ci: fix docker context

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
ci: dont enter sitl
2026-06-15 03:50:04 +08:00 · 2025-07-03 21:22:49 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00 · 2025-07-03 18:59:02 +00:00
785 changed files with 14211 additions and 18048 deletions
@@ -0,0 +1,10 @@
+# Labeler configuration file for GitHub Actions
+# The action is ./.github/workflows/label.yml
+# Docs for the syntax in this file can be found at
+# https://github.com/actions/labeler
+
+
+# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
+"Documentation+📑":
+- changed-files:
+  - any-glob-to-any-file: docs/**
@@ -0,0 +1,44 @@
+name: Build PX4 SITL AppImage
+
+on:
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: read
+  actions: write
+
+jobs:
+  build-appimage:
+    name: "AppImage ${{ matrix.arch }}"
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            runner: x64
+          - arch: arm64
+            runner: arm64
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu22-full-${{ matrix.runner }}","run-id=${{ github.run_id }}"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Install Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL and AppImage
+        env:
+          # avoid FUSE by extracting the AppImage in‐place
+          APPIMAGE_EXTRACT_AND_RUN: "1"
+        run: |
+          make appimage
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4-sitl-appimage-${{ matrix.arch }}
+          path: build/*.AppImage
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

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

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

 env:
  RUNS_IN_DOCKER: true
@@ -6,7 +6,6 @@ on:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

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

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

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

 env:
  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -9,13 +9,11 @@ on:
      - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  check_itcm:
@@ -0,0 +1,21 @@
+# This workflow will triage pull requests and apply a label based on the
+# paths that are modified in the pull request.
+# The paths are set up in .github/labeler.yml
+#
+# See: https://github.com/actions/labeler
+
+name: Labeler
+on: [pull_request_target]
+
+jobs:
+  label:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+
+    steps:
+    - uses: actions/labeler@v5
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"
@@ -6,13 +6,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

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

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

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

 jobs:
  build:
@@ -5,13 +5,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
 defaults:
  run:
    shell: bash
@@ -0,0 +1,189 @@
+name: SITL Container
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false
+
+jobs:
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
+        run: |
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-sitl
+            px4io/px4-sitl
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Install PX4 Dependencies
+        run: ./Tools/setup/ubuntu.sh
+
+      - name: Build PX4 SITL
+        run: make px4_sitl_default
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: .
+          file: Tools/sitl-container/Dockerfile
+          tags: |
+            ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Verify Images Exist Before Creating Manifest
+        run: |
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-sitl:${{ needs.setup.outputs.px4_version }} px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-sitl:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-sitl:${{ needs.setup.outputs.px4_version }}
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -496,7 +496,6 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)


-include(doxygen)
 include(metadata)
 include(package)

@@ -264,6 +264,42 @@ px4fmu_firmware: \
 	check_px4_fmu-v5x_default \
 	sizes

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

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

 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -381,12 +417,6 @@ extract_events:

 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events

-doxygen:
-	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
-	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
-
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -39,7 +39,7 @@ param set-default RO_YAW_P 5
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1
+param set-default RO_SPEED_RED 1

 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1
@@ -0,0 +1,56 @@
+#!/bin/sh
+# @name Generic Differential Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.6
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 400
+param set-default RO_YAW_DECEL_LIM 800
+param set-default RO_YAW_RATE_CORR 1
+
+# Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 2
+param set-default RO_SPEED_LIM 1.8
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.01
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 80
+param set-default SIM_GZ_WH_MAX1 120
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 80
+param set-default SIM_GZ_WH_MAX2 120
+param set-default SIM_GZ_WH_DIS2 100
@@ -114,6 +114,8 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

+	50000_gz_rover_differential
+
 	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

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

@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

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

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

@@ -5,8 +5,5 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#

 . ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -234,6 +234,7 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
+	qmc5883p -X -q start
 	rm3100 -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+set -e
+
+DEBUG=false
+for arg; do
+  case "$arg" in
+  --debug)
+    DEBUG=true
+    shift
+    ;;
+  *)
+    break
+    ;;
+  esac
+done
+
+if $DEBUG; then
+  echo "[DEBUG] Running in debug mode" >&2
+fi
+
+CUR_VER=$(<"$APPDIR/version.txt")
+$DEBUG && echo "[DEBUG] PX4_VERSION = $CUR_VER" >&2
+
+# figure out a stable logs directory
+STATE_HOME="${XDG_STATE_HOME:-$HOME/.local/state}"
+DATA_HOME="${XDG_DATA_HOME:-$HOME/.local/share}"
+ROMFS_DIR="$DATA_HOME/px4/romfs"
+mkdir -p "$DATA_HOME/px4" "$STATE_HOME/px4"
+
+$DEBUG && echo "[DEBUG] STATE_HOME = $STATE_HOME" >&2
+$DEBUG && echo "[DEBUG] DATA_HOME = $STATE_HOME" >&2
+
+# Read last unpacked version
+LAST_VER_FILE="$STATE_HOME/px4/version"
+LAST_VER=""
+[ -f "$LAST_VER_FILE" ] && LAST_VER=$(<"$LAST_VER_FILE")
+
+# if versions differ, refresh the payload
+if [ "$CUR_VER" != "$LAST_VER" ]; then
+  $DEBUG && echo "[DEBUG] Version changed ($LAST_VER → $CUR_VER); updating ROMFS..." >&2
+  rm -fr "$ROMFS_DIR"
+  mkdir -p "$ROMFS_DIR"
+  cp -a "$APPDIR/usr/share/px4/romfs/." "$ROMFS_DIR"
+  echo "$CUR_VER" > "$LAST_VER_FILE"
+else
+  if $DEBUG; then
+    echo "[DEBUG] Using cached ROMFS version $CUR_VER" >&2
+  fi
+fi
+
+LOG_DIR="$STATE_HOME/px4/logs"
+mkdir -p "$LOG_DIR"
+$DEBUG && echo "[DEBUG] LOG_DIR = $LOG_DIR" >&2
+
+# pick up bundled libs first
+export LD_LIBRARY_PATH="$APPDIR/usr/lib:$LD_LIBRARY_PATH"
+export PATH="$ROMFS_DIR/bin:$ROMFS_DIR:$PATH"
+
+
+$DEBUG && echo "[DEBUG] Launching: $APPDIR/usr/bin/px4 -w $ROMFS_DIR $*" >&2
+exec "$APPDIR/usr/bin/px4" -w "$ROMFS_DIR" "$@"
@@ -0,0 +1,6 @@
+[Desktop Entry]
+Type=Application
+Name=PX4 Autopilot SITL
+Exec=px4 %F
+Icon=px4
+Categories=Development;
@@ -3,14 +3,14 @@
 return_value=0

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

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

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

 if [ $? -ne 0 ]; then
 	return_value=1
@@ -1,18 +1,5 @@
 #! /bin/bash

-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
-else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
-fi
-
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
@@ -126,9 +126,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		fuse \
 		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
+		libfuse2 \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
@@ -156,6 +158,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			gcc-arm-none-eabi \
 			gcc-multilib \
 			;
+
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-x86_64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi

 	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
@@ -163,6 +170,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 			g++-aarch64-linux-gnu \
 			g++-arm-linux-gnueabihf \
 			;
+		# Install the appimagetool for building AppImages
+		sudo wget -O /usr/local/bin/appimagetool \
+			https://github.com/AppImage/AppImageKit/releases/download/continuous/appimagetool-aarch64.AppImage
+		sudo chmod +x /usr/local/bin/appimagetool
 	fi

 	if [ -n "$USER" ]; then
@@ -0,0 +1,55 @@
+FROM ubuntu:24.04
+
+RUN apt-get update \
+  && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release \
+    libbsd0 \
+    libcom-err2 \
+    libc6 \
+    libgcc-s1 \
+    libgssapi-krb5-2 \
+    libk5crypto3 \
+    libkeyutils1 \
+    libkrb5-3 \
+    libkrb5support0 \
+    libmd0 \
+    libnorm1 \
+    libpgm-5.3-0 \
+    libprotobuf32 \
+    libprotobuf-lite32t64 \
+    libsodium23 \
+    libstdc++6 \
+    libuuid1 \
+    libzmq5 \
+    wget \
+    zlib1g \
+  && rm -fr /var/lib/apt/lists/*
+
+RUN curl -sSL https://packages.osrfoundation.org/gazebo.key \
+  | gpg --dearmor -o /usr/share/keyrings/gazebo-archive-keyring.gpg \
+  && echo "deb  [signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
+    http://packages.osrfoundation.org/gazebo/ubuntu-stable \
+    $(lsb_release -cs) main" \
+    > /etc/apt/sources.list.d/gazebo-stable.list \
+  && apt-get update \
+  && apt-get install -y --no-install-recommends \
+    libgz-msgs10 \
+    libgz-transport13 \
+    libgz-utils2 \
+  && rm -fr /var/lib/apt/lists/*
+
+COPY build/px4_sitl_default/bin /opt/px4/bin
+COPY build/px4_sitl_default/etc /opt/px4/etc
+
+WORKDIR /opt/px4
+
+COPY Tools/sitl-container/entrypoint.sh /usr/local/bin/entrypoint.sh
+RUN chmod +x /usr/local/bin/entrypoint.sh
+
+EXPOSE 14540/udp 14550/udp 8888/udp
+
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+CMD []
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+sudo docker run \
+  --rm -it \
+  --device /dev/fuse --cap-add SYS_ADMIN \
+  -p 14540:14540/udp \
+  -p 14550:14550/udp \
+  -p 8888:8888/udp \
+  px4-sitl:local
@@ -0,0 +1,11 @@
+#!/bin/sh
+set -e
+
+PX4_BIN=/opt/px4/bin/px4
+
+# if no args passed, default to SITL none
+if [ $# -eq 0 ]; then
+  exec "$PX4_BIN"
+else
+  exec "$PX4_BIN" "$@"
+fi
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -5,14 +5,16 @@

 board_adc start

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

 if ! hmc5883 -T -X start
-then	
+then
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -62,7 +63,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -30,7 +31,6 @@ CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,22 +70,17 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
@@ -7,7 +7,7 @@
    "summary": "KAKUTEH7",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
    "git_identity": "",
    "board_revision": 0
 }
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */

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

 #define OSC_FREQ                       8

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

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

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

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

+#endif

 __EXPORT void led_init(void)
 {
@@ -1,15 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,23 +1,17 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_UUV_ATT_CONTROL=n
-CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -6,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -14,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
@@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -6,16 +5,14 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-# CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
 CONFIG_MODULES_ROVER_MECANUM=y
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_subdirectory(pwm_voltage)
@@ -20,6 +20,9 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -27,3 +27,6 @@ else
 fi

 safety_button start
+
+# pwm voltage 3.3V/5V switch
+pwm_voltage_apply start
@@ -43,6 +43,7 @@ then
 	set INA_CONFIGURED yes
 fi

+
 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
@@ -55,96 +56,35 @@ then
 	set INA_CONFIGURED yes
 fi

-#Start Auterion Power Module selector for zeroone boards
-if ver hwbasecmp 009 010 011
+
+if ver hwtypecmp ZeroOneX6000
 then
-	pm_selector_auterion start
-else
-	if [ $INA_CONFIGURED = no ]
-	then
-		# INA226, INA228, INA238 auto-start
-		i2c_launcher start -b 1
-		if [ $HAVE_PM2 = yes ]
-		then
-			i2c_launcher start -b 2
-		fi
-	fi
+        # Internal SPI bus icm45686 with SPIX
+	icm45686 -b 2 -s -R 6 start       //X6 & X6 air
+
+	bmi088 -A -R 4 -s start           //X6
+	bmi088 -G -R 4 -s start           //X6
+
+	# Internal SPI bus icm45686 with SPIX
+	icm45686 -b 1 -s -R 8 start       //X6 & X6 air
 fi

-# Keep nesting shallow
-if ver hwtypecmp V6X006 V6X008
+
+if ver hwtypecmp ZeroOneX6001             //X6  PRO
 then
-	if ver hwtypecmp V6X006
-	then
-		# Internal SPI bus ICM45686
-		adis16470 -s -R 0 start
-		iim42652 -s -R 6 start
-		icm45686 -s -R 10 start
-	else
-		# Internal SPI bus 3x ICM45686
-		icm45686 -b 3 -s -R 0 start
-		icm45686 -b 2 -s -R 0 start
-		icm45686 -b 1 -s -R 10 start
-	fi
-else
-	if ver hwtypecmp V6X004
-	then
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	else
-		# Internal SPI BMI088
-		if ver hwbasecmp 009 010 011
-		then
-			bmi088 -A -R 6 -s start
-			bmi088 -G -R 6 -s start
-		else
-			if ver hwtypecmp V6X010
-			then
-				bmi088 -A -R 0 -s start
-				bmi088 -G -R 0 -s start
-			else
-				bmi088 -A -R 4 -s start
-				bmi088 -G -R 4 -s start
-			fi
-		fi
-	fi
+	# Internal SPI bus IIM42653 with SPIX
+	iim42653 -b 2 -s -R 6 start

-	# Internal SPI bus ICM42688p
-	if ver hwbasecmp 009 010 011
-	then
-		icm42688p -R 12 -s start
-	else
-		if ver hwtypecmp V6X010
-		then
-			icm42688p -R 14 -s start
-		else
-			icm45686 -b 1 -s -R 8 start        //ZeroOne
-		fi
-	fi
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start

-	if ver hwtypecmp V6X003 V6X004
-	then
-		# Internal SPI bus ICM-42670-P (hard-mounted)
-		icm42670p -R 10 -s start
-	else
-		if ver hwbasecmp 009 010 011
-		then
-			icm20602 -R 6 -s start
-		else
-			# Internal SPI bus ICM-20649 (hard-mounted)
-			icm45686 -b 2 -s -R 6 start        //ZeroOne
-		fi
-	fi
+	# Internal SPI bus IIM42653 with SPIX
+	iim42653 -b 1 -s -R 8 start
 fi
+
+
 rm3100 -I -b 4 start
 # Internal magnetometer on I2c
-# if ver hwtypecmp V6X001
-# then
-# 	rm3100 -I -b 4 start
-# else
-# 	# Internal magnetometer on I2C
-# 	bmm150 -I -R 0 start
-# fi

 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -156,24 +96,9 @@ ist8310 start -I -a 0x0E -R 12
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
-	# if ver hwtypecmp V6X001 V6X006 V6X008
-	# then
-	# 	icp201xx -I -a 0x64 start
-	# else
-	# 	bmp388 -I -a 0x77 start
-	# fi
 fi
 icp201xx -X start
 #external baro
-# if ver hwtypecmp V6X001
-# then
-# 	icp201xx -X start
-# else
-# 	bmp388 -X start
-# fi
-
-# Baro on I2C3
-ms5611 -X start

 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,31 +31,12 @@
 #
 ############################################################################

-# Doxygen
+px4_add_module(
+	MODULE modules__pwm_voltage_apply
+	MAIN pwm_voltage_apply

-option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
-
-if (BUILD_DOXYGEN)
-	find_package(Doxygen)
-	if (DOXYGEN_FOUND)
-	    # set input and output files
-	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-	    # request to configure the file
-	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-
-	    # note the option ALL which allows to build the docs together with the application
-	    add_custom_target(doxygen ALL
-	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
-	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-			COMMENT "Generating documentation with Doxygen"
-			DEPENDS uorb_msgs parameters
-			VERBATIM
-			USES_TERMINAL
-			)
-
-	else()
-		message("Doxygen needs to be installed to generate documentation")
-	endif()
-endif()
+	SRCS
+		pwm_voltage.cpp
+	DEPENDS
+		px4_work_queue
+	)
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * Control PWM output voltage
+ *
+ * @value 0 3.3V
+ * @value 1 5.0V
+ *
+ * @reboot_required true
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   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 <inttypes.h>
+#include <stdint.h>
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
+
+#include "board_config.h"
+
+extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
+{
+	int32_t pwm_volt_sel = 0;
+
+	param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
+
+	if (pwm_volt_sel != 0) {
+		PWM_5V_VOLT_SEL(true);
+
+	} else {
+		PWM_5V_VOLT_SEL(false);
+	}
+
+	return 0;
+}
@@ -215,10 +215,11 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ZeroOneX6"

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 //                 Base/FMUM
-#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,     Sensor Set  Rev 0
-#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6,     Sensor Set  Rev 1
+#define ZeroOneX6_0     HW_FMUM_ID(0x0)   // ZeroOneX6,
+#define ZeroOneX6_1     HW_FMUM_ID(0x1)   // ZeroOneX6 Pro,
+#define ZeroOneX6_2     HW_FMUM_ID(0x2)   // reserved

 #define UAVCAN_NUM_IFACES_RUNTIME  1

@@ -244,6 +245,10 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9

+/* PWM Power */
+#define GPIO_PWM_VOLT_SEL               /* PD15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
+#define PWM_5V_VOLT_SEL(on_true)        px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
+
 /* Power supply control and monitoring GPIOs */

 #define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -457,7 +462,8 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                 \
+		GPIO_PWM_VOLT_SEL                \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -47,10 +47,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
 			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),
@@ -60,21 +56,36 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),

-	initSPIFmumID(ZeroOneX6_1, {            // Placeholder
+	initSPIFmumID(ZeroOneX6_1, {            // X6 Pro
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		}, {GPIO::PortF, GPIO::Pin4}),
 		initSPIBus(SPI::Bus::SPI3, {
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIFmumID(ZeroOneX6_2, {             // reserved
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
 		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
 		}),
@@ -18,4 +18,4 @@ yarn-error.log


 # Generated alternative _summary.md
-# **/*/_summary.md
+# **/*/_summary.md
@@ -16,4 +16,4 @@
            document.location.replace(this.to);
        }
    }
-</script>
+</script>
@@ -159,4 +159,4 @@

 .vp-doc img {
  display: inline; /* block by default set by vitepress */
-}
+}
@@ -1 +1 @@
-docs.px4.io
+docs.px4.io
@@ -1011,4 +1011,4 @@
    },
    "hideReason": "intended"
  }
-]
+]
@@ -1 +1 @@
-["en/_sidebar.md"]
+["en/_sidebar.md"]
@@ -219,4 +219,4 @@
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     id="path4768"
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-     sodipodi:nodetypes="ccccc" /></svg>
+     sodipodi:nodetypes="ccccc" /></svg>
@@ -141,4 +141,4 @@
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   d=""
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-   inkscape:connector-curvature="0" /></svg>
+   inkscape:connector-curvature="0" /></svg>
@@ -81,4 +81,4 @@
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+     sodipodi:nodetypes="ccc" /></svg>
@@ -768,4 +768,4 @@
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+       id="path4482" /></g></svg>
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+       id="path19510" /></g></svg>
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	ad8f95cdcf	ci: fix docker context Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 21:22:49 +00:00
Ramon Roche	34ca76b63c	ci: dont enter sitl Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	cde7ffe7f9	container: px4-sitl image Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	9d98581675	AppImage: XDG compliant paths for romfs contents Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	68d8a7ce4c	tools: appimage cleanup on exit Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	7cb36ce47d	make: bundle relevant libraries into appimage Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	c1069dcd2a	ci: run on aws infra Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	2f56d44e6f	make: copy bundled libraries Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	b4ad8bbaa0	ci: try to bundle missing libraries Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:02 +00:00
Ramon Roche	11318ab861	make: fix build target for appimage Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	035a829dc5	ci: matrix includes Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	a25d90777e	AppImage: adds debug mode Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	254251f4a6	make: remove unnecessary steps in AppImage	2025-07-03 18:59:01 +00:00
Ramon Roche	b93eefcee7	ci: build x86 and arm64 AppImages Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	5e602788d7	ci: run the actual ubuntu setup script silly me Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	b709b2bb29	ci: remov git ownership hack Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	5b209cf5f4	ci: build on oldest supported architecture This makes it so its usable in ubuntu 22.04 & 24.04, otherwise we start running into dependency issues in the system for example: ``` /tmp/.mount_PX4_AuYR3Xk1/usr/bin/px4: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by /tmp/.mount_PX4_AuYR3Xk1/usr/bin/px4) /tmp/.mount_PX4_AuYR3Xk1/usr/bin/px4: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.32' not found (required by /tmp/.mount_PX4_AuYR3Xk1/usr/bin/px4) ``` Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	32fe48a02b	ci: properly format yml Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	d94939b489	ci: extact image instead of mounting in CI avoids security issues in the runner Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	bc96acb6b3	ci: run modprobe on additional step Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	68b22f16cf	ci: inline install Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	cc384d44c7	ci: adds missing fuse dep Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	89cd709952	ci: needs libfuse2 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	5db88fb2bc	ci: not sure why i left this here Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	5e1e2c9e29	ci: fix actions permissions scope Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	ce85cffbee	ci: update tools and fix git ownership Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	f1a8606e74	tools: adds appimagetool to setup/ubuntu.sh Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	aec1fddc8a	ci: create image on ci Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	b35ffa99bb	tools: container for all Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Ramon Roche	6ac80069c2	build: make appimage Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-03 18:59:01 +00:00
Marco Hauswirth	f7ffe27d4c	GNSS Spoofing Warning Sensitivity Adjustment (#25144 )	2025-07-03 14:13:03 +02:00
Hamish Willee	2c31e2bad5	Fix all possible HTTP to HTTPS docs links (#25153 )	2025-07-03 18:09:58 +10:00
Hamish Willee	375f421c61	Link fixes galore (#25151 )	2025-07-03 14:53:12 +10:00
Sergei Grichine	dd0d00aedc	Update 4009_gz_r1_rover (#25150 )	2025-07-03 08:14:01 +09:00
Ramon Roche	6deac08b42	docs: remove old doxygen builds (#24743 ) Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-02 14:51:18 -07:00
Hamish Willee	d3de49a867	Rename labeler.yml	2025-07-02 14:43:55 -07:00
Hamish Willee	dddf18872f	Add label to new pull requests that touch docs files	2025-07-02 14:43:55 -07:00
Hamish Willee	0622f12285	Create Labeler workflow	2025-07-02 14:43:55 -07:00
Sergei Grichine	a4518580ac	Update TransponderReport.msg - correct "heading" description (#25125 )	2025-07-02 11:10:46 -08:00
QiTao Weng	30c8c23716	Correct all ADSB heading related field to be in positive range (#25128 )	2025-07-02 11:10:28 -08:00
xue	cb71aea7fa	boards: Updated ZeroOne X6 * Starts pwm_voltage_apply * Enable Septentrio modules * Enable IIM42653 IMU * Enable SCH16T IMU Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-02 09:13:01 -07:00
DATAGNSS	81000f4c71	Docs: update GEM1305 specs and add NANO HRTK Receiver (#24707 ) * update GEM1305 specs and add NANO HRTK Receiver - add NANO HRTK Receiver - update GEM1305 specifications * Update SUMMARY.md for NANO HRTK Receiver - Update SUMMARY.md for NANO HRTK Receiver * Fix up images * Minor tweak --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-07-02 11:59:27 +10:00
Hamish Willee	b2b6a5f44e	Fix up hitl too	2025-07-02 11:49:08 +10:00
Hamish Willee	93a4ff8d01	Rework to check-first	2025-07-02 11:49:08 +10:00
Beniamino Pozzan	e3e48d01d3	docs(sih): just mention `CONFIG_MODULES_SIMULATION_SIMULATOR_SIH` Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-07-02 11:49:08 +10:00
Hamish Willee	36485a0920	Split out the firmware setup	2025-07-02 11:49:08 +10:00
Beniamino Pozzan	8998a5baf9	docs(sih): Update instructions for sih Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-07-02 11:49:08 +10:00
Beniamino Pozzan	af5f2f8b74	docs(hitl): Update instructions for hitl simulations Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-07-02 11:49:08 +10:00
Crowdin Bot	0f57d634f4	New Crowdin translations - ko	2025-07-02 09:11:14 +10:00
Crowdin Bot	9ed47b87f7	New Crowdin translations - uk	2025-07-02 09:10:43 +10:00
Crowdin Bot	f180cf8b03	New Crowdin translations - zh-CN	2025-07-02 09:10:08 +10:00
chfriedrich98	5bb183afde	Update fmu rover builds (#25139 ) * rover: add rover build for all fmu versions * rover: remove board specific exclusion of rover airframes	2025-07-01 10:31:12 -08:00
Ramon Roche	725d800a38	boards: save flash for KakuteH7-Wing	2025-07-01 10:23:49 -07:00
chfriedrich98	8af75adcbe	gz: update submodule	2025-07-01 10:38:53 +02:00
chfriedrich98	5b1f58c069	differential: add generic differential rover gazebo airframe	2025-07-01 10:38:53 +02:00
Julian Oes	84c3abbba2	boards: LED fixup for Kakute	2025-07-01 10:48:18 +12:00
Julian Oes	75031fe375	boards: save flash on KakuteH7 dualimu Due to trying to being compatible with the ArduPilot flash layout with two sectors reserved for parameters.	2025-07-01 10:48:18 +12:00
Julian Oes	9cf3893266	boards: fixup image size of KakuteH7 dualimu We have 1 sector for the bootloader and the last 2 for parameters. That's to match how ArduPilot has it.	2025-07-01 10:48:18 +12:00
Julian Oes	8870d16ae0	Move NUM_MISSION_ITEMS_SUPPORTED to dataman The define is used in dataman, not navigator, so this config variable needs to be moved to the dataman module, otherwise it breaks the build if navigator is not included in the build.	2025-07-01 10:25:00 +12:00
amovlgf	fdef302e06	Add new Compass QMC5883P (#25115 ) * add qmc5883p drivers * format correction for qmc5883p * make format * remove extra newlines --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2025-06-30 10:33:21 -08:00
Hamish Willee	acc12bb21d	SIH Hexacopter X	2025-06-30 18:33:56 +02:00
Julian Oes	e46e4dc80e	commander: prevent race condition after mission When a mission finishes with an RTL command, there's a race condition between: 1. RTL command setting user_mode_intention RTL 2. Mission completion logic forcing LOITER The auto-loiter transition was checking current nav_state (which is still AUTO_MISSION) instead of any pending user_mode_intention, causing it to override the RTL request. Fix: Only auto-transition to loiter if no mode change is already pending.	2025-06-30 09:20:44 -07:00
Julian Oes	bfbd9bfe27	mavsdk_test: fix mission timeout check We shouldn't adjust for lockstep speedup twice.	2025-06-30 09:20:44 -07:00
Julian Oes	d03b1171f9	mavsdk_tests: fix mission finished state This is an attempt to use MAVSDK's is_mission_finished APIs instead.	2025-06-30 09:20:44 -07:00
mahima-yoga	8c5dcbea12	mission: add RTL to is_mission_item_reached_or_completed() This ensures that a mission is marked as completed when RTL is the last item or that the mission can continue if there is an intermediate RTL.	2025-06-30 09:20:44 -07:00
Matthias Grob	daa491dc19	rc_update: make payload power switch an optional 3-way switch to support 3 different power states for the payload.	2025-06-30 16:50:28 +02:00
Matthias Grob	1bccd5557a	rc_update: add unit tests for two way payload power switch with the intention to extend it to an optional 3 way switch.	2025-06-30 16:50:28 +02:00
Matthias Grob	8e7c2ed440	rc_update: allow payload power switch to be used for other boards than ARK FPV	2025-06-30 16:50:28 +02:00
Matthias Grob	64b92e46f8	rc_update: follow parameter member naming convention for payload power switch mapping	2025-06-30 16:50:28 +02:00
Matthias Grob	fc3fd43fc7	rc_update: specify 2 decimal places for all float threshold parameter metadata	2025-06-30 16:50:28 +02:00
Beniamino Pozzan	6f972bbd43	chore: unify MC_RATE* param metadata (#25133 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-06-29 13:56:06 -08:00
Davide Iafrate	650320281b	Add support for ICM42688P IMU on mamba f405 mk2 v2 target (#25047 ) Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-06-29 13:46:41 -08:00
Matthias Grob	2bc04f91f8	docs: fix all end of file newlines Note: Some files are autogenerated and I did not yet go through each source of generation to fix it there. Instead I adjusted the filter to only exclude those such that we can fix things in steps.	2025-06-26 11:03:23 -07:00
Matthias Grob	e9bac962ab	docs index: fix special character encoding to be UTF-8	2025-06-26 11:03:23 -07:00
Hamish Willee	35096d3278	Remove images not linked from docs	2025-06-26 13:13:30 +10:00
Hamish Willee	b3441b7221	Remove legacy translations	2025-06-26 13:13:30 +10:00
Hamish Willee	2bda1b08c9	Add image to repo, prettier	2025-06-26 12:49:44 +10:00
Jakub Kákona	804af78245	Update docs/en/telemetry/index.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-06-26 12:49:44 +10:00
Jakub Kákona	56e8d23fb0	Adding the TFSIK01 page.	2025-06-26 12:49:44 +10:00
Jakub Kákona	3ea9069ada	Adding TFSIK01 telemetry radio docs page.	2025-06-26 12:49:44 +10:00
Matthias Grob	bb6d43d5e3	uavcan battery: add support for cuav::equipment::power::CBAT message emitted by e.g. uavcan Tattu batteries.	2025-06-25 21:11:23 +02:00
Matthias Grob	30d4ff3c6c	uavcan battery: fix battery_status.scale, time_remaining and timestamp - timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux - scale was not set as unknown (-1) even though it is since it's never updated - time_remaining was not initialized correctly and could sometimes be 0 unexpectedly which causes the drone to failsafe because there's reportedly no flight time left	2025-06-25 21:11:23 +02:00
Marco Hauswirth	adc299d019	remove paths-ignore in workflows to enable CI-checks for pure CI changes...	2025-06-25 08:04:43 -07:00
Jakub Kákona	1a52656e8a	Update broken airspeed sensors links Add new TFPITOT01 Pitot Tube	2025-06-25 16:38:23 +10:00
Jakub Kákona	b9ff50f92b	Update thunderfly_auto_g2.md Fix typos and update the note message.	2025-06-25 15:49:49 +10:00
Jakub Kákona	6ef8add164	Improve documentation links.	2025-06-25 15:49:49 +10:00
Crowdin Bot	bcd5f6e208	New Crowdin translations - zh-CN	2025-06-25 13:33:35 +10:00
Crowdin Bot	f0a20c19f9	New Crowdin translations - uk	2025-06-25 13:33:27 +10:00
Crowdin Bot	bcd516f6af	New Crowdin translations - ko	2025-06-25 13:33:22 +10:00
Hamish Willee	81ec385c3e	Fix up link to flashing	2025-06-25 13:03:46 +10:00
Hamish Willee	3a54b482d2	Fix up cross links	2025-06-25 13:03:46 +10:00
Hamish Willee	a1b8b3dabb	Prettier, typos, minor wording	2025-06-25 13:03:46 +10:00
chfriedrich98	22f4222795	docs: overhaul rover documentation	2025-06-25 13:03:46 +10:00
PX4BuildBot	ee3708ca82	docs: update parameter reference metadata	2025-06-25 12:13:22 +10:00
PX4BuildBot	940ce18e59	Failsafe web metadata updates	2025-06-25 12:13:22 +10:00
PX4BuildBot	ae4322126a	docs: metadata: update uORB graph JSONs	2025-06-25 12:13:22 +10:00
Alex Klimaj	c6bb6cd435	extend satellite info to 40 (#25067 ) Co-authored-by: Pedro Roque <padr@kth.se>	2025-06-24 13:14:08 -06:00