drivers/gps: warn if gps_inject_data publications have been missed

This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.

* Fix position setpoint update logic in Mission RTL

Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)

* Change to work more like `mission.cpp`

* Fix rtl_direct_misssion_land formatting for style guide

* rtl_mission_fast: fix FW landing by setting previous wp in landing

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>

.github/ISSUE_TEMPLATE/config.yml

@@ -3,3 +3,6 @@ contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
     about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/docs_bug_report.yml

@@ -1,33 +0,0 @@
-name: 📑 Documentation Bug report
-description: Create a report to help us improve the docs
-title: "[Docs] [Bug] "
-labels: ["Documentation 📑"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-      placeholder: |
-          # A PR to fix the bug is often better than adding this issue!
-          #
-          # If you can't create a PR please provide the following:
-          # - What page and/or section has the problem
-          # - What is the problem - missing information, incorrect information?
-          # - Suggested fixes, links to corresponding code PRs
-          # - Any additional context
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Page URL
-      description: The URL of the problem page.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-    validations:
-      required: false

.github/labeler.yml

@@ -1,10 +0,0 @@
-# Labeler configuration file for GitHub Actions
-# The action is ./.github/workflows/label.yml
-# Docs for the syntax in this file can be found at
-# https://github.com/actions/labeler
-
-
-# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
-"Documentation+📑":
-- changed-files:
-  - any-glob-to-any-file: docs/**

.github/workflows/build_all_targets.yml

@@ -22,10 +22,6 @@ on:
     paths-ignore:
       - 'docs/**'
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   group_targets:
     name: Scan for Board Targets
@@ -34,6 +30,7 @@ jobs:
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
       branchname: ${{ steps.set-branch.outputs.branchname }}
     steps:
       - uses: actions/checkout@v4
@@ -54,13 +51,7 @@ jobs:
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
@@ -70,9 +61,9 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build Group [${{ matrix.group }}]
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -107,7 +98,7 @@ jobs:
 
       - name: Building [${{ matrix.group }}]
         run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
 
       - name: Arrange Build Artifacts
         run: |
@@ -125,7 +116,7 @@ jobs:
   artifacts:
     name: Upload Artifacts to S3
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
     if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
     steps:
@@ -153,12 +144,10 @@ jobs:
 
   release:
     name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
+    if: startsWith(github.ref, 'refs/tags/v')
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4

.github/workflows/checks.yml

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

.github/workflows/clang-tidy.yml

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

.github/workflows/compile_macos.yml

@@ -6,19 +6,17 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: macos-14
     strategy:
       matrix:
         config: [
@@ -34,7 +32,8 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -42,12 +41,14 @@ jobs:
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
+
     - name: ccache cache files
       uses: actions/cache@v4
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
         restore-keys: macos_${{matrix.config}}-ccache-
+
     - name: setup ccache
       run: |
           mkdir -p ~/.ccache

.github/workflows/compile_ubuntu.yml

@@ -9,18 +9,13 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
-
-env:
-  RUNS_IN_DOCKER: true
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build_and_test:

.github/workflows/dev_container.yml

@@ -1,3 +1,4 @@
+
 name: Container build
 
 on:
@@ -9,58 +10,45 @@ on:
       - 'release/**'
     tags:
       - 'v*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
-    paths:
-      - '.github/workflows/dev_container.yml'
-      - 'Tools/setup/ubuntu.sh'
-      - 'Tools/setup/requirements.txt'
-      - 'Tools/setup/Dockerfile'
-      - 'Tools/setup/docker-entrypoint.sh'
-  workflow_dispatch:
-    inputs:
-      px4_version:
-        description: 'Container tag (e.g. v1.16.0)'
-        required: true
-        type: string
-      deploy_to_registry:
-        description: 'Whether to push built images to the registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
 
 jobs:
-  setup:
-    name: Set Tags and Variables
-    permissions:
-      contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      px4_version: ${{ steps.px4_version.outputs.px4_version }}
-      meta_tags: ${{ steps.meta.outputs.tags }}
-      meta_labels: ${{ steps.meta.outputs.labels }}
+  build:
+    name: Build and Push Container
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     steps:
-      - uses: runs-on/action@v1
       - uses: actions/checkout@v4
         with:
           fetch-tags: true
           submodules: false
           fetch-depth: 0
 
-      # If manual dispatch, take the user‐provided input
-      - name: Set PX4 Tag Version
-        id: px4_version
+      - name: Set PX4 Tag
+        id: px4-tag
         run: |
-          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
-            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
-          else
-            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-          fi
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: github.event_name != 'pull_request'
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Extract metadata (tags, labels) for Docker
         id: meta
@@ -68,125 +56,52 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
-            px4io/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
           tags: |
-            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
-
-  build:
-    name: Build Container (${{ matrix.arch }})
-    permissions:
-      contents: read
-      packages: write
-    needs: setup
-    strategy:
-      matrix:
-        include:
-          - platform: linux/arm64
-            arch: arm64
-            runner: arm64
-          - platform: linux/amd64
-            arch: amd64
-            runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
+            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
 
-      - name: Build and Load Container Image
+      - name: Build and load container image
         uses: docker/build-push-action@v6
         id: docker
         with:
           context: Tools/setup
-          tags: |
-            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-          labels: ${{ needs.setup.outputs.meta_labels }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-          provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          load: true
+          push: false
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
 
-  deploy:
-    name: Deploy To Registry
-    permissions:
-      contents: read
-      packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    needs: [build, setup]
-    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
-    steps:
-      - uses: runs-on/action@v1
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Login to Docker Hub
-        uses: docker/login-action@v3
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_TOKEN }}
-
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Verify Images Exist Before Creating Manifest
+      - name: Get Tag Name
+        id: tag_name
         run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
 
-      - name: Create and Push Multi-Arch Manifest for Docker Hub
-        run: |
-          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ steps.tag_name.outputs.tag_name }}
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default
 
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
-
-      - name: Create and Push Multi-Arch Manifest for GHCR
-        run: |
-          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
-            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
-          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
-
-          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: |
+            linux/amd64
+          provenance: mode=max
+          push: ${{ github.event_name != 'pull_request' }}
+          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
+          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/docs_deploy.yml

@@ -1,18 +1,6 @@
 name: Docs - Deploy PX4 User Guide
 
 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 

.github/workflows/docs_deploy_aws.yml

@@ -0,0 +1,114 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/ekf_functional_change_indicator.yml

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

.github/workflows/ekf_update_change_indicator.yml

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

.github/workflows/failsafe_sim.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -29,7 +27,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0
@@ -41,13 +39,11 @@ jobs:
         with:
           fetch-depth: 0
 
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
       - name: Install empscripten
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
+          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -11,11 +11,13 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -26,7 +28,7 @@ jobs:
     name: Analyzing ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+      image: px4io/px4-dev-nuttx-focal
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -78,7 +80,7 @@ jobs:
         id: bloaty-step
         with:
           bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
           output-to-summary: true
 
       - name: Generate output

.github/workflows/itcm_check.yml

@@ -1,63 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

.github/workflows/label.yml

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

.github/workflows/mavros_mission_tests.yml

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

.github/workflows/mavros_offboard_tests.yml

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

.github/workflows/nuttx_env_config.yml

@@ -6,15 +6,13 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+      - '.github/**'
 
 jobs:
   build:
@@ -33,7 +31,7 @@ jobs:
     - name: Build PX4 and Run Test [${{ matrix.config }}]
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/python_checks.yml

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

.github/workflows/ros_integration_tests.yml

@@ -17,10 +17,6 @@ on:
     paths-ignore:
       - 'docs/**'
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build:
     runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
@@ -89,7 +85,7 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        git clone --recursive --branch release/1.16 https://github.com/Auterion/px4-ros2-interface-lib.git
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

.github/workflows/ros_translation_node.yml

@@ -5,19 +5,16 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
+      - '.github/**'
 defaults:
   run:
     shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
 jobs:
   build_and_test:
     name: Build and test

.github/workflows/sitl_tests.yml

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

.vscode/cmake-variants.yaml

@@ -6,11 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_spacecraft:
-      short: px4_sitl_spacecraft
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -311,11 +306,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_kakuteh7-wing_default
-    holybro_kakuteh7dualimu_default:
-      short: holybro_kakuteh7dualimu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_kakuteh7dualimu_default
     matek_h743-slim_default:
       short: matek_h743-slim
       buildType: MinSizeRel

CMakeLists.txt

@@ -426,6 +426,7 @@ if(BUILD_TESTING)
 	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()
 
+
 #=============================================================================
 # subdirectories
 #
@@ -495,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 include(bloaty)
 
 
+include(doxygen)
 include(metadata)
 include(package)
 

MAINTAINERS.md

@@ -7,34 +7,33 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
-| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
-| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
-| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
-| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
 
 
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
 
 **Release Managers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
 
 **Retired Maintainers**
 

Makefile

@@ -300,8 +300,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 px4io_update:
@@ -365,7 +363,7 @@ coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
-.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
+.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
 
 parameters_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
@@ -381,6 +379,12 @@ extract_events:
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
 
+doxygen:
+	@mkdir -p "$(SRC_DIR)"/build/doxygen
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
+	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
+
 # Style
 # --------------------------------------------------------------------
 .PHONY: check_format format check_newlines
@@ -410,18 +414,11 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)
 
-# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test \
-		--base-directory build/px4_sitl_test \
-		--gcov-tool gcov \
-		--capture \
-		$(LCOBUG) \
-		-o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
 
 rostest: px4_sitl_default

ROMFS/CMakeLists.txt

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

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101
 
 param set-default EKF2_GPS_DELAY 0
-
-# Rate controllers
-param set-default FW_RR_P 0.0500
-param set-default FW_RR_I 2.0000
-param set-default FW_RR_D 0.0000
-param set-default FW_RR_FF 0.0000
-param set-default FW_RR_IMAX 1.0000
-
-param set-default FW_PR_P 0.0800
-param set-default FW_PR_I 2.5000
-param set-default FW_PR_D 0.0000
-param set-default FW_PR_FF 0.0000
-param set-default FW_PR_IMAX 1.0000
-
-param set-default FW_YR_P 0.0500
-param set-default FW_YR_I 3.0000
-param set-default FW_YR_D 0.0000
-param set-default FW_YR_FF 0.0000
-param set-default FW_YR_IMAX 1.0000

ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex

@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# @name HexarotorX SITL for SIH
-#
-# @type Hexarotor x
-# @class Copter
-#
-# @maintainer Matthias Grob <maetugr@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 1
-param set-default SENS_EN_MAGSIM 1
-
-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 PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-param set-default EKF2_GPS_DELAY 0

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -15,6 +15,7 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -30,16 +31,14 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.43
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -1,68 +1,51 @@
 #!/bin/sh
-# @name Gazebo - Zero Turn Lawnmower
+# @name Gazebo lawnmower
 # @type Rover
 # @class Rover
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-param set-default NAV_ACC_RAD 0.5
-
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Differential Parameters
+# Rover parameters
 param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 1.5
-param set-default RO_DECEL_LIM 5
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 2.7
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.2
-param set-default RO_YAW_RATE_P 1.0
-param set-default RO_YAW_RATE_LIM 60
-param set-default RO_YAW_ACCEL_LIM 50
-param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.0
-
-# Rover Attitude Control Parameters
-param set-default RO_YAW_P 5
-
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2.1
-param set-default RO_SPEED_I 0.01
-param set-default RO_SPEED_P 0.1
-param set-defatul RO_SPEED_RED 1.0
-
 # Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 87
-param set-default SIM_GZ_WH_MAX1 113
-param set-default SIM_GZ_WH_DIS1 100
-param set-default SIM_GZ_WH_FAIL1 100
+#param set-default SIM_GZ_WH_MIN1 0
+#param set-default SIM_GZ_WH_MAX1 200
+#param set-default SIM_GZ_WH_DIS1 100
+#param set-default SIM_GZ_WH_FAIL1 100
 
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 87
-param set-default SIM_GZ_WH_MAX2 113
-param set-default SIM_GZ_WH_DIS2 100
-param set-default SIM_GZ_WH_FAIL2 100
+#param set-default SIM_GZ_WH_MIN2 0
+#param set-default SIM_GZ_WH_MAX2 200
+#param set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -30,16 +30,14 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
-param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -15,6 +15,8 @@ param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -28,16 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
-param set-default RO_YAW_RATE_CORR 1.75
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

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

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -109,13 +109,11 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
-	10044_sihsim_hex
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	50000_gz_rover_differential
-
+	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -1,13 +1,15 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
+echo "INFO  [init] Gazebo simulator"
+
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
 
 if [ -z "$GZ_SIM_VERSION" ]; then
-	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-	exit 1
+    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+    exit 1
 fi
 
 # Use sort compare, check that MIN_GZ_VERSION is ordered last
@@ -15,8 +17,6 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"
 
-	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
-
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,15 +24,19 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-	exit 1
+    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    exit 1
 fi
 
-# If not standalone launch the world
+# Look for an already running world
+get_gz_world() {
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+}
+
+# If not standalone
 if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	get_gz_world
 
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -66,6 +70,13 @@ fi
 
 # Wait for Gazebo world to be ready before proceeding
 check_scene_info() {
+
+	get_gz_world
+
+	if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
 	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
 	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
 		return 0
@@ -89,57 +100,31 @@ while [ $ATTEMPTS -gt 0 ]; do
 	sleep 1
 done
 
-# World is ready, check if custom location is provided
-if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
-	# must have all three
-	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
-		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
-		exit 1
-	fi
-	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
-	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
-		--reqtype gz.msgs.SphericalCoordinates \
-		--reptype gz.msgs.Boolean \
-		--timeout 1000 \
-		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
-fi
-
 # Start gz_bridge - either spawn a model or connect to existing one
 if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	# Spawn a model
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
 
-	sdf_pose_str=""
-
+	POSE_ARG=""
 	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
-		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
-		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pos_x=${pos_x:-0}
+		pos_y=${pos_y:-0}
+		pos_z=${pos_z:-0}
 
-		pose_x=${pose_x:-0}
-		pose_y=${pose_y:-0}
-		pose_z=${pose_z:-0}
-		pose_roll=${pose_roll:-0}
-		pose_pitch=${pose_pitch:-0}
-		pose_yaw=${pose_yaw:-0}
-
-		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
-		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
+		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 	fi
 
-	echo "INFO  [init] Spawning Gazebo model"
-
-	# include the actual SDF in this one, containing the pose if given
-	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
+	echo "INFO  [init] Spawning model"
 
 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
+			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
 
 	# Wait for model to spawn
 	sleep 1

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -190,6 +190,9 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3
 
+# set default IP to localhost
+param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
+
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -295,15 +298,10 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
-	# Override, as variable is set (empty or not)
-	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
-		# Override namespace if environment variable is non-empty
-		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
-	else
-		# Clear namespace if variable is empty
-		uxrce_dds_ns=""
-	fi
+if [ -n "$PX4_UXRCE_DDS_NS" ]
+then
+	# Override namespace if environment variable is defined
+	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
@@ -319,7 +317,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi
 
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
 
 if param greater -s MNT_MODE_IN -1
 then
@@ -342,11 +340,7 @@ then
 	gyro_calibration start
 fi
 
-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start
 
 if param compare -s ICE_EN 1
 then

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
@@ -23,6 +26,7 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
 
@@ -38,16 +42,14 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
-param set-default RO_YAW_RATE_CORR 2.7
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -7,6 +7,9 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
@@ -30,16 +33,14 @@ param set-default RO_MAX_THR_SPEED 2.8
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
-param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Velocity Control Parameters
+# Rover Position Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
-param set-default RO_SPEED_RED 1
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum

@@ -5,5 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 . ${R}etc/init.d/rc.rover_mecanum_defaults

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
+param set-default MAV_TYPE 99
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -13,11 +13,9 @@ control_allocator start
 #
 # Start attitude controller.
 #
-fw_dyn_soar_control start
 fw_rate_control start
 fw_att_control start
-fw_mode_manager start
-fw_lat_lon_control start
+fw_pos_control start
 airspeed_selector start
 
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,6 +13,8 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
+# there is a 2.5 factor applied on the _FS thresholds if for invalidation
+param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -20,5 +20,7 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
+param set-default GPS_UBX_DYNMODEL 6
+
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE spacecraft
+set VEHICLE_TYPE sc
 
-# MAV_TYPE_SPACECRAFT_ORBITTER
-param set-default MAV_TYPE 45
+# MAV_TYPE_QUADROTOR 2
+#param set-default MAV_TYPE 12
 
 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,7 +234,6 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
-	qmc5883p -X -q start
 	rm3100 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -68,15 +68,6 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi
 
-#
-# Spapcecraft setup.
-#
-if [ $VEHICLE_TYPE = spacecraft ]
-then
-	# Start standard multicopter apps.
-	. ${R}etc/init.d/rc.sc_apps
-fi
-
 #
 # Airship setup.
 #

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -27,8 +27,7 @@ fi
 
 fw_rate_control start vtol
 fw_att_control start vtol
-fw_mode_manager start
-fw_lat_lon_control start vtol
+fw_pos_control start vtol
 fw_autotune_attitude_control start vtol
 
 # Start Land Detector

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -10,6 +10,9 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22
 
+# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
+param set-default COM_POS_FS_EPH 50
+
 param set-default COM_POS_LOW_EPH 50
 
 param set-default MIS_TAKEOFF_ALT 20

ROMFS/px4fmu_common/init.d/rcS

@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # 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.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
 set PARAM_DEFAULTS_VER 1
 
 #
@@ -224,7 +224,7 @@ else
 		# Look for airframe in ROMFS
 		. ${R}etc/init.d/rc.autostart
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			# Use external startup file
 			if [ $STORAGE_AVAILABLE = yes ]
@@ -235,7 +235,7 @@ else
 			fi
 		fi
 
-		if [ ${VEHICLE_TYPE} = none ]
+		if [ ${VEHICLE_TYPE} == none ]
 		then
 			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
 			param set SYS_AUTOSTART 0
@@ -280,14 +280,6 @@ else
 	#
 	send_event start
 
-	#
-	# Start the hardfault streamer.
-	#
-	if param compare -s SYS_HF_MAV 1
-	then
-		hardfault_stream start
-	fi
-
 	#
 	# Start the resource load monitor.
 	#
@@ -568,11 +560,7 @@ else
 		px4flow start -X &
 	fi
 
-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start
 
 	if param compare -s ICE_EN 1
 	then

Tools/astyle/check_newlines.sh

@@ -3,14 +3,14 @@
 return_value=0
 
 # Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1
 fi
 
 # Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
+git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
 
 if [ $? -ne 0 ]; then
 	return_value=1

Tools/ci/check_msg_versioning.sh

@@ -27,9 +27,9 @@ do
     # - An old .msg version exists
     # - A translation header exists and is included
 
-    # Ignore changes to comments or constants and trim whitespace
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
     if [ "${content_a}" == "${content_b}" ]; then
       echo "No version update required for ${file}"
       continue

Tools/ci/generate_board_targets_json.py

@@ -35,7 +35,6 @@ if args.filter:
     for board in args.filter.split(','):
         board_filter.append(board)
 
-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -87,17 +86,21 @@ def process_target(px4board_file, target_name):
     assert platform, f"PLATFORM not found in {px4board_file}"
 
     if platform not in excluded_platforms:
-        container = default_container
+        # get the container based on the platform and toolchain
         if platform == 'posix':
+            container = 'px4io/px4-dev-base-focal:2021-09-08'
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
+                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                     group = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
+                    container = 'px4io/px4-dev-armhf:2023-06-26'
                     group = 'armhf'
                 else:
                     if verbose: print(f'unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
+            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
             group = 'nuttx'
         else:
             if verbose: print(f'unmatched platform: {platform}')
@@ -121,7 +124,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = default_container
+grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -203,7 +206,6 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []
@@ -221,7 +223,6 @@ if (args.group):
                     "container": grouped_targets[arch]['container'],
                     "targets": targets,
                     "arch": arch,
-                    "runner": runner,
                     "group": group_name,
                     "len": len(grouped_targets[arch]['manufacturers'][man])
                 })
@@ -239,7 +240,6 @@ if (args.group):
                         "container": grouped_targets[arch]['container'],
                         "targets": targets,
                         "arch": arch,
-                        "runner": runner,
                         "group": group_name,
                         "len": len(chunk),
                     })
@@ -260,7 +260,6 @@ if (args.group):
                 "container": grouped_targets[arch]['container'],
                 "targets": targets,
                 "arch": arch,
-                "runner": runner,
                 "group": group_name,
                 "len": temp_len
             })
@@ -278,7 +277,6 @@ if (args.group):
                     "container": grouped_targets[arch]['container'],
                     "targets": targets,
                     "arch": arch,
-                    "runner": runner,
                     "group": group_name,
                     "len": len(chunk),
                 })

Tools/ci/package_build_artifacts.sh

@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
-  build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
+  build_dir=${build_dir::${#build_dir}-1}
   mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
   # Airframe
@@ -26,23 +26,21 @@ for build_dir_path in build/*/ ; do
   echo "----------"
 done
 
-if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata
-  mkdir artifacts/_general/
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Airframe
-  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  # Parameters
-  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-  # Actuators
-  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-  # Events
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # ROS 2 msgs
-  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  # Module Docs
-  ls -la artifacts/_general/
-fi
+# general metadata
+mkdir artifacts/_general/
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Airframe
+cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+# Parameters
+cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+# Actuators
+cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+# Events
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# ROS 2 msgs
+cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+# Module Docs
+ls -la artifacts/_general/

Tools/docker_run.sh

@@ -2,7 +2,19 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -15,9 +27,17 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
 fi
 
+# docker hygiene
+
+#Delete all stopped containers (including data-only containers)
+#docker rm $(docker ps -a -q)
+
+#Delete all 'untagged/dangling' (<none>) images
+#docker rmi $(docker images -q -f dangling=true)
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

Tools/itcm_check.py

@@ -1,185 +0,0 @@
-#! /usr/bin/env python3
-
-"""
-Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
-
-This helps against linker scripts that "rot" as the linker does not warn in case of a function
-not existing. Thus, it is possible to forget to update the linker script after a code update.
-
-The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
-exist in the built ELF file.
-
-It is expected that the linker scripts that are analyzed by the tool are linker script include
-files that only contain the name of the sections (functions) that should be mapped to ITCM in
-the following format:
-```
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
-*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
-[...]
-```
-
-A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
-```
-*(.text.arm_ack_irq) /* itcm-check-ignore */
-```
-"""
-
-import argparse
-import re
-from elftools.elf.elffile import ELFFile
-from elftools.elf.sections import SymbolTableSection
-from elftools.dwarf.die import DIE
-from pathlib import Path
-from typing import List, Set
-
-
-def die_get_funcs_rec(die: DIE, ret: Set[str]):
-    """
-    Recursively gets the mangled and demangled name of all functions in the given `die`.
-
-    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
-    :param ret: Output set where all function names are added to.
-    """
-    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
-        link_name_att = die.attributes.get("DW_AT_linkage_name")
-        name_att = die.attributes.get("DW_AT_name")
-        if link_name_att:
-            ret.add(link_name_att.value.decode("utf-8"))
-        if name_att:
-            ret.add(name_att.value.decode("utf-8"))
-
-    # Recurse into the DIE children
-    for child in die.iter_children():
-        die_get_funcs_rec(child, ret)
-
-
-def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the DWARF debug info.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        if not elf.has_dwarf_info():
-            print("ELF does not have debug info. Compile with debug info.")
-            exit(1)
-        dwarf_info = elf.get_dwarf_info()
-        for CU in dwarf_info.iter_CUs():
-            top_die = CU.get_top_DIE()
-            die_get_funcs_rec(top_die, ret)
-
-    return ret
-
-
-def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
-    """
-    Gets all functions contained in the built ELF file using the symbol table section.
-
-    :param elf_path: Path to the ELF file.
-
-    :return: The names of the contained functions.
-    """
-    ret = set()
-    with open(elf_path, 'rb') as f:
-        elf = ELFFile(f)
-        for section in elf.iter_sections():
-            if isinstance(section, SymbolTableSection):
-                for sym in section.iter_symbols():
-                    ret.add(sym.name)
-    return ret
-
-
-def is_section_supported(section: str) -> bool:
-    """
-    Returns whether this type of section can be checked.
-
-    :param section: Name of the section that should be checked for support.
-
-    :return: Whether the type of section is supported.
-    """
-    not_supported_sections = [".isra", ".part", ".constprop"]
-    return not any(not_supported in section for not_supported in not_supported_sections)
-
-
-def get_input_sections(script_path: Path) -> List[str]:
-    """
-    Gets all sections (named after the functions) that should be mapped to ITCM according
-    to the linker script.
-
-    :param script_path: Path of the linker script.
-
-    :return: The names of the sections
-    """
-    ret = []
-    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
-    ignored_marker = "itcm-check-ignore"
-    with open(script_path, 'r') as f:
-        for line in f:
-            match = section_pattern.match(line)
-            if match and ignored_marker not in line:
-                section_name = match.group(1).replace("text.", "")
-                if is_section_supported(section_name):
-                    ret.append(section_name)
-    return ret
-
-
-def check_itcm(elf_path: Path, script_paths: List[Path]):
-    """
-    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
-
-    :param elf_path: Path of the ELF file.
-    :param script_paths: Path of all linker scripts that should be checked.
-    """
-    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
-    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
-    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
-    input_sections = []
-    for script_path in script_paths:
-        script_input_sections = get_input_sections(script_path)
-        if script_input_sections:
-            input_sections.extend(script_input_sections)
-        else:
-            print(f"No input sections found in {script_path}, please check if the path is correct.")
-
-    check_passed = True
-    for input_section in input_sections:
-        if input_section not in elf_symbols:
-            check_passed = False
-            print(f"Section: {input_section} not found in the ELF file!")
-
-    if check_passed:
-        print("ITCM check passed!")
-        exit(0)
-    else:
-        print("ITCM check failed!")
-        exit(1)
-
-
-def main():
-    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
-    parser.add_argument(
-        "--elf-file",
-        help="Path of the compiled ELF file",
-        type=Path,
-        required=True
-    )
-    parser.add_argument(
-        "--script-files",
-        help="Paths of the linker script files",
-        nargs="+",
-        type=Path,
-        required=True
-    )
-
-    args = parser.parse_args()
-    check_itcm(args.elf_file, args.script_files)
-
-
-if __name__ == '__main__':
-    main()

Tools/msg/generate_msg_docs.py

@@ -2,7 +2,6 @@
 
 """
 Generate docs from .msg files
-Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """
 
 import os
@@ -10,99 +9,6 @@ import argparse
 import sys
 
 
-import yaml
-
-def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
-    """
-    Generates human readable version of dds_topics.yaml.
-    Default output is to docs/en/middleware/dds_topics.md
-    """
-
-    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
-    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
-
-    try:
-        with open(dds_file_path, 'r') as file:
-            data = yaml.safe_load(file)
-
-        # Get messages and topics that are not published by default
-        # Start by getting all that are published.
-        all_messages_in_source = set()
-        all_message_types =set()
-        all_topics =set()
-        for message in data["publications"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        for message in data["subscriptions"]:
-            all_message_types.add(message['type'].split("::")[-1])
-            all_topics.add(message['topic'].split('/')[-1])
-        if data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-            for message in data["subscriptions_multi"]:
-                all_message_types.add(message['type'].split("::")[-1])
-                all_topics.add(message['topic'].split('/')[-1])
-        for message in allMessageFiles:
-            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
-        messagesNotExported = all_messages_in_source - all_message_types
-
-        # write out the dds file
-        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
-
-::: info
-This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
-:::
-
-
-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
-
-This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
-
-## Publications
-
-Topic | Type| Rate Limit
---- | --- | ---
-"""
-
-        for message in data["publications"]:
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
-
-        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
-
-        for message in data["subscriptions"]:
-            type = message['type']
-            px4Type=type.split("::")[-1]
-            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
-
-        dds_markdown += "\n## Subscriptions Multi\n\n"
-
-        if not data["subscriptions_multi"]: # There is none now
-            dds_markdown += "None\n"
-        else:
-            print("Warning - we now have subscription_multi data - check format")
-            dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
-                dds_markdown += f"{message['topic']} | {message['type']}\n"
-
-        if messagesNotExported:
-            # Print the topics that are not exported to DDS
-            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
-            dds_markdown += "\n\n::: details See messages\n"
-            for item in  messagesNotExported:
-                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
-            dds_markdown += "\n:::\n" # End of details block
-
-        #print(dds_markdown)
-        with open(output_file_path, 'w') as content_file:
-                content_file.write(dds_markdown)
-
-    except yaml.YAMLError as exc:
-        print(f"Error parsing YAML: {exc}")
-    except FileNotFoundError:
-        print(f"Error: {dds_file_path} not found.")
-
-
 def get_msgs_list(msgdir):
     """
     Makes a list of relative paths of .msg files in the given directory
@@ -124,7 +30,6 @@ def get_msgs_list(msgdir):
 
 
 if __name__ == "__main__":
-
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
     args = parser.parse_args()
@@ -227,5 +132,3 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
     index_file = os.path.join(output_dir, 'index.md')
     with open(index_file, 'w') as content_file:
             content_file.write(index_text)
-
-    generate_dds_yaml_doc(msg_files)

Tools/px4moduledoc/markdownout.py

@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
         for category in sorted(module_groups):
-            result += f"- [{category.capitalize()}](modules_{category}.md)\n"
+            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
 
         self._outputs['main'] = result
 
         for category in sorted(module_groups):
-            result = f"# Modules Reference: {category.capitalize()}\n\n"
+            result = "# Modules Reference: %s\n" % category.capitalize()
             subcategories = module_groups[category]
-
             if len(subcategories) > 1:
-                result += 'Subcategories:\n\n'
-                for subcategory in sorted(subcategories): 
+                result += 'Subcategories:\n'
+                for subcategory in subcategories:
                     if subcategory == '':
                         continue
                     subcategory_label = subcategory.replace('_', ' ').title()
                     subcategory_file_name = category+'_'+subcategory
-                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
+                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
 
                     # add a sub-page for the subcategory
-                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
+                    result_subpage = '# Modules Reference: %s (%s)\n' % \
+                        (subcategory_label, category.capitalize())
                     result_subpage += self._ProcessModules(subcategories[subcategory])
                     self._outputs[subcategory_file_name] = result_subpage
 
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
     def _ProcessModules(self, module_list):
         result = ''
         for module in module_list:
-            result += f"\n## {module.name()}\n\n"
-            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
+            result += "## %s\n" % module.name()
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
             doc = module.documentation()
             if len(doc) > 0:
-                result += f"{doc}\n"
+                result += "%s\n" % doc
             usage_string = module.usage_string()
             if len(usage_string) > 0:
-                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
         return result
 
     def Save(self, dirname):

Tools/px4moduledoc/srcparser.py

@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
     """
 
     # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
 

Tools/serial/rc.serial_port.jinja

@@ -5,7 +5,7 @@
 set SERIAL_DEV none
 {% for serial_device in serial_devices -%}
 if param compare "$PRT" {{ serial_device.index }}; then
-	if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
+	if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
 		set SERIAL_DEV {{ serial_device.device }}
 		set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
 		set PRT_{{ serial_device.tag }}_ 1

Tools/setup/Dockerfile

@@ -8,25 +8,22 @@ ENV LC_ALL=C.UTF-8
 ENV DISPLAY=:99
 ENV TERM=xterm
 ENV TZ=UTC
-ENV RUNS_IN_DOCKER=true
 
 # SITL UDP PORTS
 EXPOSE 14556/udp
 EXPOSE 14557/udp
 
-# Install Shell Script Entrypoint
 COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
 
 # Install PX4 Requirements
 COPY requirements.txt /tmp/requirements.txt
 COPY ubuntu.sh /tmp/ubuntu.sh
-
+RUN touch /.dockerenv
 RUN bash /tmp/ubuntu.sh --no-sim-tools
 
-# Make sure git is ok with your local copy
 RUN git config --global --add safe.directory '*'
 
-# Create user with id 1001 (jenkins docker workflow default)
+# create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
 
 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]

Tools/setup/docker-entrypoint.sh

@@ -1,27 +1,19 @@
 #!/bin/bash
 
-GREEN='\033[0;32m'
-NO_COLOR='\033[0m' # No Color
-SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
-
-echo -e "$SCRIPTID Starting"
-
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo -e "$SCRIPTID Starting Xvfb"
+	echo "[docker-entrypoint.sh] Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi
 
 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
+	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"

Tools/setup/macos.sh

@@ -42,6 +42,8 @@ else
 		echo "Installing PX4 general dependencies (homebrew px4-dev)"
 		brew tap PX4/px4
 		brew install px4-dev
+		# lock down gcc to v9 for v1.16 branch
+		brew install gcc-arm-none-eabi
 		brew install ncurses
 		brew install python-tk
 	fi

Tools/setup/optional-requirements.txt

@@ -1,2 +1 @@
-pyelftools>=0.32,<1
 symforce>=0.9.0

Tools/setup/requirements.txt

@@ -27,4 +27,3 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
-lark

Tools/setup/ubuntu.sh

@@ -27,12 +27,9 @@ do
 	fi
 done
 
-echo "[ubuntu.sh] Starting..."
-echo "[ubuntu.sh] arch: $INSTALL_ARCH"
-
 # detect if running in docker
-if [ "$RUNS_IN_DOCKER" = "true" ]; then
-	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
+if [ -f /.dockerenv ]; then
+	echo "Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -50,7 +47,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi
 
@@ -58,8 +55,10 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
-echo "[ubuntu.sh] Installing PX4 general dependencies"
+echo "Ubuntu ${UBUNTU_RELEASE}"
+
+echo
+echo "Installing PX4 general dependencies"
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -92,7 +91,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 
 # Python3 dependencies
 echo
-echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
+echo "Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -110,18 +109,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
-	sudo apt-get update -y --quiet
+	echo "Installing NuttX dependencies"
+
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
 		build-essential \
 		curl \
-		clang \
-		clang-tidy \
-		clang-format \
 		flex \
+		g++-multilib \
+		gcc-arm-none-eabi \
+		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -140,8 +139,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
-		lldb \
-		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -150,21 +147,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;
 
-	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-multilib \
-			gcc-arm-none-eabi \
-			gcc-multilib \
-			;
-	fi
-
-	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			g++-aarch64-linux-gnu \
-			g++-arm-linux-gnueabihf \
-			;
-	fi
-
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -175,7 +157,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "[ubuntu.sh] Installing PX4 simulation dependencies"
+	echo "Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -200,8 +182,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
+		echo "Gazebo (Harmonic) will be installed"
+		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=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_DSHOT=y
@@ -42,8 +41,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,7 +132,6 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp

@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
-		},
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs = 1,
-	.entries  = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}

boards/airmind/mindpx-v2/default.px4board

@@ -46,8 +46,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/ark/fmu-v6x/default.px4board

@@ -56,13 +56,11 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -78,6 +76,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/ark/fmu-v6x/encrypted_logs.px4board

@@ -6,3 +6,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n

boards/ark/fpv/default.px4board

@@ -37,8 +37,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -57,6 +56,7 @@ 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_PAYLOAD_DELIVERER=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y

boards/ark/fpv/encrypted_logs.px4board

@@ -5,3 +5,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n

boards/auterion/fmu-v6s/default.px4board

@@ -37,13 +37,11 @@ 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_POS_CONTROL=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -26,6 +26,3 @@ nshterm /dev/ttyS3 &
 
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
-
-# Start the ESC telemetry
-dshot telemetry -d /dev/ttyS5 -x

boards/auterion/fmu-v6s/multicopter.px4board

@@ -3,8 +3,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y

boards/auterion/fmu-v6s/rover.px4board

@@ -2,8 +2,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n

boards/av/x-v1/default.px4board

@@ -42,8 +42,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/beaglebone/blue/default.px4board

@@ -30,8 +30,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/bluerobotics/navigator/default.px4board

@@ -49,8 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y

boards/corvon/743v1/default.px4board

@@ -38,8 +38,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y

boards/cuav/7-nano/default.px4board

@@ -43,8 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/nora/default.px4board

@@ -50,8 +50,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/x7pro/default.px4board

@@ -50,8 +50,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorange/default.px4board

@@ -49,8 +49,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -50,8 +50,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cubepilot/cubeyellow/default.px4board

@@ -46,8 +46,7 @@ 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_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/diatone/mamba-f405-mk2/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y