ci(ros): use matching branch for px4-ros2-interface-lib (1.17)

Backport of #26781 with the follow-up fix from #27000 folded in.

On release branches, the ROS integration test now clones a matching
branch from Auterion/px4-ros2-interface-lib instead of always using
main, preventing build failures from uORB message divergence between
main and release branches.

Branch resolution uses GITHUB_BASE_REF on pull requests (the branch
the code is merging into) and falls back to GITHUB_REF_NAME for
direct pushes, so backport PRs resolve to their target release
branch instead of the PR author's branch.

Fixes https://github.com/Auterion/px4-ros2-interface-lib/issues/184

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.clusterfuzzlite/Dockerfile

@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/

.clusterfuzzlite/build.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4

.clusterfuzzlite/project.yaml

@@ -1 +0,0 @@
-language: c++

.editorconfig

@@ -12,3 +12,11 @@ max_line_length = 120
 [*.yaml, *.yml]
 indent_style = space
 indent_size = 2
+
+[*.sh]
+indent_style = tab
+indent_size = 2
+insert_final_newline = true
+trim_trailing_whitespace = true
+# Not in the official standard, but supported by many editors
+max_line_length = 80

.gitattributes

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

.github/ISSUE_TEMPLATE/config.yml

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

.github/ISSUE_TEMPLATE/docs_bug_report.yml

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

.github/fuzzing_issue_template.md

@@ -0,0 +1,6 @@
+---
+title: '[CI] Fuzzing Workflow Failed'
+labels: ['Fuzzing']
+---
+The automated fuzzing workflow has failed.
+See {{ env.WORKFLOW_RUN_URL }} for details.

.github/labeler.yml

@@ -0,0 +1,10 @@
+# Labeler configuration file for GitHub Actions
+# The action is ./.github/workflows/label.yml
+# Docs for the syntax in this file can be found at
+# https://github.com/actions/labeler
+
+
+# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
+"Documentation 📑":
+- changed-files:
+  - any-glob-to-any-file: docs/**

.github/runs-on.yml

@@ -0,0 +1,24 @@
+runners:
+  x86-small-runner:
+    cpu: [1, 2]
+    ram: [1, 4]
+    disk: default
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  x86-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7i", "m7i", "r7i"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  arm64-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7g", "m7g", "r7g"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-arm64
+    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -2,6 +2,37 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+#
+# ===================================================================================
+# RELEASE UPLOAD LOGIC
+# ===================================================================================
+# This workflow handles building firmware and uploading to S3 + GitHub Releases.
+#
+# S3 Bucket Structure (s3://px4-travis/Firmware/):
+#   - master/          <- Latest main branch build (for QGC compatibility)
+#   - stable/          <- Latest stable release, controlled by 'stable' branch
+#   - beta/            <- Latest pre-release, controlled by 'beta' branch
+#   - vX.Y.Z/          <- Archived stable release
+#   - vX.Y.Z-beta1/    <- Archived pre-release
+#
+# Trigger Behavior:
+#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
+#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
+#   - Branch main        -> Upload to: master/ (for QGC compatibility)
+#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
+#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
+#   - Branch release/**  -> Build only, no S3 upload (CI validation)
+#   - Pull requests      -> Build only, no S3 upload (CI validation)
+#
+# GitHub Releases:
+#   - All version tags create a draft GitHub Release
+#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
+#
+# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
+# corresponding branch pushes control those directories. This prevents
+# pre-release tags from accidentally overwriting stable firmware (#26340)
+# and avoids race conditions between tag and branch builds.
+# ===================================================================================
 
 name: Build all targets
 
@@ -14,23 +45,42 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-      - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+  actions: read
 
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
       branchname: ${{ steps.set-branch.outputs.branchname }}
     steps:
       - uses: actions/checkout@v4
 
+      - name: Cache Python pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -41,13 +91,22 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        name: Generate Build Matrix
+        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
 
       - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+        name: Save Current Timestamp
+        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
 
       - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        name: Save Current Branch Name
+        run: |
+          echo "branchname=${{
+            github.event_name == 'pull_request' &&
+            format('pr-{0}', github.event.pull_request.number) ||
+            github.head_ref ||
+            github.ref_name
+          }}" >> $GITHUB_OUTPUT
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
@@ -57,9 +116,9 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}]
+    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -67,6 +126,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
+      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -74,14 +134,24 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      - name: Setup ccache
-        uses: actions/cache@v4
+      # ccache key breakdown:
+      # ccache-<system os>-<system arch>-<builder group>-
+      # ccache-<linux>-<arm64>-<aarch64-0>-
+      # ccache-<linux>-<x64>-<nuttx-0>-
+      - name: Cache Restore from Key
+        id: cc_restore
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          restore-keys: |
+            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-
+            ccache-
 
-      - name: Configure ccache
+      - name: Cache Config and Stats
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -89,12 +159,13 @@ jobs:
             echo "compression_level = 6" >> ~/.ccache/ccache.conf
             echo "max_size = 120M" >> ~/.ccache/ccache.conf
             echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            echo "compiler_check = content" >> ~/.ccache/ccache.conf
             ccache -s
             ccache -z
 
-      - name: Building [${{ matrix.group }}]
+      - name: Building Artifacts for [${{ matrix.targets }}]
         run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
       - name: Arrange Build Artifacts
         run: |
@@ -106,15 +177,34 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
-      - name: Cache Save
-        run: ccache -s
+      - name: Cache Post Build Stats
+        if: always()
+        run: |
+            ccache -s
+            ccache -z
 
+      - name: Cache Save
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+
+  # ===========================================================================
+  # ARTIFACT UPLOAD JOB
+  # ===========================================================================
+  # Uploads build artifacts to S3 and creates GitHub Releases.
+  # Runs for version tags (v*), main, stable, and beta branch pushes.
+  # See header comments for full upload logic documentation.
+  # ===========================================================================
   artifacts:
-    name: Upload Artifacts to S3
+    name: Upload Artifacts
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    outputs:
+      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -122,11 +212,36 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Branch Name
+      - name: Choose Upload Location
+        id: upload-location
         run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
+          set -euo pipefail
 
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+          ref="${GITHUB_REF}"
+          branch=${{ needs.group_targets.outputs.branchname  }}
+          location="$branch"
+          is_prerelease="false"
+
+          # Main branch uploads to "master" for QGC backward compatibility
+          if [[ "$branch" == "main" ]]; then
+            location="master"
+          fi
+
+          # Version tags: upload to versioned directory (e.g., v1.16.1/)
+          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
+            tag="${ref#refs/tags/}"
+            location="$tag"
+
+            # Pre-release tags contain -alpha, -beta, or -rc suffix
+            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
+              is_prerelease="true"
+            fi
+          fi
+
+          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
+
+      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -136,23 +251,15 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-  release:
-    name: Create Release and Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Upload Binaries to Release
+      # Create a draft GitHub Release for all version tags
+      # Pre-releases are automatically marked as such
+      - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
+          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/cflite_batch.yml

@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".

.github/workflows/checks.yml

@@ -4,13 +4,25 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       fail-fast: false
       matrix:
@@ -27,20 +39,17 @@ jobs:
           "px4_sitl_allyes",
           "module_documentation",
         ]
+
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev-nuttx-focal:2022-08-12
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -4,10 +4,13 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
-
+      - '**'
+    paths-ignore:
+      - 'docs/**'
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -16,7 +19,7 @@ jobs:
       with:
         fetch-depth: 0
 
-    - name: Testing (clang-tidy-quiet)
+    - name: Testing (clang-tidy)
       uses: addnab/docker-run-action@v3
       with:
         image: px4io/px4-dev-clang:2021-09-08
@@ -24,4 +27,4 @@ jobs:
         run: |
           cd /workspace
           git config --global --add safe.directory /workspace
-          make clang-tidy-quiet
+          make clang-tidy

.github/workflows/compile_macos.yml

@@ -4,9 +4,17 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
@@ -26,7 +34,8 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp

.github/workflows/compile_ubuntu.yml

@@ -7,9 +7,20 @@ on:
       - 'stable'
       - 'beta'
       - 'release/**'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-      - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+env:
+  RUNS_IN_DOCKER: true
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build_and_test:
@@ -18,7 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -1,4 +1,3 @@
-
 name: Container build
 
 on:
@@ -12,90 +11,193 @@ on:
       - 'v*'
   pull_request:
     branches:
-      - '*'
+      - '**'
+    paths:
+      - '.github/workflows/dev_container.yml'
+      - 'Tools/setup/ubuntu.sh'
+      - 'Tools/setup/requirements.txt'
+      - 'Tools/setup/Dockerfile'
+      - 'Tools/setup/docker-entrypoint.sh'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      build_ref:
+        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
+        required: false
+        type: string
+        default: ''
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  build:
-    name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v5
         with:
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
           fetch-tags: true
           submodules: false
           fetch-depth: 0
 
-      - name: Set PX4 Tag
-        id: px4-tag
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
         run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v6
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build Container (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
 
       - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v4
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
-
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@v4
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
 
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v7
         id: docker
         with:
           context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+          tags: |
+            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,scope=${{ matrix.arch }}
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true
 
-      - name: Get Tag Name
-        id: tag_name
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    needs: [build, setup]
+    if: |
+      !cancelled() &&
+      needs.setup.result == 'success' &&
+      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ github.event.inputs.build_ref || github.ref }}
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Verify Images Exist Before Creating Manifest
         run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
 
-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
 
-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}

.github/workflows/docs_crowdin_download.yml

@@ -0,0 +1,55 @@
+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

@@ -0,0 +1,44 @@
+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

@@ -0,0 +1,86 @@
+name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+
+on:
+  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: ${{ github.head_ref || github.ref_name }}
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    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: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Deploy
+        run: |
+          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
+          # make it an orphan branch
+          cd docs.px4.io
+          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
+          git checkout --orphan "${CURRENT_DATETIME}_main"
+          rm -rf ${BRANCH_NAME}
+          mkdir -p ${BRANCH_NAME}
+          cp -r ~/_book/* ${BRANCH_NAME}/
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+          git add .
+          git commit -a -m "PX4 docs build update (vitepress) `date`"
+          # push branch as backup
+          git push origin "${CURRENT_DATETIME}_main"
+          # Now make main from backup and push updated
+          git branch -D main
+          git checkout -b main
+          git push origin main -f

.github/workflows/docs_deploy_aws.yml

@@ -0,0 +1,116 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -3,26 +3,33 @@ name: EKF Change Indicator
 on:
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
+  cancel-in-progress: true
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there is a functional change
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -1,44 +1,54 @@
 name: EKF Update Change Indicator
 
-on: push
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there exists diff and save result in variable
+        id: diff-check
+        working-directory: src/modules/ekf2/test/change_indication
+        run: |
+          if git diff --quiet; then
+            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
+          else
+            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
+          fi
 
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
+      - name: auto-commit any changes to change indication
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update change indication
 
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
+            See .github/workflows/ekf_update_change_indicator.yml for more details
 
-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
-      run: exit 1
+      - name: if there is a functional change, fail check
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        run: exit 1

.github/workflows/failsafe_sim.yml

@@ -4,9 +4,17 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
@@ -21,7 +29,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0
@@ -33,10 +41,14 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
       - name: Install empscripten
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
+          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -9,9 +9,13 @@ on:
   push:
     branches:
       - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-      - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -20,9 +24,9 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev-nuttx-focal
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -74,7 +78,7 @@ jobs:
         id: bloaty-step
         with:
           bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,compileunits -s vm -n 20
+          bloaty-additional-args: -d sections,symbols -s vm -n 20
           output-to-summary: true
 
       - name: Generate output
@@ -88,16 +92,19 @@ 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=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
       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 }}
+    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
     steps:
       - name: Find Comment
         uses: peter-evans/find-comment@v3

.github/workflows/fuzzing.yml

@@ -0,0 +1,49 @@
+name: Fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+
+permissions:
+  contents: read
+  issues: write # for JasonEtco/create-an-issue
+
+env:
+  RUNS_IN_DOCKER: true
+
+jobs:
+  Fuzzing:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
+    steps:
+      - name: Install Dependencies
+        run: |
+          apt update && apt install -y clang
+
+      - name: Fix git in Container
+        run: |
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v4
+
+      - name: Build and Run Fuzz Tests
+        run: |
+          # Only build the tests
+          export CC=clang
+          export CXX=clang++
+          make tests TESTFILTER=__no_tests__
+
+          # Run the fuzz tests
+          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
+            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
+          done
+
+      # Create a github issue in case of a failure
+      - name: Create Issue
+        if: ${{ failure() }}
+        uses: JasonEtco/create-an-issue@v2
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
+        with:
+          filename: .github/fuzzing_issue_template.md

.github/workflows/itcm_check.yml

@@ -0,0 +1,67 @@
+name: ITCM check
+
+permissions:
+  contents: read
+
+on:
+  push:
+    branches:
+      - 'main'
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check_itcm:
+    name: Checking ${{ matrix.target }}
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: px4_fmu-v5x
+            scripts: >
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
+          - target: px4_fmu-v6xrt
+            scripts: >
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_tropic-community
+            scripts: >
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_mr-tropic
+            scripts: >
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}
+
+      - name: Copy built ELF
+        run: cp ./build/**/*.elf ./built.elf
+
+      - name: Install itcm-check dependencies
+        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
+
+      - name: Execute the itcm-check
+        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

.github/workflows/label.yml

@@ -0,0 +1,21 @@
+# This workflow will triage pull requests and apply a label based on the
+# paths that are modified in the pull request.
+# The paths are set up in .github/labeler.yml
+#
+# See: https://github.com/actions/labeler
+
+name: Labeler
+on: [pull_request_target]
+
+jobs:
+  label:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+
+    steps:
+    - uses: actions/labeler@v5
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/mavros_mission_tests.yml

@@ -4,33 +4,42 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
     runs-on: ubuntu-latest
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_test_mission.test \
+                mission:=MC_mission_box \
+                vehicle:=iris
+            '

.github/workflows/mavros_offboard_tests.yml

@@ -4,34 +4,41 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_tests_offboard_posctl.test \
+                vehicle:=iris
+            '

.github/workflows/nuttx_env_config.yml

@@ -4,34 +4,43 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
+        config:
+          - px4_fmu-v5_default
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-nuttx-focal:2022-08-12
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
           make ${{ matrix.config }} nuttx_context
+
           echo "Check that the config option is set"
           grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -4,9 +4,13 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -0,0 +1,141 @@
+# 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/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-ros2-galactic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Git Ownership Workaround
+      run: git config --system --add safe.directory '*'
+
+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+    - name: Install gazebo
+      run: |
+        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${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
+        # On a PR, target the branch we're merging into (main or release/X.Y).
+        # On a direct push, fall back to the branch we're running on.
+        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
+        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
+        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
+          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
+          git clone --recursive --branch "$BRANCH" "$REPO_URL"
+        else
+          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
+          git clone --recursive "$REPO_URL"
+        fi
+        cd ..
+        # Copy messages to ROS workspace
+        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
+        rm -rf src/translation_node src/px4_msgs_old
+        colcon build --symlink-install
+    - name: ccache post-run ros workspace
+      run: ccache -s
+
+    - name: Build PX4
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
+      run: ccache -s
+
+    - name: Core dump settings
+      run: |
+        ulimit -c unlimited
+        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run tests
+      shell: bash
+      run: |
+        . /opt/px4_ws/install/setup.bash
+        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
+        test/ros_test_runner.py --verbose --model iris --upload --force-color
+      timeout-minutes: 45
+
+    - name: Upload failed logs
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: failed-logs.zip
+        path: |
+          logs/**/**/**/*.log
+          logs/**/**/**/*.ulg
+          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg

.github/workflows/ros_translation_node.yml

@@ -3,16 +3,25 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
+    paths-ignore:
+      - 'docs/**'
 defaults:
   run:
     shell: bash
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -9,14 +9,22 @@ on:
   push:
     branches:
     - 'main'
+    paths-ignore:
+      - 'docs/**'
   pull_request:
     branches:
-    - '*'
+    - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -110,7 +118,7 @@ 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
@@ -121,7 +129,7 @@ jobs:
           path: |
             logs/**/**/**/*.log
             logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
 
       - name: Look at Core files
         if: failure() && ${{ hashFiles('px4.core') != '' }}

.github/workflows/stale.yml

@@ -7,10 +7,15 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v10
         with:
-          days-before-stale: 30
-          days-before-close: -1
+          operations-per-run: 250
+          days-before-stale: 90
+          days-before-close: 30
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'

.gitignore

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

.gitmodules

@@ -75,7 +75,7 @@
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git
-	branch = moving_platform_world
+	branch = main
 [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
@@ -89,3 +89,17 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
+[submodule "test/fuzztest"]
+	path = test/fuzztest
+	url = https://github.com/google/fuzztest.git
+	branch = main
+[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
+	path = src/lib/tensorflow_lite_micro/tflite_micro
+	url = https://github.com/PX4/tflite-micro.git
+	branch = main
+[submodule "src/drivers/ins/microstrain/mip_sdk"]
+	path = src/drivers/ins/microstrain/mip_sdk
+	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
+[submodule "src/drivers/ins/sbgecom/sbgECom"]
+	path = src/drivers/ins/sbgecom/sbgECom
+	url = https://github.com/PX4/sbgECom.git

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -31,6 +36,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
+    px4_sitl_zenoh:
+      short: px4_sitl_zenoh
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel
@@ -186,6 +196,26 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_cannode_canbootloader
+    ark_dist_default:
+      short: ark_dist_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_dist_default
+    ark_dist_canbootloader:
+      short: ark_dist_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_dist_canbootloader
+    ark_f9p-gps_default:
+      short: ark_f9p-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_f9p-gps_default
+    ark_f9p-gps_canbootloader:
+      short: ark_f9p-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_f9p-gps_canbootloader
     ark_fmu-v6x_bootloader:
       short: ark_fmu-v6x_bootloader
       buildType: MinSizeRel
@@ -216,6 +246,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_pi6x_default
+    ark_x20-gps_default:
+      short: ark_x20-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_x20-gps_default
+    ark_x20-gps_canbootloader:
+      short: ark_x20-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_x20-gps_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -231,6 +271,11 @@ 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
@@ -256,6 +301,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cuav_7-nano_default
+    cuav_fmu-v6x_default:
+      short: cuav_fmu-v6x
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_fmu-v6x_default
+    cuav_x25_default:
+      short: cuav_x25-evo
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_x25-evo_default
     cubepilot_cubeorange_test:
       short: cubepilot_cubeorange
       buildType: MinSizeRel
@@ -296,6 +351,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
+    holybro_kakuteh7dualimu_default:
+      short: holybro_kakuteh7dualimu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7dualimu_default
     matek_h743-slim_default:
       short: matek_h743-slim
       buildType: MinSizeRel
@@ -391,6 +456,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
+    nxp_mr-tropic_default:
+      short: nxp_mr-tropic_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_default
+    nxp_mr-tropic_bootloader:
+      short: nxp_mr-tropic_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel

.vscode/settings.json

@@ -43,7 +43,7 @@
         "files.watcherExclude": {
                 "**/build/**": true
         },
-        "git.detectSubmodulesLimit": 20,
+        "git.detectSubmodulesLimit": 25,
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,

CMakeLists.txt

@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.10 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)
@@ -334,6 +334,33 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()
 
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+# (Needs to be before setting the common compile flags)
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
+	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
+		set(FUZZTEST_FUZZING_MODE ON)
+	endif()
+	add_subdirectory(test)
+	fuzztest_setup_fuzzing_flags()
+endif()
+
 #=============================================================================
 # build flags
 #
@@ -386,47 +413,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()
 
-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
-			DEPENDS
-				px4
-				examples__dyn_hello
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
-
 #=============================================================================
 # subdirectories
 #
@@ -496,7 +482,6 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
-include(doxygen)
 include(metadata)
 include(package)
 

Kconfig

@@ -73,12 +73,10 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
+    config BOARD_ADDITIONAL_INIT
+        string "Additional init file"
         help
-            Configure the root directory in the file system for PX4 files
+            additional configurable init file to include in the ROMFS
 
     config BOARD_IO
         string "IO board name"
@@ -213,8 +211,8 @@ source "src/examples/Kconfig"
 endmenu
 
 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX
-source "platforms/common/Kconfig"
+depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
+source "platforms/Kconfig"
 endmenu
 
 source "src/lib/*/Kconfig"

MAINTAINERS.md

@@ -7,33 +7,34 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
+| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
+| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
+| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
+| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
 
 **Release Managers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
 
 **Retired Maintainers**
 

Makefile

@@ -160,11 +160,6 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif
 
-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif
 
 # Pick up specific Python path if set
@@ -300,6 +295,8 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 px4io_update:
@@ -328,9 +325,13 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
+	auterion_fmu-v6s_bootloader \
+	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
+	cuav_fmu-v6x_bootloader \
+	cuav_x25-evo_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -350,6 +351,7 @@ bootloaders_update: \
 	mro_ctrl-zero-h7_bootloader \
 	mro_ctrl-zero-h7-oem_bootloader \
 	mro_pixracerpro_bootloader \
+	narinfc_h7_bootloader \
 	px4_fmu-v6c_bootloader \
 	px4_fmu-v6u_bootloader \
 	px4_fmu-v6x_bootloader \
@@ -363,7 +365,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -379,12 +381,6 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -414,11 +410,18 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)
 
+# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
+LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test \
+		--base-directory build/px4_sitl_test \
+		--gcov-tool gcov \
+		--capture \
+		$(LCOBUG) \
+		-o coverage/lcov.info
 
 
 rostest: px4_sitl_default
@@ -470,7 +473,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -496,10 +499,6 @@ clang-tidy: px4_sitl_default-clang
 clang-tidy-fix: px4_sitl_default-clang
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
 
-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
-
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
@@ -514,6 +513,7 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \

README.md

@@ -17,17 +17,19 @@ 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, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, 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.
 
@@ -35,7 +37,7 @@ 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/).
 
@@ -50,69 +52,11 @@ For the latest stats on contributors please see the latest stats for the Droneco
 
 ## Supported Hardware
 
-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).
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
 ## 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://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>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
 <div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -85,10 +85,32 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
+# Check if board has an rc.board_airframes file to filter airframes
+set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
+set(airframes_whitelist "")
+if(EXISTS "${board_airframes_file}")
+	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
+	file(STRINGS "${board_airframes_file}" airframes_whitelist)
+	# Remove comments and empty lines
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
+endif()
+
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+
+	# If we have an airframes whitelist, filter airframe files
+	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
+		# Extract just the filename
+		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
+		# Check if it's in the whitelist
+		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
+			continue()
+		endif()
+	endif()
+
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -202,6 +224,31 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+if(config_additional_init)
+	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/init.d/rc.additional_init
+				${config_additional_init}.stamp
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
+			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
+			DEPENDS
+				${PX4_BOARD_DIR}/init/${config_additional_init}
+				romfs_copy.stamp
+			COMMENT "ROMFS: copying ${config_additional_init}"
+		)
+
+		list(APPEND extras_dependencies
+			${config_additional_init}.stamp
+			)
+	else()
+		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
+	endif()
+endif()
+
 
 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
@@ -216,12 +263,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
+
+			# Generate the file using configure_file at configure time to a temporary location
+			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
+
+			# Then copy it at build time with proper dependencies
+			add_custom_command(
+				OUTPUT
+					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+					rc.board_bootloader_upgrade.stamp
+				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
+				DEPENDS
+					${bootloader_upgrade_tmp}
+					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
+					romfs_copy.stamp
+				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
+			)
+
+			list(APPEND extras_dependencies
+				rc.board_bootloader_upgrade.stamp
+			)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
-
 	endif()
 endforeach()
 

ROMFS/cannode/init.d/rcS

@@ -56,6 +56,17 @@ then
 fi
 unset BOARD_RC_DEFAULTS
 
+#
+# Optional additional init file: rc.additional_init
+#
+set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
+if [ -f $BOARD_RC_ADDITIONAL_INIT ]
+then
+	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
+	. $BOARD_RC_ADDITIONAL_INIT
+fi
+unset BOARD_RC_ADDITIONAL_INIT
+
 #
 # Start system state indicator.
 #

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

@@ -35,8 +35,11 @@ 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/10041_sihsim_airplane

@@ -46,3 +46,22 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
 param set-default EKF2_GPS_DELAY 0
+
+# Rate controllers
+param set-default FW_RR_P 0.0500
+param set-default FW_RR_I 2.0000
+param set-default FW_RR_D 0.0000
+param set-default FW_RR_FF 0.0000
+param set-default FW_RR_IMAX 1.0000
+
+param set-default FW_PR_P 0.0800
+param set-default FW_PR_I 2.5000
+param set-default FW_PR_D 0.0000
+param set-default FW_PR_FF 0.0000
+param set-default FW_PR_IMAX 1.0000
+
+param set-default FW_YR_P 0.0500
+param set-default FW_YR_I 3.0000
+param set-default FW_YR_D 0.0000
+param set-default FW_YR_FF 0.0000
+param set-default FW_YR_IMAX 1.0000

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name HexarotorX SITL for SIH
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Matthias Grob <maetugr@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+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
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/10045_sihsim_rover_ackermann

@@ -0,0 +1,72 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+set VEHICLE_TYPE rover_ackermann
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
+
+param set-default PWM_MAIN_FUNC1 201 # Steering
+param set-default PWM_MAIN_FUNC2 101 # Throttle
+param set-default SIH_MASS 20
+param set-default SIH_IXX 0.4333
+param set-default SIH_IYY 1.6833
+param set-default SIH_IZZ 2.0833
+param set-default SIH_IXZ 0
+param set-default SIH_KDV 50
+param set-default SIH_KDW 10
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_STR_RATE_LIM 360
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 3
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.2
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.001
+param set-default RO_SPEED_P 0.001
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Rover
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 10
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
-
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC6 102
-param set-default PWM_MAIN_FUNC7 102

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_CRUISE 0.8
+param set-default FW_THR_TRIM 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

@@ -13,10 +13,6 @@ 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

@@ -12,13 +12,8 @@ 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

@@ -13,9 +13,6 @@ 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

@@ -14,10 +14,6 @@ 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

@@ -11,8 +11,6 @@ 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

@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -31,26 +30,22 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.43
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
 
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_MIN1 70

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

@@ -1,56 +1,68 @@
 #!/bin/sh
-# @name Gazebo lawnmower
+# @name Gazebo - Zero Turn Lawnmower
 # @type Rover
 # @class Rover
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
 PX4_SIM_MODEL=${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
+param set-default NAV_ACC_RAD 0.5
+
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Rover parameters
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 2.7
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.2
+param set-default RO_YAW_RATE_P 1.0
+param set-default RO_YAW_RATE_LIM 60
+param set-default RO_YAW_ACCEL_LIM 50
+param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2.1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-defatul RO_SPEED_RED 1.0
+
 # Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
+param set-default SIM_GZ_WH_MIN1 87
+param set-default SIM_GZ_WH_MAX1 113
+param set-default SIM_GZ_WH_DIS1 100
+param set-default SIM_GZ_WH_FAIL1 100
 
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
+param set-default SIM_GZ_WH_MIN2 87
+param set-default SIM_GZ_WH_MAX2 113
+param set-default SIM_GZ_WH_DIS2 100
+param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 

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

@@ -1,64 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 360
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 3
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_MAXA1 30
-param set-default SIM_GZ_SV_MINA1 -30
-param set-default CA_SV_CS_COUNT 1
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1

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

@@ -1,64 +0,0 @@
-#!/bin/sh
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_mecanum_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# 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_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
-
-# 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
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 70
-param set-default SIM_GZ_WH_MAX2 130
-param set-default SIM_GZ_WH_DIS2 100
-
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 70
-param set-default SIM_GZ_WH_MAX3 130
-param set-default SIM_GZ_WH_DIS3 100
-
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 70
-param set-default SIM_GZ_WH_MAX4 130
-param set-default SIM_GZ_WH_DIS4 100
-
-param set-default SIM_GZ_WH_REV 10

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

@@ -13,12 +13,6 @@ 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

@@ -13,11 +13,6 @@ 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

@@ -0,0 +1,15 @@
+#!/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/50000_gz_rover_differential

@@ -0,0 +1,59 @@
+#!/bin/sh
+# @name Generic Differential Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.6
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 2
+param set-default RO_SPEED_LIM 1.8
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.01
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 80
+param set-default SIM_GZ_WH_MAX1 120
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 80
+param set-default SIM_GZ_WH_MAX2 120
+param set-default SIM_GZ_WH_DIS2 100

ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann

@@ -0,0 +1,62 @@
+#!/bin/sh
+# @name Generic Ackermann Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 1.5
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_STR_RATE_LIM 360
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 3
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_MAXA1 30
+param set-default SIM_GZ_SV_MINA1 -30
+param set-default CA_SV_CS_COUNT 1
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum

@@ -0,0 +1,78 @@
+#!/bin/sh
+# @name Generic Mecanum Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
+
+# 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
+param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 0.5
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_MAGSIM 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
+param set-default SIM_GZ_WH_MIN3 70
+param set-default SIM_GZ_WH_MAX3 130
+param set-default SIM_GZ_WH_DIS3 100
+
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
+param set-default SIM_GZ_WH_MIN4 70
+param set-default SIM_GZ_WH_MAX4 130
+param set-default SIM_GZ_WH_DIS4 100
+
+param set-default SIM_GZ_WH_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -0,0 +1,137 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy
+#
+# @type UUV
+#
+# @maintainer Pedro Roque <padr@kth.se>
+# @maintainer Nicola De Carli <ndc@kth.se>
+#
+
+# Source PX4 parameters and configuration
+. ${R}/etc/init.d/rc.uuv_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=underwater}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=uuv_bluerov2_heavy}
+
+param set-default SIM_GZ_EN 1
+
+# Set parameters using `param` utility for SITL
+param set-default CA_AIRFRAME 7
+param set-default CA_METHOD 0
+param set-default MAV_TYPE 12
+
+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?
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_AX -1
+param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AZ 0
+param set-default CA_ROTOR0_KM 0
+param set-default CA_ROTOR0_PX 0.14
+param set-default CA_ROTOR0_PY 0.10
+param set-default CA_ROTOR0_PZ 0.06
+#param set-default CA_ROTOR0_PZ 0.0
+
+param set-default CA_ROTOR1_AX -1
+param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AZ 0
+param set-default CA_ROTOR1_KM 0
+param set-default CA_ROTOR1_PX 0.14
+param set-default CA_ROTOR1_PY -0.10
+param set-default CA_ROTOR1_PZ 0.06
+#param set-default CA_ROTOR1_PZ 0.0
+
+param set-default CA_ROTOR2_AX 1
+param set-default CA_ROTOR2_AY 1
+param set-default CA_ROTOR2_AZ 0
+param set-default CA_ROTOR2_KM 0
+param set-default CA_ROTOR2_PX -0.14
+param set-default CA_ROTOR2_PY 0.10
+param set-default CA_ROTOR2_PZ 0.06
+#param set-default CA_ROTOR2_PZ 0.0
+
+param set-default CA_ROTOR3_AX 1
+param set-default CA_ROTOR3_AY -1
+param set-default CA_ROTOR3_AZ 0
+param set-default CA_ROTOR3_KM 0
+param set-default CA_ROTOR3_PX -0.14
+param set-default CA_ROTOR3_PY -0.10
+param set-default CA_ROTOR3_PZ 0.06
+
+param set-default CA_ROTOR4_AX 0
+param set-default CA_ROTOR4_AY 0
+param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_KM 0
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY 0.22
+param set-default CA_ROTOR4_PZ 0
+
+param set-default CA_ROTOR5_AX 0
+param set-default CA_ROTOR5_AY 0
+param set-default CA_ROTOR5_AZ 1
+param set-default CA_ROTOR5_KM 0
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY -0.22
+param set-default CA_ROTOR5_PZ 0
+
+param set-default CA_ROTOR6_AX 0
+param set-default CA_ROTOR6_AY 0
+param set-default CA_ROTOR6_AZ 1
+param set-default CA_ROTOR6_KM 0
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY 0.22
+param set-default CA_ROTOR6_PZ 0
+
+param set-default CA_ROTOR7_AX 0
+param set-default CA_ROTOR7_AY 0
+param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_KM 0
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY -0.22
+param set-default CA_ROTOR7_PZ 0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+
+param set-default SIM_GZ_EC_MIN1 1100
+param set-default SIM_GZ_EC_MIN2 1100
+param set-default SIM_GZ_EC_MIN3 1100
+param set-default SIM_GZ_EC_MIN4 1100
+param set-default SIM_GZ_EC_MIN5 1100
+param set-default SIM_GZ_EC_MIN6 1100
+param set-default SIM_GZ_EC_MIN7 1100
+param set-default SIM_GZ_EC_MIN8 1100
+
+param set-default SIM_GZ_EC_MAX1 1900
+param set-default SIM_GZ_EC_MAX2 1900
+param set-default SIM_GZ_EC_MAX3 1900
+param set-default SIM_GZ_EC_MAX4 1900
+param set-default SIM_GZ_EC_MAX5 1900
+param set-default SIM_GZ_EC_MAX6 1900
+param set-default SIM_GZ_EC_MAX7 1900
+param set-default SIM_GZ_EC_MAX8 1900

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -26,7 +26,6 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @type Free-Flyer
+# @class Spacecraft
+#
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
+
+param set-default SIM_GZ_EN 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
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-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
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

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

@@ -1,149 +0,0 @@
-#!/bin/sh
-#
-# @name 3DoF Spacecraft Model
-#
-# @type 2D Freeflyer with 8 thrusters - Planar motion
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${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?
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default SIM_GZ_TH_FUNC1 101
-param set-default SIM_GZ_TH_FUNC2 102
-param set-default SIM_GZ_TH_FUNC3 103
-param set-default SIM_GZ_TH_FUNC4 104
-param set-default SIM_GZ_TH_FUNC5 105
-param set-default SIM_GZ_TH_FUNC6 106
-param set-default SIM_GZ_TH_FUNC7 107
-param set-default SIM_GZ_TH_FUNC8 108
-
-param set-default SIM_GZ_TH_MIN1 0
-param set-default SIM_GZ_TH_MIN2 0
-param set-default SIM_GZ_TH_MIN3 0
-param set-default SIM_GZ_TH_MIN4 0
-param set-default SIM_GZ_TH_MIN5 0
-param set-default SIM_GZ_TH_MIN6 0
-param set-default SIM_GZ_TH_MIN7 0
-param set-default SIM_GZ_TH_MIN8 0
-
-param set-default SIM_GZ_TH_MAX1 10000
-param set-default SIM_GZ_TH_MAX2 10000
-param set-default SIM_GZ_TH_MAX3 10000
-param set-default SIM_GZ_TH_MAX4 10000
-param set-default SIM_GZ_TH_MAX5 10000
-param set-default SIM_GZ_TH_MAX6 10000
-param set-default SIM_GZ_TH_MAX7 10000
-param set-default SIM_GZ_TH_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

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

@@ -83,9 +83,6 @@ 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

@@ -62,8 +62,6 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
-	1060_gazebo-classic_rover
-	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
 
@@ -82,15 +80,14 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	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
@@ -108,12 +105,19 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
+	10044_sihsim_hex
+	10045_sihsim_rover_ackermann
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	71001_gazebo-classic_spacecraft_dart
-	71002_gz_spacecraft_2d
+	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
+
+	60002_gz_uuv_bluerov2_heavy
+
+	70000_gz_atmos
 
 	# [22000, 22999] Reserve for custom models
 )

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

@@ -0,0 +1,206 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+# 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"
+
+	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
+
+	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+	if [ -n "${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 ${PX4_GZ_SIM_RENDER_ENGINE}"
+	fi
+else
+	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+	exit 1
+fi
+
+# If not standalone launch the world
+if [ -z "${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 [ $ATTEMPTS -eq 0 ]; then
+		echo "ERROR [init] Timed out waiting for Gazebo world"
+		exit 1
+	fi
+	echo "INFO  [init] Waiting for Gazebo world..."
+	sleep 1
+done
+
+# World is ready, check if custom location is provided
+if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
+	# must have all three
+	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
+		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
+		exit 1
+	fi
+	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
+		--reqtype gz.msgs.SphericalCoordinates \
+		--reptype gz.msgs.Boolean \
+		--timeout 1000 \
+		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
+fi
+
+# Start gz_bridge - either spawn a model or connect to existing one
+if [ -n "${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}"
+
+	sdf_pose_str=""
+
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
+		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
+		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+
+		pose_x=${pose_x:-0}
+		pose_y=${pose_y:-0}
+		pose_z=${pose_z:-0}
+		pose_roll=${pose_roll:-0}
+		pose_pitch=${pose_pitch:-0}
+		pose_yaw=${pose_yaw:-0}
+
+		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
+		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
+	fi
+
+	echo "INFO  [init] Spawning Gazebo model"
+
+	# include the actual SDF in this one, containing the pose if given
+	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
+
+	# Spawn model
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+			--reptype gz.msgs.Boolean --timeout 5000 \
+			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /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

@@ -0,0 +1,14 @@
+#!/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

@@ -0,0 +1,27 @@
+#!/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

@@ -1,5 +0,0 @@
-#!/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

@@ -0,0 +1,38 @@
+#!/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

@@ -8,203 +8,18 @@ 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
-
-	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
+    # Run SIH
+    . px4-rc.sihsim
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-	# 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
+    # Run Gazebo (gz)
+    . px4-rc.gzsim
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-
-	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))
+    # Run jMAVSim
+    . px4-rc.jmavsim
 
 else
-	# 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
-
+    # Run simulator_mavlink module for interface with gazebo-classic
+    . px4-rc.mavlinksim
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -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))
@@ -164,7 +173,6 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -181,6 +189,9 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3
 
+# set default IP to localhost
+param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
+
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -227,9 +238,6 @@ 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
@@ -289,10 +297,15 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
+	# Override, as variable is set (empty or not)
+	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
+		# Override namespace if environment variable is non-empty
+		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	else
+		# Clear namespace if variable is empty
+		uxrce_dds_ns=""
+	fi
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
@@ -308,7 +321,12 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi
 
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
+
+if param greater -s ZENOH_ENABLE 0
+then
+	zenoh start
+fi
 
 if param greater -s MNT_MODE_IN -1
 then
@@ -331,11 +349,7 @@ then
 	gyro_calibration start
 fi
 
-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start
 
 if param compare -s ICE_EN 1
 then

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()
 
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps

ROMFS/px4fmu_common/init.d/airframes/1104_standard_ackermann_sih.hil

@@ -0,0 +1,65 @@
+#!/bin/sh
+# @name SIH Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+set VEHICLE_TYPE rover_ackermann
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not driving
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
+param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
+param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
+
+param set-default HIL_ACT_FUNC1 201 # Steering
+param set-default HIL_ACT_FUNC2 101 # Throttle
+param set-default SIH_MASS 20
+param set-default SIH_IXX 0.4333
+param set-default SIH_IYY 1.6833
+param set-default SIH_IZZ 2.0833
+param set-default SIH_IXZ 0
+param set-default SIH_KDV 50
+param set-default SIH_KDW 10
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_STR_RATE_LIM 360
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 3
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.2
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.001
+param set-default RO_SPEED_P 0.001
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -7,6 +7,10 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

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

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

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

@@ -7,6 +7,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -13,6 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
+# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -47,3 +47,6 @@ param set-default CA_ROTOR2_KM -0.05
 param set-default CA_ROTOR3_PX -1
 param set-default CA_ROTOR3_PY 1
 param set-default CA_ROTOR3_KM -0.05
+
+param set-default MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_MAX_DN 3.0

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -10,6 +10,7 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -14,6 +14,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #

ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential

@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.rover_differential_defaults

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

@@ -2,14 +2,11 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
 #
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
@@ -26,7 +23,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
 
@@ -37,19 +33,21 @@ param set-default RO_JERK_LIM 5
 param set-default RO_MAX_THR_SPEED 1.9
 
 # Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
+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 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
+param set-default RO_YAW_RATE_CORR 2.7
 
 # Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
+param set-default RO_YAW_P 2.5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1