ci: build each platform on its own arch

ci: test container build push
ci: only build amd64 for tests
2026-05-23 23:37:34 +08:00 · 2025-02-27 08:48:02 -08:00 · 2025-02-27 07:41:13 -08:00 · 2025-02-26 20:48:39 -08:00 · 2025-02-26 20:39:56 -08:00 · 2025-02-26 19:29:52 -08:00
2469 changed files with 135745 additions and 26865 deletions
@@ -1,222 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-
-    stage('Build') {
-      steps {
-        script {
-          def build_nodes = [:]
-          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
-            arm64: "px4io/px4-dev-aarch64:2022-08-12",
-            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
-            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
-          ]
-
-          def armhf_builds = [
-            target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
-            image: docker_images.armhf,
-            archive: false
-          ]
-
-          def arm64_builds = [
-            target: ["scumaker_pilotpi_arm64"],
-            image: docker_images.arm64,
-            archive: false
-          ]
-
-          def base_builds = [
-            target: ["px4_sitl_default"],
-            image: docker_images.base,
-            archive: false
-          ]
-
-          def nuttx_builds_archive = [
-            target: [
-                     "airmind_mindpx-v2_default",
-                     "ark_can-flow_canbootloader",
-                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
-                     "ark_fmu-v6x_bootloader",
-                     "ark_fmu-v6x_default",
-                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
-                     "atl_mantis-edu_default",
-                     "av_x-v1_default",
-                     "bitcraze_crazyflie21_default",
-                     "bitcraze_crazyflie_default",
-                     "cuav_can-gps-v1_canbootloader",
-                     "cuav_can-gps-v1_default",
-                     "cuav_nora_default",
-                     "cuav_x7pro_default",
-                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
-                     "cubepilot_cubeyellow_default",
-                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
-                     "freefly_can-rtk-gps_canbootloader",
-                     "freefly_can-rtk-gps_default",
-                     "holybro_can-gps-v1_canbootloader",
-                     "holybro_can-gps-v1_default",
-                     "holybro_durandal-v1_default",
-                     "holybro_kakutef7_default",
-                     "holybro_kakuteh7_default",
-                     "holybro_kakuteh7mini_default",
-                     "holybro_kakuteh7v2_default",
-                     "holybro_pix32v5_default",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
-                     "matek_h743-mini_default",
-                     "matek_h743-slim_default",
-                     "matek_h743_default",
-                     "modalai_fc-v1_default",
-                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
-                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-f7_default",
-                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_pixracerpro_default",
-                     "mro_x21-777_default",
-                     "mro_x21_default",
-                     "nxp_fmuk66-e_default",
-                     "nxp_fmuk66-e_socketcan",
-                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_mr-canhubk3_default",
-                     "nxp_ucans32k146_canbootloader",
-                     "nxp_ucans32k146_default",
-                     "omnibus_f4sd_default",
-                     "px4_fmu-v2_default",
-                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lto",
-                     "px4_fmu-v2_multicopter",
-                     "px4_fmu-v2_rover",
-                     "px4_fmu-v3_default",
-                     "px4_fmu-v4_default",
-                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_cyphal",
-                     "px4_fmu-v5_debug",
-                     "px4_fmu-v5_default",
-                     "px4_fmu-v5_lto",
-                     "px4_fmu-v5_rover",
-                     "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5x_default",
-                     "px4_fmu-v5x_rover",
-                     "px4_fmu-v6c_default",
-                     "px4_fmu-v6c_rover",
-                     "px4_fmu-v6u_default",
-                     "px4_fmu-v6u_rover",
-                     "px4_fmu-v6x_default",
-                     "px4_fmu-v6x_rover",
-                     "px4_fmu-v6xrt_bootloader",
-                     "px4_fmu-v6xrt_default",
-                     "px4_fmu-v6xrt_rover",
-                     "px4_io-v2_default",
-                     "raspberrypi_pico_default",
-                     "siyi_n7_default",
-                     "sky-drones_smartap-airlink_default",
-                     "spracing_h7extreme_default",
-                     "thepeach_k1_default",
-                     "thepeach_r1_default",
-                     "uvify_core_default",
-            ],
-            image: docker_images.nuttx,
-            archive: true
-          ]
-
-          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
-          ]
-
-          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
-            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
-              build_nodes.put(docker_builds[build_type].target[build_target],
-                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
-                )
-            }
-          }
-
-        parallel build_nodes
-
-        } // script
-      } // steps
-    } // stage Build
-
-    // TODO: actually upload artifacts to S3
-    // stage('S3 Upload') {
-    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
-    //   }
-    //   options {
-    //         skipDefaultCheckout()
-    //   }
-    //   when {
-    //     anyOf {
-    //       branch 'master'
-    //       branch 'beta'
-    //       branch 'stable'
-    //       branch 'pr-jenkins' // for testing
-    //     }
-    //   }
-    //   steps {
-    //     sh 'echo "uploading to S3"'
-    //   }
-    // }
-
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
-  }
-}
-
-def createBuildNode(Boolean archive, String docker_image, String target) {
-  return {
-
-    bypass_entrypoint = ''
-
-    node {
-      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
-          stage(target) {
-            try {
-              sh('export')
-              checkout(scm)
-              sh('make distclean; git clean -ff -x -d .')
-              sh('git fetch --tags')
-              sh('ccache -s')
-              sh('make ' + target)
-              sh('ccache -s')
-              sh('make sizes')
-              if (archive) {
-                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
-              }
-              sh('make ' + target + ' package')
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
-              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
-            }
-            catch (exc) {
-              throw (exc)
-            }
-            finally {
-              sh('make distclean; git clean -ff -x -d .')
-            }
-          }
-        }
-      }
-    }
-  }
-}
@@ -1,904 +0,0 @@
-#!/usr/bin/env groovy
-
-pipeline {
-  agent none
-  stages {
-    stage('Hardware Test') {
-
-      parallel {
-
-        stage("cubepilot_cubeorange_test") {
-          stages {
-            stage("build cubepilot_cubeorange_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
-                sh 'make cubepilot_cubeorange_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cubepilot_cubeorange'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    runTests()
-
-                    // load all airframes
-                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("cuav_x7pro_test") {
-          stages {
-            stage("build cuav_x7pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
-                sh 'make cuav_x7pro_test'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'cuav_x7pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4_test") {
-          stages {
-            stage("build px4_fmu-v4_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4_test'
-                sh 'make px4_fmu-v4_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v4pro_test") {
-          stages {
-            stage("build px4_fmu-v4pro_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v4pro_test'
-                sh 'make px4_fmu-v4pro_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v4pro'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_debug") {
-          stages {
-            stage("build px4_fmu-v5_debug") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_debug'
-                sh 'make px4_fmu-v5_debug bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_debug'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_stackcheck") {
-          stages {
-            stage("build px4_fmu-v5_stackcheck") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_stackcheck'
-                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_stackcheck'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'   // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-                    checkStatus()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("px4_fmu-v5_test") {
-          stages {
-            stage("build px4_fmu-v5_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v5_test'
-                sh 'make px4_fmu-v5_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v5'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("nxp_fmuk66-v3_test") {
-          stages {
-            stage("build nxp_fmuk66-v3_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make nxp_fmuk66-v3_test'
-                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'nxp_fmuk66-v3'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
-                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
-      } // parallel
-    } // stage Hardware Test
-  } // stages
-  environment {
-    CCACHE_DIR = '/tmp/ccache'
-    CCACHE_NOHASHDIR = 1
-    CI = true
-  }
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
-    timeout(time: 180, unit: 'MINUTES')
-    skipDefaultCheckout()
-  }
-}
-
-void checkoutSCM() {
-  retry(3) {
-    checkout scm
-    sh 'export'
-    sh 'make distclean; git clean -ff -x -d .'
-    sh 'git fetch --tags'
-    sh 'ccache -z'
-  }
-}
-
-void quickCalibrate() {
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-}
-
-void checkStatus() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-
-  // status commands
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-}
-
-void resetParameters() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
-}
-
-void runTests() {
-
-  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
-
-  resetParameters()
-
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-  // tests (stop modules first)
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
-
-  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
-}
-
-void printTopics() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
-
-  // these are for casually inspecting the system, output failure doesn't matter
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
-}
-
-void resetBoard() {
-  resetParameters()
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-}
@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120

-[*.yaml]
+[*.yaml, *.yml]
 indent_style = space
 indent_size = 2
@@ -20,14 +20,14 @@ body:
          3. Took off '....'
          4. See error
    validations:
-      required: true
+      required: false

  - type: textarea
    attributes:
      label: Expected behavior
      description: A clear and concise description of what you expected to happen.
    validations:
-      required: true
+      required: false

  - type: textarea
    attributes:
@@ -45,7 +45,7 @@ body:
      placeholder: |
          # PASTE HERE THE LINK TO THE LOG
    validations:
-      required: true
+      required: false

  - type: markdown
    attributes:
@@ -60,14 +60,14 @@ body:
      placeholder: |
          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
    validations:
-      required: true
+      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: true
+      required: false

  - type: dropdown
    attributes:
@@ -0,0 +1,160 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
+name: Build all targets
+
+on:
+  push:
+    tags:
+      - 'v*'
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  group_targets:
+    name: Scan for Board Targets
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Update python packaging to avoid canonicalize_version() error
+        run: |
+            pip3 install -U packaging
+
+      - name: Install Python Dependencies
+        uses: py-actions/py-dependency-install@v4
+        with:
+          path: "./Tools/setup/requirements.txt"
+
+      - id: set-matrix
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+
+      - id: set-timestamp
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+
+      - id: set-branch
+        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+
+      - name: Debug Matrix Output
+        if: runner.debug == '1'
+        run: |
+          echo "${{ steps.set-timestamp.outputs.timestamp }}"
+          echo "${{ steps.set-branch.outputs.branchname }}"
+          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
+
+  setup:
+    name: Build Group [${{ matrix.group }}]
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: group_targets
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+      fail-fast: false
+    container:
+      image: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup ccache
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+
+      - name: Configure ccache
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Building [${{ matrix.group }}]
+        run: |
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
+
+      - name: Arrange Build Artifacts
+        run: |
+          ./Tools/ci/package_build_artifacts.sh
+
+      - name: Upload Build Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_${{matrix.group}}_build_artifacts
+          path: artifacts/
+
+      - name: Cache Save
+        run: ccache -s
+
+  artifacts:
+    name: Upload Artifacts to S3
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts/
+          merge-multiple: true
+
+      - name: Branch Name
+        run: |
+          echo "${{ needs.group_targets.outputs.branchname }}"
+
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+        uses: jakejarvis/s3-sync-action@master
+        with:
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: artifacts/
+          merge-multiple: true
+
+      - name: Upload Binaries to Release
+        uses: softprops/action-gh-release@v2
+        with:
+          draft: true
+          files: artifacts/*.px4
@@ -16,6 +16,7 @@ jobs:
      matrix:
        check: [
          "check_format",
+          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -23,28 +24,28 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "airframe_metadata",
+          "px4_sitl_allyes",
          "module_documentation",
-          "parameters_metadata",
        ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: ${{matrix.check}}
-      run: make ${{matrix.check}}
-    - name: upload coverage
-      if: contains(matrix.check, 'coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: unittests
-        file: coverage/lcov.info
+      - name: Building [${{ matrix.check }}]
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
+
+      - name: Uploading Coverage to Codecov.io
+        if: contains(matrix.check, 'coverage')
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info
@@ -11,11 +11,17 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+        fetch-depth: 0

-    - name: make clang-tidy-quiet
-      run: make clang-tidy-quiet
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet
@@ -1,58 +0,0 @@
-name: Compile Linux Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,54 +0,0 @@
-name: Compile Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -19,13 +19,11 @@ jobs:
          ]
    steps:
    - name: install Python 3.10
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
      with:
        python-version: "3.10"

-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
+    - uses: actions/checkout@v4

    - name: setup
      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -37,7 +35,7 @@ jobs:
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
-      uses: actions/cache@v2
+      uses: actions/cache@v4
      with:
        path: ~/.ccache
        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -1,136 +0,0 @@
-name: Compile Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          ark_cannode,
-          ark_fmu-v6x,
-          ark_pi6x,
-          ark_septentrio-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeorangeplus,
-          cubepilot_cubeyellow,
-          diatone_mamba-f405-mk2,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_gnss-m9n-f4,
-          matek_h743,
-          matek_h743-mini,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-classic,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_mr-canhubk3,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6c,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          px4_fmu-v6xrt,
-          raspberrypi_pico,
-          sky-drones_smartap-airlink,
-          spracing_h7extreme,
-          uvify_core,
-          siyi_n7
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
@@ -0,0 +1,46 @@
+name: Ubuntu environment build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build_and_test:
+    name: Build and Test
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ['ubuntu:22.04', 'ubuntu:24.04']
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: ${{ matrix.version }}
+      volumes:
+        - /github/workspace:/github/workspace
+    steps:
+
+      - name: Fix git in container
+        run: |
+          # we only need this because we are running the job in a container
+          # when checkout pulls git it does it in a shared volume
+          # and file ownership changes between steps
+          # first we install git since its missing from the base image
+          # then we mark the directory as safe for other instances
+          # of git to use.
+          apt update && apt install git -y
+          git config --global --add safe.directory $(realpath .)
+
+      - uses: actions/checkout@v4
+
+      - name: Install Deps, Build, and Make Quick Check
+        run: |
+          # we need to install dependencies and build on the same step
+          # given the stateless nature of docker images
+          ./Tools/setup/ubuntu.sh
+          make quick_check
@@ -1,57 +0,0 @@
-name: Deploy metadata for all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-  enumerate_targets:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
-    runs-on: ubuntu-latest
-    needs: enumerate_targets
-    strategy:
-      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: make ${{matrix.target}}
-      run: make ${{matrix.target}}
-
-    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
@@ -0,0 +1,105 @@
+
+name: Container build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    name: Build and Push Container (${{ matrix.arch }})
+    strategy:
+      matrix:
+        arch: [x64, arm64]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.arch }}","image=ubuntu24-full-${{ matrix.arch }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Set PX4 Tag
+        id: px4-tag
+        run: |
+          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and load container image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          load: true
+          push: false
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+
+      - name: Get Tag Name
+        id: tag_name
+        run: |
+          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+
+      - name: make quick_check
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ steps.tag_name.outputs.tag_name }}
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make px4_sitl_default
+            make px4_fmu-v6x_default
+
+      - name: Push container image
+        uses: docker/build-push-action@v6
+        # if: ${{ startsWith(github.ref, 'refs/tags/') }}
+        with:
+          context: Tools/setup
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/${{ matrix.arch == 'x64' && 'amd64' || 'arm64' }}
+          provenance: mode=max
+          push: true
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
@@ -1,21 +1,28 @@
 name: EKF Change Indicator

-on: pull_request
+on:
+  pull_request:
+    branches:
+    - '*'

 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-    - name: checkout newest version of branch
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
+
    - name: main test
-      run: make tests TESTFILTER=EKF
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
    - name: Check if there is a functional change
      run: git diff --exit-code
      working-directory: src/modules/ekf2/test/change_indication
@@ -5,25 +5,40 @@ on: push
 jobs:
  unit_tests:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
    steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
-    - name: main test updates change indication files
-      run: make tests TESTFILTER=EKF
+
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
    - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
      working-directory: src/modules/ekf2/test/change_indication
+
    - name: auto-commit any changes to change indication
      uses: stefanzweifel/git-auto-commit-action@v4
      with:
-        commit_message: '[AUTO COMMIT] update change indication'
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
        commit_user_name: ${GIT_COMMITTER_NAME}
        commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
-      name: if there is a functional change, fail check
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
+
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
+
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
      run: exit 1
@@ -24,21 +24,23 @@ jobs:
      image: px4io/px4-dev-nuttx-focal:2022-08-12
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - name: Install Node v20.18.0
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20.18.0

-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: install emscripten
-      run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - name: ${{matrix.check}}
-      run: |
-        . ./_emscripten_sdk/emsdk_env.sh
-        make ${{matrix.check}}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install empscripten
+        run: |
+          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+          cd _emscripten_sdk
+          ./emsdk install latest
+          ./emsdk activate latest
+
+      - name: Testing [${{ matrix.check }}]
+        run: |
+          . ./_emscripten_sdk/emsdk_env.sh
+          make ${{ matrix.check }}
@@ -0,0 +1,150 @@
+name: FLASH usage analysis
+
+permissions:
+  contents: read
+  pull-requests: write
+  issues: write
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - '*'
+
+env:
+  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
+  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
+
+jobs:
+  analyze_flash:
+    name: Analyzing ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-nuttx-focal
+    strategy:
+      matrix:
+        target: [px4_fmu-v5x, px4_fmu-v6x]
+    outputs:
+      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
+      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
+      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
+      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}_flash-analysis
+
+      - name: Store the ELF with the change
+        run: cp ./build/**/*.elf ./with-change.elf
+
+      - name: Clean previous build
+        run: |
+          make clean
+          make distclean
+
+      - name: If it's a PR checkout the base branch
+        if: ${{ github.event.pull_request }}
+        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
+        run: git checkout ${{ github.event.pull_request.base.ref }}
+
+      - name: If it's a push checkout the previous commit
+        if: github.event_name == 'push'
+        run: git checkout ${{ github.event.before }}
+
+      - name: Update submodules
+        run: make submodulesupdate
+
+      - name: Build
+        run: make ${{ matrix.target }}_flash-analysis
+
+      - name: Store the ELF before the change
+        run: cp ./build/**/*.elf ./before-change.elf
+
+      - name: bloaty-action
+        uses: PX4/bloaty-action@v1.0.0
+        id: bloaty-step
+        with:
+          bloaty-file-args: ./with-change.elf -- ./before-change.elf
+          bloaty-additional-args: -d sections,compileunits -s vm -n 20
+          output-to-summary: true
+
+      - name: Generate output
+        id: gen-output
+        run: |
+          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
+          echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
+          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
+          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
+
+  # TODO:
+  # This part of the workflow is causing errors, we should find a way to fix this and enable this test again
+  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
+  #
+  #post_pr_comment:
+    #name: Publish Results
+    #runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    #needs: [analyze_flash]
+    #env:
+      #V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
+      #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 }}
+    #steps:
+      #- name: Find Comment
+        #uses: peter-evans/find-comment@v3
+        #id: fc
+        #with:
+          #issue-number: ${{ github.event.pull_request.number }}
+          #comment-author: 'github-actions[bot]'
+          #body-includes: FLASH Analysis
+
+      #- name: Set Build Time
+        #id: bt
+        #run: |
+          #echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
+
+      #- name: Create or update comment
+        ## 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 != '' ||
+          #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: peter-evans/create-or-update-comment@v4
+        #with:
+          #comment-id: ${{ steps.fc.outputs.comment-id }}
+          #issue-number: ${{ github.event.pull_request.number }}
+          #body: |
+            ### 🔎 FLASH Analysis
+            #<details>
+              #<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              #```
+            #</details>
+
+            #<details>
+              #<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+              #```
+              #${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              #```
+            #</details>
+
+            #**Updated: _${{ steps.bt.outputs.timestamp }}_**
+          #edit-mode: replace
@@ -15,125 +15,22 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          - {vehicle: "iris",          mission: "MC_mission_box"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}

-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
@@ -11,124 +11,27 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}

-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      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 = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
@@ -1,133 +0,0 @@
-name: Metadata
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'release/*'
-    - 'pr-metadata-test'
-
-jobs:
-
-  airframe:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: airframe metadata
-      run: |
-        make airframe_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default/docs
-      # TODO: deploy to userguide gitbook
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  module:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: module documentation
-      run: |
-        make module_documentation
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy to userguide gitbook and s3
-
-  parameter:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: parameter metadata
-      run: |
-        make parameters_metadata
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/docs/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  events:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: events metadata
-      run: |
-        make extract_events
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
-        cd build/px4_sitl_default
-        mkdir _events_full || true
-        cp events/all_events_full.json.xz _events_full/all_events.json.xz
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
-        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
-
-  uorb_graph:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: uORB graph
-      run: |
-        make uorb_graphs
-        cd Tools/uorb_graph
-        ls -ls *
-      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
-
-  ROS2_msgs:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: PX4 ROS2 msgs
-      run: |
-        git clone https://github.com/PX4/px4_msgs.git
-        rm px4_msgs/msg/*.msg
-        rm px4_msgs/srv/*.srv
-        cp msg/*.msg px4_msgs/msg/
-        cp srv/*.srv px4_msgs/srv/
@@ -11,22 +11,27 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
    strategy:
      matrix:
        config: [
-          px4_fmu-v5,
+          px4_fmu-v5_default,
          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}

-    - name: make ${{matrix.config}}
-      env:
-        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-      run: |
-        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-        make ${{matrix.config}} nuttx_context
-        # Check that the config option is set
-        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /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"
+          make ${{ matrix.config }} nuttx_context
+          echo "Check that the config option is set"
+          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -10,16 +10,20 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
+
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
+
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+
    - name: Check MAVSDK test scripts with flake8
      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -0,0 +1,52 @@
+name: ROS Translation Node Tests
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+defaults:
+  run:
+    shell: bash
+jobs:
+  build_and_test:
+    name: Build and test
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {ros_version: "humble", ubuntu: "jammy"}
+          - {ros_version: "jazzy", ubuntu: "noble"}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+    steps:
+      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.config.ros_version }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      # Workaround for https://github.com/actions/runner/issues/2033
+      - name: ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Check .msg file versioning
+        if: github.event_name == 'pull_request'
+        run: |
+          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
+
+      - name: Build and test
+        run: |
+          ros_ws=/ros_ws
+          mkdir -p $ros_ws/src
+          ./Tools/copy_to_ros_ws.sh $ros_ws
+          cd $ros_ws
+          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
+          source ./install/setup.sh
+          ./build/translation_node/translation_node_unit_tests
@@ -1,3 +1,8 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
 name: SITL Tests

 on:
@@ -10,126 +15,139 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {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

-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}

-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z

-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        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 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default

-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s

-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic

-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          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 ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+            mkdir -p coverage
+            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
+      - name: Upload Coverage Information to Codecov
+        if: contains(matrix.config.build_type, 'Coverage')
+        uses: codecov/codecov-action@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info
@@ -2,10 +2,6 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -71,7 +67,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = pr-zubf-werror-fix
+	branch = dev/1.0.0-px4
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -83,3 +79,13 @@
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
+[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
+	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
+	url = https://github.com/PX4/iq-module-communication-cpp.git
+	branch = master
+[submodule "src/drivers/uavcan/libdronecan/dsdl"]
+	path = src/drivers/uavcan/libdronecan/dsdl
+	url = https://github.com/PX4/DSDL.git
+[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
+	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
+	url = https://github.com/dronecan/pydronecan
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -111,6 +111,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v6xrt_bootloader
+    3dr_ctrl-zero-h7-oem-revg_default:
+      short: 3dr_ctrl-zero-h7-oem-revg
+      buildType: MinSizeRel
+      settings:
+        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -126,6 +131,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_canbootloader:
+      short: ark_can-flow-mr_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_canbootloader
    ark_can-gps_default:
      short: ark_can-gps_default
      buildType: MinSizeRel
@@ -151,16 +161,21 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
+    ark_teseo-gps_canbootloader:
+      short: ark_teseo-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_teseo-gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -181,6 +196,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
+    ark_fpv_bootloader:
+      short: ark_fpv_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_bootloader
+    ark_fpv_default:
+      short: ark_fpv_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -226,6 +251,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
+    cuav_7-nano_default:
+      short: cuav_7-nano
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_7-nano_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -281,6 +311,36 @@ CONFIG:
      buildType: MiniSizeRel
      settings:
        CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_bootloader:
+      short: micoair_h743_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_bootloader
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
+    micoair_h743-aio_bootloader:
+      short: micoair_h743-aio_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-aio_bootloader
+    micoair_h743-aio_default:
+      short: micoair_h743-aio
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-aio_default
+    micoair_h743-v2_bootloader:
+      short: micoair_h743-v2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_bootloader
+    micoair_h743-v2_default:
+      short: micoair_h743-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -331,8 +391,33 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_mr-canhubk3_fmu
+    nxp_tropic-community_default:
+      short: nxp_tropic-community_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_tropic-community_default
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
      settings:
        CONFIG: raspberrypi_pico_default
+    zeroone_x6_default:
+      short: zeroone_x6
+      buildType: MinSizeRel
+      settings:
+        CONFIG: zeroone_x6_default
+    zeroone_x6_bootloader:
+      short: zeroone_x6_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: zeroone_x6_bootloader
+    x-mav_ap-h743v2_bootloader:
+      short: x-mav_ap-h743v2-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_bootloader
+    x-mav_ap-h743v2_default:
+      short: x-mav_ap-h743v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743v2_default
@@ -15,6 +15,7 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
+        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
@@ -128,5 +129,4 @@
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        },
-        "ros.distro": "humble"
 }
@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
+	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+	set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -400,8 +408,15 @@ include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)

+	# Ensure there's no -R without any filter expression since that trips newer ctest versions
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R")
+	else()
+		set(TESTFILTERARG "")
+	endif()
+
 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -828,7 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -231,9 +231,13 @@ pipeline {
              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')
@@ -73,13 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ROOTFSDIR
-        string "Root directory"
-        depends on PLATFORM_POSIX
-        default "."
-        help
-            Configure the root directory in the file system for PX4 files
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -185,6 +178,17 @@ menu "Serial ports"
        string "EXT2 tty port"
 endmenu

+menu "File paths"
+
+    config BOARD_ROOT_PATH
+        string "PX4 Root file path"
+        default "/fs/microsd"
+
+    config BOARD_PARAM_FILE
+        string "Parameter file"
+        default "/fs/mtd_params"
+endmenu
+
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu
@@ -0,0 +1,42 @@
+Maintainers
+===========
+
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
+
+**Active Maintainers**
+
+| Name                    | Sector | GitHub | Chat | email
+|-------------------------|--------|--------|------|----------------
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+
+
+**Documentation Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+
+**Release Managers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+
+**Retired Maintainers**
+
+| Name | GitHub | Chat | email
+|------|--------|------|----------------------
+|  |  |  |
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -323,7 +323,38 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	3dr_ctrl-zero-h7-oem-revg_bootloader \
+	ark_fmu-v6x_bootloader \
+	ark_fpv_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cuav_7-nano_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
+        micoair_h743-aio_bootloader \
+	micoair_h743-v2_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status

 .PHONY: coverity_scan
@@ -354,9 +385,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Astyle
+# Style
 # --------------------------------------------------------------------
-.PHONY: check_format format
+.PHONY: check_format format check_newlines

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -367,9 +398,13 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix

+check_newlines:
+	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
+	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
+
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
 .PHONY: rostest python_coverage

 tests:
@@ -422,10 +457,6 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test

-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@@ -520,14 +551,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -2,7 +2,7 @@

 [![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)

-[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![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)
+[![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)

 [![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

@@ -17,17 +17,19 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
  * [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, etc)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)

+## Releases
+
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).

 ## Building a PX4 based drone, rover, boat or robot

-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!
+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!


-## Changing code and contributing
+## Changing Code and Contributing

 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.

@@ -35,7 +37,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
 See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


-### Weekly Dev Call
+## Weekly Dev Call

 The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

@@ -44,95 +46,17 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con

 ## Maintenance Team

-Note: This is the source of truth for the active maintainers of PX4 ecosystem.
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.

-| Sector | Maintainer |
-|---|---|
-| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
-| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
-| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
-| OS/NuttX | [David Sidrane](https://github.com/davids5) |
-| Drivers | [Daniel Agar](https://github.com/dagar) |
-| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
-| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
-| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
-| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
-
-| Vehicle Type | Maintainer |
-|---|---|
-| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
-| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
-| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Boat | x |
-| Rover | x |
-
-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
+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).

 ## Supported Hardware

-Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
-
-For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
-
-### Pixhawk Standard Boards
-
-These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
-
-* FMUv6X and FMUv6C
-  * [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
-  * [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
-  * [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
-  * [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
-* FMUv5 and FMUv5X (STM32F7, 2019/20)
-  * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
-  * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
-  * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
-  * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
-  * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
-* FMUv4 (STM32F4, 2015)
-  * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
-  * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
-* FMUv3 (STM32F4, 2014)
-  * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
-  * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
-  * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
-* FMUv2 (STM32F4, 2013)
-  * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
-
-### Manufacturer supported
-
-These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
-
-* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
-* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
-* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
-* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
-* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
-
-### Community supported
-
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
-
-### Experimental
-
-These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
-
-* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
-* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
-
-## Project Roadmap
-
-**Note: Outdated**
-
-A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Governance

 The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.

-<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
-<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<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>
@@ -120,6 +120,7 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -131,6 +132,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+		--rc-dir ${romfs_gen_root_dir}/init.d
+		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -320,6 +324,7 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
+		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)

@@ -21,25 +21,14 @@ set R /
 #
 ver all

-if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
-then
-	set PARAM_FILE /fs/mtd_params
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
-then
-	set PARAM_FILE /dev/eeeprom0
-fi
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
+# Load param file location from kconfig
+. ${R}etc/init.d/rc.filepaths

 #
 # Load parameters.
 #
 param select $PARAM_FILE
+
 if ! param load
 then
 	param reset_all
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,9 +31,6 @@
 #
 ############################################################################

-px4_add_library(bezier
-		BezierQuad.cpp
-		BezierN.cpp
+px4_add_romfs_files(
+	rcS
 )
-
-px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)
@@ -0,0 +1,68 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+set R /
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Set the parameter file the board supports params on
+# MTD device.
+#
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+# if the board has a storage for (factory) calibration data
+if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
+then
+	param load /fs/mtd_caldata
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset_all
+fi
+
+#
+# Try to mount the microSD card.
+#
+mount -t vfat /dev/mmcsd0 /fs/microsd
+if [ $? = 0 ]
+then
+	echo "SD card mounted at /fs/microsd"
+else
+	echo "No SD card found"
+fi
+
+unset R
+
+echo ""
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo "!!!!!!     This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected!     !!!!!"
+echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
+echo ""
@@ -29,4 +29,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
-
@@ -94,4 +94,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-
@@ -12,4 +12,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -16,12 +16,6 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
-
 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
@@ -40,4 +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 EKF2_GPS_DELAY 0
+
 param set SIH_VEHICLE_TYPE 0
@@ -16,16 +16,6 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -37,19 +27,22 @@ 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

+# SIH for now hardcodes this configuration which we need to match in the airframe files.
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
 param set-default CA_SV_CS1_TRQ_P 1
-param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS1_TYPE 3  # elevator
 param set-default CA_SV_CS2_TRQ_Y 1
-param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC3 201
-param set-default PWM_MAIN_FUNC4 202
-param set-default PWM_MAIN_FUNC5 203
-param set-default PWM_MAIN_FUNC6 101
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+
+param set-default EKF2_GPS_DELAY 0
@@ -11,6 +11,7 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

+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
@@ -27,14 +28,6 @@ param set-default MC_PITCH_P 5

 param set-default MAV_TYPE 19

-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
@@ -0,0 +1,96 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 MC motor front right
+# @output Motor2 MC motor back left
+# @output Motor3 MC motor front left
+# @output Motor4 MC motor back right
+# @output Motor5 Forward thrust motor
+# @output Servo1 Ailerons (single channel)
+# @output Servo2 Elevator
+# @output Servo3 Rudder
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default EKF2_GPS_DELAY 0
+
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+# SIH for now hardcodes this configuration which we need to match in the airframe files.
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 1
+param set-default CA_SV_CS0_TYPE 15  # single channel aileron
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3  # elevator
+param set-default CA_SV_CS2_TRQ_Y 1
+param set-default CA_SV_CS2_TYPE 4  # rudder
+
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+param set-default FW_AIRSPD_MAX 12
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+# param set-default SYS_HITL 2
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.2
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3
@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3
+param set-default SENS_FLOW_MAXHGT 15
 param set-default SENS_FLOW_MAXR 2.5
@@ -30,4 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
-
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

 # EKF2: Vision position and heading, no GPS
 param set-default EKF2_EV_DELAY 5
@@ -18,4 +18,3 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
-
@@ -1,32 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-param set-default COM_OBS_AVOID 1
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
@@ -41,4 +41,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-
@@ -61,4 +61,3 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
-
@@ -68,5 +68,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -0,0 +1 @@
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -71,4 +70,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -55,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -54,4 +54,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -55,4 +55,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -62,4 +62,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -23,7 +23,6 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20

 param set-default NAV_ACC_RAD 15
@@ -78,4 +78,3 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
-
@@ -75,4 +75,3 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0

 param set-default WV_EN 0
-
@@ -88,4 +88,3 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
-
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0

-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70

 param set-default FW_P_TC 0.6

@@ -31,4 +31,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-
@@ -38,4 +38,3 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
-
@@ -41,4 +41,3 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
-
@@ -64,4 +64,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-
@@ -69,4 +69,3 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
-
@@ -36,4 +36,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
-
@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
 param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
+param set-default FW_PR_FF 0.2
 param set-default FW_PR_I 0.5
 param set-default TRIM_PITCH -0.15

-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-
 param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
+param set-default FW_RR_P 0.4
+param set-default FW_RR_I 0.7

-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
+param set-default FW_R_RMAX 56.15
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_P 1.3
+param set-default FW_YR_I 0.7
+
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15

 param set-default FW_SPOILERS_LND 0.4

-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_TRIM 0.25
-
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_CLMB_MAX 5
+param set-default FW_T_SINK_MAX 3.5
+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
@@ -101,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 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_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -19,7 +19,6 @@ param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1

 # Commander Parameters
-param set-default COM_OBS_AVOID 0
 param set-default COM_DISARM_LAND 0.5

 # EKF2 parameters
@@ -75,7 +74,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
 param set-default CP_GO_NO_DATA 1

 # Navigator Parameters
@@ -97,11 +95,6 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -132,3 +125,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2
@@ -16,39 +16,36 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
-param set-default NPFG_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
+param set-default FW_PR_FF 0.08
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.08
+
+param set-default FW_RR_FF 0.05
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.03
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_I 0.4
+param set-default FW_YR_P 0.2

 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
 param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6

-param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_CLMB_R_SP 5
+param set-default FW_T_CLMB_MAX 6
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -56,7 +53,6 @@ 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

 param set-default CA_SV_CS_COUNT 6
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -6,26 +6,60 @@
 . ${R}etc/init.d/rc.rover_differential_defaults

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAX_THR_YAW_R 1.5
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_ACCEL_LIM 120
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100

 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100

 param set-default SIM_GZ_WH_REV 1 # reverse right wheel
@@ -15,14 +15,27 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
+param set-default RD_MAX_YAW_RATE 30
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1

 # Actuator mapping - set SITL motors/servos output parameters:

@@ -36,30 +49,36 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
 # controls in practical scenarios.

 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_MIN1 0
+param set-default SIM_GZ_SV_MAX1 1000
+param set-default SIM_GZ_SV_DIS1 500
+param set-default SIM_GZ_SV_FAIL1 500
+param set-default SIM_GZ_SV_MAXA1 90
+param set-default SIM_GZ_SV_MINA1 -90

 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_MIN2 0
+param set-default SIM_GZ_SV_MAX2 1000
+param set-default SIM_GZ_SV_DIS2 500
+param set-default SIM_GZ_SV_FAIL2 500
+param set-default SIM_GZ_SV_MAXA2 90
+param set-default SIM_GZ_SV_MINA2 -90
+
+param set-default CA_SV_CS_COUNT 2

 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:

@@ -0,0 +1,64 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.321
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_STR_RATE_LIM 360
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 3.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 1
+param set-default RO_YAW_RATE_LIM 180
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 3
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 3
+param set-default RO_SPEED_I 0.1
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_MAXA1 30
+param set-default SIM_GZ_SV_MINA1 -30
+param set-default CA_SV_CS_COUNT 1
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar 2d
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_2d}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,74 @@
+#!/bin/sh
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default NAV_ACC_RAD 0.5
+
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MISS_SPD_GAIN 1
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 30
+param set-default RO_MAX_THR_SPEED 2.1
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_ACCEL_LIM 240
+param set-default RO_YAW_DECEL_LIM 1000
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2
+param set-default RO_SPEED_I 0.5
+param set-default RO_SPEED_P 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 0.5
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_MIN2 70
+param set-default SIM_GZ_WH_MAX2 130
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_MIN3 70
+param set-default SIM_GZ_WH_MAX3 130
+param set-default SIM_GZ_WH_DIS3 100
+
+param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_MIN4 70
+param set-default SIM_GZ_WH_MAX4 130
+param set-default SIM_GZ_WH_DIS4 100
+
+param set-default SIM_GZ_WH_REV 10
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar down
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar front
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_front}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -0,0 +1,97 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 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_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0
+
+param set-default EKF2_FUSE_BETA 0
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Gazebo x500 gimbal
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+# Gimbal settings
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_RC_IN_MODE 1
+
+param set-default MNT_MAN_ROLL 1
+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_RANGE_PITCH 180
+param set-default MNT_RANGE_YAW 720
@@ -0,0 +1,112 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+param set-default MAV_TYPE 21
+
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR2_TILT 2
+param set-default CA_SV_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL_COUNT 2
+
+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_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+
+param set-default SIM_GZ_SV_MAXA4 90
+param set-default SIM_GZ_SV_MINA4 0
+param set-default SIM_GZ_SV_MAXA5 90
+param set-default SIM_GZ_SV_MINA5 0
+
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.4
+param set-default MC_YAWRATE_I 0.1
+
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1
@@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
-
@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# @name 6DoF Spacecraft Model
+#
+# @type Freeflyer with 8 thrusters
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+param set-default CA_AIRFRAME 15
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 12
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# Set thrusters
+param set-default CA_THRUSTER0_PX -0.50
+param set-default CA_THRUSTER0_PY 0.50
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 0.237
+param set-default CA_THRUSTER0_AX 0.0
+param set-default CA_THRUSTER0_AY -1.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.50
+param set-default CA_THRUSTER1_PY 0.50
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 0.237
+param set-default CA_THRUSTER1_AX 0.0
+param set-default CA_THRUSTER1_AY -1.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX 0.50
+param set-default CA_THRUSTER2_PY -0.50
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 0.237
+param set-default CA_THRUSTER2_AX 0.0
+param set-default CA_THRUSTER2_AY 1.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX -0.50
+param set-default CA_THRUSTER3_PY -0.50
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 0.237
+param set-default CA_THRUSTER3_AX 0.0
+param set-default CA_THRUSTER3_AY 1.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX -0.50
+param set-default CA_THRUSTER4_PY 0.0
+param set-default CA_THRUSTER4_PZ -0.50
+param set-default CA_THRUSTER4_CT 0.237
+param set-default CA_THRUSTER4_AX 1.0
+param set-default CA_THRUSTER4_AY 0.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.50
+param set-default CA_THRUSTER5_PY 0.0
+param set-default CA_THRUSTER5_PZ -0.50
+param set-default CA_THRUSTER5_CT 0.237
+param set-default CA_THRUSTER5_AX -1.0
+param set-default CA_THRUSTER5_AY 0.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX 0.50
+param set-default CA_THRUSTER6_PY 0.0
+param set-default CA_THRUSTER6_PZ 0.50
+param set-default CA_THRUSTER6_CT 0.237
+param set-default CA_THRUSTER6_AX -1.0
+param set-default CA_THRUSTER6_AY 0.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.50
+param set-default CA_THRUSTER7_PY 0.0
+param set-default CA_THRUSTER7_PZ 0.50
+param set-default CA_THRUSTER7_CT 0.237
+param set-default CA_THRUSTER7_AX 1.0
+param set-default CA_THRUSTER7_AY 0.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default CA_THRUSTER8_PX 0.0
+param set-default CA_THRUSTER8_PY -0.50
+param set-default CA_THRUSTER8_PZ -0.50
+param set-default CA_THRUSTER8_CT 0.237
+param set-default CA_THRUSTER8_AX 0.0
+param set-default CA_THRUSTER8_AY 0.0
+param set-default CA_THRUSTER8_AZ 1.0
+
+param set-default CA_THRUSTER9_PX 0.0
+param set-default CA_THRUSTER9_PY 0.50
+param set-default CA_THRUSTER9_PZ -0.50
+param set-default CA_THRUSTER9_CT 0.237
+param set-default CA_THRUSTER9_AX 0.0
+param set-default CA_THRUSTER9_AY 0.0
+param set-default CA_THRUSTER9_AZ 1.0
+
+param set-default CA_THRUSTER10_PX 0.0
+param set-default CA_THRUSTER10_PY 0.50
+param set-default CA_THRUSTER10_PZ 0.50
+param set-default CA_THRUSTER10_CT 0.237
+param set-default CA_THRUSTER10_AX 0.0
+param set-default CA_THRUSTER10_AY 0.0
+param set-default CA_THRUSTER10_AZ -1.0
+
+param set-default CA_THRUSTER11_PX 0.0
+param set-default CA_THRUSTER11_PY -0.50
+param set-default CA_THRUSTER11_PZ 0.50
+param set-default CA_THRUSTER11_CT 0.237
+param set-default CA_THRUSTER11_AX 0.0
+param set-default CA_THRUSTER11_AY 0.0
+param set-default CA_THRUSTER11_AZ -1.0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+param set-default PWM_MAIN_FUNC9 109
+param set-default PWM_MAIN_FUNC10 110
+param set-default PWM_MAIN_FUNC11 111
+param set-default PWM_MAIN_FUNC12 112
+
+# PWM Simulation
+param set PWM_SIM_PWM_MAX 10000
+param set PWM_SIM_PWM_MIN 0
+
+# Controller Tunings
+param set-default SC_ROLLRATE_P 0.14
+param set-default SC_PITCHRATE_P 0.14
+param set-default SC_ROLLRATE_I 0.3
+param set-default SC_PITCHRATE_I 0.3
+param set-default SC_ROLLRATE_D 0.004
+param set-default SC_PITCHRATE_D 0.004
@@ -0,0 +1,149 @@
+#!/bin/sh
+#
+# @name 3DoF Spacecraft Model
+#
+# @type 2D Freeflyer with 8 thrusters - Planar motion
+#
+# @maintainer Pedro Roque <padr@kth.se>
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
+
+param set-default SIM_GZ_EN 1
+
+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?
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 99
+
+param set-default CA_THRUSTER_CNT 8
+param set-default CA_R_REV 0
+
+# param set-default FW_ARSP_MODE 1
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0
+
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0
+
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0
+
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0
+
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0
+
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0
+
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0
+
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0
+
+param set-default SIM_GZ_TH_FUNC1 101
+param set-default SIM_GZ_TH_FUNC2 102
+param set-default SIM_GZ_TH_FUNC3 103
+param set-default SIM_GZ_TH_FUNC4 104
+param set-default SIM_GZ_TH_FUNC5 105
+param set-default SIM_GZ_TH_FUNC6 106
+param set-default SIM_GZ_TH_FUNC7 107
+param set-default SIM_GZ_TH_FUNC8 108
+
+param set-default SIM_GZ_TH_MIN1 0
+param set-default SIM_GZ_TH_MIN2 0
+param set-default SIM_GZ_TH_MIN3 0
+param set-default SIM_GZ_TH_MIN4 0
+param set-default SIM_GZ_TH_MIN5 0
+param set-default SIM_GZ_TH_MIN6 0
+param set-default SIM_GZ_TH_MIN7 0
+param set-default SIM_GZ_TH_MIN8 0
+
+param set-default SIM_GZ_TH_MAX1 10000
+param set-default SIM_GZ_TH_MAX2 10000
+param set-default SIM_GZ_TH_MAX3 10000
+param set-default SIM_GZ_TH_MAX4 10000
+param set-default SIM_GZ_TH_MAX5 10000
+param set-default SIM_GZ_TH_MAX6 10000
+param set-default SIM_GZ_TH_MAX7 10000
+param set-default SIM_GZ_TH_MAX8 10000
+
+# 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
@@ -119,4 +119,3 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
-
@@ -39,8 +39,6 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
@@ -49,6 +47,7 @@ px4_add_romfs_files(
 	1022_gazebo-classic_uuv_bluerov2_heavy
 	1030_gazebo-classic_plane
 	1031_gazebo-classic_plane_cam
+	1031_gazebo-classic_plane_cam.post
 	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
@@ -83,6 +82,15 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
+	4012_gz_rover_ackermann
+	4013_gz_x500_lidar_2d
+	4014_gz_x500_mono_cam_down
+	4015_gz_r1_rover_mecanum
+	4016_gz_x500_lidar_down
+	4017_gz_x500_lidar_front
+	4018_gz_quadtailsitter
+	4019_gz_x500_gimbal
+	4020_gz_tiltrotor

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -99,9 +107,13 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
+	10043_sihsim_standard_vtol

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

+	71001_gazebo-classic_spacecraft_dart
+	71002_gz_spacecraft_2d
+
 	# [22000, 22999] Reserve for custom models
 )
@@ -29,7 +29,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_of
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
 if [ "$PX4_SIMULATOR" = "sihsim" ]; then
@@ -4,6 +4,9 @@
 # Simulator IMU data provided at 250 Hz
 param set-default IMU_INTEG_RATE 250

+# For simulation, allow registering modes while armed for developer convenience
+param set-default COM_MODE_ARM_CHK 1
+
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

 	echo "INFO  [init] SIH simulator"
@@ -15,6 +18,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi

 	if simulator_sih start; then

@@ -30,6 +36,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		then
 			sensor_mag_sim start
 		fi
+		if param compare -s SENS_EN_AGPSIM 1
+		then
+			sensor_agp_sim start
+		fi

 	else
 		echo "ERROR [init] simulator_sih failed to start"
@@ -150,6 +160,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 	then
 		sensor_airspeed_sim start
 	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then

--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p`