ActuatorEffectivenessHelicopter: clarfification suggestions for servo linearization feature

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

.github/workflows/dev_container.yml

@@ -96,6 +96,6 @@ jobs:
           platforms: |
             linux/amd64
           provenance: mode=max
-          push: true
+          push: ${{ github.event_name != 'pull_request' }}
           cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
           cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max

.github/workflows/ros_translation_node.yml

@@ -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

Jenkinsfile

@@ -235,9 +235,9 @@ pipeline {
               sh('rm -f px4_msgs/srv/*.srv')
               sh('rm -f px4_msgs/srv/versioned/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
-              sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
               sh('cp srv/*.srv px4_msgs/srv/')
-              sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
+              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')

MAINTAINERS.md

@@ -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
+|------|--------|------|----------------------
+|  |  |  |

Makefile

@@ -404,7 +404,7 @@ check_newlines:
 
 # 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:
@@ -457,10 +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

README.md

@@ -44,30 +44,9 @@ 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) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
-| Boat | 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
 

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid

@@ -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

ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post

@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -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

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

@@ -11,29 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_DECEL 10
-param set-default RD_MAX_JERK 30
 param set-default RD_MAX_THR_YAW_R 1.5
-param set-default RD_YAW_RATE_P 0.25
-param set-default RD_YAW_RATE_I 0.01
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_SPEED 2
-param set-default RD_MAX_THR_SPD 2.15
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
-param set-default RD_MAX_YAW_RATE 180
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
-param set-default RD_MAX_YAW_ACCEL 1000
 
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
+# 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

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

@@ -11,23 +11,33 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
-# Rover parameters
 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_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 3
-param set-default RA_MAX_DECEL 6
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_LAT_ACCEL 4
-param set-default RA_MAX_SPEED 3
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MAX_THR_SPEED 3.1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+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

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

@@ -13,7 +13,7 @@ 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 255
+param set-default CA_R_REV 0
 
 # param set-default FW_ARSP_MODE 1
 
@@ -129,18 +129,18 @@ 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 501
-param set-default PWM_MAIN_FUNC2 502
-param set-default PWM_MAIN_FUNC3 503
-param set-default PWM_MAIN_FUNC4 504
-param set-default PWM_MAIN_FUNC5 505
-param set-default PWM_MAIN_FUNC6 506
-param set-default PWM_MAIN_FUNC7 507
-param set-default PWM_MAIN_FUNC8 508
-param set-default PWM_MAIN_FUNC9 509
-param set-default PWM_MAIN_FUNC10 510
-param set-default PWM_MAIN_FUNC11 511
-param set-default PWM_MAIN_FUNC12 512
+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

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

@@ -25,12 +25,12 @@ 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 255
+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 3  # 0 is PseudoInverse, 3 is Metric
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric
 
 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -108,14 +108,14 @@ 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 501
-param set-default SIM_GZ_TH_FUNC2 502
-param set-default SIM_GZ_TH_FUNC3 503
-param set-default SIM_GZ_TH_FUNC4 504
-param set-default SIM_GZ_TH_FUNC5 505
-param set-default SIM_GZ_TH_FUNC6 506
-param set-default SIM_GZ_TH_FUNC7 507
-param set-default SIM_GZ_TH_FUNC8 508
+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

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

@@ -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

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -337,6 +337,11 @@ then
 	payload_deliverer start
 fi
 
+if param compare -s ICE_EN 1
+then
+	internal_combustion_engine_control start
+fi
+
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink
 

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 # Commander Parameters
-param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
 
 # EKF2 parameters

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

@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
 
-# Rover parameters
+
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_ACCEL 3
-param set-default RD_MAX_DECEL 4
-param set-default RD_MAX_JERK 5
-param set-default RD_MAX_SPEED 1.6
-param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
-param set-default RD_MAX_YAW_ACCEL 600
-param set-default RD_MAX_YAW_RATE 250
-param set-default RD_SPEED_P 0.1
-param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0.01
 
-# Pure pursuit parameters
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 3
+param set-default RO_DECEL_LIM 4
+param set-default RO_JERK_LIM 5
+param set-default RO_MAX_THR_SPEED 1.9
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 250
+param set-default RO_YAW_ACCEL_LIM 600
+param set-default RO_YAW_DECEL_LIM 600
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 1.6
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
 param set-default PP_LOOKAHD_MAX 10
 param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1

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

@@ -14,24 +14,33 @@
 . ${R}etc/init.d/rc.rover_ackermann_defaults
 
 param set-default BAT1_N_CELLS 3
-
-# Rover parameters
 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_LAT_ACCEL_I 0.01
-param set-default RA_LAT_ACCEL_P 0.1
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_DECEL 10
-param set-default RA_MAX_JERK 20
-param set-default RA_MAX_LAT_ACCEL 3
-param set-default RA_MAX_SPEED 2.5
 param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MAX_THR_SPEED 2.8
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 0.1
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_STR_RATE_LIM 270
+
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 10
+param set-default RO_JERK_LIM 20
+param set-default RO_MAX_THR_SPEED 2.8
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0
+param set-default RO_YAW_RATE_P 0
+param set-default RO_YAW_RATE_LIM 0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 0
+
+# Rover Position Control Parameters
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

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

@@ -10,11 +10,11 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
-param set-default CA_AIRFRAME 13
+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 255
+param set-default CA_R_REV 0
 
 # Auto to be provided by Custom Airframe
 param set-default CA_METHOD 0
@@ -31,7 +31,6 @@ param set-default COM_POSCTL_NAVL 2
 param set EKF2_EV_CTRL 15
 param set EKF2_HGT_REF 3
 
-
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0

ROMFS/px4fmu_common/init.d/rc.sc_apps

@@ -5,6 +5,9 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
+# Start Spacecraft App
+spacecraft start
+
 # Estimator Group Selection
 # ekf2 start &
 

ROMFS/px4fmu_common/init.d/rcS

@@ -555,6 +555,11 @@ else
 		payload_deliverer start
 	fi
 
+	if param compare -s ICE_EN 1
+	then
+		internal_combustion_engine_control start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#

Tools/HIL/run_tests.py

@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
     def test_atomic_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
 
-    def test_bezier(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
-
     def test_bitset(self):
         self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
 

Tools/astyle/files_to_check_code_style.sh

@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
+    -path msg/translation_node -prune -o \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/ins/vectornav/libvnc -prune -o \
     -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/ci/check_msg_versioning.sh

@@ -0,0 +1,76 @@
+#! /bin/bash
+# Copy a git diff between two commits if msg versioning is added
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+BASE_COMMIT="$1"
+HEAD_COMMIT="$2"
+if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
+then
+  echo "Usage: $0 <base_commit> <head_commit>"
+  exit 1
+fi
+
+failed=0
+
+# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
+modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+all_files="$(     git --no-pager diff --no-color --name-only                 "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
+for file in ${modified_files}
+do
+  if [[ "$file" == msg/versioned/*.msg ]]; then
+    echo "Modified msg file: ${file}"
+    # A modified versioned .msg file requires:
+    # - Incrementing the version
+    # - An old .msg version exists
+    # - A translation header exists and is included
+
+    # Ignore changes to comments or constants
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    if [ "${content_a}" == "${content_b}" ]; then
+      echo "No version update required for ${file}"
+      continue
+    fi
+
+    diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
+    old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+    new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
+
+    # Check that the version is incremented
+    if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
+      echo "ERROR: Missing version update for ${file}"
+      failed=1
+    else
+      if [ $((new_version-old_version)) -ne 1 ]; then
+        echo "ERROR: Version not incremented by +1 for ${file}"
+        failed=1
+      fi
+    fi
+
+    # Check that an old version exists
+    filename=$(basename -- "$file")
+    filename="${filename%.*}"
+    old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
+    if [[ "${all_files}" != *"${old_version_file}"* ]]; then
+      echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
+      failed=1
+    fi
+
+    # Check that a translation header got added by checking for a modification to all_translations.h
+    # If it is changed, we assume a new header got added too, so we don't explicitly check for that
+    if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
+      echo "ERROR: missing modification to translations/all_translations.h"
+      failed=1
+    fi
+  fi
+done
+
+if [ ${failed} -ne 0 ]; then
+  echo ""
+  echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
+  echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
+  exit 1
+fi

Tools/copy_to_ros_ws.sh

@@ -0,0 +1,33 @@
+#! /bin/bash
+# Copy msgs and the message translation node into a ROS workspace directory
+
+DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+PX4_SRC_DIR="$DIR/.."
+
+WS_DIR="$1"
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "Usage: $0 <ros_ws_dir>"
+	exit 1
+fi
+WS_DIR="$WS_DIR"/src
+if [ ! -e "${WS_DIR}" ]
+then
+	echo "'src' directory not found inside ROS workspace (${WS_DIR})"
+	exit 1
+fi
+
+cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
+cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
+PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
+if [ ! -e "${PX4_MSGS_DIR}" ]
+then
+  git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
+  rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
+  rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
+fi
+cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
+cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv

Tools/docker_run.sh

@@ -47,6 +47,7 @@ CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
+	--user="$(id -u):$(id -g)" \
 	--env=AWS_ACCESS_KEY_ID \
 	--env=AWS_SECRET_ACCESS_KEY \
 	--env=BRANCH_NAME \
@@ -54,7 +55,6 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--env=CI \
 	--env=CODECOV_TOKEN \
 	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \

Tools/kconfig/allyesconfig.py

@@ -53,6 +53,7 @@ exception_list = [
     'SYSTEMCMDS_I2C_LAUNCHER', #  undefined reference to `system',
     'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
     'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
+    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 
 exception_list_sitl = [
@@ -73,6 +74,7 @@ exception_list_sitl = [
     'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
     'SYSTEMCMDS_DMESG', # Not supported in SITL
     'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+    'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
 ]
 
 def main():

Tools/module_config/generate_actuators_metadata.py

@@ -364,8 +364,6 @@ def get_mixers(yaml_config, output_functions, verbose):
                     actuator['group-label'] = 'Motors'
                 elif actuator_conf['actuator_type'] == 'servo':
                     actuator['group-label'] = 'Servos'
-                elif actuator_conf['actuator_type'] == 'thruster':
-                    actuator['group-label'] = 'Thrusters'
                 else:
                     raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
 

Tools/px_uploader.py

@@ -708,7 +708,7 @@ class uploader:
                 # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
 
                 if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
         else:
             # If we're still on bootloader v4 on a Pixhawk, we don't know if we
             # have the silicon errata and therefore need to flash px4_fmu-v2

Tools/setup/docker-entrypoint.sh

@@ -1,6 +1,5 @@
 #!/bin/bash
 
-echo "[docker-entrypoint.sh] Starting entrypoint"
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
@@ -17,17 +16,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
-
-# Use the LOCAL_USER_ID if passed in at runtime
-if [ -n "${LOCAL_USER_ID}" ]; then
-	echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
-	# modify existing user's id
-	usermod -u $LOCAL_USER_ID user
-
-	# run as user
-	# exec gosu user "$@"
-	exec "$@"
-else
-	exec "$@"
-fi
+exec "$@"

Tools/setup/ubuntu.sh

@@ -116,6 +116,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		binutils-dev \
 		bison \
 		build-essential \
+		curl \
 		flex \
 		g++-multilib \
 		gcc-arm-none-eabi \

boards/3dr/ctrl-zero-h7-oem-revg/src/init.c

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/ark/can-gps/init/rc.board_defaults

@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -7,7 +7,7 @@ param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
 param set-default GPS_1_GNSS 63
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/cannode/init/rc.board_defaults

@@ -3,6 +3,7 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 pwm_out start

boards/ark/fmu-v6x/src/init.c

@@ -150,8 +150,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/ark/fpv/src/init.c

@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/ark/pi6x/nuttx-config/bootloader/defconfig

@@ -32,7 +32,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK BL Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000

boards/ark/pi6x/nuttx-config/nsh/defconfig

@@ -76,7 +76,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0039
+CONFIG_CDCACM_PRODUCTID=0x003A
 CONFIG_CDCACM_PRODUCTSTR="ARK Pi6X.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000

boards/ark/pi6x/src/init.c

@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start

boards/ark/teseo-gps/init/rc.board_defaults

@@ -6,7 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default MBE_ENABLE 1
+param set-default MBE_ENABLE 0
 param set-default SENS_IMU_CLPNOTI 0
 
 tone_alarm start

boards/av/x-v1/src/init.c

@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cuav/7-nano/src/init.c

@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cuav/nora/src/init.c

@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cuav/x7pro/src/init.c

@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cubepilot/cubeorange/src/init.c

@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cubepilot/cubeorangeplus/src/init.c

@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/cubepilot/cubeyellow/src/init.c

@@ -102,8 +102,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/hkust/nxt-dual/src/init.c

@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/hkust/nxt-v1/src/init.c

@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/durandal-v1/src/init.c

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/kakutef7/src/init.c

@@ -124,8 +124,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/kakuteh7/src/init.c

@@ -129,8 +129,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/kakuteh7mini/src/init.c

@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/kakuteh7v2/src/init.c

@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/holybro/pix32v5/src/init.c

@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/matek/h743-mini/src/init.c

@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/matek/h743-slim/default.px4board

@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
+CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y

boards/matek/h743-slim/src/init.c

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/matek/h743/src/init.c

@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/micoair/h743-aio/src/init.c

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/micoair/h743-v2/src/init.c

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/micoair/h743/src/init.c

@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/modalai/fc-v1/src/init.c

@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/modalai/fc-v2/src/init.c

@@ -139,8 +139,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/modalai/voxl2-slpi/default.px4board

@@ -13,6 +13,7 @@ CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y

boards/modalai/voxl2/target/voxl-px4

@@ -74,49 +74,49 @@ print_config_settings(){
 while getopts "bcdhfmorwz" flag
 do
     case "${flag}" in
-        b) 
+        b)
             echo "[INFO] Holybro GPS selected"
             GPS=HOLYBRO
             ;;
-        c) 
+        c)
             echo "[INFO] Wiping old config file"
             if [ -f "$CONFIG_FILE" ]; then
                 rm -rf ${CONFIG_FILE}
             fi
             exit 0
             ;;
-        d) 
+        d)
             echo "[INFO] Disabling daemon mode"
             DAEMON_MODE=DISABLE
             ;;
-        h) 
+        h)
             print_usage
             ;;
-        f) 
+        f)
             echo "[INFO] Setting RC to FAKE_RC_INPUT"
             RC=FAKE_RC_INPUT
             ;;
-        m) 
+        m)
             echo "[INFO] Matek GPS selected"
             GPS=MATEK
             ;;
-        o) 
+        o)
             echo "[INFO] OSD module selected"
             OSD=ENABLE
             ;;
-        r) 
+        r)
             echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
             RC=CRSF_MAV
             ;;
-        w) 
+        w)
             echo "[INFO] TBS Crossfire RC receiver, raw selected"
             RC=CRSF_RAW
             ;;
-        z) 
+        z)
             echo "[INFO] Fake sensor calibration values selected"
             SENSOR_CAL=FAKE
             ;;
-        *) 
+        *)
             print_usage
             ;;
     esac
@@ -130,9 +130,9 @@ else
 fi
 
 if [ $SENSOR_CAL == "FAKE" ]; then
-   /bin/echo "[INFO] Setting up fake sensor calibration values"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
-   /bin/sync
+    /bin/echo "[INFO] Setting up fake sensor calibration values"
+    px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
+    /bin/sync
 fi
 
 print_config_settings

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -35,9 +35,9 @@ fi
 /bin/sleep 1
 
 if [ ! -f /data/px4/param/hitl_parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
+    echo "[INFO] Setting default parameters for PX4 on voxl"
     . /etc/modalai/voxl-px4-hitl-set-default-parameters.config
-   /bin/sync
+    /bin/sync
 else
     param select /data/px4/param/hitl_parameters
     param load

boards/modalai/voxl2/target/voxl-px4-start

@@ -13,7 +13,7 @@ echo "OSD: $OSD"
 echo "EXTRA STEPS:"
 for i in "${EXTRA_STEPS[@]}"
 do
-	echo -e "\t$i"
+    echo -e "\t$i"
 done
 echo -e "*************************\n"
 
@@ -83,17 +83,17 @@ qshell ist8310 start -R 10 -X -b 1
 
 # GPS and magnetometer
 if [ "$GPS" != "NONE" ]; then
-	# On M0052 the GPS driver runs on the apps processor
-	if [ $PLATFORM = "M0052" ]; then
-	    gps start -d /dev/ttyHS2
-	# On M0054 and M0104 the GPS driver runs on SLPI DSP
-	else
-	    qshell gps start -d 6
-	fi
+    # On M0052 the GPS driver runs on the apps processor
+    if [ $PLATFORM = "M0052" ]; then
+        gps start -d /dev/ttyHS2
+    # On M0054 and M0104 the GPS driver runs on SLPI DSP
+    else
+        qshell gps start -d 6
+    fi
 fi
 
 # Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
-# fail but not cause any harm. 
+# fail but not cause any harm.
 /bin/echo "Looking for ncp5623c RGB LED"
 qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56
 
@@ -107,17 +107,17 @@ param touch SYS_AUTOSTART
 # ESC driver
 if [ "$ESC" == "VOXL_ESC" ]; then
     /bin/echo "Starting VOXL ESC driver"
-	qshell voxl_esc start
+    qshell voxl_esc start
 elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
-	if [ "$RC" == "M0065_SBUS" ]; then
-		/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
-		qshell voxl2_io start
-	else
-		/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
-		qshell voxl2_io start -e
-	fi
+    if [ "$RC" == "M0065_SBUS" ]; then
+        /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
+        qshell voxl2_io start
+    else
+        /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
+        qshell voxl2_io start -e
+    fi
 else
-	/bin/echo "No ESC type specified, not starting an ESC driver"
+    /bin/echo "No ESC type specified, not starting an ESC driver"
 fi
 
 
@@ -133,41 +133,41 @@ elif [ "$RC" == "CRSF_MAV" ]; then
     qshell mavlink_rc_in start -m -p 7 -b 115200
 elif [ "$RC" == "SPEKTRUM" ]; then
     /bin/echo "Starting Spektrum RC"
-	# On M0052 the RC driver runs on the apps processor
-	if [ $PLATFORM = "M0052" ]; then
+    # On M0052 the RC driver runs on the apps processor
+    if [ $PLATFORM = "M0052" ]; then
         rc_input start -d /dev/ttyHS1
-	# On M0054 and M0104 the RC driver runs on SLPI DSP
-	else
+    # On M0054 and M0104 the RC driver runs on SLPI DSP
+    else
         qshell spektrum_rc start
-	fi
+    fi
 elif [ "$RC" == "GHST" ]; then
     /bin/echo "Starting GHST RC driver"
     qshell ghst_rc start -d 7
 elif [ "$RC" == "M0065_SBUS" ]; then
-	if [ $PLATFORM = "M0052" ]; then
-		apps_sbus start
-	elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
-    	/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
-    	qshell dsp_sbus start
-		retVal=$?
-		if [ $retVal -ne 0 ]; then
-	    	/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
-	    	/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
-			qshell voxl2_io start -d -p 7
-		fi
-	else
-    	/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
-	fi
+    if [ $PLATFORM = "M0052" ]; then
+        apps_sbus start
+    elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
+        /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
+        qshell dsp_sbus start
+        retVal=$?
+        if [ $retVal -ne 0 ]; then
+            /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
+            /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
+            qshell voxl2_io start -d -p 7
+        fi
+    else
+        /bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
+    fi
 fi
 
 if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
-	# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
-	qshell lightware_laser_serial start -d 7
+    # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
+    qshell lightware_laser_serial start -d 7
 fi
 
 if [ "$POWER_MANAGER" == "VOXLPM" ]; then
-	# APM power monitor
-	qshell voxlpm start -X -b 2
+    # APM power monitor
+    qshell voxlpm start -X -b 2
 fi
 
 # Optional distance sensor on spare i2c
@@ -191,7 +191,7 @@ qshell load_mon start
 # is publishing input_rc topics. Otherwise for external RC
 # over Mavlink this isn't needed.
 if [ "$RC" != "EXTERNAL" ]; then
-	qshell rc_update start
+    qshell rc_update start
 fi
 
 qshell commander start
@@ -214,7 +214,7 @@ voxl_save_cal_params start
 # On M0052 there is only one IMU. So, PX4 needs to
 # publish IMU samples externally for VIO to use.
 if [ $PLATFORM = "M0052" ]; then
-	imu_server start
+    imu_server start
 fi
 
 # start the onboard fast link to connect to voxl-mavlink-server
@@ -250,5 +250,5 @@ fi
 # Start optional EXTRA_STEPS
 for i in "${EXTRA_STEPS[@]}"
 do
-	$i
+    $i
 done

boards/mro/ctrl-zero-classic/src/init.c

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/ctrl-zero-f7-oem/src/init.c

@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/ctrl-zero-f7/src/init.c

@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/ctrl-zero-h7-oem/src/init.c

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/ctrl-zero-h7/src/init.c

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/pixracerpro/src/init.c

@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/mro/x21-777/src/init.c

@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/**
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
 	 */
-
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/nxp/fmuk66-e/src/init.c

@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/nxp/fmuk66-v3/src/init.c

@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/nxp/tropic-community/src/init.c

@@ -134,8 +134,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v5/src/init.c

@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v5x/src/init.cpp

@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v6c/src/init.c

@@ -137,8 +137,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v6u/src/init.c

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v6x/src/init.cpp

@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/fmu-v6xrt/src/init.c

@@ -153,8 +153,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/px4/sitl/default.px4board

@@ -80,3 +80,4 @@ CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_MODULES_SPACECRAFT=n

boards/px4/sitl/spacecraft.px4board

@@ -11,7 +11,9 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
+CONFIG_MODULES_ROVER_ACKERMANN=n
+CONFIG_MODULES_ROVER_DIFFERENTIAL=n
+CONFIG_MODULES_ROVER_MECANUM=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=n
 CONFIG_MODULES_SPACECRAFT=y

boards/siyi/n7/src/init.c

@@ -136,8 +136,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/spracing/h7extreme/src/init.c

@@ -125,8 +125,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/x-mav/ap-h743v2/src/init.c

@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

boards/zeroone/x6/src/init.c

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 

cmake/metadata.cmake

@@ -53,6 +53,7 @@ file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
 # avoid param duplicates
 list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/")
 list(FILTER yaml_config_files EXCLUDE REGEX ".*/linux_pwm_out/")
+list(FILTER yaml_config_files EXCLUDE REGEX ".*/spacecraft/")
 
 add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs

integrationtests/python_src/px4_it/mavros/missions/avoidance.plan

@@ -1,88 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 4,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 22,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5456085,
-                    4
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 4,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5458765,
-                    4
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": -1,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 21,
-                "doJumpId": 3,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5458812,
-                    -1
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.3977419,
-            8.5458854,
-            487.923
-        ],
-        "vehicleType": 2,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}

msg/Airspeed.msg

@@ -5,6 +5,4 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s
 
 float32 true_airspeed_m_s        # true filtered airspeed in m/s
 
-float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown
-
 float32 confidence               # confidence value from 0 to 1 for this sensor

msg/Buffer128.msg

@@ -1,8 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 len                       # length of data
-uint32 MAX_BUFLEN = 128
-
-uint8[128] data                 # data
-
-# TOPICS voxl2_io_data

msg/CMakeLists.txt

@@ -48,7 +48,6 @@ set(msg_files
 	AirspeedValidated.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
-	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg
@@ -114,6 +113,7 @@ set(msg_files
 	HeaterStatus.msg
 	HoverThrustEstimate.msg
 	InputRc.msg
+	InternalCombustionEngineControl.msg
 	InternalCombustionEngineStatus.msg
 	IridiumsbdStatus.msg
 	IrlockReport.msg
@@ -171,12 +171,13 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RoverAckermannGuidanceStatus.msg
-	RoverAckermannSetpoint.msg
-	RoverAckermannStatus.msg
-	RoverDifferentialGuidanceStatus.msg
-	RoverDifferentialSetpoint.msg
-	RoverDifferentialStatus.msg
+	RoverAttitudeSetpoint.msg
+	RoverAttitudeStatus.msg
+	RoverVelocityStatus.msg
+	RoverRateSetpoint.msg
+	RoverRateStatus.msg
+	RoverSteeringSetpoint.msg
+	RoverThrottleSetpoint.msg
 	RoverMecanumGuidanceStatus.msg
 	RoverMecanumSetpoint.msg
 	RoverMecanumStatus.msg
@@ -210,8 +211,6 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
-	TrajectoryBezier.msg
-	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
@@ -231,8 +230,6 @@ set(msg_files
 	VehicleRoi.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
-	VehicleTrajectoryBezier.msg
-	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
 	WheelEncoders.msg
 	Wind.msg