docs: rover: small improvements

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,45 +3,92 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        **Tips for a great bug report:**
-        - Describe what went wrong and what you expected
-        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
-        - Mention your PX4 version, flight controller, and vehicle type if relevant
-
   - type: textarea
     attributes:
       label: Describe the bug
-      description: A clear description of the bug and what you expected to happen.
-      placeholder: |
-        What happened and what did you expect instead?
-
-        Steps to reproduce (if applicable):
-        1.
-        2.
-        3.
+      description: A clear and concise description of the bug.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: Flight Log / Additional Information
+      label: To Reproduce
       description: |
-        **Flight log** (highly recommended for flight-related issues):
-        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
-
-        **Additional details** (if relevant):
-        - PX4 version (output of `ver all` in MAVLink Shell)
-        - Flight controller model
-        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
-        - Screenshots or media
-      placeholder: |
-        Flight log link:
-
-        Version:
-
-        Hardware:
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
     validations:
       required: false
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: false
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: false
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: false
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,4 +1,4 @@
-blank_issues_enabled: true
+blank_issues_enabled: false
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,9 +1,22 @@
 <!--
 
+Thank you for your contribution!
+
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
+
+-->
+
 ### Solved Problem
+When ... I found that ...
+
 Fixes #{Github issue ID}
 
 ### Solution
+- Add ... for ...
+- Refactor ...
 
 ### Changelog Entry
 For release notes:
@@ -14,10 +27,11 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives
+We could also ...
 
 ### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/
 
 ### Context
 Related links, screenshot before/after, video
-
--->

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

@@ -1,48 +0,0 @@
----
-applyTo: "docs/en/**"
----
-
-# Review Guidelines docs/en Tree
-
-## File System & Structure
-
-- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
-- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
-  - Valid: `docs/en/category/file.md`
-  - Invalid: `docs/en/category/subcategory/file.md`
-- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
-- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
-- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
-
-## Markdown & Style
-
-- **Headings:** Use Title Case ("First Letter Capitalisation"). 
-  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
-  - Do not apply bold or italic styling inside a heading.
-- **Formatting:** 
-  - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
-  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
-- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
-
-## Linking & Navigation
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
-  Note relative link. 
-- **Table Links:** To keep tables readable, use reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
-
-- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
-- **Table Links:** To keep tables easier to edit, prefer reference-style links.
-  - Definition: `[Link Name]: https://example.com` (placed below the table).
-  - Usage: `[Link Name]` within the table cell.
-- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
-  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
-
-## Quality Control
-
-- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
-- **Language:** Enforce **UK English** spelling and grammar.

.github/runs-on.yml

@@ -1,24 +0,0 @@
-runners:
-  x86-small-runner:
-    cpu: [1, 2]
-    ram: [1, 4]
-    disk: default
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  x86-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7i", "m7i", "r7i"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-x64
-    extras: s3-cache
-  arm64-firmware-builder:
-    cpu: [4, 8]
-    ram: [8, 16]
-    disk: default
-    family: ["c7g", "m7g", "r7g"]
-    spot: price-capacity-optimized
-    image: ubuntu24-full-arm64
-    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -26,16 +26,11 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
-permissions:
-  contents: write
-  actions: read
-  packages: read
-
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -43,14 +38,6 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: Cache Python pip
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/pip
-          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
-          restore-keys: |
-            ${{ runner.os }}-pip-
-
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -61,15 +48,12 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        name: Generate Build Matrix
-        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
 
       - id: set-timestamp
-        name: Save Current Timestamp
-        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
       - id: set-branch
-        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -86,7 +70,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
@@ -95,11 +79,7 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
-      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -107,24 +87,14 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
-        uses: actions/cache/restore@v4
+      - name: Setup ccache
+        uses: actions/cache@v4
         with:
           path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
-          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
 
-      - name: Cache Config and Stats
+      - name: Configure ccache
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -132,11 +102,10 @@ jobs:
             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: Building Artifacts for [${{ matrix.targets }}]
+      - name: Building [${{ matrix.group }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -150,27 +119,15 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
       - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        run: ccache -s
 
   artifacts:
-    name: Upload Artifacts
+    name: Upload Artifacts to S3
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
-    outputs:
-      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
+    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -178,36 +135,11 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Choose Upload Location
-        id: upload-location
+      - name: Branch Name
         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
+          echo "${{ needs.group_targets.outputs.branchname }}"
 
-          ref="${GITHUB_REF}"
-          branch=${{ needs.group_targets.outputs.branchname  }}
-          location="$branch"
-
-          if [[ "$branch" == "main" ]]; then
-            location="master"
-          fi
-
-          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
-            tag="${ref#refs/tags/}"
-            location="$tag"
-          fi
-
-          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-
-      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
+      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -217,30 +149,25 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
+          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
 
-      # 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')
+  release:
+    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
         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/
+          path: artifacts/
+          merge-multiple: true
 
-      # 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
-      - name: Upload Artifacts to GitHub Release
+      - name: Upload Binaries to Release
         uses: softprops/action-gh-release@v2
-        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
           files: artifacts/*.px4
-          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/compile_macos.yml

@@ -42,7 +42,7 @@ jobs:
       shell: cmake -P {0}
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
       uses: actions/cache@v4
       with:

.github/workflows/compile_ubuntu.yml

@@ -29,7 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -39,7 +39,7 @@ jobs:
     name: Set Tags and Variables
     permissions:
       contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     outputs:
       px4_version: ${{ steps.px4_version.outputs.px4_version }}
       meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
           - platform: linux/amd64
             arch: amd64
             runner: x64
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
-          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
 
   deploy:
     name: Deploy To Registry
     permissions:
       contents: read
       packages: write
-    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     needs: [build, setup]
     if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
     steps:

.github/workflows/docs-orchestrator.yml

@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_deploy.yml

@@ -1,6 +1,23 @@
-name: Docs - Deploy PX4 User Guide to Github pages (Manual)
+name: Docs - Deploy PX4 User Guide
 
 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
+  pull_request:
+    branches:
+      - '**'
+    paths:
+      - 'docs/en/**'
+      - 'docs/uk/**'
+      - 'docs/zh/**'
+
+  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -20,7 +37,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -55,7 +72,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact

.github/workflows/docs_deploy2.yml

@@ -0,0 +1,104 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+  pull_request:
+    branches:
+      - "**"
+    paths:
+      - "docs/en/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+env:
+  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+
+jobs:
+  build:
+    runs-on:
+      [
+        runs-on,
+        runner=8cpu-linux-x64,
+        image=ubuntu24-full-x64,
+        "run-id=${{ github.run_id }}",
+        spot=false,
+        extras=s3-cache,
+      ]
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/failsafe_sim.yml

@@ -48,7 +48,6 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
-          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -24,7 +24,7 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -54,7 +54,6 @@ jobs:
         run: |
           make clean
           make distclean
-          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -98,7 +97,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -41,10 +41,6 @@ jobs:
             scripts: >
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
-          - target: nxp_mr-tropic
-            scripts: >
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
-              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ros_integration_tests.yml

@@ -23,7 +23,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -90,9 +90,6 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

.github/workflows/ros_translation_node.yml

@@ -21,7 +21,7 @@ concurrency:
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -24,7 +24,7 @@ concurrency:
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -118,7 +118,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -15,7 +15,7 @@ jobs:
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
-          stale-issue-message: ''
-          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
-          stale-pr-message: ''
-          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'
+          stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
+          close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
+          close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_to_px4_msgs.yml

@@ -1,62 +0,0 @@
-name: Sync ROS 2 messages to px4_msgs
-on:
-  push:
-    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-    paths:
-      - 'msg/**'
-      - 'srv/**'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  sync_to_px4_msgs:
-    if: github.repository == 'PX4/PX4-Autopilot'
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    steps:
-      - name: Checkout PX4 repo
-        uses: actions/checkout@v4
-
-      - name: Setup git credentials
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-
-      - name: Clone PX4_msgs repo
-        run: |
-          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
-
-      - name: Check out the same branch as the PX4 repo
-        run: |
-          cd px4_msgs
-          if git checkout ${{ github.ref_name }}; then
-            echo "Checked out existing branch"
-          else
-            git checkout -b ${{ github.ref_name }}
-          fi
-
-      - name: Copy ROS 2 messages
-        run: |
-          rm -f px4_msgs/msg/*.msg
-          rm -f px4_msgs/msg/versioned/*.msg
-          rm -f px4_msgs/srv/*.srv
-          rm -f px4_msgs/srv/versioned/*.srv
-          cp msg/*.msg px4_msgs/msg/
-          cp msg/versioned/*.msg px4_msgs/msg/ || true
-          cp srv/*.srv px4_msgs/srv/
-          cp srv/versioned/*.srv px4_msgs/srv/ || true
-
-      - name: Commit and push changes
-        run: |
-          cd px4_msgs
-          git status
-          git add .
-          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
-          git push origin ${{ github.ref_name }} || true
-          cd ..
-          rm -rf px4_msgs

.gitignore

@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/

.gitmodules

@@ -103,9 +103,3 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
-[submodule "src/modules/mc_raptor/blob"]
-	path = src/modules/mc_raptor/blob
-	url = https://github.com/rl-tools/px4-blob
-[submodule "src/lib/rl_tools/rl_tools"]
-	path = src/lib/rl_tools/rl_tools
-	url = https://github.com/rl-tools/rl-tools.git

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_raptor:
-      short: px4_sitl_raptor
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_raptor
-    px4_sitl_raptor_debug:
-      short: px4_sitl_raptor_debug
-      buildType: Debug
-      settings:
-        CONFIG: px4_sitl_raptor
     px4_sitl_spacecraft:
       short: px4_sitl_spacecraft
       buildType: RelWithDebInfo
@@ -151,11 +141,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
-    ark_can-flow-mr_default:
-      short: ark_can-flow-mr_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
@@ -251,16 +236,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fpv_default
-    ark_mag_canbootloader:
-      short: ark_mag_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_canbootloader
-    ark_mag_default:
-      short: ark_mag_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: ark_mag_default
     ark_pi6x_bootloader:
       short: ark_pi6x_bootloader
       buildType: MinSizeRel
@@ -431,16 +406,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-v2_default
-    micoair_h743-lite_bootloader:
-      short: micoair_h743-lite_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_bootloader
-    micoair_h743-lite_default:
-      short: micoair_h743-lite
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743-lite_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -491,16 +456,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
-    nxp_mr-tropic_default:
-      short: nxp_mr-tropic_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_default
-    nxp_mr-tropic_bootloader:
-      short: nxp_mr-tropic_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel
@@ -531,23 +486,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
-    svehicle_e2_bootloader:
-      short: svehicle_e2_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_bootloader
-    svehicle_e2_default:
-      short: svehicle_e2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: svehicle_e2_default
-    x-mav_ap-h743r1_bootloader:
-      short: x-mav_ap-h743r1-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_bootloader
-    x-mav_ap-h743r1_default:
-      short: x-mav_ap-h743r1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743r1_default

CMakeLists.txt

@@ -267,7 +267,7 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)

CTestConfig.cmake

@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)

Jenkinsfile

@@ -101,7 +101,6 @@ pipeline {
             echo $0;
             git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
             cd _emscripten_sdk;
-            git checkout 4.0.15;
             ./emsdk install latest;
             ./emsdk activate latest;
             cd ..;
@@ -221,6 +220,36 @@ pipeline {
           }
         }
 
+        stage('PX4 ROS msgs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+          }
+          steps {
+            sh('export')
+            sh('make distclean; git clean -ff -x -d .')
+            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
+              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
+              // 'main' branch
+              sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
+              sh('rm -f px4_msgs/srv/versioned/*.srv')
+              sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
+              sh('cp srv/*.srv px4_msgs/srv/')
+              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
+              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
+              sh('cd px4_msgs; git push origin main || true')
+              sh('rm -rf px4_msgs')
+            }
+          }
+          when {
+            anyOf {
+              branch 'main'
+            }
+          }
+        }
+
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2025, PX4 Development Team
+Copyright (c) 2012 - 2023, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -325,8 +325,6 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
-	auterion_fmu-v6s_bootloader \
-	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -346,7 +344,6 @@ bootloaders_update: \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
-	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -598,10 +595,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs

README.md

@@ -1,109 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot
 
-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-<p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
----
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 
-## About
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-## Why PX4
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+## Releases
 
-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Building a PX4 based drone, rover, boat or robot
 
-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-## Supported Vehicles
 
-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+## Changing Code and Contributing
 
-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-## Quick Start
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```
 
-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+## Weekly Dev Call
 
-## Documentation & Resources
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
-## Community
 
-- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
-- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
-- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
-- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
-- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+## Maintenance Team
 
-## Contributing
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
 
-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
 
-## Governance
+## Supported Hardware
 
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -85,32 +85,10 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
-# Check if board has an rc.board_airframes file to filter airframes
-set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
-set(airframes_whitelist "")
-if(EXISTS "${board_airframes_file}")
-	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
-	file(STRINGS "${board_airframes_file}" airframes_whitelist)
-	# Remove comments and empty lines
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
-	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
-endif()
-
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
-
-	# If we have an airframes whitelist, filter airframe files
-	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
-		# Extract just the filename
-		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
-		# Check if it's in the whitelist
-		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
-			continue()
-		endif()
-	endif()
-
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -27,6 +27,7 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -44,6 +44,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -46,6 +46,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -30,6 +30,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -31,6 +31,8 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -38,6 +38,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -44,6 +44,8 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -35,6 +35,8 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -35,6 +35,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -46,6 +46,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -43,6 +43,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -48,6 +48,8 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -53,6 +53,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default COM_PREARM_MODE 2
 
 param set-default CA_ROTOR_COUNT 1

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

@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,6 +11,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default FW_LND_ANG 8
 
 param set-default FW_PR_FF 0.08
@@ -46,6 +48,8 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 
 param set-default CA_SV_CS_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_MAX_PITCH 45
-param set-default MNT_MIN_PITCH -135
+param set-default MNT_RANGE_PITCH 180
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
+param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -1,167 +0,0 @@
-#!/bin/sh
-#
-# @name KTH-ATMOS
-#
-# @type Free-Flyer
-# @class Spacecraft
-#
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-param set-default SIM_GZ_EC_FUNC9 301
-param set-default SIM_GZ_EC_FUNC10 302
-param set-default SIM_GZ_EC_FUNC11 303
-param set-default SIM_GZ_EC_FUNC12 304
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-param set-default SIM_GZ_EC_MIN9 1100
-param set-default SIM_GZ_EC_MIN10 1100
-param set-default SIM_GZ_EC_MIN11 1100
-param set-default SIM_GZ_EC_MIN12 1100
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-param set-default SIM_GZ_EC_MAX9 1900
-param set-default SIM_GZ_EC_MAX10 1900
-param set-default SIM_GZ_EC_MAX11 1900
-param set-default SIM_GZ_EC_MAX12 1900
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0

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

@@ -118,7 +118,6 @@ px4_add_romfs_files(
 	60002_gz_uuv_bluerov2_heavy
 
 	70000_gz_atmos
-	70001_gz_atmos_dual
 
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -159,19 +159,24 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then
 
 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
 
+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
 
 		# Set camera offset
-		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
-				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,6 +126,15 @@ then
 	set AUTOCNF yes
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -164,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
+param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -229,15 +239,6 @@ then
 	exit 1
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -14,6 +14,7 @@
 
 param set UAVCAN_ENABLE 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -18,8 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -42,6 +40,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -16,8 +16,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -39,6 +37,8 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -10,6 +10,7 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -32,6 +32,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
+param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -10,6 +10,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
+param set-default CA_AIRFRAME 1
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2

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

@@ -7,8 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -77,6 +75,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -7,10 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

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

@@ -7,7 +7,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 
@@ -78,6 +77,9 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
+
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -13,11 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6s exclude
-# @board ark_fmu-v6x exclude
-# @board auterion_fmu-v6x exclude
-# @board px4_fmu-v6x exclude
-# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -29,6 +29,9 @@ param set-default MPC_MAN_TILT_MAX 60
 
 param set-default THR_MDL_FAC 0.3
 
+# enable high-rate logging profile (helps with tuning)
+param set-default SDLOG_PROFILE 19
+
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -11,8 +11,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -9,8 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board px4_fmu-v6x exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -10,7 +10,6 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -14,7 +14,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #

ROMFS/px4fmu_common/init.d/airframes/50002_hiwonder_tracked

@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name Hiwonder Tracked
+#
+# @url https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Differential Parameters
+param set-default RD_WHEEL_TRACK 0.16
+param set-default RD_TRANS_DRV_TRN 0.785398
+param set-default RD_TRANS_TRN_DRV 0.0872665
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.2
+param set-default RO_YAW_SUPEXPO 0.1
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 140
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 1
+param set-default RO_DECEL_LIM 1
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 0.3
+param set-default RO_SPEED_LIM 0.28
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/51002_hiwonder_ackermann

@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Hiwonder Ackermann
+#
+# @url https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Ackermann Parameters
+param set-default RA_WHEEL_BASE 0.17
+param set-default RA_ACC_RAD_GAIN 1
+param set-default RA_ACC_RAD_MAX 1
+param set-default RA_MAX_STR_ANG 0.698132
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.6
+param set-default RO_YAW_SUPEXPO 0.3
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 150
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 1.6
+param set-default RO_DECEL_LIM 3
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 1.2
+param set-default RO_SPEED_LIM 1.1
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/51002_nxp_b3rb

@@ -1,31 +0,0 @@
-#!/bin/sh
-#
-# @name NXP B3RB Rover Ackermann
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Set geometry & output configration
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 101
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_MIN1 1000
-param set-default PWM_MAIN_MIN2 2500
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX1 2000
-param set-default PWM_MAIN_MAX2 2500
-param set-default PWM_MAIN_MAX3 50
-param set-default PWM_MAIN_TIM0 400
-param set-default PWM_MAIN_TIM1 400
-param set-default PWM_MAIN_TIM2 20000

ROMFS/px4fmu_common/init.d/airframes/52001_hiwonder_mecanum

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Hiwonder Mecanum
+#
+# @url https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_mecanum_defaults
+
+param set-default HIWONDER_EMM_EN 1 # Enable motor driver
+param set-default BAT1_N_CELLS 3
+param set-default NAV_ACC_RAD 0.5
+
+# Mecanum Parameters
+param set-default RM_WHEEL_TRACK 0.16
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_EXPO 0.2
+param set-default RO_YAW_SUPEXPO 0.1
+param set-default RO_YAW_RATE_I 0.1
+param set-default RO_YAW_RATE_P 0.1
+param set-default RO_YAW_RATE_LIM 130
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_ACCEL_LIM 0.9
+param set-default RO_DECEL_LIM 1.2
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 0.5
+param set-default RO_SPEED_LIM 0.45
+param set-default RO_SPEED_I 0.05
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
+
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -12,9 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
-# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

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

@@ -20,9 +20,6 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
-# Overwrite DDS AG IP to `192.168.0.1`
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
 

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

@@ -145,6 +145,7 @@ if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
 		# [50000, 50999] Differential rovers
 		50000_generic_rover_differential
 		50001_aion_robotics_r1_rover
+		50002_hiwonder_tracked
 	)
 endif()
 
@@ -153,7 +154,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
-		51002_nxp_b3rb
+		51002_hiwonder_ackermann
 	)
 endif()
 
@@ -161,6 +162,7 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		# [52000, 52999] Mecanum rovers
 		52000_generic_rover_mecanum
+		52001_hiwonder_mecanum
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,8 +10,6 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1
 
-param set-default CA_AIRFRAME 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -28,7 +26,6 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
-param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -41,9 +41,3 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
-
-
-if param compare -s MC_RAPTOR_ENABLE 1
-then
-	mc_raptor start
-fi

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -8,6 +8,9 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45
 
+# 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

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -154,12 +154,6 @@ then
 	fi
 fi
 
-# Microchip MCP9808 temperature sensor external I2C
-if param compare -s SENS_EN_MCP9808 1
-then
-	mcp9808 start -X
-fi
-
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
@@ -225,24 +219,6 @@ then
 	pcf8583 start -X -a 0x51
 fi
 
-# ADC sensor ADS7953 external SPI
-if param compare -s ADC_ADS7953_EN 1
-then
-	ads7953 start -S
-fi
-
-# ADC sensor tla2528 external I2C
-if param compare -s ADC_TLA2528_EN 1
-then
-	tla2528 start -X
-fi
-
-# Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
-then
-	tmp102 start -X
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

ROMFS/px4fmu_common/init.d/rc.vtxtable

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# VTX table loading script.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-vtxtable load

ROMFS/px4fmu_common/init.d/rcS

@@ -228,26 +228,30 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
-	# Run autogenerated ROMFS airframe script
-	. ${R}etc/init.d/rc.autostart
-
-	if [ ${VEHICLE_TYPE} = none ]
+	# Load airframe configuration based on SYS_AUTOSTART parameter
+	if ! param compare SYS_AUTOSTART 0
 	then
-		# Run external airframe script on SD card
-		if [ $STORAGE_AVAILABLE = yes ]
+		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
+		# Look for airframe in ROMFS
+		. ${R}etc/init.d/rc.autostart
+
+		if [ ${VEHICLE_TYPE} = none ]
 		then
-			. ${R}etc/init.d/rc.autostart_ext
-		else
-			echo "ERROR [init] SD not mounted, skipping external airframe"
+			# Use external startup file
+			if [ $STORAGE_AVAILABLE = yes ]
+			then
+				. ${R}etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - can't load external airframe"
+			fi
 		fi
-	fi
 
-	if [ ${VEHICLE_TYPE} = none ]
-	then
-		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-		param set SYS_AUTOSTART 0
-		tune_control play error
+		if [ ${VEHICLE_TYPE} = none ]
+		then
+			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+			param set SYS_AUTOSTART 0
+			tune_control play error
+		fi
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -479,19 +483,6 @@ else
 		pwm_out start
 	fi
 
-	#
-	# Optional UAVCAN/DroneCAN or Cyphal
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		uavcan start
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -520,11 +511,6 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS
 
@@ -630,16 +616,6 @@ else
 	fi
 	unset RC_LOGGING
 
-	#
-	# Start the VTX services.
-	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
-	then
-		. ${RC_VTXTABLE}
-	fi
-	unset RC_VTXTABLE
-
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
@@ -656,6 +632,27 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 #
 # End of autostart.
 #

Tools/astyle/astylerc

@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=140
+max-code-length=120

Tools/astyle/files_to_check_code_style.sh

@@ -21,13 +21,11 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
-    -path src/lib/rl_tools/rl_tools -prune -o \
     -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
-    -path src/modules/mc_raptor/blob -prune -o \
     -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/auterion/remote_update_fmu.sh

@@ -7,7 +7,6 @@ fi
 
 ssh_port=22
 ssh_user=root
-ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"
 
 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -68,7 +67,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -106,11 +105,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
 
 	# send it to the target to start flashing
-	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi
 
 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/check_submodules.sh

@@ -17,12 +17,37 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
-		echo -e "To update submodules to the expected version, run:"
-		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
+		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]; then
+			echo "Continuing build with manually overridden submodule.."
+		elif [ "$user_cmd" == "u" ]; then
+			git submodule sync --recursive -- $1
+			git submodule update --init --recursive -- $1 || true
+			git submodule update --init --recursive --force -- $1
+			echo "Submodule fixed, continuing build.."
+		else
+			echo "Build aborted."
+			exit 1
+		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1

Tools/ci/generate_board_targets_json.py

@@ -25,31 +25,22 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                     help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                     help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
 
 args = parser.parse_args()
 verbose = args.verbose
 
-target_filter = []
+board_filter = []
 if args.filter:
-    for target in args.filter.split(','):
-        target_filter.append(target)
+    for board in args.filter.split(','):
+        board_filter.append(board)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = []
-
-# Container overrides for platforms/boards that need a non-default container
-platform_container_overrides = {
-    'qurt': voxl2_container,
-}
-board_container_overrides = {
-    'modalai_voxl2': voxl2_container,
-}
+excluded_platforms = ['qurt']
 excluded_labels = [
     'stackcheck',
     'nolockstep', 'replay', 'test',
@@ -97,20 +88,7 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         container = default_container
-
-        # Extract board name (manufacturer_board) from target name
-        board_name = '_'.join(target_name.split('_')[:2])
-
-        # Apply container overrides for specific platforms or boards
-        if platform in platform_container_overrides:
-            container = platform_container_overrides[platform]
-        if board_name in board_container_overrides:
-            container = board_container_overrides[board_name]
-
-        # Boards with container overrides get their own group
-        if board_name in board_container_overrides or platform in platform_container_overrides:
-            group = 'voxl2'
-        elif platform == 'posix':
+        if platform == 'posix':
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
@@ -166,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                 label = files.name[:-9]
                 target_name = manufacturer.name + '_' + board.name + '_' + label
 
-                if target_filter and not any(target_name.startswith(f) for f in target_filter):
+                if board_filter and not board_name in board_filter:
                     if verbose: print(f'excluding board {board_name} ({target_name})')
                     continue
 
@@ -225,7 +203,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []

Tools/ci/metadata_sync.sh

@@ -1,431 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_sync.sh - Unified metadata generation and synchronization for PX4 docs
-#
-# Usage:
-#   Tools/ci/metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Types:
-#   parameters    - Parameter reference (docs/en/advanced_config/parameter_reference.md)
-#   airframes     - Airframe reference (docs/en/airframes/airframe_reference.md)
-#   modules       - Module documentation (docs/en/modules/*.md)
-#   msg_docs      - uORB message docs (docs/en/msg_docs/*.md + docs/en/middleware/dds_topics.md)
-#   uorb_graphs   - uORB graph JSONs (docs/public/middleware/*.json)
-#   failsafe_web  - Failsafe simulator (docs/public/config/failsafe/*.{js,wasm,json})
-#   all           - All of the above (default)
-#
-# Options:
-#   --generate    Build the make targets to generate fresh metadata
-#   --sync        Copy generated files to docs/
-#   --verbose     Show detailed output
-#   --help        Show this help
-#
-# Exit codes:
-#   0 - Success (files synced or already up-to-date)
-#   1 - Error (build failed, missing files, etc.)
-#
-# Examples:
-#   # Full regeneration and sync (orchestrator use case)
-#   Tools/ci/metadata_sync.sh --generate --sync all
-#
-#   # Just sync specific type (assumes already built)
-#   Tools/ci/metadata_sync.sh --sync parameters
-#
-#   # Generate only, don't copy
-#   Tools/ci/metadata_sync.sh --generate uorb_graphs
-#
-set -euo pipefail
-shopt -s nullglob
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Configuration
-# ═══════════════════════════════════════════════════════════════════════════════
-
-EMSCRIPTEN_VERSION="3.1.64"
-EMSDK_DIR="${EMSDK_DIR:-_emscripten_sdk}"
-
-# All available metadata types
-ALL_TYPES=(parameters airframes modules msg_docs uorb_graphs failsafe_web)
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Logging
-# ═══════════════════════════════════════════════════════════════════════════════
-
-VERBOSE=false
-
-log() {
-    echo "[metadata_sync] $*"
-}
-
-log_verbose() {
-    if [[ "$VERBOSE" == "true" ]]; then
-        echo "[metadata_sync] $*"
-    fi
-}
-
-die() {
-    echo "[metadata_sync] ERROR: $*" >&2
-    exit 1
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Help
-# ═══════════════════════════════════════════════════════════════════════════════
-
-show_help() {
-    head -n 35 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Emscripten Setup
-# ═══════════════════════════════════════════════════════════════════════════════
-
-ensure_emscripten() {
-    if command -v emcc >/dev/null 2>&1; then
-        log_verbose "Emscripten already available: $(emcc --version | head -1)"
-        return 0
-    fi
-
-    log "Setting up Emscripten ${EMSCRIPTEN_VERSION}..."
-
-    if [[ ! -d "$EMSDK_DIR" ]]; then
-        log_verbose "Cloning emsdk to $EMSDK_DIR"
-        if [[ "$VERBOSE" == "true" ]]; then
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR"
-        else
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR" >/dev/null 2>&1
-        fi
-    fi
-
-    pushd "$EMSDK_DIR" >/dev/null
-    if [[ "$VERBOSE" == "true" ]]; then
-        ./emsdk install "$EMSCRIPTEN_VERSION"
-        ./emsdk activate "$EMSCRIPTEN_VERSION"
-    else
-        ./emsdk install "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-        ./emsdk activate "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-    fi
-    popd >/dev/null
-
-    # shellcheck source=/dev/null
-    source "${EMSDK_DIR}/emsdk_env.sh" >/dev/null 2>&1
-
-    log_verbose "Emscripten ready: $(emcc --version | head -1)"
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Generation Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-generate_parameters() {
-    log "Generating parameters metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make parameters_metadata
-    else
-        make parameters_metadata >/dev/null 2>&1
-    fi
-}
-
-generate_airframes() {
-    log "Generating airframes metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make airframe_metadata
-    else
-        make airframe_metadata >/dev/null 2>&1
-    fi
-}
-
-generate_modules() {
-    log "Generating modules documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make module_documentation
-    else
-        make module_documentation >/dev/null 2>&1
-    fi
-}
-
-generate_msg_docs() {
-    log "Generating message documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make msg_docs
-    else
-        make msg_docs >/dev/null 2>&1
-    fi
-}
-
-generate_uorb_graphs() {
-    log "Generating uORB graphs..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make uorb_graphs
-    else
-        make uorb_graphs >/dev/null 2>&1
-    fi
-}
-
-generate_failsafe_web() {
-    ensure_emscripten
-    log "Generating failsafe web..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make failsafe_web
-    else
-        make failsafe_web >/dev/null 2>&1
-    fi
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Sync Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-sync_parameters() {
-    local src="build/px4_sitl_default/docs/parameters.md"
-    local dest="docs/en/advanced_config/parameter_reference.md"
-
-    log "Syncing parameters..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_airframes() {
-    local src="build/px4_sitl_default/docs/airframes.md"
-    local dest="docs/en/airframes/airframe_reference.md"
-
-    log "Syncing airframes..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_modules() {
-    local src_dir="build/px4_sitl_default/docs/modules"
-    local dest_dir="docs/en/modules"
-
-    log "Syncing modules..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_msg_docs() {
-    local src_dir="build/msg_docs"
-    local dest_dir="docs/en/msg_docs"
-    local middleware_dir="docs/en/middleware"
-
-    log "Syncing message docs..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-    mkdir -p "$middleware_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-
-        # dds_topics.md goes to middleware dir
-        if [[ "$name" == "dds_topics.md" ]]; then
-            cp "$src" "$middleware_dir/$name"
-            log_verbose "  $src -> $middleware_dir/$name"
-        else
-            cp "$src" "$dest_dir/$name"
-            log_verbose "  $src -> $dest_dir/$name"
-        fi
-    done
-}
-
-sync_uorb_graphs() {
-    local src_dir="Tools/uorb_graph"
-    local dest_dir="docs/public/middleware"
-
-    log "Syncing uORB graphs..."
-
-    local src_files=("$src_dir"/*.json)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .json files found in $src_dir (did you run --generate?)"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_failsafe_web() {
-    local src_dir="build/px4_sitl_default_failsafe_web"
-    local dest_dir="docs/public/config/failsafe"
-
-    log "Syncing failsafe web..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    # Gather js, wasm, json files
-    local src_files=()
-    for ext in js wasm json; do
-        src_files+=("$src_dir"/*."$ext")
-    done
-
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .js/.wasm/.json files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Main Logic
-# ═══════════════════════════════════════════════════════════════════════════════
-
-DO_GENERATE=false
-DO_SYNC=false
-SELECTED_TYPES=()
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --generate)
-                DO_GENERATE=true
-                shift
-                ;;
-            --sync)
-                DO_SYNC=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                die "Unknown option: $1"
-                ;;
-            *)
-                # It's a type
-                SELECTED_TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types if none specified
-    if [[ ${#SELECTED_TYPES[@]} -eq 0 ]]; then
-        SELECTED_TYPES=("all")
-    fi
-
-    # Expand "all" to all types
-    local expanded_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ "$t" == "all" ]]; then
-            expanded_types+=("${ALL_TYPES[@]}")
-        else
-            expanded_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${expanded_types[@]}")
-
-    # Validate types
-    for t in "${SELECTED_TYPES[@]}"; do
-        local valid=false
-        for valid_type in "${ALL_TYPES[@]}"; do
-            if [[ "$t" == "$valid_type" ]]; then
-                valid=true
-                break
-            fi
-        done
-        if [[ "$valid" == "false" ]]; then
-            die "Unknown type: $t (valid: ${ALL_TYPES[*]})"
-        fi
-    done
-
-    # Must specify at least one action
-    if [[ "$DO_GENERATE" == "false" && "$DO_SYNC" == "false" ]]; then
-        die "Must specify at least one of: --generate, --sync"
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    log "Selected types: ${SELECTED_TYPES[*]}"
-    [[ "$DO_GENERATE" == "true" ]] && log "Actions: generate"
-    [[ "$DO_SYNC" == "true" ]] && log "Actions: sync"
-
-    # Remove duplicates from SELECTED_TYPES
-    local -A seen
-    local unique_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ -z "${seen[$t]:-}" ]]; then
-            seen[$t]=1
-            unique_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${unique_types[@]}")
-
-    # Generate phase
-    if [[ "$DO_GENERATE" == "true" ]]; then
-        log "=== Generation Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "generate_$t"
-        done
-    fi
-
-    # Sync phase
-    if [[ "$DO_SYNC" == "true" ]]; then
-        log "=== Sync Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "sync_$t"
-        done
-    fi
-
-    log "Done."
-    exit 0
-}
-
-main "$@"

Tools/ci/package_build_artifacts.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/ 2>/dev/null || true
-cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.px4 artifacts/
+cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}

Tools/ci/test_metadata_sync.sh

@@ -1,163 +0,0 @@
-#!/usr/bin/env bash
-#
-# test_metadata_sync.sh - Test metadata_sync.sh locally using Docker
-#
-# Usage:
-#   Tools/ci/test_metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Options:
-#   --shell       Drop into interactive shell instead of running sync
-#   --verbose     Pass --verbose to metadata_sync.sh
-#   --skip-build  Skip SITL build (use existing build artifacts)
-#   --help        Show this help
-#
-# Types:
-#   Same as metadata_sync.sh: parameters, airframes, modules, msg_docs, uorb_graphs, failsafe_web, all
-#
-# Examples:
-#   # Test full regeneration
-#   Tools/ci/test_metadata_sync.sh all
-#
-#   # Test just parameters (faster)
-#   Tools/ci/test_metadata_sync.sh parameters
-#
-#   # Drop into shell for debugging
-#   Tools/ci/test_metadata_sync.sh --shell
-#
-#   # Skip build if you already have artifacts
-#   Tools/ci/test_metadata_sync.sh --skip-build --verbose all
-#
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
-
-DOCKER_IMAGE="px4io/px4-dev:v1.17.0-alpha1"
-CONTAINER_NAME="px4-metadata-test-$$"
-
-SHELL_MODE=false
-VERBOSE=""
-SKIP_BUILD=false
-TYPES=()
-
-show_help() {
-    head -n 28 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-cleanup() {
-    echo "[test] Cleaning up container..."
-    docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
-}
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --shell)
-                SHELL_MODE=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE="--verbose"
-                shift
-                ;;
-            --skip-build)
-                SKIP_BUILD=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                echo "Unknown option: $1" >&2
-                exit 1
-                ;;
-            *)
-                TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types
-    if [[ ${#TYPES[@]} -eq 0 ]]; then
-        TYPES=("all")
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    cd "$REPO_ROOT"
-
-    echo "[test] Using Docker image: $DOCKER_IMAGE"
-    echo "[test] Repository root: $REPO_ROOT"
-
-    # Pull image if not present
-    if ! docker image inspect "$DOCKER_IMAGE" >/dev/null 2>&1; then
-        echo "[test] Pulling Docker image..."
-        docker pull "$DOCKER_IMAGE"
-    fi
-
-    trap cleanup EXIT
-
-    # Handle git worktrees: the .git file points to the main repo's .git directory
-    # We need to mount that directory too so git works inside the container
-    local git_mounts=()
-    if [[ -f "$REPO_ROOT/.git" ]]; then
-        # It's a worktree - read the gitdir path and mount it
-        local gitdir
-        gitdir=$(grep '^gitdir:' "$REPO_ROOT/.git" | cut -d' ' -f2)
-        if [[ -n "$gitdir" ]]; then
-            # Mount the gitdir at the same path so the .git file reference works
-            git_mounts+=("-v" "$gitdir:$gitdir:ro")
-            # Also need the main .git directory (parent of worktrees/)
-            local main_git_dir
-            main_git_dir=$(dirname "$(dirname "$gitdir")")
-            git_mounts+=("-v" "$main_git_dir:$main_git_dir:ro")
-            echo "[test] Detected git worktree, mounting git directories"
-        fi
-    fi
-
-    if [[ "$SHELL_MODE" == "true" ]]; then
-        echo "[test] Starting interactive shell..."
-        echo "[test] Run: Tools/ci/metadata_sync.sh --generate --sync all"
-        docker run -it --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash
-    else
-        echo "[test] Running metadata sync for: ${TYPES[*]}"
-
-        # Build the command
-        local cmd=""
-
-        if [[ "$SKIP_BUILD" == "false" ]]; then
-            cmd="Tools/ci/metadata_sync.sh --generate --sync $VERBOSE ${TYPES[*]}"
-        else
-            cmd="Tools/ci/metadata_sync.sh --sync $VERBOSE ${TYPES[*]}"
-        fi
-
-        echo "[test] Command: $cmd"
-
-        docker run --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash -c "$cmd"
-
-        echo ""
-        echo "[test] Done! Check git status for changes:"
-        echo "  git status -s docs/"
-        echo ""
-        echo "[test] To see what changed:"
-        echo "  git diff docs/"
-    fi
-}
-
-main "$@"

Tools/module_config/generate_actuators_metadata.py

@@ -238,7 +238,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             ( 'disarmed', 'Disarmed', 'DIS', False ),
             ( 'min', 'Minimum', 'MIN', False ),
             ( 'max', 'Maximum', 'MAX', False ),
-            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
             ( 'failsafe', 'Failsafe', 'FAIL', True ),
             ]
         for key, label, param_suffix, advanced in standard_params_array:

Tools/module_config/generate_params.py

@@ -284,9 +284,6 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
-'''
-        center_description = \
-'''Servo Center output value (when not disarmed).
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -299,7 +296,6 @@ When set to -1 (default), the value depends on the function (see {:}).
         standard_params_array = [
             ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
             ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'center', 'Center', 'CENT', center_description ),
             ( 'max', 'Maximum', 'MAX', maximum_description ),
             ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
             ]
@@ -316,10 +312,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
-                if key == 'center':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',

Tools/msg/generate_msg_docs.py

@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
-import re
-
-VALID_FIELDS = { #Note, also have to add the message types as those can be fields
-    'uint64',
-    'uint16',
-    'uint8',
-    'uint32'
-}
-
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
-invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
-ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
-
-class Error:
-    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
-        self.type = type
-        self.message = message
-        self.linenumber = linenumber
-        self.issueString = issueString
-        self.field = field
-
-    def display_error(self):
-        #print(f"Debug: Error: display_error")
-
-
-        if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
-            else:
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
-        elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
-        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
-        elif 'empty_start_line' == self.type:
-            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
-        elif 'internal_comment' == self.type:
-            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
-        elif 'internal_comment_empty' == self.type:
-            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
-        elif 'summary_missing' == self.type:
-            print(f"WARNING: No message description ({self.message})")
-        elif 'topic_error' == self.type:
-            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
-        elif 'unknown_unit' == self.type:
-            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'constant_not_in_assigned_enum' == self.type:
-            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
-        elif 'unknown_invalid_value' == self.type:
-            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'unknown_frame' == self.type:
-            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'command_no_params_pipes' == self.type:
-            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_missing_params' == self.type:
-            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_too_many_params' == self.type:
-            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
-
-
-        else:
-            self.display_info()
-
-    def display_info(self):
-        """
-        Display info about an error.
-        Used as a fallback if error does not have specific printout in display_error()
-        """
-        #print(f"Debug: Error: display_info")
-        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
-
-class Enum:
-    def __init__(self, name, parentMessage):
-        self.name = name
-        self.parent = parentMessage
-        self.enumValues = dict()
-
-    def display_info(self):
-        """
-        Display info about an enum
-        """
-        print(f"Debug: Enum: display_info")
-        print(f" name: {self.name}")
-        for key, value in self.enumValues.items():
-            value.display_info()
-
-class ConstantValue:
-    def __init__(self, name, type, value, comment, line_number):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        # TODO if value or name are empty, error
-
-    def display_info(self):
-        print(f"Debug: ConstantValue: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-
-
-class CommandParam:
-    """
-    Represents an individual param in a command constant
-    Encapsulates parsing of the param to extract units etc.
-    """
-
-    def __init__(self, num, paramText, line_number, parentCommand):
-        self.paramNum = num
-        self.paramText = paramText.strip()
-        self.enum = None
-        self.range = None
-        #self.type = type
-        self.units = []
-        self.enums = []
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentCommand
-        self.parentMessage = self.parent.parent
-
-        match = None
-        if self.paramText:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
-        self.description = paramText
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        enum = item[1].strip()
-                        if enum and enum not in self.enums:
-                            self.enums.append(enum)
-
-                        # Create parent enum objects for any enums created in this step
-                        for enumName in self.enums:
-                            if not enumName in self.parentMessage.enums:
-                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
-
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.range = item
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
-                            """
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                            """
-
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
-                        """
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                        """    
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    unit = item.strip()
-
-                    if item == "-":
-                        unit = ""
-                    
-                    if unit and unit not in self.units:
-                        self.units.append(unit) 
-
-                    if unit not in ALLOWED_UNITS:
-                        invalid_units.add(unit)
-                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parentMessage.errors:
-                            self.parentMessage.errors["unknown_unit"] = []
-                        self.parentMessage.errors["unknown_unit"].append(error)
-
-
-    def display_info(self):
-        print(f"Debug: CommandParam: display_info")
-        print(f" id: {self.paramNum}")
-        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
-
-
-        
-class CommandConstant:
-    """
-    Represents a constant that is a command definition.
-    Encapsulates parsing of the command format.
-    The individual params are further parsed in CommandParam
-    """
-    def __init__(self, name, type, value, comment, line_number, parentMessage):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-        self.parent = parentMessage
-
-        self.description = self.comment
-        self.param1 = None
-        self.param2 = None
-        self.param3 = None
-        self.param4 = None
-        self.param5 = None
-        self.param6 = None
-        self.param7 = None
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        if not self.comment: # This is an bug for a command
-            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
-            return
-            
-        # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
-        if not "|" in self.comment:
-            # This is an error for a command constant
-            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_no_params_pipes" in self.parent.errors:
-                self.parent.errors["command_no_params_pipes"] = []
-            self.parent.errors["command_no_params_pipes"].append(error)
-            return
-        
-        # Split on pipes
-        commandSplit = self.comment.split("|")
-        if len(commandSplit) < 9:
-            # Should 7 pipes, so each command is fully surrounded
-            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_missing_params" in self.parent.errors:
-                self.parent.errors["command_missing_params"] = []
-            self.parent.errors["command_missing_params"].append(error)
-
-        self.description = commandSplit[0].strip()
-        self.description = self.description if self.description else None
-
-        params_to_update = commandSplit[1:8]
-
-        for i, value in enumerate(params_to_update, start=1):
-            if value.strip():
-                # parse the param
-                param = CommandParam(i, value, self.line_number, self)
-                #param.display_info() # DEBUG CODE XXX
-                setattr(self, f"param{i}", param)
-                # parse the param
-
-        if len(commandSplit) > 8:
-            extras = commandSplit[8:]
-            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
-            if not "command_too_many_params" in self.parent.errors:
-                self.parent.errors["command_too_many_params"] = []
-            self.parent.errors["command_too_many_params"].append(error)
-
-
-        # TODO if value or name are empty, error
-
-    def markdown_out(self):
-        #print("DEBUG: CommandConstant.markdown_out")
-        output = f"""### {self.name} ({self.value})
-
-{self.description}
-
-Param | Units | Range/Enum | Description
---- | --- | --- | ---
-"""
-        for i in range(1, 8):
-            attr_name = f"param{i}"
-            # getattr returns None if the attribute doesn't exist
-            val = getattr(self, attr_name, None)
-
-            if val is not None:
-                rangeVal = ""
-                if val.minValue or val.maxValue:
-                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
-
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
-            else:
-                output+=f"{i} | | | ?\n"                
-
-        output+=f"\n"
-        return output
-
-
-    def display_info(self):
-        print(f"Debug: CommandConstant: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
-
-class MessageField:
-    """
-    Represents a field.
-    Encapsulates parsing of the field information.
-    """
-    def __init__(self, name, type, comment, line_number, parentMessage):
-        self.name = name
-        self.type = type
-        self.comment = comment
-        self.unit = None
-        self.enums = None
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentMessage
-
-        #print(f"MessageComment: {comment}")
-        match = None
-        if self.comment:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
-        self.description = comment
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        self.enums = item[1:]
-                        # Create parent enum objects
-                        for enumName in self.enums:
-                            if not enumName in parentMessage.enums:
-                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    self.unit = item
-
-                    if self.unit not in ALLOWED_UNITS:
-                        invalid_units.add(self.unit)
-                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parent.errors:
-                            self.parent.errors["unknown_unit"] = []
-                        self.parent.errors["unknown_unit"].append(error)
-
-                    if item == "-":
-                        self.unit = ""
-
-
-    def display_info(self):
-        print(f"Debug: MessageField: display_info")
-        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
-
-
-class UORBMessage:
-    """
-    Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
-    more appropriate classes, once the specific type of line has been identified.
-    """
-
-    def __init__(self, filename):
-
-        self.filename = filename
-        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
-        self.msg_filename = os.path.join(msg_path, self.filename)
-        self.name = os.path.splitext(os.path.basename(msg_file))[0]
-        self.shortDescription = ""
-        self.longDescription = ""
-        self.fields = []
-        self.constantFields = dict()
-        self.commandConstants = dict()
-        self.enums = dict()
-        self.output_file = os.path.join(output_dir, f"{self.name}.md")
-        self.topics = []
-        self.errors = dict()
-
-        self.parseFile()
-
-        if args.errors:
-            #print(f"DEBUG: args.errors: {args.errors}")
-            if args.error_messages:
-                messages = args.error_messages.split(" ")
-                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
-                if self.name in messages:
-                    self.reportErrors()
-                    #print(f"Debug: {self.name} in {messages}")
-            else:
-              self.reportErrors()
-
-    def reportErrors(self):
-        #print(f"Debug: UORBMessage: reportErrors()")
-        for errorType, errors in self.errors.items():
-            for error in errors:
-               error.display_error()
-
-    def markdown_out(self):
-        #print(f"Debug: UORBMessage: markdown_out()")
-
-        # Add page header (forces wide pages)
-        markdown = f"""---
-pageClass: is-wide-page
----
-
-# {self.name} (UORB message)
-
-"""
-        ## Append description info if present
-        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
-        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
-
-        topicList = " ".join(self.topics)
-        markdown += f"**TOPICS:** {topicList}\n\n"
-
-        # Generate field docs
-        markdown += f"## Fields\n\n"
-        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
-        markdown += "--- | --- | --- | --- | ---\n"
-        for field in self.fields:
-            unit = f"{field.unit}" if field.unit else ""
-            frame = f"[{field.frameValue}]" if field.frameValue else ""
-            unit = f"{unit} {frame}"
-            unit.strip()
-            unit = f" {unit}"
-
-            value = " "
-            if field.enums:
-                value = ""
-                for enum in field.enums:
-                    value += f"[{enum}](#{enum})"
-                value = value.strip()
-                value = f"{value}"
-            elif field.minValue or field.maxValue:
-                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
-
-            description = f" {field.description}" if field.description else ""
-            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
-            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
-
-        # Generate table for command docs
-        if len(self.commandConstants) > 0:
-            #print("DEBUGCOMMAND")
-            markdown += f"\n## Commands\n\n"
-
-            """
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, command in self.commandConstants.items():
-                description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
-            """
-            for commandConstant in self.commandConstants.values():
-                #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
-
-        # Generate enum docs
-        if len(self.enums) > 0:
-            markdown += f"\n## Enums\n"
-
-            for name, enum in self.enums.items():
-                markdown += f"\n### {name} {{#{name}}}\n\n"
-
-                markdown += "Name | Type | Value | Description\n"
-                markdown += "--- | --- | --- | ---\n"
-
-                for enumValueName, enumValue in enum.enumValues.items():
-                    description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
-
-        # Generate table for constants docs
-        if len(self.constantFields) > 0:
-            markdown += f"\n## Constants\n\n"
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, enum in self.constantFields.items():
-                description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
-
-
-
-        # Append msg contents to the end
-        with open(self.msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-            msg_contents = msg_contents.strip()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown += f"""
-
-## Source Message
-
-[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
-
-::: details Click here to see original file
-
-```c
-{msg_contents}
-```
-
-:::
-"""
-
-        with open(self.output_file, 'w') as content_file:
-            content_file.write(markdown)
-
-        #exit()
-
-
-    def display_info(self):
-        print(f"UORBMessage: display_info")
-        print(f" name: {self.name}")
-        print(f" filename: {self.filename}, ")
-        print(f" msg_filename: {self.msg_filename}, ")
-        print(f"self.shortDescription: {self.shortDescription}")
-        print(f"self.longDescription: {self.longDescription}")
-        print(f"self.enums: {self.enums}")
-
-        for enum, enumObject in self.enums.items():
-            enumObject.display_info()
-
-        # Output our data so far
-        for field in self.fields:
-            field.display_info()
-
-        for enumvalue in self.constantFields:
-            print(enumvalue)
-            self.constantFields[enumvalue].display_info()
-
-    def handleField(self, line, line_number, parentMessage):
-        #print(f"debug: handleField: (line): \n {line}")
-        # Note, here we know we don't have a comment or a topic.
-        # We expect it to be a field.
-
-        # Check field doesn't have leading whitespace (trailing spaces already checked)
-        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
-            #print("First character is whitespace")
-            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
-            if not "leading_whitespace_field_or_constant" in self.errors:
-                self.errors["leading_whitespace_field_or_constant"] = []
-                self.errors["leading_whitespace_field_or_constant"].append(error)
-
-        # Now we can parse the stripped line
-        fieldOrConstant = line.strip()
-
-        # Check that the field or constant has only single whitespace separators
-        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
-        if stripped_fieldOrConstant != fieldOrConstant:
-            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
-            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
-            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
-                self.errors["field_or_constant_has_multiple_whitepsace"] = []
-                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
-
-        fieldOrConstant = stripped_fieldOrConstant
-
-
-
-        comment = None
-        if "#" in line:
-            commentExtract = line.split("#", 1) # Split once on left-most '#'
-            fieldOrConstant = commentExtract[0].strip()
-            comment = commentExtract[-1].strip()
-
-        if "=" not in fieldOrConstant:
-            # Is a field:
-            field = fieldOrConstant.split(" ")
-            type = field[0].strip()
-            name = field[1].strip()
-            field = MessageField(name, type, comment, line_number, parentMessage)
-            self.fields.append(field)
-        else:
-            temp = fieldOrConstant.split("=")
-            value = temp[-1]
-            typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
-            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
-                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
-                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
-                #commandConstant.display_info()
-                self.commandConstants[name]=commandConstant
-            else: #it's a constant (or part of an enum)
-                constantField = ConstantValue(name, type, value, comment, line_number)
-                self.constantFields[name]=constantField
-
-
-    def parseFile(self):
-        initial_block_lines = []
-        #stopping_token = None
-        found_first_relevant_content = False
-        gettingInitialComments = False
-        gettingFields = False
-
-        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
-            lines = uorbfile.read().splitlines()
-            for line_number, line in enumerate(lines, 1):
-
-                if line != line.rstrip():
-                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
-                    error = Error("trailing_whitespace", self.filename, line_number, line)
-                    if not "trailing_whitespace" in self.errors:
-                        self.errors["trailing_whitespace"] = []
-                    self.errors["trailing_whitespace"].append(error)
-
-                #print(f"line: {line}")
-                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
-                #print(f"stripped_line: {stripped_line}")
-                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
-                # Or perhaps we just fix it on request
-
-                isEmptyLine = False if line.strip() else True
-                if not found_first_relevant_content and isEmptyLine: #Empty line
-                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
-                    error = Error("empty_start_line", self.filename, line_number, line)
-                    if not "empty_start_line" in self.errors:
-                        self.errors["empty_start_line"] = []
-                    self.errors["empty_start_line"].append(error)
-                    #error.display_error()
-                    continue
-                if not found_first_relevant_content and not isEmptyLine:
-                    found_first_relevant_content = True
-
-                    if stripped_line.startswith("#"):
-                        gettingInitialComments = True
-                    else:
-                        gettingInitialComments = False
-                        gettingFields = True
-
-                if gettingInitialComments and stripped_line.startswith("#"):
-                    stripped_line=stripped_line[1:].strip()
-                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
-                    initial_block_lines.append(stripped_line)
-                else:
-                    gettingInitialComments = False
-                    gettingFields = True #Getting fields and constants
-                if gettingFields:
-                    if isEmptyLine:
-                        continue # empty line
-                    if stripped_line.startswith("# TOPICS "):
-                        stripped_line = stripped_line[9:]
-                        stripped_line = stripped_line.split(" ")
-                        self.topics+= stripped_line
-                        # Note, default topic and topic errors handled after all lines parsed
-                        continue
-                    if stripped_line.startswith("#"):
-                        # Its an internal comment
-                        stripped_line=stripped_line[1:].strip()
-                        
-                        if stripped_line:
-                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment", self.filename, line_number, line)
-                            if not "internal_comment" in self.errors:
-                                self.errors["internal_comment"] = []
-                            self.errors["internal_comment"].append(error)
-                        else:
-                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment_empty", self.filename, line_number, line)
-                            if not "internal_comment_empty" in self.errors:
-                                self.errors["internal_comment_empty"] = []
-                            self.errors["internal_comment_empty"].append(error)
-                            #pass # Empty comment
-                        continue
-                    
-                    # Must be a field or a comment.
-                    self.handleField(line, line_number, parentMessage=self)
-
-            # 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()
-
-            defaultTopic = camel_to_snake(self.name)
-            if len(self.topics) == 0:
-                # We have no topic declared, so set the default topic
-                self.topics.append(defaultTopic)
-            elif len(self.topics) == 1:
-                # We have 1 topic declared - either it is default or there is some issue.
-                if defaultTopic in self.topics:
-                    # Declared topic is default topic
-                    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}")
-                if not "topic_error" in self.errors:
-                    self.errors["topic_error"] = []
-                    self.errors["topic_error"].append(error)
-            elif len(self.topics) > 1:
-                if defaultTopic not in self.topics:
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
-
-            # Parse our short and long description
-            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
-            doingLongDescription = False
-            for summaryline in initial_block_lines:
-                if not self.shortDescription and summaryline.strip() == '':
-                    continue
-                if not doingLongDescription and not summaryline.strip() == '':
-                   self.shortDescription += f" {summaryline}"
-                   self.shortDescription = self.shortDescription.strip()
-                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
-                       self.shortDescription += "."
-                if not doingLongDescription and summaryline.strip() == '':
-                   doingLongDescription = True
-                   continue
-                if doingLongDescription:
-                    self.longDescription += f"{summaryline}\n"
-
-            if self.longDescription:
-                self.longDescription.strip()
-
-            if not self.shortDescription:
-                # Summary has not been defined
-                error = Error("summary_missing", self.filename)
-                if not "summary_missing" in self.errors:
-                    self.errors["summary_missing"] = []
-                self.errors["summary_missing"].append(error)
-
-
-            # TODO Parse our constantValues into enums, leaving only constants
-            constantValuesToRemove = []
-            #print(f"DEBUG: Self.enums: {self.enums}")
-            for enumName, enumObject in self.enums.items():
-                for enumValueName, enumValueObject in self.constantFields.items():
-                    if enumValueName.startswith(enumName):
-                        # Copy this value into the object (cant be duplicate because parent is dict)
-                        enumObject.enumValues[enumValueName]=enumValueObject
-                        constantValuesToRemove.append(enumValueName)
-            # Now delete the original enumvalues
-            for enumValName in constantValuesToRemove:
-                del self.constantFields[enumValName]
-            constantsNotAssignedToEnums = len(self.constantFields)
-            if constantsNotAssignedToEnums > 0:
-                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
-                for enumValueName, enumValue in self.constantFields.items():
-                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
-                        pass
-                    else:
-                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
-                        if not "constant_not_in_assigned_enum" in self.errors:
-                            self.errors["constant_not_in_assigned_enum"] = []
-                        self.errors["constant_not_in_assigned_enum"].append(error)
-                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -924,50 +127,83 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
-    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
-        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
-
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
-    msgTypes = set()
 
     for msg_file in msg_files:
-        # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        msgTypes.add(msg_name)
+        output_file = os.path.join(output_dir, msg_name+'.md')
+        msg_filename = os.path.join(msg_path, msg_file)
+        print("{:} -> {:}".format(msg_filename, output_file))
 
-    for msg_file in msg_files:
-        message = UORBMessage(msg_file)
-        # Any additional tests that can't be in UORBMessage parser go here.
-        message.markdown_out()
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
+
+        msg_description = ""
+        summary_description = ""
+
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#') or (line.strip() == ''):
+                print('DEBUG: line: %s' % line)
+                line=line[1:].strip()+'\n'
+                stripped_line=line.strip()
+                if msg_description and not summary_description and stripped_line=='':
+                    summary_description = msg_description.strip()
+
+                msg_description+=line
+                line = lineparser.readline()
+            msg_description=msg_description.strip()
+            if not summary_description and msg_description:
+                summary_description = msg_description
+            print('msg_description: Z%sZ' % msg_description)
+            print('summary_description: Z%sZ' % summary_description)
+            summary_description
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown_output="""# %s (UORB message)
+
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                versioned_msgs_list += f" — {message.shortDescription}"
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                unversioned_msgs_list += f" — {message.shortDescription}"
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
             unversioned_msgs_list += "\n"
+
     # Write out the index.md file
-    index_text=f"""# uORB Message Reference
+    index_text="""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -982,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-{versioned_msgs_list}
+%s
 
 ## Unversioned Messages
 
-{unversioned_msgs_list}
-    """
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w', encoding='utf-8') as content_file:
+    with open(index_file, 'w') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

Tools/process_sensor_caldata.py

@@ -1138,8 +1138,6 @@ if num_mags >= 1:
 
     if not math.isnan(sensor_mag_0['temperature'][0]):
 
-        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
-
         # find the min, max and reference temperature
         mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
         mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -1658,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
+    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
     coef_baro_0_x = np.polyfit(temperature,baro,5)
 
 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1677,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))
 
 # draw plots
-plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1719,9 +1717,9 @@ if num_baros >= 2:
     # fit data
     median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
         coef_baro_1_x = np.polyfit(temperature,baro,5)
 
     baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1738,7 +1736,7 @@ if num_baros >= 2:
     plt.figure(14,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
     plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1780,9 +1778,9 @@ if num_baros >= 3:
     # fit data
     median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
+        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
+        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
         coef_baro_2_x = np.polyfit(temperature,baro,5)
 
     baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1799,7 +1797,7 @@ if num_baros >= 3:
     plt.figure(15,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
     plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1840,7 +1838,7 @@ if num_baros >= 4:
 
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
+    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
     baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
     baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
     baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1855,7 +1853,7 @@ if num_baros >= 4:
     plt.figure(16,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_3_x_resample,'r')
     plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
     plt.ylabel('Z bias (Pa)')