ci: replace 14 workflows with 4-tier orchestrator

Replaces 14 CI workflows with a single ci-orchestrator.yml that runs
jobs in a 4-tier waterfall. Tiers gate each other sequentially: if
formatting fails in 2 minutes, nothing else runs.

Every job carried over from the old workflows was optimized along the
way. Jobs use native container: blocks instead of the old
addnab/docker-run-action wrapper, cache scopes were split and tuned
(hit rates went from ~48% to 99%+), SITL tests run at 20x speed on
8cpu runners, clang-tidy got a dedicated 16cpu runner and cache, the
failsafe sim caches its emsdk, and flash analysis posts sticky PR
comments.

Forks can use this without AWS infrastructure. Copy
.github/ci-config.yml.example to .github/ci-config.yml to customize
runner labels, job toggles, and cache sizes. Alternatively, rename
.github/workflows/ci-simple.yml.example to ci-simple.yml for a
single-job workflow that finishes in under 15 minutes on ubuntu-latest.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.clang-tidy

@@ -105,6 +105,89 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
+                  -altera-struct-pack-align,
+                  -bugprone-easily-swappable-parameters,
+                  -concurrency-mt-unsafe,
+                  -cppcoreguidelines-avoid-const-or-ref-data-members,
+                  -cppcoreguidelines-macro-usage,
+                  -cppcoreguidelines-non-private-member-variables-in-classes,
+                  -hicpp-uppercase-literal-suffix,
+                  -llvm-qualified-auto,
+                  -misc-non-private-member-variables-in-classes,
+                  -misc-use-anonymous-namespace,
+                  -modernize-concat-nested-namespaces,
+                  -readability-const-return-type,
+                  -readability-identifier-length,
+                  -readability-isolate-declaration,
+                  -readability-qualified-auto,
+                  -readability-redundant-access-specifiers,
+                  -cppcoreguidelines-avoid-do-while,
+                  -misc-include-cleaner,
+                  -misc-const-correctness,
+                  -llvm-else-after-return,
+                  -readability-function-cognitive-complexity,
+                  -cppcoreguidelines-init-variables,
+                  -bugprone-reserved-identifier,
+                  -cert-dcl37-c,
+                  -cert-dcl51-cpp,
+                  -modernize-use-nodiscard,
+                  -misc-confusable-identifiers,
+                  -cert-err33-c,
+                  -readability-redundant-inline-specifier,
+                  -readability-uppercase-literal-suffix,
+                  -bugprone-narrowing-conversions,
+                  -cppcoreguidelines-narrowing-conversions,
+                  -bugprone-switch-missing-default-case,
+                  -cppcoreguidelines-avoid-goto,
+                  -hicpp-avoid-goto,
+                  -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
+                  -performance-enum-size,
+                  -readability-avoid-nested-conditional-operator,
+                  -cppcoreguidelines-prefer-member-initializer,
+                  -cppcoreguidelines-explicit-virtual-functions,
+                  -cppcoreguidelines-virtual-class-destructor,
+                  -readability-convert-member-functions-to-static,
+                  -readability-make-member-function-const,
+                  -bugprone-assignment-in-if-condition,
+                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-incorrect-roundings,
+                  -bugprone-macro-parentheses,
+                  -bugprone-multi-level-implicit-pointer-conversion,
+                  -bugprone-signed-char-misuse,
+                  -bugprone-too-small-loop-variable,
+                  -cppcoreguidelines-avoid-non-const-global-variables,
+                  -cppcoreguidelines-use-default-member-init,
+                  -hicpp-multiway-paths-covered,
+                  -hicpp-named-parameter,
+                  -misc-header-include-cycle,
+                  -misc-no-recursion,
+                  -performance-no-int-to-ptr,
+                  -readability-avoid-return-with-void-value,
+                  -readability-avoid-unconditional-preprocessor-if,
+                  -readability-delete-null-pointer,
+                  -readability-duplicate-include,
+                  -readability-redundant-casting,
+                  -readability-redundant-member-init,
+                  -readability-reference-to-constructed-temporary,
+                  -readability-simplify-boolean-expr,
+                  -bugprone-unsafe-functions,
+                  -cert-msc24-c,
+                  -cert-msc32-c,
+                  -cert-msc33-c,
+                  -cert-msc51-cpp,
+                  -cert-str34-c,
+                  -cppcoreguidelines-macro-to-enum,
+                  -modernize-macro-to-enum,
+                  -abseil-string-find-str-contains,
+                  -bugprone-suspicious-include,
+                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
+                  -clang-analyzer-optin.core.EnumCastOutOfRange,
+                  -modernize-type-traits,
+                  -misc-definitions-in-headers,
+                  -bugprone-casting-through-void,
+                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

.github/actions/build-gazebo-sitl/action.yml

@@ -0,0 +1,21 @@
+name: Build Gazebo Classic SITL
+description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
+
+runs:
+  using: composite
+  steps:
+    - name: Build - PX4 Firmware (SITL)
+      shell: bash
+      run: make px4_sitl_default
+
+    - name: Cache - Stats after PX4 Firmware
+      shell: bash
+      run: ccache -s
+
+    - name: Build - Gazebo Classic Plugins
+      shell: bash
+      run: make px4_sitl_default sitl_gazebo-classic
+
+    - name: Cache - Stats after Gazebo Plugins
+      shell: bash
+      run: ccache -s

.github/actions/save-ccache/action.yml

@@ -0,0 +1,22 @@
+name: Save ccache
+description: Print ccache stats and save to cache
+
+inputs:
+  cache-primary-key:
+    description: Primary cache key from setup-ccache output
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Stats
+      if: always()
+      shell: bash
+      run: ccache -s
+
+    - name: Cache - Save ccache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-primary-key }}

.github/actions/setup-ccache/action.yml

@@ -0,0 +1,56 @@
+name: Setup ccache
+description: Restore ccache from cache and configure ccache.conf
+
+inputs:
+  cache-key-prefix:
+    description: Cache key prefix (e.g. ccache-sitl)
+    required: true
+  max-size:
+    description: Max ccache size (e.g. 300M)
+    required: false
+    default: '300M'
+  base-dir:
+    description: ccache base_dir value
+    required: false
+    default: '${GITHUB_WORKSPACE}'
+  install-ccache:
+    description: Install ccache via apt before configuring
+    required: false
+    default: 'false'
+
+outputs:
+  cache-primary-key:
+    description: Primary cache key (pass to save-ccache)
+    value: ${{ steps.restore.outputs.cache-primary-key }}
+
+runs:
+  using: composite
+  steps:
+    - name: Cache - Install ccache
+      if: inputs.install-ccache == 'true'
+      shell: bash
+      run: apt-get update && apt-get install -y ccache
+
+    - name: Cache - Restore ccache
+      id: restore
+      uses: actions/cache/restore@v4
+      with:
+        path: ~/.ccache
+        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
+          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
+          ${{ inputs.cache-key-prefix }}-
+
+    - name: Cache - Configure ccache
+      shell: bash
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z

.github/ci-config.yml.example

@@ -0,0 +1,67 @@
+# PX4 CI Configuration for Forks
+# Copy to .github/ci-config.yml and customize.
+# All settings are optional — omit any key to use the upstream default.
+#
+# This example is tuned for GitHub-hosted runners.
+# The upstream PX4 repo uses RunsOn/AWS for all jobs.
+
+# Infrastructure hint — set to true when running on GitHub-hosted runners.
+# The upstream PX4 repo uses RunsOn/AWS (is_gha: false by default).
+# Jobs may use this flag to skip steps that require RunsOn-specific
+# infrastructure (e.g. S3 cache access, spot instance features).
+# No job behavior is gated on this today — it is wired for future use.
+is_gha: true
+
+# Runner labels — one label per size tier.
+# For GitHub-hosted runners, all tiers can point to ubuntu-latest.
+# For self-hosted runners, map each tier to the appropriate pool.
+runners:
+  small:   '["ubuntu-latest"]'
+  medium:  '["ubuntu-latest"]'
+  large:   '["ubuntu-latest"]'
+  utility: '["ubuntu-latest"]'
+
+# Job toggles — enable only what your fork needs.
+# Jobs marked false below are upstream-specific (hardware boards,
+# platform-specific builds) and rarely useful for feature forks.
+jobs:
+  # T1 — gate checks (disable only if you have a very good reason)
+  gate_checks:          true   # format, newlines, module config validation
+  shellcheck:           true   # shell script linting
+  mavsdk_checks:        true   # mypy + flake8 on MAVSDK Python scripts
+
+  # T2 — core checks (recommended for all forks)
+  sitl_build:           true
+  clang_tidy:           true
+
+  # T2 — upstream-specific, disable for most forks
+  gazebo_classic_build: false  # only needed if running sitl_tests/mavros_tests
+  ubuntu_builds:        false  # verifies clean builds on bare Ubuntu images
+  macos_build:          false  # macOS platform verification
+  itcm_check:           false  # NuttX board ITCM placement, board-specific
+  flash_analysis:       false  # binary size diffing against PR base, repo-specific
+  failsafe_sim:         false  # Emscripten web simulation build
+
+  # T3 — integration tests (expensive, disable unless you need them)
+  sitl_tests:           false  # requires gazebo_classic_build
+  ros_integration:      false  # requires Galactic ROS container
+  mavros_tests:         false  # requires gazebo_classic_build
+  ros_translation_node: true   # lightweight, runs on standard ROS images
+
+# Cache sizes — adjust if you hit your cache storage limit.
+# GitHub-hosted runners share a 10 GB per-repo native cache.
+# With the job set above (~60% of jobs disabled), total warm footprint
+# is roughly 15-20% of the 10 GB limit per concurrent PR.
+# If you re-enable more jobs, total footprint scales up proportionally.
+# Raise your repo's cache limit if needed:
+#   Settings → Actions → Caches (up to 10 TB configurable)
+cache:
+  sitl:                300M   # ~94% fill at current default — do not lower
+  sitl_gazebo_classic: 350M   # only relevant if gazebo_classic_build: true
+  clang_tidy:          150M   # ~40% fill, sized with headroom
+  ubuntu_builds:       200M   # only relevant if ubuntu_builds: true
+  macos:               200M   # only relevant if macos_build: true
+  itcm:                200M   # only relevant if itcm_check: true, growing
+  flash:               200M   # only relevant if flash_analysis: true
+  ros_integration:     400M   # ~70% fill, trending up
+  ros_translation:     150M   # ~35% fill, sized with headroom

.github/instructions/docs.en.instructions.md

@@ -21,8 +21,10 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+    Backticks are optional for hyperlinked CLI commands and tool names.
+  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
+    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.github/workflows/build_all_targets.yml

@@ -2,25 +2,54 @@
 # - 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
+#
+# ===================================================================================
+# RELEASE UPLOAD LOGIC
+# ===================================================================================
+# This workflow handles building firmware and uploading to S3 + GitHub Releases.
+#
+# S3 Bucket Structure (s3://px4-travis/Firmware/):
+#   - master/          <- Latest main branch build (for QGC compatibility)
+#   - stable/          <- Latest stable release, controlled by 'stable' branch
+#   - beta/            <- Latest pre-release, controlled by 'beta' branch
+#   - vX.Y.Z/          <- Archived stable release
+#   - vX.Y.Z-beta1/    <- Archived pre-release
+#
+# Trigger Behavior:
+#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
+#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
+#   - Branch main        -> Upload to: master/ (for QGC compatibility)
+#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
+#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
+#   - Branch release/**  -> Build only, no S3 upload (CI validation)
+#   - Pull requests      -> Build only, no S3 upload (CI validation)
+#
+# GitHub Releases:
+#   - All version tags create a draft GitHub Release
+#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
+#
+# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
+# corresponding branch pushes control those directories. This prevents
+# pre-release tags from accidentally overwriting stable firmware (#26340)
+# and avoids race conditions between tag and branch builds.
+# ===================================================================================
 
 name: Build all targets
 
 on:
+  # Triggered by CI orchestrator for all branches/PRs (after all tiers pass)
+  workflow_run:
+    workflows: ["CI Pipeline (Orchestrator)"]
+    types: [completed]
+    branches: ['**']
+  # Direct trigger for tagged releases (orchestrator doesn't run on tags)
   push:
     tags:
       - 'v*'
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
     paths-ignore:
       - 'docs/**'
+  # Manual trigger for debugging
+  workflow_dispatch:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -34,14 +63,27 @@ permissions:
 jobs:
   group_targets:
     name: Scan for Board Targets
+    # Only run if:
+    # 1. Direct push to tag (independent trigger for releases), OR
+    # 2. Orchestrator workflow_run completed successfully (for all branches/PRs), OR
+    # 3. Manual workflow_dispatch
+    if: |
+      github.event_name == 'push' ||
+      github.event_name == 'workflow_dispatch' ||
+      (github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    permissions:
+      contents: read
+      actions: read
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
       branchname: ${{ steps.set-branch.outputs.branchname }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event_name == 'workflow_run' && github.event.workflow_run.head_sha || github.sha }}
 
       - name: Cache Python pip
         uses: actions/cache@v4
@@ -71,12 +113,13 @@ jobs:
       - id: set-branch
         name: Save Current Branch Name
         run: |
-          echo "branchname=${{
-            github.event_name == 'pull_request' &&
-            format('pr-{0}', github.event.pull_request.number) ||
-            github.head_ref ||
-            github.ref_name
-          }}" >> $GITHUB_OUTPUT
+          if [ "${{ github.event_name }}" = "workflow_run" ]; then
+            # For workflow_run events, get branch from the triggering workflow
+            echo "branchname=${{ github.event.workflow_run.head_branch }}" >> $GITHUB_OUTPUT
+          else
+            # For push/workflow_dispatch events
+            echo "branchname=${{ github.head_ref || github.ref_name }}" >> $GITHUB_OUTPUT
+          fi
 
       - name: Debug Matrix Output
         if: runner.debug == '1'
@@ -90,6 +133,9 @@ jobs:
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
+    permissions:
+      contents: read
+      packages: read
     strategy:
       matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
       fail-fast: false
@@ -102,6 +148,7 @@ jobs:
       - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
+          ref: ${{ github.event_name == 'workflow_run' && github.event.workflow_run.head_sha || github.sha }}
           fetch-depth: 0
 
       - name: Git ownership workaround
@@ -163,12 +210,21 @@ jobs:
           path: ~/.ccache
           key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
+  # ===========================================================================
+  # ARTIFACT UPLOAD JOB
+  # ===========================================================================
+  # Uploads build artifacts to S3 and creates GitHub Releases.
+  # Runs for version tags (v*), main, stable, and beta branch pushes.
+  # See header comments for full upload logic documentation.
+  # ===========================================================================
   artifacts:
     name: Upload Artifacts
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
     if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    permissions:
+      contents: write
     outputs:
       uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
@@ -181,31 +237,31 @@ jobs:
       - name: Choose Upload Location
         id: upload-location
         run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
           set -euo pipefail
 
           ref="${GITHUB_REF}"
           branch=${{ needs.group_targets.outputs.branchname  }}
           location="$branch"
+          is_prerelease="false"
 
+          # Main branch uploads to "master" for QGC backward compatibility
           if [[ "$branch" == "main" ]]; then
             location="master"
           fi
 
+          # Version tags: upload to versioned directory (e.g., v1.16.1/)
           if [[ "$ref" == refs/tags/v[0-9]* ]]; then
             tag="${ref#refs/tags/}"
             location="$tag"
+
+            # Pre-release tags contain -alpha, -beta, or -rc suffix
+            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
+              is_prerelease="true"
+            fi
           fi
 
           echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
 
       - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -219,28 +275,13 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
-        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/stable/
-
-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
+      # Create a draft GitHub Release for all version tags
+      # Pre-releases are automatically marked as such
       - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
         if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -1,59 +0,0 @@
-name: Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "check_format",
-          "check_newlines",
-          "tests",
-          "tests_coverage",
-          "px4_fmu-v2_default stack_check",
-          "validate_module_configs",
-          "shellcheck_all",
-          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
-          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
-          "module_documentation",
-        ]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-          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

.github/workflows/ci-simple.yml.example

@@ -0,0 +1,41 @@
+name: Simple CI (Fork-Friendly)
+
+# Forks: This is a lightweight CI workflow for forks that don't need
+# the full orchestrator pipeline. It builds PX4 SITL + one hardware
+# target and runs unit tests + format checks.
+#
+# To use: rename this file from ci-simple.yml.example to ci-simple.yml
+# and enable GitHub Actions in your fork settings.
+# To customize: adjust the 'make' target or container image tag below.
+
+on:
+  push:
+    branches: ['**']
+  pull_request:
+    branches: ['**']
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+jobs:
+  quick-check:
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-beta1
+    steps:
+      - name: Configure git
+        run: git config --system --add safe.directory '*'
+
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Quick Check (SITL + FMUv5 + tests + format)
+        run: make quick_check
+        env:
+          RUNS_IN_DOCKER: true

.github/workflows/clang-tidy.yml

@@ -1,30 +0,0 @@
-name: Clang Tidy
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Testing (clang-tidy)
-      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

.github/workflows/compile_macos.yml

@@ -1,67 +0,0 @@
-name: MacOS build
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
-    steps:
-    - name: install Python 3.10
-      uses: actions/setup-python@v5
-      with:
-        python-version: "3.10"
-
-    - uses: actions/checkout@v4
-
-    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s

.github/workflows/compile_ubuntu.yml

@@ -1,57 +0,0 @@
-name: Ubuntu environment build
-
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-env:
-  RUNS_IN_DOCKER: true
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-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=4cpu-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

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,35 +0,0 @@
-name: EKF Change Indicator
-
-on:
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
-  cancel-in-progress: true
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        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

.github/workflows/ekf_update_change_indicator.yml

@@ -1,47 +0,0 @@
-name: EKF Update Change Indicator
-
-on:
-  push:
-    paths-ignore:
-      - 'docs/**'
-
-jobs:
-  unit_tests:
-    runs-on: ubuntu-latest
-    env:
-      GIT_COMMITTER_EMAIL: bot@px4.io
-      GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make tests TESTFILTER=EKF
-
-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(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:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        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

.github/workflows/failsafe_sim.yml

@@ -1,58 +0,0 @@
-name: Failsafe Simulator Build
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    defaults:
-      run:
-        shell: bash
-    strategy:
-      fail-fast: false
-      matrix:
-        check: [
-          "failsafe_web",
-        ]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-      - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20.18.0
-
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Install empscripten
-        run: |
-          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-          cd _emscripten_sdk
-          git checkout 4.0.15
-          ./emsdk install latest
-          ./emsdk activate latest
-
-      - name: Testing [${{ matrix.check }}]
-        run: |
-          . ./_emscripten_sdk/emsdk_env.sh
-          make ${{ matrix.check }}

.github/workflows/flash_analysis.yml

@@ -1,154 +0,0 @@
-name: FLASH usage analysis
-
-permissions:
-  contents: read
-  pull-requests: write
-  issues: write
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-env:
-  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
-  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
-
-jobs:
-  analyze_flash:
-    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      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
-          make submodulesclean
-
-      - 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 ${{ matrix.target }}_flash-analysis
-
-      - name: Store the ELF before the change
-        run: cp ./build/**/*.elf ./before-change.elf
-
-      - name: bloaty-action
-        uses: PX4/bloaty-action@v1.0.0
-        id: bloaty-step
-        with:
-          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,symbols -s vm -n 20
-          output-to-summary: true
-
-      - name: Generate output
-        id: gen-output
-        run: |
-          EOF=$(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" >> $GITHUB_OUTPUT
-
-  # TODO:
-  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
-  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
-  post_pr_comment:
-    name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
-    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 && github.event.pull_request.head.repo.full_name == github.repository
-    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

.github/workflows/itcm_check.yml

@@ -1,67 +0,0 @@
-name: ITCM check
-
-permissions:
-  contents: read
-
-on:
-  push:
-    branches:
-      - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  check_itcm:
-    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - target: px4_fmu-v5x
-            scripts: >
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
-              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
-          - target: px4_fmu-v6xrt
-            scripts: >
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_tropic-community
-            scripts: >
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Build Target
-        run: make ${{ matrix.target }}
-
-      - name: Copy built ELF
-        run: cp ./build/**/*.elf ./built.elf
-
-      - name: Install itcm-check dependencies
-        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
-
-      - name: Execute the itcm-check
-        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

.github/workflows/mavros_mission_tests.yml

@@ -1,43 +0,0 @@
-name: MAVROS Mission Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        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}}

.github/workflows/mavros_offboard_tests.yml

@@ -1,45 +0,0 @@
-name: MAVROS Offboard Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-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"}
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        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}}

.github/workflows/nuttx_env_config.yml

@@ -1,45 +0,0 @@
-name: Nuttx Target with extra env config
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
-
-    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:v1.16.0-rc1-258-g0369abd556
-        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

.github/workflows/python_checks.yml

@@ -1,33 +0,0 @@
-name: Python CI Checks
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-jobs:
-  build:
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Install Python3
-      run: sudo apt-get install python3 python3-setuptools python3-pip -y
-
-    - name: Install tools
-      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

.github/workflows/ros_integration_tests.yml

@@ -1,134 +0,0 @@
-# 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: ROS Integration Tests
-
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    container:
-      image: px4io/px4-dev-ros2-galactic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Git Ownership Workaround
-      run: git config --system --add safe.directory '*'
-
-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-    - name: Install gazebo
-      run: |
-        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v4
-      with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
-      run: |
-        cd /opt
-        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-        cd Micro-XRCE-DDS-Agent
-        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
-        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
-        mkdir build
-        cd build
-        cmake ..
-        make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
-
-    - name: Get and build the ros2 interface library
-      shell: bash
-      run: |
-        PX4_DIR="$(pwd)"
-        . /opt/ros/galactic/setup.bash
-        mkdir -p /opt/px4_ws/src
-        cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
-        cd ..
-        # Copy messages to ROS workspace
-        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
-        rm -rf src/translation_node src/px4_msgs_old
-        colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-
-    - name: Core dump settings
-      run: |
-        ulimit -c unlimited
-        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run tests
-      shell: bash
-      run: |
-        . /opt/px4_ws/install/setup.bash
-        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --upload --force-color
-      timeout-minutes: 45
-
-    - name: Upload failed logs
-      if: failure()
-      uses: actions/upload-artifact@v4
-      with:
-        name: failed-logs.zip
-        path: |
-          logs/**/**/**/*.log
-          logs/**/**/**/*.ulg
-          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg

.github/workflows/ros_translation_node.yml

@@ -1,61 +0,0 @@
-name: ROS Translation Node Tests
-on:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-defaults:
-  run:
-    shell: bash
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-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

.github/workflows/sitl_tests.yml

@@ -1,161 +0,0 @@
-# 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:
-  push:
-    branches:
-    - 'main'
-    paths-ignore:
-      - 'docs/**'
-  pull_request:
-    branches:
-    - '**'
-    paths-ignore:
-      - 'docs/**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ 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: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
-
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-
-      - name: 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: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
-
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(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 ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.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

Makefile

@@ -412,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)
 
 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
+LCOBUG = --ignore-errors mismatch,negative
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -492,13 +492,29 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
+# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
+# - All submodules (external code we consume, not edit)
+# - Test code (allowed looser style)
+# - Example code (educational, not production)
+# - Vendored third-party code (e.g., CMSIS_5)
+# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
+# - GPIO excluded here (NuttX platform headers)
+# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
+#   because CMake Unity Builds merge sources into a generated .cxx under build/
+#
+# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
+# Submodules are automatically excluded - no action needed when adding new ones.
+CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
+CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
+
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,6 +101,7 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,6 +22,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
 
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

Tools/ci/run-clang-tidy-pr.py

@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+Run clang-tidy incrementally on files changed in a PR.
+
+Usage: run-clang-tidy-pr.py <base-ref>
+  base-ref: e.g. origin/main
+
+Computes the set of translation units (TUs) affected by the PR diff,
+then invokes Tools/run-clang-tidy.py on that subset only.
+Exits 0 silently when no C++ files were changed.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+EXTENSIONS_CPP = {'.cpp', '.c'}
+EXTENSIONS_HDR = {'.hpp', '.h'}
+# Manual exclusions from Makefile:508
+EXCLUDE_EXTRA = '|'.join([
+    'src/systemcmds/tests',
+    'src/examples',
+    'src/modules/gyro_fft/CMSIS_5',
+    'src/lib/drivers/smbus',
+    'src/drivers/gpio',
+    r'src/modules/commander/failsafe/emscripten',
+    r'failsafe_test\.dir',
+])
+
+
+def repo_root():
+    try:
+        return subprocess.check_output(
+            ['git', 'rev-parse', '--show-toplevel'], text=True).strip()
+    except subprocess.CalledProcessError:
+        print('error: not inside a git repository', file=sys.stderr)
+        sys.exit(1)
+
+
+def changed_files(base_ref, root):
+    try:
+        out = subprocess.check_output(
+            ['git', 'diff', '--name-only', f'{base_ref}...HEAD',
+             '--', '*.cpp', '*.hpp', '*.h', '*.c'],
+            text=True, cwd=root).strip()
+        return out.splitlines() if out else []
+    except subprocess.CalledProcessError:
+        print(f'error: could not diff against "{base_ref}" — '
+              'is the ref valid and fetched?', file=sys.stderr)
+        sys.exit(1)
+
+
+def submodule_paths(root):
+    # Returns [] if .gitmodules is absent or has no paths — both valid
+    try:
+        out = subprocess.check_output(
+            ['git', 'config', '--file', '.gitmodules',
+             '--get-regexp', 'path'],
+            text=True, cwd=root).strip()
+        return [line.split()[1] for line in out.splitlines()]
+    except subprocess.CalledProcessError:
+        return []
+
+
+def build_exclude(root):
+    submodules = '|'.join(submodule_paths(root))
+    return f'{submodules}|{EXCLUDE_EXTRA}' if submodules else EXCLUDE_EXTRA
+
+
+def load_db(build_dir):
+    db_path = os.path.join(build_dir, 'compile_commands.json')
+    if not os.path.isfile(db_path):
+        print(f'error: {db_path} not found', file=sys.stderr)
+        print('Run "make px4_sitl_default-clang" first to generate '
+              'the compilation database', file=sys.stderr)
+        sys.exit(1)
+    try:
+        with open(db_path) as f:
+            return json.load(f)
+    except json.JSONDecodeError as e:
+        print(f'error: compile_commands.json is malformed: {e}', file=sys.stderr)
+        sys.exit(1)
+
+
+def find_tus(changed, db, root):
+    db_files = {e['file'] for e in db}
+    result = set()
+    for f in changed:
+        abs_path = os.path.join(root, f)
+        ext = os.path.splitext(f)[1]
+        if ext in EXTENSIONS_CPP:
+            if abs_path in db_files:
+                result.add(abs_path)
+        elif ext in EXTENSIONS_HDR:
+            hdr = os.path.basename(f)
+            for e in db:
+                try:
+                    if hdr in open(e['file']).read():
+                        result.add(e['file'])
+                except OSError:
+                    pass  # file deleted in PR — skip
+    return sorted(result)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__,
+                                     formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument('base_ref',
+                        help='Git ref to diff against, e.g. origin/main')
+    args = parser.parse_args()
+
+    root = repo_root()
+    build_dir = os.path.join(root, 'build', 'px4_sitl_default-clang')
+
+    run_tidy = os.path.join(root, 'Tools', 'run-clang-tidy.py')
+    if not os.path.isfile(run_tidy):
+        print(f'error: {run_tidy} not found', file=sys.stderr)
+        sys.exit(1)
+
+    changed = changed_files(args.base_ref, root)
+    if not changed:
+        print('No C++ files changed — skipping clang-tidy')
+        sys.exit(0)
+
+    db = load_db(build_dir)
+    tus = find_tus(changed, db, root)
+
+    if not tus:
+        print('No matching TUs in compile_commands.json — skipping clang-tidy')
+        sys.exit(0)
+
+    print(f'Running clang-tidy on {len(tus)} translation unit(s)')
+
+    result = subprocess.run(
+        [sys.executable, run_tidy,
+         '-header-filter=.*\\.hpp',
+         '-j0',
+         f'-exclude={build_exclude(root)}',
+         '-p', build_dir] + tus
+    )
+    sys.exit(result.returncode)
+
+
+if __name__ == '__main__':
+    main()

Tools/docker_run.sh

@@ -1,47 +1,27 @@
 #! /bin/bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi
 
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
-fi
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
-PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=$PWD/../
+SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=${SCRIPT_DIR}/../
 
 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	${PX4_DOCKER_REPO} /bin/bash -c "$@"

Tools/run-clang-tidy.py

@@ -144,6 +144,8 @@ def main():
                       help='number of tidy instances to be run in parallel.')
   parser.add_argument('files', nargs='*', default=['.*'],
                       help='files to be processed (regex on path)')
+  parser.add_argument('-exclude', dest='exclude', default=None,
+                      help='regular expression matching files to exclude')
   parser.add_argument('-fix', action='store_true', help='apply fix-its')
   parser.add_argument('-format', action='store_true', help='Reformat code '
                       'after applying fixes')
@@ -192,6 +194,7 @@ def main():
 
   # Build up a big regexy filter from all command line arguments.
   file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
+  exclude_re = re.compile(args.exclude) if args.exclude else None
 
   try:
     # Spin up a bunch of tidy-launching threads.
@@ -205,6 +208,8 @@ def main():
     # Fill the queue with files.
     for name in files:
       if file_name_re.search(name):
+        if exclude_re and exclude_re.search(name):
+          continue
         queue.put(name)
 
     # Wait for all threads to be done.

Tools/setup/docker-entrypoint.sh

@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
 
-echo -e "$SCRIPTID Starting"
+echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
 
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,6 +22,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"

Tools/setup/macos.sh

@@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-	if brew ls --versions px4-sim > /dev/null; then
+	if ! brew ls --versions px4-sim > /dev/null; then
 		brew install px4-sim
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim

Tools/setup/ubuntu.sh

@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for nuttx, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
 ##
 
 INSTALL_NUTTX="true"
@@ -207,37 +207,18 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;
 
-	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
+	# Gazebo Harmonic installation (Ubuntu 22.04+)
+	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+	# Add Gazebo binary repository
+	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+	sudo apt-get update -y --quiet
 
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
-	else
-		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
+	# Install Gazebo
+	gazebo_packages="gz-harmonic libunwind-dev"
 
-		# Install Gazebo
-		gazebo_packages="gz-harmonic libunwind-dev"
-
-		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-			gazebo_packages="$gazebo_packages cppzmq-dev"
-		fi
+	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+		gazebo_packages="$gazebo_packages cppzmq-dev"
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \

boards/ark/fmu-v6x/src/board_config.h

@@ -243,15 +243,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -465,14 +456,6 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/ark/fmu-v6x/zenoh.px4board

@@ -0,0 +1,5 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_MODULES_ZENOH=y

boards/ark/fpv/init/rc.board_defaults

@@ -26,6 +26,8 @@ then
 fi
 
 param set-default BAT1_V_DIV 21.0
+param set-default BAT1_V_FILT 0.075
+param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/src/board_config.h

@@ -176,9 +176,6 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
-#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
-#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
-
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -226,16 +223,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
-#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
-#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
-#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
-#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
-
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
 /* Power supply control and monitoring GPIOs */
@@ -339,15 +326,6 @@
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
 		SPI6_nRESET_EXTERNAL1,            \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
-		GPIO_FMU_CH9,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
 

boards/ark/pi6x/src/board_config.h

@@ -206,15 +206,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -341,14 +332,6 @@
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/cuav/fmu-v6x/init/rc.board_sensors

@@ -66,15 +66,15 @@ then
 	fi
 fi
 
+iim42652 -R 6 -s -C 32768 start
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start
 
 rm3100 -I -b 4 start
 
-icp201xx -I -a 0x64 start
 bmp581 -b 2 -X -a 0x47 start
+icp201xx -I -a 0x64 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

boards/cuav/nora/src/board_config.h

@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
 
-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -43,6 +43,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
+
 #  ifndef GPIO_CORE_HEATER_OUTPUT
 #  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
 #  endif
@@ -62,7 +64,7 @@ Core_Heater::~Core_Heater()
 int Core_Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -117,7 +119,7 @@ bool Core_Heater::initialize_topics()
 void Core_Heater::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -216,8 +218,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(core_heater);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(core_heater);
+	desc.task_id = task_id_is_work_queue;
 
 	core_heater->start();
 	return 0;
@@ -257,5 +259,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
 
 extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
 {
-	return Core_Heater::main(argc, argv);
+	return ModuleBase::main(Core_Heater::desc, argc, argv);
 }

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -56,9 +56,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Core_Heater();
 
 	virtual ~Core_Heater();

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -33,6 +33,8 @@
 
 #include "NavioRGBLed.hpp"
 
+ModuleBase::Descriptor NavioRGBLed::desc{task_spawn, custom_command, print_usage};
+
 NavioRGBLed::NavioRGBLed() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
@@ -130,8 +132,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +144,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -170,5 +172,5 @@ Emlid Navio2 RGB LED driver.
 
 extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
 {
-	return NavioRGBLed::main(argc, argv);
+	return ModuleBase::main(NavioRGBLed::desc, argc, argv);
 }

boards/emlid/navio2/navio_rgbled/NavioRGBLed.hpp

@@ -40,9 +40,11 @@
 
 #include <lib/led/led.h>
 
-class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
+class NavioRGBLed : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	NavioRGBLed();
 	~NavioRGBLed() override;
 

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -49,6 +49,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 uint32_t GhstRc::baudrate = GHST_BAUDRATE;
 
 GhstRc::GhstRc(const char *device) :
@@ -114,8 +116,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -174,7 +176,7 @@ void GhstRc::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_rc_fd = -1;
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -308,5 +310,5 @@ This module parses the GHST RC uplink protocol and can generate GHST downlink te
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -54,9 +54,11 @@
 
 #define GHST_MAX_NUM_CHANNELS			(16)
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	~GhstRc() override;
 

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.cpp

@@ -59,6 +59,8 @@
 
 #include "rc_controller.hpp"
 
+ModuleBase::Descriptor RC_ControllerModule::desc{task_spawn, custom_command, print_usage};
+
 int RC_ControllerModule::print_status()
 {
 	PX4_INFO("Running");
@@ -69,35 +71,35 @@ int RC_ControllerModule::print_status()
 
 int RC_ControllerModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "throttle")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_throttle(val);
+		get_instance<RC_ControllerModule>(desc)->set_throttle(val);
 		PX4_INFO("Setting throttle to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "yaw")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_yaw(val);
+		get_instance<RC_ControllerModule>(desc)->set_yaw(val);
 		PX4_INFO("Setting yaw to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "pitch")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_pitch(val);
+		get_instance<RC_ControllerModule>(desc)->set_pitch(val);
 		PX4_INFO("Setting pitch to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "roll")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_roll(val);
+		get_instance<RC_ControllerModule>(desc)->set_roll(val);
 		PX4_INFO("Setting roll to %u", val);
 		return 0;
 	}
@@ -106,17 +108,24 @@ int RC_ControllerModule::custom_command(int argc, char *argv[])
 }
 
 
+int RC_ControllerModule::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return RC_ControllerModule::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int RC_ControllerModule::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("RC_ControllerModule",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
-				      1024,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("RC_ControllerModule",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX,
+					  1024,
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
@@ -252,5 +261,5 @@ int RC_ControllerModule::print_usage(const char *reason)
 
 int rc_controller_main(int argc, char *argv[])
 {
-	return RC_ControllerModule::main(argc, argv);
+	return ModuleBase::main(RC_ControllerModule::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.hpp

@@ -41,9 +41,11 @@
 
 extern "C" __EXPORT int rc_controller_main(int argc, char *argv[]);
 
-class RC_ControllerModule : public ModuleBase<RC_ControllerModule>, public ModuleParams
+class RC_ControllerModule : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	RC_ControllerModule();
 
 	virtual ~RC_ControllerModule() = default;
@@ -51,6 +53,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static RC_ControllerModule *instantiate(int argc, char *argv[]);
 

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -41,6 +41,8 @@
 
 using namespace std;
 
+ModuleBase::Descriptor VoxlSaveCalParams::desc{task_spawn, custom_command, print_usage};
+
 static bool debug = false;
 
 VoxlSaveCalParams::VoxlSaveCalParams() :
@@ -145,7 +147,7 @@ VoxlSaveCalParams::Run()
 {
 	if (should_exit()) {
 		_parameter_primary_set_value_request_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -186,8 +188,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -198,8 +200,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -230,5 +232,5 @@ This implements autosaving of calibration parameters on VOXL2 platform.
 
 extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
 {
-	return VoxlSaveCalParams::main(argc, argv);
+	return ModuleBase::main(VoxlSaveCalParams::desc, argc, argv);
 }

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -46,10 +46,12 @@
 
 using namespace time_literals;
 
-class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+class VoxlSaveCalParams : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	VoxlSaveCalParams();
 	~VoxlSaveCalParams() = default;
 

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -432,7 +431,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -573,7 +572,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -432,7 +431,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -573,7 +572,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

boards/px4/fmu-v6xrt/default.px4board

@@ -19,6 +19,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -273,7 +273,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -440,7 +439,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -586,7 +585,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.15.4
+# Vehicle: Amovlab F410
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -546,7 +546,6 @@
 1	1	IMU_INTEG_RATE	200	6
 1	1	LNDMC_ALT_GND	2.000000000000000000	9
 1	1	LNDMC_ROT_MAX	20.000000000000000000	9
-1	1	LNDMC_TRIG_TIME	1.000000000000000000	9
 1	1	LNDMC_XY_VEL_MAX	1.500000000000000000	9
 1	1	LNDMC_Z_VEL_MAX	0.250000000000000000	9
 1	1	LND_FLIGHT_T_HI	5	6
@@ -1056,9 +1055,6 @@
 1	1	UAVCAN_EC_REV	0	6
 1	1	UAVCAN_ENABLE	2	6
 1	1	UAVCAN_LGT_ANTCL	2	6
-1	1	UAVCAN_LGT_LAND	0	6
-1	1	UAVCAN_LGT_NAV	3	6
-1	1	UAVCAN_LGT_STROB	1	6
 1	1	UAVCAN_NODE_ID	1	6
 1	1	UAVCAN_PUB_ARM	0	6
 1	1	UAVCAN_PUB_MBD	0	6

docs/en/SUMMARY.md

@@ -255,6 +255,7 @@
       - [Lidar-Lite](sensor/lidar_lite.md)
       - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
         - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
+        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
       - [TeraRanger](sensor/teraranger.md)
       - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
@@ -417,6 +418,7 @@
   - [Standard Configuration](config/index.md)
   - [Advanced Configuration](advanced_config/index.md)
     - [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
+    - [GNSS-Denied & Degraded Flight](advanced_config/gnss_degraded_or_denied_flight.md)
     - [Finding/Updating Parameters](advanced_config/parameters.md)
     - [Full Parameter Reference](advanced_config/parameter_reference.md)
 

docs/en/advanced_config/gnss_degraded_or_denied_flight.md

@@ -0,0 +1,77 @@
+# GNSS-Degraded & Denied Flight ("Dead-Reckoning" Mode)
+
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />
+
+::: warning Experimental
+This is a new feature with limited real-world testing.
+It is intended for GNSS dropout scenarios (not pure GNSS-denied from takeoff), and requires that alternative velocity/position sensors are available.
+
+Please [share your related test logs](../getting_started/flight_reporting.md#sharing-the-log-files-for-review-by-px4-developers) to help us verify and harden it.
+:::
+
+PX4 is default-configured for outdoor flight with a reliable GNSS signal, but it can also be set up in "dead-reckoning mode" to more gracefully handle environments where GNSS is intermittently degraded or denied during flight.
+
+This section describes the differences between automatic and dead-reckoning modes, the circumstances in which each should be used, and how dead-reckoning is configured.
+
+## Overview
+
+PX4's EKF2 navigation has two modes for handling when GNSS data is determined to be unreliable:
+
+- **Automatic mode** (the default): Used for flying outdoors in environments where a GNSS signal is expected to be largely reliable.
+- **Dead-reckoning mode**: Recommended when you want to fly missions or other position controlled modes when there is intermittent GNSS loss, such as when flying under a bridge, from outdoors into an indoor setting, or when there is GNSS jamming (it is not suitable for pure-indoor use, as a GNSS signal is required before arming).
+
+::: info
+Dead-reckoning mode helps for both Fixed-Wing and Multicopter vehicles.
+MC vehicles benefit more because they can hover when transitioning between sensor regimes.
+FW needs continuous accurate velocity/position during the entire mission arc, making sensor transitions trickier.
+:::
+
+## Mode Comparison
+
+The following sections provide more detail about each of the modes and when they should be used.
+
+### Automatic Mode
+
+In Automatic mode the EKF2 resets if GNSS is lost and no other sources of position are available.
+This can result in a [position loss failsafe](../config/safety.md#position-loss-failsafe) and may trigger a shift into a mode that does not require global position, including stopping missions.
+
+This is desirable if the GNSS signal is likely to be recovered quickly and there are no mechanisms to estimate position when GNSS is unavailable.
+
+Use Automatic (default) when:
+
+- Flying in open sky with reliable GNSS throughout the mission.
+- You want the EKF to reset to GNSS when it becomes available again.
+- Operating in environments where GNSS is either good or completely unavailable (binary state).
+
+### Dead-Reckoning Mode
+
+In dead-reckoning mode, EKF2 stops fusing GNSS data when it becomes unreliable and prevents EKF2 resets — provided there are other sources of position or velocity data that can be fused.
+This ensures that the vehicle can continue flying missions and other position controlled modes when GNSS is lost.
+
+When GNSS is recovered it will be fused with other measurements when tests indicate it can be trusted.
+This may cause jerky movements in position controlled modes if the estimate has drifted.
+This mode relies on having additional position or velocity sensors and must also have a reliable GNSS signal at boot.
+
+Use Dead-Reckoning when:
+
+- **Transitioning between GNSS and non-GNSS environments** (flying into buildings, under bridges, through tree cover).
+- You have **redundant sensors** (optical flow, VIO, rangefinder, quality baro) that can maintain position estimation.
+- Flying **missions that cross GPS-denied areas** where you want continuous operation rather than failsafe.
+- **Urban environments** or other areas with intermittent GNSS quality.
+- You want to **avoid EKF resets and jumps** when GNSS recovers (smoother transitions).
+
+## Configuration
+
+To use dead-reckoning mode, the vehicle must have an alternative source of position or velocity information, such as an [Optical Flow](../sensor/optical_flow.md) sensor or [VIO](../computer_vision/visual_inertial_odometry.md) setup.
+
+To enable the mode:
+
+1. Set [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) to `1`.
+2. Ensure that GNSS arming checks are enabled (a reliable GNSS signal is required before arming):
+   - [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) - set to `0`
+   - [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) - set to default.
+
+## See Also
+
+- [GNSS Fault Detection](../advanced_config/tuning_the_ecl_ekf.md#gnss-fault-detection) in _Using PX4's Navigation Filter (EKF2)_
+- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG

docs/en/advanced_config/index.md

@@ -10,6 +10,7 @@ This topic lists configuration topics that are not particularly vehicle specific
 ## Feature configuration
 
 - [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
+- [GNSS-Denied and Degraded Flight](../advanced_config/gnss_degraded_or_denied_flight.md)
 - [Flight Termination Configuration](../advanced_config/flight_termination.md)
 - [Land Detector Configuration](../advanced_config/land_detector.md)
 - [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)

docs/en/advanced_config/land_detector.md

@@ -38,7 +38,7 @@ In order to detect landing, the multicopter first has to go through three differ
 If a condition cannot be reached because of missing sensors, then the condition is true by default.
 For instance, in [Acro mode](../flight_modes_mc/acro.md) and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.
 
-In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME).
+In order to proceed to the next state, each condition has to be true for 300ms.
 If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.
 
 If one condition fails, the land detector drops out of the current state immediately.

docs/en/advanced_config/parameter_reference.md

@@ -266,6 +266,166 @@ This parameter defines the squawk code. Value should be between 0000 and 7777.
 
 ## Actuator Outputs
 
+### PCA9685_CENT1 (`INT32`) {#PCA9685_CENT1}
+
+PCA9685 Output Channel 1 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT10 (`INT32`) {#PCA9685_CENT10}
+
+PCA9685 Output Channel 10 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT11 (`INT32`) {#PCA9685_CENT11}
+
+PCA9685 Output Channel 11 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT12 (`INT32`) {#PCA9685_CENT12}
+
+PCA9685 Output Channel 12 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT13 (`INT32`) {#PCA9685_CENT13}
+
+PCA9685 Output Channel 13 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT14 (`INT32`) {#PCA9685_CENT14}
+
+PCA9685 Output Channel 14 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT15 (`INT32`) {#PCA9685_CENT15}
+
+PCA9685 Output Channel 15 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT16 (`INT32`) {#PCA9685_CENT16}
+
+PCA9685 Output Channel 16 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT2 (`INT32`) {#PCA9685_CENT2}
+
+PCA9685 Output Channel 2 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT3 (`INT32`) {#PCA9685_CENT3}
+
+PCA9685 Output Channel 3 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT4 (`INT32`) {#PCA9685_CENT4}
+
+PCA9685 Output Channel 4 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT5 (`INT32`) {#PCA9685_CENT5}
+
+PCA9685 Output Channel 5 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT6 (`INT32`) {#PCA9685_CENT6}
+
+PCA9685 Output Channel 6 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT7 (`INT32`) {#PCA9685_CENT7}
+
+PCA9685 Output Channel 7 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT8 (`INT32`) {#PCA9685_CENT8}
+
+PCA9685 Output Channel 8 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
+### PCA9685_CENT9 (`INT32`) {#PCA9685_CENT9}
+
+PCA9685 Output Channel 9 Center Value.
+
+Servo Center output value (when not disarmed).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | -1       | 2200     |           | -1      |
+
 ### PCA9685_DIS1 (`INT32`) {#PCA9685_DIS1}
 
 PCA9685 Output Channel 1 Disarmed Value.
@@ -15405,6 +15565,18 @@ A value of -1 means to use the board default.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | -1      |
 
+### BAT1_I_FILT (`FLOAT`) {#BAT1_I_FILT}
+
+Battery 1 current filter time constant.
+
+Low-pass filter time constant for the battery current ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT1_I_OVERWRITE (`FLOAT`) {#BAT1_I_OVERWRITE}
 
 Battery 1 idle current overwrite.
@@ -15537,6 +15709,18 @@ it drops off to a voltage level damaging the cells.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          | 0.01      | 3.6     | V    |
 
+### BAT1_V_FILT (`FLOAT`) {#BAT1_V_FILT}
+
+Battery 1 voltage filter time constant.
+
+Low-pass filter time constant for the battery voltage ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT2_A_PER_V (`FLOAT`) {#BAT2_A_PER_V}
 
 Battery 2 current per volt (A/V).
@@ -15570,6 +15754,18 @@ A value of -1 means to use the board default.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | -1      |
 
+### BAT2_I_FILT (`FLOAT`) {#BAT2_I_FILT}
+
+Battery 2 current filter time constant.
+
+Low-pass filter time constant for the battery current ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT2_I_OVERWRITE (`FLOAT`) {#BAT2_I_OVERWRITE}
 
 Battery 2 idle current overwrite.
@@ -15702,6 +15898,18 @@ it drops off to a voltage level damaging the cells.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          | 0.01      | 3.6     | V    |
 
+### BAT2_V_FILT (`FLOAT`) {#BAT2_V_FILT}
+
+Battery 2 voltage filter time constant.
+
+Low-pass filter time constant for the battery voltage ADC reading (in seconds).
+A higher value results in more smoothing and less noise, but slower response.
+A value of 0 disables the filter.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      | 5.0      |           | 0.0     | s    |
+
 ### BAT3_CAPACITY (`FLOAT`) {#BAT3_CAPACITY}
 
 Battery 3 capacity.
@@ -16365,6 +16573,25 @@ Arm switch is a momentary button.
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 |   |          |          |           | Disabled (0) |
 
+### COM_ARM_TRAFF (`INT32`) {#COM_ARM_TRAFF}
+
+Enable Traffic Avoidance system detection check.
+
+This check detects if a traffic avoidance system (ADSB/FLARM transponder)
+is missing. Depending on the value of the parameter, the check can be
+disabled, warn only, or deny arming.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Warning only
+- `2`: Enforce for all modes
+- `3`: Enforce for mission modes only
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
 ### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}
 
 Arming without GNSS configuration.
@@ -19596,6 +19823,18 @@ Launch is detected when acceleration in body forward direction is above FW_LAUN_
 | ------ | -------- | -------- | --------- | ------- | ----- |
 |   | 0        |          | 0.5       | 30.0    | m/s^2 |
 
+### FW_LAUN_CS_LK_DY (`FLOAT`) {#FW_LAUN_CS_LK_DY}
+
+Control surface launch delay.
+
+Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
+Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
+Set to 0 to disable any surface locking after arming.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.0      |          | 0.1       | 0.      | s    |
+
 ### FW_LAUN_DETCN_ON (`INT32`) {#FW_LAUN_DETCN_ON}
 
 Fixed-wing launch detection.
@@ -21325,6 +21564,27 @@ Some are generic, while others are specifically fit to a certain vehicle with a
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   |          |          |           | 0       |
 
+### CA_CS_LAUN_LK (`INT32`) {#CA_CS_LAUN_LK}
+
+Control surface launch lock enabled.
+
+If actuator launch lock is enabled, this surface is kept at the disarmed value.
+
+**Bitmask:**
+
+- `0`: Control Surface 1
+- `1`: Control Surface 2
+- `2`: Control Surface 3
+- `3`: Control Surface 4
+- `4`: Control Surface 5
+- `5`: Control Surface 6
+- `6`: Control Surface 7
+- `7`: Control Surface 8
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
 ### CA_FAILURE_MODE (`INT32`) {#CA_FAILURE_MODE}
 
 Motor failure handling mode.
@@ -24530,18 +24790,6 @@ Maximum allowed norm of the angular velocity (roll, pitch) in the landed state.
 | ------ | -------- | -------- | --------- | ------- | ----- |
 |   |          |          |           | 20.0    | deg/s |
 
-### LNDMC_TRIG_TIME (`FLOAT`) {#LNDMC_TRIG_TIME}
-
-Multicopter land detection trigger time.
-
-Total time it takes to go through all three land detection stages:
-ground contact, maybe landed, landed
-when all necessary conditions are constantly met.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 0.1      | 10.0     |           | 1.0     | s    |
-
 ### LNDMC_XY_VEL_MAX (`FLOAT`) {#LNDMC_XY_VEL_MAX}
 
 Multicopter max horizontal velocity.
@@ -26892,7 +27140,7 @@ With MPC_THR_HOVER 0.5 it's equivalent to No rescale.
 Vertical thrust required to hover.
 
 Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).
-Used for initialization of the hover thrust estimator (see MPC_USE_HTE).
+Used for initialization of the hover thrust estimator.
 The estimated hover thrust is used as base for zero vertical acceleration in altitude control.
 The hover thrust is important for land detection to work correctly.
 
@@ -26974,17 +27222,6 @@ Takeoff climb rate.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 1        | 5        |           | 1.5     | m/s  |
 
-### MPC_USE_HTE (`INT32`) {#MPC_USE_HTE}
-
-Use hover thrust estimate for altitude control.
-
-Disable to use the fixed parameter MPC_THR_HOVER instead of the hover thrust estimate in the position controller.
-This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
-
-| Reboot | minValue | maxValue | increment | default     | unit |
-| ------ | -------- | -------- | --------- | ----------- | ---- |
-|   |          |          |           | Enabled (1) |
-
 ### MPC_VELD_LP (`FLOAT`) {#MPC_VELD_LP}
 
 Velocity derivative low pass cutoff frequency.
@@ -33078,6 +33315,44 @@ Use SENS_MAG_SIDES instead
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   |          |          |           | 63      |
 
+### GRF_RATE_CFG (`INT32`) {#GRF_RATE_CFG}
+
+Lightware GRF lidar update rate.
+
+The Lightware GRF distance sensor can increase the update rate to enable greater resolution.
+
+**Values:**
+
+- `1`: 1 Hz
+- `2`: 2 Hz
+- `3`: 4 Hz
+- `4`: 5 Hz
+- `5`: 10 Hz
+- `6`: 20 Hz
+- `7`: 30 Hz
+- `8`: 40 Hz
+- `9`: 50 Hz
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ |          |          |           | 4       |
+
+### GRF_SENS_MODEL (`INT32`) {#GRF_SENS_MODEL}
+
+GRF Sensor model.
+
+GRF Sensor Model used to distinush between the GRF250 and GRF500 since both have different max distance range.
+
+**Values:**
+
+- `0`: disable
+- `1`: GRF250
+- `2`: GRF500
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ |          |          |           | 0       |
+
 ### ILABS_MODE (`INT32`) {#ILABS_MODE}
 
 InertialLabs INS sensor mode configuration.
@@ -34286,6 +34561,31 @@ Enable simulated GPS sinstance.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ | 0        | 1        |           | 0       |
 
+### SENS_EN_GRF_CFG (`INT32`) {#SENS_EN_GRF_CFG}
+
+Serial Configuration for Lightware GRF Rangefinder (serial).
+
+Configure on which serial port to run Lightware GRF Rangefinder (serial).
+
+**Values:**
+
+- `0`: Disabled
+- `6`: UART 6
+- `101`: TELEM 1
+- `102`: TELEM 2
+- `103`: TELEM 3
+- `104`: TELEM/SERIAL 4
+- `201`: GPS 1
+- `202`: GPS 2
+- `203`: GPS 3
+- `300`: Radio Controller
+- `301`: Wifi Port
+- `401`: EXT2
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ |          |          |           | 0       |
+
 ### SENS_EN_INA220 (`INT32`) {#SENS_EN_INA220}
 
 Enable INA220 Power Monitor.
@@ -34511,7 +34811,7 @@ Lightware Laser Rangefinder hardware model (serial).
 
 ### SENS_EN_SF1XX (`INT32`) {#SENS_EN_SF1XX}
 
-Lightware SF1xx/SF20/LW20 laser rangefinder (i2c).
+Lightware laser rangefinder (i2c).
 
 **Values:**
 
@@ -35686,6 +35986,26 @@ Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ |          |          |           | 0       |
 
+### SF1XX_ROT (`INT32`) {#SF1XX_ROT}
+
+Lightware laser rangefinder Rotation.
+
+Distance sensor orientation as MAV_SENSOR_ORIENTATION enum.
+Applies to all models supported by SENS_EN_SF1XX.
+
+**Values:**
+
+- `0`: Forward
+- `2`: Right
+- `4`: Backward
+- `6`: Left
+- `24`: Upward
+- `25`: Downward
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 25       |           | 25      |
+
 ### SF45_ORIENT_CFG (`INT32`) {#SF45_ORIENT_CFG}
 
 Orientation upright or facing downward.
@@ -40288,7 +40608,7 @@ starve other nodes on the bus.
 UAVCAN ANTI_COLLISION light operating mode.
 
 This parameter defines the minimum condition under which the system will command
-the ANTI_COLLISION lights on
+lights with anti-collision function to turn on (white).
 0 - Always off
 1 - When autopilot is armed
 2 - When autopilot is prearmed
@@ -40305,67 +40625,97 @@ the ANTI_COLLISION lights on
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | ✓ | 0        | 3        |           | 2       |
 
-### UAVCAN_LGT_LAND (`INT32`) {#UAVCAN_LGT_LAND}
+### UAVCAN_LGT_FN0 (`INT32`) {#UAVCAN_LGT_FN0}
 
-UAVCAN LIGHT_ID_LANDING light operating mode.
+Light 0 function.
 
-This parameter defines the minimum condition under which the system will command
-the LIGHT_ID_LANDING lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 0.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter
 
 **Values:**
 
-- `0`: Always off
-- `1`: When autopilot is armed
-- `2`: When autopilot is prearmed
-- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light
 
-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| ✓ | 0        | 3        |           | 0       |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 1        |           | 0       |
 
-### UAVCAN_LGT_NAV (`INT32`) {#UAVCAN_LGT_NAV}
+### UAVCAN_LGT_FN1 (`INT32`) {#UAVCAN_LGT_FN1}
 
-UAVCAN RIGHT_OF_WAY light operating mode.
+Light 1 function.
 
-This parameter defines the minimum condition under which the system will command
-the RIGHT_OF_WAY lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 1.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter
 
 **Values:**
 
-- `0`: Always off
-- `1`: When autopilot is armed
-- `2`: When autopilot is prearmed
-- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light
 
-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| ✓ | 0        | 3        |           | 3       |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 1        |           | 0       |
 
-### UAVCAN_LGT_STROB (`INT32`) {#UAVCAN_LGT_STROB}
+### UAVCAN_LGT_FN2 (`INT32`) {#UAVCAN_LGT_FN2}
 
-UAVCAN STROBE light operating mode.
+Light 2 function.
 
-This parameter defines the minimum condition under which the system will command
-the STROBE lights on
-0 - Always off
-1 - When autopilot is armed
-2 - When autopilot is prearmed
-3 - Always on
+Function assigned to light 2.
+0: Status - displays system status colors
+1: Anti-collision - white beacon controlled by LGT_ANTCL parameter
 
 **Values:**
 
-- `0`: Always off
-- `1`: When autopilot is armed
-- `2`: When autopilot is prearmed
-- `3`: Always on
+- `0`: Status Light
+- `1`: Anti-collision Light
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 1        |           | 0       |
+
+### UAVCAN_LGT_ID0 (`INT32`) {#UAVCAN_LGT_ID0}
+
+Light 0 ID.
+
+specifies the light_id value for light 0 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_ID1 (`INT32`) {#UAVCAN_LGT_ID1}
+
+Light 1 ID.
+
+specifies the light_id value for light 1 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_ID2 (`INT32`) {#UAVCAN_LGT_ID2}
+
+Light 2 ID.
+
+specifies the light_id value for light 2 in UAVCAN LightsCommand messages.
+This determines which physical LED responds to commands for this light slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### UAVCAN_LGT_NUM (`INT32`) {#UAVCAN_LGT_NUM}
+
+Number of UAVCAN lights to configure.
+
+Number of lights to control via UAVCAN LightsCommand messages.
+Set to 0 to disable UAVCAN light control.
+Each light uses two parameters: LGT_IDx for the light_id and LGT_FNx for the function.
 
 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -42484,7 +42834,7 @@ Gyro filter settings.
 
 ### SF1XX_MODE (`INT32`) {#SF1XX_MODE}
 
-Lightware SF1xx/SF20/LW20 Operation Mode.
+Lightware laser rangefinder Operation Mode.
 
 **Values:**
 

docs/en/advanced_config/tuning_the_ecl_ekf.md

@@ -361,6 +361,10 @@ The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference
   EKF2 may reset if no other sources of position or velocity are available.
   If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
 
+::: tip
+See also [Fault Detection](https://youtu.be/CMGQJNPiTJg?si=sFtdf4AQbcOH8-u8) in "Fuse, Reset, or Reject? Handling Various Data-sources in EKF2" _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG
+:::
+
 ##### Detection Logic
 
 Horizontal Position:
@@ -892,3 +896,4 @@ If no terrain estimate is available this parameter will have no effect and the s
 ## Further Information
 
 - [PX4 State Estimation Overview](https://youtu.be/HkYRJJoyBwQ), _PX4 Developer Summit 2019_, Dr. Paul Riseborough): Overview of the estimator, and major changes from 2018/19, and the expected improvements through 2019/20.
+- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG

docs/en/config/safety.md

@@ -181,17 +181,22 @@ The following settings also apply, but are not displayed in the QGC UI.
 | <a id="GF_PREDICT"></a>Preemptive geofence triggering              | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT)           | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
 | <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Enables/Disables flight termination action (disabled by default).                                                                                   |
 
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
 
 The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
 
 ### Position Loss Failsafe Trigger
 
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
 
-- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
-- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
+  - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+  - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
 
 The relevant parameters shown below.
 
@@ -207,14 +212,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
 
-The relevant parameters for all vehicles shown below.
+The relevant parameters are:
 
-Parameters that only affect Fixed-wing vehicles:
+| Parameter                                                                                       | Description                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)       | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Set to 0 to disable. |
+| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)          | Fixed roll/bank angle while circling.                                                                                                        |
+| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe.                                                                         |
 
-| Parameter                                                                                 | Description                                                                                                 |
-| ----------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
-| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). Set to 0 to disable. |
-| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)    | Fixed roll/bank angle while circling.                                                                       |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
+
+| Parameter                                                                                                | Description                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------- |
+| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken.           |
+| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
 
 ## Offboard Loss Failsafe
 

docs/en/dev_setup/building_px4.md

@@ -39,15 +39,6 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz
 make px4_sitl gz_x500
 ```
 
-::: details If you installed Gazebo Classic
-Start [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
-
-```sh
-make px4_sitl gazebo-classic
-```
-
-:::
-
 This will bring up the PX4 console:
 
 ![PX4 Console](../../assets/toolchain/console_gazebo.png)
@@ -88,6 +79,16 @@ cd PX4-Autopilot
 make px4_fmu-v5_default
 ```
 
+:::tip
+You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
+From the PX4-Autopilot directory:
+
+```sh
+./Tools/docker_run.sh 'make px4_fmu-v5_default'
+```
+
+:::
+
 A successful run will end with similar output to:
 
 ```sh
@@ -126,7 +127,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`
 
   :::warning
-  You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
+  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
+  Building with an unsupported GCC may fail, as PX4 is close to the board's 1MB flash limit.
   :::
 
 - Pixhawk 1 with 2 MB flash: `make px4_fmu-v3_default`
@@ -191,7 +193,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware
 This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB.
 
 If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC.
-In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
+In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.
 
 If building your own branch, it is possible that you have increased the firmware size over the 1MB limit.
 In this case you will need to remove any drivers/modules that you don't need from the build.
@@ -204,7 +206,7 @@ The PX4 build system opens a large number of files, so you may exceed this numbe
 The build toolchain will then report `Too many open files` for many files, as shown below:
 
 ```sh
-/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
+arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
 ```
 
 The solution is to increase the maximum allowed number of open files (e.g. to 300).
@@ -227,34 +229,9 @@ xcode-select --install
 sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
 ```
 
-### Ubuntu 18.04: Compile errors involving arm_none_eabi_gcc
-
-Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation.
-You can verify that this is the case by checking for missing dependencies using:
-
-```sh
-arm-none-eabi-gcc --version
-arm-none-eabi-g++ --version
-arm-none-eabi-gdb --version
-arm-none-eabi-size --version
-```
-
-Example of bash output with missing dependencies:
-
-```sh
-arm-none-eabi-gdb --version
-arm-none-eabi-gdb: command not found
-```
-
-This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa).
-
-### Ubuntu 18.04: Visual Studio Code is unable to watch for file changes in this large workspace
-
-See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting).
-
 ### Failed to import Python packages
 
-"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected).
+"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).
 
 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -262,12 +239,12 @@ You may need to install it using:
     pip3 install --user jinja2
 ```
 
-If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 Python 3.8.3), and the module is not present in the version used by the build toolchain.
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.
 
-You should be able to fix this by explicitly installing the dependencies as shown:
+You should be able to fix this by installing the dependencies from the repository's requirements file:
 
 ```sh
-pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
+pip3 install --user -r Tools/setup/requirements.txt
 ```
 
 ## PX4 Make Build Targets

docs/en/dev_setup/config_initial.md

@@ -20,7 +20,7 @@ The equipment below is highly recommended:
   :::
   - Lenovo Thinkpad with i5-core running Windows 11
   - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later
 
 - **Ground control station** (computer or tablet):
   - iPad (may require Wifi telemetry adapter)
@@ -39,9 +39,9 @@ Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) for a
 To configure the vehicle:
 
 1. [Install PX4 firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) (including "custom" firmware with your own changes).
-1. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
-1. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
-1. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
+2. [Start with the airframe](../config/airframe.md) that best-matches your vehicle from the [airframe reference](../airframes/airframe_reference.md).
+3. [Basic Configuration](../config/index.md) explains how to perform basic configuration.
+4. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.
 
 ::: info
 

docs/en/dev_setup/dev_env.md

@@ -2,7 +2,7 @@
 
 The _supported platforms_ for PX4 development are:
 
-- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)
 
@@ -15,9 +15,9 @@ The table below shows what PX4 targets you can build on each OS.
 | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |       ✓        |   ✓   |    ✓    |
 | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |       ✓        |       |         |
 | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |       ✓        |   ✓   |    ✓    |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |       ✓        |   ✓   |    ✓    |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |       ✓        |       |    ✓    |
 | **Simulation:** ROS 2 with Gazebo                                                                                                      |       ✓        |       |    ✓    |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                |   ✓   |    ✓    |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                |       |    ✓    |
 
 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)
 

docs/en/dev_setup/dev_env_linux_centos.md

@@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`.
 Execute the script below to install GCC 7-2017-q4:
 
 :::warning
-This version of GCC is out of date.
-At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28))
+This version of GCC is very outdated.
+PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04).
+This CentOS guide is community-maintained and may not produce working builds.
 :::
 
 ```sh

docs/en/dev_setup/dev_env_linux_ubuntu.md

@@ -4,20 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir
 
 The environment includes:
 
-- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
-- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
-
-On Ubuntu 22.04:
-
-- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
-  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager.
 
 The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
 
-::: details Can I use an older version of Ubuntu?
-PX4 supports the current and last Ubuntu LTS release where possible.
-Older releases are not supported (so you can't raise defects against them), but may still work.
-For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
+::: info
+PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported.
+Older Ubuntu versions are not supported and may not work.
 :::
 
 ## Simulation and NuttX (Pixhawk) Targets
@@ -50,19 +44,18 @@ To install the toolchain:
    - Acknowledge any prompts as the script progress.
    - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
 
-3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
-
-4. Restart the computer on completion.
+3. Restart the computer on completion.
 
 :::details Additional notes
 These notes are provided "for information only":
 
 - This setup is supported by the PX4 Dev Team.
   The instructions may also work on other Debian Linux based systems.
-- You can verify the NuttX installation by confirming the `gcc` version as shown:
+- You can verify the NuttX installation by confirming `gcc` is available.
+  The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04):
 
   ```sh
-  $arm-none-eabi-gcc --version
+  $ arm-none-eabi-gcc --version
 
   arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
   Copyright (C) 2023 Free Software Foundation, Inc.

docs/en/dev_setup/dev_env_mac.md

@@ -1,111 +1,119 @@
 # macOS Development Environment
 
-The following instructions set up a PX4 development environment for macOS.
+The following instructions set up a PX4 development environment on macOS.
 This environment can be used to build PX4 for:
 
 - Pixhawk and other NuttX-based hardware
-- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
+- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+
+It works on both Intel and Apple Silicon Macs.
 
 :::tip
 This setup is supported by the PX4 dev team.
-To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
+To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
 :::
 
-## Video Guide
+## Development Environment Setup
 
-<lite-youtube videoid="tMbMGiMs1cQ" title="Setting up your PX4 development environment on macOS"/>
+### Prerequisites
 
-## Base Setup
-
-The "base" macOS setup installs the tools needed for building firmware, and includes the common tools that will be needed for installing/using the simulators.
-
-### Environment Setup
-
-:::details Apple Silicon MacBook users!
-If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
-
-1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
-2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
-3. Rename the duplicated Terminal app, e.g. to _x86 Terminal_
-4. Now select the renamed _x86 Terminal_ app and right-click and choose \*_Get Info_
-5. Check the box for **Open using Rosetta**, then close the window
-6. Run the _x86 Terminal_ as usual, which will fully support the current PX4 toolchain
-   :::
-
-First set up the environment
-
-1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
+1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler:
 
    ```sh
-   echo ulimit -S -n 2048 >> ~/.zshenv
+   xcode-select --install
    ```
 
+2. **Install Homebrew** by following the [installation instructions](https://brew.sh).
+
+3. **Increase the open-file limit.** The PX4 build opens many files simultaneously and the macOS default limit (256) is too low — you may see `"LD: too many open files"` errors without this.
+
+   Add the following line to your shell startup file so it applies to every new terminal session.
+   macOS defaults to **zsh** since Catalina, so add it to `~/.zshrc` (use `~/.bashrc` if you use bash):
+
+   ```sh
+   echo "ulimit -S -n 2048" >> ~/.zshrc
+   ```
+
+   Then **open a new terminal** (or run `source ~/.zshrc`) for the change to take effect.
+
+4. **Ensure Python 3 is available.** Some PX4 build scripts require `python3` and `pip3` to be in your `PATH`. The Xcode Command Line Tools include Python 3 by default.
+
+   :::tip
+   If you need to install or manage a different Python version, we recommend [pyenv](https://github.com/pyenv/pyenv), which lets you set global and per-directory Python versions.
+   :::
+
+### Install Development Tools
+
+1. **Download PX4 Source Code:**
+
+   ```sh
+   git clone https://github.com/PX4/PX4-Autopilot.git
+   cd PX4-Autopilot
+   git submodule update --init --recursive --force
+   ```
+
+2. **Install development environment libraries** from the [macos.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/macos.sh) helper script:
+
+   ```sh
+   ./Tools/setup/macos.sh --sim-tools
+   ```
+
+   This installs:
+   - **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools
+   - **Python packages** from `requirements.txt`
+   - **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools
+
    ::: info
-   If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
+   Omit `--sim-tools` if you only need to build for NuttX hardware and don't need simulation.
+
+   Use `--reinstall` to force reinstallation of all Homebrew formulas (useful if something is broken).
    :::
 
-1. Enforce Python 3 by appending the following lines to `~/.zshenv`
+### Gazebo Simulation
 
-   ```sh
-   # Point pip3 to macOS system python 3 pip
-   alias pip3=/usr/bin/pip3
-   ```
+The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic.
 
-### Common Tools
+If you skipped `--sim-tools` during initial setup and want to add simulation later:
 
-To setup the environment to be able to build for Pixhawk/NuttX hardware (and install the common tools for using simulators):
+```sh
+brew tap PX4/px4
+brew install px4-sim
+```
 
-1. Install Homebrew by following these [installation instructions](https://brew.sh).
-1. Run these commands in your shell to install the common tools:
+::: info
+Gazebo requires **XQuartz** for display on macOS.
+If you don't already have it installed:
 
-   ```sh
-   brew tap PX4/px4
-   brew install px4-dev
-   ```
+```sh
+brew install --cask xquartz
+```
 
-1. Install the required Python packages:
+You may need to log out and back in after installing XQuartz.
+:::
 
-   ```sh
-   # install required packages using pip3
-   python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
-   # if this fails with a permissions error, your Python install is in a system path - use this command instead:
-   sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
-   ```
+### Verify Installation
 
-## Gazebo Classic Simulation
+After installation, verify the key tools are available:
 
-To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation:
+```sh
+# NuttX cross-compiler (from arm-gcc-bin@13)
+arm-none-eabi-gcc --version
 
-1. Run the following commands in your shell:
+# Build tools
+cmake --version
+ninja --version
 
-   ```sh
-   brew unlink tbb
-   sed -i.bak '/disable! date:/s/^/  /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
-   brew install tbb@2020
-   brew link tbb@2020
-   ```
+# Gazebo (if --sim-tools was used)
+gz sim --versions
+```
 
-   ::: info
-   September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
-   They can be removed once it is fixed (along with this note).
-   :::
+Quick smoke test — build and run a simulation target:
 
-1. To install SITL simulation with Gazebo Classic:
+```sh
+make px4_sitl gz_x500
+```
 
-   ```sh
-   brew install --cask temurin
-   brew install --cask xquartz
-   brew install px4-sim-gazebo
-   ```
-
-1. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
-   The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
-
-   ```sh
-   git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-   cd PX4-Autopilot/Tools/setup
-   sh macos.sh
-   ```
+If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter.
 
 ## Next Steps
 
@@ -114,7 +122,7 @@ Once you have finished setting up the command-line toolchain:
 - Install [VSCode](../dev_setup/vscode.md) (if you prefer using an IDE to the command line).
 - Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md)
 
-  :::tip
+  ::: tip
   The _daily build_ includes development tools that are hidden in release builds.
   It may also provide access to new PX4 features that are not yet supported in release builds.
   :::

docs/en/dev_setup/dev_env_windows_wsl.md

@@ -58,20 +58,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
      wsl --install
      ```
 
-   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-20.04
-     ```
-
    - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
 
      ```sh
      wsl --install -d Ubuntu-22.04
      ```
 
+   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-24.04
+     ```
+
    ::: info
-   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
+   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.
    :::
 
 1. WSL will prompt you for a user name and password for the Ubuntu installation.
@@ -106,7 +106,7 @@ To open a WSL shell using a command prompt:
    ```
 
    ```sh
-   wsl -d Ubuntu-20.04
+   wsl -d Ubuntu-24.04
    ```
 
    If you only have one version of Ubuntu, you can just use `wsl`.

docs/en/dev_setup/vscode.md

@@ -124,10 +124,10 @@ Once that is done you don't need to do anything else; the toolchain will automat
 
 This section includes guidance on setup and build errors.
 
-### Ubuntu 18.04: "Visual Studio Code is unable to watch for file changes in this large workspace"
+### "Visual Studio Code is unable to watch for file changes in this large workspace"
 
 This error surfaces on startup.
-On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
+On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
 
 You can increase this limit to avoid the error, at the expense of memory consumption.
 Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).

docs/en/dronecan/index.md

@@ -281,6 +281,19 @@ PX4 DroneCAN parameters:
 Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
 
+### Lights
+
+PX4 can control LEDs via DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) messages.
+
+Configuration:
+
+1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0 disables). You might need to reopen the ground station to have parameters for new instances available.
+2. For each light slot (0 to NUM-1), set:
+   - `UAVCAN_LGT_IDx`: The `light_id` matching your peripheral.
+   - `UAVCAN_LGT_FNx`: `Status` for system status colours, or `Anti-collision` for white beacon.
+3. For anti-collision lights, [UAVCAN_LGT_ANTCL](../advanced_config/parameter_reference.md#UAVCAN_LGT_ANTCL) controls when they illuminate (off, armed, prearmed, always on).
+4. Reboot for any changes to take effect.
+
 ## QGC CANNODE Parameter Configuration
 
 QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.

docs/en/flight_modes_fw/takeoff.md

@@ -85,6 +85,7 @@ The vehicle always respects normal FW max/min throttle settings during takeoff (
 In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
 On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
 Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter.
+It is possible to delay the activation of the motors and control surfaces separately, see parameters [FW_LAUN_MOT_DEL](#FW_LAUN_MOT_DEL), [FW_LAUN_CS_LK_DY](#FW_LAUN_CS_LK_DY) and [CA_CS_LAUN_LK](#CA_CS_LAUN_LK). The later is also exposed in the actuator configuration page under the advanced view.
 
 All RC stick movement is ignored during the full takeoff sequence.
 
@@ -105,6 +106,8 @@ The _launch detector_ is affected by the following parameters:
 | <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD)    | Acceleration threshold (acceleration in body-forward direction must be above this value) |
 | <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T)             | Trigger time (acceleration must be above threshold for this amount of seconds)           |
 | <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL)    | Delay from launch detection to motor spin up                                             |
+| <a id="FW_LAUN_CS_LK_DY"></a>[FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces                            |
+| <a id="CA_CS_LAUN_LK"></a>[CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK)          | Bitmask to select which control surfaces are to be locked during launch                  |
 
 ## Runway Takeoff {#runway_launch}
 

docs/en/flying/pre_flight_checks.md

@@ -126,7 +126,11 @@ The following parameters also affect preflight checks.
 
 #### COM_ARM_WO_GPS
 
-The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed without a global position estimate.
+The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed in modes that require a valid global position estimate when EKF2 GNSS quality checks are failing.
 
-- `1` (default): Arming _is_ allowed without a position estimate for flight modes that do not require position information (only).
-- `0`: Arming is allowed only if EKF is providing a global position estimate and EFK GPS quality checks are passing
+The values are:
+
+- `0`: Deny arming.
+- `1`: Arming allowed with warning (default).
+  This might be used to provide a warning that the GNSS is unhealthy even when there is another source of valid position estimate, such as VIO or optical flow.
+- `2`: Arming allowed without warnings.

docs/en/middleware/dds_topics.md

@@ -94,199 +94,200 @@ They are not build into the module, and hence are neither published or subscribe
 
 ::: details See messages
 
-- [GpioIn](../msg_docs/GpioIn.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
-- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [LogMessage](../msg_docs/LogMessage.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [QshellReq](../msg_docs/QshellReq.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [Cpuload](../msg_docs/Cpuload.md)
-- [DebugArray](../msg_docs/DebugArray.md)
-- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [Mission](../msg_docs/Mission.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
 - [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [OrbTest](../msg_docs/OrbTest.md)
 - [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
-- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [FollowTarget](../msg_docs/FollowTarget.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
 - [GpioConfig](../msg_docs/GpioConfig.md)
-- [GainCompression](../msg_docs/GainCompression.md)
-- [DebugVect](../msg_docs/DebugVect.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
-- [SensorMag](../msg_docs/SensorMag.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [GpsDump](../msg_docs/GpsDump.md)
+- [PwmInput](../msg_docs/PwmInput.md)
 - [SensorTemp](../msg_docs/SensorTemp.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
 - [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [Mission](../msg_docs/Mission.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
 - [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [Event](../msg_docs/Event.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [Ping](../msg_docs/Ping.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [EscStatus](../msg_docs/EscStatus.md)
 - [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
 - [LandingGearWheel](../msg_docs/LandingGearWheel.md)
 - [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [Ping](../msg_docs/Ping.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [Vtx](../msg_docs/Vtx.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
 - [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [NeuralControl](../msg_docs/NeuralControl.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
-- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
-- [Event](../msg_docs/Event.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
 - [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
   :::

docs/en/modules/modules_driver_distance_sensor.md

@@ -98,13 +98,56 @@ leddar_one <command> [arguments...]
    stop          Stop driver
 ```
 
+## lightware_grf_serial
+
+Source: [drivers/distance_sensor/lightware_grf_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_grf_serial)
+
+### Description
+
+Serial bus driver for the Lightware GRF Laser rangefinder.
+
+### Configuration
+
+https://docs.px4.io/main/en/sensor/grf_lidar
+
+### Parameters
+
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODEL
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFG
+https://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG
+
+### Examples
+
+Attempt to start driver on a specified serial device.
+
+```
+lightware_grf_serial start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+lightware_grf_serial stop
+```
+
+### Usage {#lightware_grf_serial_usage}
+
+```
+lightware_grf_serial <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   stop          Stop driver
+```
+
 ## lightware_laser_i2c
 
 Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
 
 ### Description
 
-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
+I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
 
@@ -122,8 +165,6 @@ lightware_laser_i2c <command> [arguments...]
      [-q]        quiet startup (no message if no device found)
      [-a <val>]  I2C address
                  default: 102
-     [-R <val>]  Sensor rotation - downward facing by default
-                 default: 25
 
    stop
 

docs/en/msg_docs/DeviceInformation.md

@@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices.
 | ---------------- | ---------- | ------------ | ---------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
 | timestamp        | `uint64`   |              |                                                                                                      | time since system start (microseconds)                                       |
 | device_type      | `uint8`    |              | [DEVICE_TYPE](#DEVICE_TYPE)                                                                          | Type of the device. Matches MAVLink DEVICE_TYPE enum                         |
-| vendor_name      | `char[32]` |              |                                                                                                      | Name of the device vendor                                                    |
-| model_name       | `char[32]` |              |                                                                                                      | Name of the device model                                                     |
+| name             | `char[80]` |              |                                                                                                      | Name of device e.g. DroneCAN node name                                       |
 | `uint32`         |            |              | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |
 | firmware_version | `char[24]` |              |                                                                                                      | Firmware version. (Invalid: empty if not available)                          |
 | hardware_version | `char[24]` |              |                                                                                                      | Hardware version. (Invalid: empty if not available)                          |
@@ -62,7 +61,6 @@ as well as tracking of the used firmware versions on the devices.
 uint64 timestamp  # time since system start (microseconds)
 
 uint8 device_type  # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
-
 uint8 DEVICE_TYPE_GENERIC = 0                 # Generic/unknown sensor
 uint8 DEVICE_TYPE_AIRSPEED = 1                # Airspeed sensor
 uint8 DEVICE_TYPE_ESC = 2                     # ESC
@@ -80,8 +78,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13  # Differential pressure
 uint8 DEVICE_TYPE_BATTERY = 14                # Battery
 uint8 DEVICE_TYPE_HYGROMETER = 15             # Hygrometer
 
-char[32] vendor_name  # Name of the device vendor
-char[32] model_name   # Name of the device model
+char[80] name # Name of device e.g. DroneCAN node name
 
 uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
 char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.

docs/en/msg_docs/EscReport.md

@@ -16,6 +16,7 @@ pageClass: is-wide-page
 | esc_voltage       | `float32` |              |            | Voltage measured from current ESC [V] - if supported               |
 | esc_current       | `float32` |              |            | Current measured from current ESC [A] - if supported               |
 | esc_temperature   | `float32` |              |            | Temperature measured from current ESC [degC] - if supported        |
+| motor_temperature | `int16`   |              |            | Temperature measured from current motor [degC] - if supported      |
 | esc_address       | `uint8`   |              |            | Address of current ESC (in most cases 1-8 / must be set by driver) |
 | esc_cmdcount      | `uint8`   |              |            | Counter of number of commands                                      |
 | esc_state         | `uint8`   |              |            | State of ESC - depend on Vendor                                    |
@@ -64,6 +65,7 @@ int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if support
 float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
+int16 motor_temperature 				# Temperature measured from current motor [degC] - if supported
 uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
 uint8 esc_cmdcount					# Counter of number of commands
 

docs/en/msg_docs/LaunchDetectionStatus.md

@@ -10,10 +10,11 @@ Status of the launch detection state machine (fixed-wing only).
 
 ## Fields
 
-| Name                   | Type     | Unit [Frame] | Range/Enum | Description                            |
-| ---------------------- | -------- | ------------ | ---------- | -------------------------------------- |
-| timestamp              | `uint64` |              |            | time since system start (microseconds) |
-| launch_detection_state | `uint8`  |              |            |
+| Name                              | Type     | Unit [Frame] | Range/Enum | Description                                                                                                   |
+| --------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------- |
+| timestamp                         | `uint64` |              |            | time since system start (microseconds)                                                                        |
+| launch_detection_state            | `uint8`  |              |            |
+| selected_control_surface_disarmed | `bool`   |              |            | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |
 
 ## Constants
 
@@ -39,6 +40,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR 	= 1 # launch detected, but keep moto
 uint8 STATE_FLYING 				= 2 # launch detected, use normal takeoff/flying configuration
 
 uint8 launch_detection_state
+
+bool selected_control_surface_disarmed		# [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
 ```
 
 :::

docs/en/msg_docs/TelemetryStatus.md

@@ -36,6 +36,7 @@ pageClass: is-wide-page
 | heartbeat_type_onboard_controller   | `bool`    |              |            | MAV_TYPE_ONBOARD_CONTROLLER               |
 | heartbeat_type_gimbal               | `bool`    |              |            | MAV_TYPE_GIMBAL                           |
 | heartbeat_type_adsb                 | `bool`    |              |            | MAV_TYPE_ADSB                             |
+| heartbeat_type_flarm                | `bool`    |              |            | MAV_TYPE_FLARM                            |
 | heartbeat_type_camera               | `bool`    |              |            | MAV_TYPE_CAMERA                           |
 | heartbeat_type_parachute            | `bool`    |              |            | MAV_TYPE_PARACHUTE                        |
 | heartbeat_type_open_drone_id        | `bool`    |              |            | MAV_TYPE_ODID                             |
@@ -112,6 +113,7 @@ bool heartbeat_type_gcs                     # MAV_TYPE_GCS
 bool heartbeat_type_onboard_controller      # MAV_TYPE_ONBOARD_CONTROLLER
 bool heartbeat_type_gimbal                  # MAV_TYPE_GIMBAL
 bool heartbeat_type_adsb                    # MAV_TYPE_ADSB
+bool heartbeat_type_flarm                   # MAV_TYPE_FLARM
 bool heartbeat_type_camera                  # MAV_TYPE_CAMERA
 bool heartbeat_type_parachute               # MAV_TYPE_PARACHUTE
 bool heartbeat_type_open_drone_id           # MAV_TYPE_ODID

docs/en/msg_docs/VehicleStatus.md

@@ -10,53 +10,55 @@ Encodes the system state of the vehicle published by commander.
 
 ## Fields
 
-| Name                         | Type     | Unit [Frame] | Range/Enum | Description                                                                                     |
-| ---------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
-| timestamp                    | `uint64` |              |            | time since system start (microseconds)                                                          |
-| armed_time                   | `uint64` |              |            | Arming timestamp (microseconds)                                                                 |
-| takeoff_time                 | `uint64` |              |            | Takeoff timestamp (microseconds)                                                                |
-| arming_state                 | `uint8`  |              |            |
-| latest_arming_reason         | `uint8`  |              |            |
-| latest_disarming_reason      | `uint8`  |              |            |
-| nav_state_timestamp          | `uint64` |              |            | time when current nav_state activated                                                           |
-| nav_state_user_intention     | `uint8`  |              |            | Mode that the user selected (might be different from nav_state in a failsafe situation)         |
-| nav_state                    | `uint8`  |              |            | Currently active mode                                                                           |
-| executor_in_charge           | `uint8`  |              |            | Current mode executor in charge (0=Autopilot)                                                   |
-| valid_nav_states_mask        | `uint32` |              |            | Bitmask for all valid nav_state values                                                          |
-| can_set_nav_states_mask      | `uint32` |              |            | Bitmask for all modes that a user can select                                                    |
-| failure_detector_status      | `uint16` |              |            |
-| hil_state                    | `uint8`  |              |            |
-| vehicle_type                 | `uint8`  |              |            |
-| failsafe                     | `bool`   |              |            | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)                           |
-| failsafe_and_user_took_over  | `bool`   |              |            | true if system is in failsafe state but the user took over control                              |
-| failsafe_defer_state         | `uint8`  |              |            | one of FAILSAFE*DEFER_STATE*\*                                                                  |
-| gcs_connection_lost          | `bool`   |              |            | datalink to GCS lost                                                                            |
-| gcs_connection_lost_counter  | `uint8`  |              |            | counts unique GCS connection lost events                                                        |
-| high_latency_data_link_lost  | `bool`   |              |            | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
-| is_vtol                      | `bool`   |              |            | True if the system is VTOL capable                                                              |
-| is_vtol_tailsitter           | `bool`   |              |            | True if the system performs a 90° pitch down rotation during transition from MC to FW           |
-| in_transition_mode           | `bool`   |              |            | True if VTOL is doing a transition                                                              |
-| in_transition_to_fw          | `bool`   |              |            | True if VTOL is doing a transition from MC to FW                                                |
-| system_type                  | `uint8`  |              |            | system type, contains mavlink MAV_TYPE                                                          |
-| system_id                    | `uint8`  |              |            | system id, contains MAVLink's system ID field                                                   |
-| component_id                 | `uint8`  |              |            | subsystem / component id, contains MAVLink's component ID field                                 |
-| safety_button_available      | `bool`   |              |            | Set to true if a safety button is connected                                                     |
-| safety_off                   | `bool`   |              |            | Set to true if safety is off                                                                    |
-| power_input_valid            | `bool`   |              |            | set if input power is valid                                                                     |
-| usb_connected                | `bool`   |              |            | set to true (never cleared) once telemetry received from usb link                               |
-| open_drone_id_system_present | `bool`   |              |            |
-| open_drone_id_system_healthy | `bool`   |              |            |
-| parachute_system_present     | `bool`   |              |            |
-| parachute_system_healthy     | `bool`   |              |            |
-| rc_calibration_in_progress   | `bool`   |              |            |
-| calibration_enabled          | `bool`   |              |            |
-| pre_flight_checks_pass       | `bool`   |              |            | true if all checks necessary to arm pass                                                        |
+| Name                             | Type     | Unit [Frame] | Range/Enum | Description                                                                                     |
+| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
+| timestamp                        | `uint64` |              |            | time since system start (microseconds)                                                          |
+| armed_time                       | `uint64` |              |            | Arming timestamp (microseconds)                                                                 |
+| takeoff_time                     | `uint64` |              |            | Takeoff timestamp (microseconds)                                                                |
+| arming_state                     | `uint8`  |              |            |
+| latest_arming_reason             | `uint8`  |              |            |
+| latest_disarming_reason          | `uint8`  |              |            |
+| nav_state_timestamp              | `uint64` |              |            | time when current nav_state activated                                                           |
+| nav_state_user_intention         | `uint8`  |              |            | Mode that the user selected (might be different from nav_state in a failsafe situation)         |
+| nav_state                        | `uint8`  |              |            | Currently active mode                                                                           |
+| executor_in_charge               | `uint8`  |              |            | Current mode executor in charge (0=Autopilot)                                                   |
+| nav_state_display                | `uint8`  |              |            | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)         |
+| valid_nav_states_mask            | `uint32` |              |            | Bitmask for all valid nav_state values                                                          |
+| can_set_nav_states_mask          | `uint32` |              |            | Bitmask for all modes that a user can select                                                    |
+| failure_detector_status          | `uint16` |              |            |
+| hil_state                        | `uint8`  |              |            |
+| vehicle_type                     | `uint8`  |              |            |
+| failsafe                         | `bool`   |              |            | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)                           |
+| failsafe_and_user_took_over      | `bool`   |              |            | true if system is in failsafe state but the user took over control                              |
+| failsafe_defer_state             | `uint8`  |              |            | one of FAILSAFE*DEFER_STATE*\*                                                                  |
+| gcs_connection_lost              | `bool`   |              |            | datalink to GCS lost                                                                            |
+| gcs_connection_lost_counter      | `uint8`  |              |            | counts unique GCS connection lost events                                                        |
+| high_latency_data_link_lost      | `bool`   |              |            | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
+| is_vtol                          | `bool`   |              |            | True if the system is VTOL capable                                                              |
+| is_vtol_tailsitter               | `bool`   |              |            | True if the system performs a 90° pitch down rotation during transition from MC to FW           |
+| in_transition_mode               | `bool`   |              |            | True if VTOL is doing a transition                                                              |
+| in_transition_to_fw              | `bool`   |              |            | True if VTOL is doing a transition from MC to FW                                                |
+| system_type                      | `uint8`  |              |            | system type, contains mavlink MAV_TYPE                                                          |
+| system_id                        | `uint8`  |              |            | system id, contains MAVLink's system ID field                                                   |
+| component_id                     | `uint8`  |              |            | subsystem / component id, contains MAVLink's component ID field                                 |
+| safety_button_available          | `bool`   |              |            | Set to true if a safety button is connected                                                     |
+| safety_off                       | `bool`   |              |            | Set to true if safety is off                                                                    |
+| power_input_valid                | `bool`   |              |            | set if input power is valid                                                                     |
+| usb_connected                    | `bool`   |              |            | set to true (never cleared) once telemetry received from usb link                               |
+| open_drone_id_system_present     | `bool`   |              |            |
+| open_drone_id_system_healthy     | `bool`   |              |            |
+| parachute_system_present         | `bool`   |              |            |
+| parachute_system_healthy         | `bool`   |              |            |
+| traffic_avoidance_system_present | `bool`   |              |            |
+| rc_calibration_in_progress       | `bool`   |              |            |
+| calibration_enabled              | `bool`   |              |            |
+| pre_flight_checks_pass           | `bool`   |              |            | true if all checks necessary to arm pass                                                        |
 
 ## Constants
 
 | Name                                                                                      | Type     | Value | Description                                      |
 | ----------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
-| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                           | `uint32` | 1     |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                           | `uint32` | 2     |
 | <a href="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED                               | `uint8`  | 1     |
 | <a href="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED                                     | `uint8`  | 2     |
 | <a href="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE           | `uint8`  | 1     |
@@ -129,7 +131,7 @@ Encodes the system state of the vehicle published by commander.
 ```c
 # Encodes the system state of the vehicle published by commander
 
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 2
 
 uint64 timestamp # time since system start (microseconds)
 
@@ -192,6 +194,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
 uint8 NAVIGATION_STATE_MAX = 31
 
 uint8 executor_in_charge                        # Current mode executor in charge (0=Autopilot)
+uint8 nav_state_display                         # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
 
 uint32 valid_nav_states_mask                    # Bitmask for all valid nav_state values
 uint32 can_set_nav_states_mask                  # Bitmask for all modes that a user can select
@@ -255,6 +258,8 @@ bool open_drone_id_system_healthy
 bool parachute_system_present
 bool parachute_system_healthy
 
+bool traffic_avoidance_system_present
+
 bool rc_calibration_in_progress
 bool calibration_enabled
 

docs/en/msg_docs/VehicleStatusV1.md

@@ -0,0 +1,286 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleStatusV1 (UORB message)
+
+Encodes the system state of the vehicle published by commander.
+
+**TOPICS:** vehicle_statusv1
+
+## Fields
+
+| Name                         | Type     | Unit [Frame]   | Range/Enum                                    | Description                                                                                     |
+| ---------------------------- | -------- | -------------- | --------------------------------------------- | ----------------------------------------------------------------------------------------------- |
+| timestamp                    | `uint64` | us             |                                               | Time since system start                                                                         |
+| armed_time                   | `uint64` | us             |                                               | Arming timestamp                                                                                |
+| takeoff_time                 | `uint64` | us             |                                               | Takeoff timestamp                                                                               |
+| arming_state                 | `uint8`  |                |                                               |
+| latest_arming_reason         | `uint8`  |                |                                               |
+| latest_disarming_reason      | `uint8`  |                |                                               |
+| nav_state_timestamp          | `uint64` |                |                                               | Time when current nav_state activated                                                           |
+| nav_state_user_intention     | `uint8`  |                |                                               | Mode that the user selected (might be different from nav_state in a failsafe situation)         |
+| nav_state                    | `uint8`  |                | [NAVIGATION_STATE](#NAVIGATION_STATE)         | Currently active mode                                                                           |
+| executor_in_charge           | `uint8`  |                |                                               | Current mode executor in charge (0=Autopilot)                                                   |
+| valid_nav_states_mask        | `uint32` |                |                                               | Bitmask for all valid nav_state values                                                          |
+| can_set_nav_states_mask      | `uint32` |                |                                               | Bitmask for all modes that a user can select                                                    |
+| failure_detector_status      | `uint16` |                | [FAILURE](#FAILURE)                           |
+| hil_state                    | `uint8`  | enum HIL_STATE |                                               |
+| vehicle_type                 | `uint8`  |                | [VEHICLE_TYPE](#VEHICLE_TYPE)                 |
+| failsafe                     | `bool`   |                |                                               | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)                           |
+| failsafe_and_user_took_over  | `bool`   |                |                                               | true if system is in failsafe state but the user took over control                              |
+| failsafe_defer_state         | `uint8`  |                | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) |
+| gcs_connection_lost          | `bool`   |                |                                               | datalink to GCS lost                                                                            |
+| gcs_connection_lost_counter  | `uint8`  |                |                                               | counts unique GCS connection lost events                                                        |
+| high_latency_data_link_lost  | `bool`   |                |                                               | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
+| is_vtol                      | `bool`   |                |                                               | True if the system is VTOL capable                                                              |
+| is_vtol_tailsitter           | `bool`   |                |                                               | True if the system performs a 90° pitch down rotation during transition from MC to FW           |
+| in_transition_mode           | `bool`   |                |                                               | True if VTOL is doing a transition                                                              |
+| in_transition_to_fw          | `bool`   |                |                                               | True if VTOL is doing a transition from MC to FW                                                |
+| system_type                  | `uint8`  |                |                                               | system type, contains mavlink MAV_TYPE                                                          |
+| system_id                    | `uint8`  |                |                                               | system id, contains MAVLink's system ID field                                                   |
+| component_id                 | `uint8`  |                |                                               | subsystem / component id, contains MAVLink's component ID field                                 |
+| safety_button_available      | `bool`   |                |                                               | Set to true if a safety button is connected                                                     |
+| safety_off                   | `bool`   |                |                                               | Set to true if safety is off                                                                    |
+| power_input_valid            | `bool`   |                |                                               | Set if input power is valid                                                                     |
+| usb_connected                | `bool`   |                |                                               | Set to true (never cleared) once telemetry received from usb link                               |
+| open_drone_id_system_present | `bool`   |                |                                               |
+| open_drone_id_system_healthy | `bool`   |                |                                               |
+| parachute_system_present     | `bool`   |                |                                               |
+| parachute_system_healthy     | `bool`   |                |                                               |
+| rc_calibration_in_progress   | `bool`   |                |                                               |
+| calibration_enabled          | `bool`   |                |                                               |
+| pre_flight_checks_pass       | `bool`   |                |                                               | true if all checks necessary to arm pass                                                        |
+
+## Enums
+
+### NAVIGATION_STATE {#NAVIGATION_STATE}
+
+| Name                                                                                    | Type    | Value | Description                           |
+| --------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------- |
+| <a href="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL                         | `uint8` | 0     | Manual mode                           |
+| <a href="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL                         | `uint8` | 1     | Altitude control mode                 |
+| <a href="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL                         | `uint8` | 2     | Position control mode                 |
+| <a href="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION             | `uint8` | 3     | Auto mission mode                     |
+| <a href="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER               | `uint8` | 4     | Auto loiter mode                      |
+| <a href="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL                     | `uint8` | 5     | Auto return to launch mode            |
+| <a href="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW           | `uint8` | 6     |
+| <a href="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5                           | `uint8` | 7     |
+| <a href="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE       | `uint8` | 8     | Altitude with Cruise mode             |
+| <a href="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3                           | `uint8` | 9     |
+| <a href="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO                             | `uint8` | 10    | Acro mode                             |
+| <a href="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2                           | `uint8` | 11    |
+| <a href="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND                       | `uint8` | 12    | Descend mode (no position control)    |
+| <a href="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION               | `uint8` | 13    | Termination mode                      |
+| <a href="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD                     | `uint8` | 14    |
+| <a href="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB                             | `uint8` | 15    | Stabilized mode                       |
+| <a href="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1                           | `uint8` | 16    |
+| <a href="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF             | `uint8` | 17    | Takeoff                               |
+| <a href="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND                   | `uint8` | 18    | Land                                  |
+| <a href="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19    | Auto Follow                           |
+| <a href="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND           | `uint8` | 20    | Precision land with landing target    |
+| <a href="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT                           | `uint8` | 21    | Orbit in a circle                     |
+| <a href="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF   | `uint8` | 22    | Takeoff, transition, establish loiter |
+| <a href="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1                   | `uint8` | 23    |
+| <a href="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2                   | `uint8` | 24    |
+| <a href="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3                   | `uint8` | 25    |
+| <a href="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4                   | `uint8` | 26    |
+| <a href="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5                   | `uint8` | 27    |
+| <a href="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6                   | `uint8` | 28    |
+| <a href="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7                   | `uint8` | 29    |
+| <a href="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8                   | `uint8` | 30    |
+| <a href="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX                               | `uint8` | 31    |
+
+### FAILURE {#FAILURE}
+
+| Name                                                            | Type     | Value | Description |
+| --------------------------------------------------------------- | -------- | ----- | ----------- |
+| <a href="#FAILURE_NONE"></a> FAILURE_NONE                       | `uint16` | 0     |
+| <a href="#FAILURE_ROLL"></a> FAILURE_ROLL                       | `uint16` | 1     | (1 << 0)    |
+| <a href="#FAILURE_PITCH"></a> FAILURE_PITCH                     | `uint16` | 2     | (1 << 1)    |
+| <a href="#FAILURE_ALT"></a> FAILURE_ALT                         | `uint16` | 4     | (1 << 2)    |
+| <a href="#FAILURE_EXT"></a> FAILURE_EXT                         | `uint16` | 8     | (1 << 3)    |
+| <a href="#FAILURE_ARM_ESC"></a> FAILURE_ARM_ESC                 | `uint16` | 16    | (1 << 4)    |
+| <a href="#FAILURE_BATTERY"></a> FAILURE_BATTERY                 | `uint16` | 32    | (1 << 5)    |
+| <a href="#FAILURE_IMBALANCED_PROP"></a> FAILURE_IMBALANCED_PROP | `uint16` | 64    | (1 << 6)    |
+| <a href="#FAILURE_MOTOR"></a> FAILURE_MOTOR                     | `uint16` | 128   | (1 << 7)    |
+
+### VEHICLE_TYPE {#VEHICLE_TYPE}
+
+| Name                                                              | Type    | Value | Description |
+| ----------------------------------------------------------------- | ------- | ----- | ----------- |
+| <a href="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0     |
+| <a href="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING | `uint8` | 1     |
+| <a href="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING   | `uint8` | 2     |
+| <a href="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER             | `uint8` | 3     |
+
+### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE}
+
+| Name                                                                                    | Type    | Value | Description                                      |
+| --------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------ |
+| <a href="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED             | `uint8` | 0     |
+| <a href="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED               | `uint8` | 1     |
+| <a href="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2     | Failsafes deferred, but would trigger a failsafe |
+
+## Constants
+
+| Name                                                                                      | Type     | Value | Description |
+| ----------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                           | `uint32` | 1     |
+| <a href="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED                               | `uint8`  | 1     |
+| <a href="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED                                     | `uint8`  | 2     |
+| <a href="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE           | `uint8`  | 1     |
+| <a href="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH                   | `uint8`  | 2     |
+| <a href="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL     | `uint8`  | 3     |
+| <a href="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL     | `uint8`  | 4     |
+| <a href="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START           | `uint8`  | 5     |
+| <a href="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING                       | `uint8`  | 6     |
+| <a href="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8`  | 7     |
+| <a href="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH               | `uint8`  | 8     |
+| <a href="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON                   | `uint8`  | 13    |
+| <a href="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE                     | `uint8`  | 14    |
+| <a href="#HIL_STATE_OFF"></a> HIL_STATE_OFF                                               | `uint8`  | 0     |
+| <a href="#HIL_STATE_ON"></a> HIL_STATE_ON                                                 | `uint8`  | 1     |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV1.msg)
+
+::: details Click here to see original file
+
+```c
+# Encodes the system state of the vehicle published by commander
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+uint64 armed_time # [us] Arming timestamp
+uint64 takeoff_time # [us] Takeoff timestamp
+
+uint8 arming_state
+uint8 ARMING_STATE_DISARMED = 1
+uint8 ARMING_STATE_ARMED = 2
+
+uint8 latest_arming_reason
+uint8 latest_disarming_reason
+uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
+uint8 ARM_DISARM_REASON_RC_SWITCH = 2
+uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
+uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
+uint8 ARM_DISARM_REASON_MISSION_START = 5
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14
+
+uint64 nav_state_timestamp # Time when current nav_state activated
+
+uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
+
+uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
+uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
+uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
+uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
+uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
+uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
+uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
+uint8 NAVIGATION_STATE_POSITION_SLOW = 6
+uint8 NAVIGATION_STATE_FREE5 = 7
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
+uint8 NAVIGATION_STATE_FREE3 = 9
+uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
+uint8 NAVIGATION_STATE_FREE2 = 11
+uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
+uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
+uint8 NAVIGATION_STATE_OFFBOARD = 14
+uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
+uint8 NAVIGATION_STATE_FREE1 = 16
+uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
+uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
+uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
+uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
+uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
+uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
+uint8 NAVIGATION_STATE_EXTERNAL1 = 23
+uint8 NAVIGATION_STATE_EXTERNAL2 = 24
+uint8 NAVIGATION_STATE_EXTERNAL3 = 25
+uint8 NAVIGATION_STATE_EXTERNAL4 = 26
+uint8 NAVIGATION_STATE_EXTERNAL5 = 27
+uint8 NAVIGATION_STATE_EXTERNAL6 = 28
+uint8 NAVIGATION_STATE_EXTERNAL7 = 29
+uint8 NAVIGATION_STATE_EXTERNAL8 = 30
+uint8 NAVIGATION_STATE_MAX = 31
+
+uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
+
+uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
+uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select
+
+# Bitmask of detected failures
+uint16 failure_detector_status # [@enum FAILURE]
+uint16 FAILURE_NONE = 0
+uint16 FAILURE_ROLL = 1 # (1 << 0)
+uint16 FAILURE_PITCH = 2 # (1 << 1)
+uint16 FAILURE_ALT = 4 # (1 << 2)
+uint16 FAILURE_EXT = 8 # (1 << 3)
+uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
+uint16 FAILURE_BATTERY = 32 # (1 << 5)
+uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
+uint16 FAILURE_MOTOR = 128 # (1 << 7)
+
+uint8 hil_state # [enum HIL_STATE]
+uint8 HIL_STATE_OFF = 0
+uint8 HIL_STATE_ON = 1
+
+# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
+uint8 vehicle_type # [@enum VEHICLE_TYPE]
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3
+
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
+bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
+bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
+
+# Link loss
+bool gcs_connection_lost # datalink to GCS lost
+uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
+bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
+
+# VTOL flags
+bool is_vtol # True if the system is VTOL capable
+bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
+bool in_transition_mode # True if VTOL is doing a transition
+bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
+
+# MAVLink identification
+uint8 system_type # system type, contains mavlink MAV_TYPE
+uint8 system_id # system id, contains MAVLink's system ID field
+uint8 component_id # subsystem / component id, contains MAVLink's component ID field
+
+bool safety_button_available # Set to true if a safety button is connected
+bool safety_off # Set to true if safety is off
+
+bool power_input_valid # Set if input power is valid
+bool usb_connected # Set to true (never cleared) once telemetry received from usb link
+
+bool open_drone_id_system_present
+bool open_drone_id_system_healthy
+
+bool parachute_system_present
+bool parachute_system_healthy
+
+bool rc_calibration_in_progress
+bool calibration_enabled
+
+bool pre_flight_checks_pass # true if all checks necessary to arm pass
+```
+
+:::

docs/en/msg_docs/index.md

@@ -269,3 +269,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
 - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
 - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
+- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.

docs/en/peripherals/adsb_flarm.md

@@ -78,6 +78,23 @@ Configure the action when there is a potential collision using the parameter bel
 | <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER)    | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)).                                                 |
 | <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |
 
+### Arming Check
+
+PX4 can be configured to check for the presence of a traffic avoidance system (ADSB or FLARM transponder) before arming.
+This ensures that a traffic avoidance system is connected and functioning before flight.
+
+The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
+
+| Value | Description                                                                                                                |
+| ----- | -------------------------------------------------------------------------------------------------------------------------- |
+| 0     | Disabled (default). No check is performed.                                                                                 |
+| 1     | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed.                       |
+| 2     | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode.             |
+| 3     | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |
+
+When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout.
+If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained").
+
 ## Implementation
 
 ### ADSB/FLARM

docs/en/peripherals/vertiq.md

@@ -38,6 +38,18 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [
 
 These instructions walk you through setting the correct parameters for enabling the flight controller's DroneCAN drivers, setting the correct configuration parameters for communication with Vertiq modules on the DroneCAN bus, ESC configuration, and testing that your flight controller can properly control your modules over DroneCAN.
 
+#### LED Configuration for Vertiq Modules
+
+::: info
+This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons).
+Standard Vertiq ESC modules do not include LEDs.
+:::
+
+Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision).
+See [DroneCAN Lights](../dronecan/index.md#lights) for configuration instructions.
+
+The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White.
+
 ### DShot/PWM Configuration
 
 Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html).

docs/en/ros/mavros_installation.md

@@ -26,7 +26,7 @@ They cover the _ROS Melodic and Noetic_ releases.
 
 ::: tab ROS Noetic (Ubuntu 20.04)
 
-If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04:
+If you're working with [ROS "Noetic"](https://wiki.ros.org/noetic) on Ubuntu 20.04:
 
 1. Install PX4 without the simulator toolchain:
    1. [Download PX4 Source Code](../dev_setup/building_px4.md):
@@ -57,7 +57,7 @@ If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04
 
 ::: tab ROS Melodic (Ubuntu 18.04)
 
-If you're working with ROS "Melodic on Ubuntu 18.04:
+If you're working with ROS "Melodic" on Ubuntu 18.04:
 
 1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell:
 

docs/en/sensor/grf_lidar.md

@@ -0,0 +1,69 @@
+# Lightware GRF250/GRF500 Gimbal Lidar
+
+LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
+
+![LightWare GRF250 Gimbal Lidar](../../assets/hardware/sensors/lidar_lightware/grf_500.png)
+
+::: info
+The Lidar driver is not included in the default build of PX4.
+You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
+:::
+
+## Where to Buy
+
+Order these modules from:
+
+- [GRF250](https://lightwarelidar.com/shop/grf-250/)
+- [GRF500](https://lightwarelidar.com/shop/grf-500/)
+
+## Hardware Setup
+
+The rangefinder can be connected to any unused serial port, such as `TELEM2`.
+[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
+
+## PX4 Setup
+
+### Add the Driver to the PX4 Build
+
+The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
+In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
+
+1. Update the firmware configuration. You can use either of the following options:
+   - Menuconfig:
+     1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
+     2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
+     3. Select/Enable `lightware_grf_serial`
+     4. Save the configuration
+
+   - Manually update `default.px4` to include the configuration key:
+     1. Open the `default.px4board` config file that corresponds to the board you want to build for.
+        For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
+     2. Add the following line and save the file:
+
+        ```txt
+        CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
+        ```
+
+2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
+
+### Parameter Configuration
+
+You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
+
+The [parameters to change](../advanced_config/parameters.md) are listed in the table.
+
+| Parameter                                                                                                | Description                                        |
+| -------------------------------------------------------------------------------------------------------- | -------------------------------------------------- |
+| <a id="SENS_EN_GRF_CFG"></a>[SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
+| <a id="GRF_UPDATE_CFG"></a>[GRF_UPDATE_CFG](../advanced_config/parameter_reference.md#GRF_UPDATE_CFG)    | Set the update rate.                               |
+| <a id="GRF_SENS_MODEL"></a>[GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL)    | Set the update rate.                               |
+
+## Testing
+
+You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
+
+Moving the sensor around at various distances from a surface will have the `current_distance` value change.
+
+## Troubleshooting
+
+If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)

docs/en/sensor/sfxx_lidar.md

@@ -15,8 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
-| [GRF250](https://lightwarelidar.com/shop/grf-250/)      | 250       | I2C               | Gimbal Range Finder                                                                        |
-| [GRF500](https://lightwarelidar.com/shop/grf-500/)      | 500       | I2C               | Gimbal Range Finder                                                                        |
+| [GRF250](../sensor/grf_lidar.md)                        | 250       | Serial or I2C     | Gimbal Range Finder                                                                        |
+| [GRF500](../sensor/grf_lidar.md)                        | 500       | Serial or I2C     | Gimbal Range Finder                                                                        |
 
 ::: details Discontinued
 
@@ -69,6 +69,9 @@ VTOL vehicles may choose to also set [SF1XX_MODE](../advanced_config/parameter_r
 ::: tip
 [SF45/B](../sensor/sf45_rotating_lidar.md) setup is covered in the linked document.
 :::
+::: tip
+[GRF250/GRF500](../sensor/grf_lidar.md) setup is covered in the linked document.
+:::
 
 ### Hardware
 

docs/en/test_and_ci/continous_integration.md

@@ -2,6 +2,512 @@
 
 PX4 uses GitHub Actions for continuous integration, with different workflows handling code builds, testing, and documentation.
 
+## Code CI
+
+PX4 builds and testing are performed using GitHub Actions with a waterfall/staged pipeline architecture to optimize costs and provide fast developer feedback.
+
+### CI Architecture Overview
+
+PX4 uses a **4-tier waterfall pipeline** that ensures expensive AWS-hosted integration tests only run after basic checks pass. This architecture prevents costly runs when simple issues like formatting errors are present.
+
+#### Pipeline Structure
+
+```
+┌─────────────────────────────────────────────┐
+│ TIER 1: Gate Checks (2-5 min)              │
+│ • Format checks, shellcheck, Python linting │
+│ • GitHub-hosted runners (free/cheap)        │
+│ • fail-fast: stops on first failure         │
+└─────────────────┬───────────────────────────┘
+                  │ ALL PASS
+                  ▼
+┌─────────────────────────────────────────────┐
+│ TIER 2: Builds, Analysis & Platform Checks │
+│   (10-30 min)                               │
+│ • SITL build + cache seed (PX4 + Gazebo)    │
+│ • Unit tests, static analysis, EKF checks   │
+│ • Ubuntu/macOS builds, ITCM, flash analysis │
+│ • Failsafe web simulator (Emscripten)       │
+│ • Mixed runners (AWS 4cpu + GitHub)          │
+└─────────────────┬───────────────────────────┘
+                  │ ALL PASS
+                  ▼
+┌─────────────────────────────────────────────┐
+│ TIER 3: Integration Tests (30-45 min)      │
+│ • SITL tests (Gazebo + MAVSDK, 20x speed)   │
+│ • ROS2 integration, MAVROS tests             │
+│ • ROS translation node (humble + jazzy)      │
+│ • AWS Self-hosted 8cpu runners               │
+└─────────────────┬───────────────────────────┘
+                  │ ALL PASS
+                  ▼
+┌─────────────────────────────────────────────┐
+│ TIER 4: Full Build Matrix (30-60 min)      │
+│ • Build all board targets                   │
+│ • AWS 8cpu runners (most expensive)         │
+│ • Only on main/stable/beta/release/tags     │
+└─────────────────────────────────────────────┘
+```
+
+### Active Workflows
+
+#### Core CI
+
+**[ci-orchestrator.yml](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/ci-orchestrator.yml)** - Main CI Pipeline
+- Runs on all PRs and pushes
+- Implements Tiers 1-4 with cascading dependencies
+- Fails fast to save costs and provide quick feedback
+- Uses concurrency control to cancel outdated runs
+
+**[build_all_targets.yml](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml)** - Full Board Build Matrix
+- Triggered by orchestrator completion on PRs
+- Runs independently on tagged releases
+- Builds all board configurations
+- Uploads artifacts to S3 and GitHub Releases
+
+#### Infrastructure Workflows
+
+- **dev_container.yml** - Docker container builds for development environment
+- **fuzzing.yml** - Daily fuzzing tests for security
+
+#### Maintenance Workflows
+
+- **ekf_update_change_indicator.yml** - Track EKF functional changes
+- **label.yml** - Auto-label PRs based on modified files
+- **stale.yml** - Mark and close stale issues/PRs
+- **sync_to_px4_msgs.yml** - Sync ROS message definitions to px4_msgs repo
+
+### CI Tier Details
+
+#### Tier 1: Gate Checks (2-5 minutes)
+
+**Purpose:** Catch common errors quickly before spinning up expensive resources.
+
+**Jobs:**
+- Format checks (`check_format`)
+- Newline checks (`check_newlines`)
+- Shellcheck for bash scripts
+- Python linting (mypy, flake8) for MAVSDK tests
+
+**Runner:** GitHub-hosted `ubuntu-latest`
+
+**Behavior:** `fail-fast: true` - stops all jobs immediately on first failure
+
+#### Tier 2: Builds, Analysis & Platform Checks (10-30 minutes)
+
+**Purpose:** Validate code compiles, passes unit tests, and builds on all platforms. This tier runs all build and analysis jobs in parallel to minimize wall-clock time.
+
+**Jobs:**
+- **Build SITL Cache Seed** - Builds `px4_sitl_default` and Gazebo Classic plugins, seeds the ccache for downstream SITL test jobs
+- **Basic Tests** - Unit tests, module configuration validation, module documentation checks, and EKF functional change detection (PRs only — checks `src/modules/ekf2/test/change_indication` for uncommitted diff after running EKF tests)
+- **Clang-tidy** static analysis (16cpu runner); incremental on PRs (changed files only), full scan on push to main/stable/beta/release
+- **Clang-tidy PR Annotations** - Posts inline line-level review comments with one-click fix suggestions via `platisd/clang-tidy-pr-comments`; same-repo PRs only, informational (does not block merge)
+- **Ubuntu builds** (22.04, 24.04) on AWS 4cpu runners
+- **macOS build** on GitHub macOS runners
+- **ITCM memory checks** for 4 NuttX targets (fmu-v5x, fmu-v6xrt, tropic variants)
+- **Flash analysis** using bloaty for 2 targets (fmu-v5x, fmu-v6x), with PR comment
+- **Failsafe web simulator** build (Emscripten, cached SDK)
+
+**Runners:** Mixed (AWS 4cpu-linux-x64, 16cpu for clang-tidy, 2cpu for clang-tidy annotations, GitHub macos-latest)
+
+**Behavior:** Only runs if Tier 1 passes completely; `fail-fast: false` to let all jobs attempt
+
+#### Tier 3: Integration Tests (30-45 minutes)
+
+**Purpose:** Run expensive simulation and integration tests.
+
+**Jobs:**
+- **SITL Tests** - Gazebo Classic simulation with MAVSDK test suite at 20x speed factor (iris, tailsitter, standard_vtol models)
+- **ROS2 Integration** - Build and test ROS2 interface library
+- **MAVROS Mission Tests** - Mission execution tests
+- **MAVROS Offboard Tests** - Offboard control tests
+- **ROS Translation Node** - Tests for humble and jazzy distributions
+
+**Runners:** AWS Self-hosted 8cpu-linux-x64
+
+**Behavior:** Only runs if all Tier 2 jobs pass; `fail-fast: false` to collect all test results
+
+**Timeout:** 45 minutes per job
+
+#### Tier 4: Full Build Matrix (30-60 minutes)
+
+**Purpose:** Build all board targets for firmware distribution.
+
+**Trigger:**
+- Automatically after orchestrator succeeds (for PRs)
+- Independently on main/stable/beta/release branches
+- Independently on version tags (v*)
+
+**Process:**
+1. Scan and group board targets by architecture
+2. Build targets in parallel on AWS 8cpu runners
+3. Package and upload artifacts
+
+**Artifacts:**
+- Uploaded to S3 bucket (px4-travis) for QGroundControl
+- Uploaded to GitHub Releases for version tags
+- Draft releases created for manual review before publishing
+
+**Runners:** AWS Self-hosted 8cpu-linux-x64 (most expensive)
+
+### Runner Types
+
+#### GitHub-Hosted Runners
+
+Used for Tier 1 gate checks and macOS builds.
+
+**Benefits:**
+- Fast startup (5-10 seconds)
+- Free for public repos (2,000 minutes/month)
+- Low cost when paying (~$0.008/min for Linux)
+- Reliable provisioning
+
+**Used For:**
+- Format/lint checks
+- Python linting
+- Shellcheck
+- macOS builds
+
+#### AWS Self-Hosted Runners (RunsOn)
+
+Used for Tiers 2-4 builds and tests.
+
+**Configuration:**
+- `1cpu-linux-x64` - Utility jobs (flash analysis comment publishing)
+- `2cpu-linux-x64` - Clang-tidy PR annotation posting
+- `4cpu-linux-x64` - SITL cache seed, basic tests, EKF checks, platform builds, flash analysis, ITCM checks, failsafe sim
+- `8cpu-linux-x64` - SITL integration tests, ROS integration tests, full build matrix
+- `16cpu-linux-x64` - Clang-tidy static analysis
+- `spot=false` - On-demand instances (can be changed to spot for 60-70% savings)
+
+**Used For:**
+- SITL simulation tests (8cpu for Gazebo physics at 20x speed)
+- ROS integration tests (8cpu for parallel compilation of xrce-dds and ROS2 libraries)
+- Full board compilation (8cpu)
+- Platform builds and analysis (4cpu)
+
+### Fork CI Configuration
+
+Forks can run CI without AWS self-hosted runners. There are two paths depending on how much of the pipeline you need.
+
+#### Option 1: Configure the Orchestrator
+
+Use the full orchestrator with settings tuned for your fork's infrastructure. This gives you access to all tiers, job toggles, and cache tuning.
+
+1. Copy the example config:
+
+   ```bash
+   cp .github/ci-config.yml.example .github/ci-config.yml
+   ```
+
+2. Edit `.github/ci-config.yml` to match your setup:
+   - **Runner labels** -- point all tiers to `ubuntu-latest` (or your own self-hosted labels)
+   - **Job toggles** -- disable hardware-specific jobs (ITCM, flash analysis, platform builds) that don't apply to your fork
+   - **Cache sizes** -- GitHub provides 10 GB per repo; the example config uses roughly 15-20% of that with most upstream-specific jobs disabled
+   - **`is_gha` flag** -- set to `true` when running on GitHub-hosted runners (wired for future infrastructure-aware behavior)
+
+3. Commit the file and push. The orchestrator reads it at runtime and applies your overrides.
+
+This configuration has been validated end-to-end on GitHub-hosted `ubuntu-latest` runners: [successful run](https://github.com/PX4/PX4-Autopilot/actions/runs/22746668606).
+
+#### Option 2: Use the Simple CI Workflow
+
+If you only need basic validation (SITL build, one hardware target, unit tests, format checks), use the single-job workflow instead of the full orchestrator.
+
+1. Rename the example file:
+
+   ```bash
+   mv .github/workflows/ci-simple.yml.example .github/workflows/ci-simple.yml
+   ```
+
+2. Optionally delete `ci-orchestrator.yml` to avoid running both workflows.
+
+3. Enable GitHub Actions in your fork settings if not already enabled.
+
+The simple workflow runs a single `quick-check` job on `ubuntu-latest` that builds PX4 SITL, FMU-v5, runs unit tests, and checks formatting. It typically completes in under 15 minutes and has no AWS or self-hosted runner dependencies.
+
+### Cost Optimization Features
+
+#### 1. Cascading Dependencies
+
+Each tier only executes if the previous tier passes completely. This prevents expensive AWS runners from spinning up when basic checks fail.
+
+**Example:**
+- Format error detected in 2 minutes (Tier 1)
+- Pipeline stops immediately
+- AWS runners never start
+- Cost: ~$0.01 vs ~$5 for full run
+
+#### 2. Fail-Fast Strategy
+
+Tier 1 uses `fail-fast: true` to stop all parallel jobs on the first failure, providing immediate feedback to developers.
+
+#### 3. Concurrency Control
+
+All workflows use `cancel-in-progress: true` to automatically stop outdated runs when developers push new commits.
+
+#### 4. Branch-Aware Execution
+
+The full build matrix (Tier 4) only runs on important branches:
+- main, stable, beta
+- release/* branches
+- Version tags (v*)
+
+Feature branch PRs skip the expensive full build after validation in Tiers 1-3.
+
+#### 5. Path-Based Filtering
+
+Most CI workflows ignore changes to `docs/**` paths to avoid unnecessary builds when only documentation is modified.
+
+### Developer Experience
+
+#### Quick Feedback Loop
+
+The waterfall architecture provides progressively detailed feedback:
+
+| Issue Type | Detection Time | Tier | Cost Impact |
+|------------|---------------|------|-------------|
+| Format error | 2 minutes | Tier 1 | ~$0.01 |
+| Unit test / build failure | 15 minutes | Tier 2 | ~$0.50 |
+| Integration test failure | 45 minutes | Tier 3 | ~$2.00 |
+| Board target failure | 90 minutes | Tier 4 | ~$5.00 |
+
+#### Before/After Comparison
+
+**Before (28 separate workflows):**
+- All workflows start simultaneously on every PR
+- Format error detected at 2 min, but expensive tests run for 45+ min anyway
+- Total wasted compute: ~43 minutes of AWS 4cpu + 8cpu runners
+- Cost per failed PR: ~$5-10
+
+**After (Orchestrator + Build All Targets):**
+- Format error detected at 2 min
+- Pipeline stops immediately after Tier 1
+- Total wasted compute: ~2 minutes of GitHub-hosted runners
+- Cost per failed PR: ~$0.01
+- **Savings: ~99% on early failures, ~40-60% overall**
+
+### Caching Strategy
+
+The CI orchestrator uses several caching mechanisms to avoid redundant work across jobs and runs.
+
+#### ccache (C++ compilation cache)
+
+ccache caches compiled object files so unchanged source files skip recompilation on subsequent runs.
+
+**Cache keys follow this fallback pattern:**
+
+```
+ccache-{scope}-{branch}-{sha}     # exact match (never hits, since sha is unique)
+ccache-{scope}-{branch}-          # same branch, most recent commit
+ccache-{scope}-{base_branch}-     # base branch (e.g. main), for PR first runs
+ccache-{scope}-                   # any branch, last resort
+```
+
+The exact-match key (`{sha}`) is used as the **save** key. Since GitHub Actions cache is immutable (write-once), each commit saves a new cache entry. The restore step falls through to the most recent cache from the same branch, or the base branch.
+
+**Cache scopes and sizes:**
+
+| Scope | Key prefix | Max size | Contents | Saved by |
+|-------|-----------|----------|----------|----------|
+| `ccache-sitl` | `ccache-sitl-` | 400M | PX4 SITL firmware + Gazebo Classic plugins | `build-sitl` (cache seed job) |
+| `ccache-clang-tidy` | `ccache-clang-tidy-` | 250M | Clang-tidy analysis objects | `clang-tidy` |
+| `ccache-ubuntu` | `ccache-ubuntu-{container}-` | 250M | Ubuntu build objects (per container version) | `ubuntu-builds` |
+| `ccache-macos` | `ccache-macos-` | 400M | macOS build objects | `macos-build` |
+| `ccache-ros-integration` | `ccache-ros-integration-` | 500M | PX4 + xrce-dds + Gazebo + ROS2 libraries | `ros-integration-tests` |
+| `ccache-ros-translation-{ros}` | `ccache-ros-translation-{ros_version}-` | 250M | ROS translation node build objects (per ROS distro) | `ros-translation-node` |
+| `ccache-flash-{target}-current` | `ccache-flash-{target}-current-` | 250M | Flash analysis objects for PR HEAD (per board target) | `flash-analysis` |
+| `ccache-flash-{target}-baseline` | `ccache-flash-{target}-baseline-` | 250M | Flash analysis objects for baseline commit (per board target) | `flash-analysis` |
+| `px4-ros2-ws` | `px4-ros2-ws-v1-galactic-{image}-{msg-hash}` | — | PX4 ROS 2 Interface Library workspace at `/opt/px4_ws` (keyed on msg hash) | `ros-integration-tests` |
+
+**Cache seed pattern:** The `build-sitl` job acts as a cache seed for all downstream SITL-related jobs. It builds both `px4_sitl_default` and `sitl_gazebo-classic`, then saves the combined ccache. Downstream jobs (`basic-tests`, `ekf-functional-check`, `sitl-tests`) restore this cache using `actions/cache/restore` (read-only) and get near-100% hit rates without needing to save their own caches.
+
+**ccache configuration (all jobs):**
+
+| Setting | Value | Purpose |
+|---------|-------|---------|
+| `base_dir` | `${GITHUB_WORKSPACE}` | Normalize paths for cache portability |
+| `compression` | `true` | Reduce cache storage size |
+| `compression_level` | `6` | Balance compression ratio vs speed |
+| `hash_dir` | `false` | Ignore directory paths in hash (portability) |
+| `compiler_check` | `content` | Hash compiler binary content, not path/mtime |
+
+#### Emscripten SDK cache
+
+The failsafe web simulator job caches the Emscripten SDK directory to avoid re-cloning and installing it on every run.
+
+| Key | Path | Contents |
+|-----|------|----------|
+| `emsdk-4.0.15` | `_emscripten_sdk` | Full emsdk installation (pinned to version 4.0.15) |
+
+This is a simple version-pinned key. Updating the emsdk version in the workflow automatically invalidates the cache.
+
+#### macOS Homebrew and pip caches
+
+The macOS build job caches Homebrew packages and pip installations to avoid re-downloading dependencies.
+
+#### Why separate cache scopes?
+
+Different jobs use different compilers, flags, and build targets. Sharing a single ccache across all jobs would cause constant eviction as incompatible objects compete for space. Separate scopes ensure each job's cache stays warm with relevant objects.
+
+#### CI Status
+
+Check which tier failed by looking at the job names in the GitHub Actions UI:
+
+- Tier 1 failure (T1 prefix) - Gate checks (format, lint) - Fix formatting/style issues
+- Tier 2 failure (T2 prefix) - Builds/analysis (tests, static analysis, platform builds) - Fix compilation or test failures
+- Tier 3 failure (T3 prefix) - Integration tests - Fix SITL/ROS test failures
+- All tiers passed - Ready for merge (after approvals)
+
+### Manual Workflow Triggers
+
+All workflows support manual execution via GitHub Actions UI or CLI:
+
+**Via GitHub UI:**
+1. Go to Actions tab
+2. Select the workflow
+3. Click "Run workflow"
+4. Choose branch and click "Run"
+
+**Via GitHub CLI:**
+```bash
+gh workflow run ci-orchestrator.yml
+gh workflow run build_all_targets.yml
+```
+
+This is useful for:
+- Re-running specific workflows for debugging
+- Testing workflow changes
+- Manually triggering builds on branches
+
+### Troubleshooting
+
+#### Workflow Not Triggering
+
+**Possible causes:**
+- PR only modifies `docs/**` paths (ignored by most workflows)
+- Orchestrator must complete successfully for `build_all_targets` to trigger (Tier 4)
+- Workflow was canceled by a newer commit (concurrency control)
+
+**Solution:**
+- Check the Actions tab for workflow status
+- Verify files modified are not in ignored paths
+- Wait for orchestrator to complete before expecting Tier 4
+
+#### Unexpected CI Failures
+
+**Debugging steps:**
+1. Check which tier failed by looking at job name prefixes (T1, T2, T3)
+2. Review the specific failed job logs in that tier
+3. Ensure your branch is rebased on latest main
+4. Look for infrastructure issues (runner availability, network problems)
+5. Try re-running failed jobs using "Re-run failed jobs" button
+
+#### Common Issues
+
+**Clang-tidy failures:**
+- On PRs, only changed files are analyzed. Run `python3 Tools/ci/run-clang-tidy-pr.py origin/main` locally to reproduce the incremental check
+- For a full scan (matches push-to-main behavior): `make clang-tidy`
+- Fix any warnings or use `// NOLINT` comments for false positives
+- Inline fix suggestions are posted as PR review comments by the `post-clang-tidy-comments` job (same-repo PRs only)
+
+**SITL test timeouts:**
+- Tests have a 45-minute timeout
+- Check for deadlocks or infinite loops in simulation code
+- Review MAVSDK test logs in failed artifacts
+
+**AWS runner unavailable:**
+- RunsOn provisions runners on-demand
+- Rarely, provisioning can fail due to AWS capacity
+- Re-run the workflow or wait a few minutes and try again
+
+**Checkout errors in workflow_run:**
+- The `build_all_targets` workflow (Tier 4) uses `workflow_run` trigger
+- It automatically checks out the correct commit SHA
+- If issues persist, check GitHub Actions permissions
+
+### CI Best Practices for Contributors
+
+#### Before Pushing
+
+1. **Run format checks locally:**
+   ```bash
+   make check_format
+   make shellcheck_all
+   ```
+
+2. **Run unit tests:**
+   ```bash
+   make tests
+   ```
+
+3. **Build your target configuration:**
+   ```bash
+   make px4_fmu-v5_default  # or your target
+   ```
+
+#### During PR Review
+
+- Monitor CI status in the GitHub UI
+- Address failures starting from the earliest tier
+- Don't push new commits while CI is running if possible (cancels previous run)
+- Use draft PRs to prevent expensive builds until ready
+
+#### When CI Fails
+
+1. Check which tier failed by looking at job name prefixes (T1, T2, T3)
+2. Read the failed job logs carefully
+3. Reproduce the issue locally if possible
+4. Fix the root cause, not just the symptom
+5. Consider if your changes affect other platforms/configurations
+
+### Future Optimization Opportunities
+
+#### 1. Enable Spot Instances
+
+Change `spot=false` to `spot=true` for PR testing to reduce costs by 60-70%. This requires accepting occasional (~5%) provisioning failures.
+
+#### 2. Path-Based Test Selection
+
+Only run ROS tests if ROS-related files (`msg/**`, `src/modules/uxrce_dds_client/**`) are modified.
+
+#### 3. Skip Tests on Draft PRs
+
+Add `if: github.event.pull_request.draft == false` to expensive jobs, allowing draft PRs to skip CI entirely.
+
+#### 4. Pre-built Container Images for ROS
+
+Bake xrce-dds, ROS2 libraries, and Gazebo into updated container images to eliminate build-from-source overhead in integration test jobs (currently ~5-8 minutes per job).
+
+### Migration History
+
+This waterfall architecture was introduced to replace 28 independent workflows that all ran simultaneously. The migration:
+
+- Reduced workflow files from 28 to 14
+- Eliminated 1,057 lines of redundant YAML
+- Decreased CI costs by an estimated 40-60%
+- Improved developer feedback time for common errors
+- Maintained full test coverage with smarter execution
+
+The previous workflows that were consolidated:
+- `checks.yml` -> Tiers 1 & 2
+- `python_checks.yml` -> Tier 1
+- `clang-tidy.yml` -> Tier 2
+- `compile_macos.yml` -> Tier 2
+- `compile_ubuntu.yml` -> Tier 2
+- `sitl_tests.yml` -> Tier 3
+- `ros_integration_tests.yml` -> Tier 3
+- `mavros_mission_tests.yml` -> Tier 3
+- `mavros_offboard_tests.yml` -> Tier 3
+- `ros_translation_node.yml` -> Tier 3
+- `itcm_check.yml` -> Tier 2
+- `flash_analysis.yml` -> Tier 2
+- `failsafe_sim.yml` -> Tier 2
+- `nuttx_env_config.yml` -> Tier 2
+- `ekf_functional_change_indicator.yml` -> Tier 2
+
+The original 5-tier design was subsequently optimized to 4 tiers by merging platform builds (old Tier 3) into Tier 2, since they had no data dependency on basic test results and could run in parallel. This reduced wall-clock time by ~20 minutes on successful runs.
+
 ## Documentation CI
 
 The documentation pipeline handles building, deploying, and translating the PX4 User Guide.
@@ -18,12 +524,12 @@ Jobs are organized in tiers, where each tier depends on the previous one complet
 
 | Tier | Job            | PR                           | Push / Dispatch | Description                                                   |
 | ---- | -------------- | ---------------------------- | --------------- | ------------------------------------------------------------- |
-| T1   | Detect Changes | Yes                          | —               | Checks if source code files changed (triggers metadata regen) |
-| T2   | PR Metadata    | Yes (conditional)            | —               | Builds PX4 SITL and regenerates all auto-generated docs       |
-| T2   | Metadata Sync  | —                            | Yes             | Builds PX4 SITL, regenerates metadata, auto-commits           |
-| T2   | Link Check     | Yes                          | —               | Checks for broken links in changed files, posts PR comment    |
+| T1   | Detect Changes | Yes                          | -               | Checks if source code files changed (triggers metadata regen) |
+| T2   | PR Metadata    | Yes (conditional)            | -               | Builds PX4 SITL and regenerates all auto-generated docs       |
+| T2   | Metadata Sync  | -                            | Yes             | Builds PX4 SITL, regenerates metadata, auto-commits           |
+| T2   | Link Check     | Yes                          | -               | Checks for broken links in changed files, posts PR comment    |
 | T3   | Build Site     | Yes (if docs/source changed) | Yes (after T2)  | Builds the VitePress documentation site                       |
-| T4   | Deploy         | —                            | Yes             | Deploys to AWS S3                                             |
+| T4   | Deploy         | -                            | Yes             | Deploys to AWS S3                                             |
 
 #### Pull Request Flow
 
@@ -31,15 +537,15 @@ When a PR modifies files in `docs/**` or the orchestrator workflow file itself,
 
 ```txt
 PR Event
-    │
-    ▼
+    |
+    v
 ┌─────────────────────────────────────┐
 │ T1: Detect Changes                  │
 │  • Checks if src/msg/ROMFS changed  │
 └─────────────────┬───────────────────┘
                   │
           ┌───────┴───────┐
-          ▼               ▼
+          v               v
 ┌──────────────────┐ ┌─────────────────────────┐
 │ T2: PR Metadata  │ │ T2: Link Check (~30s)   │
 │ (conditional)    │ │  • Detects changed .md   │
@@ -50,16 +556,16 @@ PR Event
 │    failsafe web  │              │
 └────────┬─────────┘              │
          └───────────┬────────────┘
-                     ▼
+                     v
 ┌─────────────────────────────────────┐
 │ T3: Build Site (~7-10 min)         │
 │  (skipped if only workflow YAML     │
-│   changed — no docs/source changes) │
+│   changed - no docs/source changes) │
 │  • Builds VitePress site            │
 │  • Verifies no build errors         │
 └─────────────────┬───────────────────┘
                   │
-                  ▼
+                  v
                 DONE
 ```
 
@@ -73,12 +579,12 @@ PR Event
 #### Push / Dispatch Flow (main/release branches)
 
 When changes are pushed to `main` or `release/**` branches (or a `workflow_dispatch` is triggered), the workflow regenerates metadata, builds, and deploys.
-Only `main` and `release/*` branches are accepted for deploy — other branches will fail with a clear error.
+Only `main` and `release/*` branches are accepted for deploy -- other branches will fail with a clear error.
 
 ```txt
 Push / Dispatch Event
-    │
-    ▼
+    |
+    v
 ┌─────────────────────────────────────┐
 │ T2: Metadata Sync (~10-15 min)     │
 │  • Builds px4_sitl_default          │
@@ -90,14 +596,14 @@ Push / Dispatch Event
 │    (with [skip ci])                 │
 └─────────────────┬───────────────────┘
                   │
-                  ▼
+                  v
 ┌─────────────────────────────────────┐
 │ T3: Build Site (~7-10 min)         │
 │  • Builds VitePress site            │
 │  • Uploads build artifact           │
 └─────────────────┬───────────────────┘
                   │
-                  ▼
+                  v
 ┌─────────────────────────────────────┐
 │ T4: Deploy (~3 min)                │
 │  • Syncs to AWS S3                  │
@@ -192,3 +698,12 @@ Jobs run on [runs-on](https://runs-on.com/) self-hosted runners with S3 cache:
 | T2: Link Check     | ubuntu-latest                  |
 | T3: Build Site     | 4 CPU                          |
 | T4: Deploy         | ubuntu-latest                  |
+
+## Contact
+
+For CI-related questions or issues:
+- GitHub Issues: Tag the CI maintainer
+- Slack: #infrastructure channel
+- Dev Call: Bring up during weekly meeting
+
+All workflows can be found in [.github/workflows/](https://github.com/PX4/PX4-Autopilot/tree/main/.github/workflows).

docs/en/test_and_ci/docker.md

@@ -1,12 +1,11 @@
 # PX4 Docker Containers
 
-Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo Classic](../sim_gazebo_classic/index.md) simulation, and [ROS](../simulation/ros_interface.md).
+Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo](../sim_gazebo_gz/index.md) simulation, and [ROS 2](../ros2/user_guide.md).
 
 This topic shows how to use the [available docker containers](#px4_containers) to access the build environment in a local Linux computer.
 
 ::: info
-Dockerfiles and README can be found on [Github here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy).
-They are built automatically on [Docker Hub](https://hub.docker.com/u/px4io/).
+The recommended `px4-dev` container is built from the [Dockerfile in the PX4-Autopilot source tree](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) by the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml).
 :::
 
 ## Prerequisites
@@ -35,33 +34,36 @@ sudo usermod -aG docker $USER
 # Log in/out again before using docker!
 ```
 
-## Container Hierarchy {#px4_containers}
+## px4-dev Container (Recommended) {#px4_containers}
 
-The available containers are on [GitHub here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy).
+The **`px4-dev`** container is the recommended container for building PX4 firmware.
+It is a single, multi-architecture container (linux/amd64 and linux/arm64) based on Ubuntu 24.04 that includes everything needed to build PX4 for NuttX hardware targets.
 
-These allow testing of various build targets and configurations (the included tools can be inferred from their names).
-The containers are hierarchical, such that containers have the functionality of their parents.
-For example, the partial hierarchy below shows that the docker container with NuttX build tools (`px4-dev-nuttx-focal`) does not include ROS 2, while the simulation containers do:
+It is published to both registries simultaneously:
 
-```plain
-- px4io/px4-dev-base-focal
-  - px4io/px4-dev-nuttx-focal
-  - px4io/px4-dev-simulation-focal
-    - px4io/px4-dev-ros-noetic
-      - px4io/px4-dev-ros2-foxy
-  - px4io/px4-dev-ros2-rolling
-- px4io/px4-dev-base-jammy
-  - px4io/px4-dev-nuttx-jammy
-```
+- **GitHub Container Registry:** [ghcr.io/px4/px4-dev](https://github.com/PX4/PX4-Autopilot/pkgs/container/px4-dev)
+- **Docker Hub:** [px4io/px4-dev](https://hub.docker.com/r/px4io/px4-dev)
 
-The most recent version can be accessed using the `latest` tag: `px4io/px4-dev-nuttx-focal:latest`
-(available tags are listed for each container on _hub.docker.com_.
-For example, the `px4io/px4-dev-nuttx-focal` tags can be found on [hub.docker.com here](https://hub.docker.com/r/px4io/px4-dev-nuttx-focal/tags?page=1&ordering=last_updated)).
+The container includes:
+
+- Ubuntu 24.04 base
+- ARM cross-compiler (`gcc-arm-none-eabi`) and Xtensa compiler (for ESP32 targets)
+- Build tools: `cmake`, `ninja`, `ccache`, `make`
+- Python 3 with PX4 build dependencies
+- NuttX toolchain libraries (`libnewlib-arm-none-eabi`, etc.)
+
+The container is built from the [Dockerfile](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) in the PX4 source tree using the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml).
+Images are tagged with the PX4 version (e.g. `px4io/px4-dev:v1.16.0`).
 
 :::tip
-Typically you should use a recent container, but not necessarily the `latest` (as this changes too often).
+A `px4-sim` container with simulation tools (Gazebo Harmonic) is planned to complement `px4-dev` for simulation workflows.
 :::
 
+### Legacy Containers
+
+The older per-distro containers from [PX4/PX4-containers](https://github.com/PX4/PX4-containers) (e.g. `px4-dev-nuttx-jammy`, `px4-dev-ros2-humble`, etc.) are no longer recommended.
+They will be replaced by `px4-dev` (for builds) and the upcoming `px4-sim` (for simulation).
+
 ## Use the Docker Container
 
 The following instructions show how to build PX4 source code on the host computer using a toolchain running in a docker container.
@@ -121,7 +123,7 @@ Where,
 - `<host_src>`: The host computer directory to be mapped to `<container_src>` in the container. This should normally be the **PX4-Autopilot** directory.
 - `<container_src>`: The location of the shared (source) directory when inside the container.
 - `<local_container_name>`: A name for the docker container being created. This can later be used if we need to reference the container again.
-- `<container>:<tag>`: The container with version tag to start - e.g.: `px4io/px4-dev-ros:2017-10-23`.
+- `<container>:<tag>`: The container with version tag to start - e.g.: `px4io/px4-dev:v1.16.0`.
 - `<build_command>`: The command to invoke on the new container. E.g. `bash` is used to open a bash shell in the container.
 
 The concrete example below shows how to open a bash shell and share the directory **~/src/PX4-Autopilot** on the host computer.
@@ -137,7 +139,7 @@ docker run -it --privileged \
 -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
 -e DISPLAY=:0 \
 --network host \
---name=px4-ros px4io/px4-dev-ros2-foxy:2022-07-31 bash
+--name=px4-dev px4io/px4-dev:v1.16.0 bash
 ```
 
 ::: info
@@ -155,7 +157,7 @@ Verify if everything works by running, for example, SITL:
 
 ```sh
 cd src/PX4-Autopilot    #This is <container_src>
-make px4_sitl_default gazebo-classic
+make px4_sitl gz_x500
 ```
 
 ### Re-enter the Container
@@ -219,7 +221,7 @@ This ensures that all files created within the container will be accessible on t
 
 #### Graphics Driver Issues
 
-It's possible that running Gazebo Classic will result in a similar error message like the following:
+It's possible that running Gazebo will result in a similar error message like the following:
 
 ```sh
 libGL error: failed to load driver: swrast
@@ -239,7 +241,7 @@ Any recent Linux distribution should work.
 
 The following configuration is tested:
 
-- OS X with VMWare Fusion and Ubuntu 14.04 (Docker container with GUI support on Parallels make the X-Server crash).
+- OS X with VMWare Fusion and Ubuntu 22.04 (Docker container with GUI support on Parallels make the X-Server crash).
 
 **Memory**
 

docs/ko/SUMMARY.md

@@ -179,6 +179,7 @@
       - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
       - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
         - [Cube 배선 퀵 스타트](assembly/quick_start_cube.md)
+      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
       - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
       - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
       - [Holybro Kakute H7](flight_controller/kakuteh7.md)
@@ -255,7 +256,7 @@
       - [Benewake TFmini 라이다](sensor/tfmini.md)
       - [LeddarOne 라이다](sensor/leddar_one.md)
       - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
         - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
       - [TeraRanger ](sensor/teraranger.md)
       - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
@@ -932,6 +933,7 @@
   - [라이센스](contribute/licenses.md)
 
 - [출시](releases/index.md)
+  - [Release Process](releases/release_process.md)
   - [main (alpha)](releases/main.md)
   - [1.17 (alpha)](releases/1.17.md)
   - [1.16 (stable)](releases/1.16.md)

docs/ko/companion_computer/ark_jetson_pab_carrier.md

@@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook
 ## 사양
 
 - **Power Requirements**
-
   - 5V
   - 4A minimum (dependent on usage and peripherals)
 
 - **Additional Features**
-
   - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf))
   - MicroSD Slot
   - USA-built, NDAA compliant
   - Integrated 1W heater for sensor stability in extreme conditions
 
 - **Physical Details**
-
   - Weight:
     - Without Jetson and Flight Controller – 80g
     - With Jetson, no heatsink or Flight Controller – 108g

docs/ko/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md

@@ -170,7 +170,6 @@ To enable this MAVLink instance on the FC:
    ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
 
 2. [Set the parameters](../advanced_config/parameters.md):
-
    - `MAV_1_CONFIG` = `102`
    - `MAV_1_MODE = 2`
    - `SER_TEL2_BAUD` = `921600`
@@ -184,7 +183,6 @@ On the RPi side:
 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle).
 
 2. Enable the RPi serial port by running `RPi-config`
-
    - Go to `3 Interface Options`, then `I6 Serial Port`.
      Then choose:
      - `login shell accessible over serial → No`

docs/ko/companion_computer/pixhawk_rpi.md

@@ -145,7 +145,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
    ```
 
 3. Go to the **Interface Option** and then click **Serial Port**.
-
    - Select **No** to disable serial login shell.
    - Select **Yes** to enable the serial interface.
    - Click **Finish** and restart the RPi.
@@ -164,7 +163,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
    ```
 
 6. Then save the file and restart the RPi.
-
    - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
 
 7. Check that the serial port is available.

docs/ko/computer_vision/collision_prevention.md

@@ -214,7 +214,6 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
    In the **Script Editor** tab, add following scripts in the appropriate sections:
-
    - **Global code, executed once:**
 
      ```lua

docs/ko/concept/flight_tasks.md

@@ -33,7 +33,6 @@ The instructions below might be used to create a task named _MyTask_:
    - FlightTaskMyTask.cpp
 
 3. Update **CMakeLists.txt** for the new task
-
    - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt)
 
    - Update the copyright to the current year

docs/ko/config/_autotune.md

@@ -84,16 +84,9 @@ The test steps are:
    If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
 
    </div></div>
-
    1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
 
-      ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
-
-   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
-
-   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
-
-   4. Read the warning popup and click on **OK** to start tuning.
+   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.
 
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
 

docs/ko/config/level_horizon_calibration.md

@@ -22,7 +22,6 @@ Performing this calibration step is only recommended if the autopilot's orientat
 :::
 
 4. Place the vehicle in its level flight orientation on a level surface:
-
    - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
    - For copters this is the hover position.