ci: fix docker context

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

.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/workflows/appimage.yml

@@ -0,0 +1,44 @@
+name: Build PX4 SITL AppImage
+
+on:
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: read
+  actions: write
+
+jobs:
+  build-appimage:
+    name: "AppImage ${{ matrix.arch }}"
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            runner: x64
+          - arch: arm64
+            runner: arm64
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu22-full-${{ matrix.runner }}","run-id=${{ github.run_id }}"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Install Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL and AppImage
+        env:
+          # avoid FUSE by extracting the AppImage in‐place
+          APPIMAGE_EXTRACT_AND_RUN: "1"
+        run: |
+          make appimage
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4-sitl-appimage-${{ matrix.arch }}
+          path: build/*.AppImage

.github/workflows/checks.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/clang-tidy.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -9,13 +9,11 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true

.github/workflows/ekf_functional_change_indicator.yml

@@ -6,7 +6,6 @@ on:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -4,7 +4,6 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/flash_analysis.yml

@@ -11,13 +11,11 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50

.github/workflows/itcm_check.yml

@@ -9,13 +9,11 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   check_itcm:

.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

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/python_checks.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_translation_node.yml

@@ -5,13 +5,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 defaults:
   run:
     shell: bash

.github/workflows/sitl_container.yml

@@ -0,0 +1,189 @@
+name: SITL Container
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
+
+jobs:
+  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 }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
+        run: |
+          if [[ "${{ 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]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-sitl
+            px4io/px4-sitl
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Install PX4 Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL
+        run: make px4_sitl_default
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        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
+        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: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: .
+          file: Tools/sitl-container/Dockerfile
+          tags: |
+            ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Verify Images Exist Before Creating Manifest
+        run: |
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}

.github/workflows/sitl_tests.yml

@@ -11,13 +11,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

CMakeLists.txt

@@ -496,7 +496,6 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
-include(doxygen)
 include(metadata)
 include(package)
 

Makefile

@@ -264,6 +264,42 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes
 
+# Create a one-file AppImage for PX4 SITL
+PX4_VERSION := $(shell git describe --tags --match "v[0-9]*" 2>/dev/null || echo "v0.0.0")
+.PHONY: AppImage
+appimage: build/px4_sitl_default/bin/px4 build/px4_sitl_default/romfs_files.tar
+
+	@$(MAKE) px4_sitl_default
+	@$(RM) -rf build/px4.AppDir
+
+	@mkdir -p \
+		build/px4.AppDir/usr/bin \
+		build/px4.AppDir/usr/lib \
+		build/px4.AppDir/usr/share/px4/romfs/etc \
+		build/px4.AppDir/usr/share/px4/romfs/bin
+	@cp build/px4_sitl_default/bin/px4 build/px4.AppDir/usr/bin/
+	@echo "${PX4_VERSION}" > build/px4.AppDir/version.txt
+
+	# bundle required Gazebo transport libs (arch‐agnostic lookup)
+	echo "→ Gathering shared-lib dependencies for px4..."
+	@ldd build/px4_sitl_default/bin/px4 \
+		| awk '/=>/ { print $$3 }' \
+		| grep -E '^/' \
+		| grep -Ev '/lib(c|gcc|stdc\+\+)\.so' \
+		| sort -u \
+		| while read lib; do \
+			echo "	→ bundling $$lib"; \
+			cp "$$lib" build/px4.AppDir/usr/lib/; \
+		done
+
+	@tar xf build/px4_sitl_default/romfs_files.tar -C build/px4.AppDir/usr/share/px4/romfs/etc
+	@cp build/px4_sitl_default/bin/px4-* build/px4.AppDir/usr/share/px4/romfs/bin/
+	@cp Tools/appimage/px4.desktop build/px4.AppDir/
+	@cp Tools/appimage/px4.svg build/px4.AppDir/
+	@cp Tools/appimage/AppRun build/px4.AppDir/
+	@chmod +x build/px4.AppDir/AppRun
+	@cd build && appimagetool px4.AppDir
+
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_mro_x21_default \
@@ -365,7 +401,7 @@ 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
@@ -381,12 +417,6 @@ 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

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

@@ -39,7 +39,7 @@ param set-default RO_YAW_P 5
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -0,0 +1,56 @@
+#!/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
+
+# 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
+
+# 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/CMakeLists.txt

@@ -114,6 +114,8 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
+	50000_gz_rover_differential
+
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

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

@@ -7,9 +7,6 @@
 # @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/51000_generic_rover_ackermann

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

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

@@ -7,9 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

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

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -14,7 +14,6 @@ control_allocator start
 # Start attitude controller.
 #
 fw_rate_control start
-fw_indi_pos_control start
 fw_att_control start
 fw_mode_manager start
 fw_lat_lon_control start

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,6 +234,7 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
+	qmc5883p -X -q start
 	rm3100 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)

Tools/appimage/AppRun

@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+set -e
+
+DEBUG=false
+for arg; do
+  case "$arg" in
+  --debug)
+    DEBUG=true
+    shift
+    ;;
+  *)
+    break
+    ;;
+  esac
+done
+
+if $DEBUG; then
+  echo "[DEBUG] Running in debug mode" >&2
+fi
+
+CUR_VER=$(<"$APPDIR/version.txt")
+$DEBUG && echo "[DEBUG] PX4_VERSION = $CUR_VER" >&2
+
+# figure out a stable logs directory
+STATE_HOME="${XDG_STATE_HOME:-$HOME/.local/state}"
+DATA_HOME="${XDG_DATA_HOME:-$HOME/.local/share}"
+ROMFS_DIR="$DATA_HOME/px4/romfs"
+mkdir -p "$DATA_HOME/px4" "$STATE_HOME/px4"
+
+$DEBUG && echo "[DEBUG] STATE_HOME = $STATE_HOME" >&2
+$DEBUG && echo "[DEBUG] DATA_HOME = $STATE_HOME" >&2
+
+# Read last unpacked version
+LAST_VER_FILE="$STATE_HOME/px4/version"
+LAST_VER=""
+[ -f "$LAST_VER_FILE" ] && LAST_VER=$(<"$LAST_VER_FILE")
+
+# if versions differ, refresh the payload
+if [ "$CUR_VER" != "$LAST_VER" ]; then
+  $DEBUG && echo "[DEBUG] Version changed ($LAST_VER → $CUR_VER); updating ROMFS..." >&2
+  rm -fr "$ROMFS_DIR"
+  mkdir -p "$ROMFS_DIR"
+  cp -a "$APPDIR/usr/share/px4/romfs/." "$ROMFS_DIR"
+  echo "$CUR_VER" > "$LAST_VER_FILE"
+else
+  if $DEBUG; then
+    echo "[DEBUG] Using cached ROMFS version $CUR_VER" >&2
+  fi
+fi
+
+LOG_DIR="$STATE_HOME/px4/logs"
+mkdir -p "$LOG_DIR"
+$DEBUG && echo "[DEBUG] LOG_DIR = $LOG_DIR" >&2
+
+# pick up bundled libs first
+export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
+export PATH="$ROMFS_DIR/bin:$ROMFS_DIR:$PATH"
+
+
+$DEBUG && echo "[DEBUG] Launching: $APPDIR/usr/bin/px4 -w $ROMFS_DIR $*" >&2
+exec "$APPDIR/usr/bin/px4" -w "$ROMFS_DIR" "$@"

Tools/appimage/px4.desktop

@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=PX4 Autopilot SITL
+Exec=px4 %F
+Icon=px4
+Categories=Development;

Tools/astyle/check_newlines.sh

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

Tools/docker_run.sh

@@ -1,18 +1,5 @@
 #! /bin/bash
 
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
-else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
-fi
-
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"

Tools/setup/ubuntu.sh

@@ -126,9 +126,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		fuse \
 		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
+		libfuse2 \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
@@ -156,6 +158,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			gcc-arm-none-eabi \
 			gcc-multilib \
 			;
+
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -163,6 +170,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-aarch64-linux-gnu \
 			g++-arm-linux-gnueabihf \
 			;
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-aarch64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi
 
 	if [ -n "$USER" ]; then

Tools/simulation/gz

@@ -1 +1 @@
-Subproject commit e05f4312d3f28aa621157610584a4870406cb6d3
+Subproject commit 929d55e8832fcd1a1432d2ae1b36601455ec7ed7

Tools/sitl-container/Dockerfile

@@ -0,0 +1,55 @@
+FROM ubuntu:24.04
+
+RUN apt-get update \
+  && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release \
+    libbsd0 \
+    libcom-err2 \
+    libc6 \
+    libgcc-s1 \
+    libgssapi-krb5-2 \
+    libk5crypto3 \
+    libkeyutils1 \
+    libkrb5-3 \
+    libkrb5support0 \
+    libmd0 \
+    libnorm1 \
+    libpgm-5.3-0 \
+    libprotobuf32 \
+    libprotobuf-lite32t64 \
+    libsodium23 \
+    libstdc++6 \
+    libuuid1 \
+    libzmq5 \
+    wget \
+    zlib1g \
+  && rm -fr /var/lib/apt/lists/*
+
+RUN curl -sSL https://packages.osrfoundation.org/gazebo.key \
+  | gpg --dearmor -o /usr/share/keyrings/gazebo-archive-keyring.gpg \
+  && echo "deb  [signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
+    http://packages.osrfoundation.org/gazebo/ubuntu-stable \
+    $(lsb_release -cs) main" \
+    > /etc/apt/sources.list.d/gazebo-stable.list \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends \
+    libgz-msgs10 \
+    libgz-transport13 \
+    libgz-utils2 \
+  && rm -fr /var/lib/apt/lists/*
+
+COPY build/px4_sitl_default/bin /opt/px4/bin
+COPY build/px4_sitl_default/etc /opt/px4/etc
+
+WORKDIR /opt/px4
+
+COPY Tools/sitl-container/entrypoint.sh /usr/local/bin/entrypoint.sh
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+EXPOSE 14540/udp 14550/udp 8888/udp
+
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+CMD []

Tools/sitl-container/docker_run.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+sudo docker run \
+  --rm -it \
+  --device /dev/fuse --cap-add SYS_ADMIN \
+  -p 14540:14540/udp \
+  -p 14550:14550/udp \
+  -p 8888:8888/udp \
+  px4-sitl:local

Tools/sitl-container/entrypoint.sh

@@ -0,0 +1,11 @@
+#!/bin/sh
+set -e
+
+PX4_BIN=/opt/px4/bin/px4
+
+# if no args passed, default to SITL none
+if [ $# -eq 0 ]; then
+  exec "$PX4_BIN"
+else
+  exec "$PX4_BIN" "$@"
+fi

boards/diatone/mamba-f405-mk2/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -5,14 +5,16 @@
 
 board_adc start
 
-if ! mpu6000 -R 6 -s start
-then
+if ! mpu6000 -R 6 -s start; then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	icm20602 -s -R 6 start
+	if ! icm20602 -s -R 6 start; then
+		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
+		icm42688p -s -R 4 start
+	fi
 fi
 
 if ! hmc5883 -T -X start
-then	
+then
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34

boards/diatone/mamba-f405-mk2/src/spi.cpp

@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/holybro/kakuteh7-wing/default.px4board

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -62,7 +63,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/holybro/kakuteh7dualimu/default.px4board

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -30,7 +31,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,22 +70,17 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y

boards/holybro/kakuteh7dualimu/firmware.prototype

@@ -7,7 +7,7 @@
     "summary": "KAKUTEH7",
     "version": "0.1",
     "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
     "git_identity": "",
     "board_revision": 0
 }

boards/holybro/kakuteh7dualimu/nuttx-config/scripts/script.ld

@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
 
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K

boards/holybro/kakuteh7dualimu/src/hw_config.h

@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
 
 #define OSC_FREQ                       8
 

boards/holybro/kakuteh7dualimu/src/led.c

@@ -48,6 +48,11 @@
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
  * CONFIG_ARCH_LEDS configuration switch.
+ *
+ * KakuteH7 DualIMU LED configuration:
+ * - Red LED (PE9): TRIP LED, active high
+ * - Blue LED (PC2): Status LED, active low
+ * - Green LED: Hardware controlled, always on when powered (no software control)
  */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -56,11 +61,28 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 0, 4, 2};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
+	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
+};
 
-#define xlat(p) (p)
+static bool g_led_inverted[] = {
+	false, // LED_RED is active high
+	true,  // LED_BLUE is active low
+};
+
+#else
+
+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                      // Indexed by LED_RED
+	GPIO_LED_RED,                       // Indexed by LED_RED
 };
 
 static bool g_led_inverted[] = {
@@ -68,6 +90,7 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };
 
+#endif
 
 __EXPORT void led_init(void)
 {

boards/px4/fmu-v2/rover.px4board

@@ -1,15 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v3/rover.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v4/rover.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v4pro/rover.px4board

@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v5/rover.px4board

@@ -1,23 +1,17 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_UUV_ATT_CONTROL=n
-CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v5x/rover.px4board

@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -6,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -14,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6c/rover.px4board

@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6u/rover.px4board

@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6x/rover.px4board

@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/fmu-v6xrt/rover.px4board

@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -6,16 +5,14 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y

boards/px4/sitl/default.px4board

@@ -23,7 +23,6 @@ CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_FW_INDI_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/zeroone/x6/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,12 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(FixedWingIndiControl
-	fw_indi_control.cpp
-	fw_indi_control.hpp
-)
-target_compile_options(FixedWingIndiControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
-target_include_directories(FixedWingIndiControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_link_libraries(FixedWingIndiControl PRIVATE mathlib)
-
-px4_add_unit_gtest(SRC fw_indi_control_test.cpp LINKLIBS FixedWingIndiControl)
+add_subdirectory(pwm_voltage)

boards/zeroone/x6/default.px4board

@@ -20,6 +20,9 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/zeroone/x6/init/rc.board_defaults

@@ -27,3 +27,6 @@ else
 fi
 
 safety_button start
+
+# pwm voltage 3.3V/5V switch
+pwm_voltage_apply start

boards/zeroone/x6/init/rc.board_sensors

@@ -43,6 +43,7 @@ then
 	set INA_CONFIGURED yes
 fi
 
+
 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
@@ -55,96 +56,35 @@ then
 	set INA_CONFIGURED yes
 fi
 
-#Start Auterion Power Module selector for zeroone boards
-if ver hwbasecmp 009 010 011
+
+if ver hwtypecmp ZeroOneX6000
 then
-	pm_selector_auterion start
-else
-	if [ $INA_CONFIGURED = no ]
-	then
-		# INA226, INA228, INA238 auto-start
-		i2c_launcher start -b 1
-		if [ $HAVE_PM2 = yes ]
-		then
-			i2c_launcher start -b 2
-		fi
-	fi
+        # Internal SPI bus icm45686 with SPIX
+	icm45686 -b 2 -s -R 6 start       //X6 & X6 air
+
+	bmi088 -A -R 4 -s start           //X6
+	bmi088 -G -R 4 -s start           //X6
+
+	# Internal SPI bus icm45686 with SPIX
+	icm45686 -b 1 -s -R 8 start       //X6 & X6 air
 fi
 
-# Keep nesting shallow
-if ver hwtypecmp V6X006 V6X008
+
+if ver hwtypecmp ZeroOneX6001             //X6  PRO
 then
-	if ver hwtypecmp V6X006
-	then
-		# Internal SPI bus ICM45686
-		adis16470 -s -R 0 start
-		iim42652 -s -R 6 start
-		icm45686 -s -R 10 start
-	else
-		# Internal SPI bus 3x ICM45686
-		icm45686 -b 3 -s -R 0 start
-		icm45686 -b 2 -s -R 0 start
-		icm45686 -b 1 -s -R 10 start
-	fi
-else
-	if ver hwtypecmp V6X004
-	then
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	else
-		# Internal SPI BMI088
-		if ver hwbasecmp 009 010 011
-		then
-			bmi088 -A -R 6 -s start
-			bmi088 -G -R 6 -s start
-		else
-			if ver hwtypecmp V6X010
-			then
-				bmi088 -A -R 0 -s start
-				bmi088 -G -R 0 -s start
-			else
-				bmi088 -A -R 4 -s start
-				bmi088 -G -R 4 -s start
-			fi
-		fi
-	fi
+	# Internal SPI bus IIM42653 with SPIX
+	iim42653 -b 2 -s -R 6 start
 
-	# Internal SPI bus ICM42688p
-	if ver hwbasecmp 009 010 011
-	then
-		icm42688p -R 12 -s start
-	else
-		if ver hwtypecmp V6X010
-		then
-			icm42688p -R 14 -s start
-		else
-			icm45686 -b 1 -s -R 8 start        //ZeroOne
-		fi
-	fi
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
 
-	if ver hwtypecmp V6X003 V6X004
-	then
-		# Internal SPI bus ICM-42670-P (hard-mounted)
-		icm42670p -R 10 -s start
-	else
-		if ver hwbasecmp 009 010 011
-		then
-			icm20602 -R 6 -s start
-		else
-			# Internal SPI bus ICM-20649 (hard-mounted)
-			icm45686 -b 2 -s -R 6 start        //ZeroOne
-		fi
-	fi
+	# Internal SPI bus IIM42653 with SPIX
+	iim42653 -b 1 -s -R 8 start
 fi
+
+
 rm3100 -I -b 4 start
 # Internal magnetometer on I2c
-# if ver hwtypecmp V6X001
-# then
-# 	rm3100 -I -b 4 start
-# else
-# 	# Internal magnetometer on I2C
-# 	bmm150 -I -R 0 start
-# fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -156,24 +96,9 @@ ist8310 start -I -a 0x0E -R 12
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
-	# if ver hwtypecmp V6X001 V6X006 V6X008
-	# then
-	# 	icp201xx -I -a 0x64 start
-	# else
-	# 	bmp388 -I -a 0x77 start
-	# fi
 fi
 icp201xx -X start
 #external baro
-# if ver hwtypecmp V6X001
-# then
-# 	icp201xx -X start
-# else
-# 	bmp388 -X start
-# fi
-
-# Baro on I2C3
-ms5611 -X start
 
 unset INA_CONFIGURED
 unset HAVE_PM2

boards/zeroone/x6/pwm_voltage/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,13 +32,11 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__fw_indi_pos_control
-	MAIN fw_indi_pos_control
+	MODULE modules__pwm_voltage_apply
+	MAIN pwm_voltage_apply
+
 	SRCS
-		FixedwingIndiPosControl.cpp
-		FixedwingIndiPosControl.hpp
+		pwm_voltage.cpp
 	DEPENDS
 		px4_work_queue
-		FixedWingIndiControl
-		SlewRate
 	)

boards/zeroone/x6/pwm_voltage/parameters.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,44 +32,12 @@
  ****************************************************************************/
 
 /**
- * @file rate_control.hpp
+ * Control PWM output voltage
  *
- * PID 3 axis angular rate / angular velocity control.
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
  */
-
-#pragma once
-
-#include <matrix/matrix/math.hpp>
-
-#include <mathlib/mathlib.h>
-#include <uORB/topics/rate_ctrl_status.h>
-
-class FixedWingIndiControl
-{
-public:
-	FixedWingIndiControl() = default;
-	~FixedWingIndiControl() = default;
-
-	void set_coefficients(float area, float aoa_offset, float C_L0, float C_L1) {
-		_area = area;
-		_aoa_offset = aoa_offset;
-		_C_L0 = C_L0;
-		_C_L1 = C_L1;
-	}
-	matrix::Quatf get_flat_attitude(matrix::Vector3f vel, matrix::Vector3f f);
-
-private:
-
-	// Airdata
-	matrix::Vector3f wind_estimate_;
-	float _cal_airspeed;
-	float _stall_speed;
-	float _true_airspeed;
-	float _rho{1.0f};
-
-	// Model parameters
-	float _area{0.4f};
-	float _C_L0{0.3f};
-	float _C_L1{2.354f};
-	float _aoa_offset{0.07f};
-};
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);

boards/zeroone/x6/pwm_voltage/pwm_voltage.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,17 +31,26 @@
  *
  ****************************************************************************/
 
-#include <gtest/gtest.h>
-#include <lib/fw_indi_control/fw_indi_control.hpp>
+#include <inttypes.h>
+#include <stdint.h>
 
-using namespace matrix;
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
 
-TEST(FixedWingIndiControlTest, AllZeroCase)
+#include "board_config.h"
+
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
 {
-	FixedWingIndiControl indi_control;
-	Vector3f forward_vel{10.0, 0.0, 0.0};
-	Vector3f f_command{0.0, 0.0, 10.0};
-	indi_control.set_coefficients(1.0, 0.0, 0.0, 1.0);
-	Quatf attitude = indi_control.get_flat_attitude(forward_vel, f_command);
-	EXPECT_EQ(attitude, Quatf());
+	int32_t pwm_volt_sel = 0;
+
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
+
+	if (pwm_volt_sel != 0) {
+		PWM_5V_VOLT_SEL(true);
+
+	} else {
+		PWM_5V_VOLT_SEL(false);
+	}
+
+	return 0;
 }

boards/zeroone/x6/src/board_config.h

@@ -215,10 +215,11 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ZeroOneX6"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 //                 Base/FMUM
-#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,     Sensor Set  Rev 0
-#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6,     Sensor Set  Rev 1
+#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,
+#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6 Pro,
+#define ZeroOneX6_2     HW_FMUM_ID(0x2)   // reserved
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 
@@ -244,6 +245,10 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
+/* PWM Power */
+#define GPIO_PWM_VOLT_SEL               /* PD15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
+#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
+
 /* Power supply control and monitoring GPIOs */
 
 #define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -457,7 +462,8 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                 \
+		GPIO_PWM_VOLT_SEL                \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER

boards/zeroone/x6/src/spi.cpp

@@ -47,10 +47,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
 			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),
@@ -60,21 +56,36 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIFmumID(ZeroOneX6_1, {            // Placeholder
+	initSPIFmumID(ZeroOneX6_1, {            // X6 Pro
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIFmumID(ZeroOneX6_2, {             // reserved
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),

docs/.gitignore

@@ -18,4 +18,4 @@ yarn-error.log
 
 
 # Generated alternative _summary.md
-# **/*/_summary.md
+# **/*/_summary.md

docs/.vitepress/theme/components/Redirect.vue

@@ -16,4 +16,4 @@
             document.location.replace(this.to);
         }
     }
-</script>
+</script>

docs/.vitepress/theme/style.css

@@ -159,4 +159,4 @@
 
  .vp-doc img {
   display: inline; /* block by default set by vitepress */
-}
+}

docs/CNAME

@@ -1 +1 @@
-docs.px4.io
+docs.px4.io

docs/_link_checker_sc/ignore_errors.json

@@ -1011,4 +1011,4 @@
     },
     "hideReason": "intended"
   }
-]
+]

docs/_link_checker_sc/ignorefile.json

@@ -1 +1 @@
-["en/_sidebar.md"]
+["en/_sidebar.md"]

docs/assets/airframes/types/Airship.svg

@@ -219,4 +219,4 @@
      d="M 113.51898,180.06889 V 245.764 l 2.6517,-0.0192 v -65.67586 z"
      id="path4768"
      inkscape:connector-curvature="0"
-     sodipodi:nodetypes="ccccc" /></svg>
+     sodipodi:nodetypes="ccccc" /></svg>

docs/assets/airframes/types/Autogyro.svg

@@ -141,4 +141,4 @@
    style="opacity:1;fill:#4ec3e8;fill-opacity:1;stroke:none;stroke-width:0.11511399;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
    d=""
    id="path969"
-   inkscape:connector-curvature="0" /></svg>
+   inkscape:connector-curvature="0" /></svg>

docs/assets/airframes/types/Balloon.svg

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docs/assets/airframes/types/DodecaRotorXCoaxial.svg

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docs/assets/airframes/types/Helicopter.svg

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docs/assets/airframes/types/HexaRotorPlus.svg

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docs/assets/airframes/types/HexaRotorX.svg

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docs/assets/airframes/types/OctoRotorPlus.svg

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docs/assets/airframes/types/OctoRotorX.svg

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docs/assets/airframes/types/OctoRotorXCoaxial.svg

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docs/assets/airframes/types/QuadRotorH.svg

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docs/assets/airframes/types/QuadRotorPlus.svg

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docs/assets/airframes/types/VTOLTiltRotor.svg

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docs/assets/airframes/types/Y6B.svg

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docs/assets/airframes/types/YPlus.svg

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