v6s: support EEPROM-only boards alongside FRAM variants

docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-05-31 01:30:05 +08:00 · 2026-04-09 11:42:20 +02:00 · 2026-04-09 09:30:09 +00:00 · 2026-04-09 11:22:43 +02:00 · 2026-04-09 04:47:47 -04:00 · 2026-04-09 04:47:47 -04:00
82 changed files with 4164 additions and 710 deletions
@@ -0,0 +1,21 @@
+name: Build Gazebo Classic SITL
+description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
+
+runs:
+  using: composite
+  steps:
+    - name: Build - PX4 Firmware (SITL)
+      shell: bash
+      run: make px4_sitl_default
+
+    - name: Cache - Stats after PX4 Firmware
+      shell: bash
+      run: ccache -s
+
+    - name: Build - Gazebo Classic Plugins
+      shell: bash
+      run: make px4_sitl_default sitl_gazebo-classic
+
+    - name: Cache - Stats after Gazebo Plugins
+      shell: bash
+      run: ccache -s
@@ -0,0 +1,22 @@
+name: Save ccache
+description: Print ccache stats and save to cache
+
+inputs:
+  cache-primary-key:
+    description: Primary cache key from setup-ccache output
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Stats
+      if: always()
+      shell: bash
+      run: ccache -s
+
+    - name: Cache - Save ccache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-primary-key }}
@@ -0,0 +1,56 @@
+name: Setup ccache
+description: Restore ccache from cache and configure ccache.conf
+
+inputs:
+  cache-key-prefix:
+    description: Cache key prefix (e.g. ccache-sitl)
+    required: true
+  max-size:
+    description: Max ccache size (e.g. 300M)
+    required: false
+    default: '300M'
+  base-dir:
+    description: ccache base_dir value
+    required: false
+    default: '${GITHUB_WORKSPACE}'
+  install-ccache:
+    description: Install ccache via apt before configuring
+    required: false
+    default: 'false'
+
+outputs:
+  cache-primary-key:
+    description: Primary cache key (pass to save-ccache)
+    value: ${{ steps.restore.outputs.cache-primary-key }}
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Install ccache
+      if: inputs.install-ccache == 'true'
+      shell: bash
+      run: apt-get update && apt-get install -y ccache
+
+    - name: Cache - Restore ccache
+      id: restore
+      uses: actions/cache/restore@v4
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
+          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
+          ${{ inputs.cache-key-prefix }}-
+
+    - name: Cache - Configure ccache
+      shell: bash
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
@@ -21,7 +21,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2

    strategy:
      fail-fast: false
@@ -50,7 +50,7 @@ jobs:
          PX4_SBOM_DISABLE: 1
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git config --system --add safe.directory '*'
          make ${{ matrix.check }}

      - name: Uploading Coverage to Codecov.io
@@ -20,7 +20,9 @@ jobs:
    name: Clang-Tidy
    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    outputs:
+      has_findings: ${{ steps.clang_tidy.outputs.has_findings }}
    steps:
    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
@@ -31,39 +33,110 @@ jobs:
    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
      with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 120M

-    - name: Configure Compiler Cache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
+    - name: Build - px4_sitl_default (Clang)
+      run: make -j16 px4_sitl_default-clang

    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
+      id: clang_tidy
+      run: |
+        if [ "${{ github.event_name }}" != "pull_request" ]; then
+          make -j$(nproc) clang-tidy
+          echo "has_findings=false" >> $GITHUB_OUTPUT
+        else
+          output=$(python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }} 2>&1)
+          exit_code=$?
+          echo "$output"
+          # Helper prints this message on both early-exit paths
+          # (no changed C++ files, or no matching TUs in the compile DB)
+          if echo "$output" | grep -q "skipping clang-tidy"; then
+            echo "has_findings=false" >> $GITHUB_OUTPUT
+          else
+            echo "has_findings=true" >> $GITHUB_OUTPUT
+          fi
+          exit $exit_code
+        fi

-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
+    - name: Upload compile_commands.json
+      if: always() && github.event_name == 'pull_request'
+      uses: actions/upload-artifact@v4
      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        name: compile-commands
+        path: build/px4_sitl_default-clang/compile_commands.json
+        retention-days: 1
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+  post_clang_tidy_comments:
+    name: Clang-Tidy PR Annotations
+    needs: [clang_tidy]
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+      contents: read
+    if: >-
+      always()
+      && github.event.pull_request
+      && github.event.pull_request.head.repo.full_name == github.repository
+      && (needs.clang_tidy.result == 'success' || needs.clang_tidy.result == 'failure')
+      && needs.clang_tidy.outputs.has_findings == 'true'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install clang-tools (for clang-tidy-diff)
+        run: sudo apt-get install -y clang-tools
+
+      - name: Download compile_commands.json
+        uses: actions/download-artifact@v4
+        with:
+          name: compile-commands
+          path: build/px4_sitl_default-clang
+
+      - name: Run clang-tidy-diff and export fixes
+        run: |
+          # WHY WE REWRITE compile_commands.json PATHS
+          #
+          # The clang_tidy job runs on a RunsOn/AWS runner where the workspace
+          # root is "/__w/PX4-Autopilot/PX4-Autopilot". All absolute paths baked
+          # into compile_commands.json (the "file" and "directory" fields, and
+          # every -I include path in "command") use that prefix.
+          #
+          # This annotation job runs on a GitHub-hosted runner where the
+          # workspace root is "/home/runner/work/PX4-Autopilot/PX4-Autopilot".
+          # When clang-tidy-diff invokes clang-tidy, it reads the "directory"
+          # field from compile_commands.json and calls chdir() on it. Since
+          # the AWS-style path does not exist here, clang-tidy crashes with:
+          #   LLVM ERROR: Cannot chdir into "/__w/.../build/px4_sitl_default-clang"
+          # and silently produces an empty fixes.yml, so no annotations are posted.
+          #
+          # Fix: rewrite all occurrences of the AWS workspace prefix to the
+          # current runner workspace ($GITHUB_WORKSPACE) before invoking
+          # clang-tidy-diff. Safe because compile_commands.json is a local
+          # scratch file pulled from the artifact; no source file is modified.
+          sed -i "s|/__w/PX4-Autopilot/PX4-Autopilot|${GITHUB_WORKSPACE}|g" \
+            build/px4_sitl_default-clang/compile_commands.json
+
+          mkdir -p clang-tidy-result
+          git diff -U0 origin/${{ github.base_ref }}...HEAD \
+            | clang-tidy-diff-18.py -p1 \
+                -path build/px4_sitl_default-clang \
+                -export-fixes clang-tidy-result/fixes.yml \
+                -j0 || true
+
+      - name: Annotate PR with clang-tidy findings
+        uses: platisd/clang-tidy-pr-comments@v1
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          clang_tidy_fixes: clang-tidy-result/fixes.yml
+          request_changes: true
+          suggestions_per_comment: 10
@@ -70,7 +70,7 @@ jobs:
      contents: read
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
      - uses: runs-on/action@v1

@@ -132,7 +132,7 @@ jobs:
      contents: write
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    steps:
      - uses: runs-on/action@v1

@@ -213,7 +213,6 @@ jobs:
    if: always() && (github.event_name == 'pull_request')
    permissions:
      contents: read
-      pull-requests: write
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
@@ -281,12 +280,32 @@ jobs:
            > ./logs/link-check-results.md || true
          cat ./logs/link-check-results.md

-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
+      - name: Prepare pr-comment artifact
+        id: prepare-pr-comment
+        run: |
+          if [ ! -s ./logs/filtered-link-check-results.md ]; then
+            echo "No link-check results file; skipping pr-comment artifact."
+            echo "prepared=false" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi
+          mkdir -p pr-comment
+          cp ./logs/filtered-link-check-results.md pr-comment/body.md
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:docs-link-check -->",
+            "mode": "upsert"
+          }
+          EOF
+          echo "prepared=true" >> "$GITHUB_OUTPUT"
+
+      - name: Upload pr-comment artifact
+        if: steps.prepare-pr-comment.outputs.prepared == 'true'
+        uses: actions/upload-artifact@v4
        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1

      - name: Upload link check results
        uses: actions/upload-artifact@v4
@@ -17,7 +17,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2

    steps:
      - uses: actions/checkout@v4
@@ -27,7 +27,7 @@ jobs:
      - name: main test
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git config --system --add safe.directory '*'
          make tests TESTFILTER=EKF

      - name: Check if there is a functional change
@@ -10,7 +10,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2

    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
@@ -24,7 +24,7 @@ jobs:
      - name: main test
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git config --system --add safe.directory '*'
          make tests TESTFILTER=EKF

      - name: Check if there exists diff and save result in variable
@@ -29,7 +29,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -26,7 +26,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -93,9 +93,6 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -105,7 +102,7 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
+    if: github.event.pull_request
    steps:
      - name: Find Comment
        uses: peter-evans/find-comment@v3
@@ -113,14 +110,14 @@ jobs:
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: FLASH Analysis
+          body-includes: '<!-- pr-comment-poster:flash-analysis -->'

      - name: Set Build Time
        id: bt
        run: |
          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Create or update comment
+      - name: Write pr-comment artifact
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -128,27 +125,46 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: peter-evans/create-or-update-comment@v4
+        run: |
+          mkdir -p pr-comment
+          cat > pr-comment/manifest.json <<EOF
+          {
+            "pr_number": ${{ github.event.pull_request.number }},
+            "marker": "<!-- pr-comment-poster:flash-analysis -->",
+            "mode": "upsert"
+          }
+          EOF
+          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
+          <!-- pr-comment-poster:flash-analysis -->
+          ## 🔎 FLASH Analysis
+          <details>
+            <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+            ```
+            ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+            ```
+          </details>
+
+          <details>
+            <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+            ```
+            ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+            ```
+          </details>
+
+          **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          PR_COMMENT_BODY_EOF
+
+      - name: Upload pr-comment artifact
+        if: |
+          steps.fc.outputs.comment-id != '' ||
+          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
+          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
+        uses: actions/upload-artifact@v4
        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: |
-            ## 🔎 FLASH Analysis
-            <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-              ```
-            </details>
-
-            <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-              ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-              ```
-            </details>
-
-            **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          edit-mode: replace
+          name: pr-comment
+          path: pr-comment/
+          retention-days: 1
@@ -24,7 +24,7 @@ jobs:
    name: Checking ${{ matrix.target }}
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      fail-fast: false
      matrix:
@@ -21,7 +21,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2

    strategy:
      matrix:
@@ -36,7 +36,7 @@ jobs:
      - name: Build PX4 and Run Test [${{ matrix.config }}]
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git config --system --add safe.directory '*'
          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"

@@ -0,0 +1,147 @@
+name: PR Comment Poster
+
+# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
+# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
+# workflow will post or update a sticky PR comment with its contents. Designed
+# so that analysis jobs running on untrusted fork PRs can still get their
+# results posted back to the PR.
+#
+# ==============================================================================
+# SECURITY INVARIANTS
+# ==============================================================================
+# This workflow runs on `workflow_run` which means it runs in the BASE REPO
+# context with a WRITE token, even when the triggering PR comes from a fork.
+# That is the entire reason it exists, and also the reason it is a loaded
+# footgun. Anyone modifying this file MUST preserve the following invariants:
+#
+#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
+#      of a fork branch. No execution of scripts from the downloaded artifact.
+#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
+#      and both are treated as opaque data (JSON parsed by the poster script
+#      and markdown posted verbatim via the GitHub API).
+#
+#   2. `pr_number` is validated to be a positive integer before use.
+#      `marker` is validated to be printable ASCII only before use. Validation
+#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
+#      the base branch, not from the artifact.
+#
+#   3. The comment body is passed to the GitHub API as a JSON field, never
+#      interpolated into a shell command string.
+#
+#   4. This workflow file lives on the default branch. `workflow_run` only
+#      loads workflow files from the default branch, so a fork cannot modify
+#      THIS file as part of a PR. The fork CAN cause this workflow to fire
+#      by triggering a producer workflow that uploads a `pr-comment` artifact.
+#      That is intended.
+#
+#   5. The artifact-name filter (`pr-comment`) is the only gate on which
+#      workflow runs get processed. Any workflow in this repo that uploads
+#      an artifact named `pr-comment` is trusted to have written the
+#      manifest and body itself, NOT copied fork-controlled content into
+#      them. Producer workflows are responsible for that.
+#
+#   6. `actions/checkout@v4` below uses NO ref (so it pulls the base branch,
+#      the default-branch commit this workflow file was loaded from) AND uses
+#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py. The
+#      rest of the repo never touches the workspace. This is safe: the only
+#      file the job executes is a base-repo Python script that was reviewed
+#      through normal code review, never anything from the PR.
+#
+# ==============================================================================
+# ARTIFACT CONTRACT
+# ==============================================================================
+# Producers upload an artifact named exactly `pr-comment` containing:
+#
+#   manifest.json:
+#     {
+#       "pr_number": 12345,                                      // required, int > 0
+#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
+#       "mode": "upsert"                                         // optional, default "upsert"
+#     }
+#
+#   body.md: the markdown content of the comment. Posted verbatim.
+#
+# The `marker` string is used to find an existing comment to update. It MUST
+# be unique per producer (e.g. include the producer name). If no existing
+# comment contains the marker, a new one is created. If the marker is found
+# in an existing comment, that comment is edited in place.
+#
+# Producers MUST write `pr_number` from their own workflow context
+# (`github.event.pull_request.number`) and MUST NOT read it from any
+# fork-controlled source.
+
+on:
+  workflow_run:
+    # Producers that may upload a `pr-comment` artifact. When a new producer
+    # is wired up, add its workflow name here. Runs of workflows not in this
+    # list will never trigger the poster. Every run of a listed workflow will
+    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
+    workflows:
+      - "FLASH usage analysis"
+      - "Docs - Orchestrator"
+    types:
+      - completed
+
+permissions:
+  pull-requests: write
+  actions: read
+  contents: read
+
+jobs:
+  post:
+    name: Post PR Comment
+    runs-on: ubuntu-latest
+    if: github.event.workflow_run.conclusion != 'cancelled'
+    steps:
+      # Checkout runs first so the poster script is available AND so that
+      # actions/checkout@v4's default clean step does not delete the artifact
+      # zip that the next step writes into the workspace. Sparse-checkout
+      # restricts the materialized tree to just the poster script.
+      - name: Checkout poster script only
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            Tools/ci/pr-comment-poster.py
+          sparse-checkout-cone-mode: false
+
+      - name: Download pr-comment artifact
+        id: download
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              run_id: context.payload.workflow_run.id,
+            });
+            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
+            if (!match) {
+              core.info('No pr-comment artifact on this run; nothing to post.');
+              core.setOutput('found', 'false');
+              return;
+            }
+            const download = await github.rest.actions.downloadArtifact({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              artifact_id: match.id,
+              archive_format: 'zip',
+            });
+            const fs = require('fs');
+            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
+            core.setOutput('found', 'true');
+
+      - name: Unpack artifact
+        if: steps.download.outputs.found == 'true'
+        run: |
+          mkdir -p pr-comment
+          unzip -q pr-comment.zip -d pr-comment
+
+      - name: Validate artifact
+        if: steps.download.outputs.found == 'true'
+        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
+
+      - name: Upsert sticky comment
+        if: steps.download.outputs.found == 'true'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -229,6 +229,28 @@ endif()
 #
 project(px4 CXX C ASM)

+# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
+# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
+# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
+# libraries carry a dummy.cpp placeholder, all of which legitimately produce
+# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
+#
+# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
+# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
+# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
+# -no_warning_for_no_symbols flag to add it quietly.
+if(APPLE)
+	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
+	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -1,9 +1,11 @@
 Maintainers
 ===========

-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+PX4 is maintained by a group of contributors trusted to steward the project. All maintainers listed below are members of the @PX4/dev-team, have write access, and participate in maintainer decisions. We recognize two types: **Code Owners**, responsible for specific components, and **Reviewers**, who help across the project without a fixed component.

-**Active Maintainers**
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers) to learn about the role of the maintainers and the process to become one.
+
+**Code Owners**

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
@@ -23,6 +25,15 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


+**Reviewers**
+
+Reviewers help maintain PX4 across the project without ownership of a specific component.
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| _No reviewers yet._ | | |
+
+
 **Documentation Maintainers**

 | Name | GitHub | Chat | email
@@ -193,6 +193,7 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
+	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -14,6 +14,7 @@

 param set UAVCAN_ENABLE 0

+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -38,7 +39,6 @@ param set-default SYS_HITL 2
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281

-param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144
@@ -48,3 +48,21 @@ param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_PSP_OFF 0.5
@@ -28,6 +28,7 @@ param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
+param set-default FW_PSP_OFF 5

 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
@@ -56,7 +57,6 @@ param set-default HIL_ACT_REV 32
 param set-default MAV_TYPE 19


-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -66,8 +66,9 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
+# tailsitter is equipped with two forward propellers
+param set SIH_F_T_MAX 2
+param set SIH_F_Q_MAX 0.0165
 param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set SIH_IXX 0.00354
@@ -77,6 +78,19 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145

+# propeller diameter, rpm, and coeffs coming from the thesis
+# Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
+# Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.1342
+param set SIH_F_CT1 -0.1196
+param set SIH_F_CT2 -0.1281
+param set SIH_F_CP0 0.0522
+param set SIH_F_CP1 -0.0146
+param set SIH_F_CP2 -0.0602
+param set SIH_F_DIA_INCH 5
+param set SIH_F_RPM_MAX 14000
+
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2

@@ -56,6 +56,7 @@ param set-default CA_SV_CS2_TYPE 4  # rudder
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 10
 param set-default FW_AIRSPD_MAX 12
+param set-default VT_FWD_THRUST_EN 1

 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
@@ -77,6 +78,7 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

+# quadrotor propellers
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -88,5 +90,18 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.2

+# pusher propeller model with advance ratio, model from UIUC APC 8x6"
+param set SIH_F_T_MAX 6
+param set SIH_F_Q_MAX 0.03
+# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
+param set SIH_F_CT0 0.131
+param set SIH_F_CT1 0.004
+param set SIH_F_CT2 -0.146
+param set SIH_F_CP0 0.0777
+param set SIH_F_CP1 0.0498
+param set SIH_F_CP2 -0.11
+param set SIH_F_DIA_INCH 8
+param set SIH_F_RPM_MAX 9000
+
 # sih as standard vtol
 param set SIH_VEHICLE_TYPE 3
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name SIH Hexacopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set UAVCAN_ENABLE 0
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 106
@@ -49,6 +49,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
+		1105_rc_hexa_x_sih.hil
 	)
 	if(CONFIG_MODULES_ROVER_ACKERMANN)
 		px4_add_romfs_files(
@@ -31,11 +31,20 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
+set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+# Fine-grained feature gates.
+set USE_HARDFAULT_LOG no
+set USE_EXTERNAL_AIRFRAMES no
+set USE_PARAM_BACKUPS no
+set USE_PARAM_IMPORT_DEBUG no
+set USE_TASK_WATCHDOG no
+set USE_ALT_UPDATE_DIRS no
+
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
@@ -48,53 +57,81 @@ set PARAM_DEFAULTS_VER 1
 ver all

 #
-# Try to mount the microSD card.
+# Optional early board init: rc.board_early
+# Can be used for setting env vars for rcS.
 #
-if [ -b "/dev/mmcsd0" ]
+set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
+if [ -f $BOARD_RC_EARLY ]
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
-	then
-		if [ -f "/fs/microsd/.format" ]
-		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
+	. $BOARD_RC_EARLY
+fi
+unset BOARD_RC_EARLY

-		else
+#
+# Try to mount/check storage (rc.board_early can disable this).
+#
+if [ $STORAGE_CHECK = yes ]
+then
+	#
+	# Try to mount the microSD card.
+	#
+	if [ -b "/dev/mmcsd0" ]
+	then
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		then
+			if [ -f "/fs/microsd/.format" ]
+			then
+				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+				set SDCARD_FORMAT yes
+				rm /fs/microsd/.format
+				umount /fs/microsd
+
+			else
+				set STORAGE_AVAILABLE yes
+			fi
+		fi
+
+		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+		then
+			echo "INFO [init] formatting /dev/mmcsd0"
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+			if mkfatfs -F 32 /dev/mmcsd0
+			then
+				echo "INFO [init] card formatted"
+
+				if mount -t vfat /dev/mmcsd0 /fs/microsd
+				then
+					set STORAGE_AVAILABLE yes
+					set STARTUP_TUNE 14 # tune 14 = SD_INIT
+				else
+					echo "ERROR [init] card mount failed"
+				fi
+			else
+				echo "ERROR [init] format failed"
+			fi
+		fi
+	else
+		# Is there a device mounted for storage
+		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+		then
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
-
-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
-		then
-			echo "INFO [init] card formatted"
-
-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set STORAGE_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
-		else
-			echo "ERROR [init] format failed"
-		fi
-	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
 fi

 if [ $STORAGE_AVAILABLE = yes ]
+then
+	set USE_HARDFAULT_LOG yes
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_PARAM_BACKUPS yes
+	set USE_PARAM_IMPORT_DEBUG yes
+	set USE_ALT_UPDATE_DIRS yes
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
+fi
+
+if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -104,7 +141,15 @@ then
 			hardfault_log reset
 		fi
 	fi
+fi

+if [ $USE_TASK_WATCHDOG = yes ]
+then
+	task_watchdog start
+fi
+
+if [ $USE_ALT_UPDATE_DIRS = yes ]
+then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -112,9 +157,6 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
-
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -155,8 +197,11 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				# save copy of the failed param file for debugging
+				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
+			fi

 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -174,11 +219,14 @@ else

 			param status

-			dmesg >> /fs/microsd/param_import_fail.txt &
+			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
+			then
+				dmesg >> /fs/microsd/param_import_fail.txt &
+			fi
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $USE_PARAM_BACKUPS = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -234,12 +282,12 @@ else

 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# Run external airframe script on SD card or EEPROM-backed storage
+		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			echo "ERROR [init] no external airframe storage, skipping"
 		fi
 	fi

@@ -651,10 +699,6 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-	#
-	# Lock read-only parameters (if configured for this board).
-	#
-	param lock

 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
@@ -683,9 +727,16 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
+unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
+unset USE_HARDFAULT_LOG
+unset USE_EXTERNAL_AIRFRAMES
+unset USE_PARAM_BACKUPS
+unset USE_PARAM_IMPORT_DEBUG
+unset USE_TASK_WATCHDOG
+unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE

 #
@@ -0,0 +1,405 @@
+#!/usr/bin/env python3
+"""
+PR comment poster for analysis workflows.
+
+This script is invoked from the `PR Comment Poster` workflow which runs on
+`workflow_run` in the base repository context. It consumes a `pr-comment`
+artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
+etc.) and posts or updates a sticky PR comment via the GitHub REST API.
+
+Artifact contract (directory passed on the command line):
+
+  manifest.json
+    {
+      "pr_number": 12345,                                     (required, int > 0)
+      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
+      "mode":      "upsert"                                    (optional, default "upsert")
+    }
+
+  body.md
+    Markdown comment body, posted verbatim. Must be non-empty and
+    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
+
+Security: this script is run in a write-token context from a workflow that
+MUST NOT check out PR code. Both manifest.json and body.md are treated as
+opaque data. The marker is validated to printable ASCII only before use.
+
+Subcommands:
+
+  validate <dir>   Validate that <dir> contains a conforming manifest + body.
+  post <dir>       Validate, then upsert a sticky comment on the target PR.
+                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
+
+Python stdlib only. No third-party dependencies.
+"""
+
+import argparse
+import json
+import os
+import sys
+import typing
+import urllib.error
+import urllib.request
+
+
+# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
+# the appended marker line and any future wrapping.
+MAX_BODY_BYTES = 60000
+
+# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
+# "<!-- pr-comment-poster:flash-analysis -->".
+MARKER_MIN_LEN = 1
+MARKER_MAX_LEN = 200
+
+ACCEPTED_MODES = ('upsert',)
+
+GITHUB_API = 'https://api.github.com'
+USER_AGENT = 'px4-pr-comment-poster'
+
+
+# ---------------------------------------------------------------------------
+# Validation
+# ---------------------------------------------------------------------------
+
+def _fail(msg: str) -> typing.NoReturn:
+    print('error: {}'.format(msg), file=sys.stderr)
+    sys.exit(1)
+
+
+def _is_printable_ascii(s):
+    # Space (0x20) through tilde (0x7E) inclusive.
+    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
+
+
+def validate_marker(marker):
+    """Validate the marker string.
+
+    The marker is printable ASCII only and bounded in length. The original
+    shell implementation also rejected quotes, backticks, and backslashes
+    because the value flowed through jq and shell contexts. Now that Python
+    owns the handling (the value is only ever used as a substring match in
+    comment bodies and as a literal string in JSON request payloads that
+    urllib serialises for us) those characters are safe. We keep the
+    printable-ASCII and length rules as a belt-and-braces sanity check.
+    """
+    if not isinstance(marker, str):
+        _fail('marker must be a string')
+    n = len(marker)
+    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
+        _fail('marker length out of range ({}..{}): {}'.format(
+            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
+    if not _is_printable_ascii(marker):
+        _fail('marker contains non-printable or non-ASCII character')
+
+
+def validate_manifest(directory):
+    """Validate <directory>/manifest.json and <directory>/body.md.
+
+    Returns a dict with keys: pr_number (int), marker (str), mode (str),
+    body (str, verbatim contents of body.md).
+    """
+    manifest_path = os.path.join(directory, 'manifest.json')
+    body_path = os.path.join(directory, 'body.md')
+
+    if not os.path.isfile(manifest_path):
+        _fail('manifest.json missing at {}'.format(manifest_path))
+    if not os.path.isfile(body_path):
+        _fail('body.md missing at {}'.format(body_path))
+
+    try:
+        with open(manifest_path, 'r', encoding='utf-8') as f:
+            manifest = json.load(f)
+    except (OSError, json.JSONDecodeError) as e:
+        _fail('manifest.json is not valid JSON: {}'.format(e))
+
+    if not isinstance(manifest, dict):
+        _fail('manifest.json must be a JSON object')
+
+    pr_number = manifest.get('pr_number')
+    # bool is a subclass of int in Python, so isinstance(True, int) is True.
+    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
+    # validate as 1/0 and then either fail upstream or poke the wrong PR.
+    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
+        _fail('pr_number must be an integer')
+    if pr_number <= 0:
+        _fail('pr_number must be > 0 (got {})'.format(pr_number))
+
+    marker = manifest.get('marker')
+    validate_marker(marker)
+
+    mode = manifest.get('mode', 'upsert')
+    if mode not in ACCEPTED_MODES:
+        _fail('unsupported mode {!r} (accepted: {})'.format(
+            mode, ', '.join(ACCEPTED_MODES)))
+
+    # Read as bytes first so the size check is an honest byte count (matching
+    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
+    try:
+        with open(body_path, 'rb') as f:
+            body_bytes = f.read()
+    except OSError as e:
+        _fail('could not read body.md: {}'.format(e))
+
+    if len(body_bytes) == 0:
+        _fail('body.md is empty')
+    if len(body_bytes) > MAX_BODY_BYTES:
+        _fail('body.md too large: {} bytes (max {})'.format(
+            len(body_bytes), MAX_BODY_BYTES))
+
+    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
+    # here rather than later inside json.dumps with a less obvious traceback.
+    try:
+        body = body_bytes.decode('utf-8')
+    except UnicodeDecodeError as e:
+        _fail('body.md is not valid UTF-8: {}'.format(e))
+
+    return {
+        'pr_number': pr_number,
+        'marker': marker,
+        'mode': mode,
+        'body': body,
+    }
+
+
+# ---------------------------------------------------------------------------
+# GitHub HTTP helpers
+# ---------------------------------------------------------------------------
+
+def _github_request(method, url, token, json_body=None):
+    """Perform a single GitHub REST request.
+
+    Returns a tuple (parsed_json_or_none, headers_dict). Raises RuntimeError
+    with the server response body on HTTP errors so CI logs show what
+    GitHub complained about.
+    """
+    data = None
+    headers = {
+        'Authorization': 'Bearer {}'.format(token),
+        'Accept': 'application/vnd.github+json',
+        # Pin the API version so GitHub deprecations don't silently change
+        # the response shape under us.
+        'X-GitHub-Api-Version': '2022-11-28',
+        'User-Agent': USER_AGENT,
+    }
+    if json_body is not None:
+        data = json.dumps(json_body).encode('utf-8')
+        headers['Content-Type'] = 'application/json; charset=utf-8'
+
+    req = urllib.request.Request(url, data=data, method=method, headers=headers)
+    try:
+        with urllib.request.urlopen(req) as resp:
+            raw = resp.read()
+            # HTTPMessage is case-insensitive on lookup but its items() preserves
+            # the original case. GitHub sends "Link" with a capital L, which is
+            # what _parse_next_link expects.
+            resp_headers = dict(resp.headers.items())
+            if not raw:
+                return None, resp_headers
+            return json.loads(raw.decode('utf-8')), resp_headers
+    except urllib.error.HTTPError as e:
+        # GitHub error bodies are JSON with a "message" field and often a
+        # "documentation_url". Dump the raw body into the exception so the CI
+        # log shows exactly what the API objected to. A bare "HTTP 422"
+        # tells us nothing useful.
+        try:
+            err_body = e.read().decode('utf-8', errors='replace')
+        except Exception:
+            err_body = '(no body)'
+        raise RuntimeError(
+            'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
+                method, url, e.code, e.reason, err_body))
+    except urllib.error.URLError as e:
+        # Network layer failure (DNS, TLS, connection reset). No HTTP response
+        # to parse; just surface the transport reason.
+        raise RuntimeError(
+            'GitHub API {} {} failed: {}'.format(method, url, e.reason))
+
+
+def _parse_next_link(link_header):
+    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
+
+    The Link header is comma-separated entries of the form:
+      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
+    We walk each entry and return the URL of the one whose rel attribute is
+    "next". Accept single-quoted rel values for robustness even though GitHub
+    always emits double quotes.
+    """
+    if not link_header:
+        return None
+    for part in link_header.split(','):
+        segs = part.strip().split(';')
+        if len(segs) < 2:
+            continue
+        url_seg = segs[0].strip()
+        if not (url_seg.startswith('<') and url_seg.endswith('>')):
+            continue
+        url = url_seg[1:-1]
+        for attr in segs[1:]:
+            attr = attr.strip()
+            if attr == 'rel="next"' or attr == "rel='next'":
+                return url
+    return None
+
+
+def github_api(method, path, token, json_body=None):
+    """GET/POST/PATCH a single GitHub API path. Non-paginated."""
+    url = '{}/{}'.format(GITHUB_API.rstrip('/'), path.lstrip('/'))
+    body, _ = _github_request(method, url, token, json_body=json_body)
+    return body
+
+
+def github_api_paginated(path, token):
+    """GET a GitHub API path and follow rel="next" Link headers.
+
+    Yields items from each page's JSON array.
+    """
+    url = '{}/{}'.format(GITHUB_API.rstrip('/'), path.lstrip('/'))
+    # GitHub defaults to per_page=30. Bump to 100 (the max) so a PR with a
+    # few hundred comments fetches in 3 or 4 round-trips instead of 10+.
+    sep = '&' if '?' in url else '?'
+    url = '{}{}per_page=100'.format(url, sep)
+    while url is not None:
+        body, headers = _github_request('GET', url, token)
+        if body is None:
+            return
+        if not isinstance(body, list):
+            raise RuntimeError(
+                'expected JSON array from {}, got {}'.format(
+                    url, type(body).__name__))
+        for item in body:
+            yield item
+        url = _parse_next_link(headers.get('Link'))
+
+
+# ---------------------------------------------------------------------------
+# Comment upsert
+# ---------------------------------------------------------------------------
+
+def find_existing_comment_id(token, repo, pr_number, marker):
+    """Return the id of the first PR comment whose body contains marker, or None.
+
+    PR comments are issue comments in GitHub's data model, so we hit
+    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
+    returns review comments tied to specific code lines, which is not what
+    we want). The match is a plain substring check against the comment body;
+    the marker is expected to be an HTML comment that will not accidentally
+    appear in user-written prose.
+    """
+    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
+    for comment in github_api_paginated(path, token):
+        body = comment.get('body') or ''
+        if marker in body:
+            return comment.get('id')
+    return None
+
+
+def build_final_body(body, marker):
+    """Append the marker to body if not already present.
+
+    If the caller already embedded the marker (e.g. inside a hidden HTML
+    comment anywhere in their body) we leave the body alone; otherwise we
+    rstrip trailing newlines and append the marker on its own line after a
+    blank-line separator. Trailing-newline stripping keeps the output from
+    accumulating extra blank lines every time an existing comment is
+    re-rendered and re-posted.
+    """
+    if marker in body:
+        return body
+    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
+
+
+def upsert_comment(token, repo, pr_number, marker, body):
+    final_body = build_final_body(body, marker)
+    existing_id = find_existing_comment_id(token, repo, pr_number, marker)
+
+    if existing_id is not None:
+        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
+        github_api(
+            'PATCH',
+            'repos/{}/issues/comments/{}'.format(repo, existing_id),
+            token,
+            json_body={'body': final_body},
+        )
+    else:
+        print('Creating new comment on PR #{}'.format(pr_number))
+        github_api(
+            'POST',
+            'repos/{}/issues/{}/comments'.format(repo, pr_number),
+            token,
+            json_body={'body': final_body},
+        )
+
+
+# ---------------------------------------------------------------------------
+# Entry points
+# ---------------------------------------------------------------------------
+
+def cmd_validate(args):
+    result = validate_manifest(args.directory)
+    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
+        result['pr_number'],
+        len(result['marker']),
+        result['mode'],
+        len(result['body'].encode('utf-8')),
+    ))
+    return 0
+
+
+def cmd_post(args):
+    result = validate_manifest(args.directory)
+
+    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
+    # auto-set on every Actions runner. Both are required here because a local
+    # developer running the script directly won't have either unless they
+    # export them, and we want a clear error in that case.
+    token = os.environ.get('GITHUB_TOKEN')
+    if not token:
+        _fail('GITHUB_TOKEN is not set')
+    repo = os.environ.get('GITHUB_REPOSITORY')
+    if not repo:
+        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
+    # Minimal shape check. If "owner/name" is malformed the subsequent API
+    # calls would 404 with an unhelpful URL. Fail fast here instead.
+    if '/' not in repo:
+        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
+
+    try:
+        upsert_comment(
+            token=token,
+            repo=repo,
+            pr_number=result['pr_number'],
+            marker=result['marker'],
+            body=result['body'],
+        )
+    except RuntimeError as e:
+        _fail(str(e))
+    return 0
+
+
+def main(argv=None):
+    parser = argparse.ArgumentParser(
+        description='Validate and post sticky PR comments from CI artifacts.',
+    )
+    sub = parser.add_subparsers(dest='command', required=True)
+
+    p_validate = sub.add_parser(
+        'validate',
+        help='Validate manifest.json and body.md in the given directory.',
+    )
+    p_validate.add_argument('directory')
+    p_validate.set_defaults(func=cmd_validate)
+
+    p_post = sub.add_parser(
+        'post',
+        help='Validate, then upsert a sticky PR comment. Requires env '
+             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
+    )
+    p_post.add_argument('directory')
+    p_post.set_defaults(func=cmd_post)
+
+    args = parser.parse_args(argv)
+    return args.func(args)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+Run clang-tidy incrementally on files changed in a PR.
+
+Usage: run-clang-tidy-pr.py <base-ref>
+  base-ref: e.g. origin/main
+
+Computes the set of translation units (TUs) affected by the PR diff,
+then invokes Tools/run-clang-tidy.py on that subset only.
+Exits 0 silently when no C++ files were changed.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+EXTENSIONS_CPP = {'.cpp', '.c'}
+EXTENSIONS_HDR = {'.hpp', '.h'}
+# Manual exclusions from Makefile:508
+EXCLUDE_EXTRA = '|'.join([
+    'src/systemcmds/tests',
+    'src/examples',
+    'src/modules/gyro_fft/CMSIS_5',
+    'src/lib/drivers/smbus',
+    'src/drivers/gpio',
+    r'src/modules/commander/failsafe/emscripten',
+    r'failsafe_test\.dir',
+])
+
+
+def repo_root():
+    try:
+        return subprocess.check_output(
+            ['git', 'rev-parse', '--show-toplevel'], text=True).strip()
+    except subprocess.CalledProcessError:
+        print('error: not inside a git repository', file=sys.stderr)
+        sys.exit(1)
+
+
+def changed_files(base_ref, root):
+    try:
+        out = subprocess.check_output(
+            ['git', 'diff', '--name-only', f'{base_ref}...HEAD',
+             '--', '*.cpp', '*.hpp', '*.h', '*.c'],
+            text=True, cwd=root).strip()
+        return out.splitlines() if out else []
+    except subprocess.CalledProcessError:
+        print(f'error: could not diff against "{base_ref}" — '
+              'is the ref valid and fetched?', file=sys.stderr)
+        sys.exit(1)
+
+
+def submodule_paths(root):
+    # Returns [] if .gitmodules is absent or has no paths — both valid
+    try:
+        out = subprocess.check_output(
+            ['git', 'config', '--file', '.gitmodules',
+             '--get-regexp', 'path'],
+            text=True, cwd=root).strip()
+        return [line.split()[1] for line in out.splitlines()]
+    except subprocess.CalledProcessError:
+        return []
+
+
+def build_exclude(root):
+    submodules = '|'.join(submodule_paths(root))
+    return f'{submodules}|{EXCLUDE_EXTRA}' if submodules else EXCLUDE_EXTRA
+
+
+def load_db(build_dir):
+    db_path = os.path.join(build_dir, 'compile_commands.json')
+    if not os.path.isfile(db_path):
+        print(f'error: {db_path} not found', file=sys.stderr)
+        print('Run "make px4_sitl_default-clang" first to generate '
+              'the compilation database', file=sys.stderr)
+        sys.exit(1)
+    try:
+        with open(db_path) as f:
+            return json.load(f)
+    except json.JSONDecodeError as e:
+        print(f'error: compile_commands.json is malformed: {e}', file=sys.stderr)
+        sys.exit(1)
+
+
+def find_tus(changed, db, root):
+    db_files = {e['file'] for e in db}
+    result = set()
+    for f in changed:
+        abs_path = os.path.join(root, f)
+        ext = os.path.splitext(f)[1]
+        if ext in EXTENSIONS_CPP:
+            if abs_path in db_files:
+                result.add(abs_path)
+        elif ext in EXTENSIONS_HDR:
+            hdr = os.path.basename(f)
+            for e in db:
+                try:
+                    if hdr in open(e['file']).read():
+                        result.add(e['file'])
+                except OSError:
+                    pass  # file deleted in PR — skip
+    return sorted(result)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__,
+                                     formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('base_ref',
+                        help='Git ref to diff against, e.g. origin/main')
+    args = parser.parse_args()
+
+    root = repo_root()
+    build_dir = os.path.join(root, 'build', 'px4_sitl_default-clang')
+
+    run_tidy = os.path.join(root, 'Tools', 'run-clang-tidy.py')
+    if not os.path.isfile(run_tidy):
+        print(f'error: {run_tidy} not found', file=sys.stderr)
+        sys.exit(1)
+
+    changed = changed_files(args.base_ref, root)
+    if not changed:
+        print('No C++ files changed — skipping clang-tidy')
+        sys.exit(0)
+
+    db = load_db(build_dir)
+    tus = find_tus(changed, db, root)
+
+    if not tus:
+        print('No matching TUs in compile_commands.json — skipping clang-tidy')
+        sys.exit(0)
+
+    print(f'Running clang-tidy on {len(tus)} translation unit(s)')
+
+    result = subprocess.run(
+        [sys.executable, run_tidy,
+         '-header-filter=.*\\.hpp',
+         '-j0',
+         f'-exclude={build_exclude(root)}',
+         '-p', build_dir] + tus
+    )
+    sys.exit(result.returncode)
+
+
+if __name__ == '__main__':
+    main()
@@ -34,8 +34,5 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start

-# Start the task_watchdog as we do not have the logger watchdog
-task_watchdog start
-
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Board early init.
+#
+# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
+# enable required for task watchdog as this is not a generally used feature.
+# On EEPROM boards: Only airframes and params are needed.
+#
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+then
+	# Start the task_watchdog as we do not have the logger watchdog
+	set USE_TASK_WATCHDOG yes
+else
+	set PARAM_FILE /fs/microsd/params
+	set STORAGE_CHECK no
+	set USE_EXTERNAL_AIRFRAMES yes
+	set USE_ALT_UPDATE_DIRS yes
+fi
@@ -202,6 +202,9 @@ extern void stm32_spiinitialize(void);

 extern void board_peripheral_reset(int ms);

+/* Initialise the FRAM MTD. */
+extern void board_configure_fram(void);
+
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -55,10 +55,12 @@

 #include <nuttx/config.h>
 #include <nuttx/board.h>
+#include <nuttx/i2c/i2c_master.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
+#include <nuttx/mtd/mtd.h>
 #include <nuttx/mm/gran.h>
 #include <chip.h>
 #include <stm32_uart.h>
@@ -70,10 +72,14 @@
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/micro_hal.h>
 #include <px4_platform_common/px4_manifest.h>
-#include <px4_platform/gpio.h>
+#include <px4_platform_common/px4_mtd.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_platform/board_hw_eeprom_rev_ver.h>
+#include <px4_platform/gpio.h>
+#include <lib/crc/crc.h>

 /****************************************************************************
 * Pre-Processor Definitions
@@ -158,6 +164,80 @@ stm32_boardinitialize(void)
 	px4_gpio_init(gpio, arraySize(gpio));
 }

+#if !defined(BOOTLOADER)
+/****************************************************************************
+ * Name: eeprom_read_and_check_mft
+ *
+ * Description:
+ *   Read an mtd_mft_v0_t from the EEPROM at the given byte offset and
+ *   validate its CRC.  Returns true if the record has a recognised version
+ *   field and a matching CRC16.
+ ****************************************************************************/
+
+static bool eeprom_read_and_check_mft(struct i2c_master_s *i2c, uint16_t address)
+{
+	uint8_t addr_write[2] = { (uint8_t)(address >> 8), (uint8_t)(address & 0xFF) };
+	mtd_mft_v0_t mft = {};
+	struct i2c_msg_s msgs[2] = {
+		{ .frequency = 400000, .addr = 0x50, .flags = 0, .buffer = addr_write, .length = sizeof(addr_write) },
+		{ .frequency = 400000, .addr = 0x50, .flags = I2C_M_READ, .buffer = (uint8_t *) &mft, .length = sizeof(mft) },
+	};
+
+	int retries = 5;
+
+	while (I2C_TRANSFER(i2c, msgs, 2) != OK) {
+		if (--retries == 0) {
+			syslog(LOG_WARNING, "[boot] EEPROM I2C comm failed\n");
+			return false;
+		}
+	}
+
+	if (mft.version.id != MTD_MFT_v0) { return false; }
+
+	uint16_t computed = crc16_signature(CRC16_INITIAL, sizeof(mft) - sizeof(mft.crc), (const uint8_t *)&mft);
+	return computed == mft.crc;
+}
+
+/****************************************************************************
+ * Name: detect_layout_is_fram
+ *
+ * Description:
+ *   Determine which EEPROM layout is present by reading MTD_MFT_VER from
+ *   the two possible byte offsets and validating its CRC.
+ ****************************************************************************/
+
+static bool detect_layout_is_fram(void)
+{
+	struct i2c_master_s *i2c = px4_i2cbus_initialize(4);
+	bool ret;
+
+	if (!i2c) {
+		syslog(LOG_WARNING, "[boot] EEPROM I2C init failed, defaulting to FRAM layout\n");
+		ret = true;
+		goto out;
+	}
+
+	/* FRAM-variant: MTD_MFT_VER after MTD_CALDATA (224 blocks x 32 B). */
+	if (eeprom_read_and_check_mft(i2c, 224u * 32u)) {
+		ret = true;
+		goto out;
+	}
+
+	/* EEPROM-only: MTD_MFT_VER is the first partition (0 blocks x 32 B)*/
+	if (eeprom_read_and_check_mft(i2c, 0u)) {
+		ret = false;
+		goto out;
+	}
+
+	/* Neither offset contains a valid record, default to FRAM layout. */
+	ret = true;
+
+out:
+	px4_i2cbus_uninitialize(i2c);
+	return ret;
+}
+#endif /* !defined(BOOTLOADER) */
+
 /****************************************************************************
 * Name: board_app_initialize
 *
@@ -187,15 +267,19 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)
 	/* Need hrt running before using the ADC */
-
 	px4_platform_init();

-	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
-
+	/* First SPI init. HW version is not enabled yet, so only always-enabled
+	 * buses/devices can be used. */
 	stm32_spiinitialize();

-	/* Configure the HW based on the manifest */
+	bool fram_available = detect_layout_is_fram();

+	if (fram_available) {
+		board_configure_fram();
+	}
+
+	/* Configure the HW based on the manifest */
 	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
@@ -206,14 +290,24 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

-	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+	/* EEPROM-only boards use a 128Kbit chip: 512 pages × 32 B = 16 KB.
+	 * FRAM boards use a 64Kbit EEPROM: 256 pages × 32 B = 8 KB.
+	 * Always use 32-byte page writes (safe for 64-byte page chips too). */
+	unsigned int mtd_count = 0;
+	mtd_instance_s **instances = px4_mtd_get_instances(&mtd_count);
+	uint16_t eeprom_npages = fram_available ? 256 : 512;

+	/* instances[0] is always EEPROM on both board variants. */
+	if (mtd_count > 0 && instances[0]->mtd_dev != NULL) {
+		px4_at24c_set_npages(instances[0]->mtd_dev, eeprom_npages);
+	}
+
+	/* Second SPI init. Now HW version is determined and complete init can be done. */
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

 	/* Configure the DMA allocator */
-
 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
@@ -234,7 +328,33 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}

-	if (nx_mount("/dev/mtdblock0", "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+	/* Mount LittleFS as /fs/microsd:
+	 * FRAM boards:  EEPROM->mtdblock0-4, FRAM->mtdblock5 (LittleFS).
+	 * EEPROM-only: EEPROM->mtdblock0-2, FTL on free EEPROM region mtdblock3 (LittleFS). */
+	const char *lfs_dev;
+
+	if (fram_available) {
+		lfs_dev = "/dev/mtdblock5";
+
+	} else {
+		if (mtd_count > 0 && instances[0]->mtd_dev != NULL) {
+			FAR struct mtd_dev_s *eeprom_fs = mtd_partition(instances[0]->mtd_dev, 3, eeprom_npages - 3);
+
+			if (!eeprom_fs || ftl_initialize(3, eeprom_fs) != 0) {
+				syslog(LOG_ERR, "[boot] EEPROM: FTL init failed\n");
+				led_on(LED_RED);
+			}
+
+		} else {
+			syslog(LOG_ERR, "[boot] EEPROM not found\n");
+			led_on(LED_RED);
+		}
+
+		lfs_dev = "/dev/mtdblock3";
+	}
+
+	if (nx_mount(lfs_dev, "/fs/microsd", "littlefs", 0, "autoformat") != 0) {
+		syslog(LOG_ERR, "[boot] failed to mount /fs/microsd\n");
 		led_on(LED_RED);
 	}

@@ -37,16 +37,15 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>

-static const px4_mft_device_t spi4 = {             // FM25V02A on FMUM native: 128K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi4 = {             // MB85RS1MT on FMUM native: 1Mbit, emulated as (1024 Blocks of 32)
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256
+static const px4_mft_device_t i2c4 = {             // 24LC64T   8K 32 X 256 or 16K for EEPROM only boards
 	.bus_type =  px4_mft_device_t::I2C,
 	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
 };

-
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi4,
 	.npart = 1,
@@ -59,7 +58,36 @@ static const px4_mtd_entry_t fmum_fram = {
 	},
 };

+/* EEPROM layout for EEPROM-only boards (128Kbit, 512 pages x 32B = 16KB). */
+static constexpr uint32_t kEepromParts = 3;
+
 static const px4_mtd_entry_t fmum_eeprom = {
+	.device = &i2c4,
+	.npart = kEepromParts,
+	.partd = {
+		{
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
+			.nblocks = 1
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 1
+		},
+		{
+			.type = MTD_NET,
+			.path = "/fs/mtd_net",
+			.nblocks = 1
+		}
+	},
+};
+static_assert(kEepromParts == 3,
+	      "EEPROM partition count changed: update init.c accordingly");
+
+/* EEPROM layout for FRAM boards (64Kbit, 256 pages x 32B = 8KB).
+ * Matches existing layout for backwards compatibility reasons. */
+static const px4_mtd_entry_t fmum_eeprom_fram = {
 	.device = &i2c4,
 	.npart = 5,
 	.partd = {
@@ -81,22 +109,24 @@ static const px4_mtd_entry_t fmum_eeprom = {
 		{
 			.type = MTD_ID,
 			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
+			.nblocks = 8
 		},
 		{
 			.type = MTD_NET,
 			.path = "/fs/mtd_net",
-			.nblocks = 8 // 256 = 32 * 8
+			.nblocks = 8
 		}
 	},
 };

 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&fmum_eeprom
-	}
+	.nconfigs = 1,
+	.entries = { &fmum_eeprom }
+};
+
+static const px4_mtd_manifest_t board_mtd_config_fram = {
+	.nconfigs = 2,
+	.entries = { &fmum_eeprom_fram, &fmum_fram }
 };

 static const px4_mft_entry_s mtd_mft = {
@@ -104,20 +134,36 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };

+static const px4_mft_entry_s mtd_mft_fram = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config_fram,
+};
+
 static const px4_mft_entry_s mft_mft = {
 	.type = MFT,
 	.pmft = (void *) system_query_manifest,
 };

+/* Manifest for EEPROM only boards */
 static const px4_mft_s mft = {
 	.nmft = 2,
-	.mfts = {
-		&mtd_mft,
-		&mft_mft,
-	}
+	.mfts = { &mtd_mft, &mft_mft }
 };

+/* Manifest for EEPROM + FRAM boards */
+static const px4_mft_s mft_fram = {
+	.nmft = 2,
+	.mfts = { &mtd_mft_fram, &mft_mft }
+};
+
+static const px4_mft_s *g_manifest = &mft;
+
 const px4_mft_s *board_get_manifest(void)
 {
-	return &mft;
+	return g_manifest;
+}
+
+void board_configure_fram(void)
+{
+	g_manifest = &mft_fram;
 }
@@ -287,8 +287,8 @@

 /* AUX */

-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */
+#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_1 | LPUART_IOMUX) /* GPIO_B1_01 */
+#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_1 | LPUART_IOMUX) /* GPIO_B1_00 */

 /* GPS 1 */

@@ -0,0 +1,107 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_INPUT=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+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
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+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_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
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=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
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_BOARD_VENDOR="saam"
+CONFIG_BOARD_MODEL="saampixv1_1"
+CONFIG_BOARD_NAME="SaamPixV1_1"
@@ -0,0 +1,13 @@
+{
+    "board_id": 1,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the SaamPixV1_1 board",
+    "image": "", 
+    "build_time": 0, 
+    "summary": "SaamPixV1_1",      
+    "version": "1.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_A_PER_V 17.0
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# SaamPixV1_1 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# external I2C compasses, if present
+hmc5883 -X start
+qmc5883l -X start
+
+# internal SPI sensors
+ms5611 -s start
+icm20602 -s start
+mpu9250 -s start
+lis3mdl -s start
@@ -0,0 +1,271 @@
+/************************************************************************************
+ * boards/saam/saampixv1_1/nuttx-config/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 8           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
+ */
+
+#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
+ * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32_SDIO_DMA
+#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
+#else
+#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
+
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+#define GPIO_USART6_RX	GPIO_USART6_RX_2
+#define GPIO_USART6_TX	GPIO_USART6_TX_2
+
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+
+/* UART8 has no alternate pin config */
+
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
+
+#endif  /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
+#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+//      AVAILABLE                             // DMA2, Stream 3
+#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 5, Channel 6
+#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
@@ -0,0 +1,255 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/saam/saampixv1_1/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F427V=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x008E
+CONFIG_CDCACM_PRODUCTSTR="SaamPixV1_1 Flight Controller"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Saam Drones"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDIO_BLOCKSETUP=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_I=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SDIO_CARD=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMATHRESHOLD=8
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM9=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=300
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=128
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,51 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_library(drivers_board
+	can.c
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * SaamPixV1_1 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+
+/* SaamPixV1_1 GPIOs ***********************************************************************************/
+/* LEDs */
+#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define BOARD_OVERLOAD_LED     LED_RED
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+
+// ADC defines to be used in sensors.cpp to read from a particular channel
+#define ADC_5V_RAIL_SENSE		4
+#define ADC_BATTERY_CURRENT_CHANNEL	10
+#define ADC_BATTERY_VOLTAGE_CHANNEL	12
+#define ADC_RC_RSSI_CHANNEL		11
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
+
+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+/* Tone alarm output */
+#define TONE_ALARM_TIMER	14	/* timer 14 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
+
+/* AUX PWMs
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS	8
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
+
+#define HRT_PPM_CHANNEL		1
+#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
+#define PWMIN_TIMER		4
+#define PWMIN_TIMER_CHANNEL	1
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
+
+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
+// #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
+
+#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
+#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
+
+/* Power switch controls */
+#define SPEKTRUM_POWER(_on_true)      do { } while (0)
+
+/*
+ * SaamPixV1_1 has one RC_IN
+ *
+ * GPIO PPM_IN on PC6 T8CH1
+ * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
+ * Inversion is possible via the 74LVC2G86 controlled by the FMU
+ * The FMU can drive GPIO PPM_IN as an output
+ */
+
+#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
+#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
+#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+
+#define board_peripheral_reset(ms)
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 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 <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(2),
+};
@@ -0,0 +1,299 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * SaamPixV1_1-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/board_dma_alloc.h>
+#include <px4_arch/io_timer.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * 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.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	/* configure the GPIO pins to outputs and keep them low */
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+
+	board_on_reset(-1);
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure ADC pins */
+
+	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
+	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
+	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
+
+	/* configure power supply control/sense pins */
+
+	stm32_configgpio(GPIO_SBUS_INV);
+	stm32_configgpio(GPIO_FRSKY_INV);
+
+	/* configure CAN interface */
+
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_configgpio(GPIO_I2C2_SCL);
+	stm32_configgpio(GPIO_I2C2_SDA);
+
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
+static struct sdio_dev_s *sdio;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_AMBER);
+	}
+
+	/* Configure SPI-based devices */
+
+	spi4 = px4_spibus_initialize(4);
+
+	if (!spi4) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	up_udelay(20);
+
+	/* Get the SPI port for the FRAM */
+
+	spi1 = stm32_spibus_initialize(1);
+
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
+		board_autoled_on(LED_AMBER);
+	}
+
+	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
+	SPI_SETBITS(spi1, 8);
+
+
+	spi2 = px4_spibus_initialize(2);
+
+	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi2, 10000000);
+	SPI_SETBITS(spi2, 8);
+
+
+#ifdef CONFIG_MMCSD
+	/* First, get an instance of the SDIO interface */
+
+	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+
+	if (!sdio) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+	}
+
+	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
+	sdio_mediachange(sdio, true);
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * SaamPixV1_1 LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * 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.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+
+	stm32_configgpio(GPIO_LED1);
+}
+
+__EXPORT void led_on(int led)
+{
+	if (led == 1) {
+		/* Pull down to switch on */
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void led_off(int led)
+{
+	if (led == 1) {
+		/* Pull up to switch off */
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (led == 1) {
+		if (stm32_gpioread(GPIO_LED1)) {
+			stm32_gpiowrite(GPIO_LED1, false);
+
+		} else {
+			stm32_gpiowrite(GPIO_LED1, true);
+		}
+	}
+}
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2026 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 <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}),
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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 <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2026 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the SaamPixV1_1 board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -17,10 +17,7 @@ then
 fi

 # baro
-if ! dps310 -I start -a 0x76
-then
-	spl06 -I  start -a 0x76
-fi
+spl06 -I  start -a 0x76

 # internal mag
 qmc5883p -I -R 4 start
@@ -243,7 +243,6 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
@@ -49,8 +49,6 @@ uint16_t board_get_can_interfaces(void)
 {
 	uint16_t enabled_interfaces = 0x3;

-	enabled_interfaces &= ~(1 << 1);
-
 	return enabled_interfaces;
 }

@@ -358,62 +358,6 @@ This ensures that metadata is always up-to-date with the code running on the veh
 This process is the same as for [events metadata](../concept/events_interface.md#publishing-event-metadata-to-a-gcs).
 For more information see [PX4 Metadata (Translation & Publication)](../advanced/px4_metadata.md)

-## Read-Only Parameters
-
-Integrators who productize PX4 can lock down parameters so that end users cannot change safety-critical or product-defining settings.
-This works in two phases:
-
-1. **Build time** — a YAML file in the board directory declares _which_ parameters are read-only.
-2. **Run time** — `param lock` in the startup script activates enforcement.
-
-Before the lock, all parameters (including those on the read-only list) can be freely set by startup scripts (`rc.board_defaults`, airframe scripts, `config.txt`, etc.).
-After the lock, any attempt to modify a read-only parameter is rejected.
-
-### Configuration
-
-Create `boards/<vendor>/<board>/readonly_params.yaml` with the following format:
-
-```yaml
-# mode: 'block' = listed params are read-only (all others writable)
-# mode: 'allow' = only listed params are writable (all others read-only)
-mode: block
-parameters:
-  - SYS_AUTOSTART
-  - SYS_AUTOCONFIG
-  - BAT1_N_CELLS
-```
-
-The two modes are:
-
- **`block`**: The listed parameters are read-only; all other parameters remain writable.
- **`allow`**: Only the listed parameters are writable; all others become read-only.
-
-All parameter names in the list are validated at build time — the build will fail if any listed parameter does not exist in the firmware.
-Boards without this file have no read-only enforcement (fully backward compatible).
-
-### Locking
-
-The `param lock` command is called in `rcS` after all startup scripts have finished setting parameters.
-Before this call, startup scripts can freely use `param set-default` and `param set` on any parameter, including those on the read-only list.
-After `param lock`, the read-only list is enforced.
-
-To set a specific locked value, use `param set-default` in a board startup script (e.g. `rc.board_defaults`) to set the desired default _before_ the lock activates.
-
-### Enforcement (after lock)
-
-Read-only parameters are enforced at all entry points:
-
- **`param set`** and **`param set-default`** shell commands return an error.
- **MAVLink PARAM_SET** returns a `MAV_PARAM_ERROR_READ_ONLY` error to the GCS.
- **`param_set()`**, **`param_set_default_value()`** C API calls return `PX4_ERROR`.
- **`param reset`** silently skips read-only parameters (since `param_reset_all` loops over all params).
- **`param import`** / **`param load`** from file silently skips read-only parameters.
-
-### Notes
-
- The read-only list is compiled into firmware as a `constexpr` array, so there is zero runtime overhead when the list is empty.
- If no `readonly_params.yaml` file exists for a board, `param lock` is a no-op.
-
 ## Further Information

 - [Finding/Updating Parameters](../advanced_config/parameters.md)
@@ -40004,6 +40004,104 @@ Absolute value superior to 10000 will disable distance sensor
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | -1.0    | m    |

+### SIH_F_CP0 (`FLOAT`) {#SIH_F_CP0}
+
+Forward thruster static power coefficient.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      |          |           | 0.0     |      |
+
+### SIH_F_CP1 (`FLOAT`) {#SIH_F_CP1}
+
+Forward thruster power coefficient 1.
+
+CP(J) = CP0 + CP1*J + CP2*J^2
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |      |
+
+### SIH_F_CP2 (`FLOAT`) {#SIH_F_CP2}
+
+Forward thruster power coefficient 2.
+
+CP(J) = CP0 + CP1*J + CP2*J^2
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          | 0.0      |           | 0.0     |      |
+
+### SIH_F_CT0 (`FLOAT`) {#SIH_F_CT0}
+
+Forward thruster static thrust coefficient.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      |          |           | 0.0     |      |
+
+### SIH_F_CT1 (`FLOAT`) {#SIH_F_CT1}
+
+Forward thruster thrust coefficient 1.
+
+CT(J) = CT0 + CT1*J + CT2*J^2
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0.0     |      |
+
+### SIH_F_CT2 (`FLOAT`) {#SIH_F_CT2}
+
+Forward thruster thrust coefficient 2.
+
+CT(J) = CT0 + CT1*J + CT2*J^2
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          | 0.0      |           | 0.0     |      |
+
+### SIH_F_DIA_INCH (`FLOAT`) {#SIH_F_DIA_INCH}
+
+Forward thruster propeller diameter in inches.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      |          |           | 0.1     |      |
+
+### SIH_F_Q_MAX (`FLOAT`) {#SIH_F_Q_MAX}
+
+Forward thruster max torque (Nm).
+
+This is used for the Fixed-Wing, Tailsitter, or pusher of the Standard VTOL
+if SIH_F_CP0 <= 0.
+If SIH_F_CP0 > 0, propeller model with advance ratio J is used
+and this parameter value is overridden at simulation startup.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      |          |           | 0.0165  | Nm   |
+
+### SIH_F_RPM_MAX (`FLOAT`) {#SIH_F_RPM_MAX}
+
+Forward thruster max RPM.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.1      |          |           | 6000.0  |      |
+
+### SIH_F_T_MAX (`FLOAT`) {#SIH_F_T_MAX}
+
+Forward thruster max thrust (N).
+
+This is used for the Fixed-Wing, Tailsitter, or pusher of the Standard VTOL
+if SIH_F_CT0 <= 0.
+If SIH_F_CT0 > 0, propeller model with advance ratio J is used
+and this parameter value is overridden at simulation startup.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      |          |           | 2.0     | N    |
+
 ### SIH_IXX (`FLOAT`) {#SIH_IXX}

 Vehicle inertia about X axis.
@@ -40178,13 +40276,15 @@ This value can be measured by weighting the quad on a scale.

 ### SIH_Q_MAX (`FLOAT`) {#SIH_Q_MAX}

-Max propeller torque.
+Max multicopter propeller torque.

 This is the maximum torque delivered by one propeller
 when the motor is running at full speed.

 This value is usually about few percent of the maximum thrust force.

+Refer to SIH_F_Q_MAX for the propeller torque for FW, Tailsitter, and VTOL pusher.
+
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0.0      |          | 0.05      | 0.1     | Nm   |
@@ -40201,13 +40301,15 @@ Gaussian noise added to simulated ranging beacon measurements. Set to 0 to disab

 ### SIH_T_MAX (`FLOAT`) {#SIH_T_MAX}

-Max propeller thrust force.
+Max multicopter propeller thrust force.

 This is the maximum force delivered by one propeller
 when the motor is running at full speed.

 This value is usually about 5 times the mass of the quadrotor.

+Refer to SIH_F_T_MAX for the thrust for FW, Tailsitter, and VTOL pusher.
+
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0.0      |          | 0.5       | 5.0     | N    |
@@ -457,6 +457,10 @@ div.frame_variant td, div.frame_variant th {
 <td>SIH Quadcopter X</td>
 <td>Maintainer: Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;<p><code>SYS_AUTOSTART</code> = 1100</p></td>
 </tr>
+<tr id="copter_simulation_sih_hexacopter_x">
+ <td>SIH Hexacopter X</td>
+ <td>Maintainer: Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;<p><code>SYS_AUTOSTART</code> = 1105</p></td>
+</tr>
 </tbody>
 </table>
 </div>
@@ -7,7 +7,7 @@ const { site } = useData();

 <div v-if="site.title !== 'PX4 Guide (main)'">
  <div class="custom-block danger">
-    <p class="custom-block-title">This page may be out of date. <a href="https://docs.px4.io/main/en/contribute/dev_call">See the latest version</a>.</p>
+    <p class="custom-block-title">This page may be out of date. <a href="/en/contribute/dev_call.md">See the latest version</a>.</p>
  </div>
 </div>

@@ -15,8 +15,8 @@ The PX4 dev team and community come together to discuss any topic of interest to

 ## Who should attend?

- Core project maintainers
- Component maintainers
+- Code Owners
+- Reviewers
 - Test team lead
 - Dronecode members
 - Community members (you!)
@@ -20,7 +20,7 @@ We pledge to adhere to the [PX4 code of conduct](https://github.com/PX4/PX4-Auto
 This section contains information about how you can meet with the community and contribute to PX4:

 - [Dev Call](../contribute/dev_call.md) - Discuss architecture, pull requests, impacting issues with the dev team
- [Maintainers](./maintainers.md) - Maintainers of PX4 Subsystems and Ecosystem
+- [Maintainers](./maintainers.md) - Maintainer roles, types, and how to become one
 - [Support](../contribute/support.md) - Get help and raise issues
 - [Source Code Management](../contribute/code.md) - Work with PX4 code
 - [Documentation](../contribute/docs.md) - Improve the docs
@@ -1,57 +1,86 @@
 # Maintainer Role

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

-To find the most up-to-date maintainers list, visit [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team).
+To find the most up-to-date maintainers list, see [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md) in the PX4-Autopilot repository.
+
+## Maintainer Types
+
+PX4 recognizes two types of maintainers. Both are full members of the maintainer team, have write access via the [`Dev Team`](https://github.com/orgs/PX4/teams/dev-team) GitHub team, and participate in maintainer decisions.
+
+- **Code Owners** are responsible for a specific category of the project (for example, State Estimation, Multirotor, or CI). They have final say on changes to their area, are the primary reviewers for that code, and help shape its roadmap. This is the role described in detail below.
+- **Reviewers** help maintain PX4 across the project without ownership of a specific category. They review, triage, and contribute wherever their interests and time allow. Reviewers have the same access and voting rights as Code Owners, but no on-call responsibility for any specific area of the codebase.
+
+The Reviewer role is a good fit for contributors who want to help steward the project without committing to a specific component up front. A Reviewer may later become a Code Owner for a category by mutual agreement with the existing Code Owners of that category and sign-off from the maintainer team.

 ## Recruitment Process

 If you would like to join the PX4 maintainers team or if you want to nominate someone else follow the steps below:

 1. Read the [role description](#dronecode-maintainer-role-description), and make sure you understand the responsibilities of the role.
-2. To nominate yourself, reach out to one of the maintainers (see the complete list in the [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team)), and seek their sponsorship.
-3. Express your interest in becoming a maintainer, and specify which area you would like to maintain.
+2. To nominate yourself, reach out to one of the maintainers (see the complete list in [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md)), and seek their sponsorship.
+3. Express your interest in becoming a maintainer, and specify whether you are applying as a **Code Owner** (for a specific category) or as a **Reviewer** (helping across the project without a fixed category).
 4. The sponsoring maintainer needs to bring this up for discussion in one of the [weekly developer calls](dev_call.md).
   The maintainer team will vote on the call to determine whether to accept you as a maintainer.

+A Reviewer may later transition to a Code Owner role for a specific category. This requires agreement from the existing Code Owners of that category and sign-off from the maintainer team, following the same discussion and vote on the weekly developer call.
+
+### Adding a new maintainer
+
+Once the maintainer team has agreed to add a new maintainer, the change is landed via a pull request to [`MAINTAINERS.md`](https://github.com/PX4/PX4-Autopilot/blob/main/MAINTAINERS.md). The process is intentionally simple:
+
+1. A current maintainer opens a PR adding the new maintainer to the appropriate table (**Code Owners** with a category, or **Reviewers**).
+2. The PR must be approved by at least one other current maintainer.
+3. If the new maintainer is being added as a Code Owner or sub-owner of a specific component, the existing Code Owner of that component must be among the approvers.
+
+Once the PR is merged, the new maintainer proceeds through the [Onboarding Process](#onboarding-process) below.
+
 ## Onboarding Process

 Once accepted every maintainers will go through the following process:

 1. **Discord** server admin will grant you the `dev team` role, which gives you:
   1. Basic admin privileges on discord.
-   2. Access to the `#maintainers` channel.
+   2. Access to the private `#maintainers` channel for internal maintainer discussion.
 2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)" which grants you:
   1. Permission to merge the PR of any of PX4 workspace repositories after it's approved
   2. Permission to trigger GitHub actions when a new contributor opens a PR.
   3. Permission to edit Issue/PR contents.
 3. **Add your info to official PX4 channels**:
-   1. Include your information on the PX4 [README](https://github.com/PX4/PX4-Autopilot/blob/main/README.md) next to the rest of the team
-   2. Listed on the [Maintainers section](https://px4.io/community/maintainers/) of the PX4 website.
-   3. Add your information to the internal Dronecode database of maintainers to keep you in sync.
-   4. Community introduction to the new maintainer in the form of a forum post, which is promoted through ever growing official channels
+   1. Add your information to the internal Dronecode database of maintainers to keep you in sync.
+   2. Community introduction to the new maintainer in the form of a forum post, which is promoted through ever growing official channels

 ## Dronecode Maintainer Role Description

+The responsibilities and qualifications below describe the **Code Owner** role in detail. **Reviewers** share the same spirit of technical stewardship, community guidance, and participation in maintainer meetings, without being tied to a specific category. Reviewers are expected to review and triage across the project where their expertise and interest apply.
+
 ### Summary

 Maintainers lead/manage the development of a **specific category (referred to as category below)** of any Open Source Projects hosted within the Dronecode Foundation, such as the PX4 Autopilot.

-### Responsibilities
+### Responsibilities (Code Owner)

 1. Take charge of overseeing the development in their category.
 2. Provide guidance/advice on community members in their category.
 3. Review relevant pull requests and issues from the community on GitHub.
 4. Coordinate with the maintainer group.
-5. Keep regular attendance on [weekly meetings ](dev_call.md).
+5. Keep regular attendance on [weekly meetings](dev_call.md).
 6. Help create and maintain a roadmap for the project your represent.
 7. Uphold the [Code of Conduct](https://github.com/Dronecode/foundation/blob/main/CODE-OF-CONDUCT.md) of our community.

+### Responsibilities (Reviewer)
+
+1. Review relevant pull requests and issues across the project where your expertise applies.
+2. Help triage issues and guide community contributors.
+3. Coordinate with the maintainer group.
+4. Keep regular attendance on [weekly meetings](dev_call.md).
+5. Uphold the [Code of Conduct](https://github.com/Dronecode/foundation/blob/main/CODE-OF-CONDUCT.md) of our community.
+
 ### Qualifications

 1. Proven track record of valuable contributions.
-2. Domain expertise in the category field.
+2. Domain expertise in the category field (for Code Owners) or broad working knowledge of the project (for Reviewers).
 3. Good overview of the project you are applying to.
 4. You need to manage approval from your employer when relevant.

@@ -26,7 +26,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 - On-board sensors
  - Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
  - Mag: QMC5883P
-  - Barometer: DPS310(Version1),SPL06(Version2)
+  - Barometer: SPL06

 ### Interfaces

@@ -95,207 +95,207 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [Vtx](../msg_docs/Vtx.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EventV0](../msg_docs/EventV0.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [LedControl](../msg_docs/LedControl.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [EscReport](../msg_docs/EscReport.md)
- [Rpm](../msg_docs/Rpm.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [Ping](../msg_docs/Ping.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
 - [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [Mission](../msg_docs/Mission.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [DebugVect](../msg_docs/DebugVect.md)
 - [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [Event](../msg_docs/Event.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [Mission](../msg_docs/Mission.md)
 - [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
 - [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RcChannels](../msg_docs/RcChannels.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [Ping](../msg_docs/Ping.md)
 - [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [Airspeed](../msg_docs/Airspeed.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
 - [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [Event](../msg_docs/Event.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [RangingBeacon](../msg_docs/RangingBeacon.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
  :::
@@ -193,7 +193,7 @@ config WQ_HP_DEFAULT_PRIORITY

 config WQ_UAVCAN_STACKSIZE
 	int "Stack size for uavcan"
-	default 3624
+	default 3754
 	range 1000 10000
 	help
 	  Sets the stack size for the uavcan work queue.
@@ -225,6 +225,12 @@ function(px4_os_add_flags)
 		if(UNIX AND APPLE)
 			add_definitions(-D__PX4_DARWIN)

+			# Silence Apple ld warning about duplicate static libs. CMake intentionally
+			# re-emits them to resolve circular deps (px4_layer, px4_work_queue,
+			# px4_daemon, lockstep_scheduler). See also CMAKE_*_ARCHIVE_FINISH override
+			# at the top of the root CMakeLists.txt for the matching ranlib silence.
+			add_link_options(LINKER:-no_warn_duplicate_libraries)
+
 		elseif(CYGWIN)
 			add_definitions(
 				-D__PX4_CYGWIN
@@ -98,16 +98,6 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
 	COMMENT "Generating serial_params.c"
 )

-# readonly params config (used by both px_process_params.py and px_generate_params.py)
-set(READONLY_PARAMS_CONFIG "${PX4_BOARD_DIR}/readonly_params.yaml")
-if(EXISTS ${READONLY_PARAMS_CONFIG})
-	set(READONLY_PARAMS_ARG "--readonly-config" "${READONLY_PARAMS_CONFIG}")
-	set(READONLY_PARAMS_DEPEND "${READONLY_PARAMS_CONFIG}")
-else()
-	set(READONLY_PARAMS_ARG "")
-	set(READONLY_PARAMS_DEPEND "")
-endif()
-
 set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
@@ -118,7 +108,6 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--compress
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
-		${READONLY_PARAMS_ARG}
 		#--verbose
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
@@ -128,26 +117,21 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 	DEPENDS
 		${generated_serial_params_file}
 		${generated_module_params_file}
-		${READONLY_PARAMS_DEPEND}
 		px4params/srcparser.py
 		px4params/srcscanner.py
 		px4params/jsonout.py
 		px4params/xmlout.py
-		px4params/readonly_config.py
 		px_process_params.py
 	COMMENT "Generating parameters.xml"
 )
 add_custom_target(parameters_xml DEPENDS ${parameters_xml})

 # generate px4_parameters.hpp
-
 add_custom_command(OUTPUT px4_parameters.hpp
 	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
-		${READONLY_PARAMS_ARG}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
-		${READONLY_PARAMS_DEPEND}
 		px_generate_params.py
 		templates/px4_parameters.hpp.jinja
 	)
@@ -175,23 +175,6 @@ __EXPORT const char	*param_name(param_t param);
 */
 __EXPORT bool		param_is_volatile(param_t param);

-/**
- * Obtain the read-only state of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @return			true if the parameter is read-only
- */
-__EXPORT bool		param_is_readonly(param_t param);
-
-/**
- * Lock all read-only parameters.
- *
- * Before this call, read-only parameters can be freely modified (e.g. by
- * startup scripts).  After this call, any attempt to set, set-default, or
- * reset a read-only parameter will be rejected.
- */
-__EXPORT void		param_lock_readonly(void);
-
 /**
 * Test whether a parameter's value has changed from the default.
 *
@@ -413,11 +413,6 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 		return PX4_ERROR;
 	}

-	if (param_is_readonly(param)) {
-		PX4_WARN("param %s is read-only", param_name(param));
-		return PX4_ERROR;
-	}
-
 	int result = -1;
 	bool param_changed = false;
 	perf_begin(param_set_perf);
@@ -549,11 +544,6 @@ int param_set_default_value(param_t param, const void *val)
 		return PX4_ERROR;
 	}

-	if (param_is_readonly(param)) {
-		PX4_WARN("param %s is read-only", param_name(param));
-		return PX4_ERROR;
-	}
-
 	int result = PX4_ERROR;


@@ -625,10 +615,6 @@ static int param_reset_internal(param_t param, bool notify = true, bool autosave
 	return false;
 #endif

-	if (param_is_readonly(param)) {
-		return 0;  // silently skip — param_reset_all loops over all params
-	}
-
 	bool param_found = user_config.contains(param);

 	if (handle_in_range(param)) {
@@ -96,26 +96,6 @@ bool param_is_volatile(param_t param)
 	return false;
 }

-static bool params_locked = false;
-
-bool param_is_readonly(param_t param)
-{
-	if (params_locked && handle_in_range(param)) {
-		for (const auto &p : px4::parameters_readonly) {
-			if (static_cast<px4::params>(param) == p) {
-				return true;
-			}
-		}
-	}
-
-	return false;
-}
-
-void param_lock_readonly()
-{
-	params_locked = true;
-}
-
 size_t param_size(param_t param)
 {
 	if (handle_in_range(param)) {
@@ -82,8 +82,6 @@ class JsonOutput():

                    if param.GetVolatile():
                        curr_param['volatile'] = True
-                    if param.GetReadonly():
-                        curr_param['readOnly'] = True

                    last_param_name = param.GetName()
                    for code in param.GetFieldCodes():
@@ -104,8 +104,7 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
                if bitmask_list:
                    result += bitmask_output
                # Format the ranges as a table.
-                is_readonly = param.GetReadonly()
-                result += f"Reboot | minValue | maxValue | increment | default | unit | Read-Only\n--- | --- | --- | --- | --- | --- | ---\n{'&check;' if reboot_required else '&nbsp;' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} | {'&check;' if is_readonly else '&nbsp;'}\n\n"
+                result += f"Reboot | minValue | maxValue | increment | default | unit\n--- | --- | --- | --- | --- | ---\n{'&check;' if reboot_required else '&nbsp;' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} | \n\n"

        self.output = result

@@ -1,48 +0,0 @@
-"""
-Shared helper to load readonly parameter configuration from YAML.
-"""
-import sys
-
-try:
-    import yaml
-except ImportError as e:
-    print("Failed to import yaml: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyyaml")
-    print("")
-    sys.exit(1)
-
-
-def load_readonly_params(readonly_config, all_param_names):
-    """
-    Load readonly parameter config and return the set of readonly param names.
-
-    @param readonly_config: path to readonly_params.yaml
-    @param all_param_names: set of all known parameter names
-    @return: set of readonly parameter names
-    """
-    if readonly_config is None:
-        return set()
-
-    with open(readonly_config, 'r') as f:
-        config = yaml.safe_load(f)
-
-    mode = config.get('mode', 'block')
-    listed_params = set(config.get('parameters', []))
-
-    # Validate that all listed parameters actually exist
-    unknown = listed_params - all_param_names
-    if unknown:
-        print("Error: readonly_params.yaml lists unknown parameters: %s" % ', '.join(sorted(unknown)))
-        sys.exit(1)
-
-    if mode == 'block':
-        # Listed params are read-only
-        return listed_params
-    elif mode == 'allow':
-        # Only listed params are writable, all others are read-only
-        return all_param_names - listed_params
-    else:
-        print("Error: readonly_params.yaml has unknown mode '%s' (expected 'block' or 'allow')" % mode)
-        sys.exit(1)
@@ -61,7 +61,6 @@ class Parameter(object):
        self.category = ""
        self.volatile = False
        self.boolean = False
-        self.readonly = False

    def GetName(self):
        return self.name
@@ -81,9 +80,6 @@ class Parameter(object):
    def GetBoolean(self):
        return self.boolean

-    def GetReadonly(self):
-        return self.readonly
-
    def SetField(self, code, value):
        """
        Set named field value
@@ -114,12 +110,6 @@ class Parameter(object):
        """
        self.boolean = True

-    def SetReadonly(self):
-        """
-        Set readonly flag
-        """
-        self.readonly = True
-
    def SetCategory(self, category):
        """
        Set param category
@@ -43,8 +43,6 @@ class XMLOutput():
                        xml_param.attrib["volatile"] = "true"
                    if param.GetBoolean():
                        xml_param.attrib["boolean"] = "true"
-                    if param.GetReadonly():
-                        xml_param.attrib["readonly"] = "true"
                    if (param.GetCategory()):
                        xml_param.attrib["category"] = param.GetCategory()
                    last_param_name = param.GetName()
@@ -18,15 +18,13 @@ except ImportError as e:
    sys.exit(1)

 import os
-from px4params.readonly_config import load_readonly_params

-def generate(xml_file, dest='.', readonly_config=None):
+def generate(xml_file, dest='.'):
    """
    Generate px4 param source from xml.

    @param xml_file: input parameter xml file
    @param dest: Destination directory for generated files
-    @param readonly_config: path to readonly_params.yaml (optional)
        None means to scan everything.
    """
    # pylint: disable=broad-except
@@ -41,9 +39,6 @@ def generate(xml_file, dest='.', readonly_config=None):

    params = sorted(params, key=lambda name: name.attrib["name"])

-    all_param_names = set(p.attrib["name"] for p in params)
-    readonly_params = load_readonly_params(readonly_config, all_param_names)
-
    script_path = os.path.dirname(os.path.realpath(__file__))

    # for jinja docs see: http://jinja.pocoo.org/docs/2.9/api/
@@ -60,14 +55,13 @@ def generate(xml_file, dest='.', readonly_config=None):
        template = env.get_template(template_file)
        with open(os.path.join(
                dest, template_file.replace('.jinja','')), 'w') as fid:
-            fid.write(template.render(params=params, readonly_params=readonly_params))
+            fid.write(template.render(params=params))

 if __name__ == "__main__":
    arg_parser = argparse.ArgumentParser()
    arg_parser.add_argument("--xml", help="parameter xml file")
    arg_parser.add_argument("--dest", help="destination path", default=os.path.curdir)
-    arg_parser.add_argument("--readonly-config", help="path to readonly_params.yaml", default=None)
    args = arg_parser.parse_args()
-    generate(xml_file=args.xml, dest=args.dest, readonly_config=args.readonly_config)
+    generate(xml_file=args.xml, dest=args.dest)

 #  vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
@@ -47,7 +47,7 @@ from __future__ import print_function
 import sys
 import os
 import argparse
-from px4params import srcscanner, srcparser, injectxmlparams, xmlout, markdownout, jsonout, readonly_config
+from px4params import srcscanner, srcparser, injectxmlparams, xmlout, markdownout, jsonout

 import lzma #to create .xz file
 import json
@@ -102,10 +102,6 @@ def main():
                        default="{}",
                        metavar="OVERRIDES",
                        help="a dict of overrides in the form of a json string")
-    parser.add_argument("--readonly-config",
-                        default=None,
-                        metavar="FILENAME",
-                        help="path to readonly_params.yaml")

    args = parser.parse_args()

@@ -147,18 +143,6 @@ def main():
                    param.default = val
                    print("OVERRIDING {:s} to {:s}!!!!!".format(name, val))

-    # Mark readonly parameters
-    if args.readonly_config:
-        all_param_names = set()
-        for group in param_groups:
-            for param in group.GetParams():
-                all_param_names.add(param.GetName())
-        readonly_params = readonly_config.load_readonly_params(args.readonly_config, all_param_names)
-        for group in param_groups:
-            for param in group.GetParams():
-                if param.GetName() in readonly_params:
-                    param.SetReadonly()
-
    output_files = []

    # Output to XML file
@@ -47,13 +47,5 @@ static constexpr params parameters_volatile[] = {
 {% endfor %}
 };

-static constexpr params parameters_readonly[] = {
-{% for param in params %}
-	{%- if param.attrib["name"] in readonly_params %}
-	params::{{ param.attrib["name"] }},
-	{%- endif -%}
-{% endfor %}
-};
-

 } // namespace px4
@@ -140,9 +140,6 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 					PX4_ERR("param types mismatch param: %s", name);
 					send_error(MAV_PARAM_ERROR_TYPE_MISMATCH, name, -1, msg->sysid, msg->compid);

-				} else if (param_is_readonly(param)) {
-					PX4_WARN("param %s is read-only", name);
-					send_error(MAV_PARAM_ERROR_READ_ONLY, name, -1, msg->sysid, msg->compid);

 				} else {
 					// According to the mavlink spec we should always acknowledge a write operation.
@@ -65,6 +65,243 @@
 #include <conversion/rotation.h>    	// math::radians,
 // #include <lib/mathlib/mathlib.h>
 #include <math.h>
+#include <px4_platform_common/defines.h>	// PX4_ISFINITE
+#include <px4_platform_common/log.h>		// PX4_INFO
+
+// class Thruster using the terminology from UIUC Propeller Data site https://m-selig.ae.illinois.edu/props/propDB.html
+class Thruster
+{
+private:
+	static constexpr float INCH_TO_M = 0.0254f;
+	float CT0, CT1, CT2, CP0, CP1, CP2;
+	float _d_m;
+	float _rpm_max;
+	float T_MAX;
+	float Q_MAX;
+public:
+
+	// public implicit constructor
+	Thruster() : Thruster(0.1f, 1000.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f) {}
+
+	/** public explicit constructor for static model
+	 * using the maximum thrust and torque.
+	 * In this case, the prop diameter and RPM are not needed.
+	 */
+	Thruster(float Tmax, float Qmax)
+	{
+		_d_m = 0.0f;
+		_rpm_max = 0.0f;
+		CT0 = 0.0f;
+		CT1 = 0.0f;
+		CT2 = 0.0f;
+		CP0 = 0.0f;
+		CP1 = 0.0f;
+		CP2 = 0.0f;
+		T_MAX = Tmax;
+		Q_MAX = Qmax;
+	}
+
+	/** public explicit constructor
+	 * - prop_dia_inch: propeller diameter in inches
+	 * - rpm_max: max RPM
+	 * - ct0, ct1, ct2: second order thrust coefficient
+	 * - cp0, cp1, cp2: second order power coefficient
+	 */
+	Thruster(float prop_dia_inch, float rpm_max, float ct0, float ct1, float ct2, float cp0, float cp1, float cp2)
+	{
+		_d_m = dia_inch_to_m(prop_dia_inch);
+		_rpm_max = rpm_max;
+		CT0 = ct0;
+		CT1 = ct1;
+		CT2 = ct2;
+		CP0 = cp0;
+		CP1 = cp1;
+		CP2 = cp2;
+		// Initialize T_MAX and Q_MAX before they may be used inside the compute_* helpers
+		T_MAX = 0.0f;
+		Q_MAX = 0.0f;
+		T_MAX = compute_thrust_from_throttle(1.0f);
+		Q_MAX = compute_torque_from_throttle(1.0f);
+	}
+
+	/** advance_ratio(float n_rev_s, float vx_ms)
+	 * compute the advance ratio J = vx_ms / n_rev_s / d_m
+	 * with
+	 * - n_rev_s is the propeller rotational speed in revolution/s
+	 * - vx_ms is the valocity seen by the thruster in m/s,
+	 *   usually projected on the propeller revolution axis
+	 */
+	float advance_ratio(float n_rev_s, float vx_ms)
+	{
+		return vx_ms / n_rev_s / _d_m;
+	}
+
+	/** fCT(float J, float ct0, float ct1, float ct2)
+	 * Compute the thrust coefficient ct from the advance ratio J
+	 *
+	 */
+	float fCT(float J)
+	{
+		if (!PX4_ISFINITE(J)) {
+			return 0;
+		}
+
+		// do not allow ct < 0 (i.e. windmill)
+		return fmaxf(CT0 + CT1 * J + CT2 * J * J, 0.0f);
+	}
+
+	/** fCP(float J, float cp0, float cp1, float cp2)
+	 * Compute the power coefficient cp from the advance ratio J
+	 *
+	 */
+	float fCP(float J)
+	{
+		if (!PX4_ISFINITE(J)) {
+			return 0;
+		}
+
+		return fmaxf(CP0 + CP1 * J + CP2 * J * J, 0.0f);
+	}
+
+	/** compute_thrust(float n_rev_s, float vx_ms=0.0f, float rho=1.225f)
+	 * Compute the thrust force in (N) given
+	 * - n_rev_s is the propeller rotational speed in revolution/s
+	 * - vx_ms is the velocity seen by the thruster in m/s,
+	 *   usually projected on the propeller revolution axis
+	 * - rho is the density in kg/m^3
+	 */
+	float compute_thrust(float n_rev_s, float vx_ms = 0.0f, float rho = 1.225f)
+	{
+		if (CT0 <= 0.0f || n_rev_s <= 1.0e-4f) {
+			return 0.0f;
+		}
+
+		float J = advance_ratio(n_rev_s, vx_ms);
+		return fCT(J) * rho * n_rev_s * n_rev_s * _d_m * _d_m * _d_m * _d_m;
+	}
+
+	/** compute_thrust_from_throttle(float u, float vx_ms=0.0f, float rho=1.225f)
+	 * Compute the thrust force in (N) given
+	 * - u is the thruster unit throttle in range [0,1]
+	 * - vx_ms is the velocity seen by the thruster in m/s,
+	 *   usually projected on the propeller revolution axis
+	 * - rho is the density in kg/m^3
+	 */
+	float compute_thrust_from_throttle(float u, float vx_ms = 0.0f, float rho = 1.225f)
+	{
+		if (CT0 <= 0.0f) {
+			return T_MAX * u;
+		}
+
+		float n_rev_s = throttle_to_rev_s(u, _rpm_max);
+		return compute_thrust(n_rev_s, vx_ms, rho);
+	}
+
+	/** compute_torque(float n_rev_s, float vx_ms=0.0f, float rho=1.225f)
+	 * Compute the propeller torque in (Nm) given
+	 * - n_rev_s is the propeller rotational speed in revolution/s
+	 * - vx_ms is the velocity seen by the thruster in m/s,
+	 *   usually projected on the propeller revolution axis
+	 * - rho is the density in kg/m^3
+	 */
+	float compute_torque(float n_rev_s, float vx_ms = 0.0f, float rho = 1.225f)
+	{
+		if (CP0 <= 0.0f || n_rev_s <= 1.0e-4f) {
+			return 0.0f;
+		}
+
+		float J = advance_ratio(n_rev_s, vx_ms);
+		float cq = fCP(J) / 2.0f / M_PI_F;
+		return cq * rho * n_rev_s * n_rev_s * _d_m * _d_m * _d_m * _d_m * _d_m;
+	}
+
+	/** compute_torque_from_throttle(float u, float vx_ms=0.0f, float rho=1.225f)
+	 * Compute the propeller torque in (Nm) given
+	 * - u is the thruster unit throttle in range [0,1]
+	 * - vx_ms is the velocity seen by the thruster in m/s,
+	 *   usually projected on the propeller revolution axis
+	 * - rho is the density in kg/m^3
+	 */
+	float compute_torque_from_throttle(float u, float vx_ms = 0.0f, float rho = 1.225f)
+	{
+		if (CP0 <= 0.0f) {
+			return Q_MAX * u;
+		}
+
+		float n_rev_s = throttle_to_rev_s(u, _rpm_max);
+		return compute_torque(n_rev_s, vx_ms, rho);
+	}
+
+	/** dia_inch_to_m(float dia_inch)
+	 * compute the propeller diameter in meter,
+	 * given dia_inch the propeller diameter in inches.
+	 */
+	static float dia_inch_to_m(float dia_inch)
+	{
+		return dia_inch * INCH_TO_M;
+	}
+
+	/** rpm_to_rev_s(float rpm)
+	 * compute the propeller revolutions per seconds,
+	 * given the propeller rpm.
+	 */
+	static float rpm_to_rev_s(float rpm)
+	{
+		return rpm / 60.0f;
+	}
+
+	/** rev_s_to_rpm(float n_rev_s)
+	 * compute the propeller rpm,
+	 * given the propeller revolutions per seconds.
+	 */
+	static float rev_s_to_rpm(float n_rev_s)
+	{
+		return n_rev_s * 60.0f;
+	}
+
+	/** throttle_to_rpm(float throttle, const float rpm_max)
+	 * compute the propeller rpm,
+	 * given the unit throttle u (in range [0,1])
+	 * and the max RPM rpm_max.
+	 */
+	static float throttle_to_rpm(float u, const float rpm_max)
+	{
+		return rpm_max * sqrtf(fminf(fmaxf(u, 0.0f), 1.0f));
+	}
+
+	/** throttle_to_rev_s(float throttle, const float rpm_max)
+	 * compute the propeller revolution per seconds,
+	 * given the unit throttle u (in range [0,1])
+	 * and the max RPM rpm_max.
+	 */
+	static float throttle_to_rev_s(float u, const float rpm_max)
+	{
+		return rpm_to_rev_s(throttle_to_rpm(u, rpm_max));
+	}
+
+	float get_T_max()
+	{
+		return T_MAX;
+	}
+
+	float get_Q_max()
+	{
+		return Q_MAX;
+	}
+
+	void print_status()
+	{
+		if (CT0 <= 0.0f) {
+			PX4_INFO("Thruster simple model: Tmax %.4f N, Qmax %.4f Nm", (double)T_MAX, (double)Q_MAX);
+
+		} else {
+			PX4_INFO("Thruster dyn. model: dia %.4f m, max rpm %.0f, Tmax %.4f N, Qmax %.4f Nm",
+				 (double)_d_m, (double)_rpm_max, (double)T_MAX, (double)Q_MAX);
+			PX4_INFO("   Tmax: %.3f N at 10 m/s, %.3f N at 20 m/s",
+				 (double)compute_thrust_from_throttle(1.0f, 10.0f), (double)compute_thrust_from_throttle(1.0f, 20.0f));
+		}
+	}
+};

 // class Aerodynamic Segment ------------------------------------------------------------------------
 class AeroSeg
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019-2025 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2026 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
@@ -252,6 +252,37 @@ void Sih::parameters_updated()
 	_L_PITCH = _sih_l_pitch.get();
 	_KDV = _sih_kdv.get();
 	_KDW = _sih_kdw.get();
+	_F_T_MAX = _sih_f_thrust_max.get();
+	_F_Q_MAX = _sih_f_torque_max.get();
+
+	// update the thruster models
+	for (size_t i = 0; i < NUM_DYN_THRUSTER; i++) {
+		if (_sih_f_ct0.get() > 0.0f && _sih_f_cp0.get() > 0.0f) {
+			_thruster[i] = Thruster(_sih_forward_diameter_inch.get(), _sih_forward_rpm_max.get(),
+						_sih_f_ct0.get(), _sih_f_ct1.get(), _sih_f_ct2.get(),
+						_sih_f_cp0.get(), _sih_f_cp1.get(), _sih_f_cp2.get());
+
+		} else {
+			_thruster[i] = Thruster(_F_T_MAX, _F_Q_MAX);
+		}
+	}
+
+	if (_sih_f_ct0.get() > 0.0f && _sih_f_cp0.get() > 0.0f) {
+		_F_T_MAX = _thruster[0].get_T_max();
+		_F_Q_MAX = _thruster[0].get_Q_max();
+
+		if (fabsf(_F_T_MAX - _sih_f_thrust_max.get()) > 1.0e-5f) {
+			_sih_f_thrust_max.set(_F_T_MAX);
+			_sih_f_thrust_max.commit();
+			PX4_INFO("SIH_F_CT0 > 0, using propeller dynamic model, overriding SIH_F_T_MAX");
+		}
+
+		if (fabsf(_F_Q_MAX - _sih_f_torque_max.get()) > 1.0e-5f) {
+			_sih_f_torque_max.set(_F_Q_MAX);
+			_sih_f_torque_max.commit();
+			PX4_INFO("SIH_F_CP0 > 0, using propeller dynamic model, overriding SIH_F_Q_MAX");
+		}
+	}

 	if (!_lpos_ref.isInitialized()
 	    || (fabsf(static_cast<float>(_lpos_ref.getProjectionReferenceLat()) - _sih_lat0.get()) > FLT_EPSILON)
@@ -314,7 +345,11 @@ void Sih::read_motors(const float dt)

 void Sih::generate_force_and_torques(const float dt)
 {
+	// air-relative velocity in body frame [m/s]
+	_v_B = _q_E.rotateVectorInverse(_R_N2E * _v_apparent_N);
+
 	if (_vehicle == VehicleType::Quadcopter) {
+
 		_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
 		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
 				 _L_PITCH * _T_MAX * (+_u[0] - _u[1] + _u[2] - _u[3]),
@@ -340,28 +375,34 @@ void Sih::generate_force_and_torques(const float dt)
 		_Ma_B = -_KDW * _w_B; // first order angular damper

 	} else if (_vehicle == VehicleType::FixedWing) {
-		_T_B = Vector3f(_T_MAX * _u[3], 0.0f, 0.0f); 	// forward thruster
-		// _Mt_B = Vector3f(_Q_MAX*_u[3], 0.0f,0.0f); 	// thruster torque
-		_Mt_B = Vector3f();
-		generate_fw_aerodynamics(_u[0], _u[1], _u[2], _u[3]);
+
+		_T[0] = _thruster[0].compute_thrust_from_throttle(_u[3], _v_B(0));
+		_Q[0] = _thruster[0].compute_torque_from_throttle(_u[3], _v_B(0));
+		_T_B = Vector3f(_T[0], 0.0f, 0.0f); 	// forward thruster
+		_Mt_B = Vector3f(_Q[0], 0.0f, 0.0f);	// thruster torque
+		generate_fw_aerodynamics(_u[0], _u[1], _u[2], _T[0]);

 	} else if (_vehicle == VehicleType::TailsitterVTOL) {
-		_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (_u[0] + _u[1]));
-		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (_u[1] - _u[0]), 0.0f, _Q_MAX * (_u[1] - _u[0]));
-		generate_ts_aerodynamics();

-		// _Fa_E = -_KDV * _R_N2E * _v_apparent_N; // first order drag to slow down the aircraft
-		// _Ma_B = -_KDW * _w_B; // first order angular damper
+		for (size_t i = 0; i < NUM_DYN_THRUSTER; i++) {
+			_T[i] = _thruster[i].compute_thrust_from_throttle(_u[i], -_v_B(2));
+			_Q[i] = _thruster[i].compute_torque_from_throttle(_u[i], -_v_B(2));
+		}
+
+		_T_B = Vector3f(0.0f, 0.0f, -_T[0] - _T[1]);
+		_Mt_B = Vector3f(_L_ROLL * (_T[1] - _T[0]), 0.0f, _Q[1] - _Q[0]);
+		generate_ts_aerodynamics();

 	} else if (_vehicle == VehicleType::StandardVTOL) {

-		_T_B = Vector3f(_T_MAX * 2 * _u[7], 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
-		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
+		_T[0] = _thruster[0].compute_thrust_from_throttle(_u[7], _v_B(0));
+		_Q[0] = _thruster[0].compute_torque_from_throttle(_u[7], _v_B(0));
+		_T_B = Vector3f(_T[0], 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
+		_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]) + _Q[0],
 				 _L_PITCH * _T_MAX * (+_u[0] - _u[1] + _u[2] - _u[3]),
 				 _Q_MAX * (+_u[0] + _u[1] - _u[2] - _u[3]));

-		// thrust 0 because it is already contained in _T_B. in
-		// equations_of_motion they are all summed into sum_of_forces_E
+		// thrust 0 means no propwash on the tail
 		generate_fw_aerodynamics(_u[4], _u[5], _u[6], 0);

 	} else if (_vehicle == VehicleType::RoverAckermann) {
@@ -370,21 +411,20 @@ void Sih::generate_force_and_torques(const float dt)
 }

 void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, const float yaw_cmd,
-				   const float throttle_cmd)
+				   const float thrust_for_prowash)
 {
-	const Vector3f v_B = _q.rotateVectorInverse(_v_apparent_N);
 	const float &alt = _lla.altitude();

-	_wing_l.update_aero(v_B, _w_B, alt, roll_cmd * FLAP_MAX);
-	_wing_r.update_aero(v_B, _w_B, alt, -roll_cmd * FLAP_MAX);
+	_wing_l.update_aero(_v_B, _w_B, alt, roll_cmd * FLAP_MAX);
+	_wing_r.update_aero(_v_B, _w_B, alt, -roll_cmd * FLAP_MAX);

-	_tailplane.update_aero(v_B, _w_B, alt, -pitch_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
-	_fin.update_aero(v_B, _w_B, alt, yaw_cmd * FLAP_MAX, _T_MAX * throttle_cmd);
-	_fuselage.update_aero(v_B, _w_B, alt);
+	_tailplane.update_aero(_v_B, _w_B, alt, -pitch_cmd * FLAP_MAX, thrust_for_prowash);
+	_fin.update_aero(_v_B, _w_B, alt, yaw_cmd * FLAP_MAX, thrust_for_prowash);
+	_fuselage.update_aero(_v_B, _w_B, alt);

 	// sum of aerodynamic forces
 	const Vector3f Fa_B = _wing_l.get_Fa() + _wing_r.get_Fa() + _tailplane.get_Fa() + _fin.get_Fa() + _fuselage.get_Fa() -
-			      _KDV * v_B;
+			      _KDV * _v_B;
 	_Fa_E = _q_E.rotateVector(Fa_B);

 	// aerodynamic moments
@@ -393,11 +433,8 @@ void Sih::generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd,

 void Sih::generate_ts_aerodynamics()
 {
-	// velocity in body frame [m/s]
-	const Vector3f v_B = _q.rotateVectorInverse(_v_apparent_N);
-
 	// the aerodynamic is resolved in a frame like a standard aircraft (nose-right-belly)
-	Vector3f v_ts = _R_S2B.transpose() * v_B;
+	Vector3f v_ts = _R_S2B.transpose() * _v_B;
 	Vector3f w_ts = _R_S2B.transpose() * _w_B;
 	float altitude = _lpos_ref_alt - _lpos(2);

@@ -406,17 +443,17 @@ void Sih::generate_ts_aerodynamics()

 	for (int i = 0; i < NB_TS_SEG; i++) {
 		if (i <= NB_TS_SEG / 2) {
-			_ts[i].update_aero(v_ts, w_ts, altitude, _u[5]*TS_DEF_MAX, _T_MAX * _u[1]);
+			_ts[i].update_aero(v_ts, w_ts, altitude, _u[5]*TS_DEF_MAX, _T[1]);

 		} else {
-			_ts[i].update_aero(v_ts, w_ts, altitude, -_u[4]*TS_DEF_MAX, _T_MAX * _u[0]);
+			_ts[i].update_aero(v_ts, w_ts, altitude, -_u[4]*TS_DEF_MAX, _T[0]);
 		}

 		Fa_ts += _ts[i].get_Fa();
 		Ma_ts += _ts[i].get_Ma();
 	}

-	const Vector3f Fa_B = _R_S2B * Fa_ts - _KDV * v_B; 	// sum of aerodynamic forces
+	const Vector3f Fa_B = _R_S2B * Fa_ts - _KDV * _v_B; 	// sum of aerodynamic forces
 	_Fa_E = _q_E.rotateVector(Fa_B);
 	_Ma_B = _R_S2B * Ma_ts - _KDW * _w_B; 	// aerodynamic moments
 }
@@ -842,15 +879,21 @@ int Sih::print_status()

 	} else if (_vehicle == VehicleType::FixedWing) {
 		PX4_INFO("Fixed-Wing");
+		PX4_INFO("propeller model:");
+		_thruster[0].print_status();

 	} else if (_vehicle == VehicleType::TailsitterVTOL) {
 		PX4_INFO("TailSitter");
+		PX4_INFO("propeller model:");
+		_thruster[0].print_status();
 		PX4_INFO("aoa [deg]: %d", (int)(degrees(_ts[4].get_aoa())));
 		PX4_INFO("v segment (m/s)");
 		_ts[4].get_vS().print();

 	} else if (_vehicle == VehicleType::StandardVTOL) {
 		PX4_INFO("Standard VTOL");
+		PX4_INFO("pusher propeller model:");
+		_thruster[0].print_status();

 	} else if (_vehicle == VehicleType::RoverAckermann) {
 		PX4_INFO("Rover Ackermann");
@@ -872,6 +915,8 @@ int Sih::print_status()
 	(_R_N2E.transpose() * _Fa_E).print();
 	PX4_INFO("Aerodynamic moments body frame (Nm)");
 	_Ma_B.print();
+	PX4_INFO("Thruster forces in body frame (N)");
+	_T_B.print();
 	PX4_INFO("Thruster moments in body frame (Nm)");
 	_Mt_B.print();
 	return 0;
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
-*   Copyright (c) 2019-2025 PX4 Development Team. All rights reserved.
+*   Copyright (c) 2019-2026 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
@@ -40,19 +40,19 @@
 * Coriolis g Corporation - January 2019
 */

-// The sensor signals reconstruction and noise levels are from [1]
-// [1] Bulka E, and Nahon M, "Autonomous fixed-wing aerobatics: from theory to flight."
-//     In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573-6580. IEEE, 2018.
-// The aerodynamic model is from [2]
-// [2] Khan W, supervised by Nahon M, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles."
-//     McGill University (Canada), PhD thesis, 2016.
-// The quaternion integration are from [3]
-// [3] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration for the Quaternion Kinematics."
-//     Journal of Guidance, Control, and Dynamics. 2019 Dec;42(12):2747-54.
-// The tailsitter model is from [4]
-// [4] Chiappinelli R, supervised by Nahon M, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
-//     McGill University (Canada), Masters Thesis, 2018.
-
+/** The sensor signals reconstruction and noise levels are from [1]. The aerodynamic model is from [2].
+ * The quaternion integration are from [3]. The tailsitter model is from [4]. The propeller models are from [5]
+ * [1] Bulka E, and Nahon M, "Autonomous fixed-wing aerobatics: from theory to flight."
+ *     In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573-6580. IEEE, 2018.
+ * [2] Khan W, supervised by Nahon M, "Dynamics modeling of agile fixed-wing unmanned aerial vehicles."
+ *     McGill University (Canada), PhD thesis, 2016.
+ * [3] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration for the Quaternion Kinematics."
+ *     Journal of Guidance, Control, and Dynamics. 2019 Dec;42(12):2747-54.
+ * [4] Chiappinelli R, supervised by Nahon M, "Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
+ *     McGill University (Canada), Masters Thesis, 2018.
+ * [5] J.B. Brandt, R.W. Deters, G.K. Ananda, O.D. Dantsker, and M.S. Selig 2026, UIUC Propeller Database,
+ *     Vols 1-4, University of Illinois at Urbana-Champaign, Department of Aerospace Engineering, retrieved from https://m-selig.ae.illinois.edu/props/propDB.html.
+ */
 #pragma once

 #include <px4_platform_common/module.h>
@@ -142,6 +142,7 @@ private:

 	// hard constants
 	static constexpr uint16_t NUM_ACTUATORS_MAX = 9;
+	static constexpr uint16_t NUM_DYN_THRUSTER = 2;		// number of dynamic thruster model with advance ratio

 	// Ranging beacon simulation constants
 	static constexpr uint8_t NUM_RANGING_BEACONS = 4;
@@ -190,7 +191,7 @@ private:
 	void send_dist_snsr(const hrt_abstime &time_now_us);
 	void send_ranging_beacon(const hrt_abstime &time_now_us);
 	void publish_ground_truth(const hrt_abstime &time_now_us);
-	void generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, const float yaw_cmd, const float thrust);
+	void generate_fw_aerodynamics(const float roll_cmd, const float pitch_cmd, const float yaw_cmd, const float thrust_for_prowash);
 	void generate_ts_aerodynamics();
 	void generate_rover_ackermann_dynamics(const float throttle_cmd, const float steering_cmd, const float dt);
 	void sensor_step();
@@ -234,6 +235,7 @@ private:
 	matrix::Vector3f _Mt_B{}; // thruster moments [Nm]
 	matrix::Vector3f _Ma_B{}; // aerodynamic moments [Nm]
 	matrix::Vector3f _w_B{};  // body rates in body frame [rad/s]
+	matrix::Vector3f _v_B{};  // body frame velocity [m/s]

 	// Quantities in local navigation frame (NED, body-fixed)
 	matrix::Vector3f _v_N{};          // velocity [m/s]
@@ -257,6 +259,9 @@ private:
 	matrix::Vector3f _lpos{};  // position in a local tangent-plane frame [m]

 	float _u[NUM_ACTUATORS_MAX] {}; // thruster signals
+	float       _T[NUM_DYN_THRUSTER] {};         // thruster forces (N)
+	float       _Q[NUM_DYN_THRUSTER] {};         // thruster torque (Nm)
+	Thruster    _thruster[NUM_DYN_THRUSTER] {};	// thruster objects

 	enum class VehicleType {Quadcopter, FixedWing, TailsitterVTOL, StandardVTOL, Hexacopter, RoverAckermann, First = Quadcopter, Last = RoverAckermann}; // numbering dependent on parameter SIH_VEHICLE_TYPE
 	VehicleType _vehicle = VehicleType::Quadcopter;
@@ -296,7 +301,7 @@ private:
 	// parameters
 	MapProjection _lpos_ref{};
 	float _lpos_ref_alt;
-	float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _T_TAU;
+	float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _T_TAU, _F_T_MAX, _F_Q_MAX;
 	matrix::Matrix3f _I;    // vehicle inertia matrix
 	matrix::Matrix3f _Im1;  // inverse of the inertia matrix

@@ -326,6 +331,18 @@ private:
 		(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
 		(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,
 		(ParamFloat<px4::params::SIH_T_TAU>) _sih_thrust_tau,
+		// forward propeller
+		(ParamFloat<px4::params::SIH_F_T_MAX>) _sih_f_thrust_max,
+		(ParamFloat<px4::params::SIH_F_Q_MAX>) _sih_f_torque_max,
+		(ParamFloat<px4::params::SIH_F_CT0>) _sih_f_ct0,
+		(ParamFloat<px4::params::SIH_F_CT1>) _sih_f_ct1,
+		(ParamFloat<px4::params::SIH_F_CT2>) _sih_f_ct2,
+		(ParamFloat<px4::params::SIH_F_CP0>) _sih_f_cp0,
+		(ParamFloat<px4::params::SIH_F_CP1>) _sih_f_cp1,
+		(ParamFloat<px4::params::SIH_F_CP2>) _sih_f_cp2,
+		(ParamFloat<px4::params::SIH_F_DIA_INCH>) _sih_forward_diameter_inch,
+		(ParamFloat<px4::params::SIH_F_RPM_MAX>) _sih_forward_rpm_max,
+		(ParamInt<px4::params::BAT1_SOURCE>) _bat1_source,
 		(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype,
 		(ParamFloat<px4::params::SIH_WIND_N>) _sih_wind_n,
 		(ParamFloat<px4::params::SIH_WIND_E>) _sih_wind_e,
@@ -83,12 +83,14 @@ parameters:
      increment: 0.005
    SIH_T_MAX:
      description:
-        short: Max propeller thrust force
+        short: Max multicopter propeller thrust force
        long: |-
          This is the maximum force delivered by one propeller
          when the motor is running at full speed.

          This value is usually about 5 times the mass of the quadrotor.
+
+          Refer to SIH_F_T_MAX for the thrust for FW, Tailsitter, and VTOL pusher.
      type: float
      default: 5.0
      unit: N
@@ -97,12 +99,14 @@ parameters:
      increment: 0.5
    SIH_Q_MAX:
      description:
-        short: Max propeller torque
+        short: Max multicopter propeller torque
        long: |-
          This is the maximum torque delivered by one propeller
          when the motor is running at full speed.

          This value is usually about few percent of the maximum thrust force.
+
+          Refer to SIH_F_Q_MAX for the propeller torque for FW, Tailsitter, and VTOL pusher.
      type: float
      default: 0.1
      unit: Nm
@@ -281,3 +285,87 @@ parameters:
      min: 0.0
      max: 100.0
      decimal: 1
+    SIH_F_T_MAX:
+      description:
+        short: Forward thruster max thrust (N)
+        long: |-
+          This is used for the Fixed-Wing, Tailsitter, or pusher of the Standard VTOL
+          if SIH_F_CT0 <= 0.
+          If SIH_F_CT0 > 0, propeller model with advance ratio J is used
+          and this parameter value is overridden at simulation startup.
+      type: float
+      default: 2.0
+      unit: N
+      min: 0.0
+      decimal: 3
+    SIH_F_Q_MAX:
+      description:
+        short: Forward thruster max torque (Nm)
+        long: |-
+          This is used for the Fixed-Wing, Tailsitter, or pusher of the Standard VTOL
+          if SIH_F_CP0 <= 0.
+          If SIH_F_CP0 > 0, propeller model with advance ratio J is used
+          and this parameter value is overridden at simulation startup.
+      type: float
+      default: 0.0165
+      unit: Nm
+      min: 0.0
+      decimal: 3
+    SIH_F_CT0:
+      description:
+        short: Forward thruster static thrust coefficient
+      type: float
+      default: 0.0
+      min: 0.0
+      decimal: 3
+    SIH_F_CT1:
+      description:
+        short: Forward thruster thrust coefficient 1
+        long: CT(J) = CT0 + CT1*J + CT2*J^2
+      type: float
+      default: 0.0
+      decimal: 3
+    SIH_F_CT2:
+      description:
+        short: Forward thruster thrust coefficient 2
+        long: CT(J) = CT0 + CT1*J + CT2*J^2
+      type: float
+      default: 0.0
+      max: 0.0
+      decimal: 3
+    SIH_F_CP0:
+      description:
+        short: Forward thruster static power coefficient
+      type: float
+      default: 0.0
+      min: 0.0
+      decimal: 3
+    SIH_F_CP1:
+      description:
+        short: Forward thruster power coefficient 1
+        long: CP(J) = CP0 + CP1*J + CP2*J^2
+      type: float
+      default: 0.0
+      decimal: 3
+    SIH_F_CP2:
+      description:
+        short: Forward thruster power coefficient 2
+        long: CP(J) = CP0 + CP1*J + CP2*J^2
+      type: float
+      default: 0.0
+      max: 0.0
+      decimal: 3
+    SIH_F_DIA_INCH:
+      description:
+        short: Forward thruster propeller diameter in inches
+      type: float
+      default: 0.1
+      min: 0.1
+      decimal: 1
+    SIH_F_RPM_MAX:
+      description:
+        short: Forward thruster max RPM
+      type: float
+      default: 6000.0
+      min: 0.1
+      decimal: 1
@@ -81,7 +81,6 @@ static int	do_import(const char *param_file_name = nullptr);
 static int	do_show(const char *search_string, bool only_changed);
 static int	do_show_for_airframe();
 static int	do_show_all();
-static int	do_show_locked();
 static int	do_show_quiet(const char *param_name);
 static int	do_show_index(const char *index, bool used_index);
 static void	do_show_print(void *arg, param_t param);
@@ -139,7 +138,6 @@ $ reboot
 	PRINT_MODULE_USAGE_COMMAND_DESCR("show", "Show parameter values");
 	PRINT_MODULE_USAGE_PARAM_FLAG('a', "Show all parameters (not just used)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('c', "Show only changed params (unused too)", true);
-	PRINT_MODULE_USAGE_PARAM_FLAG('l', "Show only locked (read-only) params", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet mode, print only param value (name needs to be exact)", true);
 	PRINT_MODULE_USAGE_ARG("<filter>", "Filter by param name (wildcard at end allowed, eg. sys_*)", true);

@@ -181,8 +179,6 @@ $ reboot
 	PRINT_MODULE_USAGE_ARG("<index>", "Index: an integer >= 0", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("find", "Show index of a param");
 	PRINT_MODULE_USAGE_ARG("<param>", "param name", false);
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("lock", "Lock read-only params (reject future set/reset)");
 }

 int
@@ -272,9 +268,6 @@ param_main(int argc, char *argv[])
 				} else if (!strcmp(argv[2], "-a")) {
 					return do_show_all();

-				} else if (!strcmp(argv[2], "-l")) {
-					return do_show_locked();
-
 				} else if (!strcmp(argv[2], "-q")) {
 					if (argc >= 4) {
 						return do_show_quiet(argv[3]);
@@ -412,11 +405,6 @@ param_main(int argc, char *argv[])
 				return 1;
 			}
 		}
-
-		if (!strcmp(argv[1], "lock")) {
-			param_lock_readonly();
-			return 0;
-		}
 	}

 	print_usage();
@@ -520,7 +508,7 @@ do_save_default()
 static int
 do_show(const char *search_string, bool only_changed)
 {
-	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
+	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved\n");
 	// also show unused params if we show non-default values only
 	param_foreach(do_show_print, (char *)search_string, only_changed, !only_changed);
 	PX4_INFO_RAW("\n %u/%u parameters used.\n", param_count_used(), param_count());
@@ -543,30 +531,13 @@ do_show_for_airframe()
 static int
 do_show_all()
 {
-	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
+	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved\n");
 	param_foreach(do_show_print, nullptr, false, false);
 	PX4_INFO_RAW("\n %u parameters total, %u used.\n", param_count(), param_count_used());

 	return 0;
 }

-static void
-do_show_print_locked(void *arg, param_t param)
-{
-	if (param_is_readonly(param)) {
-		do_show_print(arg, param);
-	}
-}
-
-static int
-do_show_locked()
-{
-	PX4_INFO_RAW("Symbols: x = used, + = saved, * = unsaved, l = locked\n");
-	param_foreach(do_show_print_locked, nullptr, false, false);
-
-	return 0;
-}
-
 static int
 do_show_quiet(const char *param_name)
 {
@@ -636,9 +607,8 @@ do_show_index(const char *index, bool used_index)
 		return 1;
 	}

-	PX4_INFO_RAW("index %d: %c %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
+	PX4_INFO_RAW("index %d: %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
 		    param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-		    param_is_readonly(param) ? 'l' : ' ',
 		    param_name(param), param_get_used_index(param), param_get_index(param));

 	switch (param_type(param)) {
@@ -707,9 +677,8 @@ do_show_print(void *arg, param_t param)
 		}
 	}

-	PX4_INFO_RAW("%c %c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
+	PX4_INFO_RAW("%c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
 		    param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
-		    param_is_readonly(param) ? 'l' : ' ',
 		    param_name(param), param_get_used_index(param), param_get_index(param));

 	/*
@@ -802,11 +771,6 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 		return (fail_on_not_found) ? 1 : 0;
 	}

-	if (param_is_readonly(param)) {
-		PX4_ERR("Parameter %s is read-only.", name);
-		return 1;
-	}
-
 	/*
 	 * Set parameter if type is known and conversion from string to value turns out fine
 	 */
@@ -874,14 +838,6 @@ do_set_custom_default(const char *name, const char *val, bool silent_fail)
 		return PX4_ERROR;
 	}

-	if (param_is_readonly(param)) {
-		if (!silent_fail) {
-			PX4_ERR("Parameter %s is read-only.", name);
-		}
-
-		return PX4_ERROR;
-	}
-
 	// Set parameter if type is known and conversion from string to value turns out fine
 	switch (param_type(param)) {
 	case PARAM_TYPE_INT32: {
Author	SHA1	Message	Date
alexcekay	07053ab823	v6s: support EEPROM-only boards alongside FRAM variants	2026-04-09 11:42:20 +02:00
PX4BuildBot	c4abeed3a4	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 09:30:09 +00:00
alexcekay	20cad48707	rcS: fine-grained storage settings	2026-04-09 11:22:43 +02:00
Ashwani Sihag	0954e43708	fix(saampixv1_1): use board vendor USB string	2026-04-09 04:47:47 -04:00
Ashwani Sihag	b53036c2d7	fix(pr26902): scope cleanup and copyright attribution	2026-04-09 04:47:47 -04:00
Ashwani Sihag	fffd434068	fix(boards/saampixv1_1): update bootloader artifact board identity	2026-04-09 04:47:47 -04:00
Ashwani Sihag	a74076e539	fix: update stale file path comment in board.h to correct saampixv1_1 path	2026-04-09 04:47:47 -04:00
Ashwani Sihag	00d3c4badc	fix: assign unique USB product ID 0x008E for saampixv1_1 board	2026-04-09 04:47:47 -04:00
Ashwani Sihag	397a54abc1	fix: correct USB vendor string to PX4 for saampixv1_1 board	2026-04-09 04:47:47 -04:00
Ashwani Sihag	bd5cdd3276	fix: update copyright years to 2020-2026 for all SaamPixV1_1 board files	2026-04-09 04:47:47 -04:00
Ashwani Sihag	ff31d5a04f	boards: fix reviewer feedback for saampixv1_1 board - Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1 - Update Airmind Development Team to Saam Drones Development Team in copyright headers - Update PX4 copyright year range to 2020-2026 on all C/C++ files - Rename bootloader binary to match board version (v1_1) - Remove untracked backup files	2026-04-09 04:47:47 -04:00
Ashwani Sihag	fc11c207b9	boards: add saampixv1_1 target for firmware release	2026-04-09 04:47:47 -04:00
PX4BuildBot	104e7f2a9c	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 06:26:14 +00:00
tompsontan	a3d51a62a2	boards:x-mav:ap-h743r1:Switch to SPL06 Only Due to Indistinguishable DPS310 and SPL06 IDs. (#26791 )	2026-04-09 16:18:56 +10:00
PX4BuildBot	d09b3abcf9	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 05:56:38 +00:00
Ramon Roche	8c4b703103	ci(pr-comment-poster): add generic PR comment poster and migrate producers Adds a stand-alone workflow that posts or updates sticky PR comments on behalf of any analysis workflow, including those triggered by fork PRs. The poster runs on `workflow_run` in the base repo context, which is the standard GitHub-sanctioned way to get a write token on events that originate from untrusted forks without ever checking out fork code. All validation, GitHub API interaction, and upsert logic lives in Tools/ci/pr-comment-poster.py (Python 3 stdlib only, two subcommands: `validate` and `post`). The workflow file itself is a thin orchestrator: sparse-checkout the script, download the pr-comment artifact via github-script, unzip, then invoke the script twice. No inline jq, no inline bash validation, no shell-interpolated marker strings. The sparse-checkout ensures only Tools/ci/pr-comment-poster.py lands in the workspace, never the rest of the repo. Artifact contract: a producer uploads an artifact named exactly `pr-comment` containing `manifest.json` (with `pr_number`, `marker`, and optional `mode`) and `body.md`. The script validates the manifest (positive integer pr_number, printable-ASCII marker bounded 1..200 chars, UTF-8 body under 60000 bytes, mode in an allowlist), finds any existing comment containing the marker via the comments REST API, and either edits it in place or creates a new one. The workflow file header documents six security invariants that any future change MUST preserve, most importantly: NEVER check out PR code, NEVER execute anything from the artifact, and treat all artifact contents as opaque data. Why a generic poster and not `pull_request_target`: `pull_request_target` is the tool people reach for first and the one that most often turns into a supply-chain vulnerability, because it hands a write token to a workflow that is then tempted to check out the PR head. `workflow_run` gives the same write token without any check-out temptation, because the only input is a pre-produced artifact treated as opaque data. Producer migrations =================== flash_analysis.yml: - Drop the fork gate on the `post_pr_comment` job. - Drop the obsolete TODO pointing at issue #24408 (the fork-comment workflow does not error anymore; it just no-ops). - Keep the existing "comment only if threshold crossed or previous comment exists" behaviour verbatim. peter-evans/find-comment@v3 stays as a read-only probe (forks can read issue comments just fine); its body-includes is updated to search for the new marker `<!-- pr-comment-poster:flash-analysis -->` instead of the old "FLASH Analysis" heading substring. - Replace the peter-evans/create-or-update-comment@v4 step with two new steps that write pr-comment/manifest.json and pr-comment/body.md and then upload them as artifact pr-comment. The body markdown is byte-for-byte identical to the previous heredoc, with the marker prepended as the first line so subsequent runs can find it. - The threshold-or-existing-comment gate is preserved on both new steps. When the gate does not fire no artifact is uploaded and the poster no-ops. docs-orchestrator.yml (link-check job): - Drop the fork gate on the sticky-comment step. - Replace marocchino/sticky-pull-request-comment@v2 with two new steps that copy logs/filtered-link-check-results.md into pr-comment/body.md, write a pr-comment/manifest.json with the marker `<!-- pr-comment-poster:docs-link-check -->`, and upload the directory as artifact pr-comment. - The prepare step checks `test -s` on the results file and emits a prepared step output; the upload step is gated on that output. In practice the existing link-check step always writes a placeholder ("No broken links found in changed files.") into the file when empty, so the guard is defensive but not load-bearing today. - Tighten the link-check job's permissions from `pull-requests: write` down to `contents: read`; writing PR comments now happens in the poster workflow. The poster's workflows allowlist is seeded with the two active producers: "FLASH usage analysis" and "Docs - Orchestrator". clang-tidy (workflow name "Static Analysis") is not in the list because platisd/clang-tidy-pr-comments posts line-level review comments, a different REST API from issue comments that the poster script does not handle. Extending the poster to cover review comments is a follow-up. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 23:49:56 -06:00
Ramon Roche	c9f1d2ab0f	build(cmake): silence benign macOS ranlib and ld warnings POSIX/SITL builds on macOS produce two classes of benign warnings that clutter output and obscure real issues: ranlib: warning: 'lib.a(foo.o)' has no symbols ld: warning: ignoring duplicate libraries: ... The ranlib warnings come from sources wrapped in #if defined(CONFIG_) guards (i2c.cpp, spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and dummy.cpp placeholders, which legitimately compile to empty object files on POSIX. GNU ranlib ignores this; Apple's warns. The warning is emitted by 'ar qc' (which implicitly builds a symbol table), not by ranlib itself, so overriding only ARCHIVE_FINISH is insufficient. Use 'ar qcS' to skip the implicit symbol table, then let ranlib -no_warning_for_no_symbols build it quietly via ARCHIVE_FINISH. The duplicate-library warnings come from CMake intentionally re-emitting static libraries on the link line to resolve circular dependencies between px4_layer, px4_work_queue, px4_daemon and lockstep_scheduler. GNU ld silently dedupes; Apple's ld-prime (Xcode 15+) warns. Pass -no_warn_duplicate_libraries to the linker. Both fixes are Darwin-only and have no effect on Linux CI or NuttX builds. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 22:45:28 -06:00
Ramon Roche	4c8c9a1e0f	ci(clang-tidy): run incrementally on PRs and post inline annotations Switch the Static Analysis workflow to two modes: - Push to main: run the full "make clang-tidy" target as before. - Pull request: build the clang compile database with "make px4_sitl_default-clang", then call Tools/ci/run-clang-tidy-pr.py (already in-tree) to compute the translation units actually affected by the PR diff and run clang-tidy only on that subset. PRs that touch no C++ files exit silently; the large majority of PRs will skip the slow full analysis entirely. Replace the inline ccache restore/config/save steps with the composite actions from .github/actions/setup-ccache and .github/actions/save-ccache, which use content-hash cache keys (prefix-ref-sha with ref and base_ref fallbacks), compression, and compiler_check=content. Same 120M cap. Add a second job, post_clang_tidy_comments, that runs on a GitHub-hosted runner when the analysis job reports has_findings=true. It downloads the compile_commands.json artifact produced by the analysis job, rewrites the AWS RunsOn workspace prefix (/__w/PX4-Autopilot/PX4-Autopilot) to the GitHub-hosted runner workspace so clang-tidy can chdir into the build directory, runs clang-tidy-diff-18 to export fixes, and posts inline review annotations via platisd/clang-tidy-pr-comments@v1. Annotations are set to request changes (request_changes: true), so a PR with new clang-tidy findings will be blocked until they are addressed or waived. suggestions_per_comment is capped at 10. Annotations are gated to same-repo PRs only; forks skip the annotation job because GITHUB_TOKEN has no write access there. The post_clang_tidy_comments job uses if: always() && ... so it runs whether the analysis job succeeded or failed (findings still need to be surfaced when the analysis exits non-zero). Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 22:45:03 -06:00
PX4BuildBot	35391ed8d0	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-09 03:53:39 +00:00
Ramon Roche	48b04b1c81	ci(container): bump px4-dev to ghcr.io/px4/px4-dev:v1.17.0-rc2 Standardize on the GitHub Container Registry copy of px4-dev:v1.17.0-rc2 across workflows still pulling the old dockerhub v1.16.0-rc1 image, and move the workflows that were already on v1.17.0-beta1 from docker.io to ghcr.io so the whole repo pulls from one registry at the same version. Also modernize the "git ownership workaround" in the touched workflows that still used `git config --global --add safe.directory "$GITHUB_WORKSPACE"` to the `--system --add safe.directory ''` form already in use by clang-tidy, flash_analysis, failsafe_sim, itcm_check, and docs-orchestrator. Updated workflows: - checks.yml - clang-tidy.yml (was on v1.17.0-beta1, now on rc2) - docs-orchestrator.yml (was on v1.17.0-beta1, two jobs) - ekf_functional_change_indicator.yml - ekf_update_change_indicator.yml - failsafe_sim.yml - flash_analysis.yml - itcm_check.yml - nuttx_env_config.yml Deliberately out of scope for this PR and deferred to focused follow-ups: - fetch-depth: 0 to 1 (firmware builds and flash_analysis base-ref checkout need git history) - PX4_SBOM_DISABLE removal in checks.yml (behavioral change) - fail-fast: false to true (behavioral change) - codecov-action upgrade No other workflows touched. compile_ubuntu.yml, ros_integration_tests.yml, sitl_tests.yml, mavros__tests.yml, fuzzing.yml, build_deb_package.yml, dev_container.yml all use different image families or serve different purposes and are not part of this sweep. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 21:46:07 -06:00
PX4BuildBot	3ab7895af7	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-08 23:04:38 +00:00
Ramon Roche	3c5574c051	feat(sih): add propeller model with advance ratio (#26720 ) --------- Signed-off-by: romain-chiap <romain.chiap@gmail.com> Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: romain-chiap <romain.chiap@gmail.com>	2026-04-08 15:57:17 -07:00
Ramon Roche	eb9a76cfaf	ci(actions): add composite actions and clang-tidy PR helper Add four reusable building blocks that upcoming CI optimization PRs will consume. No existing workflow is modified; these files are dormant until referenced. - .github/actions/setup-ccache: restore ~/.ccache with content-hash keys, write ccache.conf with compression and content-based compiler check - .github/actions/save-ccache: print stats and save the cache under the primary key produced by setup-ccache - .github/actions/build-gazebo-sitl: build px4_sitl_default plus the Gazebo Classic plugins with ccache stats between stages - Tools/ci/run-clang-tidy-pr.py: compute the translation units affected by a PR diff and invoke Tools/run-clang-tidy.py on that subset only, exiting silently when no C++ files changed Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 13:14:16 -06:00
PX4BuildBot	f545f2227d	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-04-08 19:14:03 +00:00
Ramon Roche	4e5c0fac7a	docs(maintainers): introduce Code Owner and Reviewer maintainer types (#27010 ) Split the maintainer role into two types to make it easier to grow the bench without asking new contributors to commit to a specific component up front. Code Owners keep their existing scoped responsibility for a category, while Reviewers help across the project without ownership of any specific area. Both are full maintainers, share the @PX4/dev-team GitHub team, and have the same write access and voting rights. Rename the Active Maintainers table to Code Owners with no change to the current roster. Add an empty Reviewers table so future nominations land in their own PRs. Update the contributor docs to describe the two types, cover both in the recruitment and onboarding flow, and note the promotion path from Reviewer to Code Owner. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-08 12:06:29 -07:00
Nick	fa0618463d	fix(uavcan): increase stack size (#27009 )	2026-04-08 11:06:02 -08:00
palvarben	f025bb42eb	fix(boards/nxp/tropic-community): correct LPUART4 mapping (#27008 )	2026-04-08 11:04:39 -08:00