Updted tests mostly for the spec overview

docs(script): fix up generator PWM outputs
docs(infrastructure): Add script and tests to generate FC doc sections/docs
2026-05-25 01:47:34 +08:00 · 2026-04-09 08:40:53 +10:00 · 2026-04-02 10:36:01 +11:00 · 2026-04-02 09:10:59 +11:00
491 changed files with 58601 additions and 10974 deletions
@@ -1,207 +0,0 @@
---
-name: review-pr
-description: Review a pull request with structured, domain-aware feedback
-argument-hint: "<PR number or URL>"
-allowed-tools: Bash, Read, Glob, Grep, Agent
---
-
-# PX4 Pull Request Review
-
-Review a pull request with domain-aware checks based on which files are changed.
-
-**No Claude attribution anywhere.**
-
-## Steps
-
-1. **Fetch PR context.** Run these in parallel:
-   - `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
-   - `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
-   - `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
-   - `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
-   - `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
-
-   From the PR metadata, note:
-   - **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
-   - **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
-   - **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
-
-2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
-
-3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
-
-   **Recommend rebase merge** when:
-   - Commits are atomic, each builds/works independently
-   - Each commit has a proper `type(scope): description` message
-   - The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
-   - The commit history tells a useful story that would be lost by squashing
-
-   **Recommend squash merge** when:
-   - There are WIP, fixup, or review-response commits
-   - Commit messages are messy or inconsistent
-   - The PR is a single logical change spread across multiple commits
-   - There are "oops" or "make format" commits mixed in
-
-   Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
-
-4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
-
-5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
-   - **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
-   - **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
-   - **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
-   - **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
-   - **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
-   - **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
-   - **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
-   - **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
-
-6. **Apply core checks** (always):
-   - **Correctness**: logic errors, off-by-ones, unhandled edge cases
-   - **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
-   - **Initialization**: uninitialized variables, missing default construction
-   - **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
-   - **Magic numbers**: every numeric literal needs a named constant or justification
-   - **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
-   - **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
-   - **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
-   - **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
-   - **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
-   - **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
-   - **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
-   - **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
-   - **Root cause vs symptom**: is this fixing the real problem or masking it?
-   - **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
-   - **Sustainability**: who will maintain this? Does it create long-term burden?
-   - **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
-   - **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
-
-7. **Apply domain checks** based on step 5:
-
-   **Estimation:**
-   - Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
-   - Aliasing from downsampling sensor data without filtering
-   - Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
-   - CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
-   - Frame/coordinate system correctness (FRD vs NED, body vs earth)
-
-   **Control:**
-   - Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
-   - Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
-   - NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
-   - Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
-   - Yaw control edge cases: heading lock, drift, setpoint propagation
-   - Flight task inheritance chain: correct base class for the desired behavior
-   - Control allocation: actuator function ordering, motor index mapping
-
-   **Drivers/CAN:**
-   - CAN bus devices behave differently from serial/SPI; check driver assumptions
-   - ESC index mapping: telemetry index != channel when motors are disabled
-   - ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
-   - device_id correctness and I2CSPIDriver patterns
-   - Time representation: prefer `hrt_abstime` over iteration counts
-
-   **Simulation:**
-   - Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
-   - Keep gz_bridge generic; vehicle-specific logic belongs in plugins
-   - Prefer gz-transport over ROS2 dependencies when possible
-   - Wrench commands for physics correctness vs kinematic constraints
-   - Library generic/specific boundary: only base classes in common libs
-
-   **System:**
-   - Race conditions and concurrency: no partial fixes, demand complete solutions
-   - Semaphore/scheduling edge cases; understand RTOS guarantees
-   - State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
-   - uORB-driven scheduling (`SubscriptionCallback`), not extra threads
-   - param_set triggers auto-save; no redundant param_save_default
-   - Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
-   - Constructor initialization order matters
-
-   **CI/Build:**
-   - Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
-   - Container image size (check layer bloat)
-   - Ubuntu LTS support policy (latest + one prior only)
-   - Build time impact
-   - CMake preferred over Makefiles
-
-   **Messages/Protocol:**
-   - Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
-   - uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
-   - Don't version messages unless strictly needed
-   - Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
-   - MAVLink: use library constants, don't implement custom stream rates
-
-   **Board Addition:**
-   - **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
-   - **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
-   - **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
-   - **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
-   - **Unique board_id**: registered in `boards/boards.json`, no collisions
-   - **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
-   - **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
-   - **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
-   - **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
-   - **CI integration**: board must be added to CI compile workflows so it builds on every PR
-   - **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
-   - **Port labels**: serial port labels must match what is physically printed on the board
-   - **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
-
-8. **Format output** as:
-   - **CI status**: pass/fail summary, link to failed runs if any
-   - **Merge strategy**: recommend squash or rebase merge with reasoning
-   - **Title check**: pass/fail with suggestion
-   - **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
-   - **Domains detected**: list which domain checks were applied
-   - **Summary**: one paragraph on what the PR does and whether the approach is sound
-   - **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
-   - **Verdict**: approve, request changes, or needs discussion
-
-   After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
-
-9. **Interactive dialog.** After displaying the review, present the user with these options:
-
-   Present options based on the verdict:
-
-   If verdict is **approve**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Approve this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **request changes**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Request changes on this PR and post the review comment
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   If verdict is **needs discussion**:
-   ```
-   What would you like to do?
-   1. Chat about this PR (ask questions, explore code) [default]
-   2. Post the review as a comment (no approval or rejection)
-   3. Adjust the review or draft (tell me what to change)
-   4. Done for now
-   ```
-
-   Wait for the user to choose before proceeding. If they pick:
-   - **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
-   - **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
-   - **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
-   - **4 (done)**: stop.
-
-   **PR comment formatting rules** (for the draft):
-   When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
-   - Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
-   - Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
-   - Lead with a brief take on the overall change (1-2 sentences)
-   - List only actionable feedback as natural review comments, not numbered checklists
-   - Skip nits unless they are particularly useful
-   - End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
-   - Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
-
-If the user provided arguments, use them as context: $ARGUMENTS
@@ -1 +0,0 @@
-build/
@@ -1,115 +0,0 @@
-name: Build PX4 .deb Package
-description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact
-
-inputs:
-  target:
-    description: 'Build target: default or sih'
-    required: true
-  artifact-name:
-    description: Name for the uploaded artifact
-    required: true
-  ccache-key-prefix:
-    description: Prefix for ccache cache keys
-    default: deb-ccache
-  ccache-max-size:
-    description: Maximum ccache size
-    default: 400M
-
-runs:
-  using: composite
-  steps:
-    - name: Restore ccache
-      id: ccache-restore
-      uses: actions/cache/restore@v5
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.ccache-key-prefix }}-
-
-    - name: Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Build PX4 SITL
-      shell: bash
-      run: make px4_sitl_${{ inputs.target }}
-
-    - name: ccache stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Save ccache
-      uses: actions/cache/save@v5
-      if: always()
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-
-    - name: Build .deb package
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        cpack -G DEB
-
-    - name: Print package info and contents
-      shell: bash
-      run: |
-        cd build/px4_sitl_${{ inputs.target }}
-        echo "--- Package info ---"
-        dpkg-deb -I *.deb
-        echo "--- Package contents ---"
-        dpkg-deb -c *.deb
-
-    - name: Validate sih package
-      if: inputs.target == 'sih'
-      shell: bash
-      run: |
-        cd build/px4_sitl_sih
-        echo "--- Verify NO Gazebo resources ---"
-        ! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4_*.deb
-        test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
-        test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4/bin/px4 -h
-        echo "PASS: sih package validation successful"
-
-    - name: Validate gazebo package
-      if: inputs.target == 'default'
-      shell: bash
-      run: |
-        cd build/px4_sitl_default
-        echo "--- Verify Gazebo resources in package ---"
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
-        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
-        echo "--- Install test ---"
-        dpkg -i px4-gazebo_*.deb
-        test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
-        test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
-        test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
-        test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
-        echo "--- Smoke test ---"
-        /opt/px4-gazebo/bin/px4 -h
-        echo "PASS: gazebo package validation successful"
-
-    - name: Upload .deb artifacts
-      uses: actions/upload-artifact@v7
-      with:
-        name: ${{ inputs.artifact-name }}
-        path: build/px4_sitl_${{ inputs.target }}/*.deb
-        if-no-files-found: error
@@ -1,21 +0,0 @@
-name: Build Gazebo Classic SITL
-description: Build PX4 firmware and Gazebo Classic plugins with ccache stats
-
-runs:
-  using: composite
-  steps:
-    - name: Build - PX4 Firmware (SITL)
-      shell: bash
-      run: make px4_sitl_default
-
-    - name: Cache - Stats after PX4 Firmware
-      shell: bash
-      run: ccache -s
-
-    - name: Build - Gazebo Classic Plugins
-      shell: bash
-      run: make px4_sitl_default sitl_gazebo-classic
-
-    - name: Cache - Stats after Gazebo Plugins
-      shell: bash
-      run: ccache -s
@@ -1,22 +0,0 @@
-name: Save ccache
-description: Print ccache stats and save to cache
-
-inputs:
-  cache-primary-key:
-    description: Primary cache key from setup-ccache output
-    required: true
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Stats
-      if: always()
-      shell: bash
-      run: ccache -s
-
-    - name: Cache - Save ccache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-primary-key }}
@@ -1,56 +0,0 @@
-name: Setup ccache
-description: Restore ccache from cache and configure ccache.conf
-
-inputs:
-  cache-key-prefix:
-    description: Cache key prefix (e.g. ccache-sitl)
-    required: true
-  max-size:
-    description: Max ccache size (e.g. 300M)
-    required: false
-    default: '300M'
-  base-dir:
-    description: ccache base_dir value
-    required: false
-    default: '${GITHUB_WORKSPACE}'
-  install-ccache:
-    description: Install ccache via apt before configuring
-    required: false
-    default: 'false'
-
-outputs:
-  cache-primary-key:
-    description: Primary cache key (pass to save-ccache)
-    value: ${{ steps.restore.outputs.cache-primary-key }}
-
-runs:
-  using: composite
-  steps:
-    - name: Cache - Install ccache
-      if: inputs.install-ccache == 'true'
-      shell: bash
-      run: apt-get update && apt-get install -y ccache
-
-    - name: Cache - Restore ccache
-      id: restore
-      uses: actions/cache/restore@v4
-      with:
-        path: ~/.ccache
-        key: ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
-        restore-keys: |
-          ${{ inputs.cache-key-prefix }}-${{ github.ref_name }}-
-          ${{ inputs.cache-key-prefix }}-${{ github.base_ref || 'main' }}-
-          ${{ inputs.cache-key-prefix }}-
-
-    - name: Cache - Configure ccache
-      shell: bash
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${{ inputs.base-dir }}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = ${{ inputs.max-size }}" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
@@ -1,21 +0,0 @@
---
-applyTo: "boards/**"
---
-
-# Board Addition Review Guidelines
-
-In addition to the core code review guidelines, when reviewing new board additions:
-
- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
- **Unique board_id**: registered in `boards/boards.json`, no collisions
- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
- **CI integration**: board must be added to CI compile workflows so it builds on every PR
- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
- **Port labels**: serial port labels must match what is physically printed on the board
- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
@@ -1,13 +0,0 @@
---
-applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
---
-
-# CI/Build Review Guidelines
-
-In addition to the core code review guidelines:
-
- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
- Container image size: check for layer bloat
- Ubuntu LTS support policy: only latest + one prior LTS version
- Consider build time impact of changes
- Prefer CMake over Makefiles
@@ -1,32 +0,0 @@
---
-applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
---
-
-# PX4 Code Review Guidelines
-
-## Conventions
-
- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
- Scope should match the primary area of changed files
- Append `!` before the colon for breaking changes
- Both squash merge and rebase merge are enabled; merge commits are disabled
- Commits should be atomic and independently revertable
- WIP or review-response commits should be squashed before merge
-
-## Core Checks (always apply)
-
- **Correctness**: logic errors, off-by-ones, unhandled edge cases
- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
- **Initialization**: uninitialized variables, missing default construction
- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
- **Magic numbers**: every numeric literal needs a named constant or justification
- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
- **Necessity**: challenge every addition. Is this actually needed or just copied?
- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations
@@ -1,15 +0,0 @@
---
-applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
---
-
-# Control Review Guidelines
-
-In addition to the core code review guidelines:
-
- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
- Check yaw control edge cases: heading lock, drift, setpoint propagation
- Verify flight task inheritance chain uses the correct base class for desired behavior
- Control allocation: verify actuator function ordering and motor index mapping
@@ -1,13 +0,0 @@
---
-applyTo: "src/drivers/**,src/modules/cyphal/**"
---
-
-# Drivers/CAN Review Guidelines
-
-In addition to the core code review guidelines:
-
- CAN bus devices behave differently from serial/SPI; check driver assumptions
- ESC index mapping: telemetry index != channel when motors are disabled
- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
- Verify device_id correctness and I2CSPIDriver patterns
- Time representation: prefer `hrt_abstime` over iteration counts
@@ -1,13 +0,0 @@
---
-applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
---
-
-# Estimation Review Guidelines
-
-In addition to the core code review guidelines:
-
- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
- Flag aliasing from downsampling sensor data without proper filtering
- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)
@@ -1,13 +0,0 @@
---
-applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
---
-
-# Messages/Protocol Review Guidelines
-
-In addition to the core code review guidelines:
-
- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
- Don't version messages unless strictly needed
- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
- MAVLink: use library constants, don't implement custom stream rates
@@ -1,13 +0,0 @@
---
-applyTo: "src/modules/simulation/**,Tools/simulation/**"
---
-
-# Simulation Review Guidelines
-
-In addition to the core code review guidelines:
-
- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
- Prefer gz-transport over ROS2 dependencies when possible
- Use wrench commands for physics correctness vs kinematic constraints
- Library generic/specific boundary: only base classes in common libs
@@ -1,15 +0,0 @@
---
-applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
---
-
-# System Review Guidelines
-
-In addition to the core code review guidelines:
-
- Race conditions and concurrency: no partial fixes, demand complete solutions
- Semaphore/scheduling edge cases; understand RTOS guarantees
- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
- `param_set` triggers auto-save; no redundant `param_save_default`
- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
- Constructor initialization order matters
@@ -1,220 +0,0 @@
-name: SITL Packages and Containers
-
-on:
-  push:
-    tags: ['v*']
-  pull_request:
-    paths:
-      - 'cmake/package.cmake'
-      - 'platforms/posix/CMakeLists.txt'
-      - 'Tools/packaging/**'
-      - 'boards/px4/sitl/sih.px4board'
-      - '.github/workflows/build_deb_package.yml'
-      - '.github/actions/build-deb/**'
-  workflow_dispatch:
-    inputs:
-      deploy_containers:
-        description: 'Push container images to registry'
-        required: false
-        type: boolean
-        default: false
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-permissions:
-  contents: read
-  packages: write
-
-jobs:
-
-  # ---------------------------------------------------------------------------
-  # Setup: extract version and determine whether to push containers
-  # ---------------------------------------------------------------------------
-  setup:
-    name: Setup
-    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.version.outputs.px4_version }}
-      should_push: ${{ steps.push.outputs.should_push }}
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v6
-        with:
-          fetch-tags: true
-          submodules: false
-          fetch-depth: 0
-
-      - name: Set PX4 version
-        id: version
-        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-
-      - name: Check if we should push containers
-        id: push
-        run: |
-          if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
-             [[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "true" ]]; then
-            echo "should_push=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_push=false" >> $GITHUB_OUTPUT
-          fi
-
-  # ---------------------------------------------------------------------------
-  # Build .deb packages (all distros, arches, targets)
-  # ---------------------------------------------------------------------------
-  build-deb:
-    name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ matrix.arch }})"
-    needs: setup
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    container:
-      image: ${{ matrix.container }}
-      volumes:
-        - /github/workspace:/github/workspace
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
-          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
-    env:
-      RUNS_IN_DOCKER: true
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Fix git in container
-        run: |
-          apt-get update && apt-get install -y git
-          git config --global --add safe.directory $(realpath .)
-
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-          fetch-tags: true
-
-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
-      - name: Cache apt packages
-        uses: actions/cache@v5
-        with:
-          path: /var/cache/apt/archives
-          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
-          restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-
-
-      - name: Install dependencies
-        run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}
-
-      - name: Build and package .deb
-        uses: ./.github/actions/build-deb
-        with:
-          target: ${{ matrix.target }}
-          artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-          ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Build Docker images from Noble .debs
-  # ---------------------------------------------------------------------------
-  build-docker:
-    name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
-    needs: [setup, build-deb]
-    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.sih }
-          - { image: sih,    repo: px4-sitl,        target: sih,     arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
-          - { image: gazebo, repo: px4-sitl-gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
-    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v6
-        with:
-          submodules: false
-          fetch-depth: 1
-
-      - name: Download Noble .deb artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
-          path: docker-context
-
-      - name: Prepare build context
-        run: cp Tools/packaging/px4-entrypoint.sh docker-context/
-
-      - name: Login to registries
-        if: needs.setup.outputs.should_push == 'true'
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-        with:
-          driver: docker-container
-          platforms: ${{ matrix.platform }}
-
-      - name: Build and push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: docker-context
-          file: Tools/packaging/${{ matrix.dockerfile }}
-          tags: |
-            px4io/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            px4io/${{ matrix.repo }}:latest-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
-            ghcr.io/px4/${{ matrix.repo }}:latest-${{ matrix.arch }}
-          platforms: ${{ matrix.platform }}
-          load: false
-          push: ${{ needs.setup.outputs.should_push == 'true' }}
-          provenance: false
-          cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
-
-  # ---------------------------------------------------------------------------
-  # Deploy: create multi-arch manifests and push to registries
-  # ---------------------------------------------------------------------------
-  deploy:
-    name: "Deploy (${{ matrix.image }})"
-    needs: [setup, build-docker]
-    if: needs.setup.outputs.should_push == 'true'
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
-    strategy:
-      matrix:
-        include:
-          - { image: sih,    repo: px4-sitl }
-          - { image: gazebo, repo: px4-sitl-gazebo }
-    steps:
-      - uses: runs-on/action@v2
-
-      - name: Login to registries
-        run: |
-          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
-          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin
-
-      - name: Create and push multi-arch manifests
-        run: |
-          VERSION="${{ needs.setup.outputs.px4_version }}"
-
-          for REGISTRY in px4io ghcr.io/px4; do
-            IMAGE="${REGISTRY}/${{ matrix.repo }}"
-
-            for TAG in ${VERSION} latest; do
-              docker manifest create ${IMAGE}:${TAG} \
-                --amend ${IMAGE}:${TAG}-arm64 \
-                --amend ${IMAGE}:${TAG}-amd64
-
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-arm64 --arch arm64
-              docker manifest annotate ${IMAGE}:${TAG} ${IMAGE}:${TAG}-amd64 --arch amd64
-
-              docker manifest push ${IMAGE}:${TAG}
-            done
-          done
@@ -12,71 +12,51 @@ on:
    paths-ignore:
      - 'docs/**'

-permissions:
-  contents: read
-
 concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

 jobs:
-  gate_checks:
-    name: Gate Checks [${{ matrix.check }}]
-    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+  build:
+    runs-on: ubuntu-latest
+
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
    strategy:
-      fail-fast: true
+      fail-fast: false
      matrix:
        check: [
          "check_format",
          "check_newlines",
+          "tests",
+          "tests_coverage",
+          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
+          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
+          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "px4_sitl_allyes",
          "module_documentation",
        ]
-    steps:
-      - uses: runs-on/action@v2

+    steps:
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
-
-      - name: Configure Git Safe Directory
-        run: git config --system --add safe.directory '*'
+          fetch-depth: 0

      - name: Building [${{ matrix.check }}]
        env:
          PX4_SBOM_DISABLE: 1
-        run: make ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}

-  tests:
-    name: Unit Tests
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    steps:
-      - uses: runs-on/action@v2
-
-      - uses: actions/checkout@v4
+      - name: Uploading Coverage to Codecov.io
+        if: contains(matrix.check, 'coverage')
+        uses: codecov/codecov-action@v1
        with:
-          fetch-depth: 1
-
-      - name: Configure Git Safe Directory
-        run: git config --system --add safe.directory '*'
-
-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-sitl
-          max-size: 300M
-
-      - name: Build and run unit tests
-        env:
-          PX4_SBOM_DISABLE: 1
-        run: make tests
-
-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info
@@ -20,13 +20,10 @@ jobs:
    name: Clang-Tidy
    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-    permissions:
-      contents: read
-      pull-requests: read
+      image: px4io/px4-dev:v1.17.0-beta1
    steps:
    - uses: runs-on/action@v2
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
      with:
        fetch-depth: 0
        fetch-tags: true
@@ -34,64 +31,39 @@ jobs:
    - name: Configure Git Safe Directory
      run: git config --system --add safe.directory '*'

-    - uses: ./.github/actions/setup-ccache
-      id: ccache
+    - name: Restore Compiler Cache
+      id: cc_restore
+      uses: actions/cache/restore@v4
      with:
-        cache-key-prefix: ccache-clang-tidy
-        max-size: 150M
+        path: ~/.ccache
+        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
+        restore-keys: |
+          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
+          ccache-clang-tidy-main-
+          ccache-clang-tidy-

-    - name: Build - px4_sitl_default (Clang)
-      run: make -j16 px4_sitl_default-clang
+    - name: Configure Compiler Cache
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = 120M" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z

    - name: Run Clang-Tidy Analysis
-      id: clang_tidy
-      run: |
-        if [ "${{ github.event_name }}" != "pull_request" ]; then
-          make -j$(nproc) clang-tidy
-        else
-          python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
-        fi
+      run: make -j16 clang-tidy

-    # On PRs, also produce a `pr-review` artifact for the PR Review Poster
-    # workflow to consume. clang-tidy-diff-18 emits a unified fixes.yml that
-    # the producer script translates into line-anchored review comments.
-    # Running this inside the same container as the build means there is no
-    # workspace-path rewriting and no cross-runner artifact handoff.
-    - name: Export clang-tidy fixes for PR review
-      if: always() && github.event_name == 'pull_request'
-      run: |
-        mkdir -p pr-review
-        git diff -U0 origin/${{ github.base_ref }}...HEAD \
-          | clang-tidy-diff-18.py -p1 \
-              -path build/px4_sitl_default-clang \
-              -export-fixes pr-review/fixes.yml \
-              -j0 || true
-
-    - name: Build pr-review artifact
-      if: always() && github.event_name == 'pull_request'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        python3 Tools/ci/clang-tidy-fixes-to-review.py \
-          --fixes pr-review/fixes.yml \
-          --repo-root "$GITHUB_WORKSPACE" \
-          --repo "$GITHUB_REPOSITORY" \
-          --pr-number "${{ github.event.pull_request.number }}" \
-          --commit-sha "${{ github.event.pull_request.head.sha }}" \
-          --out-dir pr-review \
-          --event REQUEST_CHANGES
-
-    - name: Upload pr-review artifact
-      if: always() && github.event_name == 'pull_request'
-      uses: actions/upload-artifact@v7
-      with:
-        name: pr-review
-        path: |
-          pr-review/manifest.json
-          pr-review/comments.json
-        retention-days: 1
-
-    - uses: ./.github/actions/save-ccache
+    - name: Compiler Cache Stats
      if: always()
+      run: ccache -s
+
+    - name: Save Compiler Cache
+      if: always()
+      uses: actions/cache/save@v4
      with:
-        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+        path: ~/.ccache
+        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
@@ -19,6 +19,12 @@ concurrency:
 jobs:
  build:
    runs-on: macos-latest
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5_default,
+          px4_sitl
+          ]
    steps:
    - name: install Python 3.10
      uses: actions/setup-python@v5
@@ -27,41 +33,35 @@ jobs:

    - uses: actions/checkout@v4

-    - name: Cache - Restore Homebrew Packages
-      uses: actions/cache@v4
-      with:
-        path: ~/Library/Caches/Homebrew/downloads
-        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
-        restore-keys: |
-          macos-homebrew-${{ runner.arch }}-
-
-    - name: Cache - Restore pip Packages
-      uses: actions/cache@v4
-      with:
-        path: ~/Library/Caches/pip
-        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
-        restore-keys: |
-          macos-pip-${{ runner.arch }}-
-
    - name: setup
-      run: ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh

-    - uses: ./.github/actions/setup-ccache
-      id: ccache
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+    - name: ccache cache files
+      uses: actions/cache@v4
      with:
-        cache-key-prefix: ccache-macos
-        max-size: 200M
+        path: ~/.ccache
+        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: macos_${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

-    - name: Build px4_sitl
-      run: make px4_sitl
-
-    - name: Cache - Stats after px4_sitl
-      run: ccache -s
-
-    - name: Build px4_fmu-v5_default
-      run: make px4_fmu-v5_default
-
-    - uses: ./.github/actions/save-ccache
-      if: always()
-      with:
-        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+    - name: make ${{matrix.config}}
+      run: |
+          ccache -z
+          make ${{matrix.config}}
+          ccache -s
@@ -29,13 +29,12 @@ jobs:
      fail-fast: false
      matrix:
        version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
    container:
      image: ${{ matrix.version }}
      volumes:
        - /github/workspace:/github/workspace
    steps:
-      - uses: runs-on/action@v2

      - name: Fix git in container
        run: |
@@ -50,23 +49,9 @@ jobs:

      - uses: actions/checkout@v4

-      - name: Use AWS regional apt mirror
-        if: startsWith(runner.name, 'runs-on--')
-        run: ./Tools/ci/use_aws_apt_mirror.sh
-
-      - name: Install Deps
-        run: ./Tools/setup/ubuntu.sh
-
-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
-          max-size: 200M
-
-      - name: Make Quick Check
-        run: make quick_check
-
-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+      - name: Install Deps, Build, and Make Quick Check
+        run: |
+          # we need to install dependencies and build on the same step
+          # given the stateless nature of docker images
+          ./Tools/setup/ubuntu.sh
+          make quick_check
@@ -24,11 +24,6 @@ on:
        description: 'Container tag (e.g. v1.16.0)'
        required: true
        type: string
-      build_ref:
-        description: 'Git ref to build from (branch, tag, or SHA). Leave empty to build from the dispatch ref.'
-        required: false
-        type: string
-        default: ''
      deploy_to_registry:
        description: 'Whether to push built images to the registry'
        required: false
@@ -50,10 +45,9 @@ jobs:
      meta_tags: ${{ steps.meta.outputs.tags }}
      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0
@@ -70,7 +64,7 @@ jobs:

      - name: Extract metadata (tags, labels) for Docker
        id: meta
-        uses: docker/metadata-action@v6
+        uses: docker/metadata-action@v5
        with:
          images: |
            ghcr.io/PX4/px4-dev
@@ -95,23 +89,22 @@ jobs:
            runner: x64
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
        with:
          registry: ghcr.io
@@ -119,13 +112,13 @@ jobs:
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v4
+        uses: docker/setup-buildx-action@v3
        with:
          driver: docker-container
          platforms: ${{ matrix.platform }}

      - name: Build and Load Container Image
-        uses: docker/build-push-action@v7
+        uses: docker/build-push-action@v6
        id: docker
        with:
          context: Tools/setup
@@ -138,7 +131,7 @@ jobs:
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }},ignore-error=true
+          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -147,27 +140,23 @@ jobs:
      packages: write
    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: |
-      !cancelled() &&
-      needs.setup.result == 'success' &&
-      (startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry == 'true'))
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
    steps:
-      - uses: runs-on/action@v2
-      - uses: actions/checkout@v5
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
        with:
-          ref: ${{ github.event.inputs.build_ref || github.ref }}
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Login to Docker Hub
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v4
+        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
@@ -175,10 +164,10 @@ jobs:

      - name: Verify Images Exist Before Creating Manifest
        run: |
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64
-          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"

      - name: Create and Push Multi-Arch Manifest for Docker Hub
        run: |
@@ -70,9 +70,9 @@ jobs:
      contents: read
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.17.0-beta1
    steps:
-      - uses: runs-on/action@v2
+      - uses: runs-on/action@v1

      - name: Checkout
        uses: actions/checkout@v4
@@ -132,9 +132,9 @@ jobs:
      contents: write
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.17.0-beta1
    steps:
-      - uses: runs-on/action@v2
+      - uses: runs-on/action@v1

      - name: Checkout
        uses: actions/checkout@v4
@@ -213,6 +213,7 @@ jobs:
    if: always() && (github.event_name == 'pull_request')
    permissions:
      contents: read
+      pull-requests: write
    runs-on: ubuntu-latest
    steps:
      - name: Checkout
@@ -280,32 +281,12 @@ jobs:
            > ./logs/link-check-results.md || true
          cat ./logs/link-check-results.md

-      - name: Prepare pr-comment artifact
-        id: prepare-pr-comment
-        run: |
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No link-check results file; skipping pr-comment artifact."
-            echo "prepared=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-          mkdir -p pr-comment
-          cp ./logs/filtered-link-check-results.md pr-comment/body.md
-          cat > pr-comment/manifest.json <<EOF
-          {
-            "pr_number": ${{ github.event.pull_request.number }},
-            "marker": "<!-- pr-comment-poster:docs-link-check -->",
-            "mode": "upsert"
-          }
-          EOF
-          echo "prepared=true" >> "$GITHUB_OUTPUT"
-
-      - name: Upload pr-comment artifact
-        if: steps.prepare-pr-comment.outputs.prepared == 'true'
-        uses: actions/upload-artifact@v4
+      - name: Post PR comment with link check results
+        if: github.event.pull_request.head.repo.full_name == github.repository
+        uses: marocchino/sticky-pull-request-comment@v2
        with:
-          name: pr-comment
-          path: pr-comment/
-          retention-days: 1
+          header: flaws
+          path: ./logs/filtered-link-check-results.md

      - name: Upload link check results
        uses: actions/upload-artifact@v4
@@ -332,7 +313,7 @@ jobs:
      branchname: ${{ steps.set-branch.outputs.branchname }}
      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
    steps:
-      - uses: runs-on/action@v2
+      - uses: runs-on/action@v1

      - name: Checkout
        uses: actions/checkout@v4
@@ -22,7 +22,7 @@ jobs:
  build:
    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@v2
+      - uses: runs-on/action@v1
      - name: Checkout
        uses: actions/checkout@v4

@@ -17,7 +17,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556

    steps:
      - uses: actions/checkout@v4
@@ -27,7 +27,7 @@ jobs:
      - name: main test
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --system --add safe.directory '*'
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          make tests TESTFILTER=EKF

      - name: Check if there is a functional change
@@ -10,7 +10,7 @@ jobs:
    runs-on: ubuntu-latest

    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556

    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
@@ -24,7 +24,7 @@ jobs:
      - name: main test
        run: |
          cd "$GITHUB_WORKSPACE"
-          git config --system --add safe.directory '*'
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          make tests TESTFILTER=EKF

      - name: Check if there exists diff and save result in variable
@@ -18,7 +18,7 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
@@ -29,11 +29,9 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-      - uses: runs-on/action@v2
-
      - name: Install Node v20.18.0
        uses: actions/setup-node@v4
        with:
@@ -46,15 +44,7 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      - name: Cache - Restore Emscripten SDK
-        id: cache-emsdk
-        uses: actions/cache@v4
-        with:
-          path: _emscripten_sdk
-          key: emsdk-4.0.15
-
      - name: Install empscripten
-        if: steps.cache-emsdk.outputs.cache-hit != 'true'
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
@@ -24,9 +24,9 @@ env:
 jobs:
  analyze_flash:
    name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -36,8 +36,6 @@ jobs:
      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
    steps:
-      - uses: runs-on/action@v2
-
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
@@ -46,50 +44,17 @@ jobs:
      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      - name: Cache - Restore ccache (current)
-        id: cache_current
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
-          restore-keys: |
-            ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-
-            ccache-flash-${{ matrix.target }}-current-
-
-      - name: Cache - Configure ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 200M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          echo "compiler_check = content" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
      - name: Build Target
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF with the change
        run: cp ./build/**/*.elf ./with-change.elf

-      - name: Cache - Stats after Current Build
-        run: ccache -s
-
-      - name: Cache - Save ccache (current)
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cache_current.outputs.cache-primary-key }}
-
      - name: Clean previous build
        run: |
          make clean
          make distclean
          make submodulesclean
-          ccache -C

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -103,34 +68,12 @@ jobs:
      - name: Update submodules
        run: make submodulesupdate

-      - name: Cache - Restore ccache (baseline)
-        id: cache_baseline
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
-          restore-keys: |
-            ccache-flash-${{ matrix.target }}-baseline-
-
-      - name: Cache - Reset ccache stats
-        run: ccache -z
-
      - name: Build
        run: make ${{ matrix.target }}_flash-analysis

      - name: Store the ELF before the change
        run: cp ./build/**/*.elf ./before-change.elf

-      - name: Cache - Stats after Baseline Build
-        run: ccache -s
-
-      - name: Cache - Save ccache (baseline)
-        if: always()
-        uses: actions/cache/save@v4
-        with:
-          path: ~/.ccache
-          key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
-
      - name: bloaty-action
        uses: PX4/bloaty-action@v1.0.0
        id: bloaty-step
@@ -150,6 +93,9 @@ jobs:
          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
          echo "$EOF" >> $GITHUB_OUTPUT

+  # TODO:
+  # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
+  # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
  post_pr_comment:
    name: Publish Results
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
@@ -159,7 +105,7 @@ jobs:
      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
-    if: github.event.pull_request
+    if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
    steps:
      - name: Find Comment
        uses: peter-evans/find-comment@v3
@@ -167,14 +113,14 @@ jobs:
        with:
          issue-number: ${{ github.event.pull_request.number }}
          comment-author: 'github-actions[bot]'
-          body-includes: '<!-- pr-comment-poster:flash-analysis -->'
+          body-includes: FLASH Analysis

      - name: Set Build Time
        id: bt
        run: |
          echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT

-      - name: Write pr-comment artifact
+      - name: Create or update comment
        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
        if: |
          steps.fc.outputs.comment-id != '' ||
@@ -182,46 +128,27 @@ jobs:
          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        run: |
-          mkdir -p pr-comment
-          cat > pr-comment/manifest.json <<EOF
-          {
-            "pr_number": ${{ github.event.pull_request.number }},
-            "marker": "<!-- pr-comment-poster:flash-analysis -->",
-            "mode": "upsert"
-          }
-          EOF
-          cat > pr-comment/body.md <<'PR_COMMENT_BODY_EOF'
-          <!-- pr-comment-poster:flash-analysis -->
-          ## 🔎 FLASH Analysis
-          <details>
-          <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
-
-          ```
-          ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-          ```
-          </details>
-
-          <details>
-          <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
-
-          ```
-          ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-          ```
-          </details>
-
-          **Updated: _${{ steps.bt.outputs.timestamp }}_**
-          PR_COMMENT_BODY_EOF
-
-      - name: Upload pr-comment artifact
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
-        uses: actions/upload-artifact@v4
+        uses: peter-evans/create-or-update-comment@v4
        with:
-          name: pr-comment
-          path: pr-comment/
-          retention-days: 1
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: |
+            ## 🔎 FLASH Analysis
+            <details>
+              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              ```
+            </details>
+
+            <details>
+              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+
+              ```
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              ```
+            </details>
+
+            **Updated: _${{ steps.bt.outputs.timestamp }}_**
+          edit-mode: replace
@@ -22,9 +22,9 @@ concurrency:
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      fail-fast: false
      matrix:
@@ -46,21 +46,14 @@ jobs:
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
    steps:
-      - uses: runs-on/action@v2
-
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
+          fetch-depth: 0
+          submodules: recursive

      - name: Git ownership workaround
        run: git config --system --add safe.directory '*'

-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-itcm-${{ matrix.target }}
-          max-size: 200M
-
      - name: Build Target
        run: make ${{ matrix.target }}

@@ -72,8 +65,3 @@ jobs:

      - name: Execute the itcm-check
        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
-
-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
@@ -18,17 +18,15 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: ubuntu-latest

    strategy:
      fail-fast: false

    steps:
-      - uses: runs-on/action@v2
-
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
+          fetch-depth: 0

      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
@@ -18,17 +18,15 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: ubuntu-latest

    strategy:
      fail-fast: false

    steps:
-      - uses: runs-on/action@v2
-
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
+          fetch-depth: 0

      - name: Build SITL and Run Tests (inside old ROS container)
        run: |
@@ -0,0 +1,46 @@
+name: Nuttx Target with extra env config
+
+on:
+  push:
+    branches:
+    - 'main'
+    paths-ignore:
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '**'
+    paths-ignore:
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    strategy:
+      matrix:
+        config:
+          - px4_fmu-v5_default
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
+          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
+          make ${{ matrix.config }} nuttx_context
+
+          echo "Check that the config option is set"
+          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
@@ -1,155 +0,0 @@
-name: PR Comment Poster
-
-# Generic PR comment poster. Any analysis workflow (clang-tidy, flash_analysis,
-# fuzz coverage, SITL perf, etc.) can produce a `pr-comment` artifact and this
-# workflow will post or update a sticky PR comment with its contents. Designed
-# so that analysis jobs running on untrusted fork PRs can still get their
-# results posted back to the PR.
-#
-# ==============================================================================
-# SECURITY INVARIANTS
-# ==============================================================================
-# This workflow runs on `workflow_run` which means it runs in the BASE REPO
-# context with a WRITE token, even when the triggering PR comes from a fork.
-# That is the entire reason it exists, and also the reason it is a loaded
-# footgun. Anyone modifying this file MUST preserve the following invariants:
-#
-#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
-#      of a fork branch. No execution of scripts from the downloaded artifact.
-#      The ONLY things read from the artifact are `manifest.json` and `body.md`,
-#      and both are treated as opaque data (JSON parsed by the poster script
-#      and markdown posted verbatim via the GitHub API).
-#
-#   2. `pr_number` is validated to be a positive integer before use.
-#      `marker` is validated to be printable ASCII only before use. Validation
-#      happens inside Tools/ci/pr-comment-poster.py which is checked out from
-#      the base branch, not from the artifact.
-#
-#   3. The comment body is passed to the GitHub API as a JSON field, never
-#      interpolated into a shell command string.
-#
-#   4. This workflow file lives on the default branch. `workflow_run` only
-#      loads workflow files from the default branch, so a fork cannot modify
-#      THIS file as part of a PR. The fork CAN cause this workflow to fire
-#      by triggering a producer workflow that uploads a `pr-comment` artifact.
-#      That is intended.
-#
-#   5. The artifact-name filter (`pr-comment`) is the only gate on which
-#      workflow runs get processed. Any workflow in this repo that uploads
-#      an artifact named `pr-comment` is trusted to have written the
-#      manifest and body itself, NOT copied fork-controlled content into
-#      them. Producer workflows are responsible for that.
-#
-#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
-#      the default-branch commit this workflow file was loaded from) AND uses
-#      sparse-checkout to materialize ONLY Tools/ci/pr-comment-poster.py and
-#      its stdlib-only helper module Tools/ci/_github_helpers.py. The rest of
-#      the repo never touches the workspace. This is safe: the only files the
-#      job executes are base-repo Python scripts that were reviewed through
-#      normal code review, never anything from the PR.
-#
-# ==============================================================================
-# ARTIFACT CONTRACT
-# ==============================================================================
-# Producers upload an artifact named exactly `pr-comment` containing:
-#
-#   manifest.json:
-#     {
-#       "pr_number": 12345,                                      // required, int > 0
-#       "marker": "<!-- pr-comment-poster:flash-analysis -->",   // required, printable ASCII
-#       "mode": "upsert"                                         // optional, default "upsert"
-#     }
-#
-#   body.md: the markdown content of the comment. Posted verbatim.
-#
-# The `marker` string is used to find an existing comment to update. It MUST
-# be unique per producer (e.g. include the producer name). If no existing
-# comment contains the marker, a new one is created. If the marker is found
-# in an existing comment, that comment is edited in place.
-#
-# Producers MUST write `pr_number` from their own workflow context
-# (`github.event.pull_request.number`) and MUST NOT read it from any
-# fork-controlled source.
-
-on:
-  workflow_run:
-    # Producers that may upload a `pr-comment` artifact. When a new producer
-    # is wired up, add its workflow name here. Runs of workflows not in this
-    # list will never trigger the poster. Every run of a listed workflow will
-    # trigger the poster, which will no-op if no `pr-comment` artifact exists.
-    workflows:
-      - "FLASH usage analysis"
-      - "Docs - Orchestrator"
-    types:
-      - completed
-
-permissions:
-  pull-requests: write
-  actions: read
-  contents: read
-
-jobs:
-  post:
-    name: Post PR Comment
-    runs-on: ubuntu-latest
-    # Only run for pull_request producer runs. Push-to-main and other
-    # non-PR triggers would have no comment to post, and silently no-oping
-    # inside the script made it look like the poster was broken. Gating at
-    # the job level surfaces those as a clean "Skipped" in the UI instead.
-    if: >-
-      github.event.workflow_run.conclusion != 'cancelled'
-      && github.event.workflow_run.event == 'pull_request'
-    steps:
-      # Checkout runs first so the poster script is available AND so that
-      # actions/checkout@v6's default clean step does not delete the artifact
-      # zip that the next step writes into the workspace. Sparse-checkout
-      # restricts the materialized tree to just the poster script.
-      - name: Checkout poster script only
-        uses: actions/checkout@v6
-        with:
-          sparse-checkout: |
-            Tools/ci/pr-comment-poster.py
-            Tools/ci/_github_helpers.py
-          sparse-checkout-cone-mode: false
-
-      - name: Download pr-comment artifact
-        id: download
-        uses: actions/github-script@v8
-        with:
-          script: |
-            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              run_id: context.payload.workflow_run.id,
-            });
-            const match = artifacts.data.artifacts.find(a => a.name === 'pr-comment');
-            if (!match) {
-              core.info('No pr-comment artifact on this run; nothing to post.');
-              core.setOutput('found', 'false');
-              return;
-            }
-            const download = await github.rest.actions.downloadArtifact({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              artifact_id: match.id,
-              archive_format: 'zip',
-            });
-            const fs = require('fs');
-            fs.writeFileSync('pr-comment.zip', Buffer.from(download.data));
-            core.setOutput('found', 'true');
-
-      - name: Unpack artifact
-        if: steps.download.outputs.found == 'true'
-        run: |
-          mkdir -p pr-comment
-          unzip -q pr-comment.zip -d pr-comment
-
-      - name: Validate artifact
-        if: steps.download.outputs.found == 'true'
-        run: python3 Tools/ci/pr-comment-poster.py validate pr-comment
-
-      - name: Upsert sticky comment
-        if: steps.download.outputs.found == 'true'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: python3 Tools/ci/pr-comment-poster.py post pr-comment
@@ -1,177 +0,0 @@
-name: PR Review Poster
-
-# Generic PR review-comment poster. Sibling of "PR Comment Poster": that
-# workflow posts sticky issue-style comments, this one posts line-anchored
-# review comments on the "Files changed" tab. Any analysis workflow that
-# wants to flag specific lines can produce a `pr-review` artifact and this
-# workflow will dismiss any stale matching review and post a fresh one.
-# Designed so analysis jobs running on untrusted fork PRs can still get
-# their inline annotations posted back to the PR.
-#
-# ==============================================================================
-# SECURITY INVARIANTS
-# ==============================================================================
-# This workflow runs on `workflow_run` which means it runs in the BASE REPO
-# context with a WRITE token, even when the triggering PR comes from a fork.
-# That is the entire reason it exists, and also the reason it is a loaded
-# footgun. Anyone modifying this file MUST preserve the following invariants:
-#
-#   1. NEVER check out PR code. No `actions/checkout` with a ref. No git clone
-#      of a fork branch. No execution of scripts from the downloaded artifact.
-#      The ONLY things read from the artifact are `manifest.json` and
-#      `comments.json`, and both are treated as opaque data (JSON parsed by
-#      the poster script and the comment fields posted via the GitHub API).
-#
-#   2. `pr_number` is validated to be a positive integer before use.
-#      `marker` is validated to be printable ASCII only before use.
-#      `commit_sha` is validated to be 40 lowercase hex characters.
-#      `event` is validated against an allowlist of `COMMENT` and
-#      `REQUEST_CHANGES`. `APPROVE` is intentionally forbidden so a bot
-#      cannot approve a pull request. Validation happens inside
-#      Tools/ci/pr-review-poster.py which is checked out from the base
-#      branch, not from the artifact.
-#
-#   3. Comment bodies and the optional summary are passed to the GitHub API
-#      as JSON fields, never interpolated into a shell command string.
-#
-#   4. This workflow file lives on the default branch. `workflow_run` only
-#      loads workflow files from the default branch, so a fork cannot modify
-#      THIS file as part of a PR. The fork CAN cause this workflow to fire
-#      by triggering a producer workflow that uploads a `pr-review`
-#      artifact. That is intended.
-#
-#   5. The artifact-name filter (`pr-review`) is the only gate on which
-#      workflow runs get processed. Any workflow in this repo that uploads
-#      an artifact named `pr-review` is trusted to have written the
-#      manifest and comments itself, NOT copied fork-controlled content
-#      into them. Producer workflows are responsible for that.
-#
-#   6. `actions/checkout@v6` below uses NO ref (so it pulls the base branch,
-#      the default-branch commit this workflow file was loaded from) AND
-#      uses sparse-checkout to materialize ONLY
-#      Tools/ci/pr-review-poster.py and its stdlib-only helper module
-#      Tools/ci/_github_helpers.py. The rest of the repo never touches the
-#      workspace. This is safe: the only files the job executes are
-#      base-repo Python scripts that were reviewed through normal code
-#      review, never anything from the PR.
-#
-#   7. Stale-review dismissal is restricted to reviews whose AUTHOR is
-#      `github-actions[bot]` AND whose body contains the producer's
-#      marker. A fork PR cannot impersonate the bot login, and cannot
-#      inject the marker into a human reviewer's body without API
-#      access. Both filters together prevent the poster from ever
-#      dismissing a human review.
-#
-# ==============================================================================
-# ARTIFACT CONTRACT
-# ==============================================================================
-# Producers upload an artifact named exactly `pr-review` containing:
-#
-#   manifest.json:
-#     {
-#       "pr_number":  12345,                                      // required, int > 0
-#       "marker":     "<!-- pr-review-poster:clang-tidy -->",     // required, printable ASCII
-#       "event":      "REQUEST_CHANGES",                          // required, "COMMENT" | "REQUEST_CHANGES"
-#       "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
-#       "summary":    "Optional review summary text"              // optional
-#     }
-#
-#   comments.json: JSON array of line-anchored review comment objects:
-#     [
-#       {"path": "src/foo.cpp", "line": 42, "side": "RIGHT", "body": "..."},
-#       {"path": "src/bar.hpp", "start_line": 10, "line": 15,
-#        "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
-#     ]
-#
-# The `marker` string is used to find an existing matching review to
-# dismiss before posting a new one. It MUST be unique per producer (e.g.
-# include the producer name).
-#
-# Producers MUST write `pr_number` and `commit_sha` from their own
-# workflow context (`github.event.pull_request.number` and
-# `github.event.pull_request.head.sha`) and MUST NOT read either from any
-# fork-controlled source.
-
-on:
-  workflow_run:
-    # Producers that may upload a `pr-review` artifact. When a new
-    # producer is wired up, add its workflow name here. Runs of workflows
-    # not in this list will never trigger the poster. Every run of a
-    # listed workflow will trigger the poster, which will no-op if no
-    # `pr-review` artifact exists.
-    workflows:
-      - "Static Analysis"
-    types:
-      - completed
-
-permissions:
-  pull-requests: write
-  actions: read
-  contents: read
-
-jobs:
-  post:
-    name: Post PR Review
-    runs-on: ubuntu-latest
-    # Only run for pull_request producer runs. Push-to-main and other
-    # non-PR triggers have no review to post, so gating at the job level
-    # surfaces those as a clean "Skipped" in the UI instead of a
-    # silent no-op buried inside the script.
-    if: >-
-      github.event.workflow_run.conclusion != 'cancelled'
-      && github.event.workflow_run.event == 'pull_request'
-    steps:
-      # Checkout runs first so the poster scripts are available AND so
-      # that actions/checkout@v6's default clean step does not delete the
-      # artifact zip that the next step writes into the workspace.
-      # Sparse-checkout restricts the materialized tree to just the
-      # poster script and its stdlib helper module.
-      - name: Checkout poster script only
-        uses: actions/checkout@v6
-        with:
-          sparse-checkout: |
-            Tools/ci/pr-review-poster.py
-            Tools/ci/_github_helpers.py
-          sparse-checkout-cone-mode: false
-
-      - name: Download pr-review artifact
-        id: download
-        uses: actions/github-script@v8
-        with:
-          script: |
-            const artifacts = await github.rest.actions.listWorkflowRunArtifacts({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              run_id: context.payload.workflow_run.id,
-            });
-            const match = artifacts.data.artifacts.find(a => a.name === 'pr-review');
-            if (!match) {
-              core.info('No pr-review artifact on this run; nothing to post.');
-              core.setOutput('found', 'false');
-              return;
-            }
-            const download = await github.rest.actions.downloadArtifact({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              artifact_id: match.id,
-              archive_format: 'zip',
-            });
-            const fs = require('fs');
-            fs.writeFileSync('pr-review.zip', Buffer.from(download.data));
-            core.setOutput('found', 'true');
-
-      - name: Unpack artifact
-        if: steps.download.outputs.found == 'true'
-        run: |
-          mkdir -p pr-review
-          unzip -q pr-review.zip -d pr-review
-
-      - name: Validate artifact
-        if: steps.download.outputs.found == 'true'
-        run: python3 Tools/ci/pr-review-poster.py validate pr-review
-
-      - name: Post PR review
-        if: steps.download.outputs.found == 'true'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: python3 Tools/ci/pr-review-poster.py post pr-review
@@ -14,24 +14,20 @@ on:

 jobs:
  build:
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: ubuntu-24.04
    steps:
-    - uses: runs-on/action@v2
-
    - uses: actions/checkout@v4
      with:
-        fetch-depth: 1
+        fetch-depth: 0

-    - name: Setup Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: "3.10"
+    - name: Install Python3
+      run: sudo apt-get install python3 python3-setuptools python3-pip -y

    - name: Install tools
-      run: pip install mypy types-requests flake8
+      run: python3 -m pip install mypy types-requests flake8 --break-system-packages

    - name: Check MAVSDK test scripts with mypy
-      run: mypy --strict test/mavsdk_tests/*.py
+      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py

    - name: Check MAVSDK test scripts with flake8
-      run: flake8 test/mavsdk_tests/*.py
+      run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
@@ -23,18 +23,14 @@ concurrency:

 jobs:
  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    env:
-      PX4_SBOM_DISABLE: 1
    steps:
-    - uses: runs-on/action@v2
-
    - uses: actions/checkout@v4
      with:
-        fetch-depth: 1
+        fetch-depth: 0

    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'
@@ -49,21 +45,30 @@ jobs:
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

-    - uses: ./.github/actions/setup-ccache
-      id: ccache
-      with:
-        cache-key-prefix: ccache-ros-integration
-        max-size: 400M
-
-    - name: Cache - Restore Micro-XRCE-DDS Agent
-      id: cache-xrce-agent
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
      uses: actions/cache@v4
      with:
-        path: /opt/Micro-XRCE-DDS-Agent
-        key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08
+        path: ~/.ccache
+        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = 300M" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z

-    - name: Build - Micro-XRCE-DDS Agent (v2.2.1)
-      if: steps.cache-xrce-agent.outputs.cache-hit != 'true'
+    - name: Get and build micro-xrce-dds-agent
      run: |
        cd /opt
        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -74,27 +79,17 @@ jobs:
        cd build
        cmake ..
        make -j2
+    - name: ccache post-run micro-xrce-dds-agent
+      run: ccache -s

-    - name: Cache - Restore PX4 ROS 2 Interface Library Workspace
-      id: cache-px4-ros2-ws
-      uses: actions/cache@v4
-      with:
-        path: /opt/px4_ws
-        # Bump 'v1' when the cached workspace layout changes in a way
-        # that is not captured by the message/service hash below.
-        key: px4-ros2-ws-v1-galactic-2021-09-08-${{ hashFiles('msg/*.msg', 'msg/versioned/*.msg', 'srv/*.srv') }}
-
-    - name: Build - PX4 ROS 2 Interface Library
-      if: steps.cache-px4-ros2-ws.outputs.cache-hit != 'true'
+    - name: Get and build the ros2 interface library
      shell: bash
      run: |
        PX4_DIR="$(pwd)"
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        # On a PR, target the branch we're merging into (main or release/X.Y).
-        # On a direct push, fall back to the branch we're running on.
-        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
+        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
@@ -111,8 +106,19 @@ jobs:
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
        rm -rf src/translation_node src/px4_msgs_old
        colcon build --symlink-install
+    - name: ccache post-run ros workspace
+      run: ccache -s

-    - uses: ./.github/actions/build-gazebo-sitl
+    - name: Build PX4
+      env:
+        PX4_SBOM_DISABLE: 1
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
+      run: ccache -s

    - name: Core dump settings
      run: |
@@ -124,14 +130,9 @@ jobs:
      run: |
        . /opt/px4_ws/install/setup.bash
        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
-        test/ros_test_runner.py --verbose --model iris --force-color
+        test/ros_test_runner.py --verbose --model iris --upload --force-color
      timeout-minutes: 45

-    - uses: ./.github/actions/save-ccache
-      if: always()
-      with:
-        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
-
    - name: Upload failed logs
      if: failure()
      uses: actions/upload-artifact@v4
@@ -10,9 +10,6 @@ on:
      - '**'
    paths-ignore:
      - 'docs/**'
-permissions:
-  contents: read
-
 defaults:
  run:
    shell: bash
@@ -23,8 +20,8 @@ concurrency:

 jobs:
  build_and_test:
-    name: Build and test [${{ matrix.config.ros_version }}]
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    name: Build and test
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    strategy:
      fail-fast: false
      matrix:
@@ -32,45 +29,33 @@ jobs:
          - {ros_version: "humble", ubuntu: "jammy"}
          - {ros_version: "jazzy", ubuntu: "noble"}
    container:
-      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
+      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
    steps:
-      - uses: runs-on/action@v2
-
-      - uses: actions/checkout@v4
+      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.config.ros_version }}
+      - name: Checkout repository
+        uses: actions/checkout@v4
        with:
          fetch-depth: 0

-      - name: Configure Git Safe Directory
+      # Workaround for https://github.com/actions/runner/issues/2033
+      - name: ownership workaround
        run: git config --system --add safe.directory '*'

-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
-          max-size: 150M
-          base-dir: /ros_ws
-          install-ccache: 'true'
-
      - name: Check .msg file versioning
        if: github.event_name == 'pull_request'
        run: |
          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}

-      - name: Build - Translation Node
+      - name: Build and test
        run: |
          ros_ws=/ros_ws
          mkdir -p $ros_ws/src
          ./Tools/copy_to_ros_ws.sh $ros_ws
          cd $ros_ws
          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+
-
-      - name: Test - Translation Node Unit Tests
-        run: |
-          source /ros_ws/install/setup.sh
-          /ros_ws/build/translation_node/translation_node_unit_tests
-
-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
+          source ./install/setup.sh
+          ./build/translation_node/translation_node_unit_tests
@@ -39,10 +39,10 @@ jobs:
      - name: Check for issues
        id: check
        run: |
-          if grep -q "<-- UNRESOLVED" /tmp/sbom-verify.txt; then
+          if grep -q "NOASSERTION" /tmp/sbom-verify.txt; then
            echo "has_issues=true" >> "$GITHUB_OUTPUT"
-            # Extract only genuinely unresolved license lines
-            grep "<-- UNRESOLVED" /tmp/sbom-verify.txt > /tmp/sbom-issues.txt || true
+            # Extract NOASSERTION lines
+            grep "NOASSERTION" /tmp/sbom-verify.txt | grep -v "skipped" > /tmp/sbom-issues.txt || true
            # Extract copyleft lines
            sed -n '/Copyleft licenses detected/,/^$/p' /tmp/sbom-verify.txt > /tmp/sbom-copyleft.txt || true
          else
@@ -24,7 +24,7 @@ concurrency:
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=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
@@ -37,27 +37,53 @@ jobs:
          # transitions). Re-enable once the test infrastructure is stabilized.
          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
-    env:
-      PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
-      PX4_SBOM_DISABLE: 1

    steps:
-      - uses: runs-on/action@v2
-
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 1
+          fetch-depth: 0

      - name: Git Ownership Workaround
        run: git config --system --add safe.directory '*'

-      - uses: ./.github/actions/setup-ccache
-        id: ccache
-        with:
-          cache-key-prefix: ccache-sitl-gazebo-classic
-          max-size: 350M
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

-      - uses: ./.github/actions/build-gazebo-sitl
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z
+
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          PX4_SBOM_DISABLE: 1
+        run: make px4_sitl_default
+
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s
+
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic
+
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s

      - name: Download MAVSDK
        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
@@ -70,19 +96,19 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: |
            export
            ulimit -a

      - name: Build PX4 / MAVSDK tests
        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
          DONT_RUN: 1
        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests

-      - uses: ./.github/actions/save-ccache
-        if: always()
-        with:
-          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s

      - name: Core Dump Settings
        run: |
@@ -94,6 +120,7 @@ jobs:
          PX4_HOME_LAT: ${{matrix.config.latitude}}
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

@@ -2,7 +2,6 @@ name: 'Handle stale issues and PRs'
 on:
  schedule:
    - cron: '30 1 * * *'
-  workflow_dispatch:

 jobs:
  stale:
@@ -10,7 +9,7 @@ jobs:
    steps:
      - uses: actions/stale@v10
        with:
-          operations-per-run: 1500
+          operations-per-run: 250
          days-before-stale: 90
          days-before-close: 30
          stale-issue-label: 'stale'
@@ -229,28 +229,6 @@ endif()
 #
 project(px4 CXX C ASM)

-# Silence Apple ranlib "has no symbols" warnings. Several PX4 sources are
-# wrapped in #if defined(CONFIG_*) guards (e.g. platforms/common/i2c.cpp,
-# spi.cpp, board_common.c, pab_manifest.c, px4_log_history.cpp) and some
-# libraries carry a dummy.cpp placeholder, all of which legitimately produce
-# empty object files on POSIX/SITL. GNU ranlib ignores this; Apple's warns.
-#
-# The warning is actually emitted by `ar qc` (which implicitly builds a symbol
-# table), not by the standalone ranlib call. So we use `ar qcS` to skip the
-# implicit symbol table, then let CMAKE_*_ARCHIVE_FINISH run ranlib with the
-# -no_warning_for_no_symbols flag to add it quietly.
-if(APPLE)
-	set(CMAKE_C_ARCHIVE_CREATE    "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_CXX_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_ASM_ARCHIVE_CREATE  "<CMAKE_AR> qcS <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_C_ARCHIVE_APPEND    "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_CXX_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_ASM_ARCHIVE_APPEND  "<CMAKE_AR> qS  <TARGET> <LINK_FLAGS> <OBJECTS>")
-	set(CMAKE_C_ARCHIVE_FINISH    "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-	set(CMAKE_CXX_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-	set(CMAKE_ASM_ARCHIVE_FINISH  "<CMAKE_RANLIB> -no_warning_for_no_symbols -c <TARGET>")
-endif()
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -2,82 +2,45 @@

 ## Our Pledge

-We as members, contributors, and leaders pledge to make participation in our community a harassment-free experience for everyone, regardless of age, body size, visible or invisible disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socio-economic status, nationality, personal appearance, race, caste, color, religion, or sexual identity and orientation.
-
-We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.
+In the interest of fostering an open and welcoming environment, we as contributors and maintainers pledge to making participation in our project and our community a harassment-free experience for everyone, regardless of age, body size, disability, ethnicity, gender identity and expression, level of experience, nationality, personal appearance, race, religion, or sexual identity and orientation.

 ## Our Standards

-Examples of behavior that contributes to a positive environment for our community include:
+Examples of behavior that contributes to creating a positive environment include:

-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes, and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the overall community
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members

-Examples of unacceptable behavior include:
+Examples of unacceptable behavior by participants include:

-* The use of sexualized language or imagery, and sexual attention or advances of any kind
-* Trolling, insulting or derogatory comments, and personal or political attacks
+* The use of sexualized language or imagery and unwelcome sexual attention or advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
 * Public or private harassment
-* Publishing others' private information, such as a physical or email address, without their explicit permission
+* Publishing others' private information, such as a physical or electronic address, without explicit permission
 * Other conduct which could reasonably be considered inappropriate in a professional setting

-## Enforcement Responsibilities
+## Our Responsibilities

-Community leaders are responsible for clarifying and enforcing our standards of acceptable behavior and will take appropriate and fair corrective action in response to any behavior that they deem inappropriate, threatening, offensive, or harmful.
+Project maintainers are responsible for clarifying the standards of acceptable behavior and are expected to take appropriate and fair corrective action in response to any instances of unacceptable behavior.

-Community leaders have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, and will communicate reasons for moderation decisions when appropriate.
+Project maintainers have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, or to ban temporarily or permanently any contributor for other behaviors that they deem inappropriate, threatening, offensive, or harmful.

 ## Scope

-This Code of Conduct applies within all community spaces, and also applies when an individual is officially representing the community in public spaces. Examples of representing our community include using an official e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event.
+This Code of Conduct applies both within project spaces and in public spaces when an individual is representing the project or its community. Examples of representing a project or community include using an official project e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. Representation of a project may be further defined and clarified by project maintainers.

 ## Enforcement

-Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at coc@dronecode.org. All complaints will be reviewed and investigated promptly and fairly.
+Instances of abusive, harassing, or otherwise unacceptable behavior may be reported by contacting the project team at lorenz@px4.io. The project team will review and investigate all complaints, and will respond in a way that it deems appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. Further details of specific enforcement policies may be posted separately.

-All community leaders are obligated to respect the privacy and security of the reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed unprofessional or unwelcome in the community.
-
-**Consequence**: A private, written warning from community leaders, providing clarity around the nature of the violation and an explanation of why the behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, for a specified period of time. This includes avoiding interactions in community spaces as well as external channels like social media. Violating these terms may lead to a temporary or permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public communication with the community for a specified period of time. No public or private interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, is allowed during this period. Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community standards, including sustained inappropriate behavior, harassment of an individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within the community.
+Project maintainers who do not follow or enforce the Code of Conduct in good faith may face temporary or permanent repercussions as determined by other members of the project's leadership.

 ## Attribution

-This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 2.1, available at [https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at [http://contributor-covenant.org/version/1/4][version]

-Community Impact Guidelines were inspired by [Mozilla's code of conduct enforcement ladder][Mozilla CoC].
-
-For answers to common questions about this code of conduct, see the FAQ at [https://www.contributor-covenant.org/faq][FAQ]. Translations are available at [https://www.contributor-covenant.org/translations][translations].
-
-[homepage]: https://www.contributor-covenant.org
-[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
-[Mozilla CoC]: https://github.com/mozilla/diversity
-[FAQ]: https://www.contributor-covenant.org/faq
-[translations]: https://www.contributor-covenant.org/translations
+[homepage]: http://contributor-covenant.org
+[version]: http://contributor-covenant.org/version/1/4/
@@ -220,10 +220,6 @@ menu "examples"
 source "src/examples/Kconfig"
 endmenu

-menu "templates"
-source "src/templates/Kconfig"
-endmenu
-
 menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
 source "platforms/Kconfig"
@@ -1,11 +1,9 @@
 Maintainers
 ===========

-PX4 is maintained by a group of contributors trusted to steward the project. All maintainers listed below are members of the @PX4/dev-team, have write access, and participate in maintainer decisions. We recognize two types: **Code Owners**, responsible for specific components, and **Reviewers**, who help across the project without a fixed component.
+See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.

-See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers) to learn about the role of the maintainers and the process to become one.
-
-**Code Owners**
+**Active Maintainers**

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
@@ -25,15 +23,6 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


-**Reviewers**
-
-Reviewers help maintain PX4 across the project without ownership of a specific component.
-
-| Name | GitHub | Chat | email
-|------|--------|------|----------------------
-| Onur Ozkan | [@onur-ozkan](https://github.com/onur-ozkan) | onur_ozkan0126 | <onur@orkavian.com>
-
-
 **Documentation Maintainers**

 | Name | GitHub | Chat | email
@@ -9,16 +9,11 @@
 </p>

 <p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Release"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://img.shields.io/discord/1022170275984457759?label=discord&logo=discord&logoColor=white&color=5865F2" alt="Discord"></a>
-</p>
-
-<p align="center">
+  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
  <a href="https://www.bestpractices.dev/projects/6520"><img src="https://www.bestpractices.dev/projects/6520/badge" alt="OpenSSF Best Practices"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/health-score?project=px4" alt="LFX Health Score"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/contributors?project=px4" alt="LFX Contributors"></a>
-  <a href="https://insights.linuxfoundation.org/project/px4"><img src="https://insights.linuxfoundation.org/api/badge/active-contributors?project=px4" alt="LFX Active Contributors"></a>
+  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
+  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
+  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
 </p>

 ---
@@ -70,17 +65,7 @@ PX4 is an open-source autopilot stack for drones and unmanned vehicles. It suppo

 <sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>

-## Try PX4
-
-Run PX4 in simulation with a single command. No build tools, no dependencies beyond Docker:
-
-```bash
-docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest
-```
-
-Open [QGroundControl](https://qgroundcontrol.com) and fly. See [PX4 Simulation Quickstart](../dev_setup/px4_simulation_quickstart.md) for more options.
-
-## Build from Source
+## Quick Start

 ```bash
 git clone https://github.com/PX4/PX4-Autopilot.git --recursive
@@ -114,22 +99,6 @@ make px4_sitl

 We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.

-## Citation
-
-If you use PX4 in academic work, please cite it. BibTeX:
-
-```bibtex
-@software{px4_autopilot,
-  author    = {Meier, Lorenz and {The PX4 Contributors}},
-  title     = {{PX4 Autopilot}},
-  publisher = {Zenodo},
-  doi       = {10.5281/zenodo.595432},
-  url       = {https://px4.io}
-}
-```
-
-The DOI above is a Zenodo concept DOI that always resolves to the latest release. For a version-pinned citation, see the [Zenodo record](https://doi.org/10.5281/zenodo.595432) or our [`CITATION.cff`](CITATION.cff).
-
 ## Governance

 The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
@@ -193,7 +193,6 @@ endif()
 # board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
-	rc.board_early
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
@@ -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

@@ -39,6 +38,7 @@ param set-default SYS_HITL 2
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281

+param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
 param set SIH_IYY 0.0144
@@ -48,21 +48,3 @@ param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
-
-# pusher propeller model with advance ratio, model from UIUC APC 8x6"
-param set SIH_F_T_MAX 6
-param set SIH_F_Q_MAX 0.03
-# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
-param set SIH_F_CT0 0.131
-param set SIH_F_CT1 0.004
-param set SIH_F_CT2 -0.146
-param set SIH_F_CP0 0.0777
-param set SIH_F_CP1 0.0498
-param set SIH_F_CP2 -0.11
-param set SIH_F_DIA_INCH 8
-param set SIH_F_RPM_MAX 9000
-
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-param set-default FW_AIRSPD_MAX 12
-param set-default FW_PSP_OFF 0.5
@@ -28,7 +28,6 @@ param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
-param set-default FW_PSP_OFF 5

 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
@@ -57,6 +56,7 @@ param set-default HIL_ACT_REV 32
 param set-default MAV_TYPE 19


+
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -66,9 +66,8 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

-# tailsitter is equipped with two forward propellers
-param set SIH_F_T_MAX 2
-param set SIH_F_Q_MAX 0.0165
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
 param set SIH_IXX 0.00354
@@ -78,19 +77,6 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.145

-# propeller diameter, rpm, and coeffs coming from the thesis
-# Modeling and control of a flying wing tailsitter unmanned aerial vehicle."
-# Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
-# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
-param set SIH_F_CT0 0.1342
-param set SIH_F_CT1 -0.1196
-param set SIH_F_CT2 -0.1281
-param set SIH_F_CP0 0.0522
-param set SIH_F_CP1 -0.0146
-param set SIH_F_CP2 -0.0602
-param set SIH_F_DIA_INCH 5
-param set SIH_F_RPM_MAX 14000
-
 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2

@@ -56,7 +56,6 @@ param set-default CA_SV_CS2_TYPE 4  # rudder
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 10
 param set-default FW_AIRSPD_MAX 12
-param set-default VT_FWD_THRUST_EN 1

 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
@@ -78,7 +77,6 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default SENS_DPRES_OFF 0.001

-# quadrotor propellers
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -90,18 +88,5 @@ param set SIH_IXZ 0
 param set SIH_KDV 0.2
 param set SIH_L_ROLL 0.2

-# pusher propeller model with advance ratio, model from UIUC APC 8x6"
-param set SIH_F_T_MAX 6
-param set SIH_F_Q_MAX 0.03
-# if SIH_F_CT0 > 0, SIH_F_T_MAX and SIH_F_Q_MAX will be overridden
-param set SIH_F_CT0 0.131
-param set SIH_F_CT1 0.004
-param set SIH_F_CT2 -0.146
-param set SIH_F_CP0 0.0777
-param set SIH_F_CP1 0.0498
-param set SIH_F_CP2 -0.11
-param set SIH_F_DIA_INCH 8
-param set SIH_F_RPM_MAX 9000
-
 # sih as standard vtol
 param set SIH_VEHICLE_TYPE 3
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Hexacopter X
-#
-# @type Simulation
-# @class Copter
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set UAVCAN_ENABLE 0
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set SIH_VEHICLE_TYPE 4
-
-# Symmetric hexacopter X clockwise motor numbering
-param set-default CA_ROTOR_COUNT 6
-param set-default CA_ROTOR0_PX 0.866
-param set-default CA_ROTOR0_PY 0.5
-param set-default CA_ROTOR1_PX 0
-param set-default CA_ROTOR1_PY 1
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.866
-param set-default CA_ROTOR2_PY 0.5
-param set-default CA_ROTOR3_PX -0.866
-param set-default CA_ROTOR3_PY -0.5
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_PX 0
-param set-default CA_ROTOR4_PY -1
-param set-default CA_ROTOR5_PX 0.866
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 106
@@ -49,7 +49,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
-		1105_rc_hexa_x_sih.hil
 	)
 	if(CONFIG_MODULES_ROVER_ACKERMANN)
 		px4_add_romfs_files(
@@ -31,20 +31,11 @@ set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
-set STORAGE_CHECK yes
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

-# Fine-grained feature gates.
-set USE_HARDFAULT_LOG no
-set USE_EXTERNAL_AIRFRAMES no
-set USE_PARAM_BACKUPS no
-set USE_PARAM_IMPORT_DEBUG no
-set USE_TASK_WATCHDOG no
-set USE_ALT_UPDATE_DIRS no
-
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
@@ -57,81 +48,53 @@ set PARAM_DEFAULTS_VER 1
 ver all

 #
-# Optional early board init: rc.board_early
-# Can be used for setting env vars for rcS.
+# Try to mount the microSD card.
 #
-set BOARD_RC_EARLY ${R}etc/init.d/rc.board_early
-if [ -f $BOARD_RC_EARLY ]
+if [ -b "/dev/mmcsd0" ]
 then
-	. $BOARD_RC_EARLY
-fi
-unset BOARD_RC_EARLY
-
-#
-# Try to mount/check storage (rc.board_early can disable this).
-#
-if [ $STORAGE_CHECK = yes ]
-then
-	#
-	# Try to mount the microSD card.
-	#
-	if [ -b "/dev/mmcsd0" ]
+	if mount -t vfat /dev/mmcsd0 /fs/microsd
 	then
-		if mount -t vfat /dev/mmcsd0 /fs/microsd
+		if [ -f "/fs/microsd/.format" ]
 		then
-			if [ -f "/fs/microsd/.format" ]
-			then
-				echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-				set SDCARD_FORMAT yes
-				rm /fs/microsd/.format
-				umount /fs/microsd
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			set SDCARD_FORMAT yes
+			rm /fs/microsd/.format
+			umount /fs/microsd

-			else
-				set STORAGE_AVAILABLE yes
-			fi
-		fi
-
-		if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
-		then
-			echo "INFO [init] formatting /dev/mmcsd0"
-			set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-			if mkfatfs -F 32 /dev/mmcsd0
-			then
-				echo "INFO [init] card formatted"
-
-				if mount -t vfat /dev/mmcsd0 /fs/microsd
-				then
-					set STORAGE_AVAILABLE yes
-					set STARTUP_TUNE 14 # tune 14 = SD_INIT
-				else
-					echo "ERROR [init] card mount failed"
-				fi
-			else
-				echo "ERROR [init] format failed"
-			fi
-		fi
-	else
-		# Is there a device mounted for storage
-		if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-		then
+		else
 			set STORAGE_AVAILABLE yes
 		fi
 	fi
+
+	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+	then
+		echo "INFO [init] formatting /dev/mmcsd0"
+		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
+
+		if mkfatfs -F 32 /dev/mmcsd0
+		then
+			echo "INFO [init] card formatted"
+
+			if mount -t vfat /dev/mmcsd0 /fs/microsd
+			then
+				set STORAGE_AVAILABLE yes
+				set STARTUP_TUNE 14 # tune 14 = SD_INIT
+			else
+				echo "ERROR [init] card mount failed"
+			fi
+		else
+			echo "ERROR [init] format failed"
+		fi
+	fi
+else
+	# Is there a device mounted for storage
+	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
+	then
+		set STORAGE_AVAILABLE yes
+	fi
 fi

 if [ $STORAGE_AVAILABLE = yes ]
-then
-	set USE_HARDFAULT_LOG yes
-	set USE_EXTERNAL_AIRFRAMES yes
-	set USE_PARAM_BACKUPS yes
-	set USE_PARAM_IMPORT_DEBUG yes
-	set USE_ALT_UPDATE_DIRS yes
-	set PARAM_FILE /fs/microsd/params
-	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
-fi
-
-if [ $USE_HARDFAULT_LOG = yes ]
 then
 	if hardfault_log check
 	then
@@ -141,15 +104,7 @@ then
 			hardfault_log reset
 		fi
 	fi
-fi

-if [ $USE_TASK_WATCHDOG = yes ]
-then
-	task_watchdog start
-fi
-
-if [ $USE_ALT_UPDATE_DIRS = yes ]
-then
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -157,6 +112,9 @@ then
 		rm -r $SDCARD_EXT_PATH
 		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
 	fi
+
+	set PARAM_FILE /fs/microsd/params
+	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi

 #
@@ -197,11 +155,8 @@ else

 		if [ -d "/fs/microsd" ]
 		then
-			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
-			then
-				# save copy of the failed param file for debugging
-				cp $PARAM_FILE /fs/microsd/param_import_fail.bson
-			fi
+			# try to make a backup copy
+			cp $PARAM_FILE /fs/microsd/param_import_fail.bson

 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
@@ -219,14 +174,11 @@ else

 			param status

-			if [ $USE_PARAM_IMPORT_DEBUG = yes ]
-			then
-				dmesg >> /fs/microsd/param_import_fail.txt &
-			fi
+			dmesg >> /fs/microsd/param_import_fail.txt &
 		fi
 	fi

-	if [ $USE_PARAM_BACKUPS = yes ]
+	if [ $STORAGE_AVAILABLE = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -282,12 +234,12 @@ else

 	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# Run external airframe script on SD card or EEPROM-backed storage
-		if [ $USE_EXTERNAL_AIRFRAMES = yes ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
 			. ${R}etc/init.d/rc.autostart_ext
 		else
-			echo "ERROR [init] no external airframe storage, skipping"
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		fi
 	fi

@@ -727,16 +679,9 @@ unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
-unset STORAGE_CHECK
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
-unset USE_HARDFAULT_LOG
-unset USE_EXTERNAL_AIRFRAMES
-unset USE_PARAM_BACKUPS
-unset USE_PARAM_IMPORT_DEBUG
-unset USE_TASK_WATCHDOG
-unset USE_ALT_UPDATE_DIRS
 unset VEHICLE_TYPE

 #
@@ -1,172 +0,0 @@
-#!/usr/bin/env python3
-"""
-Shared GitHub REST helpers for PX4 CI scripts.
-
-This module is imported by the PR poster scripts under Tools/ci/. It is
-NOT an executable entry point; do not run it directly.
-
-Provides:
-  - fail(msg)              terminates the caller with a clear error
-  - GitHubClient(token)    thin stdlib-only GitHub REST client with
-                           single-request and paginated helpers
-
-Python stdlib only. No third-party dependencies.
-
-History: extracted from Tools/ci/pr-comment-poster.py so that
-pr-comment-poster.py and pr-review-poster.py share the same HTTP plumbing
-without duplicating ~100 lines of request/pagination/error-handling code.
-"""
-
-import json
-import sys
-import typing
-import urllib.error
-import urllib.request
-
-
-GITHUB_API = 'https://api.github.com'
-DEFAULT_USER_AGENT = 'px4-ci'
-API_VERSION = '2022-11-28'
-
-
-def fail(msg: str) -> typing.NoReturn:
-    """Print an error to stderr and exit with status 1.
-
-    Annotated NoReturn so static checkers understand control does not
-    continue past a fail() call.
-    """
-    print('error: {}'.format(msg), file=sys.stderr)
-    sys.exit(1)
-
-
-def _parse_next_link(link_header):
-    """Return the URL for rel="next" from an RFC 5988 Link header, or None.
-
-    The Link header is comma-separated entries of the form:
-      <https://...?page=2>; rel="next", <https://...?page=5>; rel="last"
-    We walk each entry and return the URL of the one whose rel attribute is
-    "next". Accept single-quoted rel values for robustness even though
-    GitHub always emits double quotes.
-    """
-    if not link_header:
-        return None
-    for part in link_header.split(','):
-        segs = part.strip().split(';')
-        if len(segs) < 2:
-            continue
-        url_seg = segs[0].strip()
-        if not (url_seg.startswith('<') and url_seg.endswith('>')):
-            continue
-        url = url_seg[1:-1]
-        for attr in segs[1:]:
-            attr = attr.strip()
-            if attr == 'rel="next"' or attr == "rel='next'":
-                return url
-    return None
-
-
-class GitHubClient:
-    """Minimal GitHub REST client backed by the Python stdlib.
-
-    Each instance holds a token and a user-agent so callers do not have to
-    thread them through every call. Methods return parsed JSON (or None for
-    empty responses) and raise RuntimeError with the server response body on
-    HTTP errors, so CI logs show what the API actually objected to.
-
-    Usage:
-        client = GitHubClient(token, user_agent='px4-pr-comment-poster')
-        body, headers = client.request('GET', 'repos/{o}/{r}/pulls/123')
-        for item in client.paginated('repos/{o}/{r}/pulls/123/reviews'):
-            ...
-    """
-
-    def __init__(self, token, user_agent=DEFAULT_USER_AGENT):
-        if not token:
-            raise ValueError('GitHub token is required')
-        self._token = token
-        self._user_agent = user_agent
-
-    def request(self, method, path_or_url, json_body=None):
-        """GET/POST/PATCH/PUT/DELETE a single API path or absolute URL.
-
-        `path_or_url` may be either a relative API path (e.g.
-        "repos/PX4/PX4-Autopilot/pulls/123") or an absolute URL such as the
-        next-page URL returned from paginated results. Relative paths are
-        prefixed with the GitHub API base.
-
-        Returns (parsed_json_or_none, headers_dict). Raises RuntimeError
-        on HTTP or transport errors.
-        """
-        url = self._resolve(path_or_url)
-        return self._do_request(method, url, json_body)
-
-    def paginated(self, path, per_page=100):
-        """GET a path and follow rel="next" Link headers.
-
-        Yields items from each page's JSON array. Bumps per_page to 100
-        (GitHub's max) so large result sets take fewer round-trips.
-        Raises RuntimeError if any page response is not a JSON array.
-        """
-        url = self._resolve(path)
-        sep = '&' if '?' in url else '?'
-        url = '{}{}per_page={}'.format(url, sep, per_page)
-        while url is not None:
-            body, headers = self._do_request('GET', url, None)
-            if body is None:
-                return
-            if not isinstance(body, list):
-                raise RuntimeError(
-                    'expected JSON array from {}, got {}'.format(
-                        url, type(body).__name__))
-            for item in body:
-                yield item
-            url = _parse_next_link(headers.get('Link'))
-
-    def _resolve(self, path_or_url):
-        if path_or_url.startswith('http://') or path_or_url.startswith('https://'):
-            return path_or_url
-        return '{}/{}'.format(GITHUB_API.rstrip('/'), path_or_url.lstrip('/'))
-
-    def _do_request(self, method, url, json_body):
-        data = None
-        headers = {
-            'Authorization': 'Bearer {}'.format(self._token),
-            'Accept': 'application/vnd.github+json',
-            # Pin the API version so GitHub deprecations don't silently
-            # change the response shape under us.
-            'X-GitHub-Api-Version': API_VERSION,
-            'User-Agent': self._user_agent,
-        }
-        if json_body is not None:
-            data = json.dumps(json_body).encode('utf-8')
-            headers['Content-Type'] = 'application/json; charset=utf-8'
-
-        req = urllib.request.Request(
-            url, data=data, method=method, headers=headers)
-        try:
-            with urllib.request.urlopen(req) as resp:
-                raw = resp.read()
-                # HTTPMessage is case-insensitive on lookup but its items()
-                # preserves the original case. GitHub sends "Link" with a
-                # capital L, which is what _parse_next_link expects.
-                resp_headers = dict(resp.headers.items())
-                if not raw:
-                    return None, resp_headers
-                return json.loads(raw.decode('utf-8')), resp_headers
-        except urllib.error.HTTPError as e:
-            # GitHub error bodies are JSON with a "message" field and often
-            # a "documentation_url". Dump the raw body into the exception so
-            # the CI log shows exactly what the API objected to. A bare
-            # "HTTP 422" tells us nothing useful.
-            try:
-                err_body = e.read().decode('utf-8', errors='replace')
-            except Exception:
-                err_body = '(no body)'
-            raise RuntimeError(
-                'GitHub API {} {} failed: HTTP {} {}\n{}'.format(
-                    method, url, e.code, e.reason, err_body))
-        except urllib.error.URLError as e:
-            # Network layer failure (DNS, TLS, connection reset). No HTTP
-            # response to parse; just surface the transport reason.
-            raise RuntimeError(
-                'GitHub API {} {} failed: {}'.format(method, url, e.reason))
@@ -1,539 +0,0 @@
-#!/usr/bin/env python3
-#
-# clang-tidy-fixes-to-review.py
-#
-# Producer-side helper that converts a clang-tidy fixes.yml file into a
-# pr-review artifact (manifest.json + comments.json) suitable for
-# Tools/ci/pr-review-poster.py.
-#
-# This script runs inside the clang-tidy job's px4-dev container so it can
-# read the source tree directly and look up byte offsets in the original
-# files. The output it writes is a fully-baked array of review comments;
-# the poster never reads source files or fixes.yml.
-#
-# ----------------------------------------------------------------------------
-# ATTRIBUTION
-# ----------------------------------------------------------------------------
-# This script reuses the diagnostic-to-review-comment translation logic
-# from platisd/clang-tidy-pr-comments. The original work is:
-#
-#   MIT License
-#
-#   Copyright (c) 2021 Dimitris Platis
-#
-#   Permission is hereby granted, free of charge, to any person obtaining a
-#   copy of this software and associated documentation files (the
-#   "Software"), to deal in the Software without restriction, including
-#   without limitation the rights to use, copy, modify, merge, publish,
-#   distribute, sublicense, and/or sell copies of the Software, and to
-#   permit persons to whom the Software is furnished to do so, subject to
-#   the following conditions:
-#
-#   The above copyright notice and this permission notice shall be included
-#   in all copies or substantial portions of the Software.
-#
-#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
-#   OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-#   MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-#   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
-#   CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
-#   TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
-#   SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-#
-# Adapted parts:
-#   - get_diff_line_ranges_per_file() and its inner change_to_line_range()
-#   - generate_review_comments() and its nested helpers
-#       (get_line_by_offset, validate_warning_applicability,
-#        calculate_replacements_diff, markdown, markdown_url,
-#        diagnostic_name_visual, generate_single_comment)
-#   - reorder_diagnostics()
-#
-# Removed parts (handled by Tools/ci/pr-review-poster.py instead):
-#   - post_review_comments / dismiss_change_requests / resolve_conversations
-#   - the original argparse main and the requests-based HTTP layer
-#
-# Adaptation notes:
-#   - The HTTP layer is rewritten on top of Tools/ci/_github_helpers.py so
-#     this script does not depend on the third-party `requests` package.
-#   - Conversation resolution (the GraphQL path) is intentionally dropped
-#     for v1; revisit if it turns out to be missed.
-#   - Clang-Tidy 8 upconvert is preserved verbatim.
-#
-# ----------------------------------------------------------------------------
-# Bounded assumptions (documented for future maintainers):
-#   - Source files are UTF-8 (we read them as latin_1, matching clang-tidy's
-#     own byte-offset model, and the offsets we surface are line counts)
-#   - Source files use LF line endings
-#   - Malformed entries in fixes.yml are skipped with a warning rather than
-#     crashing the job
-#
-# Dependencies: pyyaml + Tools/ci/_github_helpers.py.
-# pyyaml is preinstalled in the px4-dev container; this script is intended
-# to run there, not on bare ubuntu-latest.
-"""Convert a clang-tidy fixes.yml into a pr-review artifact."""
-
-import argparse
-import difflib
-import json
-import os
-import posixpath
-import re
-import sys
-import urllib.parse
-
-import yaml
-
-import _github_helpers
-from _github_helpers import fail as _fail
-
-
-# Markers used inside the per-comment body to call out severity. Plain
-# strings rather than emojis to keep the file emoji-free per project
-# preferences; the rendered Markdown is unaffected.
-SINGLE_COMMENT_MARKERS = {
-    'Error': '**[error]**',
-    'Warning': '**[warning]**',
-    'Remark': '**[remark]**',
-    'fallback': '**[note]**',
-}
-
-
-# ---------------------------------------------------------------------------
-# Diff-range parsing (adapted from platisd)
-# ---------------------------------------------------------------------------
-
-def get_diff_line_ranges_per_file(pr_files):
-    """Return a dict mapping each PR file path to a list of line ranges
-    (the +new-side hunks) parsed from its patch."""
-
-    def change_to_line_range(change):
-        split_change = change.split(',')
-        start = int(split_change[0])
-        size = int(split_change[1]) if len(split_change) > 1 else 1
-        return range(start, start + size)
-
-    result = {}
-    for pr_file in pr_files:
-        # Removed binary files etc. have no patch section.
-        if 'patch' not in pr_file:
-            continue
-        file_name = pr_file['filename']
-        # Match lines like '@@ -101,8 +102,11 @@'
-        git_line_tags = re.findall(
-            r'^@@ -.*? +.*? @@', pr_file['patch'], re.MULTILINE)
-        changes = [
-            tag.replace('@@', '').strip().split()[1].replace('+', '')
-            for tag in git_line_tags
-        ]
-        result[file_name] = [
-            change_to_line_range(change) for change in changes
-        ]
-    return result
-
-
-def fetch_pull_request_files(client, repo, pr_number):
-    """Yield file metadata objects for each file modified by the PR."""
-    path = 'repos/{}/pulls/{}/files'.format(repo, pr_number)
-    for entry in client.paginated(path):
-        yield entry
-
-
-# ---------------------------------------------------------------------------
-# Diagnostic ordering (adapted from platisd)
-# ---------------------------------------------------------------------------
-
-def reorder_diagnostics(diags):
-    """Return diagnostics ordered Error -> Warning -> Remark -> other."""
-    errors = [d for d in diags if d.get('Level') == 'Error']
-    warnings = [d for d in diags if d.get('Level') == 'Warning']
-    remarks = [d for d in diags if d.get('Level') == 'Remark']
-    others = [
-        d for d in diags
-        if d.get('Level') not in {'Error', 'Warning', 'Remark'}
-    ]
-    if others:
-        print(
-            'warning: some fixes have an unexpected Level (not Error, '
-            'Warning, or Remark)', file=sys.stderr)
-    return errors + warnings + remarks + others
-
-
-# ---------------------------------------------------------------------------
-# Comment generation (adapted from platisd)
-# ---------------------------------------------------------------------------
-
-def generate_review_comments(clang_tidy_fixes, repository_root,
-                              diff_line_ranges_per_file,
-                              single_comment_markers):
-    """Yield review comment dicts for each clang-tidy diagnostic that
-    intersects the PR diff."""
-
-    def get_line_by_offset(file_path, offset):
-        # Clang-Tidy doesn't support multibyte encodings and measures
-        # offsets in bytes; latin_1 makes byte offsets and string offsets
-        # equivalent.
-        with open(repository_root + file_path, encoding='latin_1') as fh:
-            source = fh.read()
-        return source[:offset].count('\n') + 1
-
-    def validate_warning_applicability(file_path, start_line_num, end_line_num):
-        assert end_line_num >= start_line_num
-        for line_range in diff_line_ranges_per_file[file_path]:
-            assert line_range.step == 1
-            if (line_range.start <= start_line_num
-                    and end_line_num < line_range.stop):
-                return True
-        return False
-
-    def calculate_replacements_diff(file_path, replacements):
-        # Apply replacements in reverse order so subsequent offsets do not
-        # shift.
-        replacements.sort(key=lambda item: (-item['Offset']))
-        with open(repository_root + file_path, encoding='latin_1') as fh:
-            source = fh.read()
-        changed = source
-        for replacement in replacements:
-            changed = (
-                changed[:replacement['Offset']]
-                + replacement['ReplacementText']
-                + changed[replacement['Offset'] + replacement['Length']:]
-            )
-        return difflib.Differ().compare(
-            source.splitlines(keepends=True),
-            changed.splitlines(keepends=True),
-        )
-
-    def markdown(s):
-        md_chars = '\\`*_{}[]<>()#+-.!|'
-
-        def escape_chars(s):
-            for ch in md_chars:
-                s = s.replace(ch, '\\' + ch)
-            return s
-
-        def unescape_chars(s):
-            for ch in md_chars:
-                s = s.replace('\\' + ch, ch)
-            return s
-
-        s = escape_chars(s)
-        s = re.sub(
-            "'([^']*)'",
-            lambda m: '`` ' + unescape_chars(m.group(1)) + ' ``',
-            s,
-        )
-        return s
-
-    def markdown_url(label, url):
-        return '[{}]({})'.format(label, url)
-
-    def diagnostic_name_visual(diagnostic_name):
-        visual = '**{}**'.format(markdown(diagnostic_name))
-        try:
-            first_dash_idx = diagnostic_name.index('-')
-        except ValueError:
-            return visual
-        namespace = urllib.parse.quote_plus(diagnostic_name[:first_dash_idx])
-        check_name = urllib.parse.quote_plus(
-            diagnostic_name[first_dash_idx + 1:])
-        return markdown_url(
-            visual,
-            'https://clang.llvm.org/extra/clang-tidy/checks/{}/{}.html'.format(
-                namespace, check_name),
-        )
-
-    def generate_single_comment(file_path, start_line_num, end_line_num,
-                                 name, message, single_comment_marker,
-                                 replacement_text=None):
-        result = {
-            'path': file_path,
-            'line': end_line_num,
-            'side': 'RIGHT',
-            'body': '{} {} {}\n{}'.format(
-                single_comment_marker,
-                diagnostic_name_visual(name),
-                single_comment_marker,
-                markdown(message),
-            ),
-        }
-        if start_line_num != end_line_num:
-            result['start_line'] = start_line_num
-            result['start_side'] = 'RIGHT'
-        if replacement_text is not None:
-            if not replacement_text or replacement_text[-1] != '\n':
-                replacement_text += '\n'
-            result['body'] += '\n```suggestion\n{}```'.format(replacement_text)
-        return result
-
-    for diag in clang_tidy_fixes['Diagnostics']:
-        # Upconvert clang-tidy 8 format to 9+
-        if 'DiagnosticMessage' not in diag:
-            diag['DiagnosticMessage'] = {
-                'FileOffset': diag.get('FileOffset'),
-                'FilePath': diag.get('FilePath'),
-                'Message': diag.get('Message'),
-                'Replacements': diag.get('Replacements', []),
-            }
-
-        diag_message = diag['DiagnosticMessage']
-        diag_message['FilePath'] = posixpath.normpath(
-            (diag_message.get('FilePath') or '').replace(repository_root, ''))
-        for replacement in diag_message.get('Replacements') or []:
-            replacement['FilePath'] = posixpath.normpath(
-                replacement['FilePath'].replace(repository_root, ''))
-
-        diag_name = diag.get('DiagnosticName', '<unknown>')
-        diag_message_msg = diag_message.get('Message', '')
-        level = diag.get('Level', 'Warning')
-        single_comment_marker = single_comment_markers.get(
-            level, single_comment_markers['fallback'])
-
-        replacements = diag_message.get('Replacements') or []
-        if not replacements:
-            file_path = diag_message['FilePath']
-            offset = diag_message.get('FileOffset')
-            if offset is None:
-                print('warning: skipping {!r}: missing FileOffset'.format(
-                    diag_name), file=sys.stderr)
-                continue
-            if file_path not in diff_line_ranges_per_file:
-                print(
-                    "'{}' for {} does not apply to the files changed in "
-                    'this PR'.format(diag_name, file_path))
-                continue
-            try:
-                line_num = get_line_by_offset(file_path, offset)
-            except (OSError, ValueError) as e:
-                print('warning: skipping {!r} on {}: {}'.format(
-                    diag_name, file_path, e), file=sys.stderr)
-                continue
-
-            print("Processing '{}' at line {} of {}...".format(
-                diag_name, line_num, file_path))
-            if validate_warning_applicability(file_path, line_num, line_num):
-                yield generate_single_comment(
-                    file_path,
-                    line_num,
-                    line_num,
-                    diag_name,
-                    diag_message_msg,
-                    single_comment_marker=single_comment_marker,
-                )
-            else:
-                print('This warning does not apply to the lines changed '
-                      'in this PR')
-        else:
-            for file_path in {item['FilePath'] for item in replacements}:
-                if file_path not in diff_line_ranges_per_file:
-                    print(
-                        "'{}' for {} does not apply to the files changed "
-                        'in this PR'.format(diag_name, file_path))
-                    continue
-
-                line_num = 1
-                start_line_num = None
-                end_line_num = None
-                replacement_text = None
-
-                try:
-                    diff_iter = calculate_replacements_diff(
-                        file_path,
-                        [r for r in replacements if r['FilePath'] == file_path],
-                    )
-                except (OSError, ValueError) as e:
-                    print('warning: skipping {!r} on {}: {}'.format(
-                        diag_name, file_path, e), file=sys.stderr)
-                    continue
-
-                for line in diff_iter:
-                    # Comment line, ignore.
-                    if line.startswith('? '):
-                        continue
-                    # A '-' line is the start or continuation of a region
-                    # to replace.
-                    if line.startswith('- '):
-                        if start_line_num is None:
-                            start_line_num = line_num
-                            end_line_num = line_num
-                        else:
-                            end_line_num = line_num
-                        if replacement_text is None:
-                            replacement_text = ''
-                        line_num += 1
-                    # A '+' line is part of the replacement text.
-                    elif line.startswith('+ '):
-                        if replacement_text is None:
-                            replacement_text = line[2:]
-                        else:
-                            replacement_text += line[2:]
-                    # A context line marks the end of a replacement region.
-                    elif line.startswith('  '):
-                        if replacement_text is not None:
-                            if start_line_num is None:
-                                # Pure addition: synthesize a one-line
-                                # range and append the context line to
-                                # the replacement.
-                                start_line_num = line_num
-                                end_line_num = line_num
-                                replacement_text += line[2:]
-
-                            print("Processing '{}' at lines {}-{} of {}...".format(
-                                diag_name, start_line_num, end_line_num, file_path))
-
-                            if validate_warning_applicability(
-                                    file_path, start_line_num, end_line_num):
-                                yield generate_single_comment(
-                                    file_path,
-                                    start_line_num,
-                                    end_line_num,
-                                    diag_name,
-                                    diag_message_msg,
-                                    single_comment_marker=single_comment_marker,
-                                    replacement_text=replacement_text,
-                                )
-                            else:
-                                print(
-                                    'This warning does not apply to the '
-                                    'lines changed in this PR')
-
-                            start_line_num = None
-                            end_line_num = None
-                            replacement_text = None
-
-                        line_num += 1
-                    else:
-                        # Unknown difflib prefix; skip rather than abort.
-                        print('warning: unexpected diff prefix {!r}; '
-                              'skipping diagnostic'.format(line[:2]),
-                              file=sys.stderr)
-                        break
-
-                # End of file with a pending replacement region.
-                if replacement_text is not None and start_line_num is not None:
-                    print("Processing '{}' at lines {}-{} of {}...".format(
-                        diag_name, start_line_num, end_line_num, file_path))
-                    if validate_warning_applicability(
-                            file_path, start_line_num, end_line_num):
-                        yield generate_single_comment(
-                            file_path,
-                            start_line_num,
-                            end_line_num,
-                            diag_name,
-                            diag_message_msg,
-                            single_comment_marker=single_comment_marker,
-                            replacement_text=replacement_text,
-                        )
-                    else:
-                        print('This warning does not apply to the lines '
-                              'changed in this PR')
-
-
-# ---------------------------------------------------------------------------
-# Entry point
-# ---------------------------------------------------------------------------
-
-def main(argv=None):
-    parser = argparse.ArgumentParser(
-        description='Convert a clang-tidy fixes.yml into a pr-review '
-                    'artifact (manifest.json + comments.json).',
-    )
-    parser.add_argument('--fixes', required=True,
-                        help='Path to fixes.yml from clang-tidy')
-    parser.add_argument('--repo-root', required=True,
-                        help='Path to the repository root containing the '
-                             'source files referenced by fixes.yml')
-    parser.add_argument('--repo', required=True,
-                        help='owner/name of the repository')
-    parser.add_argument('--pr-number', required=True, type=int,
-                        help='Pull request number')
-    parser.add_argument('--commit-sha', required=True,
-                        help='40-char hex commit SHA the review will pin to')
-    parser.add_argument('--out-dir', required=True,
-                        help='Directory to write manifest.json and '
-                             'comments.json')
-    parser.add_argument(
-        '--marker',
-        default='<!-- pr-review-poster:clang-tidy -->',
-        help='Marker string embedded in the review body so the poster '
-             'can find and dismiss stale runs')
-    parser.add_argument(
-        '--event',
-        default='REQUEST_CHANGES',
-        choices=('COMMENT', 'REQUEST_CHANGES'),
-        help='GitHub review event type')
-    parser.add_argument(
-        '--summary', default='',
-        help='Optional review summary text appended to the review body')
-    args = parser.parse_args(argv)
-
-    if args.pr_number <= 0:
-        _fail('--pr-number must be > 0')
-    if not re.match(r'^[0-9a-f]{40}$', args.commit_sha):
-        _fail('--commit-sha must be a 40-char lowercase hex string')
-
-    token = os.environ.get('GITHUB_TOKEN')
-    if not token:
-        _fail('GITHUB_TOKEN is not set')
-
-    # Normalize the repo root with a trailing slash so the platisd-style
-    # str.replace() trick still strips it cleanly.
-    repo_root = args.repo_root
-    if not repo_root.endswith(os.sep):
-        repo_root = repo_root + os.sep
-
-    os.makedirs(args.out_dir, exist_ok=True)
-
-    client = _github_helpers.GitHubClient(token, user_agent='px4-clang-tidy-fixes-to-review')
-
-    print('Fetching PR file list from GitHub...')
-    pr_files = list(fetch_pull_request_files(client, args.repo, args.pr_number))
-    diff_line_ranges_per_file = get_diff_line_ranges_per_file(pr_files)
-
-    print('Loading clang-tidy fixes from {}...'.format(args.fixes))
-    if not os.path.isfile(args.fixes):
-        # No fixes file means clang-tidy ran cleanly. Emit an empty
-        # comments.json so the poster can short-circuit.
-        comments = []
-    else:
-        with open(args.fixes, encoding='utf-8') as fh:
-            clang_tidy_fixes = yaml.safe_load(fh)
-        if (not clang_tidy_fixes
-                or 'Diagnostics' not in clang_tidy_fixes
-                or not clang_tidy_fixes['Diagnostics']):
-            comments = []
-        else:
-            clang_tidy_fixes['Diagnostics'] = reorder_diagnostics(
-                clang_tidy_fixes['Diagnostics'])
-            comments = list(generate_review_comments(
-                clang_tidy_fixes,
-                repo_root,
-                diff_line_ranges_per_file,
-                single_comment_markers=SINGLE_COMMENT_MARKERS,
-            ))
-
-    print('Generated {} review comment(s)'.format(len(comments)))
-
-    manifest = {
-        'pr_number': args.pr_number,
-        'marker': args.marker,
-        'event': args.event,
-        'commit_sha': args.commit_sha,
-    }
-    if args.summary:
-        manifest['summary'] = args.summary
-
-    manifest_path = os.path.join(args.out_dir, 'manifest.json')
-    comments_path = os.path.join(args.out_dir, 'comments.json')
-    with open(manifest_path, 'w', encoding='utf-8') as fh:
-        json.dump(manifest, fh, indent=2)
-        fh.write('\n')
-    with open(comments_path, 'w', encoding='utf-8') as fh:
-        json.dump(comments, fh, indent=2)
-        fh.write('\n')
-
-    print('Wrote {} and {}'.format(manifest_path, comments_path))
-    return 0
-
-
-if __name__ == '__main__':
-    sys.exit(main())
@@ -478,7 +478,6 @@ def verify_licenses(source_dir):
        sub_dir = source_dir / sub_path

        checked_out = sub_dir.is_dir() and any(sub_dir.iterdir())
-        has_explicit_override = sub_path in license_overrides
        if not checked_out:
            detected = "(not checked out)"
            override = license_overrides.get(sub_path, "")
@@ -488,12 +487,9 @@ def verify_licenses(source_dir):
            override = license_overrides.get(sub_path, "")
            final = override if override else detected

-        if final == "NOASSERTION" and has_explicit_override:
-            # Explicitly acknowledged in overrides file — not a failure
-            marker = " (acknowledged)"
-        elif final == "NOASSERTION" and checked_out:
+        if final == "NOASSERTION" and checked_out:
            has_noassertion = True
-            marker = " <-- UNRESOLVED"
+            marker = " <-- NOASSERTION"
        elif final == "NOASSERTION" and not checked_out:
            marker = " (skipped)"
        else:
@@ -525,7 +521,7 @@ def verify_licenses(source_dir):
        print()

    if has_noassertion:
-        print("FAIL: Some submodules have unresolved licenses. "
+        print("FAIL: Some submodules resolved to NOASSERTION. "
              "Add an entry to Tools/ci/license-overrides.yaml or check the LICENSE file.")
        return 1

@@ -9,12 +9,6 @@ overrides:
    license: "LGPL-3.0-only AND MIT"
    comment: "Generator is LGPL-3.0; PX4 ships only MIT-licensed generated headers."

-  Tools/simulation/gazebo-classic/sitl_gazebo-classic:
-    license: "BSD-3-Clause"
-    comment: >-
-      PX4 org project. No LICENSE file in repo; source files carry
-      BSD-3-Clause headers consistent with the PX4 project license.
-
  src/lib/cdrstream/cyclonedds:
    license: "EPL-2.0 OR BSD-3-Clause"
    comment: >-
@@ -29,9 +29,6 @@ for build_dir_path in build/*/ ; do
  # Events
  mkdir -p artifacts/$build_dir/events/
  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
-  # Also copy to top level: firmware advertises the metadata URI without the events/ subdirectory
-  # (see src/lib/component_information/CMakeLists.txt comp_metadata_events_uri_board)
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/ 2>/dev/null || true
  # SBOM
  cp $build_dir_path/*.sbom.spdx.json artifacts/$build_dir/ 2>/dev/null || true
  ls -la artifacts/$build_dir
@@ -1,288 +0,0 @@
-#!/usr/bin/env python3
-"""
-PR comment poster for analysis workflows.
-
-This script is invoked from the `PR Comment Poster` workflow which runs on
-`workflow_run` in the base repository context. It consumes a `pr-comment`
-artifact produced by an upstream analysis job (clang-tidy, flash_analysis,
-etc.) and posts or updates a sticky PR comment via the GitHub REST API.
-
-Artifact contract (directory passed on the command line):
-
-  manifest.json
-    {
-      "pr_number": 12345,                                     (required, int > 0)
-      "marker":    "<!-- pr-comment-poster:flash-analysis -->", (required, printable ASCII)
-      "mode":      "upsert"                                    (optional, default "upsert")
-    }
-
-  body.md
-    Markdown comment body, posted verbatim. Must be non-empty and
-    <= 60000 bytes (GitHub's hard limit is 65535, we cap under).
-
-Security: this script is run in a write-token context from a workflow that
-MUST NOT check out PR code. Both manifest.json and body.md are treated as
-opaque data. The marker is validated to printable ASCII only before use.
-
-Subcommands:
-
-  validate <dir>   Validate that <dir> contains a conforming manifest + body.
-  post <dir>       Validate, then upsert a sticky comment on the target PR.
-                   Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.
-
-Python stdlib only. No third-party dependencies.
-"""
-
-import argparse
-import json
-import os
-import sys
-
-import _github_helpers
-from _github_helpers import fail as _fail
-
-
-# GitHub hard limit is 65535 bytes. Cap well under to leave headroom for
-# the appended marker line and any future wrapping.
-MAX_BODY_BYTES = 60000
-
-# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
-# "<!-- pr-comment-poster:flash-analysis -->".
-MARKER_MIN_LEN = 1
-MARKER_MAX_LEN = 200
-
-ACCEPTED_MODES = ('upsert',)
-
-USER_AGENT = 'px4-pr-comment-poster'
-
-
-# ---------------------------------------------------------------------------
-# Validation
-# ---------------------------------------------------------------------------
-
-def _is_printable_ascii(s):
-    # Space (0x20) through tilde (0x7E) inclusive.
-    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
-
-
-def validate_marker(marker):
-    """Validate the marker string.
-
-    The marker is printable ASCII only and bounded in length. The original
-    shell implementation also rejected quotes, backticks, and backslashes
-    because the value flowed through jq and shell contexts. Now that Python
-    owns the handling (the value is only ever used as a substring match in
-    comment bodies and as a literal string in JSON request payloads that
-    urllib serialises for us) those characters are safe. We keep the
-    printable-ASCII and length rules as a belt-and-braces sanity check.
-    """
-    if not isinstance(marker, str):
-        _fail('marker must be a string')
-    n = len(marker)
-    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
-        _fail('marker length out of range ({}..{}): {}'.format(
-            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
-    if not _is_printable_ascii(marker):
-        _fail('marker contains non-printable or non-ASCII character')
-
-
-def validate_manifest(directory):
-    """Validate <directory>/manifest.json and <directory>/body.md.
-
-    Returns a dict with keys: pr_number (int), marker (str), mode (str),
-    body (str, verbatim contents of body.md).
-    """
-    manifest_path = os.path.join(directory, 'manifest.json')
-    body_path = os.path.join(directory, 'body.md')
-
-    if not os.path.isfile(manifest_path):
-        _fail('manifest.json missing at {}'.format(manifest_path))
-    if not os.path.isfile(body_path):
-        _fail('body.md missing at {}'.format(body_path))
-
-    try:
-        with open(manifest_path, 'r', encoding='utf-8') as f:
-            manifest = json.load(f)
-    except (OSError, json.JSONDecodeError) as e:
-        _fail('manifest.json is not valid JSON: {}'.format(e))
-
-    if not isinstance(manifest, dict):
-        _fail('manifest.json must be a JSON object')
-
-    pr_number = manifest.get('pr_number')
-    # bool is a subclass of int in Python, so isinstance(True, int) is True.
-    # Reject bools explicitly so "true"/"false" in the manifest doesn't silently
-    # validate as 1/0 and then either fail upstream or poke the wrong PR.
-    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
-        _fail('pr_number must be an integer')
-    if pr_number <= 0:
-        _fail('pr_number must be > 0 (got {})'.format(pr_number))
-
-    marker = manifest.get('marker')
-    validate_marker(marker)
-
-    mode = manifest.get('mode', 'upsert')
-    if mode not in ACCEPTED_MODES:
-        _fail('unsupported mode {!r} (accepted: {})'.format(
-            mode, ', '.join(ACCEPTED_MODES)))
-
-    # Read as bytes first so the size check is an honest byte count (matching
-    # GitHub's own 65535-byte comment limit) before we pay the cost of decoding.
-    try:
-        with open(body_path, 'rb') as f:
-            body_bytes = f.read()
-    except OSError as e:
-        _fail('could not read body.md: {}'.format(e))
-
-    if len(body_bytes) == 0:
-        _fail('body.md is empty')
-    if len(body_bytes) > MAX_BODY_BYTES:
-        _fail('body.md too large: {} bytes (max {})'.format(
-            len(body_bytes), MAX_BODY_BYTES))
-
-    # Require UTF-8 up front so a producer that wrote a garbage encoding fails
-    # here rather than later inside json.dumps with a less obvious traceback.
-    try:
-        body = body_bytes.decode('utf-8')
-    except UnicodeDecodeError as e:
-        _fail('body.md is not valid UTF-8: {}'.format(e))
-
-    return {
-        'pr_number': pr_number,
-        'marker': marker,
-        'mode': mode,
-        'body': body,
-    }
-
-
-# ---------------------------------------------------------------------------
-# Comment upsert
-# ---------------------------------------------------------------------------
-
-def find_existing_comment_id(client, repo, pr_number, marker):
-    """Return the id of the first PR comment whose body contains marker, or None.
-
-    PR comments are issue comments in GitHub's data model, so we hit
-    /issues/{n}/comments rather than /pulls/{n}/comments (the latter only
-    returns review comments tied to specific code lines, which is not what
-    we want). The match is a plain substring check against the comment body;
-    the marker is expected to be an HTML comment that will not accidentally
-    appear in user-written prose.
-    """
-    path = 'repos/{}/issues/{}/comments'.format(repo, pr_number)
-    for comment in client.paginated(path):
-        body = comment.get('body') or ''
-        if marker in body:
-            return comment.get('id')
-    return None
-
-
-def build_final_body(body, marker):
-    """Append the marker to body if not already present.
-
-    If the caller already embedded the marker (e.g. inside a hidden HTML
-    comment anywhere in their body) we leave the body alone; otherwise we
-    rstrip trailing newlines and append the marker on its own line after a
-    blank-line separator. Trailing-newline stripping keeps the output from
-    accumulating extra blank lines every time an existing comment is
-    re-rendered and re-posted.
-    """
-    if marker in body:
-        return body
-    return '{}\n\n{}\n'.format(body.rstrip('\n'), marker)
-
-
-def upsert_comment(client, repo, pr_number, marker, body):
-    final_body = build_final_body(body, marker)
-    existing_id = find_existing_comment_id(client, repo, pr_number, marker)
-
-    if existing_id is not None:
-        print('Updating comment {} on PR #{}'.format(existing_id, pr_number))
-        client.request(
-            'PATCH',
-            'repos/{}/issues/comments/{}'.format(repo, existing_id),
-            json_body={'body': final_body},
-        )
-    else:
-        print('Creating new comment on PR #{}'.format(pr_number))
-        client.request(
-            'POST',
-            'repos/{}/issues/{}/comments'.format(repo, pr_number),
-            json_body={'body': final_body},
-        )
-
-
-# ---------------------------------------------------------------------------
-# Entry points
-# ---------------------------------------------------------------------------
-
-def cmd_validate(args):
-    result = validate_manifest(args.directory)
-    print('ok: pr_number={} marker_len={} mode={} body_bytes={}'.format(
-        result['pr_number'],
-        len(result['marker']),
-        result['mode'],
-        len(result['body'].encode('utf-8')),
-    ))
-    return 0
-
-
-def cmd_post(args):
-    result = validate_manifest(args.directory)
-
-    # GITHUB_TOKEN is provided by the workflow via env; GITHUB_REPOSITORY is
-    # auto-set on every Actions runner. Both are required here because a local
-    # developer running the script directly won't have either unless they
-    # export them, and we want a clear error in that case.
-    token = os.environ.get('GITHUB_TOKEN')
-    if not token:
-        _fail('GITHUB_TOKEN is not set')
-    repo = os.environ.get('GITHUB_REPOSITORY')
-    if not repo:
-        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
-    # Minimal shape check. If "owner/name" is malformed the subsequent API
-    # calls would 404 with an unhelpful URL. Fail fast here instead.
-    if '/' not in repo:
-        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
-
-    try:
-        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
-        upsert_comment(
-            client=client,
-            repo=repo,
-            pr_number=result['pr_number'],
-            marker=result['marker'],
-            body=result['body'],
-        )
-    except RuntimeError as e:
-        _fail(str(e))
-    return 0
-
-
-def main(argv=None):
-    parser = argparse.ArgumentParser(
-        description='Validate and post sticky PR comments from CI artifacts.',
-    )
-    sub = parser.add_subparsers(dest='command', required=True)
-
-    p_validate = sub.add_parser(
-        'validate',
-        help='Validate manifest.json and body.md in the given directory.',
-    )
-    p_validate.add_argument('directory')
-    p_validate.set_defaults(func=cmd_validate)
-
-    p_post = sub.add_parser(
-        'post',
-        help='Validate, then upsert a sticky PR comment. Requires env '
-             'GITHUB_TOKEN and GITHUB_REPOSITORY.',
-    )
-    p_post.add_argument('directory')
-    p_post.set_defaults(func=cmd_post)
-
-    args = parser.parse_args(argv)
-    return args.func(args)
-
-
-if __name__ == '__main__':
-    sys.exit(main())
@@ -1,468 +0,0 @@
-#!/usr/bin/env python3
-"""
-PR review-comment poster for analysis workflows.
-
-Sibling of Tools/ci/pr-comment-poster.py. Where pr-comment-poster.py posts
-sticky issue-style PR comments, this script posts line-anchored review
-comments on the "Files changed" tab. Use it for tools like clang-tidy that
-want to flag specific lines instead of (or in addition to) a rollup
-comment.
-
-This script is invoked from the `PR Review Poster` workflow which runs on
-`workflow_run` in the base repository context. It consumes a `pr-review`
-artifact produced by an upstream analysis job and posts a fresh PR review
-via the GitHub REST API, dismissing any stale review the same producer
-left on a previous run.
-
-Artifact contract (directory passed on the command line):
-
-  manifest.json
-    {
-      "pr_number":  12345,                                    (required, int > 0)
-      "marker":     "<!-- pr-review-poster:clang-tidy -->",   (required, printable ASCII)
-      "event":      "REQUEST_CHANGES",                         (required, "COMMENT" | "REQUEST_CHANGES")
-      "commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
-      "summary":    "Optional review body text"                (optional)
-    }
-
-  comments.json
-    JSON array of line-anchored review comment objects:
-      [
-        {"path": "src/foo.cpp", "line": 42, "side": "RIGHT",
-         "body": "..."},
-        {"path": "src/bar.hpp", "start_line": 10, "line": 15,
-         "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
-      ]
-
-Note: an `APPROVE` event is intentionally NOT supported. Bots should never
-approve a pull request.
-
-Security: this script is run in a write-token context from a workflow that
-MUST NOT check out PR code. Both manifest.json and comments.json are
-treated as opaque data. The marker is validated to printable ASCII only
-before use, and only reviews authored by github-actions[bot] whose body
-contains the marker can be dismissed (a fork cannot spoof either).
-
-Subcommands:
-
-  validate <dir>   Validate that <dir> contains a conforming manifest +
-                   comments file.
-  post <dir>       Validate, then dismiss any stale matching review and
-                   post a new review on the target PR. Requires env
-                   GITHUB_TOKEN and GITHUB_REPOSITORY.
-
-Python stdlib only. No third-party dependencies.
-"""
-
-import argparse
-import json
-import os
-import re
-import sys
-import time
-
-import _github_helpers
-from _github_helpers import fail as _fail
-
-
-USER_AGENT = 'px4-pr-review-poster'
-
-# Marker length bounds. 1..200 is plenty for an HTML comment tag such as
-# "<!-- pr-review-poster:clang-tidy -->".
-MARKER_MIN_LEN = 1
-MARKER_MAX_LEN = 200
-
-# Cap per-comment body size well under GitHub's hard limit so we leave
-# headroom for the wrapping JSON envelope. Empirically GitHub allows ~65535
-# bytes per review comment body; 60000 is a safe ceiling.
-MAX_COMMENT_BODY_BYTES = 60000
-
-# Cap on number of comments per single review POST. platisd uses 10. The
-# value matters because GitHub's review-creation endpoint has a payload
-# size limit and review comments occasionally trip an abuse-detection
-# threshold when posted in very large batches. Smaller chunks also let us
-# spread the work across multiple reviews so a single bad entry only
-# fails its own chunk.
-COMMENTS_PER_REVIEW = 10
-
-# Sleep between successive review POSTs to stay clear of GitHub's
-# secondary rate limits. platisd uses 10s; 5s is enough for our volume
-# and cuts user-visible latency.
-SLEEP_BETWEEN_CHUNKS_SECONDS = 5
-
-ACCEPTED_EVENTS = ('COMMENT', 'REQUEST_CHANGES')
-ACCEPTED_SIDES = ('LEFT', 'RIGHT')
-COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')
-
-# The login GitHub assigns to the built-in actions token. Used to filter
-# the list of existing reviews so we never touch a human reviewer's review.
-BOT_LOGIN = 'github-actions[bot]'
-
-
-# ---------------------------------------------------------------------------
-# Validation
-# ---------------------------------------------------------------------------
-
-def _is_printable_ascii(s):
-    return all(0x20 <= ord(ch) <= 0x7E for ch in s)
-
-
-def validate_marker(marker):
-    """Validate the marker string. See pr-comment-poster.py for rationale."""
-    if not isinstance(marker, str):
-        _fail('marker must be a string')
-    n = len(marker)
-    if n < MARKER_MIN_LEN or n > MARKER_MAX_LEN:
-        _fail('marker length out of range ({}..{}): {}'.format(
-            MARKER_MIN_LEN, MARKER_MAX_LEN, n))
-    if not _is_printable_ascii(marker):
-        _fail('marker contains non-printable or non-ASCII character')
-
-
-def _validate_comment_entry(idx, entry):
-    """Validate a single review-comment entry. Raises via _fail on error."""
-    if not isinstance(entry, dict):
-        _fail('comments[{}]: must be an object'.format(idx))
-
-    path = entry.get('path')
-    if not isinstance(path, str) or not path:
-        _fail('comments[{}].path: required non-empty string'.format(idx))
-
-    line = entry.get('line')
-    if not isinstance(line, int) or isinstance(line, bool) or line <= 0:
-        _fail('comments[{}].line: required positive integer'.format(idx))
-
-    side = entry.get('side', 'RIGHT')
-    if side not in ACCEPTED_SIDES:
-        _fail('comments[{}].side: must be one of {} (got {!r})'.format(
-            idx, ', '.join(ACCEPTED_SIDES), side))
-
-    if 'start_line' in entry:
-        start_line = entry['start_line']
-        if (not isinstance(start_line, int)
-                or isinstance(start_line, bool)
-                or start_line <= 0):
-            _fail('comments[{}].start_line: must be positive integer'.format(idx))
-        if start_line >= line:
-            _fail('comments[{}].start_line ({}) must be < line ({})'.format(
-                idx, start_line, line))
-        start_side = entry.get('start_side', side)
-        if start_side not in ACCEPTED_SIDES:
-            _fail('comments[{}].start_side: must be one of {}'.format(
-                idx, ', '.join(ACCEPTED_SIDES)))
-
-    body = entry.get('body')
-    if not isinstance(body, str) or not body:
-        _fail('comments[{}].body: required non-empty string'.format(idx))
-    body_bytes = len(body.encode('utf-8'))
-    if body_bytes > MAX_COMMENT_BODY_BYTES:
-        _fail('comments[{}].body too large: {} bytes (max {})'.format(
-            idx, body_bytes, MAX_COMMENT_BODY_BYTES))
-
-
-def validate_manifest(directory):
-    """Validate <directory>/manifest.json and <directory>/comments.json.
-
-    Returns a dict with keys: pr_number, marker, event, commit_sha,
-    summary, comments (list of validated comment dicts).
-    """
-    manifest_path = os.path.join(directory, 'manifest.json')
-    comments_path = os.path.join(directory, 'comments.json')
-
-    if not os.path.isfile(manifest_path):
-        _fail('manifest.json missing at {}'.format(manifest_path))
-    if not os.path.isfile(comments_path):
-        _fail('comments.json missing at {}'.format(comments_path))
-
-    try:
-        with open(manifest_path, 'r', encoding='utf-8') as f:
-            manifest = json.load(f)
-    except (OSError, json.JSONDecodeError) as e:
-        _fail('manifest.json is not valid JSON: {}'.format(e))
-
-    if not isinstance(manifest, dict):
-        _fail('manifest.json must be a JSON object')
-
-    pr_number = manifest.get('pr_number')
-    if not isinstance(pr_number, int) or isinstance(pr_number, bool):
-        _fail('pr_number must be an integer')
-    if pr_number <= 0:
-        _fail('pr_number must be > 0 (got {})'.format(pr_number))
-
-    marker = manifest.get('marker')
-    validate_marker(marker)
-
-    event = manifest.get('event')
-    if event not in ACCEPTED_EVENTS:
-        _fail('event must be one of {} (got {!r}). APPROVE is intentionally '
-              'forbidden.'.format(', '.join(ACCEPTED_EVENTS), event))
-
-    commit_sha = manifest.get('commit_sha')
-    if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
-        _fail('commit_sha must be a 40-character lowercase hex string')
-
-    summary = manifest.get('summary', '')
-    if summary is None:
-        summary = ''
-    if not isinstance(summary, str):
-        _fail('summary must be a string if present')
-
-    try:
-        with open(comments_path, 'r', encoding='utf-8') as f:
-            comments = json.load(f)
-    except (OSError, json.JSONDecodeError) as e:
-        _fail('comments.json is not valid JSON: {}'.format(e))
-
-    if not isinstance(comments, list):
-        _fail('comments.json must be a JSON array')
-
-    for idx, entry in enumerate(comments):
-        _validate_comment_entry(idx, entry)
-
-    return {
-        'pr_number': pr_number,
-        'marker': marker,
-        'event': event,
-        'commit_sha': commit_sha,
-        'summary': summary,
-        'comments': comments,
-    }
-
-
-# ---------------------------------------------------------------------------
-# Stale-review dismissal
-# ---------------------------------------------------------------------------
-
-def find_stale_reviews(client, repo, pr_number, marker):
-    """Yield (id, state) for each existing review owned by the bot AND
-    whose body contains the marker.
-
-    Filtering on BOTH author == github-actions[bot] AND marker-in-body is
-    the security invariant: a fork PR cannot impersonate the bot login,
-    and a fork PR also cannot inject the marker into a human reviewer's
-    body without API access.
-    """
-    path = 'repos/{}/pulls/{}/reviews'.format(repo, pr_number)
-    for review in client.paginated(path):
-        user = review.get('user') or {}
-        if user.get('login') != BOT_LOGIN:
-            continue
-        body = review.get('body') or ''
-        if marker not in body:
-            continue
-        yield review.get('id'), review.get('state')
-
-
-def dismiss_stale_reviews(client, repo, pr_number, marker):
-    """Dismiss (or, for PENDING reviews, delete) every stale matching review."""
-    dismissal_message = 'Superseded by a newer run'
-    for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
-        if review_id is None:
-            continue
-        if state == 'DISMISSED':
-            # Already inert; nothing to do.
-            continue
-        if state == 'PENDING':
-            # PENDING reviews cannot be dismissed; they must be deleted.
-            print('Deleting pending stale review {}'.format(review_id))
-            try:
-                client.request(
-                    'DELETE',
-                    'repos/{}/pulls/{}/reviews/{}'.format(
-                        repo, pr_number, review_id))
-            except RuntimeError as e:
-                # Don't abort the run on dismissal failure: the new review
-                # will still be posted.
-                print('warning: failed to delete pending review {}: {}'.format(
-                    review_id, e), file=sys.stderr)
-            continue
-        print('Dismissing stale review {} (state={})'.format(review_id, state))
-        try:
-            client.request(
-                'PUT',
-                'repos/{}/pulls/{}/reviews/{}/dismissals'.format(
-                    repo, pr_number, review_id),
-                json_body={
-                    'message': dismissal_message,
-                    'event': 'DISMISS',
-                },
-            )
-        except RuntimeError as e:
-            print('warning: failed to dismiss review {}: {}'.format(
-                review_id, e), file=sys.stderr)
-
-
-# ---------------------------------------------------------------------------
-# Review posting
-# ---------------------------------------------------------------------------
-
-def _chunk(lst, n):
-    """Yield successive n-sized slices of lst."""
-    for i in range(0, len(lst), n):
-        yield lst[i:i + n]
-
-
-def _build_review_body(marker, summary, chunk_index, chunk_total):
-    """Construct the review body text.
-
-    Always begins with the marker (so future runs can find and dismiss
-    this review). Appends a chunk index when the comment set is split
-    across multiple reviews, and the producer-supplied summary if any.
-    """
-    parts = [marker]
-    if chunk_total > 1:
-        parts.append('({}/{})'.format(chunk_index + 1, chunk_total))
-    if summary:
-        parts.append('')
-        parts.append(summary)
-    return '\n'.join(parts)
-
-
-def _comment_to_api(entry):
-    """Project a validated comment dict to the GitHub API shape."""
-    api = {
-        'path': entry['path'],
-        'line': entry['line'],
-        'side': entry.get('side', 'RIGHT'),
-        'body': entry['body'],
-    }
-    if 'start_line' in entry:
-        api['start_line'] = entry['start_line']
-        api['start_side'] = entry.get('start_side', api['side'])
-    return api
-
-
-def post_review(client, repo, pr_number, marker, event, commit_sha, summary,
-                comments):
-    """Post one or more reviews containing the validated comments.
-
-    Comments are split into COMMENTS_PER_REVIEW-sized chunks. Each chunk
-    becomes its own review POST. A failed chunk logs a warning and the
-    loop continues to the next chunk.
-    """
-    chunks = list(_chunk(comments, COMMENTS_PER_REVIEW))
-    total = len(chunks)
-    if total == 0:
-        print('No comments to post; skipping review creation.')
-        return
-
-    posted_any = False
-    for idx, chunk in enumerate(chunks):
-        if idx > 0:
-            time.sleep(SLEEP_BETWEEN_CHUNKS_SECONDS)
-        body = _build_review_body(marker, summary, idx, total)
-        payload = {
-            'commit_id': commit_sha,
-            'body': body,
-            'event': event,
-            'comments': [_comment_to_api(c) for c in chunk],
-        }
-        print('Posting review chunk {}/{} with {} comment(s)'.format(
-            idx + 1, total, len(chunk)))
-        try:
-            client.request(
-                'POST',
-                'repos/{}/pulls/{}/reviews'.format(repo, pr_number),
-                json_body=payload,
-            )
-            posted_any = True
-        except RuntimeError as e:
-            # Most common cause is HTTP 422: a comment refers to a line
-            # GitHub does not consider part of the diff. Skip the bad
-            # chunk and keep going so other findings still get posted.
-            print('warning: review chunk {}/{} failed: {}'.format(
-                idx + 1, total, e), file=sys.stderr)
-
-    if not posted_any:
-        # If every single chunk failed, surface that as a hard error so
-        # the workflow turns red and a human looks at it.
-        _fail('all review chunks failed to post; see warnings above')
-
-
-# ---------------------------------------------------------------------------
-# Entry points
-# ---------------------------------------------------------------------------
-
-def cmd_validate(args):
-    result = validate_manifest(args.directory)
-    print(('ok: pr_number={} marker_len={} event={} commit_sha={} '
-           'comments={} summary_len={}').format(
-        result['pr_number'],
-        len(result['marker']),
-        result['event'],
-        result['commit_sha'],
-        len(result['comments']),
-        len(result['summary']),
-    ))
-    return 0
-
-
-def cmd_post(args):
-    result = validate_manifest(args.directory)
-
-    # Empty comment lists short-circuit silently. A producer that ran but
-    # found nothing to flag should not generate noise on the PR.
-    if len(result['comments']) == 0:
-        print('No comments in artifact; nothing to post.')
-        return 0
-
-    token = os.environ.get('GITHUB_TOKEN')
-    if not token:
-        _fail('GITHUB_TOKEN is not set')
-    repo = os.environ.get('GITHUB_REPOSITORY')
-    if not repo:
-        _fail('GITHUB_REPOSITORY is not set (expected "owner/name")')
-    if '/' not in repo:
-        _fail('GITHUB_REPOSITORY must be "owner/name", got {!r}'.format(repo))
-
-    try:
-        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
-        dismiss_stale_reviews(
-            client=client,
-            repo=repo,
-            pr_number=result['pr_number'],
-            marker=result['marker'],
-        )
-        post_review(
-            client=client,
-            repo=repo,
-            pr_number=result['pr_number'],
-            marker=result['marker'],
-            event=result['event'],
-            commit_sha=result['commit_sha'],
-            summary=result['summary'],
-            comments=result['comments'],
-        )
-    except RuntimeError as e:
-        _fail(str(e))
-    return 0
-
-
-def main(argv=None):
-    parser = argparse.ArgumentParser(
-        description='Validate and post line-anchored PR review comments '
-                    'from CI artifacts.',
-    )
-    sub = parser.add_subparsers(dest='command', required=True)
-
-    p_validate = sub.add_parser(
-        'validate',
-        help='Validate manifest.json and comments.json in the given directory.',
-    )
-    p_validate.add_argument('directory')
-    p_validate.set_defaults(func=cmd_validate)
-
-    p_post = sub.add_parser(
-        'post',
-        help='Validate, then dismiss any stale review and post a new one. '
-             'Requires env GITHUB_TOKEN and GITHUB_REPOSITORY.',
-    )
-    p_post.add_argument('directory')
-    p_post.set_defaults(func=cmd_post)
-
-    args = parser.parse_args(argv)
-    return args.func(args)
-
-
-if __name__ == '__main__':
-    sys.exit(main())
@@ -1,147 +0,0 @@
-#!/usr/bin/env python3
-"""
-Run clang-tidy incrementally on files changed in a PR.
-
-Usage: run-clang-tidy-pr.py <base-ref>
-  base-ref: e.g. origin/main
-
-Computes the set of translation units (TUs) affected by the PR diff,
-then invokes Tools/run-clang-tidy.py on that subset only.
-Exits 0 silently when no C++ files were changed.
-"""
-
-import argparse
-import json
-import os
-import subprocess
-import sys
-
-EXTENSIONS_CPP = {'.cpp', '.c'}
-EXTENSIONS_HDR = {'.hpp', '.h'}
-# Manual exclusions from Makefile:508
-EXCLUDE_EXTRA = '|'.join([
-    'src/systemcmds/tests',
-    'src/examples',
-    'src/modules/gyro_fft/CMSIS_5',
-    'src/lib/drivers/smbus',
-    'src/drivers/gpio',
-    r'src/modules/commander/failsafe/emscripten',
-    r'failsafe_test\.dir',
-])
-
-
-def repo_root():
-    try:
-        return subprocess.check_output(
-            ['git', 'rev-parse', '--show-toplevel'], text=True).strip()
-    except subprocess.CalledProcessError:
-        print('error: not inside a git repository', file=sys.stderr)
-        sys.exit(1)
-
-
-def changed_files(base_ref, root):
-    try:
-        out = subprocess.check_output(
-            ['git', 'diff', '--name-only', f'{base_ref}...HEAD',
-             '--', '*.cpp', '*.hpp', '*.h', '*.c'],
-            text=True, cwd=root).strip()
-        return out.splitlines() if out else []
-    except subprocess.CalledProcessError:
-        print(f'error: could not diff against "{base_ref}" — '
-              'is the ref valid and fetched?', file=sys.stderr)
-        sys.exit(1)
-
-
-def submodule_paths(root):
-    # Returns [] if .gitmodules is absent or has no paths — both valid
-    try:
-        out = subprocess.check_output(
-            ['git', 'config', '--file', '.gitmodules',
-             '--get-regexp', 'path'],
-            text=True, cwd=root).strip()
-        return [line.split()[1] for line in out.splitlines()]
-    except subprocess.CalledProcessError:
-        return []
-
-
-def build_exclude(root):
-    submodules = '|'.join(submodule_paths(root))
-    return f'{submodules}|{EXCLUDE_EXTRA}' if submodules else EXCLUDE_EXTRA
-
-
-def load_db(build_dir):
-    db_path = os.path.join(build_dir, 'compile_commands.json')
-    if not os.path.isfile(db_path):
-        print(f'error: {db_path} not found', file=sys.stderr)
-        print('Run "make px4_sitl_default-clang" first to generate '
-              'the compilation database', file=sys.stderr)
-        sys.exit(1)
-    try:
-        with open(db_path) as f:
-            return json.load(f)
-    except json.JSONDecodeError as e:
-        print(f'error: compile_commands.json is malformed: {e}', file=sys.stderr)
-        sys.exit(1)
-
-
-def find_tus(changed, db, root):
-    db_files = {e['file'] for e in db}
-    result = set()
-    for f in changed:
-        abs_path = os.path.join(root, f)
-        ext = os.path.splitext(f)[1]
-        if ext in EXTENSIONS_CPP:
-            if abs_path in db_files:
-                result.add(abs_path)
-        elif ext in EXTENSIONS_HDR:
-            hdr = os.path.basename(f)
-            for e in db:
-                try:
-                    if hdr in open(e['file']).read():
-                        result.add(e['file'])
-                except OSError:
-                    pass  # file deleted in PR — skip
-    return sorted(result)
-
-
-def main():
-    parser = argparse.ArgumentParser(description=__doc__,
-                                     formatter_class=argparse.RawDescriptionHelpFormatter)
-    parser.add_argument('base_ref',
-                        help='Git ref to diff against, e.g. origin/main')
-    args = parser.parse_args()
-
-    root = repo_root()
-    build_dir = os.path.join(root, 'build', 'px4_sitl_default-clang')
-
-    run_tidy = os.path.join(root, 'Tools', 'run-clang-tidy.py')
-    if not os.path.isfile(run_tidy):
-        print(f'error: {run_tidy} not found', file=sys.stderr)
-        sys.exit(1)
-
-    changed = changed_files(args.base_ref, root)
-    if not changed:
-        print('No C++ files changed — skipping clang-tidy')
-        sys.exit(0)
-
-    db = load_db(build_dir)
-    tus = find_tus(changed, db, root)
-
-    if not tus:
-        print('No matching TUs in compile_commands.json — skipping clang-tidy')
-        sys.exit(0)
-
-    print(f'Running clang-tidy on {len(tus)} translation unit(s)')
-
-    result = subprocess.run(
-        [sys.executable, run_tidy,
-         '-header-filter=.*\\.hpp',
-         '-j0',
-         f'-exclude={build_exclude(root)}',
-         '-p', build_dir] + tus
-    )
-    sys.exit(result.returncode)
-
-
-if __name__ == '__main__':
-    main()
@@ -1,42 +0,0 @@
-#!/bin/sh
-# Rewrite the container's apt sources to point at the AWS regional Ubuntu
-# mirror that is local to the runs-on instance.
-#
-# The default archive.ubuntu.com round-robin sometimes serves out-of-sync
-# index files mid-sync, breaking apt-get update with errors like:
-#   File has unexpected size (25378 != 25381). Mirror sync in progress?
-# The Canonical-operated EC2 mirrors are region-local and sync aggressively,
-# eliminating that failure mode.
-#
-# This script is a no-op outside runs-on, so it is safe to call from any CI
-# job (forks, self-hosted runners, local docker runs, etc.) without changing
-# behavior there.
-#
-# Usage (from a workflow step running inside the container):
-#   ./Tools/ci/use_aws_apt_mirror.sh
-
-set -e
-
-if [ -z "$RUNS_ON_AWS_REGION" ]; then
-    echo "use_aws_apt_mirror: not running on runs-on (RUNS_ON_AWS_REGION unset), skipping"
-    exit 0
-fi
-
-MIRROR="http://${RUNS_ON_AWS_REGION}.ec2.archive.ubuntu.com/ubuntu"
-echo "use_aws_apt_mirror: rewriting apt sources to ${MIRROR}"
-
-# Noble (24.04+) uses the deb822 format at /etc/apt/sources.list.d/ubuntu.sources
-if [ -f /etc/apt/sources.list.d/ubuntu.sources ]; then
-    sed -i \
-        -e "s|http://archive.ubuntu.com/ubuntu|${MIRROR}|g" \
-        -e "s|http://security.ubuntu.com/ubuntu|${MIRROR}|g" \
-        /etc/apt/sources.list.d/ubuntu.sources
-fi
-
-# Jammy (22.04) and earlier use the legacy /etc/apt/sources.list
-if [ -f /etc/apt/sources.list ]; then
-    sed -i \
-        -e "s|http://archive.ubuntu.com/ubuntu|${MIRROR}|g" \
-        -e "s|http://security.ubuntu.com/ubuntu|${MIRROR}|g" \
-        /etc/apt/sources.list
-fi
@@ -1,84 +0,0 @@
-# syntax=docker/dockerfile:1
-# PX4 SITL Gazebo Harmonic runtime image
-# Runs PX4 SITL with Gazebo Harmonic. Supports X11 forwarding for GUI.
-#
-# Build:
-#   make px4_sitl_default && cd build/px4_sitl_default && cpack -G DEB && cd ../..
-#   docker build -f Tools/packaging/Dockerfile.gazebo -t px4io/px4-sitl-gazebo:v1.17.0 build/px4_sitl_default/
-#
-# Run (headless):
-#   docker run --rm -it --network host px4io/px4-sitl-gazebo:v1.17.0
-#
-# Run (X11 GUI):
-#   xhost +local:docker
-#   docker run --rm -it --network host \
-#     -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
-#     --gpus all px4io/px4-sitl-gazebo:v1.17.0
-
-FROM ubuntu:24.04 AS extract
-COPY px4-gazebo_*.deb /tmp/
-RUN apt-get update && apt-get install -y --no-install-recommends binutils \
-    && dpkg -x /tmp/px4-gazebo_*.deb /staging \
-    && strip /staging/opt/px4-gazebo/bin/px4 \
-    && rm -rf /var/lib/apt/lists/*
-
-FROM ubuntu:24.04
-LABEL maintainer="PX4 Development Team"
-LABEL description="PX4 SITL with Gazebo Harmonic simulation"
-
-ENV DEBIAN_FRONTEND=noninteractive
-ENV RUNS_IN_DOCKER=true
-
-# Install Gazebo Harmonic with buildkit cache mounts for apt
-# The --mount=type=cache persists /var/cache/apt and /var/lib/apt across builds
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update \
-    && apt-get install -y --no-install-recommends \
-        bc \
-        ca-certificates \
-        gnupg \
-        lsb-release \
-        wget \
-    && wget -q https://packages.osrfoundation.org/gazebo.gpg \
-        -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
-        > /etc/apt/sources.list.d/gazebo-stable.list \
-    && apt-get update \
-    && apt-get install -y --no-install-recommends \
-        gz-harmonic
-
-# Install PX4 files from .deb
-COPY --from=extract /staging/opt/px4-gazebo /opt/px4-gazebo
-RUN ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
-
-# Create the DART physics engine symlink (avoids needing the -dev package)
-RUN GZ_PHYSICS_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1) \
-    && if [ -n "$GZ_PHYSICS_DIR" ] && [ -d "$GZ_PHYSICS_DIR" ]; then \
-        VERSIONED=$(ls "$GZ_PHYSICS_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1) \
-        && [ -n "$VERSIONED" ] \
-        && ln -sf "$(basename "$VERSIONED")" "$GZ_PHYSICS_DIR/libgz-physics-dartsim-plugin.so"; \
-    fi
-
-# Gazebo resource paths
-ENV GZ_SIM_RESOURCE_PATH=/opt/px4-gazebo/share/gz/models:/opt/px4-gazebo/share/gz/worlds
-ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/px4-gazebo/lib/gz/plugins
-ENV GZ_SIM_SERVER_CONFIG_PATH=/opt/px4-gazebo/share/gz/server.config
-ENV PX4_GZ_MODELS=/opt/px4-gazebo/share/gz/models
-ENV PX4_GZ_WORLDS=/opt/px4-gazebo/share/gz/worlds
-
-ENV PX4_SIM_MODEL=gz_x500
-ENV HOME=/root
-
-# MAVLink, MAVSDK, DDS
-EXPOSE 14550/udp 14540/udp 8888/udp
-
-# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
-# host.docker.internal and configures MAVLink + DDS to target the host.
-COPY px4-entrypoint.sh /opt/px4-gazebo/bin/px4-entrypoint.sh
-RUN chmod +x /opt/px4-gazebo/bin/px4-entrypoint.sh
-
-WORKDIR /root
-
-ENTRYPOINT ["/opt/px4-gazebo/bin/px4-entrypoint.sh"]
-CMD []
@@ -1,49 +0,0 @@
-# syntax=docker/dockerfile:1
-# PX4 SITL SIH runtime image
-# Minimal container that runs PX4 with the SIH physics engine (no Gazebo).
-#
-# Build:
-#   make px4_sitl_sih && cd build/px4_sitl_sih && cpack -G DEB && cd ../..
-#   docker build -f Tools/packaging/Dockerfile.sih -t px4io/px4-sitl:v1.17.0 build/px4_sitl_sih/
-#
-# Run (Linux):
-#   docker run --rm -it --network host px4io/px4-sitl:v1.17.0
-#
-# Run (macOS / Windows):
-#   docker run --rm -it -p 14550:14550/udp -p 14540:14540/udp -p 19410:19410/udp -p 8888:8888/udp px4io/px4-sitl:v1.17.0
-
-FROM ubuntu:24.04 AS build
-COPY px4_*.deb /tmp/
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update \
-    && apt-get install -y --no-install-recommends binutils \
-    && dpkg -x /tmp/px4_*.deb /staging \
-    && strip /staging/opt/px4/bin/px4
-
-FROM ubuntu:24.04
-LABEL maintainer="PX4 Development Team"
-LABEL description="PX4 SITL with SIH physics (no simulator dependencies)"
-
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update && apt-get install -y --no-install-recommends bc
-
-COPY --from=build /staging/opt/px4 /opt/px4
-RUN ln -sf /opt/px4/bin/px4 /usr/bin/px4
-
-# Platform-adaptive entrypoint: detects Docker Desktop (macOS/Windows) via
-# host.docker.internal and configures MAVLink + DDS to target the host.
-COPY px4-entrypoint.sh /opt/px4/bin/px4-entrypoint.sh
-RUN chmod +x /opt/px4/bin/px4-entrypoint.sh
-
-ENV PX4_SIM_MODEL=sihsim_quadx
-ENV HOME=/root
-
-# MAVLink (QGC, MAVSDK), DDS (ROS 2), jMAVSim/viewer display
-EXPOSE 14550/udp 14540/udp 19410/udp 8888/udp
-
-WORKDIR /root
-
-ENTRYPOINT ["/opt/px4/bin/px4-entrypoint.sh"]
-CMD []
@@ -1,4 +0,0 @@
-#!/bin/sh
-set -e
-ln -sf /opt/px4-gazebo/bin/px4-gazebo /usr/bin/px4-gazebo
-exit 0
@@ -1,6 +0,0 @@
-#!/bin/sh
-set -e
-if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
-    rm -f /usr/bin/px4-gazebo
-fi
-exit 0
@@ -1,35 +0,0 @@
-#!/bin/sh
-# Docker entrypoint for PX4 SITL containers.
-#
-# On Docker Desktop (macOS/Windows), host.docker.internal resolves to the
-# host machine. We detect this and configure MAVLink + DDS to send to the
-# host IP instead of localhost (which stays inside the container VM).
-#
-# On Linux with --network host, host.docker.internal does not resolve and
-# PX4 defaults work without modification.
-
-set -e
-
-# Detect install prefix (SIH uses /opt/px4, Gazebo uses /opt/px4-gazebo)
-if [ -d /opt/px4-gazebo ]; then
-    PX4_PREFIX=/opt/px4-gazebo
-else
-    PX4_PREFIX=/opt/px4
-fi
-
-# Resolve host.docker.internal to an IPv4 address. mavlink and uxrce_dds_client
-# only parse IPv4, and on Docker Desktop for Windows the default `getent hosts`
-# lookup can return an IPv6 ULA first, which both modules then reject.
-DOCKER_HOST_IP=$(getent ahostsv4 host.docker.internal 2>/dev/null | awk '/STREAM/ {print $1; exit}')
-
-if [ -n "$DOCKER_HOST_IP" ]; then
-    # MAVLink: replace default target (127.0.0.1) with the Docker host IP
-    sed -i "s/mavlink start -x -u/mavlink start -x -t $DOCKER_HOST_IP -u/g" \
-        "$PX4_PREFIX/etc/init.d-posix/px4-rc.mavlink"
-
-    # DDS: point uXRCE-DDS client at the host
-    sed -i "s|uxrce_dds_client start -t udp|uxrce_dds_client start -t udp -h $DOCKER_HOST_IP|" \
-        "$PX4_PREFIX/etc/init.d-posix/rcS"
-fi
-
-exec "$PX4_PREFIX/bin/px4" "$@"
@@ -1,32 +0,0 @@
-#!/usr/bin/env bash
-# px4-gazebo: Launch PX4 SITL with Gazebo from the installed .deb package
-set -e
-
-PX4_GAZEBO_DIR="$(cd "$(dirname "$(readlink -f "$0")")/.." && pwd)"
-PX4_BINARY="${PX4_GAZEBO_DIR}/bin/px4"
-
-# Set Gazebo resource paths so gz-sim finds PX4 models, worlds, and plugins.
-export PX4_GZ_MODELS="${PX4_GAZEBO_DIR}/share/gz/models"
-export PX4_GZ_WORLDS="${PX4_GAZEBO_DIR}/share/gz/worlds"
-export PX4_GZ_PLUGINS="${PX4_GAZEBO_DIR}/lib/gz/plugins"
-export PX4_GZ_SERVER_CONFIG="${PX4_GAZEBO_DIR}/share/gz/server.config"
-export GZ_SIM_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}:${PX4_GZ_MODELS}:${PX4_GZ_WORLDS}"
-export GZ_SIM_SYSTEM_PLUGIN_PATH="${GZ_SIM_SYSTEM_PLUGIN_PATH}:${PX4_GZ_PLUGINS}"
-export GZ_SIM_SERVER_CONFIG_PATH="${PX4_GZ_SERVER_CONFIG}"
-
-# Gazebo's Physics system searches for "gz-physics-dartsim-plugin" which maps
-# to the unversioned libgz-physics-dartsim-plugin.so. The runtime package only
-# ships versioned .so files; the unversioned symlink lives in the -dev package.
-# Create it if missing so Gazebo finds the DART engine without installing -dev.
-GZ_PHYSICS_ENGINE_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1)
-if [ -n "$GZ_PHYSICS_ENGINE_DIR" ] && [ -d "$GZ_PHYSICS_ENGINE_DIR" ]; then
-    UNVERSIONED="$GZ_PHYSICS_ENGINE_DIR/libgz-physics-dartsim-plugin.so"
-    if [ ! -e "$UNVERSIONED" ]; then
-        VERSIONED=$(ls "$GZ_PHYSICS_ENGINE_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1)
-        if [ -n "$VERSIONED" ]; then
-            ln -sf "$(basename "$VERSIONED")" "$UNVERSIONED" 2>/dev/null || true
-        fi
-    fi
-fi
-
-exec "${PX4_BINARY}" "$@"
@@ -1,4 +0,0 @@
-#!/bin/sh
-set -e
-ln -sf /opt/px4/bin/px4 /usr/bin/px4
-exit 0
@@ -1,6 +0,0 @@
-#!/bin/sh
-set -e
-if [ "$1" = "remove" ] || [ "$1" = "purge" ]; then
-    rm -f /usr/bin/px4
-fi
-exit 0
@@ -1,144 +0,0 @@
-#!/usr/bin/env python3
-"""
-MAVSDK mission test for PX4 SIH SITL in Docker.
-
-Takes off to 100m, flies a short 4-waypoint box mission, then lands.
-Validates that the SIH Docker container works end-to-end with MAVSDK.
-
-Prerequisites:
-  - Docker container running:
-      docker run --rm --network host px4io/px4-sitl:v1.17.0-alpha1
-  - pip install mavsdk
-  - mavsim-viewer running (optional):
-      /path/to/mavsim-viewer -n 1
-
-Usage:
-  python3 Tools/packaging/test_sih_mission.py
-  python3 Tools/packaging/test_sih_mission.py --speed 10   # faster-than-realtime
-"""
-
-import asyncio
-import argparse
-import sys
-import time
-
-from mavsdk import System
-from mavsdk.mission import MissionItem, MissionPlan
-
-
-async def run_mission(speed_factor: int = 1):
-    drone = System()
-    print(f"Connecting to drone on udp://:14540 ...")
-    await drone.connect(system_address="udp://:14540")
-
-    print("Waiting for drone to connect...")
-    async for state in drone.core.connection_state():
-        if state.is_connected:
-            print(f"Connected (UUID: {state.uuid if hasattr(state, 'uuid') else 'N/A'})")
-            break
-
-    print("Waiting for global position estimate...")
-    async for health in drone.telemetry.health():
-        if health.is_global_position_ok and health.is_home_position_ok:
-            print("Global position OK")
-            break
-
-    # Get home position for reference
-    async for pos in drone.telemetry.position():
-        home_lat = pos.latitude_deg
-        home_lon = pos.longitude_deg
-        print(f"Home position: {home_lat:.6f}, {home_lon:.6f}")
-        break
-
-    # Build a small box mission at 100m AGL
-    # ~100m offset in each direction
-    offset = 0.001  # roughly 111m at equator
-    mission_items = [
-        MissionItem(
-            home_lat + offset, home_lon,
-            100, 10, True, float('nan'), float('nan'),
-            MissionItem.CameraAction.NONE,
-            float('nan'), float('nan'), float('nan'),
-            float('nan'), float('nan'),
-            MissionItem.VehicleAction.NONE,
-        ),
-        MissionItem(
-            home_lat + offset, home_lon + offset,
-            100, 10, True, float('nan'), float('nan'),
-            MissionItem.CameraAction.NONE,
-            float('nan'), float('nan'), float('nan'),
-            float('nan'), float('nan'),
-            MissionItem.VehicleAction.NONE,
-        ),
-        MissionItem(
-            home_lat, home_lon + offset,
-            100, 10, True, float('nan'), float('nan'),
-            MissionItem.CameraAction.NONE,
-            float('nan'), float('nan'), float('nan'),
-            float('nan'), float('nan'),
-            MissionItem.VehicleAction.NONE,
-        ),
-        MissionItem(
-            home_lat, home_lon,
-            100, 10, True, float('nan'), float('nan'),
-            MissionItem.CameraAction.NONE,
-            float('nan'), float('nan'), float('nan'),
-            float('nan'), float('nan'),
-            MissionItem.VehicleAction.NONE,
-        ),
-    ]
-
-    mission_plan = MissionPlan(mission_items)
-
-    print(f"Uploading mission ({len(mission_items)} waypoints, 100m AGL)...")
-    await drone.mission.upload_mission(mission_plan)
-    print("Mission uploaded")
-
-    print("Arming...")
-    await drone.action.arm()
-    print("Armed")
-
-    t0 = time.time()
-    print("Starting mission...")
-    await drone.mission.start_mission()
-
-    # Monitor mission progress
-    async for progress in drone.mission.mission_progress():
-        elapsed = time.time() - t0
-        print(f"  [{elapsed:6.1f}s] Waypoint {progress.current}/{progress.total}")
-        if progress.current == progress.total:
-            print(f"Mission complete in {elapsed:.1f}s (speed factor: {speed_factor}x)")
-            break
-
-    print("Returning to launch...")
-    await drone.action.return_to_launch()
-
-    # Wait for landing
-    async for in_air in drone.telemetry.in_air():
-        if not in_air:
-            print("Landed")
-            break
-
-    print("Disarming...")
-    await drone.action.disarm()
-    print("Test PASSED")
-
-
-def main():
-    parser = argparse.ArgumentParser(description="PX4 SIH Docker mission test")
-    parser.add_argument("--speed", type=int, default=1,
-                        help="PX4_SIM_SPEED_FACTOR (must match container)")
-    args = parser.parse_args()
-
-    try:
-        asyncio.run(run_mission(args.speed))
-    except KeyboardInterrupt:
-        print("\nInterrupted")
-        sys.exit(1)
-    except Exception as e:
-        print(f"Test FAILED: {e}")
-        sys.exit(1)
-
-
-if __name__ == "__main__":
-    main()
@@ -23,7 +23,7 @@ pyserial
 pyulog>=0.5.0
 pyyaml
 requests
-setuptools>=39.2.0,<=81.0.0
+setuptools>=39.2.0
 six>=1.12.0
 sympy>=1.10.1
 toml>=0.9
@@ -10,7 +10,6 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -48,7 +47,6 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -75,6 +73,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -102,4 +101,3 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_ARCH_CHIP_STM32H7=y
@@ -83,12 +83,10 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	icp201xx -I -a 0x64 start
-	dps310 -I start
 fi

 #external baro
 icp201xx -X start
-dps310 -X start

 unset INA_CONFIGURED
 unset HAVE_PM2
@@ -34,5 +34,8 @@ nshterm /dev/ttyS3 &
 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start

+# Start the task_watchdog as we do not have the logger watchdog
+task_watchdog start
+
 # Start the ESC telemetry
 dshot telemetry -d /dev/ttyS5 -x
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# Board early init.
-#
-# On FRAM boards STORAGE_AVAILABLE=yes will set the USE_* flags. Additional
-# enable required for task watchdog as this is not a generally used feature.
-# On EEPROM boards: Only airframes and params are needed.
-#
-
-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-then
-	# Start the task_watchdog as we do not have the logger watchdog
-	set USE_TASK_WATCHDOG yes
-else
-	set PARAM_FILE /fs/microsd/params
-	set STORAGE_CHECK no
-	set USE_EXTERNAL_AIRFRAMES yes
-	set USE_ALT_UPDATE_DIRS yes
-fi
@@ -30,7 +30,6 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_MAGNETOMETER is not set
 # CONFIG_EKF2_RANGE_FINDER is not set
-# CONFIG_EKF2_OPTICAL_FLOW is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -72,7 +72,7 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1105
-#define BOARD_FLASH_SECTORS            (13)
+#define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
 #define APP_RESERVATION_SIZE           (2 * 128 * 1024)

@@ -13,7 +13,6 @@ CONFIG_MODULES_NAVIGATOR=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
 CONFIG_SYSTEMCMDS_BSONDUMP=n
-CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PERF=n
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
 CONFIG_SYSTEMCMDS_VER=n
@@ -287,8 +287,8 @@

 /* AUX */

-#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_1 | LPUART_IOMUX) /* GPIO_B1_01 */
-#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_1 | LPUART_IOMUX) /* GPIO_B1_00 */
+#define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_3 | LPUART_IOMUX) /* GPIO_B1_01 */
+#define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_3 | LPUART_IOMUX) /* GPIO_B1_00 */

 /* GPS 1 */

@@ -1,107 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
-CONFIG_DRIVERS_IMU_ST_L3GD20=y
-CONFIG_DRIVERS_IMU_ST_LSM303D=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_INPUT=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
-CONFIG_BOARD_VENDOR="saam"
-CONFIG_BOARD_MODEL="saampixv1_1"
-CONFIG_BOARD_NAME="SaamPixV1_1"
@@ -1,13 +0,0 @@
-{
-    "board_id": 1,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the SaamPixV1_1 board",
-    "image": "", 
-    "build_time": 0, 
-    "summary": "SaamPixV1_1",      
-    "version": "1.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_A_PER_V 17.0
@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# SaamPixV1_1 specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# external I2C compasses, if present
-hmc5883 -X start
-qmc5883l -X start
-
-# internal SPI sensors
-ms5611 -s start
-icm20602 -s start
-mpu9250 -s start
-lis3mdl -s start
@@ -1,271 +0,0 @@
-/************************************************************************************
- * boards/saam/saampixv1_1/nuttx-config/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ************************************************************************************/
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The SaamPixV1_1 uses a 8MHz crystal connected to the HSE.
- *
- * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
- *   System Clock source           : PLL (HSE)
- *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
- *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
- *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
- *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
- *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
- *   HSE Frequency(Hz)             : 8000000     (STM32_BOARD_XTAL)
- *   PLLM                          : 8           (STM32_PLLCFG_PLLM)
- *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
- *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
- *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
- *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
- *   Flash Latency(WS)             : 5
- *   Prefetch Buffer               : OFF
- *   Instruction cache             : ON
- *   Data cache                    : ON
- *   Require 48MHz for USB OTG FS, : Enabled
- *   SDIO and RNG clock
- */
-
-/* HSI - 16 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - On-board crystal frequency is 8MHz
- * LSE - not installed
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-//#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *         = (8,000,000 / 8) * 336
- *         = 336,000,000
- * SYSCLK  = PLL_VCO / PLLP
- *         = 336,000,000 / 2 = 168,000,000
- * USB OTG FS, SDIO and RNG Clock
- *         =  PLL_VCO / PLLQ
- *         = 48,000,000
- */
-
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
-
-#define STM32_SYSCLK_FREQUENCY  168000000ul
-
-/* AHB clock (HCLK) is SYSCLK (168MHz) */
-
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
-
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
-
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx.
- * Note: TIM1,8-11 are on APB2, others on APB1
- */
-
-#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
-#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
-#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
-#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
-#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
-#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
-#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
-#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
-#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
-#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
-#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
-#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
-#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
-#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
-
-/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
- * in order to avoid RX overrun/TX underrun errors due to delayed responses
- * to service FIFOs in interrupt driven mode.  These values have not been
- * tuned!!!
- *
- * SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
- */
-
-#define SDIO_INIT_CLKDIV        (118 << SDIO_CLKCR_CLKDIV_SHIFT)
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_MMCXFR_CLKDIV    (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* DMA ON:  SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
- * DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32_SDIO_DMA
-#  define SDIO_SDXFR_CLKDIV     (1 << SDIO_CLKCR_CLKDIV_SHIFT)
-#else
-#  define SDIO_SDXFR_CLKDIV     (2 << SDIO_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* Alternate function pin selections ************************************************/
-
-/*
- * UARTs.
- */
-#define GPIO_USART1_RX	GPIO_USART1_RX_2	/* RC_INPUT */
-#define GPIO_USART1_TX	GPIO_USART1_TX_2
-
-#define GPIO_USART2_RX	GPIO_USART2_RX_2
-#define GPIO_USART2_TX	GPIO_USART2_TX_2
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
-
-#define GPIO_USART3_RX	GPIO_USART3_RX_3
-#define GPIO_USART3_TX	GPIO_USART3_TX_3
-#define GPIO_USART3_CTS	0 // unused
-#define GPIO_USART3_RTS	0 // unused
-
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
-
-#define GPIO_USART6_RX	GPIO_USART6_RX_2
-#define GPIO_USART6_TX	GPIO_USART6_TX_2
-
-#define GPIO_UART7_RX	GPIO_UART7_RX_1
-#define GPIO_UART7_TX	GPIO_UART7_TX_1
-
-/* UART8 has no alternate pin config */
-
-/*
- * CAN
- *
- * CAN1 is routed to the onboard transceiver.
- */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
-
-/*
- * I2C
- *
- * The optional _GPIO configurations allow the I2C driver to manually
- * reset the bus to clear stuck slaves.  They match the pin configuration,
- * but are normally-high GPIOs.
- */
-#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
-#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
-#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
-
-#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
-/*
- * SPI
- *
- * There are sensors on SPI1, and SPI2 is connected to the FRAM.
- */
-#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
-
-#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
-
-#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
-
-
-#endif  /* __ARCH_BOARD_BOARD_H */
@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      |                  |                  |                  |                  |                  |                  |                  |                  |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI4_RX_1        | USART6_RX_1      | USART1_RX_1      |                  | SPI4_TX_2        |                  | SDIO             |                  |
- */
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI4_RX    DMAMAP_SPI4_RX_1   // DMA2, Stream 0, Channel 4    (SPI sensors RX)
-#define DMAMAP_USART6_RX   DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4
-#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
-//      AVAILABLE                             // DMA2, Stream 3
-#define DMACHAN_SPI4_TX    DMAMAP_SPI4_TX_2   // DMA2, Stream 4, Channel 5    (SPI sensors TX)
-//      AVAILABLE                             // DMA2, Stream 5, Channel 6
-#define DMAMAP_SDIO        DMAMAP_SDIO_2      // DMA2, Stream 6, Channel 4
@@ -1,255 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/saam/saampixv1_1/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x008E
-CONFIG_CDCACM_PRODUCTSTR="SaamPixV1_1 Flight Controller"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="Saam Drones"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM3=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=128
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=32
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=300
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=300
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,146 +0,0 @@
-/****************************************************************************
- * scripts/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x4000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,51 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-add_library(drivers_board
-	can.c
-	i2c.cpp
-	init.c
-	led.c
-	spi.cpp
-	timer_config.cpp
-	usb.c
-)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_spi
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
-)
@@ -1,193 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * SaamPixV1_1 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-
-/* SaamPixV1_1 GPIOs ***********************************************************************************/
-/* LEDs */
-#define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define BOARD_OVERLOAD_LED     LED_RED
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
- */
-#define ADC_CHANNELS (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
-
-// ADC defines to be used in sensors.cpp to read from a particular channel
-#define ADC_5V_RAIL_SENSE		4
-#define ADC_BATTERY_CURRENT_CHANNEL	10
-#define ADC_BATTERY_VOLTAGE_CHANNEL	12
-#define ADC_RC_RSSI_CHANNEL		11
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
-
-/* Power supply control and monitoring GPIOs */
-// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
-// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
-
-/* Tone alarm output */
-#define TONE_ALARM_TIMER	14	/* timer 14 */
-#define TONE_ALARM_CHANNEL	1	/* channel 1 */
-#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
-
-/* AUX PWMs
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS	8
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
-
-
-
-/* High-resolution timer */
-#define HRT_TIMER		8	/* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
-
-#define HRT_PPM_CHANNEL		1
-#define GPIO_PPM_IN		GPIO_TIM8_CH1IN_1
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
-#define PWMIN_TIMER		4
-#define PWMIN_TIMER_CHANNEL	1
-#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
-
-#define RC_SERIAL_PORT		"/dev/ttyS0"
-
-// #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
-#define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
-
-#define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
-#define INVERT_FRSKY(_invert_true)    px4_arch_gpiowrite(GPIO_FRSKY_INV, _invert_true);
-
-/* Power switch controls */
-#define SPEKTRUM_POWER(_on_true)      do { } while (0)
-
-/*
- * SaamPixV1_1 has one RC_IN
- *
- * GPIO PPM_IN on PC6 T8CH1
- * SPEKTRUM_RX (it's TX or RX in Bind) on PC6 UART1
- * Inversion is possible via the 74LVC2G86 controlled by the FMU
- * The FMU can drive GPIO PPM_IN as an output
- */
-
-#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_BRICK_VALID   (1)
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_PERIPH_5V_OC  (0)
-#define BOARD_ADC_HIPOWER_5V_OC (0)
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the SaamPixV1_1 board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-
-#define board_peripheral_reset(ms)
-
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,129 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_internal.h"
-
-#include "stm32.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020-2026 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusExternal(2),
-};
@@ -1,299 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * SaamPixV1_1-specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/i2c/i2c_master.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-
-#include <px4_platform_common/init.h>
-#include <px4_platform/board_dma_alloc.h>
-#include <px4_arch/io_timer.h>
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	/* configure the GPIO pins to outputs and keep them low */
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
-	}
-
-	/**
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
-	 */
-
-	if (status >= 0) {
-		up_mdelay(400);
-	}
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void
-stm32_boardinitialize(void)
-{
-	// Reset all PWM to Low outputs.
-
-	board_on_reset(-1);
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure ADC pins */
-
-	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN10);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN12);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* RSSI analog in */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
-
-	/* configure power supply control/sense pins */
-
-	stm32_configgpio(GPIO_SBUS_INV);
-	stm32_configgpio(GPIO_FRSKY_INV);
-
-	/* configure CAN interface */
-
-	stm32_configgpio(GPIO_CAN1_RX);
-	stm32_configgpio(GPIO_CAN1_TX);
-
-	/* configure SPI interfaces */
-
-	stm32_spiinitialize();
-
-	stm32_configgpio(GPIO_I2C2_SCL);
-	stm32_configgpio(GPIO_I2C2_SDA);
-
-	stm32_configgpio(GPIO_I2C1_SCL);
-	stm32_configgpio(GPIO_I2C1_SDA);
-
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi2;
-static struct spi_dev_s *spi4;
-static struct sdio_dev_s *sdio;
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "DMA alloc FAILED\n");
-	}
-
-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_AMBER);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_AMBER);
-	}
-
-	/* Configure SPI-based devices */
-
-	spi4 = px4_spibus_initialize(4);
-
-	if (!spi4) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
-		board_autoled_on(LED_AMBER);
-	}
-
-	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi4, 10000000);
-	SPI_SETBITS(spi4, 8);
-	SPI_SETMODE(spi4, SPIDEV_MODE3);
-	up_udelay(20);
-
-	/* Get the SPI port for the FRAM */
-
-	spi1 = stm32_spibus_initialize(1);
-
-	if (!spi1) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
-		board_autoled_on(LED_AMBER);
-	}
-
-	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-	 * and de-assert the known chip selects. */
-
-	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
-	SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
-	SPI_SETBITS(spi1, 8);
-
-
-	spi2 = px4_spibus_initialize(2);
-
-	/* Default SPI2 to 10MHz and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi2, 10000000);
-	SPI_SETBITS(spi2, 8);
-
-
-#ifdef CONFIG_MMCSD
-	/* First, get an instance of the SDIO interface */
-
-	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
-
-	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-	}
-
-	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
-	sdio_mediachange(sdio, true);
-
-#endif
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * SaamPixV1_1 LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "stm32.h"
-#include "board_config.h"
-
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-__EXPORT void led_init()
-{
-	/* Configure LED1 GPIO for output */
-
-	stm32_configgpio(GPIO_LED1);
-}
-
-__EXPORT void led_on(int led)
-{
-	if (led == 1) {
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
-}
-
-__EXPORT void led_off(int led)
-{
-	if (led == 1) {
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
-}
-
-__EXPORT void led_toggle(int led)
-{
-	if (led == 1) {
-		if (stm32_gpioread(GPIO_LED1)) {
-			stm32_gpiowrite(GPIO_LED1, false);
-
-		} else {
-			stm32_gpiowrite(GPIO_LED1, true);
-		}
-	}
-}
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020-2026 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
-	}),
-	initSPIBusExternal(SPI::Bus::SPI2, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
-	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
-		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortD, GPIO::Pin11}),
-		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1),
-	initIOTimer(Timer::Timer4),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2026 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.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_internal.h>
-#include <stm32.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the SaamPixV1_1 board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
-	*/
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -17,7 +17,10 @@ then
 fi

 # baro
-spl06 -I  start -a 0x76
+if ! dps310 -I start -a 0x76
+then
+	spl06 -I  start -a 0x76
+fi

 # internal mag
 qmc5883p -I -R 4 start
@@ -243,6 +243,7 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
@@ -49,6 +49,8 @@ uint16_t board_get_can_interfaces(void)
 {
 	uint16_t enabled_interfaces = 0x3;

+	enabled_interfaces &= ~(1 << 1);
+
 	return enabled_interfaces;
 }

@@ -33,24 +33,32 @@

 # packaging

+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
+
 set(CPACK_PACKAGE_VENDOR "px4")
-set(CPACK_PACKAGE_CONTACT "daniel@agar.ca")
-set(CPACK_RESOURCE_FILE_LICENSE "${PX4_SOURCE_DIR}/LICENSE")
-set(CPACK_RESOURCE_FILE_README "${PX4_SOURCE_DIR}/README.md")
-
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-
-# Debian version: convert git describe to Debian-compliant format
-# v1.17.0-beta1 -> 1.17.0~beta1, v1.17.0 -> 1.17.0
-string(REGEX REPLACE "^v" "" DEB_VERSION "${PX4_GIT_TAG}")
-# Replace first hyphen with tilde for pre-release (Debian sorts ~ before anything)
-string(REGEX REPLACE "^([0-9]+\\.[0-9]+\\.[0-9]+)-([a-zA-Z])" "\\1~\\2" DEB_VERSION "${DEB_VERSION}")
-# Strip any trailing commit info (e.g. -42-gabcdef)
-string(REGEX REPLACE "-[0-9]+-g[0-9a-f]+$" "" DEB_VERSION "${DEB_VERSION}")

 set(CPACK_PACKAGE_VERSION_MAJOR ${PX4_VERSION_MAJOR})
 set(CPACK_PACKAGE_VERSION_MINOR ${PX4_VERSION_MINOR})
 set(CPACK_PACKAGE_VERSION_PATCH ${PX4_VERSION_PATCH})
+#set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
+
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}-src")
+
+set(CPACK_PACKAGE_CONTACT "daniel@agar.ca")
+
+set(CPACK_RESOURCE_FILE_LICENSE "${PX4_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_README "${PX4_SOURCE_DIR}/README.md")
+
+set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)#ONE_PER_GROUP)
+# without this you won't be able to pack only specified component
+set(CPACK_DEB_COMPONENT_INSTALL YES)
+
+#set(CPACK_STRIP_FILES YES)
+
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_SET_DESTDIR "OFF")

 if("${CMAKE_SYSTEM}" MATCHES "Linux")
 	set(CPACK_GENERATOR "TBZ2")
@@ -59,61 +67,30 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
 	if(EXISTS ${DPKG_PROGRAM})
 		list(APPEND CPACK_GENERATOR "DEB")

-		execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture
-			OUTPUT_VARIABLE DEB_ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE)
+		set(CPACK_SET_DESTDIR true)
+		set(CPACK_PACKAGING_INSTALL_PREFIX "/tmp")

-		# Detect Ubuntu/Debian codename for version suffix
-		find_program(LSB_RELEASE lsb_release)
-		if(EXISTS ${LSB_RELEASE})
-			execute_process(COMMAND ${LSB_RELEASE} -cs
-				OUTPUT_VARIABLE DEB_CODENAME OUTPUT_STRIP_TRAILING_WHITESPACE)
-		else()
-			set(DEB_CODENAME "unknown")
-		endif()
+		execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture OUTPUT_VARIABLE DEB_ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE)
+		message("Architecture:  " ${DEB_ARCHITECTURE})
+		set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_FILE_NAME}_${DEB_ARCHITECTURE}")

-		# Override CPACK_PACKAGE_VERSION with full Debian version.
-		# CPack DEB ignores CPACK_PACKAGE_VERSION_MAJOR/MINOR/PATCH
-		# when CPACK_PACKAGE_VERSION is set, so we must replace them.
-		unset(CPACK_PACKAGE_VERSION_MAJOR)
-		unset(CPACK_PACKAGE_VERSION_MINOR)
-		unset(CPACK_PACKAGE_VERSION_PATCH)
-		set(CPACK_PACKAGE_VERSION "${DEB_VERSION}-${DEB_CODENAME}")
+		set(CPACK_INSTALL_PREFIX @DEB_INSTALL_PREFIX@)
+		message ("==> CPACK_INSTALL_PREFIX = " ${CPACK_INSTALL_PREFIX})

-		# Label-aware package metadata
-		if(PX4_BOARD_LABEL STREQUAL "sih")
-			set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/px4")
-			set(CPACK_DEBIAN_PACKAGE_NAME "px4")
-			set(CPACK_DEBIAN_FILE_NAME "px4_${DEB_VERSION}-${DEB_CODENAME}_${DEB_ARCHITECTURE}.deb")
-			set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6, libstdc++6")
-			set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 SITL autopilot with SIH physics (no Gazebo)")
-			set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
-				"${PX4_SOURCE_DIR}/Tools/packaging/sih/postinst;${PX4_SOURCE_DIR}/Tools/packaging/sih/postrm")
-		else()
-			set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/px4-gazebo")
-			set(CPACK_DEBIAN_PACKAGE_NAME "px4-gazebo")
-			set(CPACK_DEBIAN_FILE_NAME "px4-gazebo_${DEB_VERSION}-${DEB_CODENAME}_${DEB_ARCHITECTURE}.deb")
-			set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6, libstdc++6, gz-sim8-cli, libgz-sim8-plugins, libgz-physics7-dartsim, gz-tools2")
-			set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 SITL autopilot with Gazebo Harmonic simulation resources")
-			set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
-				"${PX4_SOURCE_DIR}/Tools/packaging/postinst;${PX4_SOURCE_DIR}/Tools/packaging/postrm")
-		endif()
+		################################################################################

-		# Bake the install prefix into the px4 binary so it can locate its ROMFS
-		# (etc/) without a wrapper script or command-line argument.
-		if(TARGET px4)
-			target_compile_definitions(px4 PRIVATE PX4_INSTALL_PREFIX="${CPACK_PACKAGING_INSTALL_PREFIX}")
-		endif()
-
-		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
-		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${DEB_ARCHITECTURE})
-		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 		set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Daniel Agar <${CPACK_PACKAGE_CONTACT}>")
+		set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION})
+		set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)

+		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
+		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
+		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+
+		# autogenerate dependency information
 		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 		set(CPACK_DEBIAN_COMPRESSION_TYPE xz)
-		set(CPACK_DEBIAN_ARCHITECTURE ${DEB_ARCHITECTURE})
-
-		message(STATUS "PX4 SITL .deb version: ${DEB_VERSION}-${DEB_CODENAME} (${DEB_ARCHITECTURE})")

 	endif()
 else()
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	cf4bae6d3e	Updted tests mostly for the spec overview	2026-04-09 08:40:53 +10:00
Hamish Willee	f54a170361	docs(script): fix up generator PWM outputs	2026-04-02 10:36:01 +11:00
Hamish Willee	35a734d49a	docs(infrastructure): Add script and tests to generate FC doc sections/docs	2026-04-02 09:10:59 +11:00