Doh

Update msg/versioned/ManualControlSetpoint.msg
Apply suggestions from code review
2026-06-08 08:00:05 +08:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00 · 2026-03-23 07:53:12 +11:00
33 changed files with 949 additions and 291 deletions
@@ -249,7 +249,7 @@ fi

 load_mon start

-if param greater SIM_BAT_DRAIN 0
+if param compare SIM_BAT_ENABLE 1
 then
 	battery_simulator start
 fi
@@ -47,7 +47,7 @@ set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
 set(CPACK_INSTALL_PREFIX "/usr")
 set(CPACK_SET_DESTDIR true)

-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.2.2) | modalai-adsp(>=1.0.5)")
 set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
@@ -37,6 +37,8 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_VOXL2_IO=y
@@ -215,6 +215,12 @@ fi
 if [ "$POWER_MANAGER" == "VOXLPM" ]; then
    # APM power monitor
    qshell voxlpm start -X -b 2
+elif [ "$POWER_MANAGER" == "INA226" ]; then
+    /bin/echo "Starting INA226 power monitor"
+    qshell ina226 start -X -b 2
+elif [ "$POWER_MANAGER" == "INA228" ]; then
+    /bin/echo "Starting INA228 power monitor"
+    qshell ina228 start -X -b 2
 fi

 if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
@@ -9994,6 +9994,48 @@ When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC1
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -1       | 8191     |           | -1      |      |

+### UAVCAN_EC_FAIL10 (`INT32`) {#UAVCAN_EC_FAIL10}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 10 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC10).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 8191     |           | -1      |      |
+
+### UAVCAN_EC_FAIL11 (`INT32`) {#UAVCAN_EC_FAIL11}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 11 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC11).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 8191     |           | -1      |      |
+
+### UAVCAN_EC_FAIL12 (`INT32`) {#UAVCAN_EC_FAIL12}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 12 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC12).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 8191     |           | -1      |      |
+
 ### UAVCAN_EC_FAIL2 (`INT32`) {#UAVCAN_EC_FAIL2}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10092,6 +10134,20 @@ When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC8
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -1       | 8191     |           | -1      |      |

+### UAVCAN_EC_FAIL9 (`INT32`) {#UAVCAN_EC_FAIL9}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 9 Failsafe Value.
+
+This is the output value that is set when in failsafe mode.
+
+When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC9).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | -1       | 8191     |           | -1      |      |
+
 ### UAVCAN_EC_FUNC1 (`INT32`) {#UAVCAN_EC_FUNC1}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10166,6 +10222,228 @@ The default failsafe value is set according to the selected function:
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |      |

+### UAVCAN_EC_FUNC10 (`INT32`) {#UAVCAN_EC_FUNC10}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 10 Output Function.
+
+Select what should be output on UAVCAN ESC 10.
+
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
+### UAVCAN_EC_FUNC11 (`INT32`) {#UAVCAN_EC_FUNC11}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 11 Output Function.
+
+Select what should be output on UAVCAN ESC 11.
+
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
+### UAVCAN_EC_FUNC12 (`INT32`) {#UAVCAN_EC_FUNC12}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 12 Output Function.
+
+Select what should be output on UAVCAN ESC 12.
+
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
 ### UAVCAN_EC_FUNC2 (`INT32`) {#UAVCAN_EC_FUNC2}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10684,6 +10962,80 @@ The default failsafe value is set according to the selected function:
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0       |      |

+### UAVCAN_EC_FUNC9 (`INT32`) {#UAVCAN_EC_FUNC9}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 9 Output Function.
+
+Select what should be output on UAVCAN ESC 9.
+
+The default failsafe value is set according to the selected function:
+
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Constant Min
+- `2`: Constant Max
+- `101`: Motor 1
+- `102`: Motor 2
+- `103`: Motor 3
+- `104`: Motor 4
+- `105`: Motor 5
+- `106`: Motor 6
+- `107`: Motor 7
+- `108`: Motor 8
+- `109`: Motor 9
+- `110`: Motor 10
+- `111`: Motor 11
+- `112`: Motor 12
+- `201`: Servo 1
+- `202`: Servo 2
+- `203`: Servo 3
+- `204`: Servo 4
+- `205`: Servo 5
+- `206`: Servo 6
+- `207`: Servo 7
+- `208`: Servo 8
+- `301`: Peripheral via Actuator Set 1
+- `302`: Peripheral via Actuator Set 2
+- `303`: Peripheral via Actuator Set 3
+- `304`: Peripheral via Actuator Set 4
+- `305`: Peripheral via Actuator Set 5
+- `306`: Peripheral via Actuator Set 6
+- `400`: Landing Gear
+- `401`: Parachute
+- `402`: RC Roll
+- `403`: RC Pitch
+- `404`: RC Throttle
+- `405`: RC Yaw
+- `406`: RC Flaps
+- `407`: RC AUX 1
+- `408`: RC AUX 2
+- `409`: RC AUX 3
+- `410`: RC AUX 4
+- `411`: RC AUX 5
+- `412`: RC AUX 6
+- `420`: Gimbal Roll
+- `421`: Gimbal Pitch
+- `422`: Gimbal Yaw
+- `430`: Gripper
+- `440`: Landing Gear Wheel
+- `450`: IC Engine Ignition
+- `451`: IC Engine Throttle
+- `452`: IC Engine Choke
+- `453`: IC Engine Starter
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
 ### UAVCAN_EC_MAX1 (`INT32`) {#UAVCAN_EC_MAX1}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10696,6 +11048,42 @@ Maxmimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 8191     |           | 8191    |      |

+### UAVCAN_EC_MAX10 (`INT32`) {#UAVCAN_EC_MAX10}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 10 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 8191    |      |
+
+### UAVCAN_EC_MAX11 (`INT32`) {#UAVCAN_EC_MAX11}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 11 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 8191    |      |
+
+### UAVCAN_EC_MAX12 (`INT32`) {#UAVCAN_EC_MAX12}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 12 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 8191    |      |
+
 ### UAVCAN_EC_MAX2 (`INT32`) {#UAVCAN_EC_MAX2}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10780,6 +11168,18 @@ Maxmimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 8191     |           | 8191    |      |

+### UAVCAN_EC_MAX9 (`INT32`) {#UAVCAN_EC_MAX9}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 9 Maximum Value.
+
+Maxmimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 8191    |      |
+
 ### UAVCAN_EC_MIN1 (`INT32`) {#UAVCAN_EC_MIN1}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10792,6 +11192,42 @@ Minimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 8191     |           | 1       |      |

+### UAVCAN_EC_MIN10 (`INT32`) {#UAVCAN_EC_MIN10}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 10 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 1       |      |
+
+### UAVCAN_EC_MIN11 (`INT32`) {#UAVCAN_EC_MIN11}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 11 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 1       |      |
+
+### UAVCAN_EC_MIN12 (`INT32`) {#UAVCAN_EC_MIN12}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 12 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 1       |      |
+
 ### UAVCAN_EC_MIN2 (`INT32`) {#UAVCAN_EC_MIN2}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10876,6 +11312,18 @@ Minimum output value (when not disarmed).
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 8191     |           | 1       |      |

+### UAVCAN_EC_MIN9 (`INT32`) {#UAVCAN_EC_MIN9}
+
+<Badge type="warning" text="This parameter is only present on some boards." />
+
+UAVCAN ESC 9 Minimum Value.
+
+Minimum output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 8191     |           | 1       |      |
+
 ### UAVCAN_EC_REV (`INT32`) {#UAVCAN_EC_REV}

 <Badge type="warning" text="This parameter is only present on some boards." />
@@ -10895,10 +11343,14 @@ Note: this is only useful for servos.
 - `5`: UAVCAN ESC 6
 - `6`: UAVCAN ESC 7
 - `7`: UAVCAN ESC 8
+- `8`: UAVCAN ESC 9
+- `9`: UAVCAN ESC 10
+- `10`: UAVCAN ESC 11
+- `11`: UAVCAN ESC 12

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 255      |           | 0       |      |
+| &nbsp; | 0        | 4095     |           | 0       |      |

 ### UAVCAN_SV_DIS1 (`INT32`) {#UAVCAN_SV_DIS1}

@@ -28310,6 +28762,19 @@ clockwise, negative for counter-clockwise.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | -10000   | 10000    | 0.5       | 80.0    | m    |

+### NAV_LTR_LAST_DL (`INT32`) {#NAV_LTR_LAST_DL}
+
+Loiter at last GCS heartbeat position on data link loss.
+
+When the data link is lost and this setting is enabled,
+the vehicle will loiter at the position where the last GCS
+heartbeat was received rather than at its current position.
+Only applies to Hold mode during failsafe actions.
+
+| Reboot | minValue | maxValue | increment | default      | unit |
+| ------ | -------- | -------- | --------- | ------------ | ---- |
+| &nbsp; |          |          |           | Disabled (0) |      |
+
 ### NAV_MC_ALT_RAD (`FLOAT`) {#NAV_MC_ALT_RAD}

 MC Altitude Acceptance Radius.
@@ -95,205 +95,205 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
 - [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [Gripper](../msg_docs/Gripper.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [InputRc](../msg_docs/InputRc.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [Event](../msg_docs/Event.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [LedControl](../msg_docs/LedControl.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [Mission](../msg_docs/Mission.md)
- [GainCompression](../msg_docs/GainCompression.md)
 - [GpioOut](../msg_docs/GpioOut.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [Ping](../msg_docs/Ping.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
 - [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [EventV0](../msg_docs/EventV0.md)
 - [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [Ping](../msg_docs/Ping.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [Mission](../msg_docs/Mission.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [Event](../msg_docs/Event.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
  :::
@@ -15,7 +15,7 @@ pageClass: is-wide-page
 | is_evaluation_pending | `bool`   |              |            | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). |
 | has_vtol_approach     | `bool`   |              |            | flag if approaches are defined for current RTL_TYPE parameter setting                        |
 | rtl_type              | `uint8`  |              |            | Type of RTL chosen                                                                           |
-| safe_point_index      | `uint8`  |              |            | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode                 |
+| safe_point_index      | `uint8`  |              |            | index of the chosen safe point, UINT8_MAX if no rally point was chosen                       |

 ## Constants

@@ -42,7 +42,7 @@ bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.
 bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

 uint8 rtl_type	      		      # Type of RTL chosen
-uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
+uint8 safe_point_index 		      # index of the chosen safe point, UINT8_MAX if no rally point was chosen

 uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
 uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
@@ -47,7 +47,7 @@ To control how fast the battery depletes to the minimal value use the parameter
 By changing [SIM_BAT_MIN_PCT](../advanced_config/parameter_reference.md#SIM_BAT_MIN_PCT) in flight, you can also test regaining capacity to simulate inaccurate battery state estimation or in-air charging technology.
 :::

-The simulated battery can be completely disabled by setting [SIM_BAT_DRAIN](../advanced_config/parameter_reference.md#SIM_BAT_DRAIN) to 0. This is useful, for example, if you provide an external battery simulation via MAVLink.
+It is also possible to disable the simulated battery using [SIM_BAT_ENABLE](../advanced_config/parameter_reference.md#SIM_BAT_ENABLE) in order to, for example, provide an external battery simulation via MAVLink.

 ## Sensor/System Failure

@@ -6,7 +6,7 @@ bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.
 bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

 uint8 rtl_type	      		      # Type of RTL chosen
-uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
+uint8 safe_point_index 		      # index of the chosen safe point, UINT8_MAX if no rally point was chosen

 uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
 uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
@@ -1,45 +1,47 @@
+# Manual control setpoint message
+#
+# This message provides a representation of a manual control input, such as an RC controller or MAVLink controller (Joystick).
+# It defines the manual_control_input topic to represent configured inputs, and the manual_control_setpoint topic ot represent the selected input.
+# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
+#
+# Note: On a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right.
+# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
+
 uint32 MESSAGE_VERSION = 0

-uint64 timestamp                        # time since system start (microseconds)
-uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data

-bool valid
+bool valid # True if the current data is valid.

-uint8 SOURCE_UNKNOWN   = 0
-uint8 SOURCE_RC        = 1		# radio control (input_rc)
-uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
-uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
-uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
-uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 3
-uint8 SOURCE_MAVLINK_4 = 6		# mavlink instance 4
-uint8 SOURCE_MAVLINK_5 = 7		# mavlink instance 5
+uint8 data_source # [@enum SOURCE] Source of the manual control setpoint
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+uint8 SOURCE_RC = 1 # Radio control (input_rc)
+uint8 SOURCE_MAVLINK_0 = 2 # MAVLink instance 0
+uint8 SOURCE_MAVLINK_1 = 3 # MAVLink instance 1
+uint8 SOURCE_MAVLINK_2 = 4 # MAVLink instance 2
+uint8 SOURCE_MAVLINK_3 = 5 # MAVLink instance 3
+uint8 SOURCE_MAVLINK_4 = 6 # MAVLink instance 4
+uint8 SOURCE_MAVLINK_5 = 7 # MAVLink instance 5

-uint8 data_source

-# Any of the channels may not be available and be set to NaN
-# to indicate that it does not contain valid data.
+float32 roll # [@range -1,1] [@invalid NaN] Positive values are generally used for: move right, positive roll rotation, right side down
+float32 pitch # [@range -1,1] [@invalid NaN] Positive values are generally used for: move forward, negative pitch rotation, nose down
+float32 yaw # [@range -1,1] [@invalid NaN] Positive values are generally used for: positive yaw rotation, clockwise when seen top down
+float32 throttle # [@range -1,1] [@invalid NaN] Positive values are generally used for: move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust

-# Stick positions [-1,1]
-# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
-# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
-# Positive values are generally used for:
-float32 roll     # move right,   positive roll rotation,  right side down
-float32 pitch    # move forward, negative pitch rotation, nose down
-float32 yaw      #               positive yaw rotation,   clockwise when seen top down
-float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust
+float32 flaps # [@range -1, 1] [@invalid NaN] Position of flaps switch/knob/lever

-float32 flaps			 # position of flaps switch/knob/lever [-1, 1]
+float32 aux1 # [@range -1,1] [@invalid NaN] Auxiliary channel 1
+float32 aux2 # [@range -1,1] [@invalid NaN] Auxiliary channel 2
+float32 aux3 # [@range -1,1] [@invalid NaN] Auxiliary channel 3
+float32 aux4 # [@range -1,1] [@invalid NaN] Auxiliary channel 4
+float32 aux5 # [@range -1,1] [@invalid NaN] Auxiliary channel 5
+float32 aux6 # [@range -1,1] [@invalid NaN] Auxiliary channel 6

-float32 aux1
-float32 aux2
-float32 aux3
-float32 aux4
-float32 aux5
-float32 aux6
+bool sticks_moving # True if any of the values are changing.

-bool sticks_moving
-
-uint16 buttons		# From uint16 buttons field of Mavlink manual_control message
+uint16 buttons # From uint16 buttons field of MAVLink MANUAL_CONTROL message

 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x
@@ -88,7 +88,7 @@ actuator_output:
        min: { min: 0, max: 8191, default: 1 }
        max: { min: 0, max: 8191, default: 8191 }
        failsafe: { min: 0, max: 8191 }
-      num_channels: 8
+      num_channels: 12
    - param_prefix: UAVCAN_SV
      group_label: 'Servos'
      channel_label: 'Servo'
@@ -48,6 +48,10 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/i2c_spi_buses.h>

+extern "C" {
+	__EXPORT void fc_uninitialize_i2c_bus(int fd);
+}
+
 namespace device
 {

@@ -122,7 +126,7 @@ I2C::init()
 	_i2c_fd = _config_i2c_bus(get_device_bus(), get_device_address(), _frequency);
 	pthread_mutex_unlock(_mutex);

-	if (_i2c_fd == PX4_ERROR) {
+	if (_i2c_fd == -1) {
 		PX4_ERR("i2c init failed");
 		goto out;
 	}
@@ -132,6 +136,8 @@ I2C::init()

 	if (ret != OK) {
 		PX4_ERR("i2c probe failed");
+		fc_uninitialize_i2c_bus(_i2c_fd);
+		_i2c_fd = -1;
 		goto out;
 	}

@@ -56,6 +56,7 @@ px4_add_library(health_and_arming_checks
 	checks/manualControlCheck.cpp
 	checks/missionCheck.cpp
 	checks/modeCheck.cpp
+	checks/rallyPointCheck.cpp
 	checks/navigatorCheck.cpp
 	checks/offboardCheck.cpp
 	checks/openDroneIDCheck.cpp
@@ -68,6 +68,7 @@
 #include "checks/geofenceCheck.hpp"
 #include "checks/flightTimeCheck.hpp"
 #include "checks/missionCheck.hpp"
+#include "checks/rallyPointCheck.hpp"
 #include "checks/rcAndDataLinkCheck.hpp"
 #include "checks/vtolCheck.hpp"
 #include "checks/offboardCheck.hpp"
@@ -158,6 +159,7 @@ private:
 	GeofenceChecks _geofence_checks;
 	FlightTimeChecks _flight_time_checks;
 	MissionChecks _mission_checks;
+	RallyPointChecks _rally_point_checks;
 	RcAndDataLinkChecks _rc_and_data_link_checks;
 	VtolChecks _vtol_checks;
 	OffboardChecks _offboard_checks;
@@ -166,7 +168,7 @@ private:
 	ExternalChecks _external_checks;
 #endif

-	HealthAndArmingCheckBase *_checks[40] = {
+	HealthAndArmingCheckBase *_checks[41] = {
 #ifndef CONSTRAINED_FLASH
 		&_external_checks,
 #endif
@@ -188,6 +190,7 @@ private:
 		&_manual_control_checks,
 		&_home_position_checks,
 		&_mission_checks,
+		&_rally_point_checks,
 		&_offboard_checks, // must be after _estimator_checks
 		&_mode_checks, // must be after _estimator_checks, _home_position_checks, _mission_checks, _offboard_checks, _external_checks
 		&_open_drone_id_checks,
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the 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 "rallyPointCheck.hpp"
+
+RallyPointChecks::RallyPointChecks()
+	: _param_rtl_type_handle(param_find("RTL_TYPE"))
+{
+}
+
+void RallyPointChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	int32_t rtl_type = 0;
+
+	if (param_get(_param_rtl_type_handle, &rtl_type) != 0 || rtl_type != 5) {
+		// Only enforce rally point requirement when RTL_TYPE == 5 (safe points only)
+		return;
+	}
+
+	rtl_status_s rtl_status;
+
+	if (!_rtl_status_sub.copy(&rtl_status) || rtl_status.safe_point_index == UINT8_MAX) {
+		/* EVENT
+		 * @description
+		 * Upload at least one rally point before arming, or change <param>RTL_TYPE</param>.
+		 *
+		 * <profile name="dev">
+		 * This check is active when RTL_TYPE is set to 5 (safe points only).
+		 * </profile>
+		 */
+		reporter.armingCheckFailure(NavModes::All, health_component_t::system,
+					    events::ID("check_rally_point_missing"),
+					    events::Log::Error, "No rally point available");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: No rally point available\t");
+		}
+	}
+}
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/rtl_status.h>
+#include <parameters/param.h>
+
+class RallyPointChecks : public HealthAndArmingCheckBase
+{
+public:
+	RallyPointChecks();
+	~RallyPointChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _rtl_status_sub{ORB_ID(rtl_status)};
+
+	const param_t _param_rtl_type_handle;
+};
@@ -510,7 +510,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 					   || state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;

 	const bool dll_loss_ignored = isFailsafeIgnored(state.user_intended_mode, _param_com_dll_except.get())
-				      || ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land;
+				      || ignore_any_link_loss_vtol_takeoff_fixedwing || dll_loss_ignored_land || !state.armed;

 	if (_param_nav_dll_act.get() != int32_t(gcs_connection_loss_failsafe_mode::Disabled) && !dll_loss_ignored) {
 		CHECK_FAILSAFE(status_flags, gcs_connection_lost, fromNavDllOrRclActParam(_param_nav_dll_act.get()).causedBy(Cause::GCSConnectionLoss));
@@ -197,6 +197,8 @@ static int gimbal_thread_main(int argc, char *argv[])
 		thread_should_exit.store(true);
 	}

+	const unsigned int poll_timeout_ms = params.mnt_mode_out == MNT_MODE_OUT_AUX ? 10 : 20;
+
 	while (!thread_should_exit.load()) {

 		const bool updated = parameter_update_sub.updated();
@@ -219,7 +221,7 @@ static int gimbal_thread_main(int argc, char *argv[])
 				const bool already_active = (thread_data.last_input_active == i);
 				// poll only on active input to reduce latency, or on all if none is active
 				const unsigned int poll_timeout =
-					(already_active || thread_data.last_input_active == -1) ? 20 : 0;
+					(already_active || thread_data.last_input_active == -1) ? poll_timeout_ms : 0;

 				update_result = thread_data.input_objs[i]->update(poll_timeout, thread_data.control_data, already_active);

@@ -372,6 +372,7 @@ void LoggedTopics::add_system_identification_topics()
 void LoggedTopics::add_high_rate_sensors_topics()
 {
 	add_topic_multi("distance_sensor", 0, 4);
+	add_topic_multi("sensor_baro", 0, 4);
 	add_topic_multi("sensor_optical_flow", 0, 2);
 	add_topic_multi("sensor_gps", 0, 4);
 	add_topic_multi("sensor_gnss_relative", 0, 1);
@@ -73,6 +73,22 @@ Loiter::on_active()
 	    && hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) {
 		reposition();
 	}
+
+	if (_param_nav_ltr_last_dl.get() && _navigator->get_vstatus()->failsafe && _navigator->get_vstatus()->gcs_connection_lost) {
+		if (!_loiter_at_last_link_position_executed) {
+			set_loiter_position(); // if we already were in hold (e.g. GoTo), we need to reset the position setpoint
+			_loiter_at_last_link_position_executed = true;
+		}
+
+	} else {
+		_loiter_at_last_link_position_executed = false;
+	}
+}
+
+void
+Loiter::on_inactive()
+{
+	_loiter_at_last_link_position_executed = false;
 }

 void
@@ -87,7 +103,6 @@ Loiter::set_loiter_position()
 		_navigator->get_position_setpoint_triplet()->current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
 		_navigator->set_position_setpoint_triplet_updated();
 		return;
-
 	}

 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
@@ -104,10 +119,13 @@ Loiter::set_loiter_position()
 			const float d_current = get_distance_to_next_waypoint(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon,
 						_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
 			on_loiter = d_current <= (_navigator->get_acceptance_radius() + pos_sp_triplet->current.loiter_radius);
-
 		}

-		if (on_loiter) {
+		if (_navigator->get_vstatus()->failsafe && _navigator->get_vstatus()->gcs_connection_lost && _param_nav_ltr_last_dl.get()) {
+
+			setLoiterFromLastLink(&_mission_item);
+
+		} else if (on_loiter) {
 			setLoiterItemFromCurrentPositionSetpoint(&_mission_item);

 		} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
@@ -116,7 +134,6 @@ Loiter::set_loiter_position()
 		} else {
 			setLoiterItemFromCurrentPosition(&_mission_item);
 		}
-
 	}

 	// convert mission item to current setpoint
@@ -53,6 +53,7 @@ public:

 	void on_activation() override;
 	void on_active() override;
+	void on_inactive() override;

 private:
 	/**
@@ -66,4 +67,9 @@ private:
 	 */
 	void set_loiter_position();

+	bool _loiter_at_last_link_position_executed{false};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::NAV_LTR_LAST_DL>) _param_nav_ltr_last_dl
+	)
 };
@@ -760,6 +760,19 @@ MissionBlock::setLoiterItemCommonFields(struct mission_item_s *item)
 	item->origin = ORIGIN_ONBOARD;
 }

+void
+MissionBlock::setLoiterFromLastLink(struct mission_item_s *item)
+{
+	setLoiterItemCommonFields(item);
+
+	const PositionYawSetpoint &last_heartbeat_pos = _navigator->get_last_pos_with_gcs_heartbeat();
+
+	item->lat = PX4_ISFINITE(last_heartbeat_pos.lat) ? last_heartbeat_pos.lat : _navigator->get_global_position()->lat;
+	item->lon = PX4_ISFINITE(last_heartbeat_pos.lon) ? last_heartbeat_pos.lon : _navigator->get_global_position()->lon;
+	item->altitude = PX4_ISFINITE(last_heartbeat_pos.alt) ? last_heartbeat_pos.alt : _navigator->get_global_position()->alt;
+	item->yaw = PX4_ISFINITE(last_heartbeat_pos.yaw) ? last_heartbeat_pos.yaw : NAN;
+}
+
 void
 MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude)
 {
@@ -165,6 +165,7 @@ protected:

 	void setLoiterItemFromCurrentPosition(struct mission_item_s *item);
 	void setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s *item);
+	void setLoiterFromLastLink(struct mission_item_s *item);

 	void setLoiterItemCommonFields(struct mission_item_s *item);

@@ -57,6 +57,9 @@

 #include "GeofenceBreachAvoidance/geofence_breach_avoidance.h"

+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/telemetry_status.h>
+
 #if CONFIG_NAVIGATOR_ADSB
 #include <lib/adsb/AdsbConflict.h>
 #endif // CONFIG_NAVIGATOR_ADSB
@@ -174,6 +177,8 @@ public:

 	PrecLand *get_precland() { return &_precland; } /**< allow others, e.g. Mission, to use the precision land block */

+	const PositionYawSetpoint &get_last_pos_with_gcs_heartbeat() const { return _last_pos_with_gcs_heartbeat; }
+
 	const vehicle_roi_s &get_vroi() { return _vroi; }

 	void reset_vroi() { _vroi = {}; }
@@ -402,6 +407,9 @@ private:

 	bool _is_capturing_images{false}; // keep track if we need to stop capturing images

+	uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};
+	PositionYawSetpoint _last_pos_with_gcs_heartbeat{(double)NAN, (double)NAN, NAN, NAN};
+

 	// timer to trigger a delayed set gimbal neutral command
 	hrt_abstime _gimbal_neutral_activation_time{UINT64_MAX};
@@ -225,6 +225,19 @@ void Navigator::run()
 			_global_pos_sub.copy(&_global_pos);
 		}

+		/* update last known position with GCS heartbeat */
+		for (auto &telemetry_sub : _telemetry_status_subs) {
+			telemetry_status_s telemetry;
+
+			if (telemetry_sub.update(&telemetry) && telemetry.heartbeat_type_gcs) {
+				_last_pos_with_gcs_heartbeat.lat = _global_pos.lat;
+				_last_pos_with_gcs_heartbeat.lon = _global_pos.lon;
+				_last_pos_with_gcs_heartbeat.alt = _global_pos.alt;
+				_last_pos_with_gcs_heartbeat.yaw = _local_pos.heading;
+				break;
+			}
+		}
+
 		/* check for parameter updates */
 		if (_parameter_update_sub.updated()) {
 			// clear update
@@ -140,3 +140,13 @@ parameters:
      min: -1
      decimal: 1
      increment: 1
+    NAV_LTR_LAST_DL:
+      description:
+        short: Loiter at last GCS heartbeat position on data link loss
+        long: |-
+          When the data link is lost and this setting is enabled,
+          the vehicle will loiter at the position where the last GCS
+          heartbeat was received rather than at its current position.
+          Only applies to Hold mode during failsafe actions.
+      type: boolean
+      default: 0
@@ -441,11 +441,16 @@ PositionYawSetpoint RTL::findClosestSafePoint(float min_dist, uint8_t &safe_poin
 				continue;
 			}

+			// Only look at rally points
+			if (mission_safe_point.nav_cmd != NAV_CMD_RALLY_POINT) {
+				continue;
+			}
+
 			// Ignore safepoints which are too close to the homepoint (only if home is an option to return to)
 			const bool far_from_home = get_distance_to_next_waypoint(_home_pos_sub.get().lat, _home_pos_sub.get().lon,
 						   mission_safe_point.lat, mission_safe_point.lon) > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES;

-			if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && (far_from_home || (_param_rtl_type.get() == 5))) {
+			if (far_from_home || (_param_rtl_type.get() == 5)) {
 				const float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)};

 				PositionYawSetpoint safepoint_position;
@@ -531,32 +536,11 @@ void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpo
 		destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT;

 	} else if (_param_rtl_type.get() == 5) {
-		// Safe points only but no valid safe point, fallback to last position with valid data link
-		for (auto &telemetry_status :  _telemetry_status_subs) {
-			telemetry_status_s telemetry;
-
-			if (telemetry_status.update(&telemetry)) {
-
-				if (telemetry.heartbeat_type_gcs) {
-					_last_position_before_link_loss.alt = _global_pos_sub.get().alt;
-					_last_position_before_link_loss.lat = _global_pos_sub.get().lat;
-					_last_position_before_link_loss.lon = _global_pos_sub.get().lon;
-					break;
-				}
-			}
-		}
-
-		if (PX4_ISFINITE(_last_position_before_link_loss.lat) && PX4_ISFINITE(_last_position_before_link_loss.lon)) {
-			destination = _last_position_before_link_loss;
-
-		} else {
-			// If no valid data link position, fallback to current position
-			destination.alt = _global_pos_sub.get().alt;
-			destination.lat = _global_pos_sub.get().lat;
-			destination.lon = _global_pos_sub.get().lon;
-		}
-
-		destination_type = DestinationType::DESTINATION_TYPE_LAST_LINK_POSITION;
+		// for RTL_TYPE=5: if no rally point is found fallback to current position
+		destination.alt = _global_pos_sub.get().alt;
+		destination.lat = _global_pos_sub.get().lat;
+		destination.lon = _global_pos_sub.get().lon;
+		destination_type = DestinationType::DESTINATION_TYPE_SAFE_POINT;
 	}
 }

@@ -595,11 +579,6 @@ void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position, const mis

 float RTL::computeReturnAltitude(const PositionYawSetpoint &rtl_position, DestinationType destination_type, float cone_half_angle_deg) const
 {
-	if (destination_type == DestinationType::DESTINATION_TYPE_LAST_LINK_POSITION) {
-		// when returning to last known link position, do not modify altitude
-		return rtl_position.alt;
-	}
-
 	if (_param_rtl_cone_ang.get() > 0 && _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		// horizontal distance to destination
 		const float destination_dist =
@@ -55,13 +55,11 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
-#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/rtl_status.h>
 #include <uORB/topics/rtl_time_estimate.h>
-#include <uORB/topics/telemetry_status.h>

 class Navigator;

@@ -96,8 +94,7 @@ private:
 	enum class DestinationType {
 		DESTINATION_TYPE_HOME,
 		DESTINATION_TYPE_MISSION_LAND,
-		DESTINATION_TYPE_SAFE_POINT,
-		DESTINATION_TYPE_LAST_LINK_POSITION
+		DESTINATION_TYPE_SAFE_POINT
 	};

 private:
@@ -229,7 +226,6 @@ private:
 	mutable DatamanCache _dataman_cache_landItem{"rtl_dm_cache_miss_land", 2};
 	uint32_t _mission_id = 0u;
 	uint32_t _safe_points_id = 0u;
-	PositionYawSetpoint _last_position_before_link_loss{(double)NAN, (double)NAN, NAN, NAN};

 	mission_stats_entry_s _stats;

@@ -253,7 +249,6 @@ private:
 	uORB::SubscriptionData<mission_s> _mission_sub{ORB_ID(mission)};
 	uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)};
 	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};
-	uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};

 	uORB::Publication<rtl_time_estimate_s> _rtl_time_estimate_pub{ORB_ID(rtl_time_estimate)};
 	uORB::Publication<rtl_status_s> _rtl_status_pub{ORB_ID(rtl_status)};
@@ -85,8 +85,7 @@ void BatterySimulator::Run()

 	const hrt_abstime now_us = hrt_absolute_time();

-	// Limit to +1.0 s to guard against division by 0
-	const float discharge_interval_us = math::max(_param_sim_bat_drain.get(), 1.0f) * 1000 * 1000;
+	const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;

 	if (_armed) {
 		if (_last_integration_us != 0) {
@@ -2,14 +2,22 @@ module_name: battery_simulator
 parameters:
 - group: SITL
  definitions:
+    SIM_BAT_ENABLE:
+      description:
+        short: Simulator Battery enabled
+        long: |-
+          Enable or disable the internal battery simulation. This is useful
+          when the battery is simulated externally and interfaced with PX4
+          through MAVLink for example.
+      type: boolean
+      default: 1
    SIM_BAT_DRAIN:
      description:
-        short: Simulated battery full-discharge time
-        long: |-
-          Time in seconds for the simulated battery to drain from 100% to 0% while armed. Set to 0 to disable the battery simulator entirely (useful when battery state is provided externally, e.g. via MAVLink).
+        short: Simulator Battery drain interval
      type: float
      default: 60
-      min: 0
+      min: 1
+      max: 86400
      increment: 1
      unit: s
    SIM_BAT_MIN_PCT:
Author	SHA1	Message	Date
Hamish Willee	46a415836b	Doh	2026-03-23 07:53:12 +11:00
Hamish Willee	7ed78aba6f	Update msg/versioned/ManualControlSetpoint.msg	2026-03-23 07:53:12 +11:00
Hamish Willee	56f24ba406	Apply suggestions from code review	2026-03-23 07:53:12 +11:00
Hamish Willee	eaa554fa95	Apply suggestion from @hamishwillee	2026-03-23 07:53:12 +11:00
Hamish Willee	2f9efcedae	Apply suggestion from @hamishwillee	2026-03-23 07:53:12 +11:00
Hamish Willee	01984efe7f	Apply suggestion from @hamishwillee	2026-03-23 07:53:12 +11:00
Hamish Willee	cbc17d942e	Move Positive values are generally used for:	2026-03-23 07:53:12 +11:00
Hamish Willee	2d1a5f1762	docs:ManualControlSetpoint uORB topic	2026-03-23 07:53:12 +11:00
PX4BuildBot	53bec94205	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-21 06:01:54 +00:00
Konstantin Lelkov	552262f14f	feat(dronecan): increase outputs from 8 to 12 (#25837 ) * [feat] allowed to assign up to 16 ESC CAN * Update EscStatus.msg lowered down to 12 motors, hardware tested * Update module.yaml lowered down to 12 motors, hardware tested --------- Co-authored-by: klelkov <kon.lelkov@yandex.ru> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-03-20 21:55:04 -08:00
Eric Katzfey	17bf9ccb5d	feat(voxl2): add ina226 and ina228 driver support for voxl2 Add INA226 and INA228 power monitor drivers to the voxl2 SLPI board config and add startup options in voxl-px4-start to select them via the POWER_MANAGER environment variable.	2026-03-20 13:42:40 -07:00
PX4BuildBot	782e9b8b04	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-20 20:07:08 +00:00
Eric Katzfey	02a31d0293	fix(qurt): Added i2c uninitialize on probe failure to prevent zombie ports	2026-03-20 13:00:16 -07:00
PX4BuildBot	36006b6d70	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-20 17:02:19 +00:00
Silvan	ffd670b54c	chore(navigator): move return to point of last link from RTL to Hold Give the operator the optiont to configure a "Hold at position where the data link was still coming through" by setting NAV_DLL_ACT to Hold and the new param NAV_LTR_LAST_DL to 1. Signed-off-by: Silvan <silvan@auterion.com>	2026-03-20 17:55:42 +01:00
Silvan	7922ecbed2	feat(Commander): add preflight check for containing rally point for RTL_TYPE 5 Signed-off-by: Silvan <silvan@auterion.com>	2026-03-20 17:55:42 +01:00
PX4BuildBot	e9a04ed755	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-20 13:15:38 +00:00
Pernilla	424f544c6d	feat(gimbal): reduce poll time in aux mode	2026-03-20 14:08:55 +01:00
PX4BuildBot	962db50ce7	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-20 08:53:42 +00:00
Jacob Dahl	882bee610d	feat(logger): add sensor_baro to high rate sensors logging profile (#26834 )	2026-03-20 00:46:43 -08:00
PX4BuildBot	abdde3e206	docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot <bot@px4.io>	2026-03-20 08:26:58 +00:00
ttechnick	c333688700	feat(commander): prevent termination on arm after gcs loss	2026-03-20 09:19:59 +01:00