docs: Fix tool to make enum id anchor not link

Co-Authored-By: PX4 BuildBot <bot@px4.io>

.clang-tidy

@@ -105,6 +105,84 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
+                  -altera-struct-pack-align,
+                  -bugprone-easily-swappable-parameters,
+                  -concurrency-mt-unsafe,
+                  -cppcoreguidelines-avoid-const-or-ref-data-members,
+                  -cppcoreguidelines-macro-usage,
+                  -cppcoreguidelines-non-private-member-variables-in-classes,
+                  -hicpp-uppercase-literal-suffix,
+                  -llvm-qualified-auto,
+                  -misc-non-private-member-variables-in-classes,
+                  -misc-use-anonymous-namespace,
+                  -modernize-concat-nested-namespaces,
+                  -readability-const-return-type,
+                  -readability-identifier-length,
+                  -readability-isolate-declaration,
+                  -readability-qualified-auto,
+                  -readability-redundant-access-specifiers,
+                  -cppcoreguidelines-avoid-do-while,
+                  -misc-include-cleaner,
+                  -misc-const-correctness,
+                  -llvm-else-after-return,
+                  -readability-function-cognitive-complexity,
+                  -cppcoreguidelines-init-variables,
+                  -bugprone-reserved-identifier,
+                  -cert-dcl37-c,
+                  -cert-dcl51-cpp,
+                  -modernize-use-nodiscard,
+                  -misc-confusable-identifiers,
+                  -cert-err33-c,
+                  -readability-redundant-inline-specifier,
+                  -readability-uppercase-literal-suffix,
+                  -bugprone-narrowing-conversions,
+                  -cppcoreguidelines-narrowing-conversions,
+                  -bugprone-switch-missing-default-case,
+                  -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,
+                  -cppcoreguidelines-explicit-virtual-functions,
+                  -readability-convert-member-functions-to-static,
+                  -readability-make-member-function-const,
+                  -bugprone-assignment-in-if-condition,
+                  -bugprone-implicit-widening-of-multiplication-result,
+                  -bugprone-macro-parentheses,
+                  -bugprone-multi-level-implicit-pointer-conversion,
+                  -bugprone-signed-char-misuse,
+                  -bugprone-too-small-loop-variable,
+                  -cppcoreguidelines-avoid-non-const-global-variables,
+                  -cppcoreguidelines-use-default-member-init,
+                  -hicpp-multiway-paths-covered,
+                  -hicpp-named-parameter,
+                  -misc-header-include-cycle,
+                  -misc-no-recursion,
+                  -performance-no-int-to-ptr,
+                  -readability-avoid-return-with-void-value,
+                  -readability-avoid-unconditional-preprocessor-if,
+                  -readability-delete-null-pointer,
+                  -readability-redundant-casting,
+                  -readability-redundant-member-init,
+                  -readability-reference-to-constructed-temporary,
+                  -readability-simplify-boolean-expr,
+                  -cert-msc32-c,
+                  -cert-msc33-c,
+                  -cert-msc51-cpp,
+                  -cert-str34-c,
+                  -cppcoreguidelines-macro-to-enum,
+                  -modernize-macro-to-enum,
+                  -abseil-string-find-str-contains,
+                  -bugprone-suspicious-include,
+                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
+                  -clang-analyzer-optin.core.EnumCastOutOfRange,
+                  -modernize-type-traits,
+                  -misc-definitions-in-headers,
+                  -bugprone-casting-through-void,
+                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

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

@@ -21,8 +21,10 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
-  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+    Backticks are optional for hyperlinked CLI commands and tool names.
+  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
+    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.github/workflows/build_all_targets.yml

@@ -2,6 +2,37 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+#
+# ===================================================================================
+# RELEASE UPLOAD LOGIC
+# ===================================================================================
+# This workflow handles building firmware and uploading to S3 + GitHub Releases.
+#
+# S3 Bucket Structure (s3://px4-travis/Firmware/):
+#   - master/          <- Latest main branch build (for QGC compatibility)
+#   - stable/          <- Latest stable release, controlled by 'stable' branch
+#   - beta/            <- Latest pre-release, controlled by 'beta' branch
+#   - vX.Y.Z/          <- Archived stable release
+#   - vX.Y.Z-beta1/    <- Archived pre-release
+#
+# Trigger Behavior:
+#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
+#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
+#   - Branch main        -> Upload to: master/ (for QGC compatibility)
+#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
+#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
+#   - Branch release/**  -> Build only, no S3 upload (CI validation)
+#   - Pull requests      -> Build only, no S3 upload (CI validation)
+#
+# GitHub Releases:
+#   - All version tags create a draft GitHub Release
+#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
+#
+# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
+# corresponding branch pushes control those directories. This prevents
+# pre-release tags from accidentally overwriting stable firmware (#26340)
+# and avoids race conditions between tag and branch builds.
+# ===================================================================================
 
 name: Build all targets
 
@@ -29,6 +60,7 @@ concurrency:
 permissions:
   contents: write
   actions: read
+  packages: read
 
 jobs:
   group_targets:
@@ -94,6 +126,9 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: runs-on/action@v2
       - uses: actions/checkout@v4
@@ -159,6 +194,13 @@ jobs:
           path: ~/.ccache
           key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
+  # ===========================================================================
+  # ARTIFACT UPLOAD JOB
+  # ===========================================================================
+  # Uploads build artifacts to S3 and creates GitHub Releases.
+  # Runs for version tags (v*), main, stable, and beta branch pushes.
+  # See header comments for full upload logic documentation.
+  # ===========================================================================
   artifacts:
     name: Upload Artifacts
     # runs-on: ubuntu-latest
@@ -177,31 +219,31 @@ jobs:
       - name: Choose Upload Location
         id: upload-location
         run: |
-          # Determine upload location based on branch or tag with the following considerations:
-          # Destination: AWS S3 bucket px4-travis in folder Firmware/
-          # - If branch is main -> upload to master/
-          #   - Older versions of QGC are hardocded to look for master/
-          # - If branch is stable or beta -> upload to stable/ or beta/
-          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
-          #   - Also update stable/ to point to the same version
-          #.  - Older versions of QGC are hardocded to look for stable/
-          # - If a pull request -> do not upload
           set -euo pipefail
 
           ref="${GITHUB_REF}"
           branch=${{ needs.group_targets.outputs.branchname  }}
           location="$branch"
+          is_prerelease="false"
 
+          # Main branch uploads to "master" for QGC backward compatibility
           if [[ "$branch" == "main" ]]; then
             location="master"
           fi
 
+          # Version tags: upload to versioned directory (e.g., v1.16.1/)
           if [[ "$ref" == refs/tags/v[0-9]* ]]; then
             tag="${ref#refs/tags/}"
             location="$tag"
+
+            # Pre-release tags contain -alpha, -beta, or -rc suffix
+            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
+              is_prerelease="true"
+            fi
           fi
 
           echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
 
       - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -215,28 +257,13 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-      # if we are uploading artifacts to a versioned folder
-      # we should also update the stable folder in the s3 bucket
-      - name: Uploading Artifacts to S3 [stable]
-        uses: jakejarvis/s3-sync-action@master
-        if: startsWith(github.ref, 'refs/tags/v')
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/stable/
-
-      # if build is a release triggered by a versioned tag then create a github release
-      # and upload the build artifacts. A draft release is created so that the release
-      # can be reviewed before publishing
+      # Create a draft GitHub Release for all version tags
+      # Pre-releases are automatically marked as such
       - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
         if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
+          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -19,6 +19,10 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       fail-fast: false
       matrix:
@@ -35,20 +39,17 @@ jobs:
           "px4_sitl_allyes",
           "module_documentation",
         ]
+
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -1,4 +1,4 @@
-name: Clang Tidy
+name: Static Analysis
 
 on:
   push:
@@ -11,20 +11,59 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+
+permissions:
+  contents: read
+
 jobs:
-  build:
-    runs-on: ubuntu-latest
+  clang_tidy:
+    name: Clang-Tidy
+    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: px4io/px4-dev:v1.17.0-beta1
     steps:
+    - uses: runs-on/action@v2
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        fetch-tags: true
 
-    - name: Testing (clang-tidy)
-      uses: addnab/docker-run-action@v3
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - name: Restore Compiler Cache
+      id: cc_restore
+      uses: actions/cache/restore@v4
       with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy
+        path: ~/.ccache
+        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
+        restore-keys: |
+          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
+          ccache-clang-tidy-main-
+          ccache-clang-tidy-
+
+    - name: Configure Compiler Cache
+      run: |
+        mkdir -p ~/.ccache
+        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+        echo "compression = true" >> ~/.ccache/ccache.conf
+        echo "compression_level = 6" >> ~/.ccache/ccache.conf
+        echo "max_size = 120M" >> ~/.ccache/ccache.conf
+        echo "hash_dir = false" >> ~/.ccache/ccache.conf
+        echo "compiler_check = content" >> ~/.ccache/ccache.conf
+        ccache -s
+        ccache -z
+
+    - name: Run Clang-Tidy Analysis
+      run: make -j16 clang-tidy
+
+    - name: Compiler Cache Stats
+      if: always()
+      run: ccache -s
+
+    - name: Save Compiler Cache
+      if: always()
+      uses: actions/cache/save@v4
+      with:
+        path: ~/.ccache
+        key: ${{ steps.cc_restore.outputs.cache-primary-key }}

.github/workflows/compile_macos.yml

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

.github/workflows/docs-orchestrator.yml

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

.github/workflows/docs_deploy_aws.yml

@@ -1,116 +0,0 @@
-name: Docs - Deploy PX4 User Guide to AWS
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-  pull_request:
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-
-  workflow_dispatch:
-
-permissions:
-  contents: read
-  actions: read
-  id-token: write # for AWS OIDC
-
-concurrency:
-  group: docs-deploy
-  cancel-in-progress: false
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_flaw_checker.yml

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

.github/workflows/docs_pr_comment.yml

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

.github/workflows/ekf_functional_change_indicator.yml

@@ -15,21 +15,21 @@ concurrency:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there is a functional change
-      run: git diff --exit-code
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there is a functional change
+        run: git diff --exit-code
+        working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -8,40 +8,47 @@ on:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
 
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: main test
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
           make tests TESTFILTER=EKF
 
-    - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
-      working-directory: src/modules/ekf2/test/change_indication
+      - name: Check if there exists diff and save result in variable
+        id: diff-check
+        working-directory: src/modules/ekf2/test/change_indication
+        run: |
+          if git diff --quiet; then
+            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
+          else
+            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
+          fi
 
-    - name: auto-commit any changes to change indication
-      uses: stefanzweifel/git-auto-commit-action@v4
-      with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-        commit_user_name: ${GIT_COMMITTER_NAME}
-        commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
+      - name: auto-commit any changes to change indication
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        uses: stefanzweifel/git-auto-commit-action@v4
+        with:
+          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
+          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
+          commit_message: |
+            [AUTO COMMIT] update change indication
 
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
+            See .github/workflows/ekf_update_change_indicator.yml for more details
 
-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
-      run: exit 1
+      - name: if there is a functional change, fail check
+        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
+        run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -19,25 +19,27 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_test_mission.test \
+                mission:=MC_mission_box \
+                vehicle:=iris
+            '

.github/workflows/mavros_offboard_tests.yml

@@ -19,27 +19,26 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
+
     strategy:
       fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build SITL and Run Tests (inside old ROS container)
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+          docker run --rm \
+            -v "${GITHUB_WORKSPACE}:/workspace" \
+            -w /workspace \
+            px4io/px4-dev-ros-melodic:2021-09-08 \
+            bash -c '
+              git config --global --add safe.directory /workspace
+              make px4_sitl_default
+              make px4_sitl_default sitl_gazebo-classic
+              ./test/rostest_px4_run.sh \
+                mavros_posix_tests_offboard_posctl.test \
+                vehicle:=iris
+            '

.github/workflows/nuttx_env_config.yml

@@ -19,27 +19,28 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
+
+    container:
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+
     strategy:
       matrix:
-        config: [
-          px4_fmu-v5_default,
-          ]
+        config:
+          - px4_fmu-v5_default
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-        options: -v ${{ github.workspace }}:/workspace
+      - name: Build PX4 and Run Test [${{ matrix.config }}]
         run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          cd "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
           make ${{ matrix.config }} nuttx_context
+
           echo "Check that the config option is set"
           grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/sitl_tests.yml

@@ -33,8 +33,10 @@ jobs:
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
+          # transitions). Re-enable once the test infrastructure is stabilized.
+          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     steps:
       - uses: actions/checkout@v4

.gitignore

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

.gitmodules

@@ -109,3 +109,9 @@
 [submodule "src/lib/rl_tools/rl_tools"]
 	path = src/lib/rl_tools/rl_tools
 	url = https://github.com/rl-tools/rl-tools.git
+[submodule "libmodal-json"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
+[submodule "libmodal-pipe"]
+	path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
+	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

Makefile

@@ -412,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)
 
 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch
+LCOBUG = --ignore-errors mismatch,negative
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -492,13 +492,29 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
+# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
+# - All submodules (external code we consume, not edit)
+# - Test code (allowed looser style)
+# - Example code (educational, not production)
+# - Vendored third-party code (e.g., CMSIS_5)
+# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
+# - GPIO excluded here (NuttX platform headers)
+# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
+#   because CMake Unity Builds merge sources into a generated .cxx under build/
+#
+# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
+# Submodules are automatically excluded - no action needed when adding new ones.
+CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
+CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
+
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -598,3 +614,10 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
+
+# Generate reference documentation for uORB messages
+.PHONY: msg_docs
+msg_docs:
+	$(call colorecho,'Generating uORB message reference docs')
+	@mkdir -p build/msg_docs
+	@./Tools/msg/generate_msg_docs.py -d build/msg_docs

README.md

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

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

@@ -101,6 +101,7 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
+param set-default VT_PITCH_MIN -5
 param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

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

@@ -42,23 +42,21 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX -1
-param set-default CA_ROTOR0_AY 1
+param set-default CA_ROTOR0_AX 1
+param set-default CA_ROTOR0_AY -1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
-#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX -1
-param set-default CA_ROTOR1_AY -1
+param set-default CA_ROTOR1_AX 1
+param set-default CA_ROTOR1_AY 1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
-#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -67,7 +65,6 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
-#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -79,7 +76,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ 1
+param set-default CA_ROTOR4_AZ -1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -103,7 +100,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ 1
+param set-default CA_ROTOR7_AZ -1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,6 +22,9 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
 
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

Tools/astyle/files_to_check_code_style.sh

@@ -39,6 +39,8 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
     -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
+    -path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
     -path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
     -path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
     -path src/drivers/ins/sbgecom/sbgECom -prune -o \

Tools/ci/generate_board_targets_json.py

@@ -36,11 +36,20 @@ if args.filter:
         target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
+voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = ['qurt']
+excluded_platforms = []
+
+# Container overrides for platforms/boards that need a non-default container
+platform_container_overrides = {
+    'qurt': voxl2_container,
+}
+board_container_overrides = {
+    'modalai_voxl2': voxl2_container,
+}
 excluded_labels = [
     'stackcheck',
     'nolockstep', 'replay', 'test',
@@ -88,7 +97,20 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         container = default_container
-        if platform == 'posix':
+
+        # Extract board name (manufacturer_board) from target name
+        board_name = '_'.join(target_name.split('_')[:2])
+
+        # Apply container overrides for specific platforms or boards
+        if platform in platform_container_overrides:
+            container = platform_container_overrides[platform]
+        if board_name in board_container_overrides:
+            container = board_container_overrides[board_name]
+
+        # Boards with container overrides get their own group
+        if board_name in board_container_overrides or platform in platform_container_overrides:
+            group = 'voxl2'
+        elif platform == 'posix':
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
@@ -203,7 +225,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
+        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []

Tools/ci/metadata_sync.sh

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

Tools/ci/package_build_artifacts.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+cp **/**/*.elf 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#*/}

Tools/ci/test_metadata_sync.sh

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

Tools/docker_run.sh

@@ -1,47 +1,27 @@
 #! /bin/bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi
 
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
-fi
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
-PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=$PWD/../
+SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=${SCRIPT_DIR}/../
 
 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+	${PX4_DOCKER_REPO} /bin/bash -c "$@"

Tools/msg/generate_msg_docs.py

@@ -511,7 +511,7 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, command in self.commandConstants.items():
                 description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+                markdown += f'<a id="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
             """
             for commandConstant in self.commandConstants.values():
                 #print(commandConstant)
@@ -529,7 +529,7 @@ pageClass: is-wide-page
 
                 for enumValueName, enumValue in enum.enumValues.items():
                     description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+                    markdown += f'<a id="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
 
         # Generate table for constants docs
         if len(self.constantFields) > 0:
@@ -538,7 +538,7 @@ pageClass: is-wide-page
             markdown += "--- | --- | --- |---\n"
             for name, enum in self.constantFields.items():
                 description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+                markdown += f'<a id="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
 
 
 
@@ -635,8 +635,8 @@ pageClass: is-wide-page
             temp = fieldOrConstant.split("=")
             value = temp[-1]
             typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
+            type = typeAndName[0].strip()
+            name = typeAndName[1].strip()
             if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
                 #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
                 commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
@@ -729,10 +729,10 @@ pageClass: is-wide-page
 
             # Fix up topics if the topic is empty
             def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+                # Insert underscore between lowercase/digit and uppercase letter
+                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
+                # Insert underscore between consecutive uppercase and uppercase+lowercase
+                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
 
             defaultTopic = camel_to_snake(self.name)
             if len(self.topics) == 0:
@@ -745,7 +745,7 @@ pageClass: is-wide-page
                     error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
                 else:
                     # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
                 if not "topic_error" in self.errors:
                     self.errors["topic_error"] = []
                     self.errors["topic_error"].append(error)
@@ -944,9 +944,6 @@ if __name__ == "__main__":
 
     for msg_file in msg_files:
         # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
         msgTypes.add(msg_name)
 

Tools/run-clang-tidy.py

@@ -144,6 +144,8 @@ def main():
                       help='number of tidy instances to be run in parallel.')
   parser.add_argument('files', nargs='*', default=['.*'],
                       help='files to be processed (regex on path)')
+  parser.add_argument('-exclude', dest='exclude', default=None,
+                      help='regular expression matching files to exclude')
   parser.add_argument('-fix', action='store_true', help='apply fix-its')
   parser.add_argument('-format', action='store_true', help='Reformat code '
                       'after applying fixes')
@@ -192,6 +194,7 @@ def main():
 
   # Build up a big regexy filter from all command line arguments.
   file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
+  exclude_re = re.compile(args.exclude) if args.exclude else None
 
   try:
     # Spin up a bunch of tidy-launching threads.
@@ -205,6 +208,8 @@ def main():
     # Fill the queue with files.
     for name in files:
       if file_name_re.search(name):
+        if exclude_re and exclude_re.search(name):
+          continue
         queue.put(name)
 
     # Wait for all threads to be done.

Tools/setup/docker-entrypoint.sh

@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
 
-echo -e "$SCRIPTID Starting"
+echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
 
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,6 +22,4 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
-echo -e "$SCRIPTID ($( uname -m ))"
-
 exec "$@"

Tools/setup/macos.sh

@@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-	if brew ls --versions px4-sim > /dev/null; then
+	if ! brew ls --versions px4-sim > /dev/null; then
 		brew install px4-sim
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim

Tools/setup/ubuntu.sh

@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for nuttx, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
 ##
 
 INSTALL_NUTTX="true"
@@ -207,37 +207,18 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;
 
-	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
+	# Gazebo Harmonic installation (Ubuntu 22.04+)
+	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+	# Add Gazebo binary repository
+	sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+	echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+	sudo apt-get update -y --quiet
 
-		# Install Gazebo classic
-		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-			gazebo_classic_version=9
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		else
-			# default and Ubuntu 20.04
-			gazebo_classic_version=11
-			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
-		fi
-	else
-		# Expects Ubuntu 22.04 > by default
-		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-		echo "[ubuntu.sh] Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
+	# Install Gazebo
+	gazebo_packages="gz-harmonic libunwind-dev"
 
-		# Install Gazebo
-		gazebo_packages="gz-harmonic libunwind-dev"
-
-		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-			gazebo_packages="$gazebo_packages cppzmq-dev"
-		fi
+	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+		gazebo_packages="$gazebo_packages cppzmq-dev"
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \

boards/ark/fmu-v6x/src/board_config.h

@@ -243,15 +243,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -465,14 +456,6 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/ark/fmu-v6x/zenoh.px4board

@@ -0,0 +1,5 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_MODULES_ZENOH=y

boards/ark/fpv/init/rc.board_defaults

@@ -26,6 +26,8 @@ then
 fi
 
 param set-default BAT1_V_DIV 21.0
+param set-default BAT1_V_FILT 0.075
+param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/src/board_config.h

@@ -176,9 +176,6 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
-#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
-#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
-
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -226,16 +223,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
-#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
-#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
-#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
-#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
-
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
 /* Power supply control and monitoring GPIOs */
@@ -339,15 +326,6 @@
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
 		SPI6_nRESET_EXTERNAL1,            \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
-		GPIO_FMU_CH9,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
 

boards/ark/pi6x/src/board_config.h

@@ -206,15 +206,6 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -341,14 +332,6 @@
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/cuav/fmu-v6x/init/rc.board_sensors

@@ -66,15 +66,15 @@ then
 	fi
 fi
 
+iim42652 -R 6 -s -C 32768 start
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
-iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start
 
 rm3100 -I -b 4 start
 
-icp201xx -I -a 0x64 start
 bmp581 -b 2 -X -a 0x47 start
+icp201xx -I -a 0x64 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

boards/cuav/nora/src/board_config.h

@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
 
-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -43,6 +43,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
+
 #  ifndef GPIO_CORE_HEATER_OUTPUT
 #  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
 #  endif
@@ -62,7 +64,7 @@ Core_Heater::~Core_Heater()
 int Core_Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -117,7 +119,7 @@ bool Core_Heater::initialize_topics()
 void Core_Heater::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -216,8 +218,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(core_heater);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(core_heater);
+	desc.task_id = task_id_is_work_queue;
 
 	core_heater->start();
 	return 0;
@@ -257,5 +259,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
 
 extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
 {
-	return Core_Heater::main(argc, argv);
+	return ModuleBase::main(Core_Heater::desc, argc, argv);
 }

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -56,9 +56,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Core_Heater();
 
 	virtual ~Core_Heater();

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -33,6 +33,8 @@
 
 #include "NavioRGBLed.hpp"
 
+ModuleBase::Descriptor NavioRGBLed::desc{task_spawn, custom_command, print_usage};
+
 NavioRGBLed::NavioRGBLed() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
@@ -130,8 +132,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +144,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -170,5 +172,5 @@ Emlid Navio2 RGB LED driver.
 
 extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
 {
-	return NavioRGBLed::main(argc, argv);
+	return ModuleBase::main(NavioRGBLed::desc, argc, argv);
 }

boards/emlid/navio2/navio_rgbled/NavioRGBLed.hpp

@@ -40,9 +40,11 @@
 
 #include <lib/led/led.h>
 
-class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
+class NavioRGBLed : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	NavioRGBLed();
 	~NavioRGBLed() override;
 

boards/modalai/voxl2-slpi/default.px4board

@@ -5,14 +5,19 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
@@ -26,6 +31,11 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y

boards/modalai/voxl2-slpi/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 /*
  * I2C buses

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -49,6 +49,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 uint32_t GhstRc::baudrate = GHST_BAUDRATE;
 
 GhstRc::GhstRc(const char *device) :
@@ -114,8 +116,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -174,7 +176,7 @@ void GhstRc::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_rc_fd = -1;
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -308,5 +310,5 @@ This module parses the GHST RC uplink protocol and can generate GHST downlink te
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -54,9 +54,11 @@
 
 #define GHST_MAX_NUM_CHANNELS			(16)
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	~GhstRc() override;
 

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.cpp

@@ -59,6 +59,8 @@
 
 #include "rc_controller.hpp"
 
+ModuleBase::Descriptor RC_ControllerModule::desc{task_spawn, custom_command, print_usage};
+
 int RC_ControllerModule::print_status()
 {
 	PX4_INFO("Running");
@@ -69,35 +71,35 @@ int RC_ControllerModule::print_status()
 
 int RC_ControllerModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "throttle")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_throttle(val);
+		get_instance<RC_ControllerModule>(desc)->set_throttle(val);
 		PX4_INFO("Setting throttle to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "yaw")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_yaw(val);
+		get_instance<RC_ControllerModule>(desc)->set_yaw(val);
 		PX4_INFO("Setting yaw to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "pitch")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_pitch(val);
+		get_instance<RC_ControllerModule>(desc)->set_pitch(val);
 		PX4_INFO("Setting pitch to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "roll")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_roll(val);
+		get_instance<RC_ControllerModule>(desc)->set_roll(val);
 		PX4_INFO("Setting roll to %u", val);
 		return 0;
 	}
@@ -106,17 +108,24 @@ int RC_ControllerModule::custom_command(int argc, char *argv[])
 }
 
 
+int RC_ControllerModule::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return RC_ControllerModule::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int RC_ControllerModule::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("RC_ControllerModule",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
-				      1024,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("RC_ControllerModule",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX,
+					  1024,
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
@@ -252,5 +261,5 @@ int RC_ControllerModule::print_usage(const char *reason)
 
 int rc_controller_main(int argc, char *argv[])
 {
-	return RC_ControllerModule::main(argc, argv);
+	return ModuleBase::main(RC_ControllerModule::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.hpp

@@ -41,9 +41,11 @@
 
 extern "C" __EXPORT int rc_controller_main(int argc, char *argv[]);
 
-class RC_ControllerModule : public ModuleBase<RC_ControllerModule>, public ModuleParams
+class RC_ControllerModule : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	RC_ControllerModule();
 
 	virtual ~RC_ControllerModule() = default;
@@ -51,6 +53,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static RC_ControllerModule *instantiate(int argc, char *argv[]);
 

boards/modalai/voxl2-slpi/src/spi.cpp

@@ -36,5 +36,5 @@
 #include <drivers/drv_sensor.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), }),
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), initSPIDevice(DRV_IMU_DEVTYPE_BMI270), }),
 };

boards/modalai/voxl2/cmake/init.cmake

@@ -31,4 +31,34 @@
 #
 ############################################################################
 
+# Initialize libfc-sensor-api submodule (fetches from GitLab if not present)
+execute_process(
+	COMMAND Tools/check_submodules.sh boards/modalai/voxl2/libfc-sensor-api
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
+
 include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
+
+# Build libfc_sensor.so stub library automatically if not already built
+set(FC_SENSOR_LIB ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so)
+if(NOT EXISTS ${FC_SENSOR_LIB})
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} ..
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_CMAKE_RESULT
+	)
+	if(NOT FC_SENSOR_CMAKE_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to configure libfc_sensor stub library")
+	endif()
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} --build .
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+		RESULT_VARIABLE FC_SENSOR_BUILD_RESULT
+	)
+	if(NOT FC_SENSOR_BUILD_RESULT EQUAL 0)
+		message(FATAL_ERROR "Failed to build libfc_sensor stub library")
+	endif()
+endif()

boards/modalai/voxl2/default.px4board

@@ -3,6 +3,8 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOT_PATH="/data/px4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
@@ -25,5 +27,6 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_PARAM_PRIMARY=y

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -128,6 +128,11 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_air_data_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_baro_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dps310"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-icp101xx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_local_position_bridge"
 
 # Make sure any required directories exist
 adb shell "/bin/mkdir -p /data/px4/param"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -39,11 +39,20 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
 
 add_library(drivers_board
 	board_config.h
+	i2c.cpp
 	init.c
+	boardctl.c
+	spi.cpp
     )
 
 # Add custom drivers
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
 
+# Add custom libraries
+add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
+
 # Add custom modules
 add_subdirectory(${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)

boards/modalai/voxl2/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,12 +39,24 @@
 
 #pragma once
 
-#define BOARD_HAS_NO_RESET
+#define CONFIG_BOARDCTL_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 
-// Define this as empty since there are no I2C buses
+// 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
+ */
+#define CONFIG_SPI 1
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
+
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
 

boards/modalai/voxl2/src/boardctl.c

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+
+#include <unistd.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "fc_sensor.h"
+
+int boardctl(unsigned int cmd, uintptr_t arg)
+{
+	fc_sensor_kill_slpi();
+	sleep(2);
+	exit(-1);
+	return 0;
+}

boards/modalai/voxl2/src/i2c.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/i2c.h>
+#include <px4_arch/i2c_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(0)
+};

boards/modalai/voxl2/src/lib/mpa/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 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.
+#
+############################################################################
+
+px4_add_git_submodule(TARGET git_mpa_libmodal-json PATH "libmodal-json")
+px4_add_git_submodule(TARGET git_mpa_libmodal-pipe PATH "libmodal-pipe")
+
+px4_add_library(mpa mpa.cpp)
+
+target_link_libraries(mpa PRIVATE ${CMAKE_DL_LIBS})
+
+target_include_directories(mpa PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-json/library/include
+	${CMAKE_CURRENT_SOURCE_DIR}/libmodal-pipe/library/include
+)

boards/modalai/voxl2/src/lib/mpa/mpa.cpp

@@ -0,0 +1,262 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+
+#include "mpa.hpp"
+#include <dlfcn.h>
+#include <px4_log.h>
+#include <string.h>
+
+bool MPA::initialized = false;
+void *MPA::handle = nullptr;
+int MPA::current_client = 0;
+int MPA::current_server = 0;
+
+MPA::pipe_client_set_simple_helper_cb_t MPA::helper_cb = nullptr;
+MPA::pipe_client_set_connect_cb_t MPA::connect_cb = nullptr;
+MPA::pipe_client_set_disconnect_cb_t MPA::disconnect_cb = nullptr;
+MPA::pipe_client_open_t MPA::open_pipe = nullptr;
+MPA::pipe_server_create_t MPA::create_pipe = nullptr;
+MPA::pipe_server_write_t MPA::write_pipe = nullptr;
+MPA::pipe_server_set_control_cb_t MPA::set_control_cb = nullptr;
+MPA::pipe_server_close_t MPA::close_pipe = nullptr;
+MPA::mpa_data_cb_t MPA::data_cb[MAX_MPA_CLIENTS];
+
+// called whenever we connect or reconnect to the server
+void MPA::ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server connected");
+	return;
+}
+
+// called whenever we disconnect from the server
+void MPA::DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
+{
+	PX4_INFO("vfc status server disconnected");
+	return;
+}
+
+void MPA::HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
+{
+	// PX4_INFO("Got %d bytes in pipe callback", bytes);
+
+	if (data_cb[ch]) { data_cb[ch](data, bytes); }
+
+	return;
+}
+
+int MPA::PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	printf("waiting for server for pipe %s\n", pipe_name);
+
+	if (open_pipe(current_client, pipe_name, "px4", EN_PIPE_CLIENT_SIMPLE_HELPER, size * 10) < 0) {
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	data_cb[current_client] = cb;
+	current_client++;
+
+	return current_client - 1;
+}
+
+int MPA::PipeCreate(char *pipe_name, int flags)
+{
+	if (!initialized) {
+		PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
+		return -1;
+	}
+
+	pipe_info_t server_pipe;
+	strncpy(server_pipe.name, pipe_name, MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.name[MODAL_PIPE_MAX_NAME_LEN - 1] = 0;
+	server_pipe.location[0] = 0;
+	server_pipe.type[0]     = 0;
+	strncpy(server_pipe.server_name, "px4_mpa", MODAL_PIPE_MAX_NAME_LEN);
+	server_pipe.size_bytes  = MODAL_PIPE_DEFAULT_PIPE_SIZE;
+	server_pipe.server_pid  = 0;
+
+	if (create_pipe(current_server, server_pipe, flags) < 0) {
+		// remove_pid_file(server_pipe.server_name);
+		PX4_ERR("Error opening pipe %s", pipe_name);
+		return -1;
+	}
+
+	current_server++;
+
+	return current_server - 1;
+}
+
+int MPA::PipeWrite(int ch, const void *data, int bytes)
+{
+	return write_pipe(ch, data, bytes);
+}
+
+int MPA::PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context)
+{
+	return set_control_cb(ch, cb, context);
+}
+
+void MPA::PipeServerClose(int ch)
+{
+	if (close_pipe) {
+		close_pipe(ch);
+	}
+}
+
+int MPA::Initialize()
+{
+	if (initialized) {
+		// Already successfully initialized
+		return 0;
+	}
+
+	char libname[] = "libmodal_pipe.so";
+	handle = dlopen(libname, RTLD_LAZY | RTLD_GLOBAL);
+
+	if (!handle) {
+		PX4_ERR("Error opening library %s: %s\n", libname, dlerror());
+		return -1;
+
+	} else {
+		PX4_INFO("Successfully loaded library %s", libname);
+	}
+
+	// set up all our MPA callbacks
+	char helper_cb_name[] = "pipe_client_set_simple_helper_cb";
+	helper_cb = (pipe_client_set_simple_helper_cb_t) dlsym(handle, helper_cb_name);
+
+	if (!helper_cb) {
+		PX4_ERR("Error finding symbol %s: %s\n", helper_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", helper_cb_name);
+	}
+
+	helper_cb(0, HelperCB, NULL);
+
+	char connect_cb_name[] = "pipe_client_set_connect_cb";
+	connect_cb = (pipe_client_set_connect_cb_t) dlsym(handle, connect_cb_name);
+
+	if (!connect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", connect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", connect_cb_name);
+	}
+
+	connect_cb(0, ConnectCB, NULL);
+
+	char disconnect_cb_name[] = "pipe_client_set_disconnect_cb";
+	disconnect_cb = (pipe_client_set_disconnect_cb_t) dlsym(handle, disconnect_cb_name);
+
+	if (!disconnect_cb) {
+		PX4_ERR("Error finding symbol %s: %s", disconnect_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", disconnect_cb_name);
+	}
+
+	disconnect_cb(0, DisconnectCB, NULL);
+
+	// request a new pipe from the server
+	char open_pipe_name[] = "pipe_client_open";
+	open_pipe = (pipe_client_open_t) dlsym(handle, open_pipe_name);
+
+	if (!open_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", open_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", open_pipe_name);
+	}
+
+	// Create a new server pipe
+	char create_pipe_name[] = "pipe_server_create";
+	create_pipe = (pipe_server_create_t) dlsym(handle, create_pipe_name);
+
+	if (!create_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", create_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", create_pipe_name);
+	}
+
+	// Write to a server pipe
+	char write_pipe_name[] = "pipe_server_write";
+	write_pipe = (pipe_server_write_t) dlsym(handle, write_pipe_name);
+
+	if (!write_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", write_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", write_pipe_name);
+	}
+
+	// Set control callback for server pipe
+	char set_control_cb_name[] = "pipe_server_set_control_cb";
+	set_control_cb = (pipe_server_set_control_cb_t) dlsym(handle, set_control_cb_name);
+
+	if (!set_control_cb) {
+		PX4_ERR("Error finding symbol %s: %s", set_control_cb_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", set_control_cb_name);
+	}
+
+	// Close server pipe
+	char close_pipe_name[] = "pipe_server_close";
+	close_pipe = (pipe_server_close_t) dlsym(handle, close_pipe_name);
+
+	if (!close_pipe) {
+		PX4_ERR("Error finding symbol %s: %s", close_pipe_name, dlerror());
+		return -1;
+
+	} else {
+		PX4_DEBUG("Successfully loaded function %s", close_pipe_name);
+	}
+
+	initialized = true;
+
+	return 0;
+}

boards/modalai/voxl2/src/lib/mpa/mpa.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+#include <modal_pipe.h>
+
+#pragma once
+
+class MPA
+{
+public:
+	static int Initialize();
+
+	typedef void (*mpa_data_cb_t)(char *data, int bytes);
+	typedef void (*mpa_control_cb_t)(int ch, char *data, int bytes, void *context);
+
+	static int PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb);
+
+	static int PipeCreate(char *pipe_name, int flags = 0);
+	static int PipeWrite(int ch, const void *data, int bytes);
+	static int PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context);
+	static void PipeServerClose(int ch);
+
+private:
+	static void HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context);
+	static void DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+	static void ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
+
+	typedef int (*pipe_client_set_simple_helper_cb_t)(int ch, client_simple_cb *cb, void *context);
+	typedef int (*pipe_client_set_connect_cb_t)(int ch, client_connect_cb *cb, void *context);
+	typedef int (*pipe_client_set_disconnect_cb_t)(int ch, client_disc_cb *cb, void *context);
+	typedef int (*pipe_client_open_t)(int ch, const char *name_or_location, const char *client_name, int flags, int buf_len);
+	typedef int (*pipe_server_create_t)(int ch, pipe_info_t info, int flags);
+	typedef int (*pipe_server_write_t)(int ch, const void *data, int bytes);
+	typedef int (*pipe_server_set_control_cb_t)(int ch, server_control_cb *cb, void *context);
+	typedef void (*pipe_server_close_t)(int ch);
+
+	static pipe_client_set_simple_helper_cb_t helper_cb;
+	static pipe_client_set_connect_cb_t connect_cb;
+	static pipe_client_set_disconnect_cb_t disconnect_cb;
+	static pipe_client_open_t open_pipe;
+	static pipe_server_create_t create_pipe;
+	static pipe_server_write_t write_pipe;
+	static pipe_server_set_control_cb_t set_control_cb;
+	static pipe_server_close_t close_pipe;
+
+	static bool initialized;
+	static void *handle;
+
+	static int current_client;
+	static int current_server;
+
+	static const int MAX_MPA_CLIENTS{8};
+	static mpa_data_cb_t data_cb[MAX_MPA_CLIENTS];
+};

boards/modalai/voxl2/src/modules/sensor_baro_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__sensor_baro_bridge
+	MAIN sensor_baro_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		sensor_baro_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/sensor_baro_bridge/sensor_baro_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_baro.h>
+
+class SensorBaroBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	SensorBaroBridge();
+	~SensorBaroBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
+
+	sensor_baro_s _sensor_baro{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor SensorBaroBridge::desc{task_spawn, custom_command, print_usage};
+
+SensorBaroBridge::SensorBaroBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool SensorBaroBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_sensor_baro";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_sensor_baro_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void SensorBaroBridge::Run()
+{
+	if (should_exit()) {
+		_sensor_baro_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_sensor_baro_sub.updated()) {
+		if (_sensor_baro_sub.update(&_sensor_baro)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _sensor_baro.pressure;
+			baro.temp_c = _sensor_baro.temperature;
+			baro.alt_amsl_m = 0.0f; // sensor_baro does not include altitude
+			baro.timestamp_ns = _sensor_baro.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int SensorBaroBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorBaroBridge::task_spawn(int argc, char *argv[])
+{
+	SensorBaroBridge *instance = new SensorBaroBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorBaroBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Sensor baro bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_baro_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_baro_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(SensorBaroBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__vehicle_air_data_bridge
+	MAIN vehicle_air_data_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_air_data_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/vehicle_air_data_bridge.cpp

@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_air_data.h>
+
+class VehicleAirDataBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleAirDataBridge();
+	~VehicleAirDataBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_air_data_sub{this, ORB_ID(vehicle_air_data)};
+
+	vehicle_air_data_s _vehicle_air_data{};
+
+	int baro_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleAirDataBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleAirDataBridge::VehicleAirDataBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleAirDataBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char baro_pipe_name[] = "px4_vehicle_air_data";
+	baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
+
+	if (baro_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", baro_pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_air_data_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleAirDataBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_air_data_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_air_data_sub.updated()) {
+		if (_vehicle_air_data_sub.update(&_vehicle_air_data)) {
+			baro_data_t baro;
+			memset(&baro, 0, sizeof(baro));
+
+			baro.magic_number = BARO_MAGIC_NUMBER;
+			baro.pressure_pa = _vehicle_air_data.baro_pressure_pa;
+			baro.temp_c = _vehicle_air_data.ambient_temperature;
+			baro.alt_amsl_m = _vehicle_air_data.baro_alt_meter;
+			baro.timestamp_ns = _vehicle_air_data.timestamp * 1000; // Convert µs to ns
+			baro.reserved_1 = 0;
+			baro.reserved_2 = 0;
+
+			if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleAirDataBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleAirDataBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleAirDataBridge *instance = new VehicleAirDataBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleAirDataBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle air data bridge
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_air_data_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_air_data_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleAirDataBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025-2026 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__vehicle_local_position_bridge
+	MAIN vehicle_local_position_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		vehicle_local_position_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/vehicle_local_position_bridge.cpp

@@ -0,0 +1,238 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025-2026 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.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <math.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_local_position.h>
+
+class VehicleLocalPositionBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	VehicleLocalPositionBridge();
+	~VehicleLocalPositionBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
+
+	vehicle_local_position_s _vehicle_local_position{};
+
+	int _pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor VehicleLocalPositionBridge::desc{task_spawn, custom_command, print_usage};
+
+VehicleLocalPositionBridge::VehicleLocalPositionBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool VehicleLocalPositionBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char pipe_name[] = "px4_vehicle_local_position";
+	_pipe_ch = MPA::PipeCreate(pipe_name);
+
+	if (_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", pipe_name);
+		return false;
+	}
+
+	if (!_vehicle_local_position_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void VehicleLocalPositionBridge::Run()
+{
+	if (should_exit()) {
+		_vehicle_local_position_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		if (_vehicle_local_position_sub.update(&_vehicle_local_position)) {
+			// Only publish if we have valid position data
+			if (!_vehicle_local_position.xy_valid && !_vehicle_local_position.z_valid) {
+				return;
+			}
+
+			pose_vel_6dof_t pose;
+
+			pose.magic_number = POSE_VEL_6DOF_MAGIC_NUMBER;
+			pose.timestamp_ns = _vehicle_local_position.timestamp * 1000; // Convert µs to ns
+
+			// Position (NED frame)
+			if (_vehicle_local_position.xy_valid) {
+				pose.T_child_wrt_parent[0] = _vehicle_local_position.x;
+				pose.T_child_wrt_parent[1] = _vehicle_local_position.y;
+
+			} else {
+				pose.T_child_wrt_parent[0] = NAN;
+				pose.T_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.z_valid) {
+				pose.T_child_wrt_parent[2] = _vehicle_local_position.z;
+
+			} else {
+				pose.T_child_wrt_parent[2] = NAN;
+			}
+
+			// Rotation matrix from heading (yaw rotation around Z axis)
+			// R_z(heading) = [cos(h)  -sin(h)  0]
+			//                [sin(h)   cos(h)  0]
+			//                [0        0       1]
+			float cos_h = cosf(_vehicle_local_position.heading);
+			float sin_h = sinf(_vehicle_local_position.heading);
+			pose.R_child_to_parent[0][0] = cos_h;
+			pose.R_child_to_parent[0][1] = -sin_h;
+			pose.R_child_to_parent[0][2] = 0.0f;
+			pose.R_child_to_parent[1][0] = sin_h;
+			pose.R_child_to_parent[1][1] = cos_h;
+			pose.R_child_to_parent[1][2] = 0.0f;
+			pose.R_child_to_parent[2][0] = 0.0f;
+			pose.R_child_to_parent[2][1] = 0.0f;
+			pose.R_child_to_parent[2][2] = 1.0f;
+
+			// Velocity (NED frame)
+			if (_vehicle_local_position.v_xy_valid) {
+				pose.v_child_wrt_parent[0] = _vehicle_local_position.vx;
+				pose.v_child_wrt_parent[1] = _vehicle_local_position.vy;
+
+			} else {
+				pose.v_child_wrt_parent[0] = NAN;
+				pose.v_child_wrt_parent[1] = NAN;
+			}
+
+			if (_vehicle_local_position.v_z_valid) {
+				pose.v_child_wrt_parent[2] = _vehicle_local_position.vz;
+
+			} else {
+				pose.v_child_wrt_parent[2] = NAN;
+			}
+
+			// Angular velocity not available in vehicle_local_position
+			pose.w_child_wrt_child[0] = NAN;
+			pose.w_child_wrt_child[1] = NAN;
+			pose.w_child_wrt_child[2] = NAN;
+
+			if (MPA::PipeWrite(_pipe_ch, (void *)&pose, sizeof(pose_vel_6dof_t)) == -1) {
+				PX4_ERR("Pipe %d write failed!", _pipe_ch);
+			}
+		}
+	}
+}
+
+int VehicleLocalPositionBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int VehicleLocalPositionBridge::task_spawn(int argc, char *argv[])
+{
+	VehicleLocalPositionBridge *instance = new VehicleLocalPositionBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int VehicleLocalPositionBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Vehicle local position bridge - publishes vehicle_local_position to MPA pipe as pose_vel_6dof_t
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("vehicle_local_position_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int vehicle_local_position_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(VehicleLocalPositionBridge::desc, argc, argv);
+}

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -41,6 +41,8 @@
 
 using namespace std;
 
+ModuleBase::Descriptor VoxlSaveCalParams::desc{task_spawn, custom_command, print_usage};
+
 static bool debug = false;
 
 VoxlSaveCalParams::VoxlSaveCalParams() :
@@ -145,7 +147,7 @@ VoxlSaveCalParams::Run()
 {
 	if (should_exit()) {
 		_parameter_primary_set_value_request_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -186,8 +188,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -198,8 +200,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -230,5 +232,5 @@ This implements autosaving of calibration parameters on VOXL2 platform.
 
 extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
 {
-	return VoxlSaveCalParams::main(argc, argv);
+	return ModuleBase::main(VoxlSaveCalParams::desc, argc, argv);
 }

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -46,10 +46,12 @@
 
 using namespace time_literals;
 
-class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+class VoxlSaveCalParams : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	VoxlSaveCalParams();
 	~VoxlSaveCalParams() = default;
 

boards/modalai/voxl2/src/spi.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025-2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <px4_platform_common/spi.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 0), }),
+};

boards/modalai/voxl2/target/voxl-px4

@@ -2,10 +2,12 @@
 
 CONFIG_FILE="/etc/modalai/voxl-px4.conf"
 
+AIRFRAME=MULTICOPTER
 GPS=NONE
 RC=SPEKTRUM
 ESC=VOXL_ESC
 POWER_MANAGER=VOXLPM
+AIRSPEED_SENSOR=NONE
 DISTANCE_SENSOR=NONE
 OSD=DISABLE
 DAEMON_MODE=DISABLE
@@ -39,12 +41,14 @@ else
 fi
 
 print_usage() {
-    echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]"
+    echo -e "\nUsage: voxl-px4 [-a (Specify Airspeed Sensor)]"
+    echo "                [-b (Specify Holybro GPS unit)]"
     echo "                [-c delete configuration file and exit]"
     echo "                [-d start px4 without daemon mode]"
     echo "                [-f (Use fake rc input instead of from a real transmitter)]"
     echo "                [-m (Specify Matek GPS unit)]"
     echo "                [-o (Start OSD module on the apps processor)]"
+    echo "                [-p (Specify Fixed Wing airframe selected)]"
     echo "                [-r (Specify TBS Crossfire RC receiver, MAVLINK)]"
     echo "                [-w (Specify TBS Crossfire RC receiver, raw)]"
     echo "                [-z (Use fake sensor calibration values)]"
@@ -55,10 +59,12 @@ print_usage() {
 
 print_config_settings(){
     echo -e "\n*************************"
+    echo "AIRFRAME=$AIRFRAME"
     echo "GPS=$GPS"
     echo "RC=$RC"
     echo "ESC=$ESC"
     echo "POWER MANAGER=$POWER_MANAGER"
+    echo "AIRSPEED SENSOR=$AIRSPEED_SENSOR"
     echo "DISTANCE SENSOR=$DISTANCE_SENSOR"
     echo "OSD=$OSD"
     echo "DAEMON_MODE=$DAEMON_MODE"
@@ -71,9 +77,13 @@ print_config_settings(){
     echo -e "*************************\n"
 }
 
-while getopts "bcdhfmorwz" flag
+while getopts "abcdhfmoprwz" flag
 do
     case "${flag}" in
+        a)
+            echo "[INFO] MRO AIRSPEED Sensor selected"
+            AIRSPEED_SENSOR=MS4525DO
+            ;;
         b)
             echo "[INFO] Holybro GPS selected"
             GPS=HOLYBRO
@@ -104,6 +114,10 @@ do
             echo "[INFO] OSD module selected"
             OSD=ENABLE
             ;;
+        p)
+            echo "[INFO] Airframe Selected as Fixed Wing"
+            AIRFRAME=FIXED_WING
+            ;;
         r)
             echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
             RC=CRSF_MAV
@@ -137,5 +151,6 @@ fi
 
 print_config_settings
 
-GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
-OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
+AIRFRAME=$AIRFRAME GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
+AIRSPEED_SENSOR=$AIRSPEED_SENSOR OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS \
+px4 $DAEMON -s /usr/bin/voxl-px4-start

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -17,13 +17,15 @@ if [ $RETURNCODE -ne 0 ]; then
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
     exit 0
@@ -76,7 +78,11 @@ microdds_client start -t udp -h 127.0.0.1 -p 8888
 qshell pwm_out_sim start -m hil
 # g = gps, m = mag, o = odometry (vio), h = distance sensor, f = optic flow
 # qshell dsp_hitl start -g -m -o -h -f
-qshell dsp_hitl start -g -m
+if [ "$PLATFORM" == "M0197" ]; then
+    qshell dsp_hitl start -g -m -p 6
+else
+    qshell dsp_hitl start -g -m
+fi
 
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

boards/modalai/voxl2/target/voxl-px4-start

@@ -4,10 +4,12 @@
 . px4-alias.sh
 
 echo -e "\n*************************"
+echo "AIRFRAME: $AIRFRAME"
 echo "GPS: $GPS"
 echo "RC: $RC"
 echo "ESC: $ESC"
 echo "POWER MANAGER: $POWER_MANAGER"
+echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
 echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
 echo "OSD: $OSD"
 echo "EXTRA STEPS:"
@@ -23,6 +25,8 @@ echo -e "*************************\n"
 # and modules manually from the px4 command shell
 if [ ! -z $MINIMAL_PX4 ]; then
     /bin/echo "Running minimal script"
+    param select /data/px4/param/parameters
+    param load
     exit 0
 fi
 
@@ -33,23 +37,30 @@ if [ $RETURNCODE -ne 0 ]; then
     # If we couldn't get the platform from the voxl-platform utility then check
     # /etc/version to see if there is an M0052 substring in the version string. If so,
     # then we assume that we are on M0052.
-    VERSIONSTRING=$(</etc/version)
+    VERSIONSTRING=""
+    if [ -f /etc/version ]; then
+        VERSIONSTRING=$(</etc/version)
+    fi
     M0052SUBSTRING="M0052"
     if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
         PLATFORM="M0052"
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
+    /bin/echo "Error M0052 is no longer supported!!!"
+    exit 1
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
-    exit 0
+    exit 1
 fi
 
 # Sleep a little here. A lot happens when the uorb and muorb start
@@ -76,14 +87,43 @@ param load
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
-    qshell icm42688p start -s -R 12
+    qshell icm42688p start -s -R 12 -C 32768
+elif [ "$PLATFORM" == "M0197" ]; then
+    /bin/echo "Starting bmi270 IMU driver with rotation 26"
+    qshell bmi270 start -s -R 26
 else
     /bin/echo "Starting IMU driver with no rotation"
-    qshell icm42688p start -s
+    qshell icm42688p start -s -C 32768
 fi
 
-# Start Invensense ICP 101xx barometer built on to VOXL 2
-qshell icp101xx start -I -b 5
+# First look for any external barometers connected to the apps proc
+EXTERNAL_BAROMETER=0
+
+/bin/echo "Looking for external DPS368 barometer"
+if dps310 start -X -b /dev/i2c-0; then
+	/bin/echo "Detected external DPS368 barometer"
+	EXTERNAL_BAROMETER=1
+fi
+
+if (( EXTERNAL_BAROMETER == 0 )); then
+	/bin/echo "Looking for external ICP10100 barometer"
+	if icp101xx start -X -b /dev/i2c-0; then
+		/bin/echo "Detected external ICP10100 barometer"
+		EXTERNAL_BAROMETER=1
+	fi
+fi
+
+# If no external barometers found, use the builtin barometer
+if (( EXTERNAL_BAROMETER == 0 )); then
+    /bin/echo "Did not detect an external barometer, starting onboard barometer"
+    if [ "$PLATFORM" == "M0197" ]; then
+       /bin/echo "Starting dps368 barometer on M0197"
+       qshell dps310 start -I -b 5
+    else
+        # Start Invensense ICP 101xx barometer built on to VOXL 2
+        qshell icp101xx start -I -b 5
+    fi
+fi
 
 # Auto detect the magnetometer. If one or both of these devices
 # are not connected it will fail but not cause any harm.
@@ -91,15 +131,19 @@ qshell icp101xx start -I -b 5
 qshell qmc5883l start -R 10 -X -b 1
 /bin/echo "Looking for ist8310 magnetometer"
 qshell ist8310 start -R 10 -X -b 1
+/bin/echo "Looking for ist8308 magnetometer"
+# Rotation 12 = PITCH_180
+qshell ist8308 start -R 12 -X -b 1
+/bin/echo "Looking for iis2mdc magnetometer"
+# Note: Rotation may not be correct
+qshell iis2mdc start -R 10 -X -b 1
 
 # GPS and magnetometer
 if [ "$GPS" != "NONE" ]; then
-    # On M0052 the GPS driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
-        gps start -d /dev/ttyHS2
-    # On M0054 and M0104 the GPS driver runs on SLPI DSP
+    if [ "$PLATFORM" == "M0197" ]; then
+	gps start -d /dev/ttyHS7
     else
-        qshell gps start -d 6
+	qshell gps start
     fi
 fi
 
@@ -144,20 +188,12 @@ elif [ "$RC" == "CRSF_MAV" ]; then
     qshell mavlink_rc_in start -m -p 7 -b 115200
 elif [ "$RC" == "SPEKTRUM" ]; then
     /bin/echo "Starting Spektrum RC"
-    # On M0052 the RC driver runs on the apps processor
-    if [ $PLATFORM = "M0052" ]; then
-        rc_input start -d /dev/ttyHS1
-    # On M0054 and M0104 the RC driver runs on SLPI DSP
-    else
-        qshell spektrum_rc start
-    fi
+    qshell spektrum_rc start
 elif [ "$RC" == "GHST" ]; then
     /bin/echo "Starting GHST RC driver"
     qshell ghst_rc start -d 7
 elif [ "$RC" == "M0065_SBUS" ]; then
-    if [ $PLATFORM = "M0052" ]; then
-        apps_sbus start
-    elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
+    if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
         /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
         qshell dsp_sbus start
         retVal=$?
@@ -181,6 +217,10 @@ if [ "$POWER_MANAGER" == "VOXLPM" ]; then
     qshell voxlpm start -X -b 2
 fi
 
+if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
+	qshell ms4525do start -X -b 4
+fi
+
 # Optional distance sensor on spare i2c
 # qshell vl53l0x start -X -b 4
 # qshell vl53l1x start -X -b 4
@@ -188,22 +228,27 @@ fi
 # Start all of the processing modules on DSP
 qshell sensors start
 qshell ekf2 start
-qshell mc_pos_control start
-qshell mc_att_control start
-qshell mc_rate_control start
-qshell mc_hover_thrust_estimator start
-qshell mc_autotune_attitude_control start
-qshell land_detector start multicopter
+
+if [ "$AIRFRAME" == "FIXED_WING" ]; then
+	qshell fw_pos_control start
+	qshell fw_att_control start
+	qshell fw_rate_control start
+	qshell airspeed_selector start
+	qshell fw_autotune_attitude_control start
+	qshell land_detector start fixedwing
+elif [ $AIRFRAME = "MULTICOPTER" ]; then
+	qshell mc_pos_control start
+	qshell mc_att_control start
+	qshell mc_rate_control start
+	qshell mc_hover_thrust_estimator start
+	qshell mc_autotune_attitude_control start
+	qshell land_detector start multicopter
+fi
+
 qshell manual_control start
 qshell control_allocator start
 qshell load_mon start
-
-# Only start the rc_update module if an actual RC driver
-# is publishing input_rc topics. Otherwise for external RC
-# over Mavlink this isn't needed.
-if [ "$RC" != "EXTERNAL" ]; then
-    qshell rc_update start
-fi
+qshell rc_update start
 
 qshell commander start
 
@@ -213,21 +258,15 @@ qshell flight_mode_manager start
 # Start all of the processing modules on the applications processor
 dataman start
 navigator start
-
-# This bridge allows raw data packets to be sent over UART to the ESC
-# voxl2_io_bridge start
+vehicle_air_data_bridge start
+sensor_baro_bridge start
+vehicle_local_position_bridge start
 
 # Start uxrce_dds_client for ros2 offboard messages from agent over localhost
 uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
 
 voxl_save_cal_params start
 
-# On M0052 there is only one IMU. So, PX4 needs to
-# publish IMU samples externally for VIO to use.
-if [ $PLATFORM = "M0052" ]; then
-    imu_server start
-fi
-
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
 
@@ -238,17 +277,12 @@ mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
 mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
 mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
 
+# Increase heartbeat rate so VFC can get faster mode updates
+mavlink stream -u 14556 -s HEARTBEAT -r 10
+
 # start the slow normal mode for voxl-mavlink-server to forward to GCS
 mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
 
-# Start logging and use timestamps for log files when possible.
-# Add the "-e" option to start logging immediately. Default is
-# to log only when armed. Caution must be used with the "-e" option
-# because if power is removed without stopping the logger gracefully then
-# the log file may be corrupted. Rather than using "-e" option it's better
-# to use the SDLOG_MODE to do that.
-logger start -t -b 256
-
 mavlink boot_complete
 
 # Optional MSP OSD driver for DJI goggles
@@ -263,3 +297,9 @@ for i in "${EXTRA_STEPS[@]}"
 do
     $i
 done
+
+# Start logging module. This is done as the last step because any topics
+# marked as optional will only be logged if they have been advertised when
+# this is started. By starting it last it makes sure to see those
+# advertisements as the other modules are starting before it.
+logger start

boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -432,7 +431,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -573,7 +572,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -269,7 +269,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -432,7 +431,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -573,7 +572,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

boards/px4/fmu-v6x/default.px4board

@@ -23,9 +23,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y

boards/px4/fmu-v6x/src/spi.cpp

@@ -180,7 +180,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 
 	initSPIFmumID(V6X_16, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),

boards/px4/fmu-v6xrt/default.px4board

@@ -19,6 +19,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -273,7 +273,6 @@
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
-*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
 *(.text.MEM_LongCopyEnd)
@@ -440,7 +439,7 @@
 *(.text._ZN23MavlinkStreamStatustext8get_sizeEv)
 *(.text._ZN11calibration13Accelerometer13set_device_idEm)
 *(.text._ZN3px46logger6Logger18start_stop_loggingEv)
-*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
+*(.text._ZN14FlightTaskAuto32_evaluatePositionSetpointTripletEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
 *(.text.imxrt_config_gpio)
@@ -586,7 +585,6 @@
 *(.text._ZN4uORB12SubscriptionaSEOS0_)
 *(.text._ZN15TakeoffHandling18updateTakeoffStateEbbbfbRKy)
 *(.text._ZN10ModeChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN14FlightTaskAuto24_updateInternalWaypointsEv)
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)

docs/.gitignore

@@ -16,6 +16,9 @@ logs
 #Yarn log
 yarn-error.log
 
+# npm lockfile (project uses yarn)
+package-lock.json
+
 
 # Generated alternative _summary.md
 # **/*/_summary.md

docs/.prettierrc

@@ -0,0 +1,8 @@
+{
+  "proseWrap": "preserve",
+  "tabWidth": 2,
+  "useTabs": false,
+  "printWidth": 9999,
+  "endOfLine": "lf",
+  "embeddedLanguageFormatting": "off"
+}

docs/.vitepress/config.mjs

@@ -254,7 +254,63 @@ export default defineConfig({
       head.push(["link", { rel: "canonical", href: canonicalUrlToAdd }]);
     }
 
-    // Add any other custom head tags you might want later
+    // Build version-aware site URL for OG tags
+    const branch = process.env.BRANCH_NAME || "main";
+    const siteUrl = `https://docs.px4.io/${branch}`;
+
+    // OG image — same image for all pages, but URL includes version base
+    const ogImage =
+      pageData.frontmatter.ogImage || `${siteUrl}/og-image.png`;
+
+    // Build the actual page URL (version-aware, includes locale prefix)
+    let ogPath = pageData.relativePath.replace(/\.md$/, "");
+    if (ogPath === "index") ogPath = "";
+    else if (ogPath.endsWith("/index"))
+      ogPath = ogPath.slice(0, -"/index".length);
+    const ogUrl = `${siteUrl}/${ogPath}`;
+
+    // Open Graph
+    head.push(
+      [
+        "meta",
+        {
+          property: "og:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          property: "og:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { property: "og:url", content: ogUrl }],
+      ["meta", { property: "og:image", content: ogImage }],
+    );
+
+    // Twitter Card
+    head.push(
+      [
+        "meta",
+        {
+          name: "twitter:title",
+          content: pageData.title || "PX4 Autopilot",
+        },
+      ],
+      [
+        "meta",
+        {
+          name: "twitter:description",
+          content:
+            pageData.description ||
+            "Open-source flight stack for drones and autonomous vehicles.",
+        },
+      ],
+      ["meta", { name: "twitter:image", content: ogImage }],
+    );
 
     // Return head that will be merged.
     return head;
@@ -276,6 +332,14 @@ export default defineConfig({
       gtag('js', new Date());
       gtag('config', 'G-91EWVWRQ93');`,
     ],
+    // Open Graph
+    ["meta", { property: "og:site_name", content: "PX4 Autopilot" }],
+    ["meta", { property: "og:type", content: "website" }],
+    ["meta", { property: "og:image:width", content: "1200" }],
+    ["meta", { property: "og:image:height", content: "630" }],
+    ["meta", { property: "og:image:type", content: "image/png" }],
+    // Twitter Card
+    ["meta", { name: "twitter:card", content: "summary_large_image" }],
   ],
 
   vue: {

docs/.vitepress/theme/style.css

@@ -162,6 +162,15 @@
 }
 
 
+/**
+ * Custom style to hide search on the ome page
+ * -------------------------------------------------------------------------- */
+
+.home #local-search {
+    display: none;
+  }
+
+
 /**
  * Custom styles for wide pages
  * -------------------------------------------------------------------------- */

docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params

@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.15.4
+# Vehicle: Amovlab F410
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -546,7 +546,6 @@
 1	1	IMU_INTEG_RATE	200	6
 1	1	LNDMC_ALT_GND	2.000000000000000000	9
 1	1	LNDMC_ROT_MAX	20.000000000000000000	9
-1	1	LNDMC_TRIG_TIME	1.000000000000000000	9
 1	1	LNDMC_XY_VEL_MAX	1.500000000000000000	9
 1	1	LNDMC_Z_VEL_MAX	0.250000000000000000	9
 1	1	LND_FLIGHT_T_HI	5	6
@@ -1056,9 +1055,6 @@
 1	1	UAVCAN_EC_REV	0	6
 1	1	UAVCAN_ENABLE	2	6
 1	1	UAVCAN_LGT_ANTCL	2	6
-1	1	UAVCAN_LGT_LAND	0	6
-1	1	UAVCAN_LGT_NAV	3	6
-1	1	UAVCAN_LGT_STROB	1	6
 1	1	UAVCAN_NODE_ID	1	6
 1	1	UAVCAN_PUB_ARM	0	6
 1	1	UAVCAN_PUB_MBD	0	6

docs/assets/simulation/px4_sitl_overview.svg

@@ -653,7 +653,7 @@
          id="tspan2761"
          x="-83.335098"
          y="147.11555"
-         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">simulator_mavlink.cpp</tspan></text>
+         style="font-size:3.88056px;writing-mode:lr-tb;stroke-width:0.264583px">SimulatorMavlink.cpp</tspan></text>
     <path
        style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.79375;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.5875, 0.79375;stroke-dashoffset:2.46063;stroke-opacity:1;marker-start:url(#marker3113)"
        d="m -42.713286,146.11223 h 8.466662"

docs/assets/site/dronecode_logo.svg

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 24.2.3, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 612 335.8" style="enable-background:new 0 0 612 335.8;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#4D4E4E;}
+	.st1{fill:#27B373;}
+	.st2{fill:#5DC4CD;}
+	.st3{fill:#1E8756;}
+</style>
+<g>
+	<g>
+		<path class="st0" d="M66.1,232.6l-0.4-95.9h24c16.3,0,25.6,6.5,28,19.4c0.6,3,0.9,12.3,1,27.9c0.1,16.7-0.3,27-1.4,30.7
+			c-1.8,6.3-4.8,10.8-9.1,13.6c-4.2,2.8-10.2,4.2-18.1,4.2H66.1z M72.5,226h17.7c6.8,0,11.8-1.1,15-3.3c2.7-1.9,4.6-5.1,5.9-9.8
+			c0.9-2.9,1.3-12.2,1.3-27.9c0-15.1-0.3-24.4-1-27.7c-0.9-5-3.1-8.6-6.5-10.8c-3.4-2.2-8.5-3.3-15.2-3.3H72.2L72.5,226z"/>
+		<path class="st0" d="M129.1,232.6v-63.2h6.5v1c0,0.7,0.2,1.3,0.7,1.8c0.4,0.4,0.9,0.7,1.5,0.7c0.5,0,1-0.1,1.5-0.4
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+		<path class="st0" d="M176.4,229.2c-4.2-3.2-7.1-7.5-8.6-13c-2.3-8.2-2.4-17.9-0.4-29c1.2-6.3,3.7-11.1,7.7-14.4
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+		<path class="st0" d="M289.4,229.2c-4.1-3.2-6.9-7.6-8.2-13c-2.6-10.4-2.7-19.8-0.3-28.1c1.8-6.5,4.9-11.5,9.1-15
+			c4.3-3.6,9.4-5.4,15.3-5.4c5.5,0,10,1.7,13.6,5c3.6,3.3,5.9,7.9,6.9,13.8c0.6,3.5,0.7,6.4,0.4,8.7l-0.3,2.3l-40,7.5l0.1,1.3
+			c0.2,2.8,0.7,5.6,1.4,8.3c1,4,2.9,7.2,5.9,9.5c2.9,2.3,6.5,3.5,10.6,3.5c5.9,0,10.7-1.9,14.5-5.6l4.9,4.2
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+			c-0.1-1-0.2-2.1-0.4-3.2c-1.5-8.9-6.2-13.4-14.2-13.4C296.2,174.1,290.1,179.3,287.1,189.8z"/>
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+</svg>

docs/en/SUMMARY.md

@@ -253,8 +253,9 @@
       - [Benewake TFmini Lidar](sensor/tfmini.md)
       - [LeddarOne Lidar](sensor/leddar_one.md)
       - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
         - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
+        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
       - [TeraRanger](sensor/teraranger.md)
       - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
@@ -327,10 +328,11 @@
       - [Vertiq Motor/ESC Modules](peripherals/vertiq.md)
       - [VESC Project ESCs](peripherals/vesc.md)
       - [Zubax Telega ESCs](dronecan/zubax_telega.md)
-  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
-    - [Radio Setup](config/radio.md)
-    - [Flight Modes](config/flight_mode.md)
-  - [Joysticks](config/joystick.md)
+  - [Manual Control](config/manual_control.md)
+    - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
+      - [Radio Setup](config/radio.md)
+      - [Flight Modes](config/flight_mode.md)
+    - [Joysticks](config/joystick.md)
   - [Data Links](data_links/index.md)
     - [MAVLink Telemetry (OSD/GCS)](peripherals/mavlink_peripherals.md)
     - [Telemetry Radios](telemetry/index.md)
@@ -417,6 +419,7 @@
   - [Standard Configuration](config/index.md)
   - [Advanced Configuration](advanced_config/index.md)
     - [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
+    - [GNSS-Denied & Degraded Flight](advanced_config/gnss_degraded_or_denied_flight.md)
     - [Finding/Updating Parameters](advanced_config/parameters.md)
     - [Full Parameter Reference](advanced_config/parameter_reference.md)
 
@@ -908,6 +911,7 @@
   - [Terminology/Notation](contribute/notation.md)
   - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
+  - [Release Process](releases/release_process.md)
   - [main (alpha)](releases/main.md)
   - [1.17 (alpha)](releases/1.17.md)
   - [1.16 (stable)](releases/1.16.md)

docs/en/advanced/px4_metadata.md

@@ -31,6 +31,7 @@ For more information see the topics for each data type:
 - [Parameters & Configurations > Creating/Defining Parameters](../advanced/parameters_and_configurations.md#creating-defining-parameters)
 - [Events Interface](../concept/events_interface.md)
 - [Actuator Metadata](#actuator-metadata) (below)
+
 ## Metadata Toolchain
 
 The process for handling metadata is the same for all metadata types.
@@ -69,6 +70,7 @@ The parameter XML file of the main branch is copied into the QGC source tree via
 The following diagram shows how actuator metadata is assembled from the source code and used by QGroundControl:
 
 ![Actuators Metadata](../../assets/diagrams/actuator_metadata_processing.svg)
+
 <!-- Source: https://docs.google.com/drawings/d/1hMQmIijdFjr21rREcXj50qz0C1b47JW0OEa6p5P231k/edit -->
 
 - **Left**: the metadata is defined in `module.yml` files in different modules.

docs/en/advanced_config/advanced_flight_controller_orientation_leveling.md

@@ -34,4 +34,3 @@ You can locate the parameters in QGroundControl as shown below:
   Positive angles increase in CCW direction, negative angles increase in CW direction.
 - [SENS_BOARD_Z_OFF](../advanced_config/parameter_reference.md#SENS_BOARD_Z_OFF): Rotation, in degrees, around PX4FMU's Z axis Yaw axis.
   Positive angles increase in CCW direction, negative angles increase in CW direction.
-  

docs/en/advanced_config/bootloader_update_v6xrt.md

@@ -63,7 +63,6 @@ The tool is available for Windows, Linux and macOS.
    ![Flash bootloader through Secure provisioning - Step 6](../../assets/advanced_config/bootloader_6xrt/bootloader_update_v6xrt_step6.png)
 
    To get the Pixhawk V6X-RT into "ISP bootloader mode" there are 2 options:
-
    1. Launch QGC connect the Pixhawk select **Analayze Tools** and then **MAVLINK Console**.
       On the console type `reboot -i`.
       This will put the Pixhawk V6X-RT into "ISP bootloader mode"

docs/en/advanced_config/esc_calibration.md

@@ -89,7 +89,6 @@ To calibrate the ESCs:
    :::
 
    Verify the following values:
-
    - The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.
 
      You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.

docs/en/advanced_config/gnss_degraded_or_denied_flight.md

@@ -0,0 +1,77 @@
+# GNSS-Degraded & Denied Flight ("Dead-Reckoning" Mode)
+
+<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />
+
+::: warning Experimental
+This is a new feature with limited real-world testing.
+It is intended for GNSS dropout scenarios (not pure GNSS-denied from takeoff), and requires that alternative velocity/position sensors are available.
+
+Please [share your related test logs](../getting_started/flight_reporting.md#sharing-the-log-files-for-review-by-px4-developers) to help us verify and harden it.
+:::
+
+PX4 is default-configured for outdoor flight with a reliable GNSS signal, but it can also be set up in "dead-reckoning mode" to more gracefully handle environments where GNSS is intermittently degraded or denied during flight.
+
+This section describes the differences between automatic and dead-reckoning modes, the circumstances in which each should be used, and how dead-reckoning is configured.
+
+## Overview
+
+PX4's EKF2 navigation has two modes for handling when GNSS data is determined to be unreliable:
+
+- **Automatic mode** (the default): Used for flying outdoors in environments where a GNSS signal is expected to be largely reliable.
+- **Dead-reckoning mode**: Recommended when you want to fly missions or other position controlled modes when there is intermittent GNSS loss, such as when flying under a bridge, from outdoors into an indoor setting, or when there is GNSS jamming (it is not suitable for pure-indoor use, as a GNSS signal is required before arming).
+
+::: info
+Dead-reckoning mode helps for both Fixed-Wing and Multicopter vehicles.
+MC vehicles benefit more because they can hover when transitioning between sensor regimes.
+FW needs continuous accurate velocity/position during the entire mission arc, making sensor transitions trickier.
+:::
+
+## Mode Comparison
+
+The following sections provide more detail about each of the modes and when they should be used.
+
+### Automatic Mode
+
+In Automatic mode the EKF2 resets if GNSS is lost and no other sources of position are available.
+This can result in a [position loss failsafe](../config/safety.md#position-loss-failsafe) and may trigger a shift into a mode that does not require global position, including stopping missions.
+
+This is desirable if the GNSS signal is likely to be recovered quickly and there are no mechanisms to estimate position when GNSS is unavailable.
+
+Use Automatic (default) when:
+
+- Flying in open sky with reliable GNSS throughout the mission.
+- You want the EKF to reset to GNSS when it becomes available again.
+- Operating in environments where GNSS is either good or completely unavailable (binary state).
+
+### Dead-Reckoning Mode
+
+In dead-reckoning mode, EKF2 stops fusing GNSS data when it becomes unreliable and prevents EKF2 resets — provided there are other sources of position or velocity data that can be fused.
+This ensures that the vehicle can continue flying missions and other position controlled modes when GNSS is lost.
+
+When GNSS is recovered it will be fused with other measurements when tests indicate it can be trusted.
+This may cause jerky movements in position controlled modes if the estimate has drifted.
+This mode relies on having additional position or velocity sensors and must also have a reliable GNSS signal at boot.
+
+Use Dead-Reckoning when:
+
+- **Transitioning between GNSS and non-GNSS environments** (flying into buildings, under bridges, through tree cover).
+- You have **redundant sensors** (optical flow, VIO, rangefinder, quality baro) that can maintain position estimation.
+- Flying **missions that cross GPS-denied areas** where you want continuous operation rather than failsafe.
+- **Urban environments** or other areas with intermittent GNSS quality.
+- You want to **avoid EKF resets and jumps** when GNSS recovers (smoother transitions).
+
+## Configuration
+
+To use dead-reckoning mode, the vehicle must have an alternative source of position or velocity information, such as an [Optical Flow](../sensor/optical_flow.md) sensor or [VIO](../computer_vision/visual_inertial_odometry.md) setup.
+
+To enable the mode:
+
+1. Set [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) to `1`.
+2. Ensure that GNSS arming checks are enabled (a reliable GNSS signal is required before arming):
+   - [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) - set to `0`
+   - [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) - set to default.
+
+## See Also
+
+- [GNSS Fault Detection](../advanced_config/tuning_the_ecl_ekf.md#gnss-fault-detection) in _Using PX4's Navigation Filter (EKF2)_
+- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG

docs/en/advanced_config/index.md

@@ -10,6 +10,7 @@ This topic lists configuration topics that are not particularly vehicle specific
 ## Feature configuration
 
 - [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
+- [GNSS-Denied and Degraded Flight](../advanced_config/gnss_degraded_or_denied_flight.md)
 - [Flight Termination Configuration](../advanced_config/flight_termination.md)
 - [Land Detector Configuration](../advanced_config/land_detector.md)
 - [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)