preflight check: enable mode via command

The preflight check can be enabled by switching to nav_state
vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK using
VEHICLE_CMD_SET_NAV_STATE. Thus we can ditch this function and forgo
adding an extra vehicle command.

.github/workflows/dev_container.yml

@@ -96,6 +96,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
+          push: true
           cache-from: type=s3,blobs_prefix=cache/${{ 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

.github/workflows/ros_translation_node.yml

@@ -1,52 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-  pull_request:
-    branches:
-    - '*'
-defaults:
-  run:
-    shell: bash
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {ros_version: "humble", ubuntu: "jammy"}
-          - {ros_version: "jazzy", ubuntu: "noble"}
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
-    steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Check .msg file versioning
-        if: github.event_name == 'pull_request'
-        run: |
-          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
-
-      - name: Build and test
-        run: |
-          ros_ws=/ros_ws
-          mkdir -p $ros_ws/src
-          ./Tools/copy_to_ros_ws.sh $ros_ws
-          cd $ros_ws
-          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests

Jenkinsfile

@@ -235,9 +235,9 @@ pipeline {
               sh('rm -f px4_msgs/srv/*.srv')
               sh('rm -f px4_msgs/srv/versioned/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
               sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
               sh('rm -rf px4_msgs')

MAINTAINERS.md

@@ -1,42 +0,0 @@
-Maintainers
-===========
-
-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
-
-**Active Maintainers**
-
-| 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>
-
-
-**Documentation Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][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>
-
-**Retired Maintainers**
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-|  |  |  |

Makefile

@@ -404,7 +404,7 @@ check_newlines:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
 .PHONY: rostest python_coverage
 
 tests:
@@ -457,6 +457,10 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
+tests_avoidance: rostest
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
+
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON

README.md

@@ -44,9 +44,30 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
 
 ## Maintenance Team
 
-See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
+Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 
-For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
+| Sector | Maintainer |
+|---|---|
+| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
+| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
+| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
+| OS/NuttX | [David Sidrane](https://github.com/davids5) |
+| Drivers | [Daniel Agar](https://github.com/dagar) |
+| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
+| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
+| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
+| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
+
+| Vehicle Type | Maintainer |
+|---|---|
+| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
+| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
+| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
+| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
+| Boat | x |
+
+
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
 
 ## Supported Hardware
 

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_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 COM_OBS_AVOID 1

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post

@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

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

@@ -19,6 +19,7 @@ param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
 
 # Commander Parameters
+param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -11,39 +11,29 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_DECEL 10
+param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_YAW_RATE_P 0.25
+param set-default RD_YAW_RATE_I 0.01
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_SPEED 2
+param set-default RD_MAX_THR_SPD 2.15
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
+param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_MAX_YAW_ACCEL 1000
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 5
-param set-default RO_DECEL_LIM 10
-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 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_ACCEL_LIM 120
-param set-default RO_YAW_DECEL_LIM 1000
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-
-# Pure Pursuit parameters
+# 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
 
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1

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

@@ -11,33 +11,23 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Rover parameters
 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_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 3
+param set-default RA_MAX_DECEL 6
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_LAT_ACCEL 4
+param set-default RA_MAX_SPEED 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
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MAX_THR_SPEED 3.1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

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

@@ -39,6 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
+	1014_gazebo-classic_iris_obs_avoid
+	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -337,11 +337,6 @@ then
 	payload_deliverer start
 fi
 
-if param compare -s ICE_EN 1
-then
-	internal_combustion_engine_control start
-fi
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -12,6 +12,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
+param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -21,37 +21,26 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
 
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_ACCEL 3
+param set-default RD_MAX_DECEL 4
+param set-default RD_MAX_JERK 5
+param set-default RD_MAX_SPEED 1.6
+param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
+param set-default RD_MAX_YAW_ACCEL 600
+param set-default RD_MAX_YAW_RATE 250
+param set-default RD_SPEED_P 0.1
+param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0.01
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 4
-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_P 0.1
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 600
-param set-default RO_YAW_DECEL_LIM 600
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Position 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
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
+# Pure pursuit parameters
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1

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

@@ -14,33 +14,24 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
 param set-default BAT1_N_CELLS 3
-param set-default NAV_ACC_RAD 0.5
 
-# Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LAT_ACCEL_I 0.01
+param set-default RA_LAT_ACCEL_P 0.1
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_DECEL 10
+param set-default RA_MAX_JERK 20
+param set-default RA_MAX_LAT_ACCEL 3
+param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_STR_RATE_LIM 270
-
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 10
-param set-default RO_JERK_LIM 20
-param set-default RO_MAX_THR_SPEED 2.8
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0
-param set-default RO_YAW_RATE_P 0
-param set-default RO_YAW_RATE_LIM 0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 0
-
-# Rover Position Control Parameters
-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 RA_MAX_STR_RATE 270
+param set-default RA_MAX_THR_SPEED 2.8
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 0.1
+param set-default RA_WHEEL_BASE 0.321
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/rcS

@@ -555,11 +555,6 @@ else
 		payload_deliverer start
 	fi
 
-	if param compare -s ICE_EN 1
-	then
-		internal_combustion_engine_control start
-	fi
-
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

Tools/HIL/run_tests.py

@@ -136,6 +136,9 @@ class TestHardwareMethods(unittest.TestCase):
     def test_atomic_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
 
+    def test_bezier(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
+
     def test_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
 

Tools/astyle/files_to_check_code_style.sh

@@ -8,12 +8,10 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -path msg/translation_node -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libdronecan -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/ci/check_msg_versioning.sh

@@ -1,76 +0,0 @@
-#! /bin/bash
-# Copy a git diff between two commits if msg versioning is added
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-BASE_COMMIT="$1"
-HEAD_COMMIT="$2"
-if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
-then
-  echo "Usage: $0 <base_commit> <head_commit>"
-  exit 1
-fi
-
-failed=0
-
-# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
-modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
-for file in ${modified_files}
-do
-  if [[ "$file" == msg/versioned/*.msg ]]; then
-    echo "Modified msg file: ${file}"
-    # A modified versioned .msg file requires:
-    # - Incrementing the version
-    # - An old .msg version exists
-    # - A translation header exists and is included
-
-    # Ignore changes to comments or constants
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    if [ "${content_a}" == "${content_b}" ]; then
-      echo "No version update required for ${file}"
-      continue
-    fi
-
-    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
-    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
-
-    # Check that the version is incremented
-    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
-      echo "ERROR: Missing version update for ${file}"
-      failed=1
-    else
-      if [ $((new_version-old_version)) -ne 1 ]; then
-        echo "ERROR: Version not incremented by +1 for ${file}"
-        failed=1
-      fi
-    fi
-
-    # Check that an old version exists
-    filename=$(basename -- "$file")
-    filename="${filename%.*}"
-    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
-    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
-      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
-      failed=1
-    fi
-
-    # Check that a translation header got added by checking for a modification to all_translations.h
-    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
-    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
-      echo "ERROR: missing modification to translations/all_translations.h"
-      failed=1
-    fi
-  fi
-done
-
-if [ ${failed} -ne 0 ]; then
-  echo ""
-  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
-  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
-  exit 1
-fi

Tools/copy_to_ros_ws.sh

@@ -1,33 +0,0 @@
-#! /bin/bash
-# Copy msgs and the message translation node into a ROS workspace directory
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-PX4_SRC_DIR="$DIR/.."
-
-WS_DIR="$1"
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "Usage: $0 <ros_ws_dir>"
-	exit 1
-fi
-WS_DIR="$WS_DIR"/src
-if [ ! -e "${WS_DIR}" ]
-then
-	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
-	exit 1
-fi
-
-cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
-cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
-PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
-if [ ! -e "${PX4_MSGS_DIR}" ]
-then
-  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
-  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
-  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
-fi
-cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
-cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv

Tools/docker_run.sh

@@ -47,7 +47,6 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
-	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -55,6 +54,7 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
+	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \

Tools/px_uploader.py

@@ -708,7 +708,7 @@ class uploader:
                 # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
 
                 if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
         else:
             # If we're still on bootloader v4 on a Pixhawk, we don't know if we
             # have the silicon errata and therefore need to flash px4_fmu-v2

Tools/setup/docker-entrypoint.sh

@@ -1,5 +1,6 @@
 #!/bin/bash
 
+echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -16,4 +17,17 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-exec "$@"
+echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+	# exec gosu user "$@"
+	exec "$@"
+else
+	exec "$@"
+fi

Tools/setup/ubuntu.sh

@@ -116,7 +116,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		binutils-dev \
 		bison \
 		build-essential \
-		curl \
 		flex \
 		g++-multilib \
 		gcc-arm-none-eabi \

boards/3dr/ctrl-zero-h7-oem-revg/src/init.c

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/ark/can-gps/init/rc.board_defaults

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default GPS_1_GNSS 63
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/cannode/init/rc.board_defaults

@@ -3,7 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 pwm_out start

boards/ark/fmu-v6x/src/init.c

@@ -150,13 +150,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/ark/fpv/src/init.c

@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/ark/pi6x/nuttx-config/bootloader/defconfig

@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003A
+CONFIG_CDCACM_PRODUCTID=0x0039
 CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000

boards/ark/pi6x/nuttx-config/nsh/defconfig

@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x003A
+CONFIG_CDCACM_PRODUCTID=0x0039
 CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000

boards/ark/pi6x/src/init.c

@@ -141,13 +141,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/teseo-gps/init/rc.board_defaults

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 0
+param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0
 
 tone_alarm start

boards/av/x-v1/src/init.c

@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cuav/7-nano/src/init.c

@@ -142,13 +142,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cuav/nora/src/init.c

@@ -113,13 +113,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cuav/x7pro/src/init.c

@@ -113,13 +113,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cubepilot/cubeorange/src/init.c

@@ -104,13 +104,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cubepilot/cubeorangeplus/src/init.c

@@ -104,13 +104,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/cubepilot/cubeyellow/src/init.c

@@ -102,13 +102,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/hkust/nxt-dual/src/init.c

@@ -100,13 +100,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/hkust/nxt-v1/src/init.c

@@ -100,13 +100,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/durandal-v1/src/init.c

@@ -144,13 +144,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/kakutef7/src/init.c

@@ -124,13 +124,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/kakuteh7/src/init.c

@@ -129,13 +129,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/kakuteh7mini/src/init.c

@@ -127,13 +127,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/kakuteh7v2/src/init.c

@@ -127,13 +127,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/holybro/pix32v5/src/init.c

@@ -143,13 +143,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/matek/h743-mini/src/init.c

@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/matek/h743-slim/src/init.c

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/matek/h743/src/init.c

@@ -94,13 +94,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/micoair/h743-aio/src/init.c

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/micoair/h743-v2/src/init.c

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/micoair/h743/src/init.c

@@ -98,13 +98,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/modalai/fc-v1/src/init.c

@@ -141,13 +141,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/modalai/fc-v2/src/init.c

@@ -139,13 +139,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/modalai/voxl2-slpi/default.px4board

@@ -13,7 +13,6 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y

boards/mro/ctrl-zero-classic/src/init.c

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/ctrl-zero-f7-oem/src/init.c

@@ -132,13 +132,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/ctrl-zero-f7/src/init.c

@@ -132,13 +132,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/ctrl-zero-h7-oem/src/init.c

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/ctrl-zero-h7/src/init.c

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/pixracerpro/src/init.c

@@ -107,13 +107,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/mro/x21-777/src/init.c

@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
 	 */
+
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/nxp/fmuk66-e/src/init.c

@@ -120,13 +120,8 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/nxp/fmuk66-v3/src/init.c

@@ -120,13 +120,8 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/nxp/tropic-community/src/init.c

@@ -134,13 +134,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v5/src/init.c

@@ -143,13 +143,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v5x/src/init.cpp

@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v6c/src/init.c

@@ -137,13 +137,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v6u/src/init.c

@@ -144,13 +144,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v6x/src/init.cpp

@@ -145,13 +145,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/fmu-v6xrt/src/init.c

@@ -153,13 +153,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/px4/sitl/spacecraft.px4board

@@ -11,9 +11,7 @@ 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_MODULES_ROVER_ACKERMANN=n
-CONFIG_MODULES_ROVER_DIFFERENTIAL=n
-CONFIG_MODULES_ROVER_MECANUM=n
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=n
 CONFIG_MODULES_SPACECRAFT=y

boards/siyi/n7/src/init.c

@@ -136,13 +136,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -142,13 +142,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/spracing/h7extreme/src/init.c

@@ -125,13 +125,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/x-mav/ap-h743v2/src/init.c

@@ -100,13 +100,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

boards/zeroone/x6/src/init.c

@@ -144,13 +144,8 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/*
-	 * On resets invoked from system (not boot) ensure we establish a low
-	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
-	 * spinning up the motors.
-	 */
 	if (status >= 0) {
-		up_mdelay(100);
+		up_mdelay(6);
 	}
 }
 

integrationtests/python_src/px4_it/mavros/missions/avoidance.plan

@@ -0,0 +1,88 @@
+{
+    "fileType": "Plan",
+    "geoFence": {
+        "circles": [
+        ],
+        "polygons": [
+        ],
+        "version": 2
+    },
+    "groundStation": "QGroundControl",
+    "mission": {
+        "cruiseSpeed": 15,
+        "firmwareType": 12,
+        "hoverSpeed": 5,
+        "items": [
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 4,
+                "AltitudeMode": 0,
+                "autoContinue": true,
+                "command": 22,
+                "doJumpId": 1,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977432,
+                    8.5456085,
+                    4
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 4,
+                "AltitudeMode": 0,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 2,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977432,
+                    8.5458765,
+                    4
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": -1,
+                "AltitudeMode": 0,
+                "autoContinue": true,
+                "command": 21,
+                "doJumpId": 3,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977432,
+                    8.5458812,
+                    -1
+                ],
+                "type": "SimpleItem"
+            }
+        ],
+        "plannedHomePosition": [
+            47.3977419,
+            8.5458854,
+            487.923
+        ],
+        "vehicleType": 2,
+        "version": 2
+    },
+    "rallyPoints": {
+        "points": [
+        ],
+        "version": 2
+    },
+    "version": 1
+}

msg/Airspeed.msg

@@ -5,4 +5,6 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s
 
 float32 true_airspeed_m_s        # true filtered airspeed in m/s
 
+float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown
+
 float32 confidence               # confidence value from 0 to 1 for this sensor

msg/Buffer128.msg

@@ -0,0 +1,8 @@
+uint64 timestamp		# time since system start (microseconds)
+
+uint8 len                       # length of data
+uint32 MAX_BUFLEN = 128
+
+uint8[128] data                 # data
+
+# TOPICS voxl2_io_data

msg/CMakeLists.txt

@@ -48,6 +48,7 @@ set(msg_files
 	AirspeedValidated.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
+	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg
@@ -113,7 +114,6 @@ set(msg_files
 	HeaterStatus.msg
 	HoverThrustEstimate.msg
 	InputRc.msg
-	InternalCombustionEngineControl.msg
 	InternalCombustionEngineStatus.msg
 	IridiumsbdStatus.msg
 	IrlockReport.msg
@@ -171,13 +171,12 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAttitudeSetpoint.msg
-	RoverAttitudeStatus.msg
-	RoverVelocityStatus.msg
-	RoverRateSetpoint.msg
-	RoverRateStatus.msg
-	RoverSteeringSetpoint.msg
-	RoverThrottleSetpoint.msg
+	RoverAckermannGuidanceStatus.msg
+	RoverAckermannSetpoint.msg
+	RoverAckermannStatus.msg
+	RoverDifferentialGuidanceStatus.msg
+	RoverDifferentialSetpoint.msg
+	RoverDifferentialStatus.msg
 	RoverMecanumGuidanceStatus.msg
 	RoverMecanumSetpoint.msg
 	RoverMecanumStatus.msg
@@ -211,6 +210,8 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
@@ -230,6 +231,8 @@ set(msg_files
 	VehicleRoi.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
 	WheelEncoders.msg
 	Wind.msg

msg/GimbalManagerSetAttitude.msg

@@ -20,5 +20,3 @@ float32[4] q
 float32 angular_velocity_x
 float32 angular_velocity_y
 float32 angular_velocity_z
-
-uint8 ORB_QUEUE_LENGTH = 2

msg/InternalCombustionEngineControl.msg

@@ -1,8 +0,0 @@
-uint64 timestamp        		# time since system start (microseconds)
-
-bool ignition_on          		# activate/deactivate ignition (Spark Plug)
-float32 throttle_control		# [0,1] - Motor should idle with 0. Includes slew rate if enabled.
-float32 choke_control			# [0,1] - 1 fully closes the air inlet.
-float32 starter_engine_control		# [0,1] - control value for electric starter motor.
-
-uint8 user_request			# user intent for the ICE being on/off

msg/PositionControllerStatus.msg

@@ -7,4 +7,6 @@ float32 target_bearing		# Bearing angle from aircraft to current target [rad]
 float32 xtrack_error		# Signed track error [m]
 float32 wp_dist			# Distance to active (next) waypoint [m]
 float32 acceptance_radius	# Current horizontal acceptance radius [m]
+float32 yaw_acceptance		# Yaw acceptance error[rad]
+float32 altitude_acceptance	# Current vertical acceptance error [m]
 uint8 type			# Current (applied) position setpoint type (see PositionSetpoint.msg)

msg/RoverAckermannGuidanceStatus.msg

@@ -0,0 +1,6 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 lookahead_distance 	# [m] Lookahead distance of pure the pursuit controller
+float32 heading_error 		# [deg] Heading error of the pure pursuit controller
+
+# TOPICS rover_ackermann_guidance_status

msg/RoverAckermannSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint 		  # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 steering_setpoint      		  # [rad] Desired steering angle
+float32 steering_setpoint_normalized      # [-1, 1] Desired normalized steering angle
+float32 lateral_acceleration_setpoint     # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
+
+# TOPICS rover_ackermann_setpoint

msg/RoverAckermannStatus.msg

@@ -0,0 +1,11 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_forward_speed       	      # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
+float32 adjusted_forward_speed_setpoint       # [m/s] Speed setpoint after applying slew rate
+float32 steering_setpoint_normalized          # [-1, 1] Normalized steering setpoint
+float32 adjusted_steering_setpoint_normalized # [-1, 1] Normalized steering setpoint after applying slew rate
+float32 measured_lateral_acceleration         # [m/s^2] Measured acceleration in body y direction. Positiv: right, Negativ: left.
+float32 pid_throttle_integral                 # Integral of the PID for the closed loop speed controller
+float32 pid_lat_accel_integral                # Integral of the PID for the closed loop lateral acceleration controller
+
+# TOPICS rover_ackermann_status

msg/RoverAttitudeSetpoint.msg

@@ -1,5 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 yaw_setpoint # [rad] Expressed in NED frame
-
-# TOPICS rover_attitude_setpoint

msg/RoverAttitudeStatus.msg

@@ -1,6 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 measured_yaw          # [rad/s] Measured yaw rate
-float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
-
-# TOPICS rover_attitude_status

msg/RoverDifferentialGuidanceStatus.msg

@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 lookahead_distance    # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error_deg 	      # [deg] Heading error of the pure pursuit controller
+uint8   state_machine         # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
+
+# TOPICS rover_differential_guidance_status

msg/RoverDifferentialSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint 		  # [m/s] Desired forward speed for the rover
+float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
+float32 yaw_rate_setpoint      		  # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
+float32 speed_diff_setpoint_normalized    # [-1, 1] Normalized speed difference between the left and right wheels
+float32 yaw_setpoint 	       		  # [rad] Desired yaw (heading) for the rover
+
+# TOPICS rover_differential_setpoint

msg/RoverDifferentialStatus.msg

@@ -0,0 +1,14 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_forward_speed	        # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
+float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
+float32 measured_yaw                    # [rad] Measured yaw
+float32 adjusted_yaw_setpoint           # [rad] Yaw setpoint after applying slew rate
+float32 clyaw_yaw_rate_setpoint         # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
+float32 measured_yaw_rate               # [rad/s] Measured yaw rate
+float32 adjusted_yaw_rate_setpoint      # [rad/s] Yaw rate setpoint from the closed loop yaw controller
+float32 pid_yaw_integral                # Integral of the PID for the closed loop yaw controller
+float32 pid_yaw_rate_integral           # Integral of the PID for the closed loop yaw rate controller
+float32 pid_throttle_integral           # Integral of the PID for the closed loop speed controller
+
+# TOPICS rover_differential_status

msg/RoverRateSetpoint.msg

@@ -1,5 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
-
-# TOPICS rover_rate_setpoint