fw-rate-ctrl: filter airspeed before scaling servo torques

fix: RTL during mission after a landing
For delivery use-case, the mission contains a land item followed by other mission items. For the section after the land, the current sequence number is greater than the land start index. If an RTL is triggered, then isLanding returns true and the vehicle continues with the mission instead of executing the RTL. The land index marks the actual landing. So, is landing should only be true for the items between land_start_index and land_index. If there are items after the land index, then they don't belong to the landing anymore.
2026-06-04 09:40:04 +08:00 · 2025-07-15 10:56:29 +02:00 · 2025-07-11 09:10:43 +02:00 · 2025-07-10 19:15:25 -07:00 · 2025-07-10 11:16:11 -08:00 · 2025-07-10 10:59:19 -08:00
251 changed files with 1863 additions and 4246 deletions
@@ -5,6 +5,6 @@


 # Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation+📑":
+"Documentation 📑":
 - changed-files:
  - any-glob-to-any-file: docs/**
@@ -7,6 +7,11 @@ on:
    paths-ignore:
      - 'docs/**'

+# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
+  cancel-in-progress: true
+
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
@@ -24,7 +24,6 @@ jobs:
      matrix:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}

    steps:
    - uses: actions/checkout@v4
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Rover
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 10
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2
-
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC6 102
-param set-default PWM_MAIN_FUNC7 102
@@ -62,8 +62,6 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
-	1060_gazebo-classic_rover
-	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat

@@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		rc.rover_apps
-		rc.rover_defaults
-
-		rc.boat_defaults # hack
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Ground Vehicle (Deprecated)
-#
-# @type Rover
-# @class Rover
-#
-# @output Motor1 throttle
-# @output Servo1 steering
-#
-# @maintainer
-#
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 2
-
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MAX 3
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-
-# Settings for a typical wheelbase 0f 0.3m
-param set-default GND_L1_DIST 1
-param set-default GND_L1_PERIOD 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC6 101
-param set-default PWM_MAIN_FUNC7 101
@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name NXP Cup car: DF Robot GPX (Deprecated)
-
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-#
-# @output Motor1 Speed of left wheels
-# @output Servo1 Steering servo
-#
-# @maintainer Katrin Moritz
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_defaults
-
-param set-default BAT1_N_CELLS 2
-
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-
-# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
-param set-default GND_MAX_ANG 1.042
-param set-default GND_WHEEL_BASE 0.17
-
-# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default NAV_ACC_RAD 0.5
-
-param set-default CA_AIRFRAME 5
-
-param set-default CA_R_REV 1
-param set-default PWM_MAIN_FUNC2 201
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_FUNC4 101
-
-# Provide ESC a constant 1500 us pulse to idle
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 1485
-param set-default PWM_MAIN_DIS4 1485
-param set-default PWM_MAIN_FAIL3 1485
-param set-default PWM_MAIN_FAIL4 1485
-param set-default PWM_MAIN_MIN3 970
-param set-default PWM_MAIN_MIN4 970
@@ -158,14 +158,6 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		# [59000, 59999] Rover position control (deprecated)
-		59000_generic_ground_vehicle
-		59001_nxpcup_car_dfrobot_gpx
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# Standard apps for unmanned ground vehicles (UGV).
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-#
-# Start Control Allocator
-#
-control_allocator start
-
-#
-# Start attitude controllers.
-#
-rover_pos_control start
-
-#
-# Start Land Detector.
-#
-land_detector start rover
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# UGV default parameters.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-set VEHICLE_TYPE rover
-
-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
-param set-default MIS_TAKEOFF_ALT 0.01
-
-param set-default NAV_ACC_RAD 2
-param set-default NAV_LOITER_RAD 2
-
-# Temporary.
-param set-default NAV_FW_ALT_RAD 1000
@@ -43,7 +43,7 @@ fi

 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
+if [[ ! -f "$HOOK_FILE" && "$CI" != "true" && $- == *i* ]]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -79,7 +79,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -51,7 +51,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
@@ -57,7 +57,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
@@ -60,7 +60,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -71,7 +71,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -70,7 +70,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -52,7 +52,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -39,7 +39,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -43,7 +43,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_MODULES_ZENOH=y
@@ -72,7 +72,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -71,7 +71,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -72,7 +72,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -22,7 +22,6 @@ CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
@@ -74,7 +74,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -19,7 +19,6 @@ 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_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
@@ -36,7 +36,6 @@ CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
@@ -11,7 +11,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
@@ -17,7 +17,6 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
@@ -67,7 +67,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -81,7 +81,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -51,7 +51,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
@@ -49,7 +49,6 @@ CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
 CONFIG_MODULES_SIMULATION_GZ_MSGS=y
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -57,7 +57,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -66,7 +66,7 @@ export default defineConfig({
      label: "English",
      // other locale specific properties...
      themeConfig: {
-        sidebar: getSidebar.sidebar("en"),
+        sidebar: getSidebar.sidebar("en"), // Generated sidebar from SUMMARY.md files
        editLink: {
          text:
            /* We get a github link if CI env is defined,
@@ -211,6 +211,53 @@ export default defineConfig({
    ],
  },

+  async transformHead({ pageData }) {
+    // Start with an empty array to accumulate all head tags
+    const head = [];
+
+    let canonicalUrlToAdd; // This will be undefined initially
+
+    // Get value from frontmatter if defined
+    // Assumed to be an absolute URL in the frontmatter
+    const frontmatterCanonicalUrl = pageData.frontmatter?.canonicalUrl;
+    if (frontmatterCanonicalUrl) {
+      canonicalUrlToAdd = frontmatterCanonicalUrl;
+    } else {
+      // No frontmatter override, generate default based on site config
+      // Hostname and base path used for adding canonical URLs to pages
+      const hostname = "https://docs.px4.io/main/";
+
+      let path = pageData.relativePath.replace(/\.md$/, "");
+
+      if (path === "index") {
+        path = ""; // For the homepage (index.md), the path is empty
+      } else if (path.endsWith("/index")) {
+        path = path.slice(0, -"/index".length); // For directory index pages (e.g., /my-folder/index.md -> /my-folder/)
+      }
+
+      // Ensure fullPath does not start with a slash (makes it relative to the root)
+      const fullPath = path.startsWith("/") ? path.slice(1) : path;
+      // Construct the default canonical URL using hostname with main base and path
+      try {
+        const url = new URL(fullPath, hostname);
+        canonicalUrlToAdd = url.href;
+      } catch (error) {
+        // Fallback, though less robust
+        canonicalUrlToAdd = `${hostname}${fullPath}`;
+      }
+    }
+
+    // Add canonical link to accumulated head array
+    if (canonicalUrlToAdd) {
+      head.push(["link", { rel: "canonical", href: canonicalUrlToAdd }]);
+    }
+
+    // Add any other custom head tags you might want later
+
+    // Return head that will be merged.
+    return head;
+  },
+
  head: [
    [
      "script",
@@ -179,8 +179,6 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
-      - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Sky-Drones AIRLink](flight_controller/airlink.md)
@@ -205,6 +203,8 @@
      - [Holybro Kakute F7](flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
+      - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
+      - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
      - [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
      - [mRo AUAV-X2](flight_controller/auav_x2.md)
      - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
@@ -415,7 +415,6 @@
      - [Position Tuning](config_rover/position_tuning.md)
    - [Complete Vehicles](complete_vehicles_rover/index.md)
      - [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
-    - [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)
  - [Submarines (experimental)](frames_sub/index.md)
    - [BlueROV2](frames_sub/bluerov2.md)
  - [Airframes Reference](airframes/airframe_reference.md)
@@ -386,7 +386,6 @@ It is further configured using the `EKF2_RNG_A_` parameters:

 - [EKF2_RNG_A_VMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_VMAX): Maximum horizontal speed, above which range aid is disabled.
 - [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX): Maximum height, above which range aid is disabled.
- [EKF2_RNG_A_IGATE](../advanced_config/parameter_reference.md#EKF2_RNG_A_IGATE): Range aid consistency checks "gate" (a measure of the error before range aid is disabled).

 #### Range height fusion

@@ -245,7 +245,7 @@ Note that Pic2Map is limited to only 40 images.

 ### Reconstruction

-We use [Pix4D](https://pix4d.com/) for 3D reconstruction.
+We use [Pix4D](https://www.pix4d.com/) for 3D reconstruction.

 ![GeoTag](../../assets/camera/geotag.jpg)

@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
 You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

 - External display.
-  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
+  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://www.amazon.com/dp/B014I8UEGY/) if your external display has HDMI input
 - Ethernet cable
 - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

@@ -35,7 +35,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
 ## Where to Buy

 - [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
+- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
 - [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
  This will be useful for precise altitude and position control.
@@ -194,7 +194,7 @@ python cfbridge.py

 ::: info
 _Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
-If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
+If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
 Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
 :::

@@ -40,7 +40,7 @@ The vehicle can be purchased here: [Crazyflie 2.1](https://store.bitcraze.io/pro

 Useful peripheral hardware includes:

- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
+- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
 - [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
 - [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
@@ -210,7 +210,7 @@ To connect Crazyflie 2.1 with crazyradio, **launch cfbridge** by following these

  ::: info
  _Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
-  If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
+  If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
  Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
  :::

@@ -12,19 +12,16 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an
 This section lists drone kits that are intended as platforms for further development.
 They may come either fully assembled or in parts.

- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4.
 - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Multicopter used for PX4 computer vision development
+- ~[ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md)~ (Discontinued/superseded) - SLAM development drone supercharged by VOXL 2 and PX4.

 ## PX4 Preinstalled

 This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.

- [ModalAI Starling](../complete_vehicles_mc/modalai_starling.md)
- [ModalAI Sentinel](https://www.modalai.com/sentinel)
 - [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
 - [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
 - [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
- [Teal One](https://px4.io/project/teal-one/) ([superseded](https://tealdrones.com/solutions/teal-2/))

 ## PX4 Compatible

@@ -32,7 +29,6 @@ This section lists vehicles where you can update the software to run PX4.

 - [Holybro Kopis 2](../complete_vehicles_mc/holybro_kopis2.md)
 - [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md)
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md) (discontinued)

 ## Custom PX4

@@ -40,8 +36,8 @@ This section contains consumer vehicles that run a _custom_ version of PX4 (supp
 These may or may not be updatable to run "vanilla" PX4.

 - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/)
- [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/)
- [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
+- [Yuneec Mantis Q](https://px4.io/project/yuneec-mantis-q/)
+- [Yuneec H520](https://px4.io/project/yuneec-h520-hexacopter/)
 - [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)

 ## See Also
@@ -381,7 +381,7 @@ The carrier board pinouts and other information are in the [downloads section](h
 ## Other Development Resources

 - [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ companion computer technical information
- [Occipital Developer Forum](https://structure.io/developers) - _Structure Core_ camera information
+- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information
 - [Pixhawk 4 Overview](../flight_controller/pixhawk4.md)
 - [Pixhawk 6C Overview](../flight_controller/pixhawk6c.md)

@@ -4,7 +4,7 @@

 The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).

-The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicles, and to work with vehicles like the [Aion R6](https://www.aionrobotics.com/r6).
+The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicle.

 Currently, PX4 supports MANUAL mode for this setup.

@@ -12,8 +12,7 @@ Currently, PX4 supports MANUAL mode for this setup.

 ## Parts List

- [Aion R1 (Discontinued)](https://www.aionrobotics.com/)
-  - [Documentation](https://github-docs.readthedocs.io/en/latest/r1-ugv.html)
+- Aion R1 (Discontinued)
 - [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
  - [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
 - [Auterion Skynode](../companion_computer/auterion_skynode.md)
@@ -50,7 +49,6 @@ Use _QGroundControl_ for rover configuration:
 First configure the serial connection:

 1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
-
   - Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
   - [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
     This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
@@ -18,7 +18,7 @@ They may come either fully assembled or in parts.

 This section lists VTOL vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.

- [Vertical Technologies DeltaQuad](https://px4.io/portfolio/deltaquad-vtol/)
+- [Vertical Technologies DeltaQuad](https://px4.io/project/deltaquad-vtol/)

 <!-- ## PX4 Compatible -->

@@ -27,8 +27,8 @@ This section lists VTOL vehicles that are sold fully assembled and ready to fly
 This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
 These may or may not be updatable to run "vanilla" PX4.

- [WingtraOne Tailsitter VTOL](https://px4.io/portfolio/wingtraone-tailsitter-vtol/)
- [Flightwave Edge](https://px4.io/portfolio/flywave-edge/)
+- [WingtraOne Tailsitter VTOL](https://px4.io/project/wingtraone-tailsitter-vtol/)
+- [Flightwave Edge](https://px4.io/project/flywave-edge/)

 ## See Also

@@ -42,11 +42,11 @@ Notes:
  - publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
 - the output drivers:
  - handle the hardware initialization and update
-  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
+  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module).
    The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
    Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
    For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
-  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 - if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.

 ## Adding a new Geometry or Output Function
@@ -377,7 +377,7 @@ The following functions can only be applied to FMU outputs:
  Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)

 ::: info
-The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 This list is correct at PX4 v1.15.
 :::

@@ -501,7 +501,6 @@ For each motor:
   - If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
 2. Slowly move the slider up until it snaps to the _minimum_ position.
   In this position the motor is set to the outputs `minimum` value.
-
   - Verify that the motor is spinning very slowly in this position.
   - If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.

@@ -511,7 +510,6 @@ For each motor:
     :::

 3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
-
   - The expected thrust direction can vary by vehicle type.
     For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
   - For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
@@ -549,7 +547,6 @@ To set these up:
   ![Control Surface Disarmed 1500 Setting](../../assets/config/actuators/control_surface_aileron_setup.png)

 2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
-
   - Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
   - Rudders and other "purely vertical" surfaces should move right.

@@ -560,7 +557,6 @@ To set these up:
   If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.

 3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
-
   - If it is not aligned, you can set the **Trim** value for the control surface.

     ::: info
@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m

 ## Preconditions

-Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
+Before starting you should [Download QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) and install it on your **desktop** computer.
 Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:

 ![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png)
@@ -2,7 +2,7 @@

 A [computer joystick](https://en.wikipedia.org/wiki/Joystick) or gamepad connected through _QGroundControl_ can be used to manually control the vehicle (_instead_ of using an [RC Transmitter](../config/radio.md)).

-This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://uxvtechnologies.com/ground-control-stations/micronav/) shown below).
+This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://www.uxvtechnologies.com/ground-control-stations/micronav) shown below).
 Joysticks are also commonly used to allow developers to fly the vehicle in simulation.

 ![Joystick MicroNav](../../assets/peripherals/joystick/micronav.jpg)
@@ -193,15 +193,16 @@ The sections below cover first the trigger and then the failsafe action taken by
 ### Position Loss Failsafe Trigger

 There are basically two mechanisms in PX4 to trigger position failsafes:
+
 - A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
 - The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).

 The relevant parameters shown below.

-| Parameter                                                                                                | Description                                                                                                   |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
+| Parameter                                                                                                | Description                                                                                                                                                |
+| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
-| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity.|
+| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH)    | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity.          |

 ### Position Loss Failsafe Action

@@ -318,8 +319,8 @@ The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can a
 The external trigger system must be connected to flight controller port AUX5 (or MAIN5 on boards that do not have AUX ports), and is configured using the parameters below.

 ::: info
-External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218).
-One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm).
+External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/astm/ASTMF332218).
+One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system).
 :::

 | Parameter                                                                                                | Description                                                                                                                                      |
@@ -84,12 +84,14 @@ It is critical that you have properly calibrated your airspeed sensor.
 It is also important that you pick an airspeed that is comfortably above your airframes stall speed (check `FW_AIRSPD_MIN`) as this is currently not checked.

 #### Openloop Transition Time
+
 Parameter: [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM)

 This specifies the duration of the front transition in seconds when no airspeed feedback is available (e.g. no airspeed sensor present).
 It should be set to a value which ensures that the vehicle reaches a high enough airspeed to complete the transition, e.g. airspeed should exceed [VT_ARSP_TRANS](../advanced_config/parameter_reference.md#VT_ARSP_TRANS).

 #### Transition Timeout
+
 [VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)

 This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
@@ -152,7 +154,3 @@ When transitioning from **multirotor to fixed-wing** (transition switch is on/fi
 When transitioning from **fixed-wing to multirotor** for this type of VTOL the switch is immediate so there isn’t really a backing out option here, unlike for tilt rotor VTOLs.
 If you want it to go back into fixed-wing you will need to go through the full transition.
 If it’s still travelling fast this should happen quickly.
-
-### Support
-
-If you have any questions regarding your VTOL conversion or configuration please see [discuss.px4.io/c/px4/vtol](https://discuss.px4.io/c/px4/vtol).
@@ -8,10 +8,10 @@ The PX4 project uses a three-branch Git branching model:
 - [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) has been thoroughly tested. It's intended for flight testers.
 - [stable](https://github.com/PX4/PX4-Autopilot/tree/stable) points to the last release.

-We try to retain a [linear history through rebases](https://www.atlassian.com/git/tutorials/rewriting-history) and avoid the [Github flow](https://docs.github.com/en/get-started/quickstart/github-flow).
+We try to retain a [linear history through rebases](https://www.atlassian.com/git/tutorials/rewriting-history) and avoid the [Github flow](https://docs.github.com/en/get-started/using-github/github-flow).
 However, due to the global team and fast moving development we might resort to merges at times.

-To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
+To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/using-github/github-flow), then [fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
 Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests.

 All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use.
@@ -56,7 +56,7 @@ The instructions below explain how to get git and use it on your local computer.

 1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
 1. [Sign up](https://github.com/signup) for Github if you haven't already
-1. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
+1. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo)).
 1. Clone (copy) your forked repository to your local computer:

   ```sh
@@ -7,7 +7,7 @@
 Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example.

 - [Sign up](https://github.com/signup) for github if you haven't already
- Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo))
+- Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo))
 - Clone your forked repository to your local computer

  ```sh
@@ -1,7 +1,7 @@
 # Maintainer Role

 Dronecode maintainers have technical leadership and responsibility for specific areas of PX4, and for other ecosystem components such as MAVLink, MAVSDK, QGroundControl, and others.
-The maintainer role is defined by the community with help and supervision from the [Dronecode Foundation](https://www.dronecode.org/).
+The maintainer role is defined by the community with help and supervision from the [Dronecode Foundation](https://dronecode.org/).

 To find the most up-to-date maintainers list, visit [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team).

@@ -22,7 +22,7 @@ Once accepted every maintainers will go through the following process:
 1. **Discord** server admin will grant you the `dev team` role, which gives you:
   1. Basic admin privileges on discord.
   2. Access to the `#maintainers` channel.
-2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)"  which grants you:
+2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)" which grants you:
   1. Permission to merge the PR of any of PX4 workspace repositories after it's approved
   2. Permission to trigger GitHub actions when a new contributor opens a PR.
   3. Permission to edit Issue/PR contents.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
mahima-yoga	6856ee0a67	fw-rate-ctrl: filter airspeed before scaling servo torques	2025-07-15 10:56:29 +02:00
mahima-yoga	6daec07bbe	fix: RTL during mission after a landing For delivery use-case, the mission contains a land item followed by other mission items. For the section after the land, the current sequence number is greater than the land start index. If an RTL is triggered, then isLanding returns true and the vehicle continues with the mission instead of executing the RTL. The land index marks the actual landing. So, is landing should only be true for the items between land_start_index and land_index. If there are items after the land index, then they don't belong to the landing anymore.	2025-07-11 09:10:43 +02:00
Kitsios Konstantinos	6e1ab343f6	ci: EKF change indicator concurrency limit (#25189 ) Signed-off-by: Konstantinos <konstantinos.kitsios@uzh.ch>	2025-07-10 19:15:25 -07:00
Matthias Grob	a4115db669	FlightTaskOrbit: replace hardcoded 10m/s maximum speed with multicopter speed configuration (#25192 )	2025-07-10 11:16:11 -08:00
Matthias Grob	140b426720	stylecheck script: improve bash consition because of error iwth newer terminal versionsstylecheck script: improve bash condition to avoid error with newer terminal versions (#25193 )	2025-07-10 10:59:19 -08:00
Jacob Dahl	79f6b84190	add check for DFMMode after setting it	2025-07-10 11:18:54 -06:00
Jacob Dahl	abf53826b5	add warning about afbr spi comms	2025-07-10 11:18:54 -06:00
Jacob Dahl	864eeb2bd3	switch measurement trigger scheduling	2025-07-10 11:18:54 -06:00
mahima-yoga	fbddf9655b	(fix) mavlink_mission: keep mission active when vehicle disarms mid-mission.	2025-07-10 15:17:26 +02:00
mahima-yoga	1e84c2de6b	(fix) mavlink_mission: avoid double-checking MissionResult by using SubscriptionData code was checking for an updated MissionResult twice in a row, leading to _mission_state not being set correctly when the second check had no new message. Switched to SubscriptionData to safely retrieve the latest message using .get().	2025-07-10 15:17:26 +02:00
chfriedrich98	14c0908082	gz_classic: update submodule	2025-07-10 10:11:58 +02:00
chfriedrich98	beb62c2aad	docs: remove docs for deprecated rover module	2025-07-10 10:11:58 +02:00
chfriedrich98	d2d3d8a5fd	lib: remove unused l1 library	2025-07-10 10:11:58 +02:00
chfriedrich98	e266d1f22f	rover: remove deprecated module	2025-07-10 10:11:58 +02:00
Hamish Willee	dd0dcbb82c	Link fixes - mostly redirects (#25186 )	2025-07-10 17:35:07 +10:00
Hamish Willee	5d5e23bcfa	[Docs] Fix links and tidy config (#25184 ) * Fix links and tidy config * Add updated lock files	2025-07-10 16:11:58 +10:00
Julian Oes	6855aa57c4	commander: publish full home attitude, not only yaw (#19717 ) According to the mavlink spec we should be publishing the home attitude as a quaternion rather than just the yaw/heading. Additionally, this allows setting the landing roll and pitch angle using DO_SET_HOME (this yet needs to go into the MAVLink spec though).	2025-07-09 14:43:31 -08:00
chfriedrich98	9a0b666deb	rover: base setpoint generation on nav_state	2025-07-09 10:38:20 +02:00
chfriedrich98	90a4b4798d	rover: expose rover messages to DDS	2025-07-09 08:58:13 +02:00
chfriedrich98	60010ba057	rover: Update rover setpoints to new uORB message standard	2025-07-09 08:58:13 +02:00
Hamish Willee	98e0fefd4f	Add cannonicalref support (#25177 ) * Add cannonicalref support	2025-07-09 16:44:12 +10:00
Hamish Willee	f3919d98fe	labeler.yml - attempt to fix labeller	2025-07-09 15:26:42 +10:00
mahima-yoga	ee953640ee	MAVSDK: bump version to 3.7.0	2025-07-09 07:43:20 +12:00
Jacob Dahl	6a8eea1df9	ekf: update parameter names for consistency (#25137 )	2025-07-08 12:11:28 -06:00
Silvan	3f5b46a68c	Commander: for VTOL_Takeoff only req relaxed position if fixed-wing phase When in the fixed-wing phase of the VTOL Takeoff we do not want to failsafe due to position inaccuracy. Signed-off-by: Silvan <silvan@auterion.com>	2025-07-08 15:04:44 +03:00
Stefano Colli	d79302c366	mavlink_parameters: throttle MAVLink param transmission on low-bandwidth links (#25126 ) * mavlink_parameters: throttle MAVLink param transmission if in low-bandwidth mode * mavlink_parameters: simplify param transmission throttling --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-07-08 13:48:23 +02:00