Fix regression with gliding setpoints

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.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/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

@@ -2,6 +2,37 @@
 # - 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
 
@@ -163,6 +194,13 @@ 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
@@ -181,31 +219,31 @@ 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 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -219,28 +257,13 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ 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

@@ -19,6 +19,10 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       fail-fast: false
       matrix:
@@ -35,20 +39,17 @@ jobs:
           "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 ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -1,4 +1,4 @@
-name: Clang Tidy
+name: Static Analysis
 
 on:
   push:
@@ -11,20 +11,59 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+
+permissions:
+  contents: read
+
 jobs:
-  build:
-    runs-on: ubuntu-latest
+  clang_tidy:
+    name: Clang-Tidy
+    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
     steps:
+    - uses: runs-on/action@v2
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        fetch-tags: true
 
-    - name: Testing (clang-tidy)
-      uses: addnab/docker-run-action@v3
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - name: Restore Compiler Cache
+      id: cc_restore
+      uses: actions/cache/restore@v4
       with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy
+        path: ~/.ccache
+        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
+        restore-keys: |
+          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
+          ccache-clang-tidy-main-
+          ccache-clang-tidy-
+
+    - name: Configure Compiler Cache
+      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
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
+
+    - name: Run Clang-Tidy Analysis
+      run: make -j16 clang-tidy
+
+    - name: Compiler Cache Stats
+      if: always()
+      run: ccache -s
+
+    - name: Save Compiler Cache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ steps.cc_restore.outputs.cache-primary-key }}

.github/workflows/ekf_functional_change_indicator.yml

@@ -15,21 +15,21 @@ concurrency:
 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 ${{ github.workspace }}:/workspace
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_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
+      - 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

@@ -8,40 +8,47 @@ on:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     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 ${{ github.workspace }}:/workspace
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_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: Check if there exists diff and save result in variable
+        id: diff-check
+        working-directory: src/modules/ekf2/test/change_indication
+        run: |
+          if git diff --quiet; then
+            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
+          else
+            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
+          fi
 
-    - 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'
+      - name: auto-commit any changes to change indication
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update change indication
 
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
+            See .github/workflows/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
+      - name: if there is a functional change, fail check
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -19,25 +19,27 @@ concurrency:
 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
+      - 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 ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              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:=MC_mission_box \
+                vehicle:=iris
+            '

.github/workflows/mavros_offboard_tests.yml

@@ -19,27 +19,26 @@ concurrency:
 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
+      - 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
+      - name: Build SITL and Run Tests (inside old ROS container)
         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}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              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_tests_offboard_posctl.test \
+                vehicle:=iris
+            '

.github/workflows/nuttx_env_config.yml

@@ -19,27 +19,28 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
+        config:
+          - px4_fmu-v5_default
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - 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 ${{ github.workspace }}:/workspace
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
         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"
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
           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/sitl_tests.yml

@@ -33,8 +33,10 @@ jobs:
       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
+          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
+          # transitions). Re-enable once the test infrastructure is stabilized.
+          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     steps:
       - uses: actions/checkout@v4

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-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -42,23 +42,21 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -67,7 +65,6 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -79,7 +76,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +100,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

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/metadata_sync.sh

@@ -123,7 +123,7 @@ generate_parameters() {
     if [[ "$VERBOSE" == "true" ]]; then
         make parameters_metadata
     else
-        make parameters_metadata >/dev/null 2>&1
+        make parameters_metadata >/dev/null
     fi
 }
 
@@ -132,7 +132,7 @@ generate_airframes() {
     if [[ "$VERBOSE" == "true" ]]; then
         make airframe_metadata
     else
-        make airframe_metadata >/dev/null 2>&1
+        make airframe_metadata >/dev/null
     fi
 }
 
@@ -141,7 +141,7 @@ generate_modules() {
     if [[ "$VERBOSE" == "true" ]]; then
         make module_documentation
     else
-        make module_documentation >/dev/null 2>&1
+        make module_documentation >/dev/null
     fi
 }
 
@@ -150,7 +150,7 @@ generate_msg_docs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make msg_docs
     else
-        make msg_docs >/dev/null 2>&1
+        make msg_docs >/dev/null
     fi
 }
 
@@ -159,7 +159,7 @@ generate_uorb_graphs() {
     if [[ "$VERBOSE" == "true" ]]; then
         make uorb_graphs
     else
-        make uorb_graphs >/dev/null 2>&1
+        make uorb_graphs >/dev/null
     fi
 }
 
@@ -169,7 +169,7 @@ generate_failsafe_web() {
     if [[ "$VERBOSE" == "true" ]]; then
         make failsafe_web
     else
-        make failsafe_web >/dev/null 2>&1
+        make failsafe_web >/dev/null
     fi
 }
 

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/msg/generate_msg_docs.py

@@ -729,10 +729,10 @@ pageClass: is-wide-page
 
             # Fix up topics if the topic is empty
             def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+                # Insert underscore between lowercase/digit and uppercase letter
+                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
+                # Insert underscore between consecutive uppercase and uppercase+lowercase
+                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
 
             defaultTopic = camel_to_snake(self.name)
             if len(self.topics) == 0:
@@ -745,7 +745,7 @@ pageClass: is-wide-page
                     error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
                 else:
                     # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
                 if not "topic_error" in self.errors:
                     self.errors["topic_error"] = []
                     self.errors["topic_error"].append(error)

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

@@ -76,10 +76,10 @@ param load
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
-    qshell icm42688p start -s -R 12
+    qshell icm42688p start -s -R 12 -C 32768
 else
     /bin/echo "Starting IMU driver with no rotation"
-    qshell icm42688p start -s
+    qshell icm42688p start -s -C 32768
 fi
 
 # Start Invensense ICP 101xx barometer built on to VOXL 2

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.
@@ -17769,9 +17996,9 @@ Accelerometer noise for covariance prediction.
 | ------ | -------- | -------- | --------- | ------- | ----- |
 |   | 0.01     | 1.0      |           | 0.35    | m/s^2 |
 
-### EKF2_AGP_CTRL (`INT32`) {#EKF2_AGP_CTRL}
+### EKF2_AGP0_CTRL (`INT32`) {#EKF2_AGP0_CTRL}
 
-Aux global position (AGP) sensor aiding.
+Auxiliary global position sensor 0 aiding.
 
 Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
 
@@ -17784,17 +18011,17 @@ Set bits in the following positions to enable: 0 : Horizontal position fusion 1
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 0        | 3        |           | 0       |
 
-### EKF2_AGP_DELAY (`FLOAT`) {#EKF2_AGP_DELAY}
+### EKF2_AGP0_DELAY (`FLOAT`) {#EKF2_AGP0_DELAY}
 
-Aux global position estimator delay relative to IMU measurements.
+Auxiliary global position sensor 0 delay (to IMU).
 
 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
-| ✓ | 0        | 300      |           | 0       | ms   |
+| ✓ | 0        | 1000     |           | 0       | ms   |
 
-### EKF2_AGP_GATE (`FLOAT`) {#EKF2_AGP_GATE}
+### EKF2_AGP0_GATE (`FLOAT`) {#EKF2_AGP0_GATE}
 
-Gate size for aux global position fusion.
+Gate size for auxiliary global position sensor 0 fusion.
 
 Sets the number of standard deviations used by the innovation consistency test.
 
@@ -17802,9 +18029,19 @@ Sets the number of standard deviations used by the innovation consistency test.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 1.0      |          |           | 3.0     | SD   |
 
-### EKF2_AGP_MODE (`INT32`) {#EKF2_AGP_MODE}
+### EKF2_AGP0_ID (`INT32`) {#EKF2_AGP0_ID}
 
-Fusion reset mode.
+Auxiliary global position sensor 0 ID.
+
+Sensor ID for slot 0. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP0_MODE (`INT32`) {#EKF2_AGP0_MODE}
+
+Fusion reset mode for sensor 0.
 
 Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
 
@@ -17817,15 +18054,219 @@ Automatic: reset on fusion timeout if no other source of position is available D
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   |          |          |           | 0       |
 
-### EKF2_AGP_NOISE (`FLOAT`) {#EKF2_AGP_NOISE}
+### EKF2_AGP0_NOISE (`FLOAT`) {#EKF2_AGP0_NOISE}
 
-Measurement noise for aux global position measurements.
+Measurement noise for auxiliary global position sensor 0.
 
 Used to lower bound or replace the uncertainty included in the message
 
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-|   | 0.01     |          |           | 0.9     | m    |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP1_CTRL (`INT32`) {#EKF2_AGP1_CTRL}
+
+Auxiliary global position sensor 1 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP1_DELAY (`FLOAT`) {#EKF2_AGP1_DELAY}
+
+Auxiliary global position sensor 1 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP1_GATE (`FLOAT`) {#EKF2_AGP1_GATE}
+
+Gate size for auxiliary global position sensor 1 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP1_ID (`INT32`) {#EKF2_AGP1_ID}
+
+Auxiliary global position sensor 1 ID.
+
+Sensor ID for slot 1. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP1_MODE (`INT32`) {#EKF2_AGP1_MODE}
+
+Fusion reset mode for sensor 1.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP1_NOISE (`FLOAT`) {#EKF2_AGP1_NOISE}
+
+Measurement noise for auxiliary global position sensor 1.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP2_CTRL (`INT32`) {#EKF2_AGP2_CTRL}
+
+Auxiliary global position sensor 2 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP2_DELAY (`FLOAT`) {#EKF2_AGP2_DELAY}
+
+Auxiliary global position sensor 2 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP2_GATE (`FLOAT`) {#EKF2_AGP2_GATE}
+
+Gate size for auxiliary global position sensor 2 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP2_ID (`INT32`) {#EKF2_AGP2_ID}
+
+Auxiliary global position sensor 2 ID.
+
+Sensor ID for slot 2. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP2_MODE (`INT32`) {#EKF2_AGP2_MODE}
+
+Fusion reset mode for sensor 2.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP2_NOISE (`FLOAT`) {#EKF2_AGP2_NOISE}
+
+Measurement noise for auxiliary global position sensor 2.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
+
+### EKF2_AGP3_CTRL (`INT32`) {#EKF2_AGP3_CTRL}
+
+Auxiliary global position sensor 3 aiding.
+
+Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
+
+**Bitmask:**
+
+- `0`: Horizontal position
+- `1`: Vertical position
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 3        |           | 0       |
+
+### EKF2_AGP3_DELAY (`FLOAT`) {#EKF2_AGP3_DELAY}
+
+Auxiliary global position sensor 3 delay (to IMU).
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| ✓ | 0        | 1000     |           | 0       | ms   |
+
+### EKF2_AGP3_GATE (`FLOAT`) {#EKF2_AGP3_GATE}
+
+Gate size for auxiliary global position sensor 3 fusion.
+
+Sets the number of standard deviations used by the innovation consistency test.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 1.0      |          |           | 3.0     | SD   |
+
+### EKF2_AGP3_ID (`INT32`) {#EKF2_AGP3_ID}
+
+Auxiliary global position sensor 3 ID.
+
+Sensor ID for slot 3. Set to 0 to disable this slot.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 255      |           | 0       |
+
+### EKF2_AGP3_MODE (`INT32`) {#EKF2_AGP3_MODE}
+
+Fusion reset mode for sensor 3.
+
+Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+
+**Values:**
+
+- `0`: Automatic
+- `1`: Dead-reckoning
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0       |
+
+### EKF2_AGP3_NOISE (`FLOAT`) {#EKF2_AGP3_NOISE}
+
+Measurement noise for auxiliary global position sensor 3.
+
+Used to lower bound or replace the uncertainty included in the message
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0.01     |          |           | 1.0     | m    |
 
 ### EKF2_ANGERR_INIT (`FLOAT`) {#EKF2_ANGERR_INIT}
 
@@ -19596,6 +20037,18 @@ 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 +21778,27 @@ 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 +25004,6 @@ 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 +27354,7 @@ 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 +27436,6 @@ 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 +33529,44 @@ 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 +34775,31 @@ 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 +35025,7 @@ 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 +36200,26 @@ 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 +40822,7 @@ 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 +40839,97 @@ 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 |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -40616,6 +41180,70 @@ uavcan::equipment::range_sensor::Measurement
 
 ## UUV Attitude Control
 
+### UUV_HGT_B_DOWN (`INT32`) {#UUV_HGT_B_DOWN}
+
+Height rc-button down.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 16       |           | 12      |
+
+### UUV_HGT_B_UP (`INT32`) {#UUV_HGT_B_UP}
+
+Height rc-button up.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 16       |           | 11      |
+
+### UUV_HGT_D (`FLOAT`) {#UUV_HGT_D}
+
+Height differential gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_I (`FLOAT`) {#UUV_HGT_I}
+
+Height integrational gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0.2     |
+
+### UUV_HGT_I_SPD (`FLOAT`) {#UUV_HGT_I_SPD}
+
+sum speed of error for integrational gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_MAX_DIFF (`FLOAT`) {#UUV_HGT_MAX_DIFF}
+
+maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 0.3     |
+
+### UUV_HGT_P (`FLOAT`) {#UUV_HGT_P}
+
+Height proportional gain.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
+### UUV_HGT_STR (`FLOAT`) {#UUV_HGT_STR}
+
+Height change strength from manual input.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   |          |          |           | 1.0     |
+
 ### UUV_MGM_PITCH (`FLOAT`) {#UUV_MGM_PITCH}
 
 Pitch gain for manual inputs in manual control mode.
@@ -42484,7 +43112,7 @@ 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/frames_sub/bluerov2.md

@@ -2,9 +2,11 @@
 
 <Badge type="tip" text="PX4 v1.12" />
 
-The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
+The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an
+affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
 
-PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_.
+PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy
+Configuration_.
 
 ![Hero](../../assets/airframes/sub/bluerov/bluerov_hero.jpg)
 
@@ -14,9 +16,11 @@ PX4 provides [experimental support](index.md) for an 8-thrust vectored configura
 
 ### Motor Mapping/Wiring
 
-The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .
+The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this
+vehicle .
 
-The vehicle will then match the configuration documented in the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
+The vehicle will then match the configuration documented in
+the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
 
 <img src="../../assets/airframes/types/Vectored6DofUUV.svg" width="29%" style="max-height: 180px;"/>
 
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
 - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
 - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
 
+## Manual Modes
+
+| Mode     | Description                                                                                                          |
+| -------- | -------------------------------------------------------------------------------------------------------------------- |
+| Manual   | Direct manual control of yaw and thrust.                                                                             |
+| Acro     | Manual control of yaw/thrust, but keeps roll/pitch zero                                                              |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| Position | Controlls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero                                          |
+
 ## Airframe Configuration
 
 BlueROV2 does not come with PX4 installed.

docs/en/middleware/dds_topics.md

@@ -70,7 +70,7 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
 | /fmu/in/vehicle_torque_setpoint            | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)                       |
 | /fmu/in/actuator_motors                    | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)                                     |
 | /fmu/in/actuator_servos                    | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)                                     |
-| /fmu/in/aux_global_position                | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)                       |
+| /fmu/in/aux_global_position                | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md)                               |
 | /fmu/in/fixed_wing_longitudinal_setpoint   | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)       |
 | /fmu/in/fixed_wing_lateral_setpoint        | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)                 |
 | /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
@@ -94,199 +94,201 @@ 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)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [QshellReq](../msg_docs/QshellReq.md)
 - [UlogStream](../msg_docs/UlogStream.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [Ping](../msg_docs/Ping.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.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)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.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)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.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)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.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)
-- [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)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [GainCompression](../msg_docs/GainCompression.md)
 - [Event](../msg_docs/Event.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
-- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.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/ActuatorServosTrim.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Servo trims, added as offset to servo outputs.
 
-**TOPICS:** actuator_servostrim
+**TOPICS:** actuator_servos_trim
 
 ## Fields
 

docs/en/msg_docs/AirspeedValidatedV0.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # AirspeedValidatedV0 (UORB message)
 
-**TOPICS:** airspeed_validatedv0
+**TOPICS:** airspeed_validated_v0
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckReply.md

@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
 Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
 The message is not used by internal/FMU components, as their mode requirements are known at compile time.
 
-**TOPICS:** arming_checkreply
+**TOPICS:** arming_check_reply
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckReplyV0.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # ArmingCheckReplyV0 (UORB message)
 
-**TOPICS:** arming_checkreplyv0
+**TOPICS:** arming_check_reply_v0
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckRequest.md

@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-**TOPICS:** arming_checkrequest
+**TOPICS:** arming_check_request
 
 ## Fields
 

docs/en/msg_docs/ArmingCheckRequestV0.md

@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-**TOPICS:** arming_checkrequestv0
+**TOPICS:** arming_check_request_v0
 
 ## Fields
 

docs/en/msg_docs/AutotuneAttitudeControlStatus.md

@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
 
 The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
 
-**TOPICS:** autotune_attitudecontrol_status
+**TOPICS:** autotune_attitude_control_status
 
 ## Fields
 

docs/en/msg_docs/AuxGlobalPosition.md

@@ -0,0 +1,89 @@
+---
+pageClass: is-wide-page
+---
+
+# AuxGlobalPosition (UORB message)
+
+Auxiliary global position.
+
+This message provides global position data from an external source such as
+pseudolites, visual navigation, or other positioning system.
+
+**TOPICS:** aux_global_position
+
+## Fields
+
+| Name                  | Type      | Unit [Frame] | Range/Enum        | Description                                                                 |
+| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
+| timestamp             | `uint64`  | us           |                   | Time since system start                                                     |
+| timestamp_sample      | `uint64`  | us           |                   | Timestamp of the raw data                                                   |
+| id                    | `uint8`   |              |                   | Unique identifier for the AGP source                                        |
+| source                | `uint8`   |              | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)    |
+| lat                   | `float64` | deg          |                   | Latitude in WGS84                                                           |
+| lon                   | `float64` | deg          |                   | Longitude in WGS84                                                          |
+| alt                   | `float32` | m            |                   | Altitude above mean sea level (AMSL) (Invalid: NaN)                         |
+| eph                   | `float32` | m            |                   | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
+| epv                   | `float32` | m            |                   | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN)   |
+| lat_lon_reset_counter | `uint8`   |              |                   | Counter for reset events on horizontal position coordinates                 |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| Name                                                  | Type    | Value | Description    |
+| ----------------------------------------------------- | ------- | ----- | -------------- |
+| <a href="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN         | `uint8` | 0     | Unknown source |
+| <a href="#SOURCE_GNSS"></a> SOURCE_GNSS               | `uint8` | 1     | GNSS           |
+| <a href="#SOURCE_VISION"></a> SOURCE_VISION           | `uint8` | 2     | Vision         |
+| <a href="#SOURCE_PSEUDOLITES"></a> SOURCE_PSEUDOLITES | `uint8` | 3     | Pseudolites    |
+| <a href="#SOURCE_TERRAIN"></a> SOURCE_TERRAIN         | `uint8` | 4     | Terrain        |
+| <a href="#SOURCE_MAGNETIC"></a> SOURCE_MAGNETIC       | `uint8` | 5     | Magnetic       |
+| <a href="#SOURCE_ESTIMATOR"></a> SOURCE_ESTIMATOR     | `uint8` | 6     | Estimator      |
+
+## Constants
+
+| Name                                            | Type     | Value | Description |
+| ----------------------------------------------- | -------- | ----- | ----------- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1     |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
+
+::: details Click here to see original file
+
+```c
+# Auxiliary global position
+#
+# This message provides global position data from an external source such as
+# pseudolites, visual navigation, or other positioning system.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
+
+uint8 id # [-] Unique identifier for the AGP source
+uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+uint8 SOURCE_GNSS = 1 # GNSS
+uint8 SOURCE_VISION = 2 # Vision
+uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
+uint8 SOURCE_TERRAIN = 4 # Terrain
+uint8 SOURCE_MAGNETIC = 5 # Magnetic
+uint8 SOURCE_ESTIMATOR = 6 # Estimator
+
+# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
+float64 lat # [deg] Latitude in WGS84
+float64 lon # [deg] Longitude in WGS84
+float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
+
+float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
+float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
+
+uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
+
+# TOPICS aux_global_position
+```
+
+:::

docs/en/msg_docs/BatteryStatusV0.md

@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.
 
-**TOPICS:** battery_statusv0
+**TOPICS:** battery_status_v0
 
 ## Fields
 

docs/en/msg_docs/CanInterfaceStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # CanInterfaceStatus (UORB message)
 
-**TOPICS:** can_interfacestatus
+**TOPICS:** can_interface_status
 
 ## Fields
 

docs/en/msg_docs/ControlAllocatorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # ControlAllocatorStatus (UORB message)
 
-**TOPICS:** control_allocatorstatus
+**TOPICS:** control_allocator_status
 
 ## Fields
 

docs/en/msg_docs/DebugKeyValue.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DebugKeyValue (UORB message)
 
-**TOPICS:** debug_keyvalue
+**TOPICS:** debug_key_value
 
 ## Fields
 

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/DistanceSensorModeChangeRequest.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DistanceSensorModeChangeRequest (UORB message)
 
-**TOPICS:** distance_sensormode_changerequest
+**TOPICS:** distance_sensor_mode_change_request
 
 ## Fields
 

docs/en/msg_docs/DronecanNodeStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # DronecanNodeStatus (UORB message)
 
-**TOPICS:** dronecan_nodestatus
+**TOPICS:** dronecan_node_status
 
 ## Fields
 

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/EstimatorEventFlags.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorEventFlags (UORB message)
 
-**TOPICS:** estimator_eventflags
+**TOPICS:** estimator_event_flags
 
 ## Fields
 

docs/en/msg_docs/EstimatorGpsStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorGpsStatus (UORB message)
 
-**TOPICS:** estimator_gpsstatus
+**TOPICS:** estimator_gps_status
 
 ## Fields
 

docs/en/msg_docs/EstimatorSelectorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorSelectorStatus (UORB message)
 
-**TOPICS:** estimator_selectorstatus
+**TOPICS:** estimator_selector_status
 
 ## Fields
 

docs/en/msg_docs/EstimatorSensorBias.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
 
-**TOPICS:** estimator_sensorbias
+**TOPICS:** estimator_sensor_bias
 
 ## Fields
 

docs/en/msg_docs/EstimatorStatusFlags.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # EstimatorStatusFlags (UORB message)
 
-**TOPICS:** estimator_statusflags
+**TOPICS:** estimator_status_flags
 
 ## Fields
 

docs/en/msg_docs/EventV0.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 this message is required here in the msg_old folder because other msg are depending on it. Events interface.
 
-**TOPICS:** eventv0
+**TOPICS:** event_v0
 
 ## Fields
 

docs/en/msg_docs/FailureDetectorStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FailureDetectorStatus (UORB message)
 
-**TOPICS:** failure_detectorstatus
+**TOPICS:** failure_detector_status
 
 ## Fields
 

docs/en/msg_docs/FigureEightStatus.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FigureEightStatus (UORB message)
 
-**TOPICS:** figure_eightstatus
+**TOPICS:** figure_eight_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralGuidanceStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
 
-**TOPICS:** fixed_winglateral_guidancestatus
+**TOPICS:** fixed_wing_lateral_guidance_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
 
-**TOPICS:** fixed_winglateral_setpoint
+**TOPICS:** fixed_wing_lateral_setpoint
 
 ## Fields
 

docs/en/msg_docs/FixedWingLateralStatus.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
 
-**TOPICS:** fixed_winglateral_status
+**TOPICS:** fixed_wing_lateral_status
 
 ## Fields
 

docs/en/msg_docs/FixedWingLongitudinalSetpoint.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
 
-**TOPICS:** fixed_winglongitudinal_setpoint
+**TOPICS:** fixed_wing_longitudinal_setpoint
 
 ## Fields
 

docs/en/msg_docs/FixedWingRunwayControl.md

@@ -6,7 +6,7 @@ pageClass: is-wide-page
 
 Auxiliary control fields for fixed-wing runway takeoff/landing.
 
-**TOPICS:** fixed_wingrunway_control
+**TOPICS:** fixed_wing_runway_control
 
 ## Fields
 

docs/en/msg_docs/FlightPhaseEstimation.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FlightPhaseEstimation (UORB message)
 
-**TOPICS:** flight_phaseestimation
+**TOPICS:** flight_phase_estimation
 
 ## Fields
 

docs/en/msg_docs/FollowTargetEstimator.md

@@ -4,7 +4,7 @@ pageClass: is-wide-page
 
 # FollowTargetEstimator (UORB message)
 
-**TOPICS:** follow_targetestimator
+**TOPICS:** follow_target_estimator
 
 ## Fields