513,7 +513,7 @@ extern "C"
 *
 * Description:
 *   All kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -120,7 +120,7 @@ __END_DECLS
 #define GPIO_SPEKTRUM_P_EN          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)

 /* For binding the Spektrum 3-pin interfaces is used with it TX (output)
- * as an input Therefore we drive are UARTx_RX (normaly an input) as an
+ * as an input Therefore we drive are UARTx_RX (normally an input) as an
 * output
 */

@@ -293,7 +293,7 @@ __END_DECLS
 #define GPIO_USB_VBUS_VALID         /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)

 /* PWM input driver. Use FMU PWM14 pin
- * todo:desing this
+ * todo:design this
 */
 #define PWMIN_TIMER		0
 #define PWMIN_TIMER_CHANNEL	2
@@ -171,7 +171,7 @@ __EXPORT void board_peripheral_reset(int ms)
 *
 * Description:
 *   All Kinetis architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -119,7 +119,7 @@ int s32k3xx_bringup(void)
 		PX4_ERR("btn_lower_initialize() failed: %d", ret);

 	} else {
-		PX4_INFO("btn_lower_initialize() succesful");
+		PX4_INFO("btn_lower_initialize() successful");
 	}

 #endif
@@ -133,7 +133,7 @@ int s32k3xx_bringup(void)
 		PX4_ERR("userled_lower_initialize() failed: %d", ret);

 	} else {
-		PX4_INFO("userled_lower_initialize() succesful");
+		PX4_INFO("userled_lower_initialize() successful");
 	}

 #endif
@@ -224,7 +224,7 @@ int s32k3xx_bringup(void)
 				PX4_ERR("nxffs_initialize() failed: %d", ret);

 			} else {
-				PX4_INFO("nxffs_initialize() succesful");
+				PX4_INFO("nxffs_initialize() successful");

 				/* Mount the file system at /mnt/qspi */

@@ -234,7 +234,7 @@ int s32k3xx_bringup(void)
 					PX4_ERR("nx_mount() failed: %d", ret);

 				} else {
-					PX4_INFO("nx_mount() succesful");
+					PX4_INFO("nx_mount() successful");
 				}
 			}

@@ -250,7 +250,7 @@ int s32k3xx_bringup(void)
 #    ifdef CONFIG_BCH

 			else {
-				PX4_INFO("ftl_initialize() succesful");
+				PX4_INFO("ftl_initialize() successful");

 				/* Use the minor number to create device paths */

@@ -267,7 +267,7 @@ int s32k3xx_bringup(void)
 					PX4_ERR("bchdev_register %s failed: %d", chardev, ret);

 				} else {
-					PX4_INFO("bchdev_register %s succesful", chardev);
+					PX4_INFO("bchdev_register %s successful", chardev);
 				}
 			}

@@ -85,7 +85,7 @@ static int s32k3xx_selftest_se050(void)
 	lpi2c1 = s32k3xx_i2cbus_initialize(1);

 	if (lpi2c1 != NULL) {
-		_info("s32k3xx_i2cbus_initialize() succesful\n");
+		_info("s32k3xx_i2cbus_initialize() successful\n");

 	} else {
 		error = true;
@@ -105,7 +105,7 @@ static int s32k3xx_selftest_se050(void)
 	ret = I2C_TRANSFER(lpi2c1, &se050_msg, 1);

 	if (ret == 0) {
-		_info("SE050 ACK succesful\n");
+		_info("SE050 ACK successful\n");

 	} else {
 		error = true;
@@ -119,7 +119,7 @@ static int s32k3xx_selftest_se050(void)
 	ret = s32k3xx_i2cbus_uninitialize(lpi2c1);

 	if (ret == 0) {
-		_info("s32k3xx_i2cbus_uninitialize() succesful\n");
+		_info("s32k3xx_i2cbus_uninitialize() successful\n");

 		/* Return error if we had any earlier, otherwise return result of
 		 * s32k3xx_i2cbus_uninitialize()
@@ -232,7 +232,7 @@ static int s32k3xx_selftest_can(void)

 	for (i = 0; i < 4; i++) {
 		if (s32k3xx_gpioread(errn_pins[i])) {
-			_info("CAN%d flag check succesful\n", i);
+			_info("CAN%d flag check successful\n", i);

 		} else {
 			error = true;
@@ -333,7 +333,7 @@ static int s32k3xx_selftest_sct(void)

 	for (i = 4; i < 6; i++) {
 		if (s32k3xx_gpioread(rxd_pins[i - 4])) {
-			_info("CAN%d RXD high check succesful\n", i);
+			_info("CAN%d RXD high check successful\n", i);

 		} else {
 			error = true;
@@ -355,7 +355,7 @@ static int s32k3xx_selftest_sct(void)

 	for (i = 4; i < 6; i++) {
 		if (!s32k3xx_gpioread(rxd_pins[i - 4])) {
-			_info("CAN%d RXD low check succesful\n", i);
+			_info("CAN%d RXD low check successful\n", i);

 		} else {
 			error = true;
@@ -432,7 +432,7 @@ void s32k3xx_selftest(void)
 #endif

 	if (!error) {
-		_info("s32k3xx_selftest() succesful\n");
+		_info("s32k3xx_selftest() successful\n");
 	}
 }

@@ -318,7 +318,7 @@ int s32k3xx_tja1153_initialize(int bus)
 	}

 	close(sock);
-	_info("CAN%d TJA1153 configuration succesful\n", bus);
+	_info("CAN%d TJA1153 configuration successful\n", bus);
 	return 0;
 }

@@ -37,7 +37,7 @@ fi
 hmc5883 -T -X -q start
 ist8308 -X -q start
 ist8310 -X -q start
-lis2mdl -X -q start
+iis2mdc -X -q start
 lis3mdl -X -q start
 qmc5883l -X -q start
 rm3100 -X -q start
@@ -300,7 +300,7 @@ __EXPORT int board_get_hw_revision()
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -63,7 +63,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -300,7 +300,7 @@ __EXPORT int board_get_hw_revision()
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -63,7 +63,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
@@ -77,7 +77,7 @@
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/
@@ -62,7 +62,7 @@
 typedef struct {
 	uint32_t                hw_ver_rev; /* the version and revision */
 	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
+	uint32_t                entries;    /* the length of the list */
 } px4_hw_mft_list_entry_t;

 typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Pedro-Roque	a6643d85cf	fix: remove iostream	2025-04-13 15:14:09 +02:00
Pedro-Roque	4593471ebe	fix: format	2025-04-13 15:02:09 +02:00
Pedro-Roque	4eb3a238a5	feat: spacecraft tooling for commander and VehicleStatus	2025-04-13 14:53:16 +02:00
Pedro-Roque	de9755b33b	feat: rate controller nominal	2025-04-13 14:51:38 +02:00
Pedro-Roque	95123b88f6	rft: initial merging of controllers for spacecraft vehicles	2025-04-11 23:48:40 +02:00
Alexander Lerach	975f743d87	boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson)	2025-04-10 18:06:42 +02:00
Beat Küng	2d899c624e	platforms: update nuttx submodule	2025-04-10 04:30:41 -04:00
Hamish Willee	5f06e861ec	Ubuntu Versions update and Gazebo Classic deprioritisation (#24702 )	2025-04-10 14:26:06 +10:00
Hamish Willee	0bb0719327	Update mavlink submodule to latest (#24698 )	2025-04-10 14:43:28 +12:00
João Mário Lago	3968b35ac5	boards: bluerobotics: Add navigator board support (#24018 )	2025-04-09 14:14:06 -08:00
Jacob Dahl	151c548838	iis2mdc: add note about lis2mdl compatibility and link to datasheet	2025-04-09 09:28:38 -06:00
Jacob Dahl	f0a852918b	lis2mdl: remove driver from source. This part is functionaly equivalent to the iis2mdc	2025-04-09 09:28:38 -06:00
PX4 Build Bot	e58035c57a	New Crowdin translations - ko (#24677 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-04-09 14:24:28 +10:00
PX4 Build Bot	6704cc14f9	New Crowdin translations - uk (#24678 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-04-09 14:23:27 +10:00
Hamish Willee	2564022390	Split MAVLink docs into separate topics for sending/receiving/custom (#24694 )	2025-04-09 12:32:24 +10:00
co63oc	f4cfee6f72	Fix typos in comments (#24681 )	2025-04-08 16:47:58 -08:00
Patrik Dominik Pordi	03345db36e	Added Flight REview for Encrypted logs (#24690 ) * Added Flight REview for Encrypted logs * Subedit --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-04-09 10:37:14 +10:00
chfriedrich98	e228456a67	ackermann: update 51001 airframe	2025-04-08 12:27:11 +02:00
chfriedrich98	ca76d287d4	rover: add rover-specific position setpoint	2025-04-08 12:27:11 +02:00
chfriedrich98	9fe98b0724	ackermann: seperate velocity control	2025-04-08 12:27:11 +02:00
chfriedrich98	8eb873a245	ackermann: streamline flow of information	2025-04-08 12:27:11 +02:00
Alex Klimaj	68dc1fcd66	boards: ark_fpv add camera feedback module (#24686 )	2025-04-07 15:51:29 -08:00
Liu1	47ab0663f6	BMP581: Collect data using normal mode (#24464 )	2025-04-07 11:48:23 -08:00
PX4 Build Bot	ed0c8eff7b	New Crowdin translations - zh-CN (#24679 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-04-07 14:15:56 +10:00
Balduin	c0bb482126	Gazebo: Moving platform (#24471 ) * gz_plugins: add MovingPlatformController This plugin moves the entity to which it is attached to simulate moving platforms (boats, trucks, ...) to takeoff and land on. Updates Tools/simulation/gz submodule with corresponding dependency. Use with: PX4_GZ_MODEL_POSE=0,0,2.2,0,0,0 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol more in README.md * MovingPlatformController: Wrench implementation Now it works by applying appropriate forces & torques to make the platform move as desired. Compared to the previous velocity-based version it introduces no kinematic constraints, keeping it realistic. Other updates: - Also make heading configurable by env var in addition to velocity - Cleaner error handling (runtime error, gzerr, gzwarn) - Read parameters (gravity, platform mass & height) from model rather than hardcoding - Update README with new env vars, usage in sdf, etc. * MovingPlatformController: fix warning message * MovingPlatformController: fix build https://github.com/PX4/PX4-Autopilot/pull/24518 changed some variable names in CMakeLists. This adapts ours to use the new ones. * MovingPlatformController: format * MovingPlatformController: address code review From feedback on PR - Parameterise low pass filters with cutoff frequency (rather than filter coefficient directly). - Add comment with units of feedback gains. - Scale attitude gains with platform inertia (rather than mass). Additionally - Wait 5 seconds before moving the platform so the model has time to spawn (was quicker before rebasing...) - Refactor: separate noise generation and force/torque calculation into two separate functions - rename updatePlatformState -> getPlatformState to emphasise difference from other update* functions that update internal state only - remove unused gz transport node - README grammar * MovingPlatformController: format * MovingPlatformController: remove redundant call * MovingPlatformController: clarify explanation * MovingPlatformController: clarify & comment units * MovingPlatformController: wait for model to spawn Rather than waiting a fixed 5s, we now only move the platform once the model is spawned. For that we construct the model name from the relevant environment variables, in the same way as done in px4-rc.gzsim. If attaching to an existing model, do not wait. * MovingPlatformController: correct substring extraction --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-04-06 10:57:44 -08:00
jmackay2	561937f35a	Reduce dependency of gstreamer for gz simulation (#24676 ) Co-authored-by: jmackay2 <jmackay2@gmail.com>	2025-04-04 20:22:25 -08:00
Julian Oes	ef932ae8a1	uavcan: fix timer overrides (#24668 ) The older defines without the L for the APB1 Low domain errored for some of the timers, such as 6 and 7. I checked and it turns out the defines with and without L are identical.	2025-04-04 12:42:17 -08:00
Matthias Grob	45d7f707d7	mc_att_control: remove useless subscription added in `28fa044386` #19633	2025-04-04 13:23:49 +02:00
Beat Küng	5d3083ec00	ci: copy px4 msgs directly to ros ws & upload failed logs	2025-04-04 09:12:53 +02:00
Beat Küng	845d65fe9b	fix output_groups_from_timer_config.py: avoid invalid escape sequence Python warning: Tools/module_config/output_groups_from_timer_config.py:38: SyntaxWarning: invalid escape sequence '\)'	2025-04-04 09:12:53 +02:00
GuillaumeLaine	648e730c4a	ev_odom: always convert reference frame enum	2025-04-04 09:12:53 +02:00
Beat Küng	6fcfd5fac1	uxrce_dds_client: immediately create data writers on startup There is some race condition where in rare cases the topic publication right after creating the writer did not get received on the ROS side. This happens even with reliable QoS & reliable transport.	2025-04-04 09:12:53 +02:00
GuillaumeLaine	ba35ca461c	ci: add external navigation integration tests	2025-04-04 09:12:53 +02:00
Beat Küng	0e4c794674	ros_tests: change filter to use all tests The name is being changed in https://github.com/Auterion/px4-ros2-interface-lib/pull/8	2025-04-04 09:12:53 +02:00
Beat Küng	3d6056411f	integration tests: add --force-color & set in CI github actions supports color output, but does not report as a tty. See https://github.com/actions/runner/issues/241.	2025-04-04 09:12:53 +02:00
Beat Küng	abb80ae71e	ci: add ros integration tests	2025-04-04 09:12:53 +02:00
Beat Küng	a954ec4d55	test: add ros integration test runner script & config	2025-04-04 09:12:53 +02:00
Beat Küng	7c14a63855	refactor mavsdk_tests: move code into separate classes & extract mavsdk-specifics Allows it to be reused for other integration tests, like ros.	2025-04-04 09:12:53 +02:00
Beat Küng	d78af5436e	mavsdk_tests: highlight px4 errors & reset color on gazebo output	2025-04-04 09:12:53 +02:00
Beat Küng	45285a57ad	fix mavsdk_tests: add ',' to test_filter config	2025-04-04 09:12:53 +02:00
Beat Küng	bbcd153e94	sitl: add generic way to override params via ENV variables	2025-04-04 09:12:53 +02:00
Julian Oes	3bde706cb3	cubepilot: enable heater for CubeOrange+ This adds everything required to use the heater on Orange+ but leaves it disabled by default.	2025-04-04 08:31:06 +02:00
Julian Oes	dbe57fad08	cubepilot: add heater support for CubeOrange This adds the heater (via px4io) in but it's still disabled by default.	2025-04-04 08:31:06 +02:00
Julian Oes	f7740bdfd2	heater: fix invalid file descriptor We need to open the device later in the work queue and not in the constructor during task_spawn. There is already a lazy open in place, so just removing this fixes the problem for me.	2025-04-04 08:31:06 +02:00
Julian Oes	74a8d897b2	ROMFS: start heater after px4io Otherwise the device is not available when we start the heater.	2025-04-04 08:31:06 +02:00
Patrik Dominik Pordi	1ee3b7e77d	[Pending] Updated Encrypted logs docs to reflect #24489 , (#24580 ) * Updated Encrypted logs docs to reflect https://github.com/PX4/PX4-Autopilot/pull/24489 * Subedit * Subedit the key generation bit * Updated the docs with multiple command line args for the decryptor and added OpenSSL as a requirement * Subedit * Update log_encryption.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-04-04 07:36:35 +11:00
Patrik Dominik Pordi	cc492bbf6e	[Sponsored by ARK] Encryption (#24489 ) * Added the board configs for encryption, I had to disable smbus and px4 io in the arkv6x * Added the key generator script * Added the decryptor, logs are needed for it though * Added the log download and modified the decryptor * Quick fixes & README * Additional modifications & cleanup * Tested upd connection Adjusted the log downloader to handle multiple entry responses from the FC Edited README * Reverted IP address change * Added pycryptodome to the requirements.txt * fixes for log download and decryption * Removed old log decryptors and updated README * Pointed the ark borads to the dummy key updated the README accordingly * Adjusted the folders in README, removed new lines * Extended command line arguments for all possibilities for description * Added MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES after heartbeat received to make sure log request is answered in all cases * Update Tools/log_encryption/README.md Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update Tools/log_encryption/README.md Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update Tools/log_encryption/README.md Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update Tools/log_encryption/README.md Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Edited README, changed the serial connection logic and updated logdownload, made decryption a bit easier to understand * Update Tools/log_encryption/README.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Removed new lines * arkv6x: add individual mags to default.px4board --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Alex Klimaj <alex@arkelectron.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-04-02 23:40:45 -08:00
Seungbin Lee	9cc1e01bd8	[Doc] Added J.Fi Wireless Telemetry Module (#24656 ) * add jmarple product * update youtube link * Move/shrink images * Move above discontinued items * Minor update * Fix broken link * update PX4 Setup guide * Subedit --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-04-03 15:16:56 +11:00
Hamish Willee	724987d59e	Autotune large MC vehicles (#24614 )	2025-04-03 14:21:00 +11:00
Hamish Willee	27ff547e07	Updates linkchecker and fixes up the doc contribution sections (#24660 ) * Update yarn linkchecker * Fix edit page links. Fix contribution pages	2025-04-03 12:41:56 +11:00
Eric Katzfey	db97dd471d	Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards	2025-04-02 11:11:56 -04:00
Hamish Willee	5509061803	docs_flaw_checker.yml - attempt update (#24655 )	2025-04-02 18:47:49 +11:00
Hamish Willee	f2026343d7	[Doc] Data link loss exceptions (#24652 ) * [Doc] Data link loss exceptions * Tidy	2025-04-02 12:13:12 +11:00
Hamish Willee	fee81a5c88	[Docs] Gimbal - improvements to mavlink setup instructions (#24613 )	2025-04-02 11:59:28 +11:00
PX4 Build Bot	d06e9cc302	New Crowdin translations - zh-CN (#24636 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-04-02 11:57:39 +11:00
bresch	e35c1f430c	EKF-AGP: only reset lat/lon when starting	2025-04-01 16:42:26 +03:00
Alex Klimaj	1928758fbc	boards: ark_fpv add camera trigger and capture drivers (#24643 )	2025-03-31 10:48:32 -08:00
bresch	f73c7977dd	ekf2-flow: limit minimum flow hagl	2025-03-31 11:34:25 +02:00
bresch	53bdceb895	ekf2-flow: check test ratio on Y axis separately	2025-03-31 11:34:25 +02:00
bresch	cdab0cb6e4	ekf2-flow: use same measurement prediction as in jacobian derivation Also avoid double division in flow prediction	2025-03-31 11:34:25 +02:00
bresch	82ea544e8c	ekf2-test: add flow unit test for negative distance	2025-03-31 11:34:25 +02:00
Matthias Grob	ddb9a5d0b9	gz_plugins: do not look for gz-transport12 (Gazebo garden) (#24633 ) this tries to build the plugins and breaks the SITL build if you have Gazebo garden isntalled even if you're not trying to simulate with Gazebo.	2025-03-28 10:11:56 -08:00
Roman Bapst	2c8ef05c2d	Add COM_DLL_EXCEPT to specifiy exceptions for data link loss failsafe	2025-03-28 17:41:24 +01:00
Alexander Lerach	72454c4fd2	dataman: clarify default storage backend (#24626 )	2025-03-28 16:27:12 +01:00
Silvan Fuhrer	69b7a21f02	AirspeedValidated: add VERSION (#24620 ) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-03-28 12:15:00 +01:00
Jacob Dahl	7cb7977263	dshot: only use 1 DMA, round robin the channels. Fix esc telemetry. (#24610 )	2025-03-27 11:41:38 -06:00
Julian Oes	8acf273917	Add RTL_TYPE to continue or reverse (#24581 ) This adds RTL_TYPE 4 which means continue the mission or reverse back to the takeoff location, whichever is closer in terms of mission items in-between. This would be nicer to have on a distance rather than mission item count basis but that would require access to the dataman and make it more complex.	2025-03-28 06:29:42 +13:00
Daan Smienk	3870992bac	Fix spelling mistake (#24623 )	2025-03-27 09:46:02 -06:00
Roman Bapst	550bbd9051	FW rate controller: Don't constrain airspeed for scaling to maximum airspeed (#24622 ) * don't constrain airspeed for scaling to maximum airspeed Signed-off-by: RomanBapst <bapstroman@gmail.com> * fix max function Signed-off-by: RomanBapst <bapstroman@gmail.com> * remove hardcoded max Signed-off-by: RomanBapst <bapstroman@gmail.com> --------- Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-03-27 14:22:40 +01:00
Balduin	19d3e6285b	vtol_att_control: shorter elapsed time calculation	2025-03-27 09:29:54 +01:00
Balduin	898d631b24	dds_topics: add vtol_vehicle_status	2025-03-27 09:29:54 +01:00
PX4 Build Bot	e7eca72d02	New Crowdin translations - zh-CN (#24617 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-03-27 14:43:25 +11:00
PX4 Build Bot	9f4e642e9f	New Crowdin translations - ko (#24591 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-03-27 14:41:16 +11:00
PX4 Build Bot	6f026f35b1	New Crowdin translations - uk (#24592 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-03-27 14:39:36 +11:00
Hamish Willee	46d1489d36	docs_crowdin_download.yml - attempt to fix the label (#24616 )	2025-03-27 14:34:24 +11:00
Hamish Willee	4710366862	Open file locally respects frontmatter (#24615 )	2025-03-27 14:32:28 +11:00
bresch	82a482ec0b	ekf2: reset heading when mag calibration changed	2025-03-26 22:32:51 -04:00
bresch	49624a6457	mag: synchronize calibration count with newly calibrated data The data contained a mix between the old and new calibration. This caused the EKF to reset to an incorrect (intermediate) heading.	2025-03-26 22:32:51 -04:00
Alexander Lerach	7acd2e93eb	gps: Parse RTCM3 & NAV in parallel	2025-03-26 17:45:10 +01:00