ci: fix S3 upload so tags don't overwrite stable firmware

Remove the step that uploaded every version tag to the stable/ S3 directory, which caused QGC users selecting "stable" to receive pre-release firmware (#26340). The stable/ and beta/ directories are now controlled exclusively by their respective branch pushes, while version tags only upload to their versioned archive directory (e.g., v1.16.1/). Pre-release tags are also correctly marked on GitHub Releases. Co-authored-by: Julian Oes <julian@oes.ch> Fixes #26340 Signed-off-by: Ramon Roche <mrpollo@gmail.com>
CI: replace all usage of addnab/docker-run-action
2026-05-24 00:37:35 +08:00 · 2026-02-13 07:25:28 -08:00 · 2026-02-13 06:35:09 -08:00 · 2026-01-30 09:35:49 +01:00 · 2026-01-22 13:55:38 +01:00 · 2026-01-22 13:53:45 +01:00
4973 changed files with 77607 additions and 181419 deletions
@@ -105,79 +105,6 @@ Checks:          '*,
                  -readability-redundant-declaration,
                  -readability-static-accessed-through-instance,
                  -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -cppcoreguidelines-avoid-goto,
-                  -hicpp-avoid-goto,
-                  -bugprone-branch-clone,
-                  -performance-enum-size,
-                  -readability-avoid-nested-conditional-operator,
-                  -cppcoreguidelines-prefer-member-initializer,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                 '
 WarningsAsErrors: '*'
 CheckOptions:
@@ -1,28 +0,0 @@
---
-name: commit
-description: Create a conventional commit for PX4 changes
-disable-model-invocation: true
-argument-hint: "[optional: description of changes]"
-allowed-tools: Bash, Read, Glob, Grep
---
-
-# PX4 Conventional Commit
-
-Create a git commit: `type(scope): description`
-
-**NEVER add Co-Authored-By lines. No Claude attribution in commits.**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. **Read [CONTRIBUTING.md](../../CONTRIBUTING.md)** for commit message format, types, scopes, and conventions.
-2. Check branch (`git branch --show-current`). If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-3. Run `git status` and `git diff --staged`. If nothing staged, ask what to stage.
-4. Follow the commit message convention from CONTRIBUTING.md: pick the correct **type** and **scope**, write a concise imperative description.
-5. Body (if needed): explain **why**, not what.
-6. Run `make format` or `./Tools/astyle/fix_code_style.sh <file>` on changed C/C++ files before committing.
-7. Check if GPG signing is available: `git config --get user.signingkey`. If set, use `git commit -S -s`. Otherwise, use `git commit -s`.
-8. Stage and commit. No `Co-Authored-By`.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1,24 +0,0 @@
---
-name: pr
-description: Create a pull request with conventional commit title and description
-disable-model-invocation: true
-argument-hint: "[optional: target branch or description]"
-allowed-tools: Bash, Read, Glob, Grep
---
-
-# PX4 Pull Request
-
-**No Claude attribution anywhere (no Co-Authored-By, no "Generated with Claude").**
-
-Follow [CONTRIBUTING.md](../../CONTRIBUTING.md) for full project conventions.
-
-## Steps
-
-1. Check branch. If on `main`, create a feature branch. Use `<username>/<description>` format where `<username>` comes from `gh api user --jq .login`. If unavailable, just use `<description>`.
-2. Gather context: `git status`, `git log --oneline main..HEAD`, `git diff main...HEAD --stat`, check if remote tracking branch exists.
-3. PR **title**: `type(scope): description` — under 72 chars, describes the overall change across all commits. This becomes the squash-merge commit message.
-4. PR **body**: brief summary + bullet points for key changes. No filler.
-5. Push with `-u` if needed, then `gh pr create`. Default base is `main` unless user says otherwise.
-6. Return the PR URL.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1,73 +0,0 @@
---
-name: rebase-onto-main
-description: Rebase a branch onto main, handling squash-merged parent branches cleanly
-argument-hint: "[optional: branch name, defaults to current branch]"
-allowed-tools: Bash, Read, Glob, Grep, Agent
---
-
-# Rebase Branch onto Main
-
-Rebase the current (or specified) branch onto `main`, correctly handling the case where the branch was built on top of another branch that has since been squash-merged into `main`.
-
-## Background
-
-When a parent branch is squash-merged, its individual commits become a single new commit on `main` with a different hash. A normal `git rebase main` will try to replay the parent's original commits, causing messy conflicts. The fix is to **cherry-pick only the commits unique to this branch** onto a fresh branch from `main`.
-
-## Steps
-
-1. **Identify the branch.** Use `$ARGUMENTS` if provided, otherwise use the current branch.
-
-2. **Fetch and update main:**
-   ```
-   git fetch origin main:main
-   ```
-
-3. **Find the merge base** between the branch and `main`:
-   ```
-   git merge-base <branch> main
-   ```
-
-4. **List all commits** on the branch since the merge base:
-   ```
-   git log --oneline <merge-base>..<branch>
-   ```
-
-5. **Identify which commits are unique to this branch** vs. inherited from a parent branch. Look for:
-   - Squash-merged commits on `main` that correspond to a group of commits at the bottom of the branch's history (check PR titles, commit message keywords).
-   - The boundary commit: the first commit that belongs to *this* branch's work, not the parent's.
-   - If ALL commits are unique (no parent branch), just do a normal `git rebase main` and skip the rest.
-
-6. **Create a fresh branch from `main`:**
-   ```
-   git checkout -b <branch>-rebase main
-   ```
-
-7. **Cherry-pick only the unique commits** (oldest first):
-   ```
-   git cherry-pick <first-unique-commit>^..<branch>
-   ```
-   The `A^..B` range means "from the parent of A through B inclusive."
-
-8. **Handle conflicts** if any arise during cherry-pick. Resolve and `git cherry-pick --continue`.
-
-9. **Replace the old branch:**
-   ```
-   git branch -m <branch> <branch>-old
-   git branch -m <branch>-rebase <branch>
-   ```
-
-10. **Verify** the result:
-    ```
-    git log --oneline main..<branch>
-    ```
-    Confirm only the expected commits are present.
-
-11. **Ask the user** before force-pushing. When approved:
-    ```
-    git push origin <branch> --force-with-lease
-    ```
-
-12. **Clean up** the old branch:
-    ```
-    git branch -D <branch>-old
-    ```
@@ -1,207 +0,0 @@
---
-name: review-pr
-description: Review a pull request with structured, domain-aware feedback
-argument-hint: "<PR number or URL>"
-allowed-tools: Bash, Read, Glob, Grep, Agent
---
-
-# PX4 Pull Request Review
-
-Review a pull request with domain-aware checks based on which files are changed.
-
-**No Claude attribution anywhere.**
-
-## Steps
-
-1. **Fetch PR context.** Run these in parallel:
-   - `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
-   - `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
-   - `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
-   - `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
-   - `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
-
-   From the PR metadata, note:
-   - **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
-   - **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
-   - **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
-
-2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
-
-3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
-
-   **Recommend rebase merge** when:
-   - Commits are atomic, each builds/works independently
-   - Each commit has a proper `type(scope): description` message
-   - The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
-   - The commit history tells a useful story that would be lost by squashing
-
-   **Recommend squash merge** when:
-   - There are WIP, fixup, or review-response commits
-   - Commit messages are messy or inconsistent
-   - The PR is a single logical change spread across multiple commits
-   - There are "oops" or "make format" commits mixed in
-
-   Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
-
-4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
-
-5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
-   - **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
-   - **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
-   - **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
-   - **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
-   - **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
-   - **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
-   - **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
-   - **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
-
-6. **Apply core checks** (always):
-   - **Correctness**: logic errors, off-by-ones, unhandled edge cases
-   - **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
-   - **Initialization**: uninitialized variables, missing default construction
-   - **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
-   - **Magic numbers**: every numeric literal needs a named constant or justification
-   - **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
-   - **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
-   - **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
-   - **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
-   - **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
-   - **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
-   - **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
-   - **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
-   - **Root cause vs symptom**: is this fixing the real problem or masking it?
-   - **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
-   - **Sustainability**: who will maintain this? Does it create long-term burden?
-   - **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
-   - **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
-
-7. **Apply domain checks** based on step 5:
-
-   **Estimation:**
-   - Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
-   - Aliasing from downsampling sensor data without filtering
-   - Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
-   - CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
-   - Frame/coordinate system correctness (FRD vs NED, body vs earth)
-
-   **Control:**
-   - Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
-   - Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
-   - NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
-   - Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
-   - Yaw control edge cases: heading lock, drift, setpoint propagation
-   - Flight task inheritance chain: correct base class for the desired behavior
-   - Control allocation: actuator function ordering, motor index mapping
-
-   **Drivers/CAN:**
-   - CAN bus devices behave differently from serial/SPI; check driver assumptions
-   - ESC index mapping: telemetry index != channel when motors are disabled
-   - ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
-   - device_id correctness and I2CSPIDriver patterns
-   - Time representation: prefer `hrt_abstime` over iteration counts
-
-   **Simulation:**
-   - Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
-   - Keep gz_bridge generic; vehicle-specific logic belongs in plugins
-   - Prefer gz-transport over ROS2 dependencies when possible
-   - Wrench commands for physics correctness vs kinematic constraints
-   - Library generic/specific boundary: only base classes in common libs
-
-   **System:**
-   - Race conditions and concurrency: no partial fixes, demand complete solutions
-   - Semaphore/scheduling edge cases; understand RTOS guarantees
-   - State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
-   - uORB-driven scheduling (`SubscriptionCallback`), not extra threads
-   - param_set triggers auto-save; no redundant param_save_default
-   - Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
-   - Constructor initialization order matters
-
-   **CI/Build:**
-   - Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
-   - Container image size (check layer bloat)
-   - Ubuntu LTS support policy (latest + one prior only)
-   - Build time impact
-   - CMake preferred over Makefiles
-
-   **Messages/Protocol:**
-   - Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
-   - uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
-   - Don't version messages unless strictly needed
-   - Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
-   - MAVLink: use library constants, don't implement custom stream rates
-
-   **Board Addition:**
-   - **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
-   - **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
-   - **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
-   - **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
-   - **Unique board_id**: registered in `boards/boards.json`, no collisions
-   - **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
-   - **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
-   - **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
-   - **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
-   - **CI integration**: board must be added to CI compile workflows so it builds on every PR
-   - **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
-   - **Port labels**: serial port labels must match what is physically printed on the board
-   - **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
-
-8. **Format output** as:
-   - **CI status**: pass/fail summary, link to failed runs if any
-   - **Merge strategy**: recommend squash or rebase merge with reasoning
-   - **Title check**: pass/fail with suggestion
-   - **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
-   - **Domains detected**: list which domain checks were applied
-   - **Summary**: one paragraph on what the PR does and whether the approach is sound
-   - **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
-   - **Verdict**: approve, request changes, or needs discussion
-
-   After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
-
-9. **Interactive dialog.** After displaying the review, present the user with these options:
-
-   Present options based on the verdict:
-
-   If verdict is **approve**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Approve this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **request changes**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Request changes on this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **needs discussion**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Post the review as a comment (no approval or rejection)
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   Wait for the user to choose before proceeding. If they pick:
-   - **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
-   - **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
-   - **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
-   - **4 (done)**: stop.
-
-   **PR comment formatting rules** (for the draft):
-   When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
-   - Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
-   - Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
-   - Lead with a brief take on the overall change (1-2 sentences)
-   - List only actionable feedback as natural review comments, not numbered checklists
-   - Skip nits unless they are particularly useful
-   - End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
-   - Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1 +0,0 @@
-build/
@@ -3,45 +3,92 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
  - type: textarea
    attributes:
      label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
+      description: A clear and concise description of the bug.
    validations:
      required: true

  - type: textarea
    attributes:
-      label: Flight Log / Additional Information
+      label: To Reproduce
      description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
    validations:
      required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.
@@ -1,4 +1,4 @@
-blank_issues_enabled: true
+blank_issues_enabled: false
 contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
@@ -1,9 +1,22 @@
 <!--

+Thank you for your contribution!
+
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
+
+-->
+
 ### Solved Problem
+When ... I found that ...
+
 Fixes #{Github issue ID}

 ### Solution
+- Add ... for ...
+- Refactor ...

 ### Changelog Entry
 For release notes:
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
+We could also ...

 ### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/

 ### Context
 Related links, screenshot before/after, video
-
-->
@@ -1,115 +0,0 @@
-name: Build PX4 .deb Package
-description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact
-
-inputs:
-  target:
-    description: 'Build target: default or sih'
-    required: true
-  artifact-name:
-    description: Name for the uploaded artifact
-    required: true
-  ccache-key-prefix:
-    description: Prefix for ccache cache keys
-    default: deb-ccache
-  ccache-max-size:
-    description: Maximum ccache size
-    default: 400M
-
-runs:
-  using: composite
-  steps:
-    - name: Restore ccache
-      id: ccache-restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.ccache-key-prefix }}-
-
-    - name: Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Build PX4 SITL
-      shell: bash
-      run: make px4_sitl_${{ inputs.target }}
-
-    - name: ccache stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Save ccache
-      uses: actions/cache/save@v4
-      if: always()
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-
-    - name: Build .deb package
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        cpack -G DEB
-
-    - name: Print package info and contents
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        echo "--- Package info ---"
-        dpkg-deb -I *.deb
-        echo "--- Package contents ---"
-        dpkg-deb -c *.deb
-
-    - name: Validate sih package
-      if: inputs.target == 'sih'
-      shell: bash
-      run: |
-        cd build/px4_sitl_sih
-        echo "--- Verify NO Gazebo resources ---"
-        ! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4_*.deb
-        test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
-        test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4/bin/px4 -h
-        echo "PASS: sih package validation successful"
-
-    - name: Validate gazebo package
-      if: inputs.target == 'default'
-      shell: bash
-      run: |
-        cd build/px4_sitl_default
-        echo "--- Verify Gazebo resources in package ---"
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4-gazebo_*.deb
-        test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
-        test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
-        test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4-gazebo/bin/px4 -h
-        echo "PASS: gazebo package validation successful"
-
-    - name: Upload .deb artifacts
-      uses: actions/upload-artifact@v4
-      with:
-        name: ${{ inputs.artifact-name }}
-        path: build/px4_sitl_${{ inputs.target }}/*.deb
-        if-no-files-found: error
@@ -1,21 +0,0 @@
-name: Build Gazebo Classic SITL
-description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
-
-runs:
-  using: composite
-  steps:
-    - name: Build - PX4 Firmware (SITL)
-      shell: bash
-      run: make px4_sitl_default
-
-    - name: Cache - Stats after PX4 Firmware
-      shell: bash
-      run: ccache -s
-
-    - name: Build - Gazebo Classic Plugins
-      shell: bash
-      run: make px4_sitl_default sitl_gazebo-classic
-
-    - name: Cache - Stats after Gazebo Plugins
-      shell: bash
-      run: ccache -s
@@ -1,22 +0,0 @@
-name: Save ccache
-description: Print ccache stats and save to cache
-
-inputs:
-  cache-primary-key:
-    description: Primary cache key from setup-ccache output
-    required: true
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Cache - Save ccache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-primary-key }}
@@ -1,56 +0,0 @@
-name: Setup ccache
-description: Restore ccache from cache and configure ccache.conf
-
-inputs:
-  cache-key-prefix:
-    description: Cache key prefix (e.g. ccache-sitl)
-    required: true
-  max-size:
-    description: Max ccache size (e.g. 300M)
-    required: false
-    default: '300M'
-  base-dir:
-    description: ccache base_dir value
-    required: false
-    default: '${GITHUB_WORKSPACE}'
-  install-ccache:
-    description: Install ccache via apt before configuring
-    required: false
-    default: 'false'
-
-outputs:
-  cache-primary-key:
-    description: Primary cache key (pass to save-ccache)
-    value: ${{ steps.restore.outputs.cache-primary-key }}
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Install ccache
-      if: inputs.install-ccache == 'true'
-      shell: bash
-      run: apt-get update && apt-get install -y ccache
-
-    - name: Cache - Restore ccache
-      id: restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.cache-key-prefix }}-
-
-    - name: Cache - Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
@@ -1,21 +0,0 @@
---
-applyTo: "boards/**"
---
-
-# Board Addition Review Guidelines
-
-In addition to the core code review guidelines, when reviewing new board additions:
-
- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
- **Unique board_id**: registered in `boards/boards.json`, no collisions
- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
- **CI integration**: board must be added to CI compile workflows so it builds on every PR
- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
- **Port labels**: serial port labels must match what is physically printed on the board
- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
@@ -1,13 +0,0 @@
---
-applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
---
-
-# CI/Build Review Guidelines
-
-In addition to the core code review guidelines:
-
- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
- Container image size: check for layer bloat
- Ubuntu LTS support policy: only latest + one prior LTS version
- Consider build time impact of changes
- Prefer CMake over Makefiles
@@ -1,32 +0,0 @@
---
-applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
---
-
-# PX4 Code Review Guidelines
-
-## Conventions
-
- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
- Scope should match the primary area of changed files
- Append `!` before the colon for breaking changes
- Both squash merge and rebase merge are enabled; merge commits are disabled
- Commits should be atomic and independently revertable
- WIP or review-response commits should be squashed before merge
-
-## Core Checks (always apply)
-
- **Correctness**: logic errors, off-by-ones, unhandled edge cases
- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
- **Initialization**: uninitialized variables, missing default construction
- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
- **Magic numbers**: every numeric literal needs a named constant or justification
- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
- **Necessity**: challenge every addition. Is this actually needed or just copied?
- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations
@@ -1,15 +0,0 @@
---
-applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
---
-
-# Control Review Guidelines
-
-In addition to the core code review guidelines:
-
- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
- Check yaw control edge cases: heading lock, drift, setpoint propagation
- Verify flight task inheritance chain uses the correct base class for desired behavior
- Control allocation: verify actuator function ordering and motor index mapping
@@ -1,50 +0,0 @@
---
-applyTo: "docs/en/**"
---
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
-    Backticks are optional for hyperlinked CLI commands and tool names.
-  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
-    Emphasis is optional for hyperlinked applications.
- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Linking & Navigation
-
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
- **Language:** Enforce **UK English** spelling and grammar.
@@ -1,13 +0,0 @@
---
-applyTo: "src/drivers/**,src/modules/cyphal/**"
---
-
-# Drivers/CAN Review Guidelines
-
-In addition to the core code review guidelines:
-
- CAN bus devices behave differently from serial/SPI; check driver assumptions
- ESC index mapping: telemetry index != channel when motors are disabled
- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
- Verify device_id correctness and I2CSPIDriver patterns
- Time representation: prefer `hrt_abstime` over iteration counts
@@ -1,13 +0,0 @@
---
-applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
---
-
-# Estimation Review Guidelines
-
-In addition to the core code review guidelines:
-
- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
- Flag aliasing from downsampling sensor data without proper filtering
- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)
@@ -1,13 +0,0 @@
---
-applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
---
-
-# Messages/Protocol Review Guidelines
-
-In addition to the core code review guidelines:
-
- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
- Don't version messages unless strictly needed
- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
- MAVLink: use library constants, don't implement custom stream rates
@@ -1,13 +0,0 @@
---
-applyTo: "src/modules/simulation/**,Tools/simulation/**"
---
-
-# Simulation Review Guidelines
-
-In addition to the core code review guidelines:
-
- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
- Prefer gz-transport over ROS2 dependencies when possible
- Use wrench commands for physics correctness vs kinematic constraints
- Library generic/specific boundary: only base classes in common libs
@@ -1,15 +0,0 @@
---
-applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
---
-
-# System Review Guidelines
-
-In addition to the core code review guidelines:
-
- Race conditions and concurrency: no partial fixes, demand complete solutions
- Semaphore/scheduling edge cases; understand RTOS guarantees
- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
- `param_set` triggers auto-save; no redundant `param_save_default`
- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
- Constructor initialization order matters
@@ -60,7 +60,6 @@ concurrency:
 permissions:
  contents: write
  actions: read
-  packages: read

 jobs:
  group_targets:
@@ -126,9 +125,6 @@ jobs:
      fail-fast: false
    container:
      image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
@@ -265,8 +261,5 @@ jobs:
        with:
          draft: true
          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: |
-            artifacts/*.px4
-            artifacts/*.deb
-            artifacts/**/*.sbom.spdx.json
+          files: artifacts/*.px4
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -1,220 +0,0 @@
-name: SITL Packages and Containers
-
-on:
-  push:
-    tags: ['v*']
-  pull_request:
-    paths:
-      - 'cmake/package.cmake'
-      - 'platforms/posix/CMakeLists.txt'
-      - 'Tools/packaging/**'
-      - 'boards/px4/sitl/sih.px4board'
-      - '.github/workflows/build_deb_package.yml'
-      - '.github/actions/build-deb/**'
-  workflow_dispatch:
-    inputs:
-      deploy_containers:
-        description: 'Push container images to registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-permissions:
-  contents: read
-  packages: write
-
-jobs:
-
-  # ---------------------------------------------------------------------------
-  # Setup: extract version and determine whether to push containers
-  # ---------------------------------------------------------------------------
-  setup:
-    name: Setup
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    outputs:
-      px4_version: ${{ steps.version.outputs.px4_version }}
-      should_push: ${{ steps.push.outputs.should_push }}
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Set PX4 version
-        id: version
-        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-
-      - name: Check if we should push containers
-        id: push
-        run: |
-          if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
-             [[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "true" ]]; then
-            echo "should_push=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_push=false" >> $GITHUB_OUTPUT
-          fi
-
-  # ---------------------------------------------------------------------------
-  # Build .deb packages (all distros, arches, targets)
-  # ---------------------------------------------------------------------------
-  build-deb:
-    name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ matrix.arch }})"
-    needs: setup
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    container:
-      image: ${{ matrix.container }}
-      volumes:
-        - /github/workspace:/github/workspace
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-    env:
-      RUNS_IN_DOCKER: true
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Fix git in container
-        run: |
-          apt-get update && apt-get install -y git
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          fetch-tags: true
-
-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
-      - name: Cache apt packages
-        uses: actions/cache@v4
-        with:
-          path: /var/cache/apt/archives
-          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
-          restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-
-
-      - name: Install dependencies
-        run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}
-
-      - name: Build and package .deb
-        uses: ./.github/actions/build-deb
-        with:
-          target: ${{ matrix.target }}
-          artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-          ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Build Docker images from Noble .debs
-  # ---------------------------------------------------------------------------
-  build-docker:
-    name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
-    needs: [setup, build-deb]
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.sih }
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          fetch-depth: 1
-
-      - name: Download Noble .deb artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
-          path: docker-context
-
-      - name: Prepare build context
-        run: cp Tools/packaging/px4-entrypoint.sh docker-context/
-
-      - name: Login to registries
-        if: needs.setup.outputs.should_push == 'true'
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
-
-      - name: Build and push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: docker-context
-          file: Tools/packaging/${{ matrix.dockerfile }}
-          tags: |
-            px4io/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/${{ matrix.repo }}:latest-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:latest-${{ matrix.arch }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ needs.setup.outputs.should_push == 'true' }}
-          provenance: false
-          cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Deploy: create multi-arch manifests and push to registries
-  # ---------------------------------------------------------------------------
-  deploy:
-    name: "Deploy (${{ matrix.image }})"
-    needs: [setup, build-docker]
-    if: needs.setup.outputs.should_push == 'true'
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl }
-          - { image: gazebo, repo: px4-sitl-gazebo }
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Login to registries
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Create and push multi-arch manifests
-        run: |
-          VERSION="${{ needs.setup.outputs.px4_version }}"
-
-          for REGISTRY in px4io ghcr.io/px4; do
-            IMAGE="${REGISTRY}/${{ matrix.repo }}"
-
-            for TAG in ${VERSION} latest; do
-              docker manifest create ${IMAGE}:${TAG} \
-                --amend ${IMAGE}:${TAG}-arm64 \
-                --amend ${IMAGE}:${TAG}-amd64
-
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-arm64 --arch arm64
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-amd64 --arch amd64
-
-              docker manifest push ${IMAGE}:${TAG}
-            done
-          done
@@ -21,7 +21,7 @@ jobs:
    runs-on: ubuntu-latest

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

    strategy:
      fail-fast: false
@@ -46,11 +46,9 @@ jobs:
          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
-        env:
-          PX4_SBOM_DISABLE: 1
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --system --add safe.directory '*'
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          make ${{ matrix.check }}

      - name: Uploading Coverage to Codecov.io
@@ -1,4 +1,4 @@
-name: Static Analysis
+name: Clang Tidy

 on:
  push:
@@ -11,132 +11,20 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
-
-permissions:
-  contents: read
-
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    outputs:
-      has_findings: ${{ steps.clang_tidy.outputs.has_findings }}
+  build:
+    runs-on: ubuntu-latest
    steps:
-    - uses: runs-on/action@v2
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-        fetch-tags: true

-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - uses: ./.github/actions/setup-ccache
-      id: ccache
+    - name: Testing (clang-tidy)
+      uses: addnab/docker-run-action@v3
      with:
-        cache-key-prefix: ccache-clang-tidy
-        max-size: 120M
-
-    - name: Build - px4_sitl_default (Clang)
-      run: make -j16 px4_sitl_default-clang
-
-    - name: Run Clang-Tidy Analysis
-      id: clang_tidy
-      run: |
-        if [ "${{ github.event_name }}" != "pull_request" ]; then
-          make -j$(nproc) clang-tidy
-          echo "has_findings=false" >> $GITHUB_OUTPUT
-        else
-          output=$(python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }} 2>&1)
-          exit_code=$?
-          echo "$output"
-          # Helper prints this message on both early-exit paths
-          # (no changed C++ files, or no matching TUs in the compile DB)
-          if echo "$output" | grep -q "skipping clang-tidy"; then
-            echo "has_findings=false" >> $GITHUB_OUTPUT
-          else
-            echo "has_findings=true" >> $GITHUB_OUTPUT
-          fi
-          exit $exit_code
-        fi
-
-    - name: Upload compile_commands.json
-      if: always() && github.event_name == 'pull_request'
-      uses: actions/upload-artifact@v4
-      with:
-        name: compile-commands
-        path: build/px4_sitl_default-clang/compile_commands.json
-        retention-days: 1
-
-    - uses: ./.github/actions/save-ccache
-      if: always()
-      with:
-        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
-
-  post_clang_tidy_comments:
-    name: Clang-Tidy PR Annotations
-    needs: [clang_tidy]
-    runs-on: ubuntu-latest
-    permissions:
-      pull-requests: write
-      contents: read
-    if: >-
-      always()
-      && github.event.pull_request
-      && github.event.pull_request.head.repo.full_name == github.repository
-      && (needs.clang_tidy.result == 'success' || needs.clang_tidy.result == 'failure')
-      && needs.clang_tidy.outputs.has_findings == 'true'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Install clang-tools (for clang-tidy-diff)
-        run: sudo apt-get install -y clang-tools
-
-      - name: Download compile_commands.json
-        uses: actions/download-artifact@v4
-        with:
-          name: compile-commands
-          path: build/px4_sitl_default-clang
-
-      - name: Run clang-tidy-diff and export fixes
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
        run: |
-          # WHY WE REWRITE compile_commands.json PATHS
-          #
-          # The clang_tidy job runs on a RunsOn/AWS runner where the workspace
-          # root is "/__w/PX4-Autopilot/PX4-Autopilot". All absolute paths baked
-          # into compile_commands.json (the "file" and "directory" fields, and
-          # every -I include path in "command") use that prefix.
-          #
-          # This annotation job runs on a GitHub-hosted runner where the
-          # workspace root is "/home/runner/work/PX4-Autopilot/PX4-Autopilot".
-          # When clang-tidy-diff invokes clang-tidy, it reads the "directory"
-          # field from compile_commands.json and calls chdir() on it. Since
-          # the AWS-style path does not exist here, clang-tidy crashes with:
-          #   LLVM ERROR: Cannot chdir into "/__w/.../build/px4_sitl_default-clang"
-          # and silently produces an empty fixes.yml, so no annotations are posted.
-          #
-          # Fix: rewrite all occurrences of the AWS workspace prefix to the
-          # current runner workspace ($GITHUB_WORKSPACE) before invoking
-          # clang-tidy-diff. Safe because compile_commands.json is a local
-          # scratch file pulled from the artifact; no source file is modified.
-          sed -i "s|/__w/PX4-Autopilot/PX4-Autopilot|${GITHUB_WORKSPACE}|g" \
-            build/px4_sitl_default-clang/compile_commands.json
-
-          mkdir -p clang-tidy-result
-          git diff -U0 origin/${{ github.base_ref }}...HEAD \
-            | clang-tidy-diff-18.py -p1 \
-                -path build/px4_sitl_default-clang \
-                -export-fixes clang-tidy-result/fixes.yml \
-                -j0 || true
-
-      - name: Annotate PR with clang-tidy findings
-        uses: platisd/clang-tidy-pr-comments@v1
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          clang_tidy_fixes: clang-tidy-result/fixes.yml
-          request_changes: true
-          suggestions_per_comment: 10
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy
@@ -1,148 +0,0 @@
-name: Commit Quality
-
-on:
-  pull_request:
-    types: [opened, edited, synchronize, reopened]
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  PR_NUMBER: ${{ github.event.pull_request.number }}
-  IS_FORK: ${{ github.event.pull_request.head.repo.full_name != github.repository }}
-
-jobs:
-  pr-title:
-    name: PR Title
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR title
-        id: check
-        run: |
-          python3 Tools/ci/check_pr_title.py "${{ github.event.pull_request.title }}" --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result fail < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-title --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::PR title does not follow conventional commits format. See the PR comment for details."
-          exit 1
-
-  commit-messages:
-    name: Commit Messages
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check commit messages
-        id: check
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          gh api \
-            "repos/${{ github.repository }}/pulls/${PR_NUMBER}/commits?per_page=100" \
-            | python3 Tools/ci/check_commit_messages.py --markdown-file comment.md && rc=0 || rc=$?
-          echo "exit_code=$rc" >> "$GITHUB_OUTPUT"
-          # Check for warnings (non-empty markdown on exit 0)
-          if [ "$rc" -eq 0 ] && [ -s comment.md ]; then
-            echo "has_warnings=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "has_warnings=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ "${{ steps.check.outputs.exit_code }}" != "0" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result fail < comment.md
-          elif [ "${{ steps.check.outputs.has_warnings }}" == "true" ]; then
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result warn < comment.md
-          else
-            python3 Tools/ci/pr_comment.py --marker commit-msgs --pr "$PR_NUMBER" --result pass
-          fi
-
-      - name: Result
-        if: steps.check.outputs.exit_code != '0'
-        run: |
-          echo "::error::Commit message errors found. See the PR comment for details."
-          exit 1
-
-  pr-body:
-    name: PR Description
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        if: env.IS_FORK == 'false'
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: Tools/ci
-          fetch-depth: 1
-
-      - name: Check PR body
-        id: check
-        env:
-          PR_BODY: ${{ github.event.pull_request.body }}
-        run: |
-          message=""
-          if [ -z "$PR_BODY" ]; then
-            message="PR description is empty. Please add a summary of the changes."
-            echo "::warning::PR description is empty."
-          else
-            cleaned=$(echo "$PR_BODY" | sed 's/<!--.*-->//g' | tr -d '[:space:]')
-            if [ -z "$cleaned" ]; then
-              message="PR description contains only template comments. Please fill in the details."
-              echo "::warning::PR description contains only template comments."
-            fi
-          fi
-          echo "message=$message" >> "$GITHUB_OUTPUT"
-
-      - name: Post or clear comment
-        if: env.IS_FORK == 'false'
-        env:
-          GH_TOKEN: ${{ github.token }}
-        run: |
-          if [ -n "${{ steps.check.outputs.message }}" ]; then
-            printf '%s\n' \
-              "## PR Description (advisory)" \
-              "" \
-              "This is **not blocking**, but your PR description appears to be empty or incomplete." \
-              "" \
-              "${{ steps.check.outputs.message }}" \
-              "" \
-              "A good PR description helps reviewers understand what changed and why." \
-              "" \
-              "---" \
-              "*This comment will be automatically removed once the issue is resolved.*" \
-            | python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result warn
-          else
-            python3 Tools/ci/pr_comment.py --marker pr-body --pr "$PR_NUMBER" --result pass
-          fi
@@ -42,7 +42,7 @@ jobs:
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v4
      with:
@@ -49,10 +49,6 @@ jobs:

      - uses: actions/checkout@v4

-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
      - name: Install Deps, Build, and Make Quick Check
        run: |
          # we need to install dependencies and build on the same step
@@ -24,11 +24,6 @@ on:
        description: 'Container tag (e.g. v1.16.0)'
        required: true
        type: string
-      build_ref:
-        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
-        required: false
-        type: string
-        default: ''
      deploy_to_registry:
        description: 'Whether to push built images to the registry'
        required: false
@@ -50,10 +45,9 @@ jobs:
      meta_tags: ${{ steps.meta.outputs.tags }}
      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0
@@ -70,7 +64,7 @@ jobs:

      - name: Extract metadata (tags, labels) for Docker
        id: meta
-        uses: docker/metadata-action@v6
+        uses: docker/metadata-action@v5
        with:
          images: |
            ghcr.io/PX4/px4-dev
@@ -95,23 +89,22 @@ jobs:
            runner: x64
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
-        uses: docker/login-action@v4
+        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@v4
+        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
@@ -119,13 +112,13 @@ jobs:
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v4
+        uses: docker/setup-buildx-action@v3
        with:
          driver: docker-container
          platforms: ${{ matrix.platform }}

      - name: Build and Load Container Image
-        uses: docker/build-push-action@v7
+        uses: docker/build-push-action@v6
        id: docker
        with:
          context: Tools/setup
@@ -137,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max

  deploy:
    name: Deploy To Registry
@@ -147,27 +140,23 @@ jobs:
      packages: write
    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    needs: [build, setup]
-    if: |
-      !cancelled() &&
-      needs.setup.result == 'success' &&
-      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
@@ -175,10 +164,10 @@ jobs:

      - name: Verify Images Exist Before Creating Manifest
        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+          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!"

      - name: Create and Push Multi-Arch Manifest for Docker Hub
        run: |
@@ -1,435 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Prepare pr-comment artifact
-        id: prepare-pr-comment
-        run: |
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No link-check results file; skipping pr-comment artifact."
-            echo "prepared=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-          mkdir -p pr-comment
-          cp ./logs/filtered-link-check-results.md pr-comment/body.md
-          cat > pr-comment/manifest.json <<EOF
-          {
-            "pr_number": ${{ github.event.pull_request.number }},
-            "marker": "<!-- pr-comment-poster:docs-link-check -->",
-            "mode": "upsert"
-          }
-          EOF
-          echo "prepared=true" >> "$GITHUB_OUTPUT"
-
-      - name: Upload pr-comment artifact
-        if: steps.prepare-pr-comment.outputs.prepared == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-comment
-          path: pr-comment/
-          retention-days: 1
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-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
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$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
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    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-site.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-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -34,13 +34,13 @@ jobs:
          upload_sources: false
          upload_translations: false
          download_translations: true
-          commit_message: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
+          commit_message: New Crowdin translations - ${{ matrix.lc }}
          localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
          crowdin_branch_name: main
          create_pull_request: true
          pull_request_base_branch_name: 'main'
-          pull_request_title: 'docs(i18n): PX4 guide translations (Crowdin) - ${{ matrix.lc }}'
-          pull_request_body: 'docs(i18n): PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
+          pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
+          pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
          pull_request_labels: 'Documentation 📑'
          pull_request_reviewers: hamishwillee
          download_language: ${{ matrix.lc }}
@@ -0,0 +1,116 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ 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"
@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/
@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace
@@ -17,7 +17,7 @@ jobs:
    runs-on: ubuntu-latest

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

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

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

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

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

      - name: Check if there exists diff and save result in variable
@@ -29,7 +29,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -26,7 +26,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -54,7 +54,6 @@ jobs:
        run: |
          make clean
          make distclean
-          make submodulesclean

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -93,6 +92,9 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

+  # TODO:
+  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
+  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -102,7 +104,7 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request
+    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
    steps:
      - name: Find Comment
        uses: peter-evans/find-comment@v3
@@ -110,14 +112,14 @@ jobs:
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: '<!-- pr-comment-poster:flash-analysis -->'
+          body-includes: FLASH Analysis

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

-      - name: Write pr-comment artifact
+      - name: Create or update comment
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -125,46 +127,27 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        run: |
-          mkdir -p pr-comment
-          cat > pr-comment/manifest.json <<EOF
-          {
-            "pr_number": ${{ github.event.pull_request.number }},
-            "marker": "<!-- pr-comment-poster:flash-analysis -->",
-            "mode": "upsert"
-          }
-          EOF
-          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
-          <!-- pr-comment-poster:flash-analysis -->
-          ## 🔎 FLASH Analysis
-          <details>
-            <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-            ```
-            ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-            ```
-          </details>
-
-          <details>
-            <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-            ```
-            ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-            ```
-          </details>
-
-          **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          PR_COMMENT_BODY_EOF
-
-      - name: Upload pr-comment artifact
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: actions/upload-artifact@v4
+        uses: peter-evans/create-or-update-comment@v4
        with:
-          name: pr-comment
-          path: pr-comment/
-          retention-days: 1
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## 🔎 FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              ```
+            </details>
+
+            <details>
+              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              ```
+            </details>
+
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace
@@ -24,7 +24,7 @@ jobs:
    name: Checking ${{ matrix.target }}
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      fail-fast: false
      matrix:
@@ -36,8 +36,8 @@ jobs:
            px4io/px4-dev-ros-melodic:2021-09-08 \
            bash -c '
              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
              ./test/rostest_px4_run.sh \
                mavros_posix_test_mission.test \
                mission:=MC_mission_box \
@@ -36,8 +36,8 @@ jobs:
            px4io/px4-dev-ros-melodic:2021-09-08 \
            bash -c '
              git config --global --add safe.directory /workspace
-              PX4_SBOM_DISABLE=1 make px4_sitl_default
-              PX4_SBOM_DISABLE=1 make px4_sitl_default sitl_gazebo-classic
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
              ./test/rostest_px4_run.sh \
                mavros_posix_tests_offboard_posctl.test \
                vehicle:=iris
@@ -21,7 +21,7 @@ jobs:
    runs-on: ubuntu-latest

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

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

@@ -1,147 +0,0 @@
-name: PR Comment Poster
-
-# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
-# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
-# workflow will post or update a sticky PR comment with its contents. Designed
-# so that analysis jobs running on untrusted fork PRs can still get their
-# results posted back to the PR.
-#
-# ==============================================================================
-# SECURITY INVARIANTS
-# ==============================================================================
-# This workflow runs on `workflow_run` which means it runs in the BASE REPO
-# context with a WRITE token, even when the triggering PR comes from a fork.
-# That is the entire reason it exists, and also the reason it is a loaded
-# footgun. Anyone modifying this file MUST preserve the following invariants:
-#
-#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
-#      of a fork branch. No execution of scripts from the downloaded artifact.
-#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
-#      and both are treated as opaque data (JSON parsed by the poster script
-#      and markdown posted verbatim via the GitHub API).
-#
-#   2. `pr_number` is validated to be a positive integer before use.
-#      `marker` is validated to be printable ASCII only before use. Validation
-#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
-#      the base branch, not from the artifact.
-#
-#   3. The comment body is passed to the GitHub API as a JSON field, never
-#      interpolated into a shell command string.
-#
-#   4. This workflow file lives on the default branch. `workflow_run` only
-#      loads workflow files from the default branch, so a fork cannot modify
-#      THIS file as part of a PR. The fork CAN cause this workflow to fire
-#      by triggering a producer workflow that uploads a `pr-comment` artifact.
-#      That is intended.
-#
-#   5. The artifact-name filter (`pr-comment`) is the only gate on which
-#      workflow runs get processed. Any workflow in this repo that uploads
-#      an artifact named `pr-comment` is trusted to have written the
-#      manifest and body itself, NOT copied fork-controlled content into
-#      them. Producer workflows are responsible for that.
-#
-#   6. `actions/checkout@v4` below uses NO ref (so it pulls the base branch,
-#      the default-branch commit this workflow file was loaded from) AND uses
-#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py. The
-#      rest of the repo never touches the workspace. This is safe: the only
-#      file the job executes is a base-repo Python script that was reviewed
-#      through normal code review, never anything from the PR.
-#
-# ==============================================================================
-# ARTIFACT CONTRACT
-# ==============================================================================
-# Producers upload an artifact named exactly `pr-comment` containing:
-#
-#   manifest.json:
-#     {
-#       "pr_number": 12345,                                      // required, int > 0
-#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
-#       "mode": "upsert"                                         // optional, default "upsert"
-#     }
-#
-#   body.md: the markdown content of the comment. Posted verbatim.
-#
-# The `marker` string is used to find an existing comment to update. It MUST
-# be unique per producer (e.g. include the producer name). If no existing
-# comment contains the marker, a new one is created. If the marker is found
-# in an existing comment, that comment is edited in place.
-#
-# Producers MUST write `pr_number` from their own workflow context
-# (`github.event.pull_request.number`) and MUST NOT read it from any
-# fork-controlled source.
-
-on:
-  workflow_run:
-    # Producers that may upload a `pr-comment` artifact. When a new producer
-    # is wired up, add its workflow name here. Runs of workflows not in this
-    # list will never trigger the poster. Every run of a listed workflow will
-    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
-    workflows:
-      - "FLASH usage analysis"
-      - "Docs - Orchestrator"
-    types:
-      - completed
-
-permissions:
-  pull-requests: write
-  actions: read
-  contents: read
-
-jobs:
-  post:
-    name: Post PR Comment
-    runs-on: ubuntu-latest
-    if: github.event.workflow_run.conclusion != 'cancelled'
-    steps:
-      # Checkout runs first so the poster script is available AND so that
-      # actions/checkout@v4's default clean step does not delete the artifact
-      # zip that the next step writes into the workspace. Sparse-checkout
-      # restricts the materialized tree to just the poster script.
-      - name: Checkout poster script only
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: |
-            Tools/ci/pr-comment-poster.py
-          sparse-checkout-cone-mode: false
-
-      - name: Download pr-comment artifact
-        id: download
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              run_id: context.payload.workflow_run.id,
-            });
-            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
-            if (!match) {
-              core.info('No pr-comment artifact on this run; nothing to post.');
-              core.setOutput('found', 'false');
-              return;
-            }
-            const download = await github.rest.actions.downloadArtifact({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              artifact_id: match.id,
-              archive_format: 'zip',
-            });
-            const fs = require('fs');
-            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
-            core.setOutput('found', 'true');
-
-      - name: Unpack artifact
-        if: steps.download.outputs.found == 'true'
-        run: |
-          mkdir -p pr-comment
-          unzip -q pr-comment.zip -d pr-comment
-
-      - name: Validate artifact
-        if: steps.download.outputs.found == 'true'
-        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
-
-      - name: Upsert sticky comment
-        if: steps.download.outputs.found == 'true'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -89,20 +89,7 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        # On a PR, target the branch we're merging into (main or release/X.Y).
-        # On a direct push, fall back to the branch we're running on.
-        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
-        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
-        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
-          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
-          git clone --recursive --branch "$BRANCH" "$REPO_URL"
-        else
-          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
-          git clone --recursive "$REPO_URL"
-        fi
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
+        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -112,8 +99,6 @@ jobs:
      run: ccache -s

    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
      run: make px4_sitl_default
    - name: ccache post-run px4/firmware
      run: ccache -s
@@ -132,7 +117,7 @@ jobs:
      run: |
        . /opt/px4_ws/install/setup.bash
        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --force-color
+        test/ros_test_runner.py --verbose --model iris --upload --force-color
      timeout-minutes: 45

    - name: Upload failed logs
@@ -1,42 +0,0 @@
-name: SBOM License Check
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-      - 'stable'
-    paths:
-      - '.gitmodules'
-      - 'Tools/ci/license-overrides.yaml'
-      - 'Tools/ci/generate_sbom.py'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - '.gitmodules'
-      - 'Tools/ci/license-overrides.yaml'
-      - 'Tools/ci/generate_sbom.py'
-
-permissions:
-  contents: read
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  verify-licenses:
-    runs-on: ubuntu-24.04
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 1
-          submodules: false
-
-      - name: Install PyYAML
-        run: pip install pyyaml --break-system-packages
-
-      - name: Verify submodule licenses
-        run: python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .
@@ -1,132 +0,0 @@
-name: SBOM Monthly Audit
-
-on:
-  schedule:
-    # First Monday of each month at 09:00 UTC
-    - cron: '0 9 1-7 * 1'
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Branch to audit (leave empty for current)'
-        required: false
-        type: string
-
-permissions:
-  contents: read
-  issues: write
-
-jobs:
-  audit:
-    runs-on: ubuntu-24.04
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.branch || github.ref }}
-          fetch-depth: 1
-          submodules: recursive
-
-      - name: Install PyYAML
-        run: pip install pyyaml --break-system-packages
-
-      - name: Run license verification
-        id: verify
-        continue-on-error: true
-        run: |
-          python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir . 2>&1 | tee /tmp/sbom-verify.txt
-          echo "exit_code=$?" >> "$GITHUB_OUTPUT"
-
-      - name: Check for issues
-        id: check
-        run: |
-          if grep -q "<-- UNRESOLVED" /tmp/sbom-verify.txt; then
-            echo "has_issues=true" >> "$GITHUB_OUTPUT"
-            # Extract only genuinely unresolved license lines
-            grep "<-- UNRESOLVED" /tmp/sbom-verify.txt > /tmp/sbom-issues.txt || true
-            # Extract copyleft lines
-            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
-          else
-            echo "has_issues=false" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Create issue if problems found
-        if: steps.check.outputs.has_issues == 'true'
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const fs = require('fs');
-
-            const fullOutput = fs.readFileSync('/tmp/sbom-verify.txt', 'utf8');
-            let issueLines = '';
-            try {
-              issueLines = fs.readFileSync('/tmp/sbom-issues.txt', 'utf8');
-            } catch (e) {
-              issueLines = 'No specific NOASSERTION lines captured.';
-            }
-            let copyleftLines = '';
-            try {
-              copyleftLines = fs.readFileSync('/tmp/sbom-copyleft.txt', 'utf8');
-            } catch (e) {
-              copyleftLines = '';
-            }
-
-            const date = new Date().toISOString().split('T')[0];
-            const branch = '${{ inputs.branch || github.ref_name }}';
-
-            // Check for existing open issue to avoid duplicates
-            const existing = await github.rest.issues.listForRepo({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              labels: 'sbom-audit',
-              state: 'open',
-            });
-
-            if (existing.data.length > 0) {
-              // Update existing issue with new findings
-              await github.rest.issues.createComment({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: existing.data[0].number,
-                body: `## Monthly audit update (${date})\n\nIssues still present:\n\n\`\`\`\n${issueLines}\n\`\`\`\n${copyleftLines ? `\n### Copyleft warnings\n\`\`\`\n${copyleftLines}\n\`\`\`` : ''}`,
-              });
-              return;
-            }
-
-            await github.rest.issues.create({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              title: `chore(sbom): license audit found NOASSERTION entries on ${branch} (${date})`,
-              labels: ['sbom-audit'],
-              assignees: ['mrpollo'],
-              body: [
-                `## SBOM Monthly Audit -- ${branch} -- ${date}`,
-                '',
-                'The automated SBOM license audit found submodules with unresolved licenses.',
-                '',
-                '### NOASSERTION entries',
-                '',
-                '```',
-                issueLines,
-                '```',
-                '',
-                copyleftLines ? `### Copyleft warnings\n\n\`\`\`\n${copyleftLines}\n\`\`\`\n` : '',
-                '### How to fix',
-                '',
-                '1. Check the submodule repo for a LICENSE file',
-                '2. Add an override to `Tools/ci/license-overrides.yaml`',
-                '3. Run `python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .` to confirm',
-                '',
-                '### Full output',
-                '',
-                '<details>',
-                '<summary>Click to expand</summary>',
-                '',
-                '```',
-                fullOutput,
-                '```',
-                '',
-                '</details>',
-                '',
-                'cc @mrpollo',
-              ].join('\n'),
-            });
@@ -33,10 +33,8 @@ jobs:
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
-          # transitions). Re-enable once the test infrastructure is stabilized.
-          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

    steps:
      - uses: actions/checkout@v4
@@ -71,7 +69,6 @@ jobs:
      - name: Build PX4
        env:
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
        run: make px4_sitl_default

      - name: Cache Post-Run [px4_sitl_default]
@@ -121,7 +118,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

      - name: Upload failed logs
@@ -15,7 +15,7 @@ jobs:
          stale-issue-label: 'stale'
          stale-pr-label: 'stale'
          remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
@@ -1,43 +0,0 @@
-name: Sync release branch to px4-ros2-interface-lib
-
-on:
-  create:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: 'Release branch name (e.g. release/1.18)'
-        required: true
-        type: string
-
-permissions: {}
-
-jobs:
-  notify-interface-lib:
-    if: >-
-      github.repository == 'PX4/PX4-Autopilot' &&
-      (
-        (github.event_name == 'create' && github.ref_type == 'branch' && startsWith(github.ref_name, 'release/')) ||
-        github.event_name == 'workflow_dispatch'
-      )
-    runs-on: ubuntu-latest
-    steps:
-      - name: Determine branch name
-        id: params
-        run: |
-          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-            BRANCH="${{ inputs.branch }}"
-          else
-            BRANCH="${{ github.ref_name }}"
-          fi
-          echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
-          echo "Dispatching for branch: $BRANCH"
-
-      - name: Dispatch release branch creation
-        run: |
-          BRANCH="${{ steps.params.outputs.branch }}"
-          curl -s -f -X POST \
-            -H "Authorization: token ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}" \
-            -H "Accept: application/vnd.github.v3+json" \
-            https://api.github.com/repos/Auterion/px4-ros2-interface-lib/dispatches \
-            -d "{\"event_type\":\"px4_release_branch\",\"client_payload\":{\"branch\":\"$BRANCH\"}}"
-          echo "Dispatched px4_release_branch event for $BRANCH"
@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs
@@ -1,135 +0,0 @@
-name: Tag px4_msgs from PX4 release tags
-
-on:
-  push:
-    tags:
-      - 'v*.*.*'
-  workflow_dispatch:
-    inputs:
-      tag_name:
-        description: 'PX4 tag to propagate (example: v1.17.0)'
-        required: true
-        type: string
-
-permissions:
-  contents: read
-
-jobs:
-  tag_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    env:
-      TAG_NAME: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_name || github.ref_name }}
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          fetch-tags: true
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Resolve release branch from tag
-        id: tag_info
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          if [[ ! "${TAG_NAME}" =~ ^v([0-9]+)\.([0-9]+)\.([0-9]+)$ ]]; then
-            echo "Tag format is not stable vX.Y.Z, skipping: ${TAG_NAME}"
-            echo "should_run=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          echo "should_run=true" >> "$GITHUB_OUTPUT"
-
-          major="${BASH_REMATCH[1]}"
-          minor="${BASH_REMATCH[2]}"
-          release_branch="release/${major}.${minor}"
-
-          git show-ref --verify --quiet "refs/heads/${release_branch}" || {
-            echo "PX4 branch ${release_branch} not found"
-            exit 1
-          }
-
-          tag_date="$(git for-each-ref --format='%(creatordate:iso8601)' "refs/tags/${TAG_NAME}")"
-          if [[ -z "${tag_date}" ]]; then
-            echo "Unable to resolve tag date for ${TAG_NAME}"
-            exit 1
-          fi
-
-          echo "release_branch=${release_branch}" >> "$GITHUB_OUTPUT"
-          echo "tag_date=${tag_date}" >> "$GITHUB_OUTPUT"
-
-      - name: Clone px4_msgs repo
-        if: steps.tag_info.outputs.should_run == 'true'
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Checkout matching px4_msgs release branch
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-          cd px4_msgs
-
-          release_branch="${{ steps.tag_info.outputs.release_branch }}"
-          if git show-ref --verify --quiet "refs/remotes/origin/${release_branch}"; then
-            git checkout -B "${release_branch}" "origin/${release_branch}"
-          else
-            echo "px4_msgs branch ${release_branch} does not exist"
-            exit 1
-          fi
-
-      - name: Verify msg and srv trees are identical
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-
-          release_branch="${{ steps.tag_info.outputs.release_branch }}"
-          git checkout "${release_branch}"
-
-          # Use the same synchronization logic as sync_to_px4_msgs.yml,
-          # then verify there are no changes in px4_msgs.
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-          if ! git -C px4_msgs diff --exit-code -- msg srv; then
-            echo "Message/service definitions differ between PX4 ${release_branch} and px4_msgs ${release_branch}"
-            exit 1
-          fi
-
-      - name: Create and push tag in px4_msgs
-        if: steps.tag_info.outputs.should_run == 'true'
-        shell: bash
-        run: |
-          set -euo pipefail
-          cd px4_msgs
-
-          target="$(git rev-parse HEAD)"
-          existing_target="$(git rev-parse "refs/tags/${TAG_NAME}^{}" 2>/dev/null || true)"
-
-          if [[ -n "${existing_target}" ]]; then
-            if [[ "${existing_target}" == "${target}" ]]; then
-              echo "Tag ${TAG_NAME} already exists on ${target}; nothing to do"
-              exit 0
-            fi
-            echo "Tag ${TAG_NAME} already exists on ${existing_target}, expected ${target}"
-            exit 1
-          fi
-
-          GIT_COMMITTER_DATE="${{ steps.tag_info.outputs.tag_date }}" \
-            git tag -a "${TAG_NAME}" "${target}" \
-              -m "PX4 msgs and srvs definitions matching PX4 stable release ${TAG_NAME#v}"
-
-          git push origin "refs/tags/${TAG_NAME}"
@@ -109,9 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/
-
-# virtual Python environment
-.venv
@@ -103,15 +103,3 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git
-[submodule "libmodal-json"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
-[submodule "libmodal-pipe"]
-	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
-	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
@@ -6,16 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
    px4_sitl_spacecraft:
      short: px4_sitl_spacecraft
      buildType: RelWithDebInfo
@@ -151,11 +141,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
    ark_can-flow-mr_canbootloader:
      short: ark_can-flow-mr_canbootloader
      buildType: MinSizeRel
@@ -251,16 +236,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -336,11 +311,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x25-evo_default
-    cuav_x25-super_default:
-      short: cuav_x25-super
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_x25-super_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -436,16 +406,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -536,23 +496,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default
@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"
@@ -229,28 +229,6 @@ endif()
 #
 project(px4 CXX C ASM)

-# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
-# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
-# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
-# libraries carry a dummy.cpp placeholder, all of which legitimately produce
-# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
-#
-# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
-# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
-# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
-# -no_warning_for_no_symbols flag to add it quietly.
-if(APPLE)
-	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-endif()
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -262,15 +240,8 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
 endif()

-if(CONFIG_BOARD_SUPPORT_FORTIFIED_TOOLCHAIN)
-	set(PX4_DEBUG_OPT_LEVEL -Og)
-	message(STATUS "fortified toolchain support enabled: PX4_DEBUG_OPT_LEVEL=${PX4_DEBUG_OPT_LEVEL}")
-else()
-	set(PX4_DEBUG_OPT_LEVEL -O0)
-endif()
-
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL ${PX4_DEBUG_OPT_LEVEL})
+	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
@@ -296,7 +267,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -513,7 +484,6 @@ include(bloaty)

 include(metadata)
 include(package)
-include(sbom)

 # install python requirements using configured python
 add_custom_target(install_python_requirements
@@ -2,82 +2,45 @@

 ## Our Pledge

-We as members, contributors, and leaders pledge to make participation in our community a harassment-free experience for everyone, regardless of age, body size, visible or invisible disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socio-economic status, nationality, personal appearance, race, caste, color, religion, or sexual identity and orientation.
-
-We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.

 ## Our Standards

-Examples of behavior that contributes to a positive environment for our community include:
+Examples of behavior that contributes to creating a positive environment include:

-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes, and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the overall community
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members

-Examples of unacceptable behavior include:
+Examples of unacceptable behavior by participants include:

-* The use of sexualized language or imagery, and sexual attention or advances of any kind
-* Trolling, insulting or derogatory comments, and personal or political attacks
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
 * Public or private harassment
-* Publishing others' private information, such as a physical or email address, without their explicit permission
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
 * Other conduct which could reasonably be considered inappropriate in a professional setting

-## Enforcement Responsibilities
+## Our Responsibilities

-Community leaders are responsible for clarifying and enforcing our standards of acceptable behavior and will take appropriate and fair corrective action in response to any behavior that they deem inappropriate, threatening, offensive, or harmful.
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.

-Community leaders have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, and will communicate reasons for moderation decisions when appropriate.
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.

 ## Scope

-This Code of Conduct applies within all community spaces, and also applies when an individual is officially representing the community in public spaces. Examples of representing our community include using an official e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event.
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.

 ## Enforcement

-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at coc@dronecode.org. All complaints will be reviewed and investigated promptly and fairly.
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.

-All community leaders are obligated to respect the privacy and security of the reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed unprofessional or unwelcome in the community.
-
-**Consequence**: A private, written warning from community leaders, providing clarity around the nature of the violation and an explanation of why the behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, for a specified period of time. This includes avoiding interactions in community spaces as well as external channels like social media. Violating these terms may lead to a temporary or permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public communication with the community for a specified period of time. No public or private interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, is allowed during this period. Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community standards, including sustained inappropriate behavior, harassment of an individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within the community.
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.

 ## Attribution

-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 2.1, available at [https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]

-Community Impact Guidelines were inspired by [Mozilla's code of conduct enforcement ladder][Mozilla CoC].
-
-For answers to common questions about this code of conduct, see the FAQ at [https://www.contributor-covenant.org/faq][FAQ]. Translations are available at [https://www.contributor-covenant.org/translations][translations].
-
-[homepage]: https://www.contributor-covenant.org
-[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
-[Mozilla CoC]: https://github.com/mozilla/diversity
-[FAQ]: https://www.contributor-covenant.org/faq
-[translations]: https://www.contributor-covenant.org/translations
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/
@@ -1,170 +1,44 @@
-# Contributing to PX4-Autopilot
+# Contributing to PX4 Firmware

-We follow the [GitHub flow](https://guides.github.com/introduction/flow/) development model.
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.

-## Fork the project, then clone your repo
+### Fork the project, then clone your repo

-First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.

-## Create a feature branch
+### Create a feature branch

-Always branch off `main` for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
 ```

-## Edit and build the code
+### Edit and build the code

-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

-### Coding standards
+### Commit your changes

-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)

-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
-
-## Commit message convention
-
-PX4 uses [conventional commits](https://www.conventionalcommits.org/) for all commit messages and PR titles.
-
-### Format
+**Example:**

 ```
-type(scope): short description of the change
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
 ```

-| Part | Rule |
-|------|------|
-| **type** | Category of change (see types table below) |
-| **scope** | The module, driver, board, or area of PX4 affected |
-| **`!`** (optional) | Append before `:` to mark a breaking change |
-| **description** | What the change does, at least 5 characters, written in imperative form |
+### Test your changes

-### Types
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

-| Type | Description |
-|------|-------------|
-| `feat` | A new feature |
-| `fix` | A bug fix |
-| `docs` | Documentation only changes |
-| `style` | Formatting, whitespace, no code change |
-| `refactor` | Code change that neither fixes a bug nor adds a feature |
-| `perf` | Performance improvement |
-| `test` | Adding or correcting tests |
-| `build` | Build system or external dependencies |
-| `ci` | CI configuration files and scripts |
-| `chore` | Other changes that don't modify src or test files |
-| `revert` | Reverts a previous commit |
+### Push your changes

-### Scopes
-
-The scope identifies which part of PX4 is affected. Common scopes:
-
-| Scope | Area |
-|-------|------|
-| `ekf2` | Extended Kalman Filter (state estimation) |
-| `mavlink` | MAVLink messaging protocol |
-| `commander` | Commander and mode management |
-| `navigator` | Mission, RTL, Land, and other navigation modes |
-| `sensors` | Sensor drivers and processing |
-| `drivers` | Hardware drivers |
-| `boards/px4_fmu-v6x` | Board-specific changes (use the board name) |
-| `mc_att_control` | Multicopter attitude control |
-| `mc_pos_control` | Multicopter position control |
-| `fw_att_control` | Fixed-wing attitude control |
-| `vtol` | VTOL-specific logic |
-| `actuators` | Mixer and actuator output |
-| `battery` | Battery monitoring and estimation |
-| `logger` | On-board logging |
-| `param` | Parameter system |
-| `simulation` | SITL, Gazebo, SIH |
-| `ci` | Continuous integration and workflows |
-| `docs` | Documentation |
-| `build` | CMake, toolchain, build system |
-| `uorb` | Inter-module messaging |
-
-For changes spanning multiple subsystems, use the primary one affected. Look at the directory path of the files you changed to find the right scope: `src/modules/ekf2/` uses `ekf2`, `src/drivers/imu/` uses `drivers/imu`, `.github/workflows/` uses `ci`.
-
-### Breaking changes
-
-Append `!` before the colon to indicate a breaking change:
-
-```
-feat(ekf2)!: remove deprecated height fusion API
-```
-
-### Good commit messages
-
-```
-feat(ekf2): add height fusion timeout
-fix(mavlink): correct BATTERY_STATUS_V2 parsing
-refactor(navigator): simplify RTL altitude logic
-ci(workflows): migrate to reusable workflows
-docs(ekf2): update tuning guide
-feat(boards/px4_fmu-v6x)!: remove deprecated driver API
-perf(mc_rate_control): reduce loop latency
-```
-
-### Commits to avoid
-
-These will be flagged by CI and should be squashed or reworded before merging:
-
-```
-fix                                    # too vague, no type or scope
-update                                 # too vague, no type or scope
-ekf2: fix something                   # missing type prefix
-apply suggestions from code review     # squash into parent commit
-do make format                         # squash into parent commit
-WIP: trying something                  # not ready for main
-oops                                   # not descriptive
-```
-
-### PR titles
-
-The PR title follows the same `type(scope): description` format. This is enforced by CI and is especially important because the PR title becomes the commit message when a PR is squash-merged.
-
-### Merge policy
-
-Commits should be atomic and independently revertable. Squash at reviewer discretion for obvious cases (multiple WIP commits, messy review-response history). When your commits are clean and logical, they will be preserved as individual commits on `main`.
-
-### Cleaning up commits
-
-If CI flags your commit messages, you can fix them with an interactive rebase:
-
-```bash
-# Squash all commits into one:
-git rebase -i HEAD~N   # replace N with the number of commits
-# mark all commits except the first as 'squash' or 'fixup'
-# reword the remaining commit to follow the format
-git push --force-with-lease
-
-# Or reword specific commits:
-git rebase -i HEAD~N
-# mark the bad commits as 'reword'
-git push --force-with-lease
-```
-
-## Test your changes
-
-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
-Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
-
-## Push your changes
-
-Push changes to your repo and send a [pull request](https://github.com/PX4/PX4-Autopilot/compare/).
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).

 Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Flight Review](http://logs.px4.io) and link the resulting report.
@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)
@@ -101,7 +101,6 @@ pipeline {
            echo $0;
            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;
            cd ..;
@@ -221,6 +220,36 @@ pipeline {
          }
        }

+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
        stage('S3') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
@@ -67,16 +67,6 @@ menu "Toolchain"
        help
            Enables Cmake Release for -O3 optimization

-    config BOARD_SUPPORT_FORTIFIED_TOOLCHAIN
-        bool "Fortified toolchain support"
-        default n
-        help
-            Enable compatibility with toolchains that define
-            _FORTIFY_SOURCE.
-
-            This switches PX4_DEBUG_OPT_LEVEL from -O0 to -Og. Keep this
-            disabled unless the fortified toolchain requires optimization.
-
    config BOARD_ROMFSROOT
        string "ROMFSROOT"
        default "px4fmu_common"
@@ -220,10 +210,6 @@ menu "examples"
 source "src/examples/Kconfig"
 endmenu

-menu "templates"
-source "src/templates/Kconfig"
-endmenu
-
 menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
 source "platforms/Kconfig"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -1,11 +1,9 @@
 Maintainers
 ===========

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

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

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


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

 | Name | GitHub | Chat | email
@@ -162,12 +162,6 @@ else

 endif

-# Prefer the interpreter from an active Python virtual environment.
-# Otherwise leave PYTHON_EXECUTABLE unset and let CMake resolve Python.
-ifneq ($(strip $(VIRTUAL_ENV)),)
-	PYTHON_EXECUTABLE ?= $(VIRTUAL_ENV)/bin/python
-endif
-
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
 	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
@@ -232,22 +226,9 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))

-# Multi-processor boards: build all processor targets together
-# VOXL2 apps processor (default) depends on SLPI DSP being built first
-modalai_voxl2_default: modalai_voxl2_slpi
-modalai_voxl2: modalai_voxl2_slpi
-modalai_voxl2_deb: modalai_voxl2_slpi
-
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

-# DEB package targets: builds _default config, then runs cpack.
-# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
-# via existing cmake prerequisites.
-%_deb:
-	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
-	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
-
 updateconfig:
 	@./Tools/kconfig/updateconfig.py

@@ -351,7 +332,6 @@ bootloaders_update: \
 	cuav_7-nano_bootloader \
 	cuav_fmu-v6x_bootloader \
 	cuav_x25-evo_bootloader \
-	cuav_x25-super_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -366,7 +346,6 @@ bootloaders_update: \
        micoair_h743_bootloader \
        micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -432,7 +411,7 @@ tests:
 	$(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,negative
+LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -512,29 +491,13 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang

-# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
-# - All submodules (external code we consume, not edit)
-# - Test code (allowed looser style)
-# - Example code (educational, not production)
-# - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
-# - GPIO excluded here (NuttX platform headers)
-# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
-#   because CMake Unity Builds merge sources into a generated .cxx under build/
-#
-# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
-# Submodules are automatically excluded - no action needed when adding new ones.
-CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
-CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
-
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .

 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .

 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -554,8 +517,7 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
-	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
@@ -635,10 +597,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs
@@ -1,131 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot

-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)

-<p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Release"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://img.shields.io/discord/1022170275984457759?label=discord&logo=discord&logoColor=white&color=5865F2" alt="Discord"></a>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-<p align="center">
-  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/health-score?project=px4" alt="LFX Health Score"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/contributors?project=px4" alt="LFX Contributors"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/active-contributors?project=px4" alt="LFX Active Contributors"></a>
-</p>
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

---
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-## About
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

-## Why PX4
+## Releases

-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+## Building a PX4 based drone, rover, boat or robot

-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.

-## Supported Vehicles
+## Changing Code and Contributing

-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!

-## Quick Start

-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```
+## Weekly Dev Call

-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

-## Documentation & Resources
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |

-## Community
+## Maintenance Team

- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-## Contributing
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).

-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+## Supported Hardware

-## Citation
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

-If you use PX4 in academic work, please cite it. BibTeX:
+## Project Governance

-```bibtex
-@software{px4_autopilot,
-  author    = {Meier, Lorenz and {The PX4 Contributors}},
-  title     = {{PX4 Autopilot}},
-  publisher = {Zenodo},
-  doi       = {10.5281/zenodo.595432},
-  url       = {https://px4.io}
-}
-```
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.

-The DOI above is a Zenodo concept DOI that always resolves to the latest release. For a version-pinned citation, see the [Zenodo record](https://doi.org/10.5281/zenodo.595432) or our [`CITATION.cff`](CITATION.cff).
-
-## Governance
-
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
-
-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>
@@ -193,7 +193,6 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
-	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -34,7 +34,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set SIH_VEHICLE_TYPE 0
@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)

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

@@ -44,8 +45,7 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 # Rate controllers
 param set-default FW_RR_P 0.0500
@@ -11,8 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters

 param set-default SENS_EN_GPSSIM 1
@@ -27,8 +27,7 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0

 param set-default VT_TYPE 2
 param set-default MPC_MAN_Y_MAX 60
@@ -18,7 +18,6 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

 param set SIH_VEHICLE_TYPE 4
-param set-default MAV_TYPE 13

 # Symmetric hexacopter X clockwise motor numbering
 param set-default CA_ROTOR_COUNT 6
@@ -45,5 +44,4 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-param set-default SENS_GPS0_DELAY 0
-param set-default SENS_GPS1_DELAY 0
+param set-default EKF2_GPS_DELAY 0
@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

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

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8

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

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

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

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

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

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

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

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

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

@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -51,6 +53,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2

 param set-default CA_ROTOR_COUNT 1
@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_PITCH_MIN -5
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
@@ -20,8 +20,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default SENS_GPS0_OFFX 0.055
-param set-default SENS_GPS0_OFFZ -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

 param set-default SIM_GZ_EN 1

+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8

 param set-default FW_PR_FF 0.08
@@ -46,6 +48,8 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

 param set-default CA_SV_CS_COUNT 6
@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3

 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720
@@ -26,6 +26,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 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?

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -41,21 +42,23 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255

-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AX -1
+param set-default CA_ROTOR0_AY 1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
+#param set-default CA_ROTOR0_PZ 0.0

-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AX -1
+param set-default CA_ROTOR1_AY -1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
+#param set-default CA_ROTOR1_PZ 0.0

 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -64,6 +67,7 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
+#param set-default CA_ROTOR2_PZ 0.0

 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -75,7 +79,7 @@ param set-default CA_ROTOR3_PZ 0.06

 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_AZ 1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -99,7 +103,7 @@ param set-default CA_ROTOR6_PZ 0

 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ -1
+param set-default CA_ROTOR7_AZ 1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22
@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -1,166 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 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
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-param set-default SIM_GZ_EC_FUNC9 301
-param set-default SIM_GZ_EC_FUNC10 302
-param set-default SIM_GZ_EC_FUNC11 303
-param set-default SIM_GZ_EC_FUNC12 304
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-param set-default SIM_GZ_EC_MIN9 1100
-param set-default SIM_GZ_EC_MIN10 1100
-param set-default SIM_GZ_EC_MIN11 1100
-param set-default SIM_GZ_EC_MIN12 1100
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-param set-default SIM_GZ_EC_MAX9 1900
-param set-default SIM_GZ_EC_MAX10 1900
-param set-default SIM_GZ_EC_MAX11 1900
-param set-default SIM_GZ_EC_MAX12 1900
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0
@@ -118,7 +118,6 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy

 	70000_gz_atmos
-	70001_gz_atmos_dual

 	# [22000, 22999] Reserve for custom models
 )
@@ -159,19 +159,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi

 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then

 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"

+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}

 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1

 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi
@@ -2,8 +2,7 @@
 # shellcheck disable=SC2154

 # EKF2 specifics
-param set-default SENS_GPS0_DELAY 10
-param set-default SENS_GPS1_DELAY 10
+param set-default EKF2_GPS_DELAY 10
 param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0

@@ -119,14 +119,22 @@ else
 	param set SYS_AUTOCONFIG 1
 fi

-# To trigger a parameter reset during boot SYS_AUTOCONFIG was set to 1 before
-if param greater SYS_AUTOCONFIG 0
+if param compare SYS_AUTOCONFIG 1
 then
-	# Reset parameters except airframe, parameter version, sensor calibration, total flight time, flight UUID
-	param reset_all SYS_AUTOSTART SYS_PARAM_VER CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi

+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -230,15 +238,6 @@ then
 	exit 1
 fi

-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 dataman start

 # only start the simulator if not in replay mode, as both control the lockstep time
@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	61904bc14a	ci: fix S3 upload so tags don't overwrite stable firmware Remove the step that uploaded every version tag to the stable/ S3 directory, which caused QGC users selecting "stable" to receive pre-release firmware (#26340). The stable/ and beta/ directories are now controlled exclusively by their respective branch pushes, while version tags only upload to their versioned archive directory (e.g., v1.16.1/). Pre-release tags are also correctly marked on GitHub Releases. Co-authored-by: Julian Oes <julian@oes.ch> Fixes #26340 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-02-13 07:25:28 -08:00
Matthias Grob	fd68d5d043	CI: replace all usage of addnab/docker-run-action It's unmaintained and the docker version it uses is not supported anymore.	2026-02-13 06:35:09 -08:00
Nick	857b48d57d	[1.17] Bugfix: Prevent Offboard to Position without RC (#26391 )	2026-01-30 09:35:49 +01:00
AkaiEurus	618995da84	Fix VTOL stuck after back-transition in Mission Fast RTL	2026-01-22 13:55:38 +01:00
Nick	2a78d7dfd1	pwm: Add PWM center support to Wheel and Gimbal (#26211 ) * Add Wheel and Gimbal support to PWM center * Document Center feature for PWM Gimbal	2026-01-22 13:53:45 +01:00
Nick	da89d5e939	PWM: Add servo center setting & asymetric deflection (#25897 ) Add PWM__CENTERx for each servo. Use a bilinear transform to map actuator_servos to PWM signals. This solution only works for PWM based servos. Other types of servos are not affected. PWM: Add servo trim option * PWM: Improve documentation of PWM trim feature * PWM: cleaner clamping and docs typo * update documentation & safety * add migration formula * rename param from trim to center * docs with center instead of trim * move clamping and reorder values * improve documentation * adress failing range check * improve documentation * CA: add event for setting CENTER with TRIM Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>	2026-01-22 13:53:45 +01:00
Ryan Johnston	15f5fefa0c	FW Takeoff: fix loiter altitude not set in some cases * Fix Takeoff mode to respect MIS_TAKEOFF_ALT Takeoff mode never transitions to hold after takeoff alt. * style: run make format	2026-01-16 18:04:40 +01:00
Matthias Grob	e841fe029a	[1.17] Bugfix: Let user take over from a degraded failsafe (#26269 ) * astyle: remove max line length (#25717) * failsafe unit test: add cases for 1 allow taking over from degraded failsafes 2 not cause immediate takeover when failsafe happens because of mode switch The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land. The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason. * commander/failsafe: fix user takeover not possible in fallback Land action when configured RTL is not possible --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2026-01-15 14:48:53 -05:00
Peter van der Perk	82532f9642	[BACKPORT 1.17] imxrt related fixes and mr-tropic support (#26052 )	2025-12-23 15:10:07 -05:00
Peter van der Perk	77766d1301	[BACKPORT 1.17] Zenoh docs and zenoh oom fixes (#26053 ) * docs: Zenoh middleware guide (#25737) * Zenoh: Update zenoh-pico library * Zenoh: Improve out-of-memory behaviour Abort publication immediately when not enough memory is available. Zero _zenoh_publishers and _zenoh_subscribers to ensure we're not dereferencing a wrong pointer * fmu-v6x: zenoh config set CONSTRAINED_FLASH Fixes flash overflow with zenoh target on fmu-v6x * Update docs/en/middleware/zenoh.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-12-09 19:03:26 -09:00