Copilot Review instructions: Drivers

If the measured temperature exceeds the fixed threshold of 100 degC, a
fault is declared, causing batteryCheck to show a failsafe warning to
the user.

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,92 +3,45 @@ 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 and concise description of 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.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
       description: |
-          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
+        **Flight log** (highly recommended for flight-related issues):
+        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
 
-  - 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)
+        **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: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
     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: false
+blank_issues_enabled: true
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,22 +1,9 @@
 <!--
 
-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:
@@ -27,11 +14,10 @@ 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

@@ -0,0 +1,48 @@
+---
+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/instructions/src.drivers.instructions.md

@@ -0,0 +1,212 @@
+---
+applyTo: "src/drivers/**"
+---
+
+# PX4 Driver Review Instructions
+
+This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
+
+## Copyright Statements
+
+### Required Files
+
+All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
+
+**Exceptions:** 
+- `Kconfig` files
+- `module.yaml` files
+
+### Copyright Format
+
+**For new files (created in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+```
+
+**For updated files (originally created in 2015, updated in 2026):**
+```cpp
+/****************************************************************************
+ *
+ *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
+ *
+ * [... rest of copyright text ...]
+ *
+ ****************************************************************************/
+```
+
+### Key Points
+- First year should be the original creation year
+- When updating an existing file, update the year range: `YYYY-2026`
+- Use the current year (2026 in this case) for new files
+- Maintain consistent formatting with other PX4 driver files
+
+---
+
+## Driver Self-Documentation
+
+All drivers MUST be self-documenting through the `print_usage()` method.
+
+### Required Implementation
+
+Every driver `.cpp` file must implement a `print_usage()` method that includes:
+
+1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
+2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
+3. **Parameter documentation** - Relevant parameters, especially enablement parameters
+
+### PRINT_MODULE_DESCRIPTION Structure
+
+The description should follow this markdown format:
+
+```cpp
+PRINT_MODULE_DESCRIPTION(
+    R"DESCR_STR(
+### Description
+[Clear description of what the driver does and its primary functionality]
+
+### Implementation
+[Optional: High-level overview of how the driver works]
+
+### Examples
+[Optional: CLI usage examples if non-trivial]
+$ module_name start -d /dev/ttyS1
+$ module_name stop
+
+)DESCR_STR");
+```
+
+### Required Sections
+
+#### 1. Description Section
+- Brief explanation of the driver's purpose
+- Key features/capabilities
+- Important parameters (especially enable parameters like `SENS_XX_CFG`)
+
+#### 2. Documentation Links
+When applicable, include links to user documentation:
+```cpp
+Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
+```
+
+#### 3. Examples Section (when relevant)
+Provide CLI usage examples for non-trivial commands:
+```cpp
+### Examples
+Attempt to start driver on a specified serial device.
+$ vectornav start -d /dev/ttyS1
+Stop driver
+$ vectornav stop
+```
+
+### Complete Example
+
+```cpp
+int MyDriver::print_usage(const char *reason)
+{
+    if (reason) {
+        PX4_WARN("%s\n", reason);
+    }
+
+    PRINT_MODULE_DESCRIPTION(
+        R"DESCR_STR(
+### Description
+This driver interfaces with the XYZ sensor via I2C/SPI. It provides
+distance measurements and is automatically started when SENS_XYZ_CFG
+is set to the appropriate value.
+
+Key features:
+- Distance range: 0.2m to 50m
+- Update rate: up to 100Hz
+- I2C and SPI support
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
+
+### Examples
+Start driver on I2C bus 1 with address 0x29:
+$ xyz_sensor start -X -b 1 -a 0x29
+)DESCR_STR");
+
+    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
+    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+    PRINT_MODULE_USAGE_COMMAND("start");
+    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
+    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+    return 0;
+}
+```
+
+### Common Patterns by Driver Type
+
+**For UART/Serial Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
+```
+
+**For I2C/SPI Drivers:**
+```cpp
+PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+```
+
+**For Sensor Drivers:**
+```cpp
+PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
+```
+
+---
+
+## Review Checklist
+
+When reviewing driver files, verify:
+
+- [ ] Copyright header is present (except Kconfig and module.yaml)
+- [ ] Copyright year is correct (current year for new files, year range for updates)
+- [ ] `print_usage()` method exists
+- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
+- [ ] Description section explains driver purpose clearly
+- [ ] Relevant parameters are documented (especially enable parameters)
+- [ ] Documentation links are included when available
+- [ ] Examples are provided for complex CLI usage
+- [ ] Module name and category are correctly specified
+- [ ] Standard commands (start, stop, status) are documented
+
+---
+
+## Additional Resources
+
+- Driver template examples: `src/drivers/*/` (various sensor types)
+- Module macros: `platforms/common/include/px4_platform_common/module.h`
+- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)

.github/runs-on.yml

@@ -0,0 +1,24 @@
+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

@@ -26,11 +26,15 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+permissions:
+  contents: write
+  actions: read
+
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -38,6 +42,14 @@ 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
@@ -48,12 +60,15 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        name: Generate Build Matrix
+        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
 
       - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+        name: Save Current Timestamp
+        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
 
       - id: set-branch
+        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -70,7 +85,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
     # 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
@@ -80,6 +95,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
+      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -87,14 +103,24 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      - name: Setup ccache
-        uses: actions/cache@v4
+      # 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
         with:
           path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          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-
 
-      - name: Configure ccache
+      - name: Cache Config and Stats
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -102,10 +128,11 @@ 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 [${{ matrix.group }}]
+      - name: Building Artifacts for [${{ matrix.targets }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -119,15 +146,27 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
+      - name: Cache Post Build Stats
+        if: always()
+        run: |
+            ccache -s
+            ccache -z
+
       - name: Cache Save
-        run: ccache -s
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
   artifacts:
-    name: Upload Artifacts to S3
+    name: Upload Artifacts
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    outputs:
+      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -135,11 +174,36 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Branch Name
+      - name: Choose Upload Location
+        id: upload-location
         run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
+          # 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
 
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+          ref="${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 }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -149,25 +213,30 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-  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
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
-          path: artifacts/
-          merge-multiple: true
+          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/
 
-      - name: Upload Binaries to Release
+      # 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
         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_ubuntu.yml

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

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

.github/workflows/docs_deploy.yml

@@ -1,19 +1,6 @@
-name: Docs - Deploy PX4 User Guide
+name: Docs - Deploy PX4 User Guide to Github pages (Manual)
 
 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
-  # 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
@@ -33,7 +20,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -68,7 +55,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact

.github/workflows/docs_deploy_aws.yml

@@ -7,42 +7,52 @@ on:
       - "release/**"
     paths:
       - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
   pull_request:
-    branches:
-      - "**"
     paths:
       - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
 
   workflow_dispatch:
 
 permissions:
   contents: read
+  actions: 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,
-      ]
+    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
 
+      - 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 [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
       - name: Setup Node
         uses: actions/setup-node@v4
         with:
@@ -55,6 +65,8 @@ jobs:
 
       - 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
@@ -91,14 +103,14 @@ jobs:
 
       - name: Upload HTML with short cache
         run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.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/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
             --delete \
             --exclude "*.html" \
             --cache-control "public, max-age=86400, immutable"

.github/workflows/failsafe_sim.yml

@@ -48,6 +48,7 @@ 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 ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -54,6 +54,7 @@ jobs:
         run: |
           make clean
           make distclean
+          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -97,7 +98,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/fuzzing.yml

@@ -5,6 +5,7 @@ on:
 
 permissions:
   contents: read
+  issues: write # for JasonEtco/create-an-issue
 
 env:
   RUNS_IN_DOCKER: true

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -41,6 +41,10 @@ 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=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -90,6 +90,9 @@ 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=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ 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 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -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}} --upload 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}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -7,10 +7,15 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v10
         with:
-          days-before-stale: 30
-          days-before-close: -1
+          operations-per-run: 250
+          days-before-stale: 90
+          days-before-close: 30
           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.'

.github/workflows/sync_to_px4_msgs.yml

@@ -0,0 +1,62 @@
+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

.gitmodules

@@ -100,3 +100,12 @@
 [submodule "src/drivers/ins/microstrain/mip_sdk"]
 	path = src/drivers/ins/microstrain/mip_sdk
 	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
+[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

@@ -6,6 +6,16 @@ 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
@@ -141,6 +151,11 @@ 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
@@ -206,6 +221,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_dist_canbootloader
+    ark_f9p-gps_default:
+      short: ark_f9p-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_f9p-gps_default
+    ark_f9p-gps_canbootloader:
+      short: ark_f9p-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_f9p-gps_canbootloader
     ark_fmu-v6x_bootloader:
       short: ark_fmu-v6x_bootloader
       buildType: MinSizeRel
@@ -226,6 +251,16 @@ 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
@@ -236,6 +271,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_pi6x_default
+    ark_x20-gps_default:
+      short: ark_x20-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_x20-gps_default
+    ark_x20-gps_canbootloader:
+      short: ark_x20-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_x20-gps_canbootloader
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel
@@ -386,6 +431,16 @@ 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
@@ -436,6 +491,16 @@ 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
@@ -466,3 +531,23 @@ 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

.vscode/settings.json

@@ -43,7 +43,7 @@
         "files.watcherExclude": {
                 "**/build/**": true
         },
-        "git.detectSubmodulesLimit": 20,
+        "git.detectSubmodulesLimit": 25,
         "git.ignoreLimitWarning": true,
         "githubPullRequests.defaultMergeMethod": "squash",
         "githubPullRequests.telemetry.enabled": false,

CMakeLists.txt

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

CTestConfig.cmake

@@ -1,15 +0,0 @@
-## 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

@@ -101,6 +101,7 @@ 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 ..;
@@ -220,36 +221,6 @@ 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 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2025, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -325,6 +325,8 @@ 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 \
@@ -344,6 +346,7 @@ 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 \

ROMFS/CMakeLists.txt

@@ -85,10 +85,32 @@ 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

@@ -27,7 +27,6 @@ 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

@@ -44,8 +44,6 @@ 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

@@ -46,8 +46,6 @@ 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

@@ -46,8 +46,6 @@ 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

@@ -31,8 +31,6 @@ 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

@@ -31,8 +31,6 @@ 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

@@ -30,8 +30,6 @@ 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

@@ -31,8 +31,6 @@ 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

@@ -38,8 +38,6 @@ 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

@@ -44,8 +44,6 @@ 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

@@ -35,8 +35,6 @@ 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

@@ -35,8 +35,6 @@ 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

@@ -46,8 +46,6 @@ 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

@@ -43,8 +43,6 @@ 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

@@ -48,8 +48,6 @@ 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

@@ -53,8 +53,6 @@ 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 0.3
+param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

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

@@ -11,8 +11,6 @@ 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
@@ -48,8 +46,6 @@ 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

@@ -19,5 +19,6 @@ 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_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5

ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover
 
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering

ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover
 
@@ -7,14 +7,15 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -34,7 +34,6 @@ 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
-param set-default COM_POSCTL_NAVL 2
 
 # disable attitude failure detection
 param set-default FD_FAIL_P 0

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

@@ -26,7 +26,6 @@ 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/70000_gz_atmos

@@ -45,7 +45,6 @@ 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
-param set-default COM_POSCTL_NAVL 2
 
 # disable attitude failure detection
 param set-default FD_FAIL_P 0

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

@@ -0,0 +1,167 @@
+#!/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

@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,10 +112,13 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
 
 	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

@@ -159,24 +159,19 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+	if [ -z "${PX4_GZ_NO_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} 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
+		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
+				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
+				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,15 +126,6 @@ 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))
@@ -173,7 +164,6 @@ 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
 
@@ -239,6 +229,15 @@ 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

@@ -123,3 +123,9 @@ 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

@@ -14,7 +14,6 @@
 
 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

@@ -18,6 +18,8 @@
 #
 # @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
@@ -40,8 +42,6 @@ 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

@@ -16,6 +16,8 @@
 #
 # @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
@@ -37,8 +39,6 @@ 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

@@ -10,7 +10,6 @@
 
 . ${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

@@ -32,7 +32,6 @@ 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

@@ -10,8 +10,6 @@
 
 . ${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

@@ -7,6 +7,8 @@
 #
 # @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
@@ -75,9 +77,6 @@ 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

@@ -7,6 +7,10 @@
 #
 # @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

@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 
@@ -77,9 +78,6 @@ 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

@@ -13,6 +13,11 @@
 # @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

@@ -29,9 +29,6 @@ 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

@@ -11,6 +11,8 @@
 #
 # @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

@@ -9,6 +9,8 @@
 #
 # @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

@@ -10,6 +10,7 @@
 # @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

@@ -12,6 +12,7 @@
 # @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

@@ -10,6 +10,7 @@
 # @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

@@ -14,6 +14,7 @@
 # @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

@@ -13,6 +13,7 @@
 # @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/51002_nxp_b3rb

@@ -0,0 +1,31 @@
+#!/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/60002_uuv_bluerov2_heavy

@@ -45,7 +45,6 @@ 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
-param set-default COM_POSCTL_NAVL 2
 
 # disable attitude failure detection
 param set-default FD_FAIL_P 0

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

@@ -12,7 +12,9 @@
 # @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

@@ -20,6 +20,9 @@
 
 . ${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
 
@@ -35,7 +38,6 @@ 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
-param set-default COM_POSCTL_NAVL 2
 
 # Set Mocap Vision frame
 param set EKF2_EV_CTRL 15

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

@@ -153,6 +153,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
+		51002_nxp_b3rb
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,6 +10,8 @@ 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.
 #
@@ -26,6 +28,7 @@ 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

@@ -41,3 +41,9 @@ 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

@@ -8,9 +8,6 @@ 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

@@ -154,6 +154,12 @@ 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
@@ -219,6 +225,24 @@ 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

@@ -0,0 +1,8 @@
+#!/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

@@ -228,30 +228,26 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter
-	if ! param compare SYS_AUTOSTART 0
+	# 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 ]
 	then
-		# 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 ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
-			# 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
+			. ${R}etc/init.d/rc.autostart_ext
+		else
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		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
-		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
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -483,6 +479,19 @@ 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.
@@ -511,6 +520,11 @@ 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
 
@@ -616,6 +630,16 @@ 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.
 	#
@@ -632,27 +656,6 @@ 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=120
+max-code-length=140

Tools/astyle/files_to_check_code_style.sh

@@ -21,11 +21,13 @@ 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 \
@@ -39,4 +41,5 @@ exec find boards msg src platforms test \
     -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
     -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
     -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
+    -path src/drivers/ins/sbgecom/sbgECom -prune -o \
     \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN

Tools/auterion/remote_update_fmu.sh

@@ -7,6 +7,7 @@ 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 ${opt} in
@@ -67,7 +68,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -105,11 +106,11 @@ 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 -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp $ssh_opts -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 -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/check_submodules.sh

@@ -17,37 +17,12 @@ 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[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
+		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
 		echo -e "$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

@@ -25,15 +25,15 @@ 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 board names to use instead of all')
+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_"')
 
 args = parser.parse_args()
 verbose = args.verbose
 
-board_filter = []
+target_filter = []
 if args.filter:
-    for board in args.filter.split(','):
-        board_filter.append(board)
+    for target in args.filter.split(','):
+        target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +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 board_filter and not board_name in board_filter:
+                if target_filter and not any(target_name.startswith(f) for f in target_filter):
                     if verbose: print(f'excluding board {board_name} ({target_name})')
                     continue
 

Tools/mavlink_shell.py

@@ -191,7 +191,7 @@ def main():
                         cur_history_index = len(command_history)
                     mav_serialport.write(cur_line+'\n')
                     cur_line = ''
-                elif ord(ch) == 127: # backslash
+                elif ord(ch) == 8: # backspace
                     if len(cur_line) > 0:
                         erase_last_n_chars(1)
                         cur_line = cur_line[:-1]

Tools/module_config/generate_actuators_metadata.py

@@ -238,6 +238,7 @@ 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

@@ -284,6 +284,9 @@ 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).
@@ -296,6 +299,7 @@ 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 ),
             ]
@@ -312,6 +316,10 @@ 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

@@ -8,6 +8,803 @@ 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
@@ -127,83 +924,50 @@ 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]
-        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))
+        msgTypes.add(msg_name)
 
-        #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)
+    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()
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                versioned_msgs_list += f" — {message.shortDescription}"
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                unversioned_msgs_list += f" — {message.shortDescription}"
             unversioned_msgs_list += "\n"
-
     # Write out the index.md file
-    index_text="""# uORB Message Reference
+    index_text=f"""# 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.
@@ -218,14 +982,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-%s
+{versioned_msgs_list}
 
 ## Unversioned Messages
 
-%s
-    """ % (versioned_msgs_list, unversioned_msgs_list)
+{unversioned_msgs_list}
+    """
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w') as content_file:
+    with open(index_file, 'w', encoding='utf-8') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

Tools/process_sensor_caldata.py

@@ -1138,6 +1138,8 @@ 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'])
@@ -1656,9 +1658,9 @@ 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,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
+    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
     coef_baro_0_x = np.polyfit(temperature,baro,5)
 
 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1675,7 +1677,7 @@ 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'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-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)')
@@ -1717,9 +1719,9 @@ if num_baros >= 2:
     # fit data
     median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_1_x = np.polyfit(temperature,baro,5)
 
     baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1736,7 +1738,7 @@ if num_baros >= 2:
     plt.figure(14,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-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)')
@@ -1778,9 +1780,9 @@ if num_baros >= 3:
     # fit data
     median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_2_x = np.polyfit(temperature,baro,5)
 
     baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1797,7 +1799,7 @@ if num_baros >= 3:
     plt.figure(15,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-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)')
@@ -1838,7 +1840,7 @@ if num_baros >= 4:
 
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
     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]
@@ -1853,7 +1855,7 @@ if num_baros >= 4:
     plt.figure(16,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-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)')

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this