publish platform position on uOrb topic.

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

.gitattributes

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

.github/workflows/build_all_targets.yml

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

.github/workflows/checks.yml

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

.github/workflows/clang-tidy.yml

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

.github/workflows/compile_macos.yml

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

.github/workflows/compile_ubuntu.yml

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

.github/workflows/dev_container.yml

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

.github/workflows/docs_crowdin_download.yml

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

.github/workflows/docs_crowdin_upload.yml

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

.github/workflows/docs_deploy.yml

@@ -1,94 +0,0 @@
-name: Docs - Deploy PX4 User Guide
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '*'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
-# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
-concurrency:
-  group: pages
-  cancel-in-progress: false
-
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          # Specify the path to lock file for correct caching
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Deploy
-        run: |
-          git clone --single-branch --branch main https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          rm -rf docs.px4.io/${BRANCH_NAME}
-          mkdir -p docs.px4.io/${BRANCH_NAME}
-          cp -r ~/_book/* docs.px4.io/${BRANCH_NAME}/
-          cd docs.px4.io
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add ${BRANCH_NAME}
-          git commit -a -m "PX4 docs build update (vitepress) `date`"
-          #git add .
-          #git commit --amend -m "PX4 docs build update (vitepress) `date`"
-          #git commit --allow-empty -m "Empty commit to force rebuild"
-          git push origin main -f

.github/workflows/docs_flaw_checker.yml

@@ -1,74 +0,0 @@
-name: Docs - Check for flaws in PX4 Guide Source
-# So far:
-  # Modifications of translations files
-  # Broken internal links
-
-on:
-  pull_request_target:
-    types: [opened, edited, synchronize]
-    paths:
-      - 'docs/en/**'
-
-jobs:
-  check_flaws:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-
-      - name: Install Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: '16'
-
-      - name: Create logs directory
-        run: |
-          mkdir logs
-
-      - name: Get changed english files
-        id: get_changed_markdown_english
-        uses: tj-actions/changed-files@v35.9.2
-        with:
-          json: true
-          base_sha: "${{ github.event.pull_request.base.sha }}"
-          sha: "${{ github.event.pull_request.head.sha }}"
-          # Below are used to output files to a directory. May use in flaw checker.
-          # write_output_files: true
-          # output_dir: "./logs"
-          files: |
-            docs/en/**/*.md
-
-      - name: Save JSON file containing files to link check
-        run: |
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
-          echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
-
-      - name: Run link checker
-        id: link-check
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.134
-          markdown_link_checker_sc -r ${{ github.workspace }} -d en -f ./docs/logs/prFiles.json -i assets -u docs.px4.io/main/ > ./docs/logs/errorsFilteredByPrPages.md
-          mkdir -p ./pr
-          cp ./docs/logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./logs/errorsFilteredByPrPages.md
-
-      - name: Echo Errors by Page
-        run: echo "${{ steps.read-errors-by-page.outputs.content }}"
-
-      - name: Save PR number
-        env:
-          PR_NUMBER: ${{ github.event.number }}
-        run: |
-          #mkdir -p ./pr
-          echo $PR_NUMBER > ./pr/pr_number
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pr_number
-          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -1,107 +0,0 @@
-name: Docs - Comment Workflow
-on:
-  workflow_run:
-    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
-    types:
-      - completed
-jobs:
-  comment:
-    permissions:
-      pull-requests: write # for marocchino/sticky-pull-request-comment
-    name: Comments
-    runs-on: ubuntu-latest
-    steps:
-      - name: 'Download PR artifact'
-        uses: actions/github-script@v6
-        with:
-          script: |
-            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               run_id: context.payload.workflow_run.id,
-            });
-            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
-              return artifact.name == "pr_number"
-            })[0];
-            let download = await github.rest.actions.downloadArtifact({
-               owner: context.repo.owner,
-               repo: context.repo.repo,
-               artifact_id: matchArtifact.id,
-               archive_format: 'zip',
-            });
-            let fs = require('fs');
-            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
-
-      - name: 'Unzip artifact'
-        run: unzip pr_number.zip
-
-      # Doesn't work across workflows
-      #- name: Get artifacts from flaw checker workflow
-      #  uses: actions/download-artifact@v3
-      #  with:
-      #    name: logs_and_errors
-      #    #path: ./logs
-
-      - name: Read errorsFilteredByPrPages.md file
-        id: read-errors-by-page
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./errorsFilteredByPrPages.md
-
-      - name: Read PR number
-        id: read-error-pr-number
-        uses: juliangruber/read-file-action@v1
-        with:
-          path: ./pr_number
-
-      - name: File detail info
-        run: |
-          echo "${{ steps.read-errors-by-page.outputs.content }}"
-          echo "${{ steps.read-error-pr-number.outputs.content }}"
-
-      - name: Create or update comment
-        id: comment_to_pr
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          recreate: true
-          number: ${{ steps.read-error-pr-number.outputs.content }}
-          header: flaws
-          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
-
-      #- name: Dump GitHub context
-      #  env:
-      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
-      #  run: echo "$GITHUB_CONTEXT"
-
-      # Would like to do this, but it doesn't work (for me).
-      # Moving to time-based, or triggering on workflow
-      #- name: Wait for artifacts upload to succeed
-      #  uses: lewagon/wait-on-check-action@v1.3.1
-      #  with:
-      #    ref: ${{ github.ref }}
-      #    check-name: 'Archive production artifacts'
-      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #    wait-interval: 80
-
-      # Not needed for now - trying to trigger off the workflow
-      #- name: Sleep for 80 seconds
-      #  run: sleep 80s
-      #  shell: bash
-      #- name: Find Comment
-      #  uses: peter-evans/find-comment@v2
-      #  id: fc
-      #  with:
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    comment-author: 'github-actions[bot]'
-      #    body-includes: Flaws (may be none)
-
-      #- name: Create or update comment
-      #  uses: peter-evans/create-or-update-comment@v3
-      #  with:
-      #    comment-id: ${{ steps.fc.outputs.comment-id }}
-      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
-      #    body: |
-      #      Flaws (may be none)
-      #      ${{ steps.read-errors-by-page.outputs.content }}
-      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

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

.github/workflows/ekf_update_change_indicator.yml

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

.github/workflows/failsafe_sim.yml

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

.github/workflows/flash_analysis.yml

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

.github/workflows/mavros_mission_tests.yml

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

.github/workflows/mavros_offboard_tests.yml

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

.github/workflows/nuttx_env_config.yml

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

.github/workflows/python_checks.yml

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

.github/workflows/ros_translation_node.yml

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

.github/workflows/sitl_tests.yml

@@ -9,15 +9,9 @@ on:
   push:
     branches:
     - 'main'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -127,7 +121,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

.gitmodules

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

CMakeLists.txt

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

Kconfig

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

README.md

@@ -17,19 +17,17 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
   * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
   * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
   * [Rover](https://docs.px4.io/main/en/frames_rover/)
-  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-## Releases
-
-Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
 ## Building a PX4 based drone, rover, boat or robot
 
-The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Changing Code and Contributing
+## Changing code and contributing
 
 This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
@@ -37,7 +35,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
 
-## Weekly Dev Call
+### Weekly Dev Call
 
 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
@@ -52,11 +50,69 @@ For the latest stats on contributors please see the latest stats for the Droneco
 
 ## Supported Hardware
 
-For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
+
+For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
+
+### Pixhawk Standard Boards
+
+These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
+
+* FMUv6X and FMUv6C
+  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
+  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
+  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
+  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
+* FMUv5 and FMUv5X (STM32F7, 2019/20)
+  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
+* FMUv4 (STM32F4, 2015)
+  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
+* FMUv3 (STM32F4, 2014)
+  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
+* FMUv2 (STM32F4, 2013)
+  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+
+### Manufacturer supported
+
+These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
+
+* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
+* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
+* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+
+### Community supported
+
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
+
+### Experimental
+
+These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+
+* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
+* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+
+## Project Roadmap
+
+**Note: Outdated**
+
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
 
 ## Project Governance
 
 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
 
-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
 <div style="padding:10px">&nbsp;</div>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -45,6 +45,12 @@ param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_MIN1 70

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -227,6 +227,9 @@ then
 	exit 1
 fi
 
+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

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

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

ROMFS/px4fmu_common/init.d/rc.fw_apps

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

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -232,12 +232,9 @@ then
 
 	# compasses
 	hmc5883 -T -X -q start
-	if ! iis2mdc -X -q start
-	then
-		lis2mdl -X -q start
-	fi
 	ist8308 -X -q start
 	ist8310 -X -q start
+	lis2mdl -X -q start
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start

ROMFS/px4fmu_common/init.d/rc.vtol_apps

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

ROMFS/px4fmu_common/init.d/rcS

@@ -488,14 +488,11 @@ else
 	rc_input start $RC_INPUT_ARGS
 
 	# Manages USB interface
-	if param greater -s SYS_USB_AUTO -1
+	if ! cdcacm_autostart start
 	then
-		if ! cdcacm_autostart start
-		then
-			sercon
-			echo "Starting MAVLink on /dev/ttyACM0"
-			mavlink start -d /dev/ttyACM0
-		fi
+		sercon
+		echo "Starting MAVLink on /dev/ttyACM0"
+		mavlink start -d /dev/ttyACM0
 	fi
 
 	#

Tools/astyle/check_newlines.sh

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

Tools/ecl_ekf/analyse_logdata_ekf.py

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

Tools/ecl_ekf/plotting/pdf_report.py

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

Tools/msg/px_generate_uorb_topic_files.py

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

Tools/px4.py

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

Tools/px4airframes/rcout.py

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

Tools/px_uploader.py

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

Tools/simulation/jsbsim/sitl_run.sh

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

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

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

boards/airmind/mindpx-v2/default.px4board

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

boards/ark/can-flow/default.px4board

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

boards/ark/can-gps/default.px4board

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

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

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

boards/ark/cannode/default.px4board

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

boards/ark/fmu-v6x/default.px4board

@@ -48,6 +48,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,7 +67,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

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

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

boards/ark/fpv/default.px4board

@@ -35,6 +35,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/fpv/src/board_config.h

@@ -307,9 +307,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 3 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/src/timer_config.cpp

@@ -58,7 +58,7 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {

boards/ark/pi6x/src/board_config.h

@@ -309,9 +309,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/septentrio-gps/default.px4board

@@ -17,7 +17,6 @@ CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
 CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y

boards/atl/mantis-edu/src/board_config.h

@@ -59,6 +59,7 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
+#define RAM_BASED_MISSIONS
 
 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS

boards/av/x-v1/default.px4board

@@ -43,6 +43,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/beaglebone/blue/default.px4board

@@ -31,6 +31,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -139,7 +139,7 @@ private:
 
 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::SOURCE_POWER_MODULE};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
 
 	int32_t _rssi;
 	battery_state _bstate;

boards/cuav/7-nano/default.px4board

@@ -43,6 +43,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/nora/default.px4board

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/x7pro/default.px4board

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorange/default.px4board

@@ -49,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -65,7 +66,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -50,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,7 +67,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/cubepilot/cubeyellow/default.px4board

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

boards/emlid/navio2/default.px4board

@@ -33,6 +33,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-dual/default.px4board

@@ -39,6 +39,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/hkust/nxt-v1/default.px4board

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

boards/holybro/durandal-v1/default.px4board

@@ -45,6 +45,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/holybro/kakutef7/default.px4board

@@ -17,6 +17,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -46,6 +47,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
-# CONFIG_SYSTEMCMDS_DMESG is not set
+CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_PARAM=y
-# CONFIG_SYSTEMCMDS_TOP is not set
+CONFIG_SYSTEMCMDS_TOP=y

boards/holybro/kakuteh7/default.px4board

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/holybro/kakuteh7/nuttx-config/nsh/defconfig

@@ -196,7 +196,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/holybro/kakuteh7mini/default.px4board

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -195,7 +195,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/holybro/kakuteh7v2/default.px4board

@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -195,7 +195,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y

boards/holybro/pix32v5/default.px4board

@@ -51,6 +51,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y