ci: debug with tmate

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
docs: update failsafe web metadata
2026-06-02 18:00:05 +08:00 · 2025-06-10 14:03:16 -07:00 · 2025-06-10 13:33:31 -07:00 · 2025-06-10 12:42:53 -07:00 · 2025-06-10 11:52:34 -07:00 · 2025-06-10 11:23:52 -07:00
1680 changed files with 23805 additions and 25840 deletions
@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation+📑":
- changed-files:
-  - any-glob-to-any-file: docs/**
@@ -18,7 +18,7 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'

@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -43,7 +41,7 @@ jobs:
      - name: Building [${{ matrix.check }}]
        uses: addnab/docker-run-action@v3
        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
          options: -v ${{ github.workspace }}:/workspace
          run: |
            cd /workspace
@@ -6,11 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -9,19 +9,17 @@ on:
      - 'release/**'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'

 env:
  RUNS_IN_DOCKER: true

-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
  build_and_test:
    name: Build and Test
@@ -11,7 +11,7 @@ on:
      - 'v*'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths:
      - '.github/workflows/dev_container.yml'
      - 'Tools/setup/ubuntu.sh'
@@ -30,10 +30,6 @@ on:
        type: boolean
        default: false

-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
  setup:
    name: Set Tags and Variables
@@ -9,7 +9,7 @@ on:
      - 'docs/en/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths:
      - 'docs/en/**'

@@ -80,7 +80,7 @@ jobs:
      - name: Deploy
        run: |
          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
+          # make it an orphan branch      
          cd docs.px4.io
          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
          git checkout --orphan "${CURRENT_DATETIME}_main"
@@ -0,0 +1,47 @@
+name: Docs Metadata
+
+permissions:
+  contents: write
+
+on:
+  pull_request: {}
+
+jobs:
+  metadata-check:
+    name: ${{ matrix.name }}
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=true]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: uORB Graphs
+            script: Tools/ci/metadata_uorb_graph.sh
+          - name: Failsafe Web
+            script: Tools/ci/metadata_failsafe_web.sh --debug
+          - name: uORB Messages
+            script: Tools/ci/metadata_msg_docs.sh
+          - name: Parameter Reference
+            script: Tools/ci/metadata_parameters.sh
+          - name: Airframe Reference
+            script: Tools/ci/metadata_airframe.sh
+          - name: Module Reference
+            script: Tools/ci/metadata_modules.sh
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: 0
+          persist-credentials: true
+
+      - name: Mark all directories safe for Git
+        run: git config --system --add safe.directory '*'
+
+      - name: Run ${{ matrix.name }} metadata check
+        run: ${{ matrix.script }} --test-only
+
+      - name: Setup tmate session
+        if: ${{ failure() }}
+        uses: mxschmitt/action-tmate@v3
@@ -3,9 +3,10 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'

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

 jobs:
  unit_tests:
@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -29,7 +27,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -11,11 +11,13 @@ on:
      - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'

 env:
  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -26,7 +28,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -9,22 +9,20 @@ on:
      - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev:v1.16.0-ondemand
    strategy:
      fail-fast: false
      matrix:
@@ -1,21 +0,0 @@
-# This workflow will triage pull requests and apply a label based on the
-# paths that are modified in the pull request.
-# The paths are set up in .github/labeler.yml
-#
-# See: https://github.com/actions/labeler
-
-name: Labeler
-on: [pull_request_target]
-
-jobs:
-  label:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      pull-requests: write
-
-    steps:
-    - uses: actions/labeler@v5
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"
@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -6,15 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -33,7 +31,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev:v1.16.0-ondemand
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -6,11 +6,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'

 jobs:
  build:
@@ -11,15 +11,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -35,12 +33,6 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -5,19 +5,16 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
 defaults:
  run:
    shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
  build_and_test:
    name: Build and test
@@ -11,15 +11,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-    - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'

 jobs:
  build:
@@ -109,3 +109,6 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
+
+# metadata dependencies
+_emscripten_sdk/
@@ -6,11 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
    px4_sitl_nolockstep:
      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
@@ -306,11 +301,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7-wing_default
    holybro_kakuteh7dualimu_default:
      short: holybro_kakuteh7dualimu
      buildType: MinSizeRel
@@ -426,6 +426,7 @@ if(BUILD_TESTING)
 	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()

+
 #=============================================================================
 # subdirectories
 #
@@ -495,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)


+include(doxygen)
 include(metadata)
 include(package)

@@ -7,34 +7,33 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma

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


 **Documentation Maintainers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |

 **Release Managers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>

 **Retired Maintainers**

@@ -365,7 +365,7 @@ coverity_scan: px4_sitl_default

 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -379,7 +379,16 @@ module_documentation:
 extract_events:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen

-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+msg_docs:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_msg_documentation ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events msg_docs
+
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

 # Style
 # --------------------------------------------------------------------
@@ -410,18 +419,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)

-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info


 rostest: px4_sitl_default
@@ -216,33 +216,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
-
-			# Generate the file using configure_file at configure time to a temporary location
-			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
-
-			# Then copy it at build time with proper dependencies
-			add_custom_command(
-				OUTPUT
-					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-					rc.board_bootloader_upgrade.stamp
-				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
-				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
-				DEPENDS
-					${bootloader_upgrade_tmp}
-					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
-					romfs_copy.stamp
-				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
-			)
-
-			list(APPEND extras_dependencies
-				rc.board_bootloader_upgrade.stamp
-			)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
+
 	endif()
 endforeach()

@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000
@@ -15,6 +15,7 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -30,16 +31,14 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.43

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -1,68 +1,51 @@
 #!/bin/sh
-# @name Gazebo - Zero Turn Lawnmower
+# @name Gazebo lawnmower
 # @type Rover
 # @class Rover

 . ${R}etc/init.d/rc.rover_differential_defaults

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-param set-default NAV_ACC_RAD 0.5
-
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 2.7
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.2
-param set-default RO_YAW_RATE_P 1.0
-param set-default RO_YAW_RATE_LIM 60
-param set-default RO_YAW_ACCEL_LIM 50
-param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2.1
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1.0
-
 # Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1

 # Actuator mapping - set SITL motors/servos output parameters:

 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 87
-param set-default SIM_GZ_WH_MAX1 113
-param set-default SIM_GZ_WH_DIS1 100
-param set-default SIM_GZ_WH_FAIL1 100
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100

 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 87
-param set-default SIM_GZ_WH_MAX2 113
-param set-default SIM_GZ_WH_DIS2 100
-param set-default SIM_GZ_WH_FAIL2 100
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#param set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

@@ -30,16 +30,14 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_RATE_CORR 1

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -15,6 +15,8 @@ param set-default NAV_ACC_RAD 0.5

 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1

 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -28,16 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.75

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -1,56 +0,0 @@
-#!/bin/sh
-# @name Generic Differential Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default NAV_ACC_RAD 0.5
-
-# Differential Parameters
-param set-default RD_WHEEL_TRACK 0.6
-param set-default RD_TRANS_DRV_TRN 0.785398
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.01
-param set-default RO_YAW_RATE_P 0.25
-param set-default RO_YAW_RATE_LIM 250
-param set-default RO_YAW_ACCEL_LIM 400
-param set-default RO_YAW_DECEL_LIM 800
-param set-default RO_YAW_RATE_CORR 1
-
-# Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Velocity Control Parameters
-param set-default RO_ACCEL_LIM 4
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 10
-param set-default RO_MAX_THR_SPEED 2
-param set-default RO_SPEED_LIM 1.8
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.01
-param set-default RO_SPEED_RED 1
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 80
-param set-default SIM_GZ_WH_MAX1 120
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 80
-param set-default SIM_GZ_WH_MAX2 120
-param set-default SIM_GZ_WH_DIS2 100
@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004
@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -114,8 +114,7 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

-	50000_gz_rover_differential
-
+	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
@@ -110,36 +110,25 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"

-	sdf_pose_str=""
-
+	POSE_ARG=""
 	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
-		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
-		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pos_x=${pos_x:-0}
+		pos_y=${pos_y:-0}
+		pos_z=${pos_z:-0}

-		pose_x=${pose_x:-0}
-		pose_y=${pose_y:-0}
-		pose_z=${pose_z:-0}
-		pose_roll=${pose_roll:-0}
-		pose_pitch=${pose_pitch:-0}
-		pose_yaw=${pose_yaw:-0}
-
-		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
-		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
+		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 	fi

-	echo "INFO  [init] Spawning Gazebo model"
-
-	# include the actual SDF in this one, containing the pose if given
-	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
+	echo "INFO  [init] Spawning model"

 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
+			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1

 	# Wait for model to spawn
 	sleep 1
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

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

 . ${R}etc/init.d/rc.rover_differential_defaults

@@ -23,6 +26,7 @@ param set-default NAV_ACC_RAD 0.5

 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626

@@ -38,16 +42,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
-param set-default RO_YAW_RATE_CORR 2.7

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

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

 . ${R}etc/init.d/rc.rover_ackermann_defaults

@@ -30,16 +33,14 @@ param set-default RO_MAX_THR_SPEED 2.8
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_RATE_CORR 1

 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5

-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1

 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#

 . ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -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
@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-set VEHICLE_TYPE spacecraft
+set VEHICLE_TYPE sc

-# MAV_TYPE_SPACECRAFT_ORBITTER
-param set-default MAV_TYPE 45
+# MAV_TYPE_QUADROTOR 2
+#param set-default MAV_TYPE 12

 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775
@@ -234,7 +234,6 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
-	qmc5883p -X -q start
 	rm3100 -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
@@ -68,15 +68,6 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi

-#
-# Spapcecraft setup.
-#
-if [ $VEHICLE_TYPE = spacecraft ]
-then
-	# Start standard multicopter apps.
-	. ${R}etc/init.d/rc.sc_apps
-fi
-
 #
 # Airship setup.
 #
@@ -224,7 +224,7 @@ else
 		# Look for airframe in ROMFS
 		. ${R}etc/init.d/rc.autostart

-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			# Use external startup file
 			if [ $STORAGE_AVAILABLE = yes ]
@@ -235,7 +235,7 @@ else
 			fi
 		fi

-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
 			param set SYS_AUTOSTART 0
@@ -280,14 +280,6 @@ else
 	#
 	send_event start

-	#
-	# Start the hardfault streamer.
-	#
-	if param compare -s SYS_HF_MAV 1
-	then
-		hardfault_stream start
-	fi
-
 	#
 	# Start the resource load monitor.
 	#
@@ -3,14 +3,14 @@
 return_value=0

 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'

 if [ $? -ne 0 ]; then
 	return_value=1
 fi

 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'

 if [ $? -ne 0 ]; then
 	return_value=1
@@ -35,7 +35,6 @@ if args.filter:
    for board in args.filter.split(','):
        board_filter.append(board)

-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -87,7 +86,7 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        container = default_container
+        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
        if platform == 'posix':
            group = 'base'
            if toolchain:
@@ -121,7 +120,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = default_container
+grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+#
+# metadata_airframe.sh — generate and sync PX4 airframe reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_airframe.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="airframe_metadata"
+src_file="build/px4_sitl_default/docs/airframes.md"
+dest_file="docs/en/airframes/airframe_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing airframe reference docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Airframe reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Airframe reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated airframe_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Airframe docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update airframe reference metadata'"
+  exit 1
+fi
@@ -0,0 +1,112 @@
+#!/usr/bin/env bash
+#
+# metadata_failsafe_web.sh — build and sync failsafe webapp metadata files
+#
+# Usage:
+#   Tools/ci/metadata_failsafe_web.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run build and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full build output and debug info for file comparisons and EMSDK install
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and commands
+build_cmd="make failsafe_web"
+src_dir="build/px4_sitl_default_failsafe_web"
+dest_dir="docs/public/config/failsafe"
+
+# Ensure Emscripten SDK is available
+if ! command -v emcc >/dev/null 2>&1; then
+  echo "🔧 Emscripten not found. Ensuring EMSDK is installed."
+  # Clone SDK only if not already present
+  if [ ! -d "_emscripten_sdk" ]; then
+    if [ "$debug" = true ]; then
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+    else
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk > /dev/null 2>&1
+    fi
+  fi
+  pushd _emscripten_sdk >/dev/null
+  if [ "$debug" = true ]; then
+    ./emsdk install latest
+    ./emsdk activate latest
+  else
+    ./emsdk install latest > /dev/null 2>&1
+    ./emsdk activate latest > /dev/null 2>&1
+  fi
+  popd >/dev/null
+  # Load environment into current shell
+  if [ "$debug" = true ]; then
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh
+  else
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh > /dev/null 2>&1
+  fi
+fi
+
+# Build step
+if [ "$debug" = true ]; then
+  echo "🔧 Running build: $build_cmd"
+  $build_cmd
+else
+  echo "🔧 Running build"
+  $build_cmd > /dev/null 2>&1
+fi
+
+# Gather built files
+src_files=("$src_dir"/*.{js,wasm,json})
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated files found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# Prepare destination
+echo "🔍 Checking failsafe web metadata"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All failsafe web metadata files are in sync."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Failsafe web metadata needs update; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated files"
+for f in "${changed[@]}"; do cp -v "$src_dir/$f" "$dest_dir/$f"; done
+
+echo "🚨 Failsafe web metadata updated; please commit changes."
+exit 1
@@ -0,0 +1,99 @@
+#!/usr/bin/env bash
+#
+# metadata_modules.sh - generate and sync PX4 module reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_modules.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="module_documentation"
+src_dir="build/px4_sitl_default/docs/modules"
+dest_dir="docs/en/modules"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated module docs found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# ─── Strip trailing whitespace from all generated module docs (unless test-only) ─────────────
+if [ "$test_only" = false ]; then
+  echo "✂️ Removing trailing whitespace from generated module docs"
+  for src in "${src_files[@]}"; do
+    sed -i 's/[[:space:]]\+$//' "$src"
+  done
+else
+  [ "$debug" = true ] && echo "🧪 Test-only mode: skipping whitespace removal"
+fi
+
+echo "🔍 Checking module reference docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -e "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  else
+    # Use diff -q -b (ignore whitespace changes) and --strip-trailing-cr (ignore CRLF vs LF)
+    if ! diff -q -b --strip-trailing-cr "$src" "$dst" > /dev/null; then
+      [ "$debug" = true ] && echo "DEBUG: diff -q -b --strip-trailing-cr '$src' '$dst'  (exit_code=$?)"
+      changed+=("$name")
+    fi
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All module reference docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in module docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Module reference docs need updating; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated module docs to $dest_dir"
+for f in "${changed[@]}"; do
+  cp -rv "$src_dir/$f" "$dest_dir/$f"
+done
+
+echo "🚨 Module reference docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update module reference metadata'"
+exit 1
@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+#
+# metadata_msg_docs.sh — generate and sync uORB message reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_msg_docs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="msg_docs"
+src_dir="build/px4_sitl_default/msg_docs"
+dest_dir="docs/en/msg_docs"
+middleware_dir="docs/en/middleware"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No files found in $src_dir. Build target '$make_target' failed or path is wrong."
+  exit 1
+fi
+
+echo "🔍 Checking uORB message docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+
+  # special-case dds_topics.md
+  if [[ "$name" == "dds_topics.md" ]]; then
+    dst="$middleware_dir/$name"
+  else
+    dst="$dest_dir/$name"
+  fi
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All uORB message docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in the following docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 uORB message docs need updating! Rerun without --test-only to apply changes."
+  exit 1
+fi
+
+echo "📂 Copying updated doc files to $dest_dir"
+for f in "${changed[@]}"; do
+  if [[ "$f" == "dds_topics.md" ]]; then
+    cp -v "$src_dir/$f" "$middleware_dir/$f"
+  else
+    cp -v "$src_dir/$f" "$dest_dir/$f"
+  fi
+done
+
+echo "🚨 uORB message docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update uORB message reference docs'"
+exit 1
@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+#
+# metadata_parameters.sh — generate and sync PX4 parameter reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_parameters.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="parameters_metadata"
+src_file="build/px4_sitl_default/docs/parameters.md"
+dest_file="docs/en/advanced_config/parameter_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# ─── Strip trailing whitespace from the newly generated Markdown ────────────────────────────────
+echo "✂️ Removing trailing whitespace from $src_file"
+sed -i 's/[[:space:]]\+$//' "$src_file"
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing parameter docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Parameter reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Parameter reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated parameter_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Parameter docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update parameter reference metadata'"
+  exit 1
+fi
@@ -0,0 +1,108 @@
+#!/usr/bin/env bash
+#
+# update_uorb_graphs.sh — generate, compare, and sync uORB graph JSONs
+#
+# Usage:
+#   ./scripts/update_uorb_graphs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run generation and comparison only; exit 1 if diffs found, without copying files
+#   --debug       Echo debug info for missing or differing files and show full make output
+#
+# Examples:
+#   # CI mode: fail if docs need updates
+#   ./scripts/update_uorb_graphs.sh --test-only
+#
+#   # Developer mode: regenerate and sync JSONs
+#   ./scripts/update_uorb_graphs.sh
+#
+set -euo pipefail
+
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+	case "$1" in
+		--test-only)
+			test_only=true
+			shift
+			;;
+		--debug)
+			debug=true
+			shift
+			;;
+		*)
+			echo "Usage: $0 [--test-only] [--debug]"
+			exit 2
+			;;
+	esac
+done
+
+# Paths
+graph_dir="Tools/uorb_graph"
+dest_dir="docs/public/middleware"
+
+# Generate uORB graphs (conditionally silent)
+if [ "$debug" = true ]; then
+	echo "🔧 Generating uORB message graphs (verbose output)"
+	make uorb_graphs
+else
+	echo "🔧 Generating uORB message graphs"
+	make uorb_graphs > /dev/null 2>&1
+fi
+
+# Verify generation
+src_files=("$graph_dir"/*.json)
+if [ ${#src_files[@]} -eq 0 ]; then
+	echo "❌ No JSON files found in $graph_dir. Generation failed or path is wrong."
+	exit 1
+fi
+
+echo "🔍 Checking for updated uORB graph JSONs"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+	name=$(basename "$src")
+	dst="$dest_dir/$name"
+
+	if [[ ! -f "$dst" ]]; then
+		[ "$debug" = true ] && echo "DEBUG: $dst missing"
+		changed+=("$name")
+
+	elif ! cmp -s "$src" "$dst"; then
+		[ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+		changed+=("$name")
+	fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+	echo "✅ All uORB graph JSONs are already in sync."
+	exit 0
+fi
+
+echo "⚠️ Detected updates in the following files:"
+for name in "${changed[@]}"; do
+	echo "	- $name"
+done
+
+if [ "$test_only" = true ]; then
+	echo
+	echo "🚨 uORB graph docs need updating! Rerun without --test-only to apply changes."
+	exit 1
+fi
+
+echo
+echo "📂 Copying updated files over"
+for name in "${changed[@]}"; do
+	cp -v "$graph_dir/$name" "$dest_dir/$name"
+done
+
+echo
+echo "🚨 uORB graph docs need updating! Review above, then run:"
+echo "	git status -s $dest_dir/"
+echo "	git add $dest_dir/*.json"
+echo "	git commit -m 'docs: metadata: update uORB graph JSONs'"
+exit 1
@@ -15,7 +15,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
 fi

 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
@@ -12,14 +12,25 @@ import sys

 import yaml

-def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
+def sort_dds_topics(topics):
+    return sorted(
+        topics,
+        key=lambda pub: pub["type"].rsplit("::", 1)[-1]
+    )
+
+def generate_dds_yaml_doc(allMessageFiles, output_dir):
    """
    Generates human readable version of dds_topics.yaml.
    Default output is to docs/en/middleware/dds_topics.md
    """
+    output_file = 'dds_topics.md'
+    dds_markdown = ""
+    if not os.path.isdir(output_dir):
+        print("Output directory not found")
+        sys.exit(1)

    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
-    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
+    output_file_path = os.path.join(output_dir, output_file)

    try:
        with open(dds_file_path, 'r') as file:
@@ -43,7 +54,7 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
                all_topics.add(message['topic'].split('/')[-1])
        for message in allMessageFiles:
            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
-        messagesNotExported = all_messages_in_source - all_message_types
+        messagesNotExported = sorted(all_messages_in_source - all_message_types)

        # write out the dds file
        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
@@ -63,14 +74,14 @@ Topic | Type| Rate Limit
 --- | --- | ---
 """

-        for message in data["publications"]:
+        for message in sort_dds_topics(data["publications"]):
            type = message['type']
            px4Type=type.split("::")[-1]
            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"

        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"

-        for message in data["subscriptions"]:
+        for message in sort_dds_topics(data["subscriptions"]):
            type = message['type']
            px4Type=type.split("::")[-1]
            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
@@ -82,18 +93,17 @@ Topic | Type| Rate Limit
        else:
            print("Warning - we now have subscription_multi data - check format")
            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
+            for message in sort_dds_topics(data["subscriptions_multi"]):
                dds_markdown += f"{message['topic']} | {message['type']}\n"

        if messagesNotExported:
            # Print the topics that are not exported to DDS
            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
            dds_markdown += "\n\n::: details See messages\n"
-            for item in  messagesNotExported:
+            for item in sorted(messagesNotExported):
                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
            dds_markdown += "\n:::\n" # End of details block

-        #print(dds_markdown)
        with open(output_file_path, 'w') as content_file:
                content_file.write(dds_markdown)

@@ -127,6 +137,7 @@ if __name__ == "__main__":

    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('--dds_topics', dest='dds_topics', help='Generate dds yaml doc', action='store_true')
    args = parser.parse_args()

    output_dir = args.dir
@@ -137,6 +148,9 @@ if __name__ == "__main__":
    msg_files = get_msgs_list(msg_path)
    msg_files.sort()

+    if args.dds_topics:
+        generate_dds_yaml_doc(msg_files, output_dir)
+
    versioned_msgs_list = ''
    unversioned_msgs_list = ''

@@ -227,5 +241,3 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
    index_file = os.path.join(output_dir, 'index.md')
    with open(index_file, 'w') as content_file:
            content_file.write(index_text)
-
-    generate_dds_yaml_doc(msg_files)
@@ -5,7 +5,7 @@
 set SERIAL_DEV none
 {% for serial_device in serial_devices -%}
 if param compare "$PRT" {{ serial_device.index }}; then
-	if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
+	if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
 		set SERIAL_DEV {{ serial_device.device }}
 		set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
 		set PRT_{{ serial_device.tag }}_ 1
@@ -27,4 +27,3 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
-lark
@@ -59,7 +59,7 @@ def get_N_colors(N, s=0.8, v=0.9):
 def topic_filename(topic):
    MSG_PATH = 'msg/'

-    file_list = os.listdir(MSG_PATH)
+    file_list = sorted(os.listdir(MSG_PATH))
    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]

    if topic in msg_files:
@@ -369,12 +369,14 @@ class Graph(object):
            if not scope.is_empty():
                scopes_with_topic[name] = scope

+        # scopes_with_topic = sorted(scopes_with_topic)
+
        self._print_ambiguities = ambiguous_topics
        if use_topic_pubsub_union:
-            self._print_topics = subscribed_topics | published_topics
+            self._print_topics = sorted(subscribed_topics | published_topics)
            self._print_scopes = scopes_with_topic
        else:
-            self._print_topics = subscribed_topics & published_topics
+            self._print_topics = sorted(subscribed_topics & published_topics)

            # cull scopes to only those that pub or sub to a topic that has both
            intersect_scopes = {}
@@ -392,7 +394,7 @@ class Graph(object):
            log.debug('ignoring excluded path '+path)
            return

-        entries = os.listdir(path)
+        entries = sorted(os.listdir(path))

        # check if entering a new scope
        cmake_file = 'CMakeLists.txt'
@@ -685,8 +687,8 @@ class OutputJSON(object):


        # edges
-        for name,scope in output_scopes.items():
-            for topic in scope.publications:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.publications):
                if topic in output_topics:
                    edge = {}
                    edge['source'] = 'm_'+name
@@ -695,8 +697,8 @@ class OutputJSON(object):
                    edge['style'] = 'dashed'
                    edges.append(edge)

-        for name,scope in output_scopes.items():
-            for topic in scope.subscriptions:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.subscriptions):
                if topic in output_topics:
                    edge = {}
                    edge['source'] = 't_'+topic
@@ -723,10 +725,16 @@ if "__main__" == __name__:
            log.setLevel(logging.DEBUG)
            print("set log level to DEBUG")

+
+    print('')
+    print('== Starting uorb_graph/create.py ==')
+    if args.file:
+        print('  =Filename:', os.path.basename(args.file))
+
    # ignore topics that are subscribed/published by many topics, but are not really
    # useful to show in the graph
    topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
-    print('Excluded topics: '+str(topic_blacklist))
+    print('  =Excluded Topics: '+str(topic_blacklist))

    if len(args.modules) == 0:
        scope_whitelist = []
@@ -757,7 +765,7 @@ if "__main__" == __name__:
    if 0 < len(args.exclude_path):
        path_blacklist = args.exclude_path
    if path_blacklist:
-        print('Excluded Path: '+str(path_blacklist))
+        print('  =Excluded Path: '+str(path_blacklist))

    graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)

@@ -784,3 +792,6 @@ if "__main__" == __name__:
        pass
    else:
        print('Error: unknown output format '+args.output)
+
+    print("== Completed uorb_graph/create.py ==")
+    print("")
@@ -132,7 +132,6 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
-		},
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs = 1,
-	.entries  = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -34,25 +34,75 @@
 #pragma once

 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
-// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
-// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
+
+//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
+//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
+// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
+// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
+// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
+
+// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
+// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
+// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
+// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
+
+// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
+// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
+// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
-// available
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
+
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
+// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
+// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
+// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
+
+// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
+// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
+// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
+// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
+
+//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */

 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -260,6 +260,8 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -270,7 +272,6 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -43,7 +43,6 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -43,8 +42,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -12,17 +12,10 @@ else
 fi

 iim42652 -s -R 22 start
-
 bmi088 -A -R 29 -s start
-if ! bmi088 -G -R 29 -s start
-then
-	iim42653 -s -b 2 -R 22 start
-fi
+bmi088 -G -R 29 -s start

-if ! ist8310 -I -R 18 start
-then
-	iis2mdc -I -R 37 start
-fi
+ist8310 -I -R 18 start

 bmp581 -s start
 icp201xx -I start
@@ -42,7 +42,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -5,16 +5,14 @@

 board_adc start

-if ! mpu6000 -R 6 -s start; then
+if ! mpu6000 -R 6 -s start
+then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	if ! icm20602 -s -R 6 start; then
-		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
-		icm42688p -s -R 4 start
-	fi
+	icm20602 -s -R 6 start
 fi

 if ! hmc5883 -T -X start
-then
+then	
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34
@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@@ -5,8 +5,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -63,6 +61,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -31,6 +30,7 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,17 +70,22 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
@@ -7,7 +7,7 @@
    "summary": "KAKUTEH7",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1703936,
+    "image_maxsize": 1835008,
    "git_identity": "",
    "board_revision": 0
 }
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */

 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
@@ -72,7 +72,7 @@
 #define BOARD_TYPE                     5409
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)

 #define OSC_FREQ                       8

@@ -48,11 +48,6 @@
 * of leds for system indication at will and there is no
 * separate switch, we need to build independent of the
 * CONFIG_ARCH_LEDS configuration switch.
- *
- * KakuteH7 DualIMU LED configuration:
- * - Red LED (PE9): TRIP LED, active high
- * - Blue LED (PC2): Status LED, active low
- * - Green LED: Hardware controlled, always on when powered (no software control)
 */
 __BEGIN_DECLS
 extern void led_init(void);
@@ -61,28 +56,11 @@ extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS

-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 0, 4, 2};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,                       // Indexed by BOARD_LED_RED
-	GPIO_nLED_BLUE,                     // Indexed by BOARD_LED_BLUE
-};

-static bool g_led_inverted[] = {
-	false, // LED_RED is active high
-	true,  // LED_BLUE is active low
-};
-
-#else
-
-#  define xlat(p) (p)
+#define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_LED_RED,                       // Indexed by LED_RED
+	GPIO_LED_RED,                      // Indexed by LED_RED
 };

 static bool g_led_inverted[] = {
@@ -90,7 +68,6 @@ static bool g_led_inverted[] = {
 	false, // LED_RED is active high
 };

-#endif

 __EXPORT void led_init(void)
 {
@@ -1,17 +1,15 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,17 +0,0 @@
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_MODULES_ROVER_ACKERMANN=y
-CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,17 +1,23 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -64,7 +64,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,6 +6,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +14,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -5,14 +6,16 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_DRIVERS_ROBOCLAW=y
+# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	a7e0f69d9e	ci: debug with tmate Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 14:03:16 -07:00
Ramon Roche	09be71bce4	docs: update failsafe web metadata Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 13:33:31 -07:00
Ramon Roche	9fcfe538da	ci: debug failsafe web Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 12:42:53 -07:00
Ramon Roche	1a56f79f2f	ci: fix uorb graphs sort Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 11:52:34 -07:00
Ramon Roche	9ff5860c49	tools: sorted uorb graphs Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 11:23:52 -07:00
Ramon Roche	5dc041664b	cmake: generate sorted dds topics metadata Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 08:26:27 -07:00
Ramon Roche	93fbea353d	git: ignore metadata dep lib Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-10 06:48:21 -07:00
Ramon Roche	82a0f1ac17	docs: uorb graph updates Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 15:49:27 -07:00
Ramon Roche	3f14c1e3d4	tools: msg docs and dds docs Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 15:34:13 -07:00
Ramon Roche	d912aac860	tools: generate dds topics to output_dir Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 15:33:51 -07:00
Ramon Roche	b02215a529	docs: update dds_topics Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 15:25:12 -07:00
Ramon Roche	110d3da3fc	tools: remove whitespace trimming Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 14:48:55 -07:00
Ramon Roche	fe013702e3	docs: update uorb messages Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 14:48:29 -07:00
Ramon Roche	e379b66717	tools: msg metadata strip ending whitespace Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 14:34:50 -07:00
Ramon Roche	bd4856a4f2	build: generate uorb message documentation Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 14:21:11 -07:00
Ramon Roche	e73de6914b	drivers: update ll40ls_pwm module name Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 13:43:54 -07:00
Ramon Roche	c1f23cf13d	ci: only run on pull request * runs all scripts * runs on the exact commit not the merge commit Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-09 13:43:08 -07:00
Ramon Roche	fa4c77cb11	docs: update module reference metadata	2025-06-05 11:51:15 -07:00
Ramon Roche	91bafed906	docs: update parameter reference metadata	2025-06-05 11:50:57 -07:00
Ramon Roche	742d3c3835	docs: metadata: update uORB graph JSONs	2025-06-05 11:50:09 -07:00
Ramon Roche	1a92ae05c1	ci: check for metadata changes Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-05 10:24:24 -07:00