bl_update: Allow booting from SD card (without forced BL copy to ROMFS)

.vscode/cmake-variants.yaml

@@ -36,11 +36,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_test
-    px4_sitl_zenoh:
-      short: px4_sitl_zenoh
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
     px4_io-v2_default:
       short: px4_io-v2
       buildType: MinSizeRel

Kconfig

@@ -73,11 +73,6 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
-    config BOARD_ADDITIONAL_INIT
-        string "Additional init file"
-        help
-            additional configurable init file to include in the ROMFS
-
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

MAINTAINERS.md

@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
 | Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
 | Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
 
 

Makefile

@@ -511,7 +511,6 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \

ROMFS/CMakeLists.txt

@@ -202,43 +202,18 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
-if(config_additional_init)
-	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/rc.additional_init
-				${config_additional_init}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
-			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${config_additional_init}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${config_additional_init}"
-		)
-
-		list(APPEND extras_dependencies
-			${config_additional_init}.stamp
-			)
-	else()
-		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
-	endif()
-endif()
-
 
 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
 
 # bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
 			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")

ROMFS/cannode/init.d/rcS

@@ -56,17 +56,6 @@ then
 fi
 unset BOARD_RC_DEFAULTS
 
-#
-# Optional additional init file: rc.additional_init
-#
-set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-then
-	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-	. $BOARD_RC_ADDITIONAL_INIT
-fi
-unset BOARD_RC_ADDITIONAL_INIT
-
 #
 # Start system state indicator.
 #

ROMFS/px4fmu_common/init.d-posix/airframes/70000_gz_atmos

@@ -1,21 +1,10 @@
 #!/bin/sh
 #
-# @name KTH-ATMOS
+# @name 3DoF Spacecraft Model
 #
-# @type Free-Flyer
-# @class Spacecraft
+# @type 2D Freeflyer with 8 thrusters - Planar motion
 #
-# @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
+# @maintainer Pedro Roque <padr@kth.se>
 #
 
 . ${R}etc/init.d/rc.sc_defaults

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -324,11 +324,6 @@ fi
 
 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
 
-if param greater -s ZENOH_ENABLE 0
-then
-	zenoh start
-fi
-
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start

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

@@ -5,17 +5,7 @@
 # @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
-# @url https://atmos.discower.io
 #
 
 . ${R}etc/init.d/rc.sc_defaults

ROMFS/px4fmu_common/init.d/rc.logging

@@ -8,9 +8,6 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################
 
-#
-# Set SD logging mode
-#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -31,28 +28,8 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -a"
 fi
 
-#
-# Set logging backend
-#
-if param compare SDLOG_BACKEND 1
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m file"
-fi
 
-if param compare SDLOG_BACKEND 2
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
-fi
-
-if param compare SDLOG_BACKEND 3
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m all"
-fi
-
-#
-# Start logger if any logging backend is enabled
-#
-if ! param compare SDLOG_BACKEND 0
+if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -237,7 +237,6 @@ then
 	qmc5883p -X -q start
 	rm3100 -X -q start
 	bmm350 -X -q start
-	iis2mdc -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start

ROMFS/px4fmu_common/init.d/rcS

@@ -217,17 +217,6 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS
 
-	#
-	# Optional additional init file: rc.additional_init
-	#
-	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-	then
-		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-		. $BOARD_RC_ADDITIONAL_INIT
-	fi
-	unset BOARD_RC_ADDITIONAL_INIT
-
 	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
@@ -624,7 +613,9 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
-
+	#
+	# Bootloader upgrade (ROMFS)
+	#
 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
@@ -632,6 +623,22 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Bootloader upgrade (SD card)
+	#
+	if param compare -s SYS_BL_UPDATE 2
+	then
+		if [ -f "/fs/microsd/bl/bl.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/fs/microsd/bl/bl.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#

Tools/msg/templates/cdrstream/uorb_idl_header.h.em

@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
             (package, name) = genmsg.names.package_resource_name(field.base_type)
             package = package or spec.package # convert '' to package
 
-            print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
+            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
 }@
 
 
 
-typedef struct @uorb_struct px4_msgs_msg_@(file_base_name);
+typedef struct @uorb_struct px4_msg_@(file_base_name);
 
-extern const struct dds_cdrstream_desc px4_msgs_msg_@(file_base_name)_cdrstream_desc;
+extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
 
 #ifdef __cplusplus
 }

Tools/px4airframes/srcparser.py

@@ -14,6 +14,7 @@ class AirframeGroup(object):
         self.af_class = af_class
         self.airframes = []
 
+
     def AddAirframe(self, airframe):
         """
         Add airframe to the airframe group
@@ -106,8 +107,6 @@ class AirframeGroup(object):
             return "Balloon"
         elif (self.type == "Vectored 6 DOF UUV"):
             return "Vectored6DofUUV"
-        elif self.type == "Free-Flyer":
-            return "FreeFlyer"
         return "AirframeUnknown"
 
     def GetAirframes(self):

Tools/zenoh/px_generate_zenoh_topic_files.py

@@ -42,7 +42,6 @@ import os
 import argparse
 import re
 import sys
-import json
 
 try:
     import em
@@ -125,7 +124,7 @@ def generate_by_template(output_file, template_file, em_globals):
     return True
 
 
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
     # generate cpp file with topics list
     filenames = []
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -139,27 +138,11 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
         full_base_names.append(filename.replace(".msg",""))
 
-    rihs01_hashes = dict()
-    if rihs_path != '':
-        for topic in full_base_names:
-            with open(rihs_path + "/msg/" + topic + ".json") as f:
-                d = json.load(f)
-                assert d['type_hashes'][0]['hash_string'][:7] == 'RIHS01_'
-
-                rihs01_hash = d['type_hashes'][0]['hash_string'][7:]
-
-                byte_array = [f"0x{rihs01_hash[i:i+2]}" for i in range(0, len(rihs01_hash), 2)]
-                c_code = f"{{ {', '.join(byte_array)} }};"
-                rihs01_hashes[topic] = c_code
-
     topics = []
-    datatypes_with_topics = dict()
     for msg_filename in files:
-        datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
-        datatypes_with_topics[datatype] = get_topics(msg_filename)
-        topics.extend(datatypes_with_topics[datatype])
+        topics.extend(get_topics(msg_filename))
 
-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
     tl_template_file = os.path.join(templatedir, template_filename)
     tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
 
@@ -179,15 +162,13 @@ if __name__ == "__main__":
     parser.add_argument('-p', dest='prefix', default='',
                         help='string added as prefix to the output file '
                         ' name when converting directories')
-    parser.add_argument('--rihs', dest='rihs', default='',
-                        help='path where rihs01 json files located')
     args = parser.parse_args()
 
     if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
         exit(0)
     elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
         exit(0)
     else:
         print('Error: either --headers or --sources must be specified')

Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em

@@ -74,7 +74,7 @@ full_base_names.sort()
 
 @[for idx, topic_name in enumerate(datatypes)]@
 @{
-type_topic_count = len(datatypes_with_topics[topic_name])
+type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -88,28 +88,9 @@ type_topic_count = len(datatypes_with_topics[topic_name])
         CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \
 @[end for]        0
 
-@[for topic_name, rihs01_hash in rihs01_hashes.items()]@
-const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
-@[end for]
-
-@[for idx, topic_name in enumerate(datatypes)]@
-#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
-@{
-topic_names = datatypes_with_topics[topic_name]
-}@
-const orb_metadata* @(topic_name)_topic_meta[@(len(topic_names))] = {
-@[for topic_name_inst in topic_names]@
-	ORB_ID(@(topic_name_inst)),
-@[end for]};
-#endif
-@[end for]
-
 typedef struct {
-	const char *data_type_name;
 	const uint32_t *ops;
-	const uint8_t *hash;
-	const orb_metadata** orb_topic;
-	const uint8_t orb_topics_size;
+	const orb_metadata* orb_meta;
 } UorbPubSubTopicBinder;
 
 const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -119,95 +100,54 @@ uorb_id_idx = 0
 @[for idx, topic_name in enumerate(datatypes)]@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 @{
-topic_names = datatypes_with_topics[topic_name]
+topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
 }@
+@[for topic_name_inst in topic_names]@
 		{
-		  "@(topic_name)",
-		  px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
-		  @(topic_dict[topic_name])_hash,
-		  @(topic_name)_topic_meta,
-		  @(len(topic_names)),
+		  px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
+		  ORB_ID(@(topic_name_inst))
 		},
-#endif
+@{
+uorb_id_idx += 1
+}@
+@[end for]#endif
 @[end for]
 };
 
-uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
     for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(pub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Publisher(meta, pub.ops, instance);
-            }
+        if(pub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Publisher(meta, pub.ops);
         }
     }
     return NULL;
 }
 
 
-uORB_Zenoh_Publisher* genPublisher(const char *name, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const char *name) {
     for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(strcmp(pub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Publisher(pub.orb_topic[i], pub.ops, instance);
-            }
+        if(strcmp(pub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops);
         }
     }
     return NULL;
 }
 
 
-Zenoh_Subscriber* genSubscriber(const orb_metadata *meta, int instance) {
+Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
     for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Subscriber(meta, sub.ops, instance);
-            }
+        if(sub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Subscriber(meta, sub.ops);
         }
     }
     return NULL;
 }
 
 
-Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
+Zenoh_Subscriber* genSubscriber(const char *name) {
     for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
-            }
-        }
-    }
-    return NULL;
-}
-
-const char* getTypeName(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.data_type_name;
-            }
-        }
-    }
-    return NULL;
-}
-
-
-const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return sub.hash;
-            }
-        }
-    }
-    return NULL;
-}
-
-const uint8_t* getRIHS01_Hash(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.hash;
-            }
+        if(strcmp(sub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
         }
     }
     return NULL;

boards/airmind/mindpx-v2/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/atl/mantis-edu/default.px4board

@@ -35,6 +35,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/auterion/fmu-v6s/default.px4board

@@ -21,7 +21,6 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y

boards/auterion/fmu-v6s/init/rc.board_defaults

@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-param set-default SDLOG_BACKEND 2
+set LOGGER_ARGS "-m mavlink"
 
 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -12,20 +12,17 @@ board_adc start
 bmi088 -A -R 0 -s start
 bmi088 -G -R 0 -s start
 
-# MAG on I2C4, ROTATION_ROLL_180=8
 if ver hwtypecmp V6S013 V6S015
 then
+	# Revision(s) with BMM150
+	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm150 -I -R 8 start
 else
+	# Revision(s) with BMM350
+	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm350 -I -R 8 start
 fi
 
-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
-
-
-# External sensors on I2C1
-
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -62,17 +59,14 @@ fi
 
 if param compare BAT1_V_CHANNEL -2
 then
-	if [ "$INA_CONFIGURED" != "yes" ]
-	then
-		param set BAT1_V_CHANNEL -1
-	fi
+    if [ "$INA_CONFIGURED" != "yes" ]
+    then
+        param set BAT1_V_CHANNEL -1
+    fi
 fi
 
-# External compass IST8310 on I2C1
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
 
-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start -b 1
-fi
+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start

boards/av/x-v1/default.px4board

@@ -71,6 +71,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/cuav/x7pro/test.px4board

@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/cubepilot/cubeorange/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/cubepilot/cubeorangeplus/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/cubepilot/cubeyellow/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/hkust/nxt-dual/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/hkust/nxt-v1/default.px4board

@@ -68,6 +68,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/holybro/kakuteh7mini/init/rc.board_defaults

@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# Disable logging
-param set-default SDLOG_BACKEND 0
+# Don't try to log onto SD card
+param set-default SDLOG_MODE -1

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# Disable logging
-param set-default SDLOG_BACKEND 0
+# Don't try to log onto SD card
+param set-default SDLOG_MODE -1

boards/holybro/pix32v5/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/micoair/h743-v2/default.px4board

@@ -84,6 +84,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/modalai/fc-v1/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/modalai/fc-v2/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/mro/x21-777/default.px4board

@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/mro/x21/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/narinfc/h7/test.px4board

@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y

boards/nxp/mr-canhubk3/default.px4board

@@ -14,7 +14,6 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -182,7 +182,6 @@ CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -208,7 +207,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000

boards/nxp/mr-canhubk3/zenoh.px4board

@@ -0,0 +1,57 @@
+# CONFIG_BOARD_ROMFSROOT is not set
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

boards/nxp/tropic-community/default.px4board

@@ -75,7 +75,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/nxp/tropic-community/nuttx-config/nsh/defconfig

@@ -49,7 +49,6 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_DP83825I=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -156,8 +155,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0xA290AFE
-CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
 CONFIG_NETINIT_RETRY_MOUNTPATH=10
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -168,18 +167,15 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -200,7 +196,6 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000

boards/px4/fmu-v2/default.px4board

@@ -47,6 +47,7 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y

boards/px4/fmu-v3/default.px4board

@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v4/default.px4board

@@ -80,6 +80,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v4pro/default.px4board

@@ -77,6 +77,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v5/default.px4board

@@ -83,6 +83,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/px4/fmu-v5x/default.px4board

@@ -91,6 +91,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/px4/fmu-v6xrt/default.px4board

@@ -89,7 +89,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -55,7 +55,6 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -215,18 +214,15 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -247,7 +243,6 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1835008

boards/sky-drones/smartap-airlink/default.px4board

@@ -72,6 +72,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/thepeach/k1/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/thepeach/r1/default.px4board

@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/uvify/core/default.px4board

@@ -61,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y

boards/x-mav/ap-h743v2/default.px4board

@@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/xc-fly/xc-slam/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/xc-fly/xc-slim/default.px4board

@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

cmake/kconfig.cmake

@@ -339,11 +339,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		endif()
 	endif()
 
-	# ADDITIONAL INIT
-	if(ADDITIONAL_INIT)
-		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
-	endif()
-
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()

docs/assets/airframes/types/FreeFlyer.svg

@@ -1,197 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Generator: Adobe Illustrator 19.2.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-
-<svg
-   version="1.1"
-   id="draw"
-   x="0px"
-   y="0px"
-   viewBox="0 0 291.424 291.77"
-   enable-background="new 0 0 291.424 291.77"
-   xml:space="preserve"
-   sodipodi:docname="FreeFlyer.svg"
-   inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/"><metadata
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docs/en/concept/system_startup.md

@@ -90,8 +90,6 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.
 
-#### Dynamic customization
-
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:
 
 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -108,7 +106,7 @@ If editing on Windows use a suitable editor.
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::
 
-##### Customizing the Configuration (config.txt)
+#### Customizing the Configuration (config.txt)
 
 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -120,7 +118,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```
 
-##### Starting Additional Applications (extras.txt)
+#### Starting Additional Applications (extras.txt)
 
 The `extras.txt` can be used to start additional applications after the main system boot.
 Typically these would be payload controllers or similar optional custom components.
@@ -147,28 +145,3 @@ The following example shows how to start custom applications:
 
   mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
   ```
-
-#### Additional customization
-
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
-you can add a script that will be contained in the binary.
-
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
-edge-cases such as customizing `cannode` based boards.
-
-- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
-  ```sh
-  # File: boards/<vendor>/<board>/init/rc.additional
-  param set-default <param> <value>
-  ```
-
-- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
-  ```sh
-  # File: boards/<vendor>/<board>/var.px4board
-  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
-  ```
-
-- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
-  ```sh
-  make <target>_var
-  ```

docs/en/dev_log/logging.md

@@ -35,15 +35,14 @@ The parameters you are most likely to change are listed below.
 
 | Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
 | ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
 | [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
 | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |
 
 Useful settings for specific cases:
 
 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
-- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)
+- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
 
 ### Logger module
 

docs/en/sim_sih/index.md

@@ -316,43 +316,6 @@ For SIH as SITL (no FC):
 
 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
 
-## Controlling Actuators in SIH
-
-:::warning
-If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
-:::
-
-In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
-
-To enable actuator control in SIH:
-
-1. Configure PWM parameters in the airframe file:
-
-Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
-
-For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
-
-`param set-default PWM_MAIN_FUNC3 407`
-
-You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
-
-Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
-
-You may also configure the output as desired:
-- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
-- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
-- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
-
-2. Manually start the PWM output driver
-
-For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
-
-`pwm_out start`
-
-And to disable it again:
-
-`pwm_out stop`
-
 ## Dynamic Models
 
 The dynamic models for the various vehicles are:

docs/en/smart_batteries/rotoye_batmon.md

@@ -3,6 +3,12 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.
 
+::: info
+At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
+Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
+:::
+
+
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)
 
 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)

msg/CMakeLists.txt

@@ -424,11 +424,9 @@ add_dependencies(uorb_msgs prebuild_targets uorb_headers)
 if(CONFIG_LIB_CDRSTREAM)
 	set(uorb_cdr_idl)
 	set(uorb_cdr_msg)
-	set(uorb_cdr_hash)
 	set(uorb_cdr_idl_uorb)
 	set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
 	set(idl_out_path ${idl_include_path}/px4/msg)
-	set(idl_rihs01_out_path ${idl_include_path}/px4)
 	set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
 
 	# Make sure that CycloneDDS has been checkout out
@@ -459,7 +457,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
-		list(APPEND uorb_cdr_hash ${idl_out_path}/${msg}.json)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
 	endforeach()
 
@@ -479,25 +476,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		VERBATIM
 		)
 
-	file(CREATE_LINK ${idl_rihs01_out_path} ${idl_include_path}/px4_msgs SYMBOLIC)
-
-	# Generate IDL from .msg using rosidl_adapter
-	# Note this is a submodule inside PX4 hence no ROS2 installation required
-	add_custom_command(
-		OUTPUT ${uorb_cdr_hash}
-		COMMAND ${CMAKE_COMMAND}
-		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_parser:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_generator_type_description"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/idl2rihs01.py
-			--output-dir ${idl_rihs01_out_path}
-			${uorb_cdr_idl}
-		DEPENDS
-			${uorb_cdr_idl}
-			git_cyclonedds
-		COMMENT "Generating RIHS01 hashes from IDL"
-		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-		VERBATIM
-		)
-
 	# Generate C definitions from IDL
 	set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
 	include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
@@ -527,7 +505,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		DEPENDS
 			uorb_cdrstream
 			${msg_files}
-			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
@@ -557,10 +534,8 @@ if(CONFIG_MODULES_ZENOH)
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
 			-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
-			--rihs ${idl_rihs01_out_path}
 		DEPENDS
 			${msg_files}
-			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
 			${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 		COMMENT "Generating Zenoh Topic Code"

msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg

@@ -1,14 +0,0 @@
-# Arming check request.
-#
-# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
-# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
-# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
-#
-# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
-# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-
-uint32 MESSAGE_VERSION = 0
-
-uint64 timestamp  # [us] Time since system start.
-
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.

msg/translation_node/translations/all_translations.h

@@ -8,7 +8,6 @@
 
 #include "translation_airspeed_validated_v1.h"
 #include "translation_arming_check_reply_v1.h"
-#include "translation_arming_check_request_v1.h"
 #include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
 #include "translation_home_position_v1.h"

msg/translation_node/translations/translation_arming_check_request_v1.h

@@ -1,36 +0,0 @@
-/****************************************************************************
- * Copyright (c) 2025 PX4 Development Team.
- * SPDX-License-Identifier: BSD-3-Clause
- ****************************************************************************/
-#pragma once
-
-// Translate ArmingCheckRequest v0 <--> v1
-#include <px4_msgs_old/msg/arming_check_request_v0.hpp>
-#include <px4_msgs/msg/arming_check_request.hpp>
-
-class ArmingCheckRequestV1Translation {
-public:
-    using MessageOlder = px4_msgs_old::msg::ArmingCheckRequestV0;
-    static_assert(MessageOlder::MESSAGE_VERSION == 0);
-
-    using MessageNewer = px4_msgs::msg::ArmingCheckRequest;
-    static_assert(MessageNewer::MESSAGE_VERSION == 1);
-
-    static constexpr const char* kTopic = "/fmu/out/arming_check_request";
-
-    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
-	    msg_newer.timestamp = msg_older.timestamp;
-
-	    msg_newer.request_id = msg_older.request_id;
-
-	    msg_newer.valid_registrations_mask = 0xffffffff;
-    }
-
-    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
-	    msg_older.timestamp = msg_newer.timestamp;
-
-	    msg_older.request_id = msg_newer.request_id;
-    }
-};
-
-REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckRequestV1Translation);

msg/versioned/ArmingCheckRequest.msg

@@ -7,10 +7,8 @@
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 0
 
 uint64 timestamp  # [us] Time since system start.
 
 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
-
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)

platforms/nuttx/init/rc.board_bootloader_upgrade.in

@@ -1,7 +1,7 @@
 #! /bin/sh
 
 #
-# Bootloader upgrade
+# Bootloader upgrade (ROMFS)
 #
 if param compare -s SYS_BL_UPDATE 1
 then

src/drivers/dshot/module.yaml

@@ -16,7 +16,7 @@ parameters:
                     sure to set this high enough so that the motors are always spinning while
                     armed.
             type: float
-            unit: norm
+            unit: '%'
             min: 0
             max: 1
             decimal: 2

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit 8fdef3bc0cb7820119abdb7320ad3992af2e440f
+Subproject commit f31394a37e252e3017e64f729312bcce05ea3a90

src/drivers/gps/gps.cpp

@@ -759,10 +759,6 @@ GPS::run()
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
 			break;
 
-		case 6:
-			ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation;
-			break;
-
 		default:
 			break;
 

src/drivers/gps/params.c

@@ -94,7 +94,6 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
  * F9P units are connected to each other.
  * Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
  * RTK is still possible with this setup.
- * Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
  *
  * @min 0
  * @max 1
@@ -104,7 +103,6 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
  * @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
  * @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
  * @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
- * @value 6 Ground Control Station (UART2 outputs NMEA)
  *
  * @reboot_required true
  * @group GPS

src/drivers/pca9685_pwm_out/module.yaml

@@ -19,16 +19,6 @@ actuator_output:
 parameters:
   - group: Actuator Outputs
     definitions:
-      PCA9685_EN_BUS:
-        description:
-          short: Enable the PCA9685 output driver
-          long: |
-            Enable the PCA9685 output driver.
-            The integer refers to the I2C bus number where PCA9685 is connected.
-        type: int32
-        min: 0
-        max: 10
-        default: 0
       PCA9685_SCHD_HZ:
         description:
           short: PWM update rate

src/drivers/uavcan/actuators/esc.cpp

@@ -96,7 +96,7 @@ UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned to
 
 	_prev_cmd_pub = timestamp;
 
-	uavcan::equipment::esc::RawCommand msg = {};
+	uavcan::equipment::esc::RawCommand msg;
 
 	// directly output values from mixer
 	for (unsigned i = 0; i < total_outputs; i++) {

src/drivers/uavcan/sensors/battery.hpp

@@ -118,7 +118,7 @@ private:
 	static constexpr int BATTERY_INDEX_2 = 2;
 	static constexpr int BATTERY_INDEX_3 = 3;
 	static constexpr int BATTERY_INDEX_4 = 4;
-	static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.
+	static constexpr int SAMPLE_INTERVAL_US = 20_ms; // assume higher frequency UAVCAN feedback than 50Hz
 
 	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
 

src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp

@@ -644,7 +644,7 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter
 
 bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 {
-#if UAVCAN_STM32H7_NUTTX
+#if UAVCAN_STM32_NUTTX
 	const unsigned Timeout = 1000;
 #else
 	const unsigned Timeout = 2000000;
@@ -657,7 +657,7 @@ bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 			return true;
 		}
 
-#if UAVCAN_STM32H7_NUTTX
+#if UAVCAN_STM32_NUTTX
 		::usleep(1000);
 #endif
 	}

src/drivers/uavcannode/UavcanNode.cpp

@@ -505,16 +505,12 @@ void UavcanNode::Run()
 
 			if (can_init_res < 0) {
 				PX4_ERR("CAN driver init failed %i", can_init_res);
-				ScheduleClear();
-				return;
 			}
 
 			int rv = _node.start();
 
 			if (rv < 0) {
 				PX4_ERR("Failed to start the node");
-				ScheduleClear();
-				return;
 			}
 
 			// If the node_id was not supplied by the bootloader do Dynamic Node ID allocation
@@ -532,8 +528,6 @@ void UavcanNode::Run()
 
 				if (client_start_res < 0) {
 					PX4_ERR("Failed to start the dynamic node ID client");
-					ScheduleClear();
-					return;
 				}
 			}
 		}

src/lib/cdrstream/idl2rihs01.py

@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-
-############################################################################
-#
-#   Copyright (C) 2023 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-import argparse
-import pathlib
-import sys
-import os
-import tempfile
-import json
-
-try:
-    from rosidl_generator_type_description import generate_type_hash
-except ImportError:
-    # modifying sys.path and importing the Python package with the same
-    # name as this script does not work on Windows
-    rosidl_generator_type_description_root = os.path.dirname(os.path.dirname(__file__))
-    rosidl_generator_type_description_module = os.path.join(
-        rosidl_generator_type_description_root, 'rosidl_generator_type_description', '__init__.py')
-    if not os.path.exists(rosidl_generator_type_description_module):
-        raise
-    from importlib.machinery import SourceFileLoader
-
-    loader = SourceFileLoader('rosidl_generator_type_description', rosidl_generator_type_description_module)
-    rosidl_generator_type_description = loader.load_module()
-    generate_type_hash = rosidl_generator_type_description.generate_type_hash
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(
-        description=f'Convert px4 .idl files to rihs01')
-    parser.add_argument(
-        'interface_files', nargs='+',
-        help='The interface files to convert')
-    parser.add_argument(
-        '--output-dir', '-o',
-         help='The directory to save converted files (default: current directory)')
-    args = parser.parse_args(sys.argv[1:])
-
-    # So for some odd reason rosidl doesn't do proper cli arguments but believes
-    # that some magically crafted json is better
-
-    idl_files = []
-
-    type_hash_arguments = {}
-    type_hash_arguments['package_name'] = "px4_msgs"
-    type_hash_arguments['output_dir'] = args.output_dir
-    type_hash_arguments["idl_tuples"] = idl_files
-
-    for interface_file in args.interface_files:
-        # So file path need to be magically encoded with a : to let the parser do its thing
-
-        interface_file = str(pathlib.Path(interface_file)).replace("px4/msg", "px4:msg")
-        idl_files.append(interface_file)
-
-    json_file = tempfile.NamedTemporaryFile(mode="w+")
-    json.dump(type_hash_arguments, json_file)
-    json_file.flush()
-
-    generate_type_hash(json_file.name)

src/lib/cdrstream/msg2idl.py

@@ -52,6 +52,6 @@ if __name__ == '__main__':
         package_dir = interface_file.parent.absolute()
 
         convert_msg_to_idl(
-            package_dir, 'px4_msgs',
+            package_dir, 'px4',
             interface_file.absolute().relative_to(package_dir),
             interface_file.parent)

src/lib/cdrstream/rosidl

@@ -1 +1 @@
-Subproject commit bf5682e4747843d1d5133b9a2b54ce6f12f166c7
+Subproject commit 7790c70717e09c003711f6f65015666c223fc283

src/lib/parameters/param_translation.cpp

@@ -150,18 +150,5 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}
 
-	// 2025-08-22: translate SDLOG_MODE (disabled) to SDLOG_BACKEND (no logging backend)
-	{
-		if (strcmp("SDLOG_MODE", node->name) == 0) {
-			if (node->i32 == -1) {
-				node->i32 = 0;
-
-				int32_t sdlog_backend_val = 0;
-				param_set(param_find("SDLOG_BACKEND"), &sdlog_backend_val);
-				PX4_INFO("migrating %s -> %s", "SDLOG_MODE", "SDLOG_BACKEND");
-			}
-		}
-	}
-
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }

src/lib/systemlib/system_params.c

@@ -286,6 +286,9 @@ PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);
  * @reboot_required true
  *
  * @group System
+ * @value 0 No bootloader update is performed
+ * @value 1 Bootloader update will be performed (using binary in ROMFS)
+ * @value 2 Bootloader update will be performed (using binary in /fs/microsd/bl/bl.bin)
  */
 PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
 

src/modules/commander/Commander.cpp

@@ -1895,7 +1895,8 @@ void Commander::run()
 		_actuator_armed.armed = isArmed();
 		_actuator_armed.prearmed = getPrearmState();
 		_actuator_armed.ready_to_arm = _vehicle_status.pre_flight_checks_pass || isArmed();
-		_actuator_armed.lockdown = _multicopter_throw_launch.isThrowLaunchInProgress();
+		_actuator_armed.lockdown = ((_vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON)
+					    || _multicopter_throw_launch.isThrowLaunchInProgress());
 		// _actuator_armed.kill // action_request_s::ACTION_KILL
 		_actuator_armed.termination = (_vehicle_status.nav_state == _vehicle_status.NAVIGATION_STATE_TERMINATION);
 		// _actuator_armed.in_esc_calibration_mode // VEHICLE_CMD_PREFLIGHT_CALIBRATION

src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp

@@ -229,10 +229,8 @@ void ExternalChecks::update()
 	int max_num_updates = arming_check_reply_s::ORB_QUEUE_LENGTH;
 
 	while (_arming_check_reply_sub.update(&reply) && --max_num_updates >= 0) {
-		const bool valid = reply.registration_id < MAX_NUM_REGISTRATIONS && registrationValid(reply.registration_id);
-		const bool timed_out = now > reply.timestamp + 300_ms;
-
-		if (!timed_out && valid && _current_request_id == reply.request_id) {
+		if (reply.registration_id < MAX_NUM_REGISTRATIONS && registrationValid(reply.registration_id)
+		    && _current_request_id == reply.request_id) {
 			_reply_received_mask |= 1u << reply.registration_id;
 			_registrations[reply.registration_id].num_no_response = 0;
 			_registrations[reply.registration_id].waiting_for_first_response = false;
@@ -293,15 +291,6 @@ void ExternalChecks::update()
 		arming_check_request_s request{};
 		request.request_id = ++_current_request_id;
 		request.timestamp = hrt_absolute_time();
-		request.valid_registrations_mask = _active_registrations_mask;
-
-		// Clear unresponsive ones
-		for (int i = 0; i < MAX_NUM_REGISTRATIONS; ++i) {
-			if (_registrations[i].unresponsive) {
-				request.valid_registrations_mask &= ~(1u << i);
-			}
-		}
-
 		_arming_check_request_pub.publish(request);
 	}
 }

src/modules/commander/ModeManagement.cpp

@@ -473,29 +473,6 @@ uint8_t ModeManagement::getReplacedModeIfAny(uint8_t nav_state)
 	return nav_state;
 }
 
-uint8_t ModeManagement::onDisarm(uint8_t stored_nav_state)
-{
-	// Switch to the owned mode if an executor is active
-	uint8_t returned_nav_state = stored_nav_state;
-
-	if (_mode_executors.valid(_mode_executor_in_charge)) {
-		returned_nav_state = _mode_executors.executor(_mode_executor_in_charge).owned_nav_state;
-	}
-
-	// Switch to Hold if the mode is unresponsive
-	if (_modes.valid(returned_nav_state)) {
-		if (_external_checks.isUnresponsive(_modes.mode(returned_nav_state).arming_check_registration_id)) {
-			returned_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
-		}
-	}
-
-	// Update _mode_executor_in_charge if needed (in case stored_nav_state belongs to an executor
-	// that is currently not active)
-	onUserIntendedNavStateChange(ModeChangeSource::User, returned_nav_state);
-
-	return returned_nav_state;
-}
-
 void ModeManagement::removeModeExecutor(int mode_executor_id)
 {
 	if (mode_executor_id == -1) {

src/modules/commander/ModeManagement.hpp

@@ -153,8 +153,6 @@ public:
 	void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override;
 	uint8_t getReplacedModeIfAny(uint8_t nav_state) override;
 
-	uint8_t onDisarm(uint8_t stored_nav_state) override;
-
 	uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true);
 
 	bool updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const;
@@ -211,7 +209,6 @@ public:
 
 	void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override {}
 	uint8_t getReplacedModeIfAny(uint8_t nav_state) override { return nav_state; }
-	uint8_t onDisarm(uint8_t stored_nav_state) override { return stored_nav_state; }
 
 	uint8_t getNavStateReplacementIfValid(uint8_t nav_state, bool report_error = true) { return nav_state; }
 

src/modules/commander/UserModeIntention.cpp

@@ -92,10 +92,5 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
 
 void UserModeIntention::onDisarm()
 {
-	if (_handler) {
-		_user_intented_nav_state = _handler->onDisarm(_nav_state_after_disarming);
-
-	} else {
-		_user_intented_nav_state = _nav_state_after_disarming;
-	}
+	_user_intented_nav_state = _nav_state_after_disarming;
 }

src/modules/commander/UserModeIntention.hpp

@@ -53,8 +53,6 @@ public:
 	 * @return nav_state or the mode that nav_state replaces
 	 */
 	virtual uint8_t getReplacedModeIfAny(uint8_t nav_state) = 0;
-
-	virtual uint8_t onDisarm(uint8_t stored_nav_state) = 0;
 };
 
 

src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp

@@ -76,11 +76,18 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 						measurement_var + bias_est.getBiasVar(),
 						math::max(_params.ekf2_gps_p_gate, 1.f));
 
+		// update the bias estimator before updating the main filter but after
+		// using its current state to compute the vertical position innovation
+		if (measurement_valid) {
+			bias_est.setMaxStateNoise(sqrtf(measurement_var));
+			bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
+			bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
+		}
+
 		// determine if we should use height aiding
 		const bool common_conditions_passing = measurement_valid
 						       && _local_origin_lat_lon.isInitialized()
-						       && _gnss_checks.passed()
-						       && !_control_status.flags.gnss_fault;
+						       && _gnss_checks.passed();
 
 		const bool continuing_conditions_passing = (_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& common_conditions_passing;
@@ -96,12 +103,6 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 		if (_control_status.flags.gps_hgt) {
 			if (continuing_conditions_passing) {
 
-				// update the bias estimator before updating the main filter but after
-				// using its current state to compute the vertical position innovation
-				bias_est.setMaxStateNoise(sqrtf(measurement_var));
-				bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
-				bias_est.fuseBias(measurement - _gpos.altitude(), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
-
 				fuseVerticalPosition(aid_src);
 
 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -123,8 +123,7 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
 {
 	const bool continuing_conditions_passing = (_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::VEL))
 			&& _control_status.flags.tilt_align
-			&& _control_status.flags.yaw_align
-			&& !_control_status.flags.gnss_fault;
+			&& _control_status.flags.yaw_align;
 	const bool starting_conditions_passing = continuing_conditions_passing && _gnss_checks.passed();
 
 	if (_control_status.flags.gnss_vel) {

src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp

@@ -125,13 +125,11 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 
 		if (_flow_counter == 0) {
 			_flow_vel_body_lpf.reset(_flow_vel_body);
-			_flow_rate_compensated_lpf.reset(_flow_rate_compensated);
 			_flow_counter = 1;
 
 		} else {
 
 			_flow_vel_body_lpf.update(_flow_vel_body);
-			_flow_rate_compensated_lpf.update(_flow_rate_compensated);
 			_flow_counter++;
 		}
 
@@ -242,23 +240,8 @@ void Ekf::resetTerrainToFlow()
 {
 	ECL_INFO("reset hagl to flow");
 
-	float new_terrain = -_gpos.altitude() + _params.ekf2_min_rng;
-
-	if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
-		// ||vel_NE|| = ||( R * flow_body * range).xy()||
-		// range = ||vel_NE|| / ||P * R * flow_body||
-		constexpr float kProjXY[2][3] = {{1.f, 0.f, 0.f}, {0.f, 1.f, 0.f}};
-		const matrix::Matrix<float, 2, 3> proj(kProjXY);
-
-		const Vector3f flow_body(-_flow_rate_compensated_lpf.getState()(1), _flow_rate_compensated_lpf.getState()(0), 0.f);
-		const float denom = Vector2f(proj * _R_to_earth * flow_body).norm();
-
-		if (denom > 1e-6f) {
-			const float range = _state.vel.xy().norm() / denom;
-			new_terrain = -_gpos.altitude() + max(range, _params.ekf2_min_rng);
-		}
-	}
-
+	// TODO: use the flow data
+	const float new_terrain = -_gpos.altitude() + _params.ekf2_min_rng;
 	const float delta_terrain = new_terrain - _state.terrain;
 	_state.terrain = new_terrain;
 	P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);

src/modules/ekf2/EKF/ekf.h

@@ -529,7 +529,6 @@ private:
 	uint32_t _flow_counter{0};                      ///< number of flow samples read for initialization
 
 	Vector2f _flow_rate_compensated{}; ///< measured angular rate of the image about the X and Y body axes after removal of body rotation (rad/s), RH rotation is positive
-	AlphaFilter<Vector2f> _flow_rate_compensated_lpf{_dt_ekf_avg, _kSensorLpfTimeConstant};
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
 #if defined(CONFIG_EKF2_AIRSPEED)

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -120,16 +120,6 @@ bool EkfWrapper::isIntendingGpsFusion() const
 	return _ekf->control_status_flags().gnss_vel || _ekf->control_status_flags().gnss_pos;
 }
 
-bool EkfWrapper::isGnssFaultDetected() const
-{
-	return _ekf->control_status_flags().gnss_fault;
-}
-
-void EkfWrapper::setGnssDeadReckonMode()
-{
-	_ekf_params->ekf2_gps_mode = static_cast<int32_t>(GnssMode::kDeadReckoning);
-}
-
 void EkfWrapper::enableGpsHeadingFusion()
 {
 	_ekf_params->ekf2_gps_ctrl |= static_cast<int32_t>(GnssCtrl::YAW);

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -78,8 +78,6 @@ public:
 	void enableGpsFusion();
 	void disableGpsFusion();
 	bool isIntendingGpsFusion() const;
-	bool isGnssFaultDetected() const;
-	void setGnssDeadReckonMode();
 
 	void enableGpsHeadingFusion();
 	void disableGpsHeadingFusion();

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -228,54 +228,3 @@ TEST_F(EkfGpsTest, altitudeDrift)
 	// THEN: the baro and local position should follow it
 	EXPECT_LT(fabsf(baro_innov), 0.1f);
 }
-
-TEST_F(EkfGpsTest, gnssJumpDetectionDRMode)
-{
-	// Dead-reckoning mode allows the EKF to reject GNSS data if another source
-	// of horizontal aiding is used (e.g.: airspped)
-	_ekf_wrapper.setGnssDeadReckonMode();
-	_ekf_wrapper.enableGpsHeightFusion();
-
-	// GIVEN:EKF that fuses GNSS and airspeed
-	const Vector3f previous_position = _ekf->getPosition();
-	const Vector3f simulated_velocity_earth(1.f, 0.5f, 0.0f);
-	const Vector2f airspeed_body(15.f, 0.0f);
-	_sensor_simulator._gps.setVelocity(simulated_velocity_earth);
-
-	_ekf->set_in_air_status(true);
-	_ekf->set_vehicle_at_rest(false);
-	_ekf->set_is_fixed_wing(true);
-
-	_sensor_simulator.startAirspeedSensor();
-	_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
-	_sensor_simulator.runSeconds(1);
-
-	EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
-
-	// AND: simulate jump in position
-	const Vector3f simulated_position_change(500.0f, -1.0f, 0.f);
-	_sensor_simulator._gps.stepHorizontalPositionByMeters(
-		Vector2f(simulated_position_change));
-	_sensor_simulator.runSeconds(15);
-
-	// THEN: the GNSS jump should trigger the fault detection
-	// and stop the fusion (including height and velocity)
-	const Vector3f estimated_position = _ekf->getPosition();
-	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeightFusion());
-	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
-	EXPECT_TRUE(_ekf_wrapper.isGnssFaultDetected());
-
-	// The position is obtained through dead-reckoning
-	EXPECT_TRUE(isEqual(estimated_position,
-			    previous_position, 25.f));
-
-	// BUT WHEN: the position data goes back to normal
-	_sensor_simulator._gps.stepHorizontalPositionByMeters(
-		-Vector2f(simulated_position_change) + Vector2f(20.f, 10.f));
-	_sensor_simulator.runSeconds(1);
-
-	// THEN: the fault is cleared an dfusion restarts
-	EXPECT_FALSE(_ekf_wrapper.isGnssFaultDetected());
-	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
-	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
-}

src/modules/logger/params.c

@@ -55,10 +55,7 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
  * Determines when to start and stop logging. By default, logging is started
  * when arming the system, and stopped when disarming.
  *
- * Note: The logging start/end points that can be configured here only apply to
- * SD logging. The mavlink backend is started/stopped independently
- * of these points.
- *
+ * @value -1 disabled
  * @value 0 when armed until disarm (default)
  * @value 1 from boot until disarm
  * @value 2 from boot until shutdown
@@ -70,25 +67,6 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
  */
 PARAM_DEFINE_INT32(SDLOG_MODE, 0);
 
-/**
- * Logging Backend (integer bitmask).
- *
- * If no logging is set the logger will not be started.
- *
- * Set bits true to enable:
- * 0: SD card logging
- * 1: Mavlink logging
- *
- * @min 0
- * @max 3
- * @bit 0 SD card logging
- * @bit 1 Mavlink logging
- *
- * @reboot_required true
- * @group SD Logging
- */
-PARAM_DEFINE_INT32(SDLOG_BACKEND, 3);
-
 /**
  * Battery-only Logging
  *

src/modules/mavlink/mavlink_main.cpp

@@ -1832,6 +1832,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("AVAILABLE_MODES", 0.3f);
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", 2.0f);
+		configure_stream_local("COLLISION", 2.0f);
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
@@ -1851,6 +1852,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SYS_STATUS", 0.5f);
 		configure_stream_local("SYSTEM_TIME", 2.0f);
 		configure_stream_local("TIME_ESTIMATE_TO_TARGET", 0.5f);
+		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 2.0f);
 		configure_stream_local("VFR_HUD", 1.0f);
 		configure_stream_local("VIBRATION", 0.1f);
 		configure_stream_local("WIND_COV", 0.1f);