tropic-community: Set FlexIO2 clocking for DShot

imxrt: dshot clean/up simplification
fold both flexio's into one irq handler
2026-05-25 15:57:35 +08:00 · 2025-07-17 22:00:30 +02:00 · 2025-07-17 22:00:00 +02:00 · 2025-07-17 12:26:52 -04:00 · 2025-07-17 09:45:31 -04:00 · 2025-07-17 08:19:52 -04:00
854 changed files with 4443 additions and 9619 deletions
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -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/**
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -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
@@ -18,7 +23,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -19,7 +19,7 @@ jobs:
    - name: main test
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -0,0 +1,38 @@
+name: Fuzzing
+on:
+  schedule:
+    - cron: '0 6 * * *'  # UTC 6am every day.
+
+permissions:
+  contents: read
+
+env:
+  RUNS_IN_DOCKER: true
+
+jobs:
+  Fuzzing:
+    runs-on: ubuntu-latest
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+    steps:
+      - name: Install Dependencies
+        run: |
+          apt update && apt install -y clang
+
+      - name: Fix git in Container
+        run: |
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v4
+
+      - name: Build and Run Fuzz Tests
+        run: |
+          # Only build the tests
+          export CC=clang
+          export CXX=clang++
+          make tests TESTFILTER=__no_tests__
+
+          # Run the fuzz tests
+          for fuzz_binary in build/px4_sitl_test/*fuzz*; do
+            ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
+          done
@@ -24,7 +24,6 @@ jobs:
      matrix:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}

    steps:
    - uses: actions/checkout@v4
@@ -89,3 +89,6 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
+[submodule "test/fuzztest"]
+	path = test/fuzztest
+	url = https://github.com/google/fuzztest.git
@@ -334,6 +334,33 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+# (Needs to be before setting the common compile flags)
+#
+
+# optionally enable cmake testing (supported only on posix)
+option(CMAKE_TESTING "Configure test targets" OFF)
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
+	set(CMAKE_TESTING ON)
+endif()
+if(CMAKE_TESTING)
+	include(CTest) # sets BUILD_TESTING variable
+endif()
+
+# enable test filtering to run only specific tests with the ctest -R regex functionality
+set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
+
+include(px4_add_gtest)
+if(BUILD_TESTING)
+	# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
+	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
+		set(FUZZTEST_FUZZING_MODE ON)
+	endif()
+	add_subdirectory(test)
+	fuzztest_setup_fuzzing_flags()
+endif()
+
 #=============================================================================
 # build flags
 #
@@ -386,46 +413,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endforeach()
 endif()

-#=============================================================================
-# Testing - Automatic unit and integration testing with CTest
-#
-
-# optionally enable cmake testing (supported only on posix)
-option(CMAKE_TESTING "Configure test targets" OFF)
-if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
-	set(CMAKE_TESTING ON)
-endif()
-if(CMAKE_TESTING)
-	include(CTest) # sets BUILD_TESTING variable
-endif()
-
-# enable test filtering to run only specific tests with the ctest -R regex functionality
-set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
-
-# if testing is enabled download and configure gtest
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
-include(px4_add_gtest)
-if(BUILD_TESTING)
-	include(gtest)
-
-	# Ensure there's no -R without any filter expression since that trips newer ctest versions
-	if(TESTFILTER)
-		set(TESTFILTERARG "-R")
-	else()
-		set(TESTFILTERARG "")
-	endif()
-
-	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
-			DEPENDS
-				px4
-				examples__dyn_hello
-			USES_TERMINAL
-			COMMENT "Running tests"
-			WORKING_DIRECTORY ${PX4_BINARY_DIR})
-	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
-endif()
-
 #=============================================================================
 # subdirectories
 #
@@ -160,11 +160,6 @@ else
 		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

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

@@ -110,6 +108,7 @@ px4_add_romfs_files(
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
 	10044_sihsim_hex
+	10045_sihsim_rover_ackermann

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
@@ -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
@@ -13,7 +13,6 @@ control_allocator start
 #
 # Start attitude controller.
 #
-fw_dyn_soar_control start
 fw_rate_control start
 fw_att_control start
 fw_mode_manager start
@@ -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
@@ -236,6 +236,7 @@ then
 	qmc5883l -X -q start
 	qmc5883p -X -q start
 	rm3100 -X -q start
+	bmm350 -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -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]"
@@ -24,6 +24,7 @@ exec find boards msg src platforms test \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
@@ -0,0 +1,19 @@
+#!/bin/bash
+# This script runs the fuzz tests from a given binary for a certain amount of time
+set -e
+
+if [[ "$1" == "--help" || "$1" == "-h" || -z "$1" ]]; then
+  echo "Usage: $0 <binary> [<duration>]"
+  echo "duration can be for example 5m or 5h"
+  exit 0
+fi
+
+binary="$1"
+duration="$2"
+[[ -z "$duration" ]] && duration="1m"
+
+# Iterate over all available fuzz tests in the binary
+for t in $("$binary" --fuzz=__non_existent__ 2>&1 | sed '1,/^Valid tests:$/d' | tr -d ' '); do
+  echo "Running $t"
+  "$binary" --fuzz="$t" --fuzz_for="$duration"
+done
@@ -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
@@ -18,7 +18,6 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=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
@@ -25,7 +25,6 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -72,7 +71,6 @@ 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
@@ -138,6 +138,9 @@
 #define CONFIG_FLEXIO1_CLK          1
 #define CONFIG_FLEXIO1_PRED_DIVIDER 5
 #define CONFIG_FLEXIO1_PODF_DIVIDER 1
+#define CONFIG_FLEXIO2_CLK          1
+#define CONFIG_FLEXIO2_PRED_DIVIDER 5
+#define CONFIG_FLEXIO2_PODF_DIVIDER 1
 #define CONFIG_PLL3_PFD2_FRAC       16
 #define BOARD_FLEXIO_PREQ           108000000

@@ -301,6 +301,20 @@ void imxrt_flexio_clocking(void)
 	reg |= CCM_CDCDR_FLEXIO1_CLK_PRED
 	       (CCM_PRED_FROM_DIVISOR(CONFIG_FLEXIO1_PRED_DIVIDER));
 	putreg32(reg, IMXRT_CCM_CDCDR);
+
+	reg = getreg32(IMXRT_CCM_CSCMR2);
+	reg &= ~(CCM_CSCMR2_FLEXIO2_CLK_SEL_MASK);
+	reg |= CCM_CSCMR2_FLEXIO2_CLK_SEL(CONFIG_FLEXIO2_CLK);
+	putreg32(reg, IMXRT_CCM_CSCMR2);
+
+	reg = getreg32(IMXRT_CCM_CS1CDR);
+	reg &= ~(CCM_CS1CDR_FLEXIO2_CLK_PRED_MASK |
+		 CCM_CS1CDR_FLEXIO2_CLK_PODF_MASK);
+	reg |= CCM_CS1CDR_FLEXIO2_CLK_PODF
+	       (CCM_PODF_FROM_DIVISOR(CONFIG_FLEXIO2_PODF_DIVIDER));
+	reg |= CCM_CS1CDR_FLEXIO2_CLK_PRED
+	       (CCM_PRED_FROM_DIVISOR(CONFIG_FLEXIO2_PRED_DIVIDER));
+	putreg32(reg, IMXRT_CCM_CS1CDR);
 }


@@ -77,19 +77,22 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0), // PWM_1, PMW_5
 	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1), // PWM_0
-	initIOPWM(PWM::FlexPWM2, PWM::Submodule2), // PWM_4
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2), // PWM_4
 	initIOPWMDshot(PWM::FlexPWM4, PWM::Submodule2), // PWM_2, PWM_3
 };

 #define FXIO_IOMUX  (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)

+//TODO: distinguish between the different FlexIO instances
+//
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_06, GPIO_FLEXIO1_FLEXIO06_1 | FXIO_IOMUX, 6), /* RevA. PWM_1 RevB. PWM1 */
-	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_07, GPIO_FLEXIO1_FLEXIO07_1 | FXIO_IOMUX, 7), /* RevA. PWM_5 RevB. PWM2 */
-	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08, GPIO_FLEXIO1_FLEXIO08_1 | FXIO_IOMUX, 8), /* RevA. PWM_0 RevB. PWM3 */
-	initIOTimerChannel(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_B0_11),  /* RevA. PWM_4 RevB. PWM4 */
-	initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04, GPIO_FLEXIO1_FLEXIO04_1 | FXIO_IOMUX, 4), /* RevA. PWM_3 RevB. PWM5 */
-	initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_05, GPIO_FLEXIO1_FLEXIO05_1 | FXIO_IOMUX, 5), /* RevA. PWM_2 RevB. PWM6 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_06, GPIO_FLEXIO1_FLEXIO06_1 | FXIO_IOMUX, IMXRT_FLEXIO1_BASE, 6), /* RevA. PWM_1 RevB. PWM1 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_07, GPIO_FLEXIO1_FLEXIO07_1 | FXIO_IOMUX, IMXRT_FLEXIO1_BASE, 7), /* RevA. PWM_5 RevB. PWM2 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08, GPIO_FLEXIO1_FLEXIO08_1 | FXIO_IOMUX, IMXRT_FLEXIO1_BASE, 8), /* RevA. PWM_0 RevB. PWM3 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_B0_11,  GPIO_FLEXIO2_FLEXIO11_1 | FXIO_IOMUX, IMXRT_FLEXIO2_BASE, 11),  /* RevA. PWM_4 RevB. PWM4 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04, GPIO_FLEXIO1_FLEXIO04_1 | FXIO_IOMUX, IMXRT_FLEXIO1_BASE, 4), /* RevA. PWM_3 RevB. PWM5 */
+	initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_05, GPIO_FLEXIO1_FLEXIO05_1 | FXIO_IOMUX, IMXRT_FLEXIO1_BASE, 5), /* RevA. PWM_2 RevB. PWM6 */
+
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -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
@@ -4,6 +4,7 @@ CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_ROOT_PATH="."
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
@@ -17,7 +18,6 @@ CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_DYN_SOAR_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
@@ -50,7 +50,6 @@ 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
@@ -8,8 +8,6 @@ if(REPLAY_FILE)

 	message(STATUS "Building without lockstep for replay")
 	set(ENABLE_LOCKSTEP_SCHEDULER no)
-elseif(CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
-	set(ENABLE_LOCKSTEP_SCHEDULER no)
 else()
 	set(ENABLE_LOCKSTEP_SCHEDULER yes)
 endif()
@@ -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
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-
-project(googletest-download NONE)
-
-include(ExternalProject)
-ExternalProject_Add(googletest
-	URL https://github.com/google/googletest/archive/b796f7d44681514f58a683a3a71ff17c94edb0c1.zip # 1.13
-	SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
-	BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
-	CONFIGURE_COMMAND ""
-	BUILD_COMMAND ""
-	INSTALL_COMMAND ""
-	TEST_COMMAND ""
-	# Wrap download, configure and build steps in a script to log output
-    LOG_DOWNLOAD ON
-    LOG_CONFIGURE ON
-    LOG_BUILD ON
-)
@@ -1,52 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2019 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-# Download and unpack googletest at configure time
-configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
-execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
-execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
-if(result1 OR result2)
-	message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
-endif()
-
-# Add googletest, defines gtest and gtest_main targets
-add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
-
-# Remove visibility.h from the compile flags for gtest because of poisoned exit()
-get_target_property(GTEST_COMPILE_FLAGS gtest COMPILE_OPTIONS)
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-include")
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "visibility.h")
-# Remove float warnings added by PX4 which trigger in gtest-printers.h
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wdouble-promotion")
-list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wfloat-equal")
-set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${GTEST_COMPILE_FLAGS}")
@@ -105,6 +105,7 @@ function(px4_add_common_flags)
 			-Wno-unknown-warning-option
 			-Wno-unused-const-variable
 			-Wno-varargs
+			-Wno-vla-cxx-extension # FIXME: do not use variable length arrays
 		)

 	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
@@ -161,7 +162,7 @@ function(px4_add_common_flags)
 		-Wno-overloaded-virtual # TODO: fix and remove
 	)

-	if((NOT CMAKE_BUILD_TYPE STREQUAL FuzzTesting) AND (NOT PX4_CONFIG MATCHES "px4_sitl"))
+	if((NOT BUILD_TESTING) AND (NOT PX4_CONFIG MATCHES "px4_sitl"))
 		list(APPEND cxx_flags
 			-fno-rtti
 		)
@@ -57,7 +57,7 @@ function(px4_add_unit_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})

 		# link the libary to test and gtest
-		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_main)
+		target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS})

 		if(COMPILE_FLAGS)
 			target_compile_options(${TESTNAME} PRIVATE ${COMPILE_FLAGS})
@@ -66,6 +66,7 @@ function(px4_add_unit_gtest)
 		if(INCLUDES)
 			target_include_directories(${TESTNAME} PRIVATE ${INCLUDES})
 		endif()
+		link_fuzztest(${TESTNAME})

 		# add the test to the ctest plan
 		add_test(NAME ${TESTNAME}
@@ -97,7 +98,7 @@ function(px4_add_functional_gtest)
 		add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC} ${EXTRA_SRCS})

 		# link the libary to test and gtest
-		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_functional_main
+		target_link_libraries(${TESTNAME} PRIVATE ${LINKLIBS} gtest_functional_main
 		                                              px4_layer
 		                                              px4_platform
 		                                              uORB
@@ -111,7 +112,11 @@ function(px4_add_functional_gtest)
 		                                              perf
 		                                              tinybson
 		                                              uorb_msgs
-		                                              test_stubs)  #put test_stubs last
+		                                              fuzztest::fuzztest # Do not use link_fuzztest() here because that
+				                                      # also links to fuzztest_gtest_main
+		                                              test_stubs)  # put test_stubs last
+
+		target_compile_definitions(${TESTNAME} PRIVATE MODULE_NAME="${TESTNAME}")

 		if(COMPILE_FLAGS)
 			target_compile_options(${TESTNAME} PRIVATE ${COMPILE_FLAGS})
@@ -131,23 +131,6 @@ elseif (CMAKE_BUILD_TYPE STREQUAL UndefinedBehaviorSanitizer)
 		set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "runtime error:")
 	endfunction(sanitizer_fail_test_on_error)

-elseif (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
-	message(STATUS "FuzzTesting enabled")
-
-	add_compile_options(
-		-g3
-		-fsanitize=fuzzer
-		-DFUZZTESTING
-	)
-
-	set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-	set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-	set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -fsanitize=fuzzer $ENV{LIB_FUZZING_ENGINE}" CACHE INTERNAL "" FORCE)
-
-
-	function(sanitizer_fail_test_on_error test_name)
-		# Not sure what to do here
-	endfunction(sanitizer_fail_test_on_error)
 else()

 	function(sanitizer_fail_test_on_error test_name)
@@ -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",
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Peter van der Perk	7f2f71d99b	tropic-community: Set FlexIO2 clocking for DShot	2025-07-17 22:00:30 +02:00
Peter van der Perk	8edc071e8c	imxrt: dshot clean/up simplification	2025-07-17 22:00:00 +02:00
dirksavage88	2ce745568f	fold both flexio's into one irq handler Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-07-17 12:26:52 -04:00
dirksavage88	2d0eedc71d	replace flexio number with actual base value Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-07-17 09:45:31 -04:00
dirksavage88	e5b2584da7	revert board config Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-07-17 08:19:52 -04:00
dirksavage88	b23a7fc314	implement dshot on pwm 4 Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-07-17 08:17:08 -04:00
Hamish Willee	78a2a3d0dd	COM_FAIL_ACT_T - fix description of zero value	2025-07-17 07:55:49 +02:00
Hamish Willee	8e0f223b3a	Link fixes and removal of dead docs (#25239 ) * Remove Zubax Orel - not available and no other presence * Fix up zubax product links * Snapdragon flight - delete as no longer relevant hardware * Delete intel aero docs * Brushless whoop - remove docs except for link to old version * Many link fixes	2025-07-17 15:30:56 +10:00
Hamish Willee	06d25b9400	[Doc] FW Takeoff update for waypoint and position loss + relnote (#25226 ) * [Doc] FW Takeoff update for waypoint and position loss + relnote * Update docs/en/flight_modes_fw/takeoff.md Co-authored-by: Silvan Fuhrer <silvan@auterion.com> * Update for clarity * Update docs/en/flight_modes_fw/takeoff.md --------- Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-17 11:19:51 +10:00
bresch	bfbc76189e	ekf-agp: use same timeout value as other aid sources	2025-07-16 10:07:15 +02:00
Beat Küng	80febaf0f0	mc_pos_control: immediately switch out of goto setpoint when receiving trajectory_setpoint Previously, when switching from a goto setpoint into a mode that publishes trajectory_setpoint, the previous goto setpoint was still used for 500ms, which then caused a setpoint jump. This change makes sure that when a trajectory_setpoint is received, any existing goto setpoint is marked as invalid immediately.	2025-07-16 09:02:47 +02:00
Beat Küng	f0ecd9e757	fix commander: set failsafe action state immediately after failsafe update There was a race condition: for example when an external mode disabled failsafe deferring, that then triggered a failsafe, while the mode executor immediately sends a command (to e.g. switch modes). In that case the failsafe got triggered but the mode switch was still allowed. This was because of the processing ordering: - mode updates (and propagating the failsafe_action_active state) - failsafe updates - command handling This patch makes sure failsafe_action_active is set immediately after updating the failsafes.	2025-07-15 17:18:54 +02:00
Beat Küng	168d99cd18	commander: do not trigger obsolete failsafe when deactivating failsafe deferring Previously, when deferring was active and e.g. RC loss was triggered, and RC regained, the action was not cleared, as the RC loss action only clears on mode switch/disarm (when set to RTL for example). When deferring was then disabled, the RC loss failsafe would still trigger. This changes the behavior to immediately remove those actions when deferring is active. It also ensures to reset the Hold delay when deferring is disabled and no failsafe is being deferred.	2025-07-15 17:18:54 +02:00
chfriedrich98	b8dacf5ae4	rover: fix speed setpoint in position controller	2025-07-15 13:55:28 +02:00
bresch	54f2652329	ekf2: always decorrelate pos and vel in vel reset	2025-07-15 13:44:55 +02:00
Matthias Grob	f9b811b0c5	Commander: add option to ignore manual control loss in external modes	2025-07-15 13:08:18 +02:00
Marco Hauswirth	a755dfa07f	enable baro-gnss autocalibration by default (#25196 )	2025-07-15 10:53:04 +02:00
chfriedrich98	b4bfbbb5e0	ackermann: add SIH (#25194 )	2025-07-15 09:58:41 +02:00
Silvan Fuhrer	35a3f519f2	Revert "commander: publish full home attitude, not only yaw (#19717 )" This reverts commit `6855aa57c4`.	2025-07-15 09:24:55 +02:00
Hamish Willee	a3f1fb2e01	[Docs] Airframe param reset on update (#24964 ) * Airframe param reset on update * Update docs/en/dev_airframes/adding_a_new_frame.md * Apply suggestions from code review Co-authored-by: Matthias Grob <maetugr@gmail.com> * Update adding_a_new_frame.md * Update adding_a_new_frame.md --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-07-15 13:32:44 +10:00
Hamish Willee	f224d27e4d	Docs: Prettier on takeoff and fix some links (#25218 ) * Prettier on takeoff and fix some links * Fix flaw link	2025-07-15 12:30:55 +10:00
Matthias Grob	7d33df4650	Doc Orbit: update and clarify configurability and behavior around limits (#25208 ) * Doc Orbit: update and clarify configurability and behavior around limits * run prettier * Fix up link to table --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-07-15 12:29:29 +10:00
Stefano Colli	3c0a0ed129	mavlink_main: add profile handling (#25214 )	2025-07-14 10:19:30 -08:00
Alexander Lerach	7f5119f402	sensors: autostart bmm350 and add it to common mags	2025-07-14 17:52:18 +02:00
mahima-yoga	4896099232	dds: rate_limit /fmu/out/wind to 1Hz	2025-07-14 16:12:00 +02:00
mahima-yoga	fcbe017221	dds: add Wind topic to dds bridge	2025-07-14 16:12:00 +02:00
Silvan Fuhrer	b326714d7c	FWModeManager: use always bearing to Takeoff waypoint (if defined) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-14 14:29:59 +02:00
Silvan Fuhrer	782e510105	Navigator: Takeoff mode: add state 2-state takeoff for fixed-wing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-14 14:29:59 +02:00
Silvan Fuhrer	e9e5c45bf3	FW mode manager/Commander: hanlde invlaid pos in FW manager Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-14 14:29:59 +02:00
Silvan Fuhrer	b1af09d391	FW mode manager: during takeoff only set height rate, not altitude setpoint Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-14 14:29:59 +02:00
Silvan Fuhrer	bdf1895145	Commander: on completion of takeoff, force state transition to Loiter Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2025-07-14 14:29:59 +02:00
PX4 Build Bot	84cdc05195	New Crowdin translations - ko (#25200 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-07-13 10:37:31 +10:00
PX4 Build Bot	a5920edbb1	New Crowdin translations - uk (#25201 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-07-13 10:37:19 +10:00
PX4 Build Bot	a01f39707e	New Crowdin translations - zh-CN (#25202 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-07-13 10:37:13 +10:00
Jacob Dahl	ce4dfaf39a	fix missing function update	2025-07-11 08:53:52 -06:00
Jacob Dahl	09ebd21e55	mixer: remove used flag stop_outputs dshot: fix motor test on CANnode Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver	2025-07-11 08:53:52 -06:00
Jacob Dahl	6a1cefd7a6	uavcan: esc: fix uavcan ESC control This fixes a number of issues with uavcan ESC control. - Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control - The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state. - Useless and redundant code has been removed and small name changes have been applied.	2025-07-11 08:53:52 -06:00
Hamish Willee	572a06b2f3	docs: update fuzz tests (split into separate page)	2025-07-11 10:39:28 +02:00
Beat Küng	3cfaaf73b4	docs: add section about fuzz testing	2025-07-11 10:39:28 +02:00
Beat Küng	8721269c78	septentrio: avoid compilation error Even though all enum values fit into 13 bits, there's an error: ../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: ‘septentrio::sbf::Header::id_number’ is too small to hold all values of ‘enum class septentrio::sbf::BlockID’ [-Werror] This is with GCC 13.3.0 under Ubuntu 24.04	2025-07-11 10:39:28 +02:00
Beat Küng	d5942bd631	septentrio: fix clang-tidy warnings	2025-07-11 10:39:28 +02:00
Beat Küng	c801fd36d3	ci: add fuzzing workflow This will run all fuzzing tests for 15 minutes once a day.	2025-07-11 10:39:28 +02:00
Beat Küng	9ba2ac4e10	fix adsb: cast enum in printf Build failure with clang: fatal error: format specifies type 'int' but the argument has type 'TRAFFIC_STATE' [-Wformat]	2025-07-11 10:39:28 +02:00
Beat Küng	7594a270f7	tests: remove previous fuzz testing We now use https://github.com/google/fuzztest (see previous commits). And the test was also failing to build (https://github.com/PX4/PX4-Autopilot/actions/workflows/cflite_batch.yml) This reverts these commits: - `9eda5b373c` - `2cbc993976` - `be0a5b4b32`	2025-07-11 10:39:28 +02:00
Beat Küng	e50f1774ae	septentrio: add fuzz tests	2025-07-11 10:39:28 +02:00
Beat Küng	d31f227f15	tests: add mavlink fuzz test Based on the previous fuzz tests in main_fuzztesting.cpp	2025-07-11 10:39:28 +02:00
Beat Küng	9472b4b1f7	refactor: remove '#define MODULE_NAME' from tests And use target_compile_definitions() instead	2025-07-11 10:39:28 +02:00
Beat Küng	6ce1634dea	fix msp_osd: ASAN raised some buffer overflows when running the unit tests	2025-07-11 10:39:28 +02:00
Beat Küng	8370ae1701	test_dataman: remove invalid item tests They caused ASAN failures. And since the dm_item_t is an enum, I don't think it needs a test.	2025-07-11 10:39:28 +02:00
Beat Küng	fd2ded08e4	pxh: do not use variable sized array on the stack This is a compiler-specific extension	2025-07-11 10:39:28 +02:00
Beat Küng	d9743cc0ef	septentrio: add to sitl build & fix compile problems posix defines a macro OK, so the enum needed to be renamed	2025-07-11 10:39:28 +02:00
Beat Küng	3d1cace7b7	test: add google fuzztest to unit test build From https://github.com/google/fuzztest. This will now also add gtest (via cmake FetchContent) And requires newer cmake (container updates): CMake 3.19 or higher is required. You are running version 3.16.3	2025-07-11 10:39:28 +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