Dependency fix

Various fixes
fix(boards/modalai/voxl2): remove obsolete build-deps.sh from README
2026-06-13 10:40:05 +08:00 · 2026-03-16 12:55:53 -07:00 · 2026-03-16 11:20:13 -07:00 · 2026-03-14 08:41:21 -07:00 · 2026-03-14 08:41:21 -07:00 · 2026-03-12 10:52:30 -07:00
252 changed files with 5073 additions and 3200 deletions
@@ -141,6 +141,8 @@ Checks:          '*,
                  -cppcoreguidelines-avoid-goto,
                  -hicpp-avoid-goto,
                  -bugprone-branch-clone,
+                  -bugprone-unhandled-self-assignment,
+                  -cert-oop54-cpp,
                  -performance-enum-size,
                  -readability-avoid-nested-conditional-operator,
                  -cppcoreguidelines-prefer-member-initializer,
@@ -148,6 +150,7 @@ Checks:          '*,
                  -readability-convert-member-functions-to-static,
                  -readability-make-member-function-const,
                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-macro-parentheses,
                  -bugprone-multi-level-implicit-pointer-conversion,
                  -bugprone-signed-char-misuse,
                  -cppcoreguidelines-avoid-non-const-global-variables,
@@ -265,5 +265,7 @@ jobs:
        with:
          draft: true
          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/*.deb
          name: ${{ steps.upload-location.outputs.uploadlocation }}
@@ -130,8 +130,8 @@ jobs:
          load: false
          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
          provenance: false
-          cache-from: type=gha,scope=${{ matrix.arch }}
-          cache-to: type=gha,mode=max,scope=${{ matrix.arch }}
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}

  deploy:
    name: Deploy To Registry
@@ -1,27 +0,0 @@
-cff-version: 1.2.0
-title: "PX4 Autopilot"
-message: "If you use PX4 in your research, please cite it using this metadata."
-type: software
-authors:
-  - family-names: Meier
-    given-names: Lorenz
-  - name: "The PX4 Contributors"
-repository-code: "https://github.com/PX4/PX4-Autopilot"
-url: "https://px4.io"
-abstract: >-
-  PX4 is an open-source autopilot stack for drones and
-  unmanned vehicles. It supports multirotors, fixed-wing,
-  VTOL, rovers, and many more platforms. PX4 runs on both
-  RTOS and POSIX-compatible operating systems.
-keywords:
-  - autopilot
-  - drone
-  - uav
-  - flight-controller
-  - robotics
-  - ros2
-license: BSD-3-Clause
-identifiers:
-  - type: doi
-    value: "10.5281/zenodo.595432"
-    description: "Zenodo concept DOI (resolves to latest version)"
@@ -16,13 +16,7 @@ git checkout -b mydescriptivebranchname

 ## Edit and build the code

-The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows.
-
-### Coding standards
-
-All C/C++ code must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html). Formatting is enforced by [astyle](http://astyle.sourceforge.net/) in CI (`make check_format`). Code quality checks run via [clang-tidy](https://clang.llvm.org/extra/clang-tidy/). Pull requests that fail either check will not be merged.
-
-Python code is checked with [mypy](https://mypy-lang.org/) and [flake8](https://flake8.pycqa.org/).
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

 ## Commit message convention

@@ -147,20 +141,6 @@ git push --force-with-lease

 ## Test your changes

-PX4 is safety-critical software. All contributions must include adequate testing where practical:
-
- **New features** must include unit tests and/or integration tests that exercise the new functionality, where practical. Hardware-dependent changes that cannot be tested in SITL should include bench test or flight test evidence.
- **Bug fixes** must include a regression test where practical. When automated testing is not feasible (hardware-specific issues, race conditions, etc.), provide a link to a flight log demonstrating the fix and the reproduction steps for the original bug.
- **Reviewers** will verify that tests or test evidence exist before approving a pull request.
-
-### Types of tests
-
-| Test type | When to use | How to run |
-|-----------|-------------|------------|
-| **Unit tests** (gtest) | Module-level logic, math, parsing | `make tests` |
-| **SITL integration tests** (MAVSDK) | Flight behavior, failsafes, missions | `test/mavsdk_tests/` |
-| **Bench tests / flight logs** | Hardware-dependent changes | Upload logs to [Flight Review](https://logs.px4.io) |
-
 Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the log file from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.

 ## Push your changes
@@ -226,9 +226,22 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))

+# Multi-processor boards: build all processor targets together
+# VOXL2 apps processor (default) depends on SLPI DSP being built first
+modalai_voxl2_default: modalai_voxl2_slpi
+modalai_voxl2: modalai_voxl2_slpi
+modalai_voxl2_deb: modalai_voxl2_slpi
+
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)

+# DEB package targets: builds _default config, then runs cpack.
+# Multi-processor boards (e.g. VOXL2) chain companion builds automatically
+# via existing cmake prerequisites.
+%_deb:
+	@$(call cmake-build,$(subst _deb,_default,$@)$(BUILD_DIR_SUFFIX))
+	@cd "$(SRC_DIR)/build/$(subst _deb,_default,$@)" && cpack -G DEB
+
 updateconfig:
 	@./Tools/kconfig/updateconfig.py

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

 <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://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>
@@ -44,6 +44,8 @@ param set-default FW_T_SINK_MIN 3

 param set-default FW_W_EN 1

+param set-default FD_ESCS_EN 0
+
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -104,3 +104,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
@@ -26,6 +26,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -28,6 +28,7 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
@@ -119,11 +119,10 @@ else
 	param set SYS_AUTOCONFIG 1
 fi

-# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
-if param greater SYS_AUTOCONFIG 0
+if param compare SYS_AUTOCONFIG 1
 then
-	# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-	param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
 fi

@@ -191,8 +191,8 @@ else
 	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
+		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -2,40 +2,24 @@

 ## Supported Versions

-The following versions receive security updates:
+The following is a list of versions the development team is currently supporting.

 | Version | Supported          |
 | ------- | ------------------ |
-| 1.16.x  | :white_check_mark: |
-| < 1.16  | :x:                |
+| 1.4.x   | :white_check_mark: |
+| 1.3.3   | :white_check_mark: |
+| < 1.3   | :x:                |

 ## Reporting a Vulnerability

-We receive security vulnerability reports through GitHub Security Advisories.
+We currently only receive security vulnerability reports through GitHub.

-To begin a report, go to the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository
-and click on the **Security** tab. If you are on mobile, click the **...** dropdown menu, then click **Security**.
+To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
+and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.

-Click **Report a Vulnerability** to open the advisory form. Fill in the advisory details form.
-Make sure your title is descriptive and the description contains all relevant details needed
-to verify the issue. We welcome logs, screenshots, photos, and videos.
+Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive, and the development team can find all of the relevant details needed
+to verify on the description box. We recommend you add as much data as possible. We welcome logs,
+screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.

-At the bottom of the form, click **Submit report**.
-
-## Response Process
-
-1. **Acknowledgment**: The maintainer team will acknowledge your report within **7 days**.
-2. **Triage**: We will assess severity and impact and communicate next steps.
-3. **Disclosure**: We coordinate disclosure with the reporter. We follow responsible disclosure practices and will credit reporters in the advisory unless they request anonymity.
-
-If you do not receive acknowledgment within 7 days, please follow up by emailing the [release managers](MAINTAINERS.md).
-
-## Secure Development Practices
-
-The PX4 development team applies the following practices to reduce security risk:
-
- **Code review**: All changes require peer review before merging.
- **Static analysis**: [clang-tidy](https://clang.llvm.org/extra/clang-tidy/) runs on every pull request with warnings treated as errors.
- **Fuzzing**: A daily fuzzing pipeline using [Google fuzztest](https://github.com/google/fuzztest) tests MAVLink message handling and GNSS driver protocol parsing.
- **Input validation**: All external inputs (MAVLink messages, RC signals, sensor data) are validated against expected ranges before use.
- **Compiler hardening**: Builds use `-Wall -Werror`, stack protectors, and other hardening flags where supported by the target platform.
+At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.
@@ -189,6 +189,65 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if target is not None:
                    build_configs.append(target)

+# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        companion_file = os.path.join(board.path, 'companion_targets')
+        if os.path.exists(companion_file):
+            with open(companion_file) as f:
+                companions = {l.strip() for l in f if l.strip() and not l.startswith('#')}
+            for arch in grouped_targets:
+                for man in grouped_targets[arch]['manufacturers']:
+                    grouped_targets[arch]['manufacturers'][man] = [
+                        t for t in grouped_targets[arch]['manufacturers'][man]
+                        if t not in companions
+                    ]
+
+# Append _deb targets for boards that have cmake/package.cmake
+for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        continue
+    for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
+        if not board.is_dir():
+            continue
+        board_name = manufacturer.name + '_' + board.name
+        if board_name in excluded_boards:
+            continue
+        package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
+        if os.path.exists(package_cmake):
+            deb_target = board_name + '_deb'
+            if target_filter and not any(deb_target.startswith(f) for f in target_filter):
+                continue
+            # Determine the container and group for this board
+            container = default_container
+            if board_name in board_container_overrides:
+                container = board_container_overrides[board_name]
+            target_entry = {'target': deb_target, 'container': container}
+            if args.group:
+                # Find the group where this board's _default target already lives
+                default_target = board_name + '_default'
+                group = None
+                for g in grouped_targets:
+                    targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
+                    if default_target in targets_in_group:
+                        group = g
+                        break
+                if group is None:
+                    group = 'base'
+                target_entry['arch'] = group
+                if group not in grouped_targets:
+                    grouped_targets[group] = {'container': container, 'manufacturers': {}}
+                if manufacturer.name not in grouped_targets[group]['manufacturers']:
+                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
+                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+            build_configs.append(target_entry)
+
 if(verbose):
    import pprint
    print("============================")
@@ -3,45 +3,36 @@
 mkdir artifacts
 cp **/**/*.px4 artifacts/ 2>/dev/null || true
 cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.deb artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  mkdir -p artifacts/$build_dir
+  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe (NuttX: build root, SITL: docs/ subdirectory)
-  airframes_src=""
-  if [ -f "$build_dir_path/airframes.xml" ]; then
-    airframes_src="$build_dir_path/airframes.xml"
-  elif [ -f "$build_dir_path/docs/airframes.xml" ]; then
-    airframes_src="$build_dir_path/docs/airframes.xml"
-  fi
-  if [ -n "$airframes_src" ]; then
-    cp "$airframes_src" "artifacts/$build_dir/"
-  fi
+  # Airframe
+  cp $build_dir_path/airframes.xml artifacts/$build_dir/
  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/parameters.xml artifacts/$build_dir/
+  cp $build_dir_path/parameters.json artifacts/$build_dir/
+  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/ 2>/dev/null || true
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/ 2>/dev/null || true
+  cp $build_dir_path/actuators.json artifacts/$build_dir/
+  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
  # Events
-  mkdir -p artifacts/$build_dir/events/
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/events/ 2>/dev/null || true
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # ROS 2 msgs
+  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
+  # Module Docs
  ls -la artifacts/$build_dir
  echo "----------"
 done

 if [ -d artifacts/px4_sitl_default ]; then
-  # general metadata (used by Flight Review and other downstream consumers)
-  mkdir -p artifacts/_general/
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Airframe
-  if [ -f artifacts/px4_sitl_default/airframes.xml ]; then
-    cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/airframes.xml' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
  # Parameters
  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
@@ -50,11 +41,9 @@ if [ -d artifacts/px4_sitl_default ]; then
  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
  # Events
-  if [ -f artifacts/px4_sitl_default/events/all_events.json.xz ]; then
-    cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-  else
-    echo "Error: expected 'artifacts/px4_sitl_default/events/all_events.json.xz' not found." >&2
-    exit 1
-  fi
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
  ls -la artifacts/_general/
 fi
@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -286,7 +286,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -273,7 +273,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -295,7 +295,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -455,7 +455,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);
 	SPI6_RESET(true);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -124,7 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

@@ -221,7 +221,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	SPI6_RESET(false);
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -71,7 +71,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -69,7 +69,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		// initSPIBus(SPI::Bus::SPI5, {
 		// 	initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -262,7 +262,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -289,7 +289,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -453,7 +453,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -215,7 +215,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -48,7 +48,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -271,7 +271,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -297,7 +297,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -463,7 +463,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_SYNC,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin7}),
 	//  initSPIBus(SPI::Bus::SPI4, {
 	//    // no devices
-	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+	// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 	//  }, {GPIO::PortG, GPIO::Pin8}),
 	initSPIBus(SPI::Bus::SPI5, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -1,84 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 ModalAI, Inc. 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.
-#
-############################################################################
-
-# Need to make sure that the DSP processor on VOXL2
-# knows about all parameters since some modules need parameters
-# from other modules that are not running on the DSP.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
-
-add_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-    )
-
-# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
-# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
-# SLPI build is self-contained and does not depend on voxl2-default.
-set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
-set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
-
-px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
-
-add_custom_command(
-	OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
-	COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		--lang C --wire-protocol 2.0
-		--output ${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-		> ${CMAKE_BINARY_DIR}/mavgen_common.log
-	DEPENDS
-		git_mavlink_v2
-		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
-	COMMENT "Generating MAVLink common headers for SLPI"
-)
-add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
-
-add_library(mavlink_common_headers INTERFACE)
-add_dependencies(mavlink_common_headers mavlink_common_generate)
-target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
-target_include_directories(mavlink_common_headers INTERFACE
-	${MAVLINK_LIBRARY_DIR}
-	${MAVLINK_LIBRARY_DIR}/common
-)
-
-# Add custom drivers for SLPI
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)
@@ -13,6 +13,10 @@ critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.

+Both processors are built from this single board directory:
+- `default.px4board` - POSIX apps processor (ARM64)
+- `slpi.px4board` - QURT DSP (Hexagon)
+
 ## Build environment

 In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
@@ -22,17 +26,21 @@ The full instructions are available here:

 ## Build overview

+A single `make modalai_voxl2` command builds both the DSP and apps processor
+firmware. The Makefile chains the SLPI build as a prerequisite of the default
+(apps) build.
+
 - Clone the repo (Don't forget to update and initialize all submodules)
 - In the top level directory
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
 ```

+For DSP-only rebuilds: `make modalai_voxl2_slpi`
+
 ## Install and run on VOXL 2

 Once the DSP and Linux images have been built they can be installed on a VOXL 2
@@ -31,6 +31,10 @@
 #
 ############################################################################

+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()
+
 # Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
 execute_process(
 	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
@@ -0,0 +1,83 @@
+############################################################################
+#
+#   Copyright (c) 2024 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.
+#
+############################################################################
+
+# VOXL2 board-specific install rules for .deb packaging
+# Included from platforms/posix/CMakeLists.txt where the px4 target exists
+
+# SLPI companion build output directory
+set(VOXL2_SLPI_BUILD_DIR "${PX4_SOURCE_DIR}/build/modalai_voxl2_slpi")
+
+# Apps processor binary
+install(TARGETS px4 RUNTIME DESTINATION bin)
+
+# px4-alias.sh (generated during build into bin/ subdirectory)
+install(PROGRAMS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh DESTINATION bin)
+
+# Startup scripts from board target directory
+install(PROGRAMS
+	${PX4_BOARD_DIR}/target/voxl-px4
+	${PX4_BOARD_DIR}/target/voxl-px4-start
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
+	DESTINATION bin
+)
+
+# DSP firmware blob from companion SLPI build
+install(FILES ${VOXL2_SLPI_BUILD_DIR}/platforms/qurt/libpx4.so
+	DESTINATION lib/rfsa/adsp
+)
+
+# Configuration files
+install(FILES
+	${PX4_BOARD_DIR}/target/voxl-px4-fake-imu-calibration.config
+	${PX4_BOARD_DIR}/target/voxl-px4-hitl-set-default-parameters.config
+	DESTINATION ../etc/modalai
+)
+
+# Systemd service file
+install(FILES ${PX4_BOARD_DIR}/debian/voxl-px4.service
+	DESTINATION ../etc/systemd/system
+)
+
+# Component metadata JSON files
+install(FILES
+	${PX4_BINARY_DIR}/actuators.json.xz
+	${PX4_BINARY_DIR}/component_general.json.xz
+	${PX4_BINARY_DIR}/parameters.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
+install(FILES ${PX4_BINARY_DIR}/events/all_events.json.xz
+	DESTINATION ../data/px4/etc/extras
+	OPTIONAL
+)
@@ -1,3 +1,6 @@
+if(NOT "${PX4_PLATFORM}" STREQUAL "posix")
+	return()
+endif()

 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
@@ -0,0 +1,63 @@
+############################################################################
+#
+#   Copyright (c) 2024 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.
+#
+############################################################################
+
+# VOXL2 board-specific CPack overrides
+# Loaded after cmake/package.cmake sets up CPack defaults
+
+# Derive Debian-compatible version from git tag (e.g. v1.17.0-alpha1-42-gabcdef -> 1.17.0~alpha1.42.gabcdef)
+string(REGEX REPLACE "^v" "" _deb_ver "${PX4_GIT_TAG}")
+string(REGEX REPLACE "-" "~" _deb_ver "${_deb_ver}" )
+string(REGEX REPLACE "~([0-9]+)~" ".\\1." _deb_ver "${_deb_ver}")
+
+# VOXL2 is always aarch64 regardless of build host
+set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
+set(CPACK_DEBIAN_PACKAGE_NAME "voxl-px4")
+set(CPACK_DEBIAN_FILE_NAME "voxl-px4_${_deb_ver}_arm64.deb")
+set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
+set(CPACK_INSTALL_PREFIX "/usr")
+set(CPACK_SET_DESTDIR true)
+
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)")
+set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "ModalAI <support@modalai.com>")
+
+# Disable shlibdeps for cross-compiled boards
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF)
+
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA
+	"${PX4_BOARD_DIR}/debian/postinst;${PX4_BOARD_DIR}/debian/prerm")
+
+# Install rules are in boards/modalai/voxl2/cmake/install.cmake,
+# included from platforms/posix/CMakeLists.txt where the px4 target exists.
@@ -0,0 +1,3 @@
+# Companion processor targets - built automatically by the parent (default) target
+# These are excluded from CI target lists to avoid redundant builds
+modalai_voxl2_slpi
@@ -0,0 +1,36 @@
+#!/bin/bash
+set -e
+
+# Create px4-* symlinks from px4-alias.sh
+# The alias format is: alias <module>='px4-<module> --instance $px4_instance'
+# We extract the px4-<module> command name and symlink it to the px4 binary
+if [ -f /usr/bin/px4-alias.sh ]; then
+    grep "^alias " /usr/bin/px4-alias.sh | \
+        sed -n "s/.*'\(px4-[a-zA-Z0-9_]*\).*/\1/p" | while read cmd; do
+        ln -sf px4 "/usr/bin/${cmd}"
+    done
+fi
+
+# Detect platform and generate DSP test signature if needed
+if ! /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    echo "[INFO] Generating DSP test signature..."
+    if [ -f /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qcs6490-slpi-test-sig/generate-test-sig.sh || true
+    elif [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh || true
+    else
+        echo "[WARNING] Could not find DSP signature generation script"
+    fi
+fi
+
+# Create required data directories
+mkdir -p /data/px4/param
+mkdir -p /data/px4/etc/extras
+chown -R root:root /data/px4
+
+# Reload systemd if available
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl daemon-reload
+fi
+
+echo "voxl-px4 installed successfully"
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+# Stop voxl-px4 service if running
+if command -v systemctl > /dev/null 2>&1; then
+    systemctl stop voxl-px4 2>/dev/null || true
+fi
+
+# Remove px4-* symlinks
+for f in /usr/bin/px4-*; do
+    if [ -L "$f" ] && [ "$(readlink "$f")" = "px4" ]; then
+        rm -f "$f"
+    fi
+done
@@ -0,0 +1,14 @@
+[Unit]
+Description=PX4 Autopilot for VOXL2
+After=sscrpcd.service
+Requires=sscrpcd.service
+
+[Service]
+Type=simple
+ExecStart=/usr/bin/voxl-px4
+ExecStopPost=/usr/bin/voxl-reset-slpi
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
@@ -1,6 +1,6 @@
 #!/bin/bash

-echo "*** Starting apps processor build ***"
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"

 source /home/build-env.sh

@@ -8,4 +8,4 @@ make modalai_voxl2

 cat build/modalai_voxl2_default/src/lib/version/build_git_version.h

-echo "*** End of apps processor build ***"
+echo "*** End of unified VOXL2 build ***"
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "*** Starting unified VOXL2 build (apps + SLPI) ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2_deb
+
+cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
+
+echo "*** End of unified VOXL2 build ***"
@@ -4,6 +4,6 @@ echo "*** Starting qurt slpi build ***"

 source /home/build-env.sh

-make modalai_voxl2-slpi
+make modalai_voxl2_slpi

 echo "*** End of qurt slpi build ***"
@@ -1,7 +1,7 @@
 #!/bin/bash

 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
@@ -1,7 +1,7 @@
 #!/bin/bash

 # Push slpi image to voxl2
-adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2_slpi/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp

 # Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
@@ -65,6 +65,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
@@ -1,5 +1,23 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
+# Disable modules from default.px4board that are apps-only
+CONFIG_BOARD_LINUX_TARGET=n
+CONFIG_DRIVERS_OSD_MSP_OSD=n
+CONFIG_DRIVERS_QSHELL_POSIX=n
+CONFIG_DRIVERS_RC_INPUT=n
+CONFIG_MODULES_DATAMAN=n
+CONFIG_MODULES_LOGGER=n
+CONFIG_MODULES_MAVLINK=n
+CONFIG_MODULES_MUORB_APPS=n
+CONFIG_MODULES_NAVIGATOR=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_BSONDUMP=n
+CONFIG_SYSTEMCMDS_PERF=n
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
+CONFIG_SYSTEMCMDS_VER=n
+CONFIG_SYSTEMCMDS_REBOOT=n
+CONFIG_PARAM_PRIMARY=n
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -31,28 +31,81 @@
 #
 ############################################################################

-# Need to make sure that the Linux processor on VOXL2
-# knows about all parameters since it is acting as the
-# parameter server for other processors that may define
-# parameters that it doesn't normally know about.
+# Both processors need to know about all parameters since modules are
+# split across processors and may reference parameters from the other side.
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)

-add_library(drivers_board
+set(SRCS
 	board_config.h
-	i2c.cpp
 	init.c
-	boardctl.c
-	spi.cpp
-    )
+)

-# Add custom drivers
-add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
+if("${PX4_PLATFORM}" STREQUAL "qurt")
+	list(APPEND SRCS
+		i2c_qurt.cpp
+		spi_qurt.cpp
+	)
+elseif("${PX4_PLATFORM}" STREQUAL "posix")
+	list(APPEND SRCS
+		boardctl.c
+		i2c_posix.cpp
+		spi_posix.cpp
+	)
+endif()

-# Add custom libraries
-add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
+add_library(drivers_board ${SRCS})

-# Add custom modules
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
-add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)
+if("${PX4_PLATFORM}" STREQUAL "qurt")
+	# Generate MAVLink common headers for SLPI drivers (dsp_hitl, mavlink_rc_in)
+	# Replicates the generation from src/modules/mavlink/CMakeLists.txt so the
+	# SLPI build is self-contained and does not depend on voxl2-default.
+	set(MAVLINK_GIT_DIR "${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink")
+	set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+
+	px4_add_git_submodule(TARGET git_mavlink_v2_slpi PATH "${MAVLINK_GIT_DIR}")
+
+	add_custom_command(
+		OUTPUT ${MAVLINK_LIBRARY_DIR}/common/common.h
+		COMMAND ${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+			> ${CMAKE_BINARY_DIR}/mavgen_common.log
+		DEPENDS
+			git_mavlink_v2_slpi
+			${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/common.xml
+		COMMENT "Generating MAVLink common headers for SLPI"
+	)
+	add_custom_target(mavlink_common_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/common/common.h)
+
+	add_library(mavlink_common_headers INTERFACE)
+	add_dependencies(mavlink_common_headers mavlink_common_generate)
+	target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+	target_include_directories(mavlink_common_headers INTERFACE
+		${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_LIBRARY_DIR}/common
+	)
+
+	# Add custom drivers for SLPI
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/rc_controller rc_controller)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/mavlink_rc_in mavlink_rc_in)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/spektrum_rc spektrum_rc)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/ghst_rc ghst_rc)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_hitl dsp_hitl)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/dsp_sbus dsp_sbus)
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/qurt/elrs_led elrs_led)
+
+elseif("${PX4_PLATFORM}" STREQUAL "posix")
+	# Add custom drivers
+	add_subdirectory(${PX4_BOARD_DIR}/src/drivers/posix/apps_sbus apps_sbus)
+
+	# Add custom libraries
+	add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa mpa)
+
+	# Add custom modules
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params voxl_save_cal_params)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge vehicle_air_data_bridge)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge sensor_baro_bridge)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge vehicle_local_position_bridge)
+endif()
@@ -42,21 +42,44 @@
 #define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER

-// Define this as empty since i2c clock init isn't required
-#define BOARD_I2C_BUS_CLOCK_INIT
-
 /*
- * I2C buses
- */
-#define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    1
-
-/*
- * SPI buses
+ * SPI buses (shared)
 */
 #define CONFIG_SPI 1
 #define BOARD_SPI_BUS_MAX_BUS_ITEMS 1

+#ifdef __PX4_QURT
+/*
+ * QURT (DSP) specific defines
+ */
+
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    4
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
+
+#define VOXL_ESC_DEFAULT_PORT 	"2"
+#define GHST_RC_DEFAULT_PORT 	"7"
+#define VOXL2_IO_DEFAULT_PORT 	"2"
+
+/* M0065 PWM */
+#define DIRECT_PWM_OUTPUT_CHANNELS 4
+#define MAX_IO_TIMERS 3
+
+#endif /* __PX4_QURT */
+
+#if defined(__PX4_POSIX) && !defined(__PX4_QURT)
+/*
+ * POSIX (apps processor) specific defines
+ */
+
+/* I2C clock init not required on Linux */
+#define BOARD_I2C_BUS_CLOCK_INIT
+
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    1
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

@@ -65,3 +88,5 @@

 #define VOXL_ESC_DEFAULT_PORT 	"2"
 #define VOXL2_IO_DEFAULT_PORT 	"2"
+
+#endif /* __PX4_POSIX && !__PX4_QURT */
@@ -143,7 +143,7 @@ if [ "$GPS" != "NONE" ]; then
    if [ "$PLATFORM" == "M0197" ]; then
 	gps start -d /dev/ttyHS7
    else
-	qshell gps start -d 6
+	qshell gps start
    fi
 fi

@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -202,7 +202,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -233,7 +233,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -258,7 +258,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -409,7 +409,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PH11,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -217,7 +217,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -96,7 +96,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -185,7 +185,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))

 /* Tone alarm output */

@@ -268,7 +268,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -290,7 +290,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -454,7 +454,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -49,7 +49,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -73,7 +73,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -97,7 +97,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -120,7 +120,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -143,7 +143,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -166,7 +166,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -190,7 +190,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}, {GPIO::PortE, GPIO::Pin7}),
 		//  initSPIBus(SPI::Bus::SPI4, {
 		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS_EN from board_config.h
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
 		//  }, {GPIO::PortG, GPIO::Pin8}),
 		initSPIBus(SPI::Bus::SPI5, {
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
@@ -205,7 +205,7 @@
 *(.text._ZN21MavlinkStreamAltitude8get_sizeEv)
 *(.text._ZN7Mavlink29check_requested_subscriptionsEv)
 *(.text.imxrt_lpspi_setmode)
-*(.text._ZN3Ekf36uncorrelateAndLimitHeadingCovarianceEv)
+*(.text._ZN3Ekf34controlZeroInnovationHeadingUpdateEv)
 *(.text.perf_begin)
 *(.text.imxrt_lpspi_setfrequency)
 *(.text._ZN17FlightModeManager9_initTaskE15FlightTaskIndex)
@@ -161,7 +161,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)

@@ -108,7 +108,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -123,7 +123,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -210,7 +210,7 @@
 #define GPIO_VDD_3V5_LTE_nOC            /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)


 /* Spare GPIO */
@@ -227,7 +227,7 @@
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_3V5_LTE_EN(on_true)            px4_arch_gpiowrite(GPIO_VDD_3V5_LTE_nEN, on_true)
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, on_true)
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))

 /* Tone alarm output */

@@ -342,7 +342,7 @@
 		GPIO_VDD_3V5_LTE_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,	  \
+		GPIO_VDD_3V3_SENSORS4_EN,	  \
 		GPIO_PH11,                        \
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
@@ -109,7 +109,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V5_LTE_EN(false);
 	VDD_5V_HIPOWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);

 }

@@ -211,7 +211,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	VDD_3V5_LTE_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);

 	/* Need hrt running before using the ADC */

@@ -259,7 +259,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -276,7 +276,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -420,7 +420,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_ETH_POWER_EN,                \
@@ -212,7 +212,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -267,7 +267,7 @@
 #define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
 #define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
+#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

@@ -289,7 +289,7 @@

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
 #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -452,7 +452,7 @@
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
 		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS_EN,         \
+		GPIO_VDD_3V3_SENSORS4_EN,         \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_PD15,                        \
@@ -107,7 +107,7 @@ __EXPORT void board_peripheral_reset(int ms)

 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
-	VDD_3V3_SENSORS_EN(false);
+	VDD_3V3_SENSORS4_EN(false);

 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -122,7 +122,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -219,7 +219,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	VDD_3V3_SENSORS_EN(true);
+	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

 	/* Need hrt running before using the ADC */
@@ -86,7 +86,7 @@ if("${CMAKE_SYSTEM}" MATCHES "Linux")
 		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
 		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
-		set(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+		set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})

 		# autogenerate dependency information
 		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
@@ -97,4 +97,9 @@ else()
 	set(CPACK_GENERATOR "ZIP")
 endif()

+# Board-specific overrides (loaded after defaults are set)
+if(EXISTS "${PX4_BOARD_DIR}/cmake/package.cmake")
+	include(${PX4_BOARD_DIR}/cmake/package.cmake)
+endif()
+
 include(CPack)
@@ -2,7 +2,7 @@
 #
 # Stack: PX4 Pro
 # Vehicle: Amovlab F410
-# Version: 1.15.4
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -301,6 +301,7 @@
 1	1	COM_FLTMODE5	-1	6
 1	1	COM_FLTMODE6	8	6
 1	1	COM_FLTT_LOW_ACT	3	6
+1	1	COM_FLT_PROFILE	0	6
 1	1	COM_FLT_TIME_MAX	-1	6
 1	1	COM_FORCE_SAFETY	0	6
 1	1	COM_HLDL_LOSS_T	120	6
@@ -308,8 +309,10 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
+1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
+1	1	COM_MOT_TEST_EN	1	6
 1	1	COM_OBC_LOSS_T	5.000000000000000000	9
 1	1	COM_OBL_RC_ACT	0	6
 1	1	COM_OBS_AVOID	0	6
@@ -476,6 +479,11 @@
 1	1	EKF2_WIND_NSD	0.050000000745058060	9
 1	1	EV_TSK_RC_LOSS	0	6
 1	1	EV_TSK_STAT_DIS	0	6
+1	1	FD_ACT_EN	1	6
+1	1	FD_ACT_MOT_C2T	2.000000000000000000	9
+1	1	FD_ACT_MOT_THR	0.200000002980232239	9
+1	1	FD_ACT_MOT_TOUT	100	6
+1	1	FD_ESCS_EN	1	6
 1	1	FD_EXT_ATS_EN	0	6
 1	1	FD_EXT_ATS_TRIG	1900	6
 1	1	FD_FAIL_P	60	6
@@ -476,6 +476,7 @@
    - [Flight Controller Porting Guide](hardware/porting_guide.md)
      - [PX4 Board Configuration (kconfig)](hardware/porting_guide_config.md)
      - [NuttX Board Porting Guide](hardware/porting_guide_nuttx.md)
+      - [Board Firmware Packaging (.deb)](hardware/board_packaging.md)
    - [Serial Port Mapping](hardware/serial_port_mapping.md)
    - [Airframes](dev_airframes/index.md)
      - [Adding a New Airframe](dev_airframes/adding_a_new_frame.md)
@@ -759,7 +760,6 @@
      - [Receiving Messages](mavlink/receiving_messages.md)
      - [Custom MAVLink Messages](mavlink/custom_messages.md)
      - [Message Signing](mavlink/message_signing.md)
-      - [Security Hardening](mavlink/security_hardening.md)
      - [Protocols/Microservices](mavlink/protocols.md)
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
@@ -5499,7 +5499,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 127      | 127      |           | 127     |      |
+| &nbsp; | 128      | 128      |           | 128     |      |

 ### RBCLW_DIS2 (`INT32`) {#RBCLW_DIS2}

@@ -5513,7 +5513,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 127      | 127      |           | 127     |      |
+| &nbsp; | 128      | 128      |           | 128     |      |

 ### RBCLW_FAIL1 (`INT32`) {#RBCLW_FAIL1}

@@ -5701,7 +5701,7 @@ Maxmimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 127      | 254      |           | 254     |      |
+| &nbsp; | 128      | 256      |           | 256     |      |

 ### RBCLW_MAX2 (`INT32`) {#RBCLW_MAX2}

@@ -5713,7 +5713,7 @@ Maxmimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 127      | 254      |           | 254     |      |
+| &nbsp; | 128      | 256      |           | 256     |      |

 ### RBCLW_MIN1 (`INT32`) {#RBCLW_MIN1}

@@ -5725,7 +5725,7 @@ Minimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 127      |           | 0       |      |
+| &nbsp; | 1        | 128      |           | 1       |      |

 ### RBCLW_MIN2 (`INT32`) {#RBCLW_MIN2}

@@ -5737,7 +5737,7 @@ Minimum output value (when not disarmed).

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 127      |           | 0       |      |
+| &nbsp; | 1        | 128      |           | 1       |      |

 ### RBCLW_REV (`INT32`) {#RBCLW_REV}

@@ -18620,6 +18620,25 @@ the estimated time it takes to reach the RTL destination.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

+### COM_FLT_PROFILE (`INT32`) {#COM_FLT_PROFILE}
+
+User Flight Profile.
+
+Describes the intended use of the vehicle.
+Can be used by ground control software or log post processing.
+This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).
+
+**Values:**
+
+- `0`: Default
+- `100`: Pro User
+- `200`: Flight Tester
+- `300`: Developer
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |      |
+
 ### COM_FLT_TIME_MAX (`INT32`) {#COM_FLT_TIME_MAX}

 Maximum allowed flight time.
@@ -18713,6 +18732,16 @@ See also FD_IMB_PROP_THR to set the failure threshold.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          | 1         | 0       |      |

+### COM_KILL_DISARM (`FLOAT`) {#COM_KILL_DISARM}
+
+Timeout value for disarming when kill switch is engaged.
+
+Use RC_MAP_KILL_SW to map a kill switch.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      | 30.0     | 0.1       | 5.0     | s    |
+
 ### COM_LKDOWN_TKO (`FLOAT`) {#COM_LKDOWN_TKO}

 Timeout for detecting a failure after takeoff.
@@ -18849,6 +18878,17 @@ By default disabled for safety reasons
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |      |

+### COM_MOT_TEST_EN (`INT32`) {#COM_MOT_TEST_EN}
+
+Enable Actuator Testing.
+
+If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that
+allows spinning the motors and moving the servos for testing purposes.
+
+| Reboot | minValue | maxValue | increment | default     | unit |
+| ------ | -------- | -------- | --------- | ----------- | ---- |
+| &nbsp; |          |          |           | Enabled (1) |      |
+
 ### COM_OBC_LOSS_T (`FLOAT`) {#COM_OBC_LOSS_T}

 Time-out to wait when onboard computer connection is lost before warning about loss connection.
@@ -19094,7 +19134,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
 Stick override threshold.

 If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
-the pilot takes over control.
+the autopilot the pilot takes over control.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20462,8 +20502,7 @@ Measurement noise for magnetic heading fusion.

 Determines the reference source of height data used by the EKF.

-When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
-If GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is still used to initiaize the bias of the other height sensors, regardless of the altitude fusion bit in EKF2_GPS_CTRL.
+When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. If GPS is set as reference but altitude fusion is disabled in EKF2_GPS_CTRL, the GPS altitude is still used to initiaize the bias of the other height sensors.

 **Values:**

@@ -22690,6 +22729,82 @@ Yaw rate proportional gain.

 ## Failure Detector

+### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
+
+Enable Actuator Failure check.
+
+If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle
+level is being consumed.
+Otherwise this indicates an motor failure.
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |      |
+
+### FD_ACT_HIGH_OFF (`FLOAT`) {#FD_ACT_HIGH_OFF}
+
+Overcurrent motor failure limit offset.
+
+threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 30       | 1         | 10.     | A    |
+
+### FD_ACT_LOW_OFF (`FLOAT`) {#FD_ACT_LOW_OFF}
+
+Undercurrent motor failure limit offset.
+
+threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 30       | 1         | 10.     | A    |
+
+### FD_ACT_MOT_C2T (`FLOAT`) {#FD_ACT_MOT_C2T}
+
+Motor Failure Current/Throttle Scale.
+
+Determines the slope between expected steady state current and linearized, normalized thrust command.
+E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
+FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      | 50.0     | 1         | 35.     | A/%  |
+
+### FD_ACT_MOT_THR (`FLOAT`) {#FD_ACT_MOT_THR}
+
+Motor Failure Thrust Threshold.
+
+Failure detection per motor only triggers above this thrust value.
+Set to 1 to disable the detection.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.0      | 1.0      | 0.01      | 0.2     | norm |
+
+### FD_ACT_MOT_TOUT (`INT32`) {#FD_ACT_MOT_TOUT}
+
+Motor Failure Hysteresis Time.
+
+Motor failure only triggers after current thresholds are exceeded for this time.
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 10       | 10000    | 100       | 1000    | ms   |
+
+### FD_ESCS_EN (`INT32`) {#FD_ESCS_EN}
+
+Enable checks on ESCs that report their arming state.
+
+If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state.
+Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
+
+| Reboot | minValue | maxValue | increment | default     | unit |
+| ------ | -------- | -------- | --------- | ----------- | ---- |
+| &nbsp; |          |          |           | Enabled (1) |      |
+
 ### FD_EXT_ATS_EN (`INT32`) {#FD_EXT_ATS_EN}

 Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).
@@ -28263,63 +28378,6 @@ needs to be changed to match a custom setting
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 0       |      |

-## Motor Failure
-
-### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
-
-Enable Actuator Failure check.
-
-If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle
-level is being consumed.
-Otherwise this indicates an motor failure.
-This check only works for ESCs that report current consumption.
-
-| Reboot | minValue | maxValue | increment | default      | unit |
-| ------ | -------- | -------- | --------- | ------------ | ---- |
-| &nbsp; |          |          |           | Disabled (0) |      |
-
-### MOTFAIL_C2T (`FLOAT`) {#MOTFAIL_C2T}
-
-Motor Failure Current/Throttle Scale.
-
-Determines the slope between expected steady state current and linearized, normalized thrust command.
-E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
-FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.0      | 50.0     | 1         | 35.     | A/%  |
-
-### MOTFAIL_HIGH_OFF (`FLOAT`) {#MOTFAIL_HIGH_OFF}
-
-Overcurrent motor failure limit offset.
-
-threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 30       | 1         | 10.     | A    |
-
-### MOTFAIL_LOW_OFF (`FLOAT`) {#MOTFAIL_LOW_OFF}
-
-Undercurrent motor failure limit offset.
-
-threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 30       | 1         | 10.     | A    |
-
-### MOTFAIL_TIME (`FLOAT`) {#MOTFAIL_TIME}
-
-Motor Failure Hysteresis Time.
-
-Motor failure only triggers after current thresholds are exceeded for this time.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.01     | 10       | 1         | 1.      | s    |
-
 ## Mount

 ### MNT_DO_STAB (`INT32`) {#MNT_DO_STAB}
@@ -31943,7 +32001,7 @@ Emergency Kill switch channel.

 This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.
 Unlike termination this can be undone. Quickly flipping the switch back restores control.
-System auto-disarms after 5 seconds, preflight checks and re-arming are then required.
+System auto-disarms after COM_KILL_DISARM seconds, preflight checks and re-arming are then required.

 **Values:**

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Eric Katzfey	05dedde993	Dependency fix	2026-03-16 12:55:53 -07:00
Eric Katzfey	bbb2e709da	Various fixes	2026-03-16 11:20:13 -07:00
Ramon Roche	14a8636cb0	fix(boards/modalai/voxl2): remove obsolete build-deps.sh from README The script was previously removed but the reference in the build instructions remained. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-14 08:41:21 -07:00
Ramon Roche	e219637d5d	feat(boards/modalai/voxl2): add Debian packaging framework Add a scalable .deb packaging framework for VOXL2, built on the existing cmake/package.cmake CPack infrastructure. The framework handles multi-processor boards by having the POSIX (_default) build own the .deb and pull in the companion SLPI build's artifacts. Board-specific files: - cmake/package.cmake: CPack variable overrides (name, deps, version) - cmake/install.cmake: install() rules for all .deb contents - debian/postinst: px4-* symlinks, DSP signature, directory setup - debian/prerm: service stop, symlink cleanup - debian/voxl-px4.service: systemd unit (after sscrpcd) Infrastructure changes: - cmake/package.cmake: hook for board-specific CPack overrides - platforms/posix/CMakeLists.txt: hook for board install.cmake - Makefile: %_deb pattern rule (build _default, then cpack -G DEB) - CI: auto-discover _deb targets, collect .deb artifacts, upload to GitHub Releases Future boards: add cmake/package.cmake + cmake/install.cmake and CI discovers it automatically. No new file formats or tools needed. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-14 08:41:21 -07:00
Ramon Roche	9077f55f85	ci(boards): filter companion targets from CI build groups Read companion_targets files from board directories and exclude those targets from CI grouped builds. The parent target builds them via Make prerequisite, avoiding redundant CI jobs. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-12 10:52:30 -07:00
Ramon Roche	2a510671e3	build(boards/modalai/voxl2): chain SLPI build as prerequisite of default target Add Makefile rules so that both `make modalai_voxl2` and `make modalai_voxl2_default` build the SLPI DSP firmware first. Add companion_targets file listing modalai_voxl2_slpi so CI knows to exclude it from independent build groups. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-12 10:52:23 -07:00
Ramon Roche	1e6f028c04	refactor(boards/modalai/voxl2): merge voxl2-slpi into voxl2 as board variant Consolidate the VOXL2 SLPI (DSP) board from a separate directory into the existing voxl2 board as a variant. Multi-processor SoCs like the QRB5165 should use one board directory with multiple .px4board files rather than separate directories per processor. Changes: - Add slpi.px4board (QURT/DSP) alongside default.px4board (POSIX/apps) - Merge board_config.h with __PX4_QURT / __PX4_POSIX preprocessor guards - Merge CMakeLists.txt with PX4_PLATFORM conditionals - Split bus definitions into platform-specific files (i2c/spi_posix/qurt) - Reorganize drivers into drivers/posix/ and drivers/qurt/ subdirectories - Guard cmake/init.cmake and cmake/link_libraries.cmake for posix-only - Update build and install scripts for new target names - Delete boards/modalai/voxl2-slpi/ entirely Build targets change: - modalai_voxl2-slpi_default -> modalai_voxl2_slpi - modalai_voxl2_default (unchanged) Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-03-12 10:52:10 -07:00