tools: initial draft of manifes generation

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
ci: build px4-dev containers on demand
2026-06-02 18:20:05 +08:00 · 2025-05-10 13:50:26 -07:00 · 2025-05-08 14:44:34 -07:00 · 2025-05-08 15:07:11 +02:00 · 2025-05-07 19:29:57 -07:00 · 2025-05-07 20:36:40 +02:00
159 changed files with 9299 additions and 1877 deletions
@@ -3,6 +3,3 @@ contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -0,0 +1,33 @@
+name: 📑 Documentation Bug report
+description: Create a report to help us improve the docs
+title: "[Docs] [Bug] "
+labels: ["Documentation 📑"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+      placeholder: |
+          # A PR to fix the bug is often better than adding this issue!
+          #
+          # If you can't create a PR please provide the following:
+          # - What page and/or section has the problem
+          # - What is the problem - missing information, incorrect information?
+          # - Suggested fixes, links to corresponding code PRs
+          # - Any additional context
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Page URL
+      description: The URL of the problem page.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+    validations:
+      required: false
@@ -17,12 +17,18 @@ on:
    paths-ignore:
      - 'docs/**'
      - '.github/**'
+      - 'Tools/**'
  pull_request:
    branches:
      - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
+      - 'Tools/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true

 jobs:
  group_targets:
@@ -32,7 +38,6 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4
@@ -63,9 +68,9 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -100,7 +105,7 @@ jobs:

      - name: Building [${{ matrix.group }}]
        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

      - name: Arrange Build Artifacts
        run: |
@@ -118,7 +123,7 @@ jobs:
  artifacts:
    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
@@ -146,10 +151,12 @@ jobs:

  release:
    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
+    if: startsWith(github.ref, 'refs/tags/')
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -17,6 +17,9 @@ on:
      - 'docs/**'
      - '.github/**'

+env:
+  RUNS_IN_DOCKER: true
+
 jobs:
  build_and_test:
    name: Build and Test
@@ -1,4 +1,3 @@
-
 name: Container build

 on:
@@ -10,35 +9,139 @@ on:
      - 'release/**'
    tags:
      - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
      - '*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+    paths:
+      - '.github/workflows/dev_container.yml'
+      - 'Tools/setup/ubuntu.sh'
+      - 'Tools/setup/requirements.txt'
+      - 'Tools/setup/Dockerfile'
+      - 'Tools/setup/docker-entrypoint.sh'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'PX4 version (e.g. v1.16.0)'
+        required: true
+        type: string

 jobs:
-  build:
-    name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
+      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
        with:
          fetch-tags: true
          submodules: false
          fetch-depth: 0

-      - name: Set PX4 Tag
-        id: px4-tag
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
        run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build Container (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: Tools/setup
+          tags: |
+            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0

      - name: Login to Docker Hub
        uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -50,58 +153,31 @@ jobs:
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
-
-      - name: Get Tag Name
-        id: tag_name
+      - name: Verify Images Exist Before Creating Manifest
        run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"

-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
@@ -1,15 +1,13 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-echo "INFO  [init] Gazebo simulator"
-
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')

 if [ -z "$GZ_SIM_VERSION" ]; then
-    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-    exit 1
+	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+	exit 1
 fi

 # Use sort compare, check that MIN_GZ_VERSION is ordered last
@@ -17,6 +15,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"

+	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
+
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,8 +24,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-    exit 1
+	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+	exit 1
 fi

 # If not standalone
@@ -89,6 +89,21 @@ while [ $ATTEMPTS -gt 0 ]; do
 	sleep 1
 done

+# World is ready, check if custom location is provided
+if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
+	# must have all three
+	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
+		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
+		exit 1
+	fi
+	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
+		--reqtype gz.msgs.SphericalCoordinates \
+		--reptype gz.msgs.Boolean \
+		--timeout 1000 \
+		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
+fi
+
 # Start gz_bridge - either spawn a model or connect to existing one
 if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	# Spawn a model
@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -87,19 +87,25 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        # get the container based on the platform and toolchain
+        # TODO enable once newer container is validated
+        # container = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-419-gd48631e2ce'
        if platform == 'posix':
+            # TODO remove once newer container is validated
            container = 'px4io/px4-dev-base-focal:2021-09-08'
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
+                    # TODO remove once newer container is validated
                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                    group = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
+                    # TODO remove once newer container is validated
                    container = 'px4io/px4-dev-armhf:2023-06-26'
                    group = 'armhf'
                else:
                    if verbose: print(f'unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
+            # TODO remove once newer container is validated
            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
            group = 'nuttx'
        else:
@@ -124,7 +130,10 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
+# TODO remove once newer container is validated
 grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
+# TODO enable once newer container is validated
+#grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-419-gd48631e2ce'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -0,0 +1,280 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+import json
+import re
+from kconfiglib import Kconfig
+
+kconf = Kconfig()
+
+# Supress warning output
+kconf.warn_assign_undef = False
+kconf.warn_assign_override = False
+kconf.warn_assign_redun = False
+
+dconf = Kconfig()
+
+# Supress warning output
+dconf.warn_assign_undef = False
+dconf.warn_assign_override = False
+dconf.warn_assign_redun = False
+
+source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+
+parser = argparse.ArgumentParser(description='Generate build targets')
+
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
+                    help='Pretty output instead of a single line')
+# parser.add_argument('-g', '--groups', dest='group', action='store_true',
+#                     help='Groups targets')
+# parser.add_argument('-m', '--manifest', dest='manifest', action='store_true',
+#                     help='Firmware manifest')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
+
+args = parser.parse_args()
+verbose = args.verbose
+
+board_filter = []
+if args.filter:
+    for board in args.filter.split(','):
+        board_filter.append(board)
+
+manifest = []
+build_configs = []
+grouped_targets = {}
+excluded_boards = []
+excluded_manufacturers = ['atlflight']
+excluded_platforms = ['qurt']
+excluded_labels = [
+	'stackcheck',
+	'nolockstep', 'replay', 'test',
+	'uavcanv1', # TODO: fix and enable
+]
+
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+
+def chunks(arr, size):
+    # splits array into parts
+    for i in range(0, len(arr), size):
+        yield arr[i:i + size]
+
+def comma_targets(targets):
+    # turns array of targets into a comma split string
+    return ",".join(targets)
+
+def process_variants(targets):
+    # returns the
+    return [{"name": v} for v in targets]
+
+def process_target(px4board_file, target_name, defconfig_data, defconfig_file):
+    # reads through the board file and grabs
+    # useful information for building
+    ret = None
+    platform = None
+    toolchain = None
+    group = None
+    hardware = {
+        'architecture': '',
+        'vendor_id': '',
+        'product_id': '',
+        'chip': '',
+        'productstr': '',
+    }
+    manifest_item = {
+        'name': target_name,
+        'manufacturer': '',
+        'hardware': {},
+        'toolchain': '',
+        'artifact': '',
+        'sha256sum': ''
+    }
+
+    board_data = process_boardfile(px4board_file)
+    # manifest_item['boardfile'] = board_data['boardfile']
+    # manifest_item['debug'] = os.path.abspath(defconfig_file)
+    manifest_item['toolchain'] = board_data['toolchain']
+    manifest_item['manufacturer'] = board_data['manufacturer']
+
+    if defconfig_data is not None:
+        manifest_item['manufacturer'] = defconfig_data['manufacturer']
+        hardware = defconfig_data['hardware']
+        hardware['architecture'] = board_data['architecture']
+
+    manifest_item['hardware'] = hardware
+
+    return manifest_item
+
+def process_boardfile(boardtarget_file):
+    return_boardfile = {
+        'toolchain': '',
+        'boardfile': '',
+        'manufacturer': '',
+        'architecture': '',
+    }
+    if boardtarget_file.endswith("default.px4board") or \
+        boardtarget_file.endswith("performance-test.px4board") or \
+        boardtarget_file.endswith("bootloader.px4board"):
+        kconf.load_config(boardtarget_file, replace=True)
+    else: # Merge config with default.px4board
+        default_kconfig = re.sub(r'[a-zA-Z\d_-]+\.px4board', 'default.px4board', boardtarget_file)
+        kconf.load_config(default_kconfig, replace=True)
+        kconf.load_config(boardtarget_file, replace=False)
+
+    return_boardfile['boardfile'] = os.path.abspath(boardtarget_file)
+
+    if "BOARD_TOOLCHAIN" in kconf.syms:
+        return_boardfile['toolchain'] = kconf.syms["BOARD_TOOLCHAIN"].str_value
+
+    if "CONFIG_CDCACM_VENDORSTR" in kconf.syms:
+        return_boardfile['manufacturer'] = kconf.syms["CONFIG_CDCACM_VENDORSTR"].str_value
+
+    if "BOARD_ARCHITECTURE" in kconf.syms:
+        return_boardfile['architecture'] = kconf.syms["BOARD_ARCHITECTURE"].str_value
+
+    return return_boardfile
+
+def load_defconfig(defconfig_file):
+    hardware = {
+        'architecture': '',
+        'vendor_id': '',
+        'product_id': '',
+        'chip': '',
+        'description': '',
+    }
+    manifest_item = {
+        'name': '',
+        'manufacturer': '',
+        'hardware': {},
+        'toolchain': '',
+        'artifact': '',
+        'sha256sum': '',
+        'boardfile': '',
+        'debug': ''
+    }
+    defconfig_data = process_defconfig(defconfig_file)
+    manifest_item['manufacturer'] = defconfig_data['manufacturer']
+    # hardware['architecture'] = defconfig_data['architecture']
+    hardware['vendor_id'] = defconfig_data['vendor_id']
+    hardware['product_id'] = defconfig_data['product_id']
+    hardware['chip'] = defconfig_data['chip']
+    hardware['description'] = defconfig_data['description']
+    manifest_item['hardware'] = hardware
+
+    return manifest_item
+
+def process_defconfig(defconfig_file):
+    return_defconfig = {
+        'manufacturer': '',
+        'vendor_id': '',
+        'product_id': '',
+        'chip': '',
+        'description': '',
+    }
+    defconfig = {}
+
+    defconfig_available = False
+    abs_defconfig_path = os.path.abspath(defconfig_file)
+    if(os.path.isfile(defconfig_file)):
+       defconfig_available = True
+
+    if(defconfig_available):
+        with open(defconfig_file, "r") as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith("#") or "=" not in line:
+                    continue
+                key, value = line.split("=", 1)
+                value = value.strip('"')
+                defconfig[key] = value
+
+        if "CONFIG_CDCACM_VENDORSTR" in defconfig.keys():
+            return_defconfig['manufacturer'] = defconfig.get("CONFIG_CDCACM_VENDORSTR")
+
+        if "CONFIG_CDCACM_VENDORID" in defconfig.keys():
+            return_defconfig['vendor_id'] = defconfig.get("CONFIG_CDCACM_VENDORID")
+
+        if "CONFIG_CDCACM_PRODUCTID" in defconfig.keys():
+            return_defconfig['product_id'] = defconfig.get("CONFIG_CDCACM_PRODUCTID")
+
+        if "CONFIG_ARCH_CHIP" in defconfig.keys():
+            return_defconfig['chip'] = defconfig.get("CONFIG_ARCH_CHIP")
+
+        if "CONFIG_CDCACM_PRODUCTSTR" in defconfig.keys():
+            return_defconfig['description'] = defconfig.get("CONFIG_CDCACM_PRODUCTSTR")
+
+    return return_defconfig
+
+# Look for board targets in the ./boards directory
+if(verbose):
+    print("=======================")
+    print("= scanning for boards =")
+    print("=======================")
+
+targets_list = {}
+# list of build targets
+# [
+# 	{
+# 		"name": "px4_fmu-v6x",
+# 		"manufacturer": "CONFIG_CDCACM_VENDORSTR",
+# 		"hardware": {
+# 			"architecture": "CONFIG_BOARD_ARCHITECTURE",
+# 			"vendor_id": "CONFIG_CDCACM_VENDORID",
+# 			"product_id": "CONFIG_CDCACM_PRODUCTID",
+# 			"chip": "CONFIG_ARCH_CHIP",
+# 			"description": "CONFIG_CDCACM_PRODUCTSTR",
+# 		},
+# 		"toolchain": "",
+# 		"artifact": "",
+# 		"sha256sum": ""
+# 	    }
+# ]
+
+
+
+for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        if verbose: print(f'excluding manufacturer {manufacturer.name}')
+        continue
+
+    for board in os.scandir(manufacturer.path):
+        if not board.is_dir():
+            continue
+
+        defconfig_file = os.path.join(board.path, 'nuttx-config/nsh/defconfig')
+        defconfig_data = load_defconfig(defconfig_file)
+
+        for files in os.scandir(board.path):
+
+            if files.is_file() and files.name.endswith('.px4board'):
+
+                board_name = manufacturer.name + '_' + board.name
+                label = files.name[:-9]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+
+                if board_filter and not board_name in board_filter:
+                    if verbose: print(f'excluding board {board_name} ({target_name})')
+                    continue
+
+                if board_name in excluded_boards:
+                    if verbose: print(f'excluding board {board_name} ({target_name})')
+                    continue
+
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+
+                target = process_target(files.path, target_name, defconfig_data, defconfig_file)
+
+                if target is not None:
+                    build_configs.append(target)
+
+print(json.dumps(build_configs, **extra_args))
@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
  # Airframe
@@ -26,21 +26,23 @@ for build_dir_path in build/*/ ; do
  echo "----------"
 done

-# general metadata
-mkdir artifacts/_general/
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Airframe
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Parameters
-cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-# Actuators
-cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-# Events
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# ROS 2 msgs
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# Module Docs
-ls -la artifacts/_general/
+if [ -d artifacts/px4_sitl_default ]; then
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Airframe
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Parameters
+  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+  # Actuators
+  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+  # Events
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
+  ls -la artifacts/_general/
+fi
@@ -33,10 +33,10 @@ fi
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
-#docker rm $(docker ps -a -q)
+# docker container prune

 #Delete all 'untagged/dangling' (<none>) images
-#docker rmi $(docker images -q -f dangling=true)
+# docker image prune

 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

@@ -8,22 +8,25 @@ ENV LC_ALL=C.UTF-8
 ENV DISPLAY=:99
 ENV TERM=xterm
 ENV TZ=UTC
+ENV RUNS_IN_DOCKER=true

 # SITL UDP PORTS
 EXPOSE 14556/udp
 EXPOSE 14557/udp

+# Install Shell Script Entrypoint
 COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh

 # Install PX4 Requirements
 COPY requirements.txt /tmp/requirements.txt
 COPY ubuntu.sh /tmp/ubuntu.sh
-RUN touch /.dockerenv
+
 RUN bash /tmp/ubuntu.sh --no-sim-tools

+# Make sure git is ok with your local copy
 RUN git config --global --add safe.directory '*'

-# create user with id 1001 (jenkins docker workflow default)
+# Create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user

 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
@@ -1,19 +1,27 @@
 #!/bin/bash

+GREEN='\033[0;32m'
+NO_COLOR='\033[0m' # No Color
+SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
+
+echo -e "$SCRIPTID Starting"
+
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "[docker-entrypoint.sh] Starting Xvfb"
+	echo -e "$SCRIPTID Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi

 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
+	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"
@@ -27,9 +27,12 @@ do
 	fi
 done

+echo "[ubuntu.sh] Starting..."
+echo "[ubuntu.sh] arch: $INSTALL_ARCH"
+
 # detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
+if [ "$RUNS_IN_DOCKER" = "true" ]; then
+	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -47,7 +50,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi

@@ -55,10 +58,8 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "Ubuntu ${UBUNTU_RELEASE}"
-
-echo
-echo "Installing PX4 general dependencies"
+echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
+echo "[ubuntu.sh] Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -91,7 +92,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i

 # Python3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -109,18 +110,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
-
+	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
 		build-essential \
 		curl \
+		clang \
+		clang-tidy \
+		clang-format \
 		flex \
-		g++-multilib \
-		gcc-arm-none-eabi \
-		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -139,6 +140,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
+		lldb \
+		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -147,6 +150,21 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;

+	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-multilib \
+			gcc-arm-none-eabi \
+			gcc-multilib \
+			;
+	fi
+
+	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-aarch64-linux-gnu \
+			g++-arm-linux-gnueabihf \
+			;
+	fi
+
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -157,7 +175,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then

 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo "[ubuntu.sh] Installing PX4 simulation dependencies"

 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -182,8 +200,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(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
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,79 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=7
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 1105,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Holybro KakuteH7-Wing board",
+    "image": "",
+    "build_time": 0,
+    "summary": "KAKUTEH7-WING",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+
+param set-default BAT1_V_DIV 18.1
+param set-default BAT2_V_DIV 18.1
+
+param set-default BAT1_A_PER_V 36.367515152
+param set-default BAT2_A_PER_V 36.367515152
+
+param set-default OSD_ATXXXX_CFG 1
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# PX4 FMUv6C specific board sensors init
+#------------------------------------------------------------------------------
+board_adc start
+
+# Internal SPI bus ICM42688p
+icm42688p -R 2 -s start
+
+# Internal baro
+if ! bmp280 -I -b 4 -q start
+then
+	spa06 -I -b 4 start
+fi
+
+# MAX7456 OSD
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,91 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7-wing/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL KakuteH7-Wing"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,503 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. 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 NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6C  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
+#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+
+/* SPI
+ *
+ * SPI1, SPI 3 for sensors
+ * SPI2 for OSD
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_2               /* PC11  */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_2               /* PC12  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_2) /* PC10  */
+
+
+/*
+ * I2C
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11*/
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PC1
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PB3
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_2  /* PC1  */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7  */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3  */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4  */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)  /* PD15 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)   /* PA0  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)   /* PA1  AUX8 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37  */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38  */
+
+#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_0     /* 3 DMA1:39 FRAM */
+#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_0     /* 4 DMA1:40 FRAM */
+
+// TODO
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
+//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
+//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+
+//#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
+//#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+
+// Assigned in timer_config.cpp
+
+// TODO
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+// TODO
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 1 DMA2:45  */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 2 DMA2:46  */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 3 DMA2:65  */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 4 DMA2:66  */
+
+//#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1   /* 5 DMA2:71  */
+//#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1   /* 6 DMA2:72  */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  */
@@ -0,0 +1,270 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7-wing/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95751
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0051
+CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7-Wing"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_NCHAINS=24
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_IOB=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC2=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI3=y
+CONFIG_STM32H7_SPI3_DMA=y
+CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_TIM17=y
+CONFIG_STM32H7_UART5=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_IFLOWCONTROL=y
+CONFIG_UART7_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART7_TXDMA=y
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=3000
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
+CONFIG_WQUEUE_NOTIFIER=y
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,74 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_compile_definitions(BOOTLOADER)
+	add_library(drivers_board
+		bootloader_main.c
+		init.c
+		usb.c
+		timer_config.cpp
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer #gpio
+			arch_io_pins # iotimer
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		sdio.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,270 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMU-v6c internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+#undef TRACE_PINS
+
+/* PX4FMU GPIOs ***********************************************************************************/
+
+
+/* LEDs are driven with push pull Anodes to 3.3V */
+
+#define GPIO_nLED_RED        /* PC14 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_nLED_BLUE       /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* N.B. there is no offset mapping needed for ADC3 because */
+#define ADC3_CH(n)                  (n)
+
+/* We are only use ADC3 for REV/VER. */
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
+
+#define PX4_ADC_GPIO  \
+	/* PC4  */  GPIO_ADC12_INP4, \
+	/* PC5  */  GPIO_ADC12_INP8, \
+	/* PA2  */  GPIO_ADC12_INP14, \
+	/* PA3  */  GPIO_ADC12_INP15, \
+	/* PA4  */  GPIO_ADC12_INP18, \
+	/* PC0  */  GPIO_ADC123_INP10 \
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY1_CURRENT_CHANNEL            /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY1_VOLTAGE_CHANNEL            /* PC5 */  ADC1_CH(8)
+#define ADC_BATTERY2_CURRENT_CHANNEL            /* PA2 */  ADC1_CH(14)
+#define ADC_BATTERY2_VOLTAGE_CHANNEL            /* PA3 */  ADC1_CH(15)
+#define ADC_SCALED_V5_CHANNEL                   /* PA4 */  ADC1_CH(18)
+#define ADC_RSSI_IN_CHANNEL                     /* PC0  */  ADC3_CH(10)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
+	 (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
+	 (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_SCALED_V5_CHANNEL) | \
+	 (1 << ADC_RSSI_IN_CHANNEL       ))
+
+#define SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+#define BOARD_NUMBER_BRICKS 2
+
+// TODO: fix
+#define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */
+
+/*
+ * PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS 14
+#define BOARD_NUM_IO_TIMERS 6
+
+/*
+ * UAVCAN
+ */
+#define UAVCAN_NUM_IFACES_RUNTIME  1
+
+#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
+
+/* Define True logic Power Control in arch agnostic form */
+
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        17  /* Timer 17 */
+#define TONE_ALARM_CHANNEL      1  /* PB9 GPIO_TIM4_CH4OUT_1 */
+
+#define GPIO_BUZZER_1           /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM        GPIO_TIM17_CH1OUT_1
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+/* PWM input driver */
+//#define PWMIN_TIMER                       8
+//#define PWMIN_TIMER_CHANNEL    /* TIM8CH2 */ 2
+//#define GPIO_PWM_IN            /* PC7 */ GPIO_TIM8_CH2IN_1
+
+#define HRT_PPM_CHANNEL         /* TIM8CH2 */  2  /* use capture/compare channel 2 */
+#define GPIO_PPM_IN             /* PC7 */ GPIO_TIM8_CH2IN_1
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4" // USART6
+#define RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX             GPIO_USART6_RX
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_VDD_3V3_SENSORS_EN,          \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_PPM_IN,                      \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define FLASH_BASED_PARAMS
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+
+#if !defined(CONFIG_CAN)
+__EXPORT
+uint16_t board_get_can_interfaces(void)
+{
+	return 0x1;
+}
+
+#else
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "chip.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,128 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1105
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#define OSC_FREQ                       16
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE // BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED // RED
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+#include <lib/drivers/device/Device.hpp>
+#include <px4_platform_common/i2c.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusExternal(2),
+	initI2CBusInternal(4),
+};
@@ -0,0 +1,276 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	VDD_5V_PERIPH_EN(false);
+	board_control_spi_sensors_power(false, 0xffff);
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_PERIPH_EN(true);
+
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#if !defined(BOOTLOADER)
+
+	/* Power on Interfaces */
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#  if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#  endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#  ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+	}
+
+#  endif /* CONFIG_MMCSD */
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+#endif
+	return OK;
+}
@@ -0,0 +1,235 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
+	0,                                  // Indexed by LED_GREEN
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin8}),
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortC, GPIO::Pin9})
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
+	}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin12}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer3),
+	initIOTimer(Timer::Timer2),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -1,5 +1,5 @@
 param set-default ASPD_DO_CHECKS 19
-param set-default ASPD_FALLBACK_GW 1
+param set-default ASPD_FALLBACK 1
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_CHARGED 4.2000
 param set-default BAT1_V_EMPTY 2.9000
@@ -61,4 +61,4 @@ param set-default PWM_AUX_TIM3 100
 param set-default SDLOG_PROFILE 17
 param set-default SENS_EN_MS4525DO 1
 param set-default TRIM_PITCH 0.1000
-# Make sure to add all params from the current airframe (ID=2100) as well
+# Make sure to add all params from the current airframe (ID=2100) as well
@@ -1,5 +1,5 @@
 param set-default ASPD_DO_CHECKS 19
-param set-default ASPD_FALLBACK_GW 1
+param set-default ASPD_FALLBACK 1
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_CHARGED 4.2000
 param set-default BAT1_V_EMPTY 2.5000
@@ -80,4 +80,4 @@ param set-default SENS_EN_MS4525DO 1
 param set-default SER_TEL1_BAUD 115200
 param set-default TRIM_PITCH -0.4000
 param set-default UAVCAN_ENABLE 0
-# Make sure to add all params from the current airframe (ID=2100) as well
+# Make sure to add all params from the current airframe (ID=2100) as well
@@ -7,7 +7,7 @@
 "files": [
  {
    "source": "docs/en/**/*.md",
-    "ignore": ["/docs/en/_sidebar.md"],
+    "ignore": ["/docs/en/_sidebar.md","docs/en/advanced_config/parameter_reference.md"],
    "translation": "docs/%two_letters_code%/**/%original_file_name%"
  }
 ]
@@ -181,6 +181,7 @@
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
+      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](flight_controller/durandal.md)
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
@@ -805,8 +806,10 @@
      - [Test MC_05 - Indoor Flight (Manual Modes)](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Unit Tests](test_and_ci/unit_tests.md)
    - [Continuous Integration](test_and_ci/continous_integration.md)
-    - [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
-    - [ROS Integration Testing](test_and_ci/integration_testing.md)
+    - [Integration Testing](test_and_ci/integration_testing.md)
+      - [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
+      - [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
+      - [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md)
    - [Docker Containers](test_and_ci/docker.md)
    - [Maintenance](test_and_ci/maintenance.md)
 - [Drone Apps & APIs](robotics/index.md)
@@ -182,6 +182,7 @@
      - [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](/flight_controller/kakuteh7.md)
+      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](/flight_controller/durandal.md)
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
@@ -498,8 +498,8 @@ A valid ULog parser must fulfill the following requirements:
 - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis.
 - [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. Supports ULog since version 2.1.3.
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
- [Foxglove Studio](https://github.com/foxglove/studio): an integrated visualization and diagnosis tool for robotics
-  (Typescript ULog parser: https://github.com/foxglove/ulog).
+- [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files.
+- [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects.

 ## File Format Version History

@@ -0,0 +1,86 @@
+# Holybro Kakute H7 V2
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
+:::
+
+The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is a fully featured flight controller specifically aimed at fixed-wing and VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.
+
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Where to Buy
+
+The board can be bought from one of the following shops (for example):
+
+- [Holybro](https://holybro.com/products/kakute-h743-wing)
+
+
+## Connectors and Pins
+
+| Pin              | Function                          | PX4 default                |
+| ---------------- | --------------------------------- | -------------------------- |
+| GPS 1            | USART1 and I2C1                   | GPS1                       |
+| R2, T2           | USART2 RX and TX                  | GPS2                       |
+| R3, T3           | USART3 RX and TX                  | TELEM1                     |
+| R5, T5           | USART5 RX and TX                  | TELEM2                     |
+| R6, T6           | USART6 RX and TX                  | RC (PPM, SBUS, etc.) input |
+| R7, T7, RTS, CTS | UART7 RX and TX with flow control | TELEM3                     |
+| R8, T8           | UART8 RX and TX                   | Console                    |
+| Buz-, Buz+       | Piezo buzzer                      |                            |
+| M1 to M14        | Motor signal outputs              |                            |
+
+<a id="bootloader"></a>
+
+## PX4 Bootloader Update
+
+The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
+Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7-wing/holybro_kakuteh7-wing_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make holybro_kakuteh7-wing_default
+```
+
+## Installing PX4 Firmware
+
+::: info
+KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
+Prior to that release you will need to manually build and install the firmware.
+:::
+
+Firmware can be manually installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make holybro_kakuteh7-wing_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+## Serial Port Mapping
+
+| UART   | Device     | Port                  | Default function |
+| ------ | ---------- | --------------------- | ---------------- |
+| USART1 | /dev/ttyS0 | GPS 1                 | GPS1             |
+| USART2 | /dev/ttyS1 | R2, T2                | GPS2             |
+| USART3 | /dev/ttyS2 | R3, T3                | TELEM1           |
+| UART5  | /dev/ttyS3 | R5, T5                | TELEM2           |
+| USART6 | /dev/ttyS4 | R6, (T6)              | RC input         |
+| UART7  | /dev/ttyS5 | R7, T7, RTS, CTS      | TELEM3           |
+| UART8  | /dev/ttyS6 | R8, T8                | Console          |
+
+## Debug Port
+
+### System Console
+
+UART8 RX and TX are configured for use as the [System Console](../debug/system_console.md).
@@ -2,6 +2,17 @@

 <Badge type="danger" text="Alpha" />

+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
+<div v-if="site.title !== 'PX4 Guide (main)'">
+  <div class="custom-block danger">
+    <p class="custom-block-title">This page is on a release bramch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+  </div>
+</div>
+
 This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).

 ::: warning
@@ -79,6 +90,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))

 ### Ethernet

@@ -52,20 +52,4 @@ To get started using the library within an existing ROS 2 workspace:
 When opening a pull request to PX4, CI runs the library integration tests.
 These test that mode registration, failsafes, and mode replacement, work as expected.

-The tests can also be run locally from PX4:
-
-```sh
-./test/ros_test_runner.py
-```
-
-And to run only a single case:
-
-```sh
-./test/ros_test_runner.py --verbose --case <case>
-```
-
-You can list the available test cases with:
-
-```sh
-./test/ros_test_runner.py --list-cases
-```
+For more information see [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md).
@@ -131,6 +131,20 @@ The simulation can be run in headless mode by prefixing the command with the `HE
 HEADLESS=1 make px4_sitl gz_x500
 ```

+### Set Custom Takeoff Location
+The takeoff location in Gazebo Classic can be set using environment variables.
+
+The variables to set are: PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT.
+
+For example:
+
+```
+export PX4_HOME_LAT=51.1788
+export PX4_HOME_LON=-1.8263
+export PX4_HOME_ALT=101
+make px4_sitl gz_x500
+```
+
 ### Specify World

 The simulation can be run inside a particular world by concatenating the desired world to the name of the desired vehicle.
@@ -148,15 +162,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500

 The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.

-| World      | Command                    | Description                                                 |
-| ---------- | -------------------------- | ----------------------------------------------------------- |
-| `default`  | `make px4_sitl *`          | Empty world (a grey plane)                                  |
-| `aruco`    | `make px4_sitl *_aruco`    | Empty world with aruco marker for testing precision landing |
-| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water                          |
-| `lawn`     | `make px4_sitl *_lawn`     | Lawn world for testing rovers                               |
-| `rover`    | `make px4_sitl *_rover`    | Rover world (optimised/preferred)                           |
-| `walls`    | `make px4_sitl *_walls`    | Wall world for testing collision prevention                 |
-| `windy`    | `make px4_sitl *_windy`    | Empty world with wind enabled                               |
+| World             | Command                            | Description                                                 |
+| ----------------- | ---------------------------------- | ----------------------------------------------------------- |
+| `default`         | `make px4_sitl *`                  | Empty world (a grey plane)                                  |
+| `aruco`           | `make px4_sitl *_aruco`            | Empty world with aruco marker for testing precision landing |
+| `baylands`        | `make px4_sitl *_baylands`         | Baylands world surrounded by water                          |
+| `lawn`            | `make px4_sitl *_lawn`             | Lawn world for testing rovers                               |
+| `rover`           | `make px4_sitl *_rover`            | Rover world (optimised/preferred)                           |
+| `walls`           | `make px4_sitl *_walls`            | Wall world for testing collision prevention                 |
+| `windy`           | `make px4_sitl *_windy`            | Empty world with wind enabled                               |
+| `moving_platform` | `make px4_sitl *_moving_platform`  | World with moving takeoff / landing platform                |

 :::warning
 Note that if no world is specified, PX4 will use the `default` world.
@@ -262,6 +277,9 @@ where `ARGS` is a list of environment variables including:

  - This variable is ignored if an existing simulation is already running.
  - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument.
+  - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables:
+    - `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+    - `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.

 - `PX4_SIMULATOR=GZ`:
  Sets the simulator, which for Gazebo must be `gz`.
@@ -73,6 +73,30 @@ World with walls that is designed for testing [collision prevention](../computer

 [PX4-gazebo-models/main/worlds/windy.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/windy.sdf)

+## Moving Platform
+
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+
+[Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
+
+```
+PX4_GZ_MODEL_POSE=0,0,2.2 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
+```
+
+The plugin can be configured with the following environment variables:
+
+ - `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+ - `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.
+
+[PX4-gazebo-models/main/worlds/moving_platform.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/moving_platform.sdf)
+
+![screenshot of moving platform world](../../assets/simulation/gazebo/worlds/moving_platform.png)
+
+::: tip
+The moving platform plugin can also be used within other worlds.
+For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md).
+:::
+
 ## Model Specific Worlds {#model_specific_worlds}

 Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world.
@@ -153,9 +153,8 @@ make px4_sitl none_iris

 The simulation can be further configured via environment variables:

- `PX4_ESTIMATOR`: This variable configures which estimator to use.
-  Possible options are: `ekf2` (default), `lpe` (deprecated).
-  It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation.
+- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
+  For example changing the estimator: `export PX4_PARAM_EKF2_EN=0; export PX4_PARAM_ATT_EN=1`.

 The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger.
 For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets).
@@ -21,7 +21,7 @@ Operating in the 2.4GHz frequency band, it allows unrestricted global use withou
 - **Frequency Band:** 2.4GHz
 - **Speed:** Up to 11 Mbps (adjustable)
 - **Range:** Up to 500 meters (varies upon environments)
- **Payload Capacity:** Up to 1400 bytes
+- **Payload Capacity:** Up to 1024 bytes

 ### Network Schemes

@@ -124,7 +124,7 @@ However if you change the baud rate from 57600 you will need to create and use a
 - **Smart device:** Connect to Wi-Fi network named `J.Fi-xxxxxx` (x: alphanumeric characters)
 - **Browser:** Go to `192.168.4.1` to open the **configuration page**.
 - **Configuration page:** Adjust settings as needed, then click **Save**
-  - _LED 1_ blinks once upon saving
+  - _LED 2_ blinks once upon saving

 ![J.Fi Wireless Telemetry Broadcast Communication](../../assets/hardware/telemetry/jmarple/jfi_telemetry_config.jpg)

@@ -8,7 +8,9 @@ Test topics include:
 - [Test Flights](../test_and_ci/test_flights.md) - How to make test flights (e.g. to [test PRs](../contribute/code.md#pull-requests))
 - [Unit Tests](../test_and_ci/unit_tests.md)
 - [Continuous Integration (CI)](../test_and_ci/continous_integration.md)
- [ROS Integration Testing](../test_and_ci/integration_testing.md)
- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
+- [Integration Testing](../test_and_ci/integration_testing.md)
+    - [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md)
+    - [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md)
+    - [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
 - [Docker](../test_and_ci/docker.md)
 - [Maintenance](../test_and_ci/maintenance.md)
@@ -1,152 +1,13 @@
-# Integration Testing using ROS
+# Integration Testing

-This topic explains how to run (and extend) PX4's ROS-based integration tests.
+Integration tests are used to verify how well larger parts of a system work together.
+In PX4 this generally means testing whole features of a vehicle, usually running in simulation.
+The tests are run in [Continuous Integration (CI)](../test_and_ci/continous_integration.md) on every pull request.

-::: info
-[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
-Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
+- [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) - MAVSDK-based test framework for PX4.
+  _This is the recommended framework for writing new Integration tests_
+- [PX4 ROS2 Interface Library Integration Testing](../test_and_ci/integration_testing_px4_ros2_interface.md) - Integration Tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).

-All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
-:::
+The following framework should only be used for tests that require ROS 1:

-## Prerequisites:
-
- [jMAVSim Simulator](../sim_jmavsim/index.md)
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
- [ROS and MAVROS](../simulation/ros_interface.md)
-
-## Execute Tests
-
-To run the MAVROS tests:
-
-```sh
-source <catkin_ws>/devel/setup.bash
-cd <PX4-Autopilot_clone>
-make px4_sitl_default sitl_gazebo
-make <test_target>
-```
-
-`test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
-
-Test can also be executed directly by running the test scripts, located under `test/`:
-
-```sh
-source <catkin_ws>/devel/setup.bash
-cd <PX4-Autopilot_clone>
-make px4_sitl_default sitl_gazebo
-./test/<test_bash_script> <test_launch_file>
-```
-
-For example:
-
-```sh
-./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
-```
-
-Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):
-
-```sh
-./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
-```
-
-The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
-
-## Write a New MAVROS Test (Python)
-
-This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
-
-We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
-The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
-
-To write a new test:
-
-1. Create a new test script by copying the empty test skeleton below:
-
-   ```python
-   #!/usr/bin/env python
-   # [... LICENSE ...]
-
-   #
-   # @author Example Author <author@example.com>
-   #
-   PKG = 'px4'
-
-   import unittest
-   import rospy
-   import rosbag
-
-   from sensor_msgs.msg import NavSatFix
-
-   class MavrosNewTest(unittest.TestCase):
-   	"""
-   	Test description
-   	"""
-
-   	def setUp(self):
-   		rospy.init_node('test_node', anonymous=True)
-   		rospy.wait_for_service('mavros/cmd/arming', 30)
-
-   		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-   		self.rate = rospy.Rate(10) # 10hz
-   		self.has_global_pos = False
-
-   	def tearDown(self):
-   		pass
-
-   	#
-   	# General callback functions used in tests
-   	#
-   	def global_position_callback(self, data):
-   		self.has_global_pos = True
-
-   	def test_method(self):
-   		"""Test method description"""
-
-   		# FIXME: hack to wait for simulation to be ready
-   		while not self.has_global_pos:
-   			self.rate.sleep()
-
-   		# TODO: execute test
-
-   if __name__ == '__main__':
-   	import rostest
-   	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
-   ```
-
-1. Run the new test only
-
-   - Start the simulator:
-
-     ```sh
-     cd <PX4-Autopilot_clone>
-     source Tools/simulation/gazebo/setup_gazebo.bash
-     roslaunch launch/mavros_posix_sitl.launch
-     ```
-
-   - Run test (in a new shell):
-
-     ```sh
-     cd <PX4-Autopilot_clone>
-     source Tools/simulation/gazebo/setup_gazebo.bash
-     rosrun px4 mavros_new_test.py
-     ```
-
-1. Add new test node to a launch file
-
-   - In `test/` create a new `<test_name>.test` ROS launch file.
-   - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
-
-1. (Optional) Create a new target in the Makefile
-
-   - Open the Makefile
-   - Search the _Testing_ section
-   - Add a new target name and call the test
-
-   For example:
-
-   ```sh
-   tests_<new_test_target_name>: rostest
-   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
-   ```
-
-Run the tests as described above.
+- [ROS 1 Integration Testing](../test_and_ci/integration_testing_ros1_mavros.md) (Deprecated)
@@ -7,6 +7,10 @@ In future we plan to generalise them for any platform/hardware.

 The instructions below explain how to setup and run the tests locally.

+:::note
+This is the recommended integration test framework for PX4.
+:::
+
 ## Prerequisites

 ### Setup Developer Environment
@@ -47,21 +51,21 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop
 test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
 ```

-This will list all of the tests and then run them sequentially.
+This will list all the tests and then run them sequentially.

 To see all possible command line arguments use the `-h` argument:

 ```sh
 test/mavsdk_tests/mavsdk_test_runner.py -h

-usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
-                             [--case CASE] [--debugger DEBUGGER] [--verbose]
-                             config_file
+usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early]
+                             [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color]
+                             [--verbose] [--build-dir BUILD_DIR]

 positional arguments:
  config_file           JSON config file to use

-optional arguments:
+options:
  -h, --help            show this help message and exit
  --log-dir LOG_DIR     Directory for log files
  --speed-factor SPEED_FACTOR
@@ -71,9 +75,13 @@ optional arguments:
  --abort-early         abort on first unsuccessful test
  --gui                 display the visualization for a simulation
  --model MODEL         only run tests for one model
-  --case CASE           only run tests for one case
+  --case CASE           only run tests for one case (or multiple cases with wildcard '*')
  --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
+  --upload              Upload logs to logs.px4.io
+  --force-color         Force colorized output
  --verbose             enable more verbose output
+  --build-dir BUILD_DIR
+                        relative path where the built files are stored
 ```

 ## Run a Single Test
@@ -0,0 +1,29 @@
+# Integration Testing for the PX4 ROS 2 Interface Library
+
+This topic outlines the integration tests for the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
+
+These test that mode registration, failsafes, and mode replacement, work as expected.
+
+## CI Testing
+
+When opening a pull request to PX4, CI runs the library integration tests.
+
+## Running Tests Locally
+
+The tests can also be run locally from PX4:
+
+```sh
+./test/ros_test_runner.py
+```
+
+And to run only a single case:
+
+```sh
+./test/ros_test_runner.py --verbose --case <case>
+```
+
+You can list the available test cases with:
+
+```sh
+./test/ros_test_runner.py --list-cases
+```
@@ -0,0 +1,154 @@
+# Integration Testing using ROS 1
+
+This topic explains how to run (and extend) PX4's ROS (1) and MAVROS -based integration tests.
+
+:::warning This test framework is deprecated.
+It should be used only for new test cases that _require_ ROS 1.
+
+[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
+:::
+
+:::note
+All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
+:::
+
+## Prerequisites
+
+- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md)
+- [ROS and MAVROS](../simulation/ros_interface.md)
+
+## Execute Tests
+
+To run the MAVROS tests:
+
+```sh
+source <catkin_ws>/devel/setup.bash
+cd <PX4-Autopilot_clone>
+make px4_sitl_default sitl_gazebo
+make <test_target>
+```
+
+`test_target` is a makefile targets from the set: _tests_mission_, _tests_mission_coverage_, _tests_offboard_ and _tests_avoidance_.
+
+Test can also be executed directly by running the test scripts, located under `test/`:
+
+```sh
+source <catkin_ws>/devel/setup.bash
+cd <PX4-Autopilot_clone>
+make px4_sitl_default sitl_gazebo
+./test/<test_bash_script> <test_launch_file>
+```
+
+For example:
+
+```sh
+./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+```
+
+Tests can also be run with a GUI to see what's happening (by default the tests run "headless"):
+
+```sh
+./test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test gui:=true headless:=false
+```
+
+The **.test** files launch the corresponding Python tests defined in `integrationtests/python_src/px4_it/mavros/`
+
+## Write a New MAVROS Test (Python)
+
+This section explains how to write a new python test using ROS 1/MAVROS, test it, and add it to the PX4 test suite.
+
+We recommend you review the existing tests as examples/inspiration ([integrationtests/python_src/px4_it/mavros/](https://github.com/PX4/PX4-Autopilot/tree/main/integrationtests/python_src/px4_it/mavros)).
+The official ROS documentation also contains information on how to use [unittest](http://wiki.ros.org/unittest) (on which this test suite is based).
+
+To write a new test:
+
+1. Create a new test script by copying the empty test skeleton below:
+
+   ```python
+   #!/usr/bin/env python
+   # [... LICENSE ...]
+
+   #
+   # @author Example Author <author@example.com>
+   #
+   PKG = 'px4'
+
+   import unittest
+   import rospy
+   import rosbag
+
+   from sensor_msgs.msg import NavSatFix
+
+   class MavrosNewTest(unittest.TestCase):
+   	"""
+   	Test description
+   	"""
+
+   	def setUp(self):
+   		rospy.init_node('test_node', anonymous=True)
+   		rospy.wait_for_service('mavros/cmd/arming', 30)
+
+   		rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
+   		self.rate = rospy.Rate(10) # 10hz
+   		self.has_global_pos = False
+
+   	def tearDown(self):
+   		pass
+
+   	#
+   	# General callback functions used in tests
+   	#
+   	def global_position_callback(self, data):
+   		self.has_global_pos = True
+
+   	def test_method(self):
+   		"""Test method description"""
+
+   		# FIXME: hack to wait for simulation to be ready
+   		while not self.has_global_pos:
+   			self.rate.sleep()
+
+   		# TODO: execute test
+
+   if __name__ == '__main__':
+   	import rostest
+   	rostest.rosrun(PKG, 'mavros_new_test', MavrosNewTest)
+   ```
+
+1. Run the new test only
+
+    - Start the simulator:
+
+      ```sh
+      cd <PX4-Autopilot_clone>
+      source Tools/simulation/gazebo/setup_gazebo.bash
+      roslaunch launch/mavros_posix_sitl.launch
+      ```
+
+    - Run test (in a new shell):
+
+      ```sh
+      cd <PX4-Autopilot_clone>
+      source Tools/simulation/gazebo/setup_gazebo.bash
+      rosrun px4 mavros_new_test.py
+      ```
+
+1. Add new test node to a launch file
+
+    - In `test/` create a new `<test_name>.test` ROS launch file.
+    - Call the test file using one of the base scripts _rostest_px4_run.sh_ or _rostest_avoidance_run.sh_
+
+1. (Optional) Create a new target in the Makefile
+
+    - Open the Makefile
+    - Search the _Testing_ section
+    - Add a new target name and call the test
+
+   For example:
+
+   ```sh
+   tests_<new_test_target_name>: rostest
+   	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_<new_test>.test
+   ```
+
+Run the tests as described above.
@@ -138,3 +138,5 @@ The PX4 flight stack is hosted under the governance of the [Dronecode Project](h
 <a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>
+
+Doc build time: {{ $buildTime }}
@@ -79,6 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))

 ### Ethernet

@@ -148,15 +148,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500

 The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.

-| 전역         | 통신                         | 설명                                                          |
-| ---------- | -------------------------- | ----------------------------------------------------------- |
-| `default`  | `make px4_sitl *`          | Empty world (a grey plane)               |
-| `aruco`    | `make px4_sitl *_aruco`    | Empty world with aruco marker for testing precision landing |
-| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water                          |
-| `lawn`     | `make px4_sitl *_lawn`     | Lawn world for testing rovers                               |
-| `rover`    | `make px4_sitl *_rover`    | Rover world (optimised/preferred)        |
-| `walls`    | `make px4_sitl *_walls`    | Wall world for testing collision prevention                 |
-| `windy`    | `make px4_sitl *_windy`    | Empty world with wind enabled                               |
+| 전역                | 통신                                | 설명                                                          |
+| ----------------- | --------------------------------- | ----------------------------------------------------------- |
+| `default`         | `make px4_sitl *`                 | Empty world (a grey plane)               |
+| `aruco`           | `make px4_sitl *_aruco`           | Empty world with aruco marker for testing precision landing |
+| `baylands`        | `make px4_sitl *_baylands`        | Baylands world surrounded by water                          |
+| `lawn`            | `make px4_sitl *_lawn`            | Lawn world for testing rovers                               |
+| `rover`           | `make px4_sitl *_rover`           | Rover world (optimised/preferred)        |
+| `walls`           | `make px4_sitl *_walls`           | Wall world for testing collision prevention                 |
+| `windy`           | `make px4_sitl *_windy`           | Empty world with wind enabled                               |
+| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform                |

 :::warning
 Note that if no world is specified, PX4 will use the `default` world.
@@ -263,6 +264,9 @@ where `ARGS` is a list of environment variables including:

  - This variable is ignored if an existing simulation is already running.
  - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument.
+  - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables:
+    - `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+    - `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.

 - `PX4_SIMULATOR=GZ`:
  Sets the simulator, which for Gazebo must be `gz`.
@@ -73,6 +73,30 @@ World with walls that is designed for testing [collision prevention](../computer

 [PX4-gazebo-models/main/worlds/windy.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/windy.sdf)

+## Moving Platform
+
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+
+[Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
+
+```
+PX4_GZ_MODEL_POSE=0,0,2.2 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
+```
+
+The plugin can be configured with the following environment variables:
+
+- `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+- `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.
+
+[PX4-gazebo-models/main/worlds/moving_platform.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/moving_platform.sdf)
+
+![screenshot of moving platform world](../../assets/simulation/gazebo/worlds/moving_platform.png)
+
+:::tip
+The moving platform plugin can also be used within other worlds.
+For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md).
+:::
+
 ## Model Specific Worlds {#model_specific_worlds}

 Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world.
@@ -716,6 +716,10 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
    - [Повідомлення MAVLink](middleware/mavlink.md)
+      - [Adding Messages](mavlink/adding_messages.md)
+      - [Streaming Messages](mavlink/streaming_messages.md)
+      - [Receiving Messages](mavlink/receiving_messages.md)
+      - [Custom MAVLink Messages](mavlink/custom_messages.md)
      - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
  - [Модулі & Команди](modules/modules_main.md)
@@ -89,7 +89,7 @@ This protocol is commonly use is for connecting [optical flow](../sensor/optical
 | SCK    | ![black][blkcircle] Black | ![yellow][ycircle] Yellow |
 | MISO   | ![black][blkcircle] Black | ![blue][bluecircle] Blue  |
 | MOSI   | ![black][blkcircle] Black | ![green][gcircle] Green   |
-| CS!    | ![black][blkcircle] Black | ![white][wcircle] White   |
+| CS1    | ![black][blkcircle] Black | ![white][wcircle] White   |
 | CS2    | ![black][blkcircle] Black | ![blue][bluecircle] Blue  |
 | GND    | ![black][blkcircle] Black | ![black][blkcircle] Black |

@@ -88,9 +88,9 @@ PX4 повторно видає пункти камери, знайдені в
  - Предмети місії виконуються, коли вони активовані.
  - `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
    - [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(vehicle_command);`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
-          - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
          - Усі інші просто публікуються під стандартний компонент ID.
          - Тема UORB `VehicleCommand` публікується.

@@ -83,7 +83,7 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
  At end this publishes the current vehicle command
-  _navigator->publish_vehicle_command(&vehicle_command);
+  _navigator.publish_vehicle_command(vehicle_command);

 Publishing command:
 void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
@@ -376,3 +376,31 @@ This section explains how you might manually run the same steps as the script (s
  ```sh
  CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"
  ```
+
+## Flight Review & Encrypted logs
+
+If your logs are secret enough to require encryption it is likely that you will not trust them on the public [Flight Review](../getting_started/flight_reporting.md) server (this is not particularly hardened against data loss or theft).
+
+:::info
+The public [Flight Review](../getting_started/flight_reporting.md) service does not support encrypted logs.
+If you wish to use the service you can use the tools here to download and decrypt the files first.
+:::
+
+This section explains how you can host a _private_ instance of the Flight Review server.
+This can use logs that you have downloaded and decrypted yourself, or you can include your private key in the server for automatic decryption of logs on upload.
+
+Кроки наступні:
+
+1. Follow the Flight Review [installation and setup](https://github.com/PX4/flight_review?tab=readme-ov-file#installation-and-setup) instructions to clone and setup the server.
+
+2. Put your private key in the source code at: `flight_review/app/private_key/private_key.pem`
+
+3. Add this key location into the server config file: `flight_review/app/config_default.ini`.
+
+  The line to add should look something like this (for the file above):
+
+  ```sh
+  ulge_private_key = ../private_key/private_key.pem
+  ```
+
+4. Follow the Flight Review Instructions to start your server.
@@ -33,22 +33,15 @@ If needed you can also [get the source code specific to a particular release](..
 Спочатку ми зберемо цільову платформу симуляції з використанням консольного середовища.
 Це дозволяє нам перевірити налаштування системи перед її запуском на реальному обладнанні та IDE.

-Navigate into the **PX4-Autopilot** directory.
-Depending on your operating system you will have installed either [Gazebo SITL](../sim_gazebo_gz/index.md) or [Gazebo Classic SITL](../sim_gazebo_classic/index.md) (if you don't know which you can try both).
-
-:::: tabs
-
-:::tab Gazebo
-Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
+Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:

 ```sh
 make px4_sitl gz_x500
 ```

-:::
-
-:::tab Gazebo-Classic
-Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
+:::details
+If you installed Gazebo Classic
+Start  [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:

 ```sh
 make px4_sitl gazebo-classic
@@ -56,8 +49,6 @@ make px4_sitl gazebo-classic

 :::

-::::
-
 This will bring up the PX4 console:

 ![PX4 Console](../../assets/toolchain/console_gazebo.png)
@@ -73,19 +64,9 @@ The drone can be flown by typing the following command (as shown in the console
 pxh> commander takeoff
 ```

-The vehicle will take off and you'll see this in the simulator UI:
+The vehicle will take off and you'll see this in the Gazebo simulator UI:

-:::: tabs
-
-:::tab Gazebo
 ![Gazebo UI with vehicle taking off](../../assets/toolchain/gazebo_takeoff.png)
-:::
-
-:::tab Gazebo-Classic
-![Gazebo Classic UI with vehicle taking off](../../assets/toolchain/gazebo_classic_takeoff.png)
-:::
-
-::::

 The drone can be landed by typing `commander land` and the whole simulation can be stopped by doing **CTRL+C** (or by entering `shutdown`).

@@ -1,20 +1,24 @@
 # Середовище розробки Ubuntu

-The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 22.04 (Jammy Jellyfish), 20.04 (Focal Fossa), and 18.04 (Bionic Beaver).
+The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 24.04 (Nimble Numbat) and Ubuntu 22.04 (Jammy Jellyfish).

 The environment includes:

- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic") on Ubuntu 22.04
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) on Ubuntu 20.04 and Ubuntu 18.04
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
 - [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).

-:::info
-The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
-:::
+On Ubuntu 22.04:

-:::tip
-if you need to use Gazebo on Ubuntu 20.04 you can [manually install Gazebo "Garden"](../sim_gazebo_gz/index.md#installation-ubuntu-linux), with the caveat that this is end-of-life in November 2024.
-If you want to use Gazebo Classic on Ubuntu 22.04 (say) then you can manually install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
+- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
+  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
+
+The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
+
+:::details
+Can I use an older version of Ubuntu?
+PX4 supports the current and last Ubuntu LTS release where possible.
+Older releases are not supported (so you can't raise defects against them), but may still work.
+For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
 :::

 ## Симуляція та NuttX (Pixhawk)
@@ -48,7 +52,9 @@ The script is intended to be run on _clean_ Ubuntu LTS installations, and may no
  - При появі підказки по ходу виконання скрипту підтвердить вибір.
  - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.

-3. Перезавантажте комп'ютер при завершенні.
+3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
+
+4. Перезавантажте комп'ютер при завершенні.

 :::details
 Additional notes
@@ -62,8 +68,8 @@ These notes are provided "for information only":
  ```sh
  $arm-none-eabi-gcc --version

-  arm-none-eabi-gcc (GNU Arm Embedded Toolchain 9-2020-q2-update) 9.3.1 20200408 (release)
-  Copyright (C) 2019 Free Software Foundation, Inc.
+  arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
+  Copyright (C) 2023 Free Software Foundation, Inc.
  This is free software; see the source for copying conditions.  There is NO
  warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  ```
@@ -80,17 +86,6 @@ These notes are provided "for information only":

 :::

-## Відеоінструкція
-
-This video shows how to install the toolchain for NuttX and simulation targets ([as covered below](#simulation-and-nuttx-pixhawk-targets)) along with the basic testing covered in [Building PX4 Software](../dev_setup/building_px4.md).
-
-:::warning
-The video suggests that you build source using JMAVSim, entering the command: `make px4_sitl jmavsim`.
-As JMAVSim is now community-supported, you should instead build using Gazebo or Gazebo Classic, as shown in [Building the Code](../dev_setup/building_px4.md#first-build-using-a-simulator)
-:::
-
-<lite-youtube videoid="OtValQdAdrU" title=" Setting up your PX4 development environment on Linux"/>
-
 ## Other Targets

 The Ubuntu development environment for ROS, other simulators, and other hardware targets, is covered in their respective documentation.
@@ -5,7 +5,7 @@
 Є багато причин використання VSCode для розробки PX4:

 - Getting setup _really_ only takes a few minutes.
- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN dsdl.
+- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN DSDL.
 - Чудова інтеграція з Github.

 Цей розділ пояснює, як налаштувати IDE і почати розробку.
@@ -26,7 +26,9 @@ You must already have installed the command line [PX4 developer environment](../
 2. Відкрийте VSCode і додайте вихідний код PX4:

   - Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
+
      ![Open Folder](../../assets/toolchain/vscode/welcome_open_folder.jpg)
+
   - З'явиться діалогове вікно вибору файлу.
      Select the **PX4-Autopilot** directory and then press **OK**.

@@ -7,10 +7,10 @@ Contact the [manufacturer](https://holybro.com/) for hardware support or complia

 _Pixhawk 6C Mini_<sup>&reg;</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>&reg;</sup> and the PX4 team.

-Він оснащений високопродуктивним процесором H7, резервуванням IMU, платою IMU з контролем температури та економічно вигідним дизайном, що забезпечує неймовірну продуктивність і надійність.
+It is equipped with a high performance H7 Processor and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
 It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

-![Pixhawk6c mini Upright Image](../../assets/flight_controller/pixhawk6c_mini/pixhawk6c_mini_hero.jpg)
+![Pixhawk6c mini A&B Image](../../assets/flight_controller/pixhawk6c_mini/HB_6C_MINI-A_B.jpg)

 :::tip
 This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
@@ -22,33 +22,33 @@ Pixhawk® 6C Mini є останнім оновленням успішної се

 Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.

-Мікроконтролер H7 Pixhawk® 6C Mini містить ядро Arm® Cortex®-M7 до 480 MHz, має 2MB flash пам’яті та 1MB RAM.
+The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, and has 2MB flash memory and 1MB RAM.
 Завдяки оновленій потужності обробки розробники можуть бути більш продуктивними та ефективними у своїй роботі з розробкою, що дозволяє використовувати складні алгоритми та моделі.

 Pixhawk 6C Mini включає високопродуктивні, низькошумні IMU на борту, розроблені бути економічними, але водночас маючи резервування IMU.
 Система віброізоляції для фільтрації високочастотної вібрації та зменшення шуму для забезпечення точних показань, що дозволяє транспортним засобам досягати кращих загальних характеристик польоту.

-Pixhawk® 6C Mini ідеально підходить для розробників у корпоративних дослідницьких лабораторіях, стартапах, академічних закладах (дослідники, професори, студенти) та комерційних застосувань.
+The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.

 **Key Design Points**

 - High performance STM32H743 Processor with more computing power & RAM
 - Новий економічний дизайн із низькопрофільним форм-фактором
 - Нова інтегрована система віброізоляції, призначена для фільтрації високочастотних вібрацій та зменшення шуму для забезпечення точних даних
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;

 ## Технічні характеристики

 ### **Processors & Sensors**

- FMU Processor: STM32H743&#x20
-  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
+- FMU Processor: STM32H743&#x20;
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20;
 - IO Processor: STM32F103
-  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
- On-board sensors&#x20
-  - &#x20;Accel/Gyro: ICM-42688-P&#x20
-  - Accel/Gyro: BMI055&#x20
-  - Mag: IST8310&#x20
+  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20;
+- On-board sensors&#x20;
+  - &#x20;Accel/Gyro: ICM-42688-P&#x20;
+  - Accel/Gyro: BMI055&#x20;
+  - Mag: IST8310&#x20;
  - Барометр: MS5611

 ### **Electrical data**
@@ -64,7 +64,7 @@ Pixhawk® 6C Mini ідеально підходить для розробник
 ### **Mechanical data**

 - Розміри: 53.3 x 39 x 16.2 mm
- Вага: 39.2г
+- Weight: 39.2g

 ### **Interfaces**

@@ -123,7 +123,8 @@ Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_

 ## Розміри

-![Pixhawk6c Mini Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg)
+![Pixhawk6c Mini A Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_dimension.jpg)
+![Pixhawk6c Mini B Dimensions](../../assets/flight_controller/pixhawk6c_mini/pixhawk_6c_mini_b_dimensions.jpg)

 ## Номінальна напруга

@@ -138,7 +139,7 @@ _Pixhawk 6C Mini_ can be double-redundant on the power supply if two power sourc

 **Absolute Maximum Ratings**

-За таких умов система не буде витрачати жодної потужності (не буде працювати), але залишиться неушкодженою.
+Under these conditions, the system will not draw any power (will not be operational), but will remain intact.

 1. **POWER1** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
 2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
@@ -9,30 +9,44 @@ _Pixhawk 6X_<sup>&reg;</sup> is the latest update to the successful family of Pi

 It is based on the [Pixhawk® Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).

-Оснащений високопродуктивним процесором H7, модульним дизайном, потрійним резервуванням, платою IMU з контролем температури, ізольованими доменами сенсорів, що забезпечує неймовірну продуктивність, надійність та гнучкість.
+Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, delivering incredible performance, reliability, and flexibility.

-### Pixhawk 6X (Rev 3)
+### Pixhawk 6X (Rev 8)

-<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_hero_upright.png" width="230px" title="Pixhawk6X Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="400px" title="Pixhawk6X Exploded Image" />
+<img src="../../assets/flight_controller/pixhawk6x/HB_6X_rev8_V2A.png" width="420px"/><img src="../../assets/flight_controller/pixhawk6x/hb_6x_internal_v2.png" width="320px"/>

-### Pixhawk 6X (ICM-45686)
+#### Pixhawk 6X (Rev 3/4, discontinued)
+
+<img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_hero_upright.png" width="150px" title="Pixhawk6X Upright Image" /> <img src="../../assets/flight_controller/pixhawk6x/pixhawk6x_exploded_diagram.png" width="280px" title="Pixhawk6X Exploded Image" />
+
+### Pixhawk 6X Baseboards Options

 :::: tabs

 :::tab Standard v2A

-![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2a.webp)
+![Pixhawk 6X Standard v2A](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2A.jpg)

 :::

 :::tab Standard v2B

-![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_v2b.webp)
+![Pixhawk 6X Standard v2B](../../assets/flight_controller/pixhawk6x/HB_PH6X_V2B.jpg)
 :::

 :::tab Mini

-![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/pixhawk6x_icm_mini.webp)
+![Pixhawk 6X Mini](../../assets/flight_controller/pixhawk6x/HB_PH6X_Mini.jpg)
+:::
+
+:::tab Jetson Baseboard
+
+![Jetson Baseboard](../../assets/flight_controller/pixhawk6x/HB_Jetson_BB.jpg)
+:::
+
+:::tab CM4 Baseboard
+
+![Pixhawk 6X CM4](../../assets/flight_controller/pixhawk6x/HB_PH6X_CM4.jpg)
 :::

 ::::
@@ -53,15 +67,15 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md

 Зовнішня шина датчиків (SPI5) має дві лінії вибору чипів та сигнали готовності даних для додаткових датчиків та корисного навантаження з інтерфейсом SPI, а також з інтегрованим Microchip Ethernet PHY, високошвидкісний обмін даними з комп'ютерами місії через ethernet тепер можливий.

-Pixhawk® 6X ідеально підходить для розробників у корпоративних дослідницьких лабораторіях, стартапах, академічних потреб (досліджень, професорів, студентів) та комерційного застосування.
+The Pixhawk® 6X is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.

 ## Ключові пункти дизайну

- Високопродуктивний процесор STM32H753
+- High-performance STM32H753 Processor
 - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
 - Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
 - Потрійне резервування доменів: повністю ізольовані сенсорні домени з окремими шинами та окремим керуванням живленням
- Нова система ізоляції вібрацій для фільтрації високочастотних вібрацій та зменшення шуму для забезпечення точних вимірювань
+- Newly designed vibration isolation system to filter out high-frequency vibration and reduce noise to ensure accurate readings
 - Інтерфейс Ethernet для високошвидкісної інтеграції комп'ютера місії
 - IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;

@@ -71,7 +85,11 @@ Pixhawk® 6X ідеально підходить для розробникі
  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
 - IO Processor: STM32F100
  - 32 Bit Arm®️ Cortex®️-M3, 24MHz, 8KB SRAM
- Сенсори на платі
+- On-board sensors (Shipping Currently, Rev 8)
+  - Accel/Gyro: 3x ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: ICP20100 & BMP388
+  - Mag: BMM150
+- On-board sensors (Rev 3/4, discontinued)
  - Accel/Gyro: ICM-20649 або BMI088
  - Accel/Gyro: ICM-42688-P
  - Accel/Gyro: ICM-42670-P
@@ -198,7 +216,7 @@ The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm P

 **Absolute Maximum Ratings**

-За таких умов система не буде витрачати жодної потужності (не буде працювати), але залишиться неушкодженою.
+Under these conditions, the system will not draw any power (will not be operational) but will remain intact.

 1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
 2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
@@ -209,7 +227,7 @@ The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm P
 Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk6x.md#power)).

 :::info
-Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
+Analog battery monitoring via an ADC is not supported on this particular board but may be supported in variations of this flight controller with a different baseboard.
 :::

 ## Збірка прошивки
@@ -13,6 +13,12 @@ Logs can be downloaded using [QGroundControl](http://qgroundcontrol.com/): **[An

 ![Flight Log Download](../../assets/qgc/analyze/log_download.jpg)

+:::tip
+Encrypted logs cannot be downloaded with QGroundControl, or uploaded to the public Flight Review service.
+The easiest way to download and extract encrypted logs is to use the [Log Encryption Tools](../dev_log/log_encryption.md).
+You can also host a [private Flight Review server](../dev_log/log_encryption.md#flight-review-encrypted-logs) that automatically decrypts logs on upload using your private key.
+:::
+
 ## Аналіз журналів

 Upload the log file to the online [Flight Review](http://logs.px4.io) tool.
@@ -136,3 +136,5 @@ The PX4 flight stack is hosted under the governance of the [Dronecode Project](h
 <a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>
+
+Doc build time: {{ $buildTime }}
@@ -0,0 +1,98 @@
+# Adding Standard MAVLink Definitions (Messages/Commands)
+
+This topic explains how to add new MAVLink messages and commands that are expected to be _part of_ the normal PX4 build.
+
+## Standard MAVLink Messages
+
+The PX4/PX4-Autopilot source code uses only messages that have been standardized by MAVLink.
+That is to say, the standard definitions in [common.xml](https://mavlink.io/en/messages/common.html) in releases, and [development.xml](https://mavlink.io/en/messages/development.html) during development.
+These messages are present in at least one significant flight stack, and members of other flight stacks have accepted them as a reasonable design that would likely be adopted if the same functionality was required.
+
+:::tip
+A [Custom MAVLink Message](../mavlink/custom_messages.md) is one that isn't part of the standard.
+These are defined in your own XML as part of your own fork of PX4.
+If you use [custom MAVLink messages](../mavlink/custom_messages.md) you will need maintain the definitions in PX4, your ground station, and any other SDKs that communicate with it.
+Загалом, щоб зменшити тягар обслуговування, слід використовувати (або доповнювати) стандартні визначення, якщо це можливо.
+:::
+
+New standard definitions are added first to `development.xml`, and then moved to `common.xml` following review and prototyping, and acceptance by the MAVLink team.
+
+If you intend your message to become part of the default PX4 build you will need to propose it to the MAVLink community by submitting a pull request (PR) to [development.xml](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/development.xml).
+The [MAVLink Developer guide](https://mavlink.io/en/getting_started/) explains how to define new messages in [How to Define MAVLink Messages & Enums](https://mavlink.io/en/guide/define_xml_element.html).
+
+## Generating Message Headers
+
+During development you can add your definitions to `PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml` (or pull them from MAVLink).
+
+When you build PX4, header files for these message definitions are generated in the build directory (`/build/<build target>/mavlink/`).
+If headers are not build for your messages, they may be incorrectly formatted, or use clashing ids.
+Перевірте журнал збірки для отримання інформації.
+
+## Implementing Message Senders/Receivers
+
+Once the message headers for your definitions are generated in the PX4 build, you can use them in your code to send and receive the messages:
+
+- [Streaming MAVLink Messages](../mavlink/streaming_messages.md)
+- [Receiving MAVLink Messages](../mavlink/receiving_messages.md)
+
+## Тестування
+
+The first step in debugging is to confirm that any messages you've created are being sent/received as you expect.
+
+You should should first use the `uorb top [<message_name>]` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
+This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL).
+
+Існує кілька підходів для перегляду трафіку MAVLink:
+
+- Create a [Wireshark MAVLink plugin](https://mavlink.io/en/guide/wireshark.html) for your dialect.
+  This allows you to inspect MAVLink traffic on an IP interface - for example between _QGroundControl_ or MAVSDK and your real or simulated version of PX4.
+
+  :::tip
+  It is much easier to generate a wireshark plugin and inspect traffic in Wireshark, than to rebuild QGroundControl with your dialect and use MAVLink Inspector.
+
+:::
+
+- [Log uORB topics](../dev_log/logging.md) associate with your MAVLink message.
+
+- View received messages in the QGroundControl [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
+  You will need to [rebuild QGroundControl with the new message definitions](#updating-ground-stations).
+
+### Встановити швидкість передачі за допомогою оболонки
+
+Для тестування іноді корисно збільшити швидкість передачі окремих тем під час виконання (наприклад, для перевірки в QGC).
+This can be achieved using by calling the [mavlink](../modules/modules_communication.md#mavlink) module through the [QGC MAVLink console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) (or some other shell):
+
+```sh
+mavlink stream -u <port number> -s <mavlink topic name> -r <rate>
+```
+
+You can get the port number with `mavlink status` which will output (amongst others) `transport protocol: UDP (<port number>)`.
+Прикладом може бути:
+
+```sh
+mavlink stream -u 14556 -s CA_TRAJECTORY -r 300
+```
+
+## Оновлення наземних станцій
+
+Зрештою, ви захочете використовувати ваш новий інтерфейс MAVLink, надавши відповідну наземну станцію або реалізацію MAVSDK.
+
+Важливо пам'ятати, що MAVLink вимагає, щоб ви використовували версію бібліотеки, яка побудована за тим самим визначенням (XML-файл).
+Отже, якщо ви створили власне повідомлення у PX4, ви не зможете його використати, доки не зберете QGC або MAVSDK з тим самим визначенням.
+
+### Оновлення QGroundControl
+
+You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) including a pre-built C library that contains your custom messages.
+
+QGC uses a pre-built C library that must be located at [/qgroundcontrol/libs/mavlink/include/mavlink](https://github.com/mavlink/qgroundcontrol/tree/master/libs/mavlink/include/mavlink) in the QGC source.
+
+By default this is pre-included as a submodule from <https://github.com/mavlink/c_library_v2> but you can [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
+
+QGC uses the **all.xml** dialect by default, which includes **common.xml**.
+You can include your messages in either file.
+
+Note that if you use your own _custom dialect_ then it should include **ArduPilotMega.xml** (or it will miss all the existing messages), and you will need to change the dialect used by setting it in [`MAVLINK_CONF`](https://github.com/mavlink/qgroundcontrol/blob/master/QGCExternalLibs.pri#L52) when running _qmake_.
+
+### Оновлення MAVSDK
+
+See the MAVSDK docs for information about how to work with [MAVLink headers and dialects](https://mavsdk.mavlink.io/main/en/cpp/guide/build.html).
@@ -0,0 +1,49 @@
+# Спеціальні повідомлення MAVLink
+
+A custom [MAVLink message](../middleware/mavlink.md) is one that isn't in the standard MAVLink definitions that are included into PX4 by default.
+
+:::info
+If you use a custom definition you will fork and maintain PX4, your ground station, and any other SDKs that communicate with it.
+Загалом, щоб зменшити тягар обслуговування, слід використовувати (або доповнювати) стандартні визначення, якщо це можливо.
+:::
+
+## Adding Custom XML
+
+Custom definitions can be added in a new dialect file in the same directory as [when using the standard XML definitions](../mavlink/adding_messages.md).
+For example, create `PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/custom_messages.xml`, and set `CONFIG_MAVLINK_DIALECT` to build the new file for SITL.
+This dialect file should include `development.xml` so that all the standard definitions are also included.
+
+For initial prototyping, or if you intend your message to be "standard", you can also add your messages to `common.xml` (or `development.xml`).
+Це спрощує збірку, оскільки вам не потрібно модифікувати вже зібраний діалект.
+
+The MAVLink developer guide explains how to define new messages in [How to Define MAVLink Messages & Enums](https://mavlink.io/en/guide/define_xml_element.html).
+
+You can check that your new messages are built by inspecting the headers generated in the build directory (`/build/<build target>/mavlink/`).
+Якщо ваші повідомлення не збираються, вони можуть бути неправильно відформатовані або використовувати конфліктуючі ідентифікатори.
+Перевірте журнал збірки для отримання інформації.
+
+Після того, як повідомлення створено, ви можете передавати, отримувати або використовувати його в інший спосіб, як описано в наступних розділах.
+
+:::info
+The [MAVLink Developer guide](https://mavlink.io/en/getting_started/) has more information about using the MAVLink toolchain.
+:::
+
+## Альтернатива створення користувацьких повідомлень MAVLink
+
+Іноді існує потреба в довільному повідомленні MAVLink з вмістом, який не повністю визначений.
+
+Наприклад, при використанні MAVLink для інтерфейсу PX4 з вбудованим пристроєм, повідомлення, якими обмінюються автопілот і пристрій, можуть пройти кілька ітерацій, перш ніж вони будуть стабілізовані.
+У цьому випадку відновлення заголовків MAVLink може зайняти багато часу і призвести до помилок, а також переконатися, що обидва пристрої використовують одну і ту ж версію протоколу.
+
+Альтернативним - і тимчасовим - рішенням є перепризначення налагоджувальних повідомлень.
+Instead of creating a custom MAVLink message `CA_TRAJECTORY`, you can send a message `DEBUG_VECT` with the string key `CA_TRAJ` and data in the `x`, `y` and `z` fields.
+See [this tutorial](../debug/debug_values.md) for an example usage of debug messages.
+
+:::info
+This solution is not efficient as it sends character string over the network and involves comparison of strings.
+Це повинно використовуватися лише для розробки!
+:::
+
+## Testing & Updating Ground Stations
+
+Testing the code and updating ground stations is done in the same way as when [Adding New Standard MAVLink Definitions ](../mavlink/adding_messages.md).
@@ -0,0 +1,85 @@
+# Отримання повідомлень MAVLink
+
+This topic explains how to receive a [MAVLink message](../middleware/mavlink.md) and publish it to uORB.
+
+## Загальний огляд
+
+The topic shows how we would handle a received `BATTERY_STATUS_DEMO` message (as defined in [Streaming MAVLink Messages](../mavlink/streaming_messages.md)) and then update the (existing) [BatteryStatus uORB message](../msg_docs/BatteryStatus.md) with the contained information.
+
+Це той тип реалізації, який ви надаєте для підтримки інтеграції батареї MAVLink з PX4.
+
+## Кроки
+
+Add the headers for the uORB topic to publish to in [mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L77):
+
+```cpp
+#include <uORB/topics/battery_status.h>
+```
+
+Add a function signature for a function that handles the incoming MAVLink message in the `MavlinkReceiver` class in
+[mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L126)
+
+```cpp
+void handle_message_battery_status_demo(mavlink_message_t *msg);
+```
+
+Normally you would add a uORB publisher for the uORB topic to publish in the `MavlinkReceiver` class in
+[mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L296).
+In this case the [BatteryStatus](../msg_docs/BatteryStatus.md) uORB topic already exists:
+
+```cpp
+uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
+```
+
+This creates a publication to a single uORB topic instance, which by default will be the _first_ instance.
+
+:::info
+This implementation won't work on multi-battery systems, because several batteries might be publishing data to the first instance of the topic, and there is no way to differentiate them.
+To support multiple batteries we'd need to use `PublicationMulti` and map the MAVLink message instance IDs to specific uORB topic instances.
+:::
+
+Implement the `handle_message_battery_status_demo` function in [mavlink_receiver.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp).
+
+```cpp
+void
+MavlinkReceiver::handle_message_battery_status_demo(mavlink_message_t *msg)
+{
+	if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) {
+		// ignore battery status coming from other systems or from the autopilot itself
+		return;
+	}
+
+	// external battery measurements
+	mavlink_battery_status_t battery_mavlink;
+	mavlink_msg_battery_status_decode(msg, &battery_mavlink);
+
+	battery_status_s battery_status{};
+	battery_status.timestamp = hrt_absolute_time();
+
+	battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
+	battery_status.temperature = (float)battery_mavlink.temperature;
+	battery_status.connected = true;
+
+	_battery_pub.publish(battery_status);
+}
+```
+
+:::info
+Above we only write to the battery fields that are defined in the topic.
+На практиці ви оновлювали б всі поля або з дійсними, або з недійсними значеннями: це було скорочено для стислості.
+:::
+
+and finally make sure it is called in [MavlinkReceiver::handle_message()](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp#L228)
+
+```cpp
+MavlinkReceiver::handle_message(mavlink_message_t *msg)
+ {
+    switch (msg->msgid) {
+        ...
+    case MAVLINK_MSG_ID_BATTERY_STATUS_DEMO:
+        handle_message_battery_status_demo(msg);
+        break;
+        ...
+    }
+ }
+```
@@ -0,0 +1,260 @@
+# Потокові повідомлення MAVLink
+
+Цей посібник демонструє, як транслювати повідомлення uORB як повідомлення MAVLink, і застосовується як до стандартних, так і до користувацьких повідомлень.
+
+## Загальний огляд
+
+[MAVLink messages](../middleware/mavlink.md) are streamed using a streaming class, derived from `MavlinkStream`, that has been added to the PX4 stream list.
+Клас має фреймворкові методи, які ви реалізуєте, щоб PX4 міг отримати потрібну йому інформацію зі згенерованого визначення повідомлення MAVLink.
+It also has a `send()` method that is called each time the message needs to be sent — you override this to copy information from a uORB subscription to the MAVLink message object that is to be sent.
+
+Once you have created a streaming class the corresponding message can be streamed on request.
+You can also configure PX4 to stream the message by default, depending on the MAVLink configuration.
+
+## Передумови
+
+Generally you will already have a [uORB](../middleware/uorb.md) message that contains information you'd like to stream and a definition of a MAVLink message that you'd like to stream it with.
+
+For this example we're going to assume that you want to stream the (existing) [BatteryStatus](../msg_docs/BatteryStatus.md) uORB message to a new MAVLink battery status message, which we will name `BATTERY_STATUS_DEMO`.
+
+Copy this `BATTERY_STATUS_DEMO` message into the message section of `development.xml` in your PX4 source code, which will be located at: `\src\modules\mavlink\mavlink\message_definitions\v1.0\development.xml`.
+
+```xml
+    <message id="11514" name="BATTERY_STATUS_DEMO">
+      <description>Simple demo battery.</description>
+      <field type="uint8_t" name="id" instance="true">Battery ID</field>
+      <field type="int16_t" name="temperature" units="cdegC" invalid="INT16_MAX">Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.</field>
+      <field type="uint8_t" name="percent_remaining" units="%" invalid="UINT8_MAX">Remaining battery energy. Values: [0-100], UINT8_MAX: field not provided.</field>
+    </message>
+```
+
+:::info
+Note that this is a cut-down version of the not-yet-implemented [BATTERY_STATUS_V2](https://mavlink.io/en/messages/development.html#BATTERY_STATUS_V2) message with randomly chosen unused id of `11514`.
+Here we've put the message in `development.xml`, which is fine for testing and if the message is intended to eventually be part of the standard message set, but you might also put a [custom message](../mavlink/custom_messages.md) in its own dialect file.
+:::
+
+Build PX4 for SITL and confirm that the associated message is generated in `/build/px4_sitl_default/mavlink/development/mavlink_msg_battery_status_demo.h`.
+
+Because `BatteryStatus` already exists you will not need to do anything to create or build it.
+
+## Об'явлення класу потокового відтворення
+
+First create a file named `BATTERY_STATUS_DEMO.hpp` for your streaming class (named after the message to stream) inside the [/src/modules/mavlink/streams](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink/streams) directory.
+
+Додайте заголовки для повідомлень uORB у верхню частину файлу (необхідні заголовки MAVLink вже мають бути доступними):
+
+```cpp
+#include <uORB/topics/battery_status.h>
+```
+
+:::info
+The uORB topic's snake-case header file is generated from the CamelCase uORB filename at build time.
+:::
+
+Потім скопіюйте визначення класу трансляції нижче у файл:
+
+```cpp
+class MavlinkStreamBatteryStatusDemo : public MavlinkStream
+{
+public:
+    static MavlinkStream *new_instance(Mavlink *mavlink)
+    {
+        return new MavlinkStreamBatteryStatusDemo(mavlink);
+    }
+    const char *get_name() const
+    {
+        return MavlinkStreamBatteryStatusDemo::get_name_static();
+    }
+    static const char *get_name_static()
+    {
+        return "BATTERY_STATUS_DEMO";
+    }
+    static uint16_t get_id_static()
+    {
+        return MAVLINK_MSG_ID_BATTERY_STATUS_DEMO;
+    }
+    uint16_t get_id()
+    {
+        return get_id_static();
+    }
+    unsigned get_size()
+    {
+        return MAVLINK_MSG_ID_BATTERY_STATUS_DEMO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+    }
+
+private:
+    //Subscription to array of uORB battery status instances
+    uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
+    // SubscriptionMultiArray subscription is needed because battery has multiple instances.
+    // uORB::Subscription is used to subscribe to a single-instance topic
+
+    /* do not allow top copying this class */
+    MavlinkStreamBatteryStatusDemo(MavlinkStreamBatteryStatusDemo &);
+    MavlinkStreamBatteryStatusDemo& operator = (const MavlinkStreamBatteryStatusDemo &);
+
+protected:
+    explicit MavlinkStreamBatteryStatusDemo(Mavlink *mavlink) : MavlinkStream(mavlink)
+    {}
+
+	bool send() override
+	{
+		bool updated = false;
+
+		// Loop through _battery_status_subs (subscription to array of BatteryStatus instances)
+		for (auto &battery_sub : _battery_status_subs) {
+            // battery_status_s is a struct that can hold the battery object topic
+			battery_status_s battery_status;
+
+			// Update battery_status and publish only if the status has changed
+			if (battery_sub.update(&battery_status)) {
+                // mavlink_battery_status_demo_t is the MAVLink message object
+				mavlink_battery_status_demo_t bat_msg{};
+
+				bat_msg.id = battery_status.id - 1;
+				bat_msg.percent_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
+
+				// check if temperature valid
+				if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) {
+					bat_msg.temperature = battery_status.temperature * 100.f;
+				} else {
+					bat_msg.temperature = INT16_MAX;
+				}
+
+                //Send the message
+				mavlink_msg_battery_status_demo_send_struct(_mavlink->get_channel(), &bat_msg);
+				updated = true;
+			}
+		}
+
+		return updated;
+	}
+
+};
+```
+
+Most streaming classes are very similar (see examples in [/src/modules/mavlink/streams](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink/streams)):
+
+- The streaming class derives from [`MavlinkStream`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_stream.h) and is named using the pattern `MavlinkStream<CamelCaseMessageName>`.
+
+- The `public` definitions are "near-boilerplate", allowing PX4 to get an instance of the class (`new_instance()`), and then to use it to fetch the name, id, and size of the message from the MAVLink headers (`get_name()`, `get_name_static()`, `get_id_static()`, `get_id()`, `get_size()`).
+  Для ваших власних потокових класів їх можна просто скопіювати і змінити, щоб вони відповідали значенням для вашого повідомлення MAVLink.
+
+- The `private` definitions subscribe to the uORB topics that need to be published.
+  У цьому випадку тема uORB має кілька екземплярів: по одному для кожної батареї.
+  We use `uORB::SubscriptionMultiArray` to get an array of battery status subscriptions.
+
+  Тут ми також визначаємо конструктори, щоб уникнути копіювання визначення.
+
+- The `protected` section is where the important work takes place!
+
+  Here we override the `send()` method, copying values from the subscribed uORB topic(s) into appropriate fields in the MAVLink message, and then send the message.
+
+  In this particular example we have an array of uORB instances `_battery_status_subs` (because we have multiple batteries).
+  We iterate the array and use `update()` on each subscription to check if the associated battery instance has changed (and update a structure with the current data).
+  This allows us to send the MAVLink message _only_ if the associated battery uORB topic has changed:
+
+  ```cpp
+  // Struct to hold current topic data.
+  battery_status_s battery_status;
+
+  // update() populates battery_status and returns true if the status has changed
+  if (battery_sub.update(&battery_status)) {
+     // Use battery_status to populate message and send
+  }
+  ```
+
+  If wanted to send a MAVLink message whether or not the data changed, we could instead use `copy()` as shown:
+
+  ```cpp
+  battery_status_s battery_status;
+  battery_sub.copy(&battery_status);
+  ```
+
+  ::: info
+  For a single-instance topic like [VehicleStatus](../msg_docs/VehicleStatus.md) we would subscribe like this:
+
+  ```cpp
+  // Create subscription _vehicle_status_sub
+  uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+  ```
+
+  І ми можемо використовувати отриману підписку так само, з оновленням або копіюванням.
+
+  ```cpp
+  vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic
+  if (_vehicle_status_sub.update(&vehicle_status)) {
+    // Use the vehicle_status as it has been updated.
+  }
+  ```
+
+
+:::
+
+Next we include our new class in [mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp#L2193).
+Додайте рядок нижче до частини файлу, де включені всі інші потоки:
+
+```cpp
+#include "streams/BATTERY_STATUS_DEMO.hpp"
+```
+
+Finally append the stream class to the `streams_list` at the bottom of
+[mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp)
+
+```C
+StreamListItem *streams_list[] = {
+...
+#if defined(BATTERY_STATUS_DEMO_HPP)
+    create_stream_list_item<MavlinkStreamBatteryStatusDemo>(),
+#endif // BATTERY_STATUS_DEMO_HPP
+...
+}
+```
+
+Клас тепер доступний для потокової передачі, але за замовчуванням не буде транслюватися.
+Ми розглянемо це в наступних розділах.
+
+## Трансляція за замовчуванням
+
+The easiest way to stream your messages by default (as part of a build) is to add them to [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp) in the appropriate message group.
+
+Якщо ви виконаєте пошук у файлі, то знайдете групи повідомлень, визначені в інструкції switch:
+
+- `MAVLINK_MODE_NORMAL`: Streamed to a GCS.
+- `MAVLINK_MODE_ONBOARD`: Streamed to a companion computer on a fast link, such as Ethernet
+- `MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH`: Streamed to a companion computer for re-routing to a reduced-traffic link, such as a GCS.
+- `MAVLINK_MODE_GIMBAL`: Streamed to a gimbal
+- `MAVLINK_MODE_EXTVISION`: Streamed to an external vision system
+- `MAVLINK_MODE_EXTVISIONMIN`: Streamed to an external vision system on a slower link
+- `MAVLINK_MODE_OSD`: Streamed to an OSD, such as an FPV headset.
+- `MAVLINK_MODE_CUSTOM`: Stream nothing by default. Використовується при налаштуванні потокового передавання за допомогою MAVLink.
+- `MAVLINK_MODE_MAGIC`: Same as `MAVLINK_MODE_CUSTOM`
+- `MAVLINK_MODE_CONFIG`: Streaming over USB with higher rates than `MAVLINK_MODE_NORMAL`.
+- `MAVLINK_MODE_MINIMAL`: Stream a minimal set of messages. Зазвичай використовується для поганого зв'язку телеметрії.
+- `MAVLINK_MODE_IRIDIUM`: Streamed to an iridium satellite phone
+
+Normally you'll be testing on a GCS, so you could just add the message to the `MAVLINK_MODE_NORMAL` case using the `configure_stream_local()` method.
+Наприклад, для трансляції CA_TRAJECTORY з частотою 5 Гц:
+
+```cpp
+	case MAVLINK_MODE_CONFIG: // USB
+		// Note: streams requiring low latency come first
+		...
+		configure_stream_local("BATTERY_STATUS_DEMO", 5.0f);
+        ...
+```
+
+It is also possible to add a stream by calling the [mavlink](../modules/modules_communication.md#mavlink) module with the `stream` argument in a [startup script](../concept/system_startup.md).
+For example, you might add the following line to [/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink) in order to stream `BATTERY_STATUS_DEMO` at 50Hz on UDP port `14556` (`-r` configures the streaming rate and `-u` identifies the MAVLink channel on UDP port 14556).
+
+```sh
+mavlink stream -r 50 -s BATTERY_STATUS_DEMO -u 14556
+```
+
+## Транслювання за запитом
+
+Деякі повідомлення потрібні лише один раз, при підключенні певного обладнання або за інших обставин.
+Щоб уникнути перевантаження каналів зв'язку непотрібними повідомленнями, ви можете не передавати всі повідомлення за замовчуванням, навіть з низькою швидкістю.
+
+If you needed, a GCS or other MAVLink API can request that particular messages are streamed at a particular rate using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
+A particular message can be requested just once using [MAV_CMD_REQUEST_MESSAGE](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_MESSAGE).
+
@@ -5,13 +5,15 @@
 PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.

 Ця тема надає короткий огляд основних концепцій MAVLink, таких як повідомлення, команди та мікросервіси.
-Він також надає інструкції посібника про те, як ви можете додати підтримку PX4 для:
+It also links instructions for how you can add PX4 support for:

- Потокових повідомлень MAVLink
- Обробка вхідних повідомлень MAVLink та запис до теми uORB.
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)

 :::info
-The topic does not cover _command_ handling and sending, or how to implement your own microservices.
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
 :::

 ## Огляд MAVLink
@@ -40,12 +42,12 @@ MAVLink messages, commands and enumerations are defined in [XML definition files
 The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):

 - [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
- The definitions move to `common.xml` if accepted following testing.
+  The definitions move to `common.xml` if accepted following testing.
 - [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
- Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
- Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
+  Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
+  Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
 - [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
- Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
+  Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
 - [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.

 The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
@@ -79,448 +81,7 @@ This contains XML definition files in [/mavlink/messages/1.0/](https://github.co
 The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:

 - For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
- You can change this to any other definition file, but the file must include `common.xml`.
+  You can change this to any other definition file, but the file must include `common.xml`.
 - For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).

 The files are generated into the build directory: `/build/<build target>/mavlink/`.
-
-## Спеціальні повідомлення MAVLink
-
-Користувацьке повідомлення MAVLink - це повідомлення, якого немає у визначеннях за замовчуванням, включених до PX4.
-
-:::info
-If you use a custom definition you will need maintain the definition in PX4, your ground station, and any other SDKs that communicate with it.
-Загалом, щоб зменшити тягар обслуговування, слід використовувати (або доповнювати) стандартні визначення, якщо це можливо.
-:::
-
-Користувацькі визначення можна додати до нового файлу діалекту у тому самому каталозі, що й стандартні визначення XML.
-For example, create `PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/custom_messages.xml`, and set `CONFIG_MAVLINK_DIALECT` to build the new file for SITL.
-This dialect file should include `development.xml` so that all the standard definitions are also included.
-
-For initial prototyping, or if you intend your message to be "standard", you can also add your messages to `common.xml` (or `development.xml`).
-Це спрощує збірку, оскільки вам не потрібно модифікувати вже зібраний діалект.
-
-The MAVLink developer guide explains how to define new messages in [How to Define MAVLink Messages & Enums](https://mavlink.io/en/guide/define_xml_element.html).
-
-You can check that your new messages are built by inspecting the headers generated in the build directory (`/build/<build target>/mavlink/`).
-Якщо ваші повідомлення не збираються, вони можуть бути неправильно відформатовані або використовувати конфліктуючі ідентифікатори.
-Перевірте журнал збірки для отримання інформації.
-
-Після того, як повідомлення створено, ви можете передавати, отримувати або використовувати його в інший спосіб, як описано в наступних розділах.
-
-:::info
-The [MAVLink Developer guide](https://mavlink.io/en/getting_started/) has more information about using the MAVLink toolchain.
-:::
-
-## Потокові повідомлення MAVLink
-
-MAVLink messages are streamed using a streaming class, derived from `MavlinkStream`, that has been added to the PX4 stream list.
-Клас має фреймворкові методи, які ви реалізуєте, щоб PX4 міг отримати потрібну йому інформацію зі згенерованого визначення повідомлення MAVLink.
-It also has a `send()` method that is called each time the message needs to be sent — you override this to copy information from a uORB subscription to the MAVLink message object that is to be sent.
-
-Цей посібник демонструє, як транслювати повідомлення uORB як повідомлення MAVLink, і застосовується як до стандартних, так і до користувацьких повідомлень.
-
-### Передумови
-
-Generally you will already have a [uORB](../middleware/uorb.md) message that contains information you'd like to stream and a definition of a MAVLink message that you'd like to stream it with.
-
-For this example we're going to assume that you want to stream the (existing) [BatteryStatus](../msg_docs/BatteryStatus.md) uORB message to a new MAVLink battery status message, which we will name `BATTERY_STATUS_DEMO`.
-
-Copy this `BATTERY_STATUS_DEMO` message into the message section of `development.xml` in your PX4 source code, which will be located at: `\src\modules\mavlink\mavlink\message_definitions\v1.0\development.xml`.
-
-```xml
-    <message id="11514" name="BATTERY_STATUS_DEMO">
-      <description>Simple demo battery.</description>
-      <field type="uint8_t" name="id" instance="true">Battery ID</field>
-      <field type="int16_t" name="temperature" units="cdegC" invalid="INT16_MAX">Temperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.</field>
-      <field type="uint8_t" name="percent_remaining" units="%" invalid="UINT8_MAX">Remaining battery energy. Values: [0-100], UINT8_MAX: field not provided.</field>
-    </message>
-```
-
-:::info
-Note that this is a cut-down version of the not-yet-implemented [BATTERY_STATUS_V2](https://mavlink.io/en/messages/development.html#BATTERY_STATUS_V2) message with randomly chosen unused id of `11514`.
-Here we've put the message in `development.xml`, which is fine for testing and if the message is intended to eventually be part of the standard message set, but you might also put a [custom message](#custom-mavlink-messages) in its own dialect file.
-:::
-
-Build PX4 for SITL and confirm that the associated message is generated in `/build/px4_sitl_default/mavlink/development/mavlink_msg_battery_status_demo.h`.
-
-Because `BatteryStatus` already exists you will not need to do anything to create or build it.
-
-### Об'явлення класу потокового відтворення
-
-First create a file named `BATTERY_STATUS_DEMO.hpp` for your streaming class (named after the message to stream) inside the [/src/modules/mavlink/streams](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink/streams) directory.
-
-Додайте заголовки для повідомлень uORB у верхню частину файлу (необхідні заголовки MAVLink вже мають бути доступними):
-
-```cpp
-#include <uORB/topics/battery_status.h>
-```
-
-:::info
-The uORB topic's snake-case header file is generated from the CamelCase uORB filename at build time.
-:::
-
-Потім скопіюйте визначення класу трансляції нижче у файл:
-
-```cpp
-class MavlinkStreamBatteryStatusDemo : public MavlinkStream
-{
-public:
-    static MavlinkStream *new_instance(Mavlink *mavlink)
-    {
-        return new MavlinkStreamBatteryStatusDemo(mavlink);
-    }
-    const char *get_name() const
-    {
-        return MavlinkStreamBatteryStatusDemo::get_name_static();
-    }
-    static const char *get_name_static()
-    {
-        return "BATTERY_STATUS_DEMO";
-    }
-    static uint16_t get_id_static()
-    {
-        return MAVLINK_MSG_ID_BATTERY_STATUS_DEMO;
-    }
-    uint16_t get_id()
-    {
-        return get_id_static();
-    }
-    unsigned get_size()
-    {
-        return MAVLINK_MSG_ID_BATTERY_STATUS_DEMO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-    }
-
-private:
-    //Subscription to array of uORB battery status instances
-    uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
-    // SubscriptionMultiArray subscription is needed because battery has multiple instances.
-    // uORB::Subscription is used to subscribe to a single-instance topic
-
-    /* do not allow top copying this class */
-    MavlinkStreamBatteryStatusDemo(MavlinkStreamBatteryStatusDemo &);
-    MavlinkStreamBatteryStatusDemo& operator = (const MavlinkStreamBatteryStatusDemo &);
-
-protected:
-    explicit MavlinkStreamBatteryStatusDemo(Mavlink *mavlink) : MavlinkStream(mavlink)
-    {}
-
-	bool send() override
-	{
-		bool updated = false;
-
-		// Loop through _battery_status_subs (subscription to array of BatteryStatus instances)
-		for (auto &battery_sub : _battery_status_subs) {
-            // battery_status_s is a struct that can hold the battery object topic
-			battery_status_s battery_status;
-
-			// Update battery_status and publish only if the status has changed
-			if (battery_sub.update(&battery_status)) {
-                // mavlink_battery_status_demo_t is the MAVLink message object
-				mavlink_battery_status_demo_t bat_msg{};
-
-				bat_msg.id = battery_status.id - 1;
-				bat_msg.percent_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
-
-				// check if temperature valid
-				if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) {
-					bat_msg.temperature = battery_status.temperature * 100.f;
-				} else {
-					bat_msg.temperature = INT16_MAX;
-				}
-
-                //Send the message
-				mavlink_msg_battery_status_demo_send_struct(_mavlink->get_channel(), &bat_msg);
-				updated = true;
-			}
-		}
-
-		return updated;
-	}
-
-};
-```
-
-Most streaming classes are very similar (see examples in [/src/modules/mavlink/streams](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink/streams)):
-
- The streaming class derives from [`MavlinkStream`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_stream.h) and is named using the pattern `MavlinkStream<CamelCaseMessageName>`.
-
- The `public` definitions are "near-boilerplate", allowing PX4 to get an instance of the class (`new_instance()`), and then to use it to fetch the name, id, and size of the message from the MAVLink headers (`get_name()`, `get_name_static()`, `get_id_static()`, `get_id()`, `get_size()`).
- Для ваших власних потокових класів їх можна просто скопіювати і змінити, щоб вони відповідали значенням для вашого повідомлення MAVLink.
-
- The `private` definitions subscribe to the uORB topics that need to be published.
- У цьому випадку тема uORB має кілька екземплярів: по одному для кожної батареї.
- We use `uORB::SubscriptionMultiArray` to get an array of battery status subscriptions.
-
- Тут ми також визначаємо конструктори, щоб уникнути копіювання визначення.
-
- The `protected` section is where the important work takes place!
-
- Here we override the `send()` method, copying values from the subscribed uORB topic(s) into appropriate fields in the MAVLink message, and then send the message.
-
- In this particular example we have an array of uORB instances `_battery_status_subs` (because we have multiple batteries).
- We iterate the array and use `update()` on each subscription to check if the associated battery instance has changed (and update a structure with the current data).
- This allows us to send the MAVLink message _only_ if the associated battery uORB topic has changed:
-
- ```cpp
- // Struct to hold current topic data.
- battery_status_s battery_status;
-
- // update() populates battery_status and returns true if the status has changed
- if (battery_sub.update(&battery_status)) {
-    // Use battery_status to populate message and send
- }
- ```
-
- If wanted to send a MAVLink message whether or not the data changed, we could instead use `copy()` as shown:
-
- ```cpp
- battery_status_s battery_status;
- battery_sub.copy(&battery_status);
- ```
-
- ::: info
- For a single-instance topic like [VehicleStatus](../msg_docs/VehicleStatus.md) we would subscribe like this:
-
- ```cpp
- // Create subscription _vehicle_status_sub
- uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
- ```
-
- І ми можемо використовувати отриману підписку так само, з оновленням або копіюванням.
-
- ```cpp
- vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic
- if (_vehicle_status_sub.update(&vehicle_status)) {
-   // Use the vehicle_status as it has been updated.
- }
- ```
-
-
-:::
-
-Next we include our new class in [mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp#L2193).
-Додайте рядок нижче до частини файлу, де включені всі інші потоки:
-
-```cpp
-#include "streams/BATTERY_STATUS_DEMO.hpp"
-```
-
-Finally append the stream class to the `streams_list` at the bottom of
-[mavlink_messages.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_messages.cpp)
-
-```C
-StreamListItem *streams_list[] = {
-...
-#if defined(BATTERY_STATUS_DEMO_HPP)
-    create_stream_list_item<MavlinkStreamBatteryStatusDemo>(),
-#endif // BATTERY_STATUS_DEMO_HPP
-...
-}
-```
-
-Клас тепер доступний для потокової передачі, але за замовчуванням не буде транслюватися.
-Ми розглянемо це в наступних розділах.
-
-### Трансляція за замовчуванням
-
-The easiest way to stream your messages by default (as part of a build) is to add them to [mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp) in the appropriate message group.
-
-Якщо ви виконаєте пошук у файлі, то знайдете групи повідомлень, визначені в інструкції switch:
-
- `MAVLINK_MODE_NORMAL`: Streamed to a GCS.
- `MAVLINK_MODE_ONBOARD`: Streamed to a companion computer on a fast link, such as Ethernet
- `MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH`: Streamed to a companion computer for re-routing to a reduced-traffic link, such as a GCS.
- `MAVLINK_MODE_GIMBAL`: Streamed to a gimbal
- `MAVLINK_MODE_EXTVISION`: Streamed to an external vision system
- `MAVLINK_MODE_EXTVISIONMIN`: Streamed to an external vision system on a slower link
- `MAVLINK_MODE_OSD`: Streamed to an OSD, such as an FPV headset.
- `MAVLINK_MODE_CUSTOM`: Stream nothing by default. Використовується при налаштуванні потокового передавання за допомогою MAVLink.
- `MAVLINK_MODE_MAGIC`: Same as `MAVLINK_MODE_CUSTOM`
- `MAVLINK_MODE_CONFIG`: Streaming over USB with higher rates than `MAVLINK_MODE_NORMAL`.
- `MAVLINK_MODE_MINIMAL`: Stream a minimal set of messages. Зазвичай використовується для поганого зв'язку телеметрії.
- `MAVLINK_MODE_IRIDIUM`: Streamed to an iridium satellite phone
-
-Normally you'll be testing on a GCS, so you could just add the message to the `MAVLINK_MODE_NORMAL` case using the `configure_stream_local()` method.
-Наприклад, для трансляції CA_TRAJECTORY з частотою 5 Гц:
-
-```cpp
-	case MAVLINK_MODE_CONFIG: // USB
-		// Note: streams requiring low latency come first
-		...
-		configure_stream_local("BATTERY_STATUS_DEMO", 5.0f);
-        ...
-```
-
-It is also possible to add a stream by calling the [mavlink](../modules/modules_communication.md#mavlink) module with the `stream` argument in a [startup script](../concept/system_startup.md).
-For example, you might add the following line to [/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink) in order to stream `BATTERY_STATUS_DEMO` at 50Hz on UDP port `14556` (`-r` configures the streaming rate and `-u` identifies the MAVLink channel on UDP port 14556).
-
-```sh
-mavlink stream -r 50 -s BATTERY_STATUS_DEMO -u 14556
-```
-
-### Транслювання за запитом
-
-Деякі повідомлення потрібні лише один раз, при підключенні певного обладнання або за інших обставин.
-Щоб уникнути перевантаження каналів зв'язку непотрібними повідомленнями, ви можете не передавати всі повідомлення за замовчуванням, навіть з низькою швидкістю.
-
-If you needed, a GCS or other MAVLink API can request that particular messages are streamed at a particular rate using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
-A particular message can be requested just once using [MAV_CMD_REQUEST_MESSAGE](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_MESSAGE).
-
-## Отримання повідомлень MAVLink
-
-Цей розділ пояснює, як отримати повідомлення через MAVLink та опублікувати його в uORB.
-
-It assumes that we are receiving the `BATTERY_STATUS_DEMO` message and we want to update the (existing) [BatteryStatus uORB message](../msg_docs/BatteryStatus.md) with the contained information.
-Це той тип реалізації, який ви надаєте для підтримки інтеграції батареї MAVLink з PX4.
-
-Add the headers for the uORB topic to publish to in [mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L77):
-
-```cpp
-#include <uORB/topics/battery_status.h>
-```
-
-Add a function signature for a function that handles the incoming MAVLink message in the `MavlinkReceiver` class in
-[mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L126)
-
-```cpp
-void handle_message_battery_status_demo(mavlink_message_t *msg);
-```
-
-Normally you would add a uORB publisher for the uORB topic to publish in the `MavlinkReceiver` class in
-[mavlink_receiver.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L296).
-In this case the [BatteryStatus](../msg_docs/BatteryStatus.md) uORB topic already exists:
-
-```cpp
-uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
-```
-
-This creates a publication to a single uORB topic instance, which by default will be the _first_ instance.
-
-:::info
-This implementation won't work on multi-battery systems, because several batteries might be publishing data to the first instance of the topic, and there is no way to differentiate them.
-To support multiple batteries we'd need to use `PublicationMulti` and map the MAVLink message instance IDs to specific uORB topic instances.
-:::
-
-Implement the `handle_message_battery_status_demo` function in [mavlink_receiver.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp).
-
-```cpp
-void
-MavlinkReceiver::handle_message_battery_status_demo(mavlink_message_t *msg)
-{
-	if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) {
-		// ignore battery status coming from other systems or from the autopilot itself
-		return;
-	}
-
-	// external battery measurements
-	mavlink_battery_status_t battery_mavlink;
-	mavlink_msg_battery_status_decode(msg, &battery_mavlink);
-
-	battery_status_s battery_status{};
-	battery_status.timestamp = hrt_absolute_time();
-
-	battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
-	battery_status.temperature = (float)battery_mavlink.temperature;
-	battery_status.connected = true;
-
-	_battery_pub.publish(battery_status);
-}
-```
-
-:::info
-Above we only write to the battery fields that are defined in the topic.
-На практиці ви оновлювали б всі поля або з дійсними, або з недійсними значеннями: це було скорочено для стислості.
-:::
-
-and finally make sure it is called in [MavlinkReceiver::handle_message()](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp#L228)
-
-```cpp
-MavlinkReceiver::handle_message(mavlink_message_t *msg)
- {
-    switch (msg->msgid) {
-        ...
-    case MAVLINK_MSG_ID_BATTERY_STATUS_DEMO:
-        handle_message_battery_status_demo(msg);
-        break;
-        ...
-    }
- }
-```
-
-## Альтернатива створення користувацьких повідомлень MAVLink
-
-Іноді існує потреба в довільному повідомленні MAVLink з вмістом, який не повністю визначений.
-
-Наприклад, при використанні MAVLink для інтерфейсу PX4 з вбудованим пристроєм, повідомлення, якими обмінюються автопілот і пристрій, можуть пройти кілька ітерацій, перш ніж вони будуть стабілізовані.
-У цьому випадку відновлення заголовків MAVLink може зайняти багато часу і призвести до помилок, а також переконатися, що обидва пристрої використовують одну і ту ж версію протоколу.
-
-Альтернативним - і тимчасовим - рішенням є перепризначення налагоджувальних повідомлень.
-Instead of creating a custom MAVLink message `CA_TRAJECTORY`, you can send a message `DEBUG_VECT` with the string key `CA_TRAJ` and data in the `x`, `y` and `z` fields.
-See [this tutorial](../debug/debug_values.md) for an example usage of debug messages.
-
-:::info
-This solution is not efficient as it sends character string over the network and involves comparison of strings.
-Це повинно використовуватися лише для розробки!
-:::
-
-## Тестування
-
-Як перший крок і під час відлагодження, зазвичай ви просто хочете переконатися, що всі створені вами повідомлення надсилаються/отримуються так, як ви очікуєте.
-
-You should should first use the `uorb top [<message_name>]` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
-This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL).
-
-Існує кілька підходів для перегляду трафіку MAVLink:
-
- Create a [Wireshark MAVLink plugin](https://mavlink.io/en/guide/wireshark.html) for your dialect.
- This allows you to inspect MAVLink traffic on an IP interface - for example between _QGroundControl_ or MAVSDK and your real or simulated version of PX4.
-
- :::tip
- It is much easier to generate a wireshark plugin and inspect traffic in Wireshark, than to rebuild QGroundControl with your dialect and use MAVLink Inspector.
-
-:::
-
- [Log uORB topics](../dev_log/logging.md) associate with your MAVLink message.
-
- View received messages in the QGroundControl [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
- You will need to rebuild QGroundControl with the custom message definitions, [as described below](#updating-qgroundcontrol)
-
-### Встановити швидкість передачі за допомогою оболонки
-
-Для тестування іноді корисно збільшити швидкість передачі окремих тем під час виконання (наприклад, для перевірки в QGC).
-This can be achieved using by calling the [mavlink](../modules/modules_communication.md#mavlink) module through the [QGC MAVLink console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) (or some other shell):
-
-```sh
-mavlink stream -u <port number> -s <mavlink topic name> -r <rate>
-```
-
-You can get the port number with `mavlink status` which will output (amongst others) `transport protocol: UDP (<port number>)`.
-Прикладом може бути:
-
-```sh
-mavlink stream -u 14556 -s CA_TRAJECTORY -r 300
-```
-
-## Оновлення наземних станцій
-
-Зрештою, ви захочете використовувати ваш новий інтерфейс MAVLink, надавши відповідну наземну станцію або реалізацію MAVSDK.
-
-Важливо пам'ятати, що MAVLink вимагає, щоб ви використовували версію бібліотеки, яка побудована за тим самим визначенням (XML-файл).
-Отже, якщо ви створили власне повідомлення у PX4, ви не зможете його використати, доки не зберете QGC або MAVSDK з тим самим визначенням.
-
-### Оновлення QGroundControl
-
-You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) including a pre-built C library that contains your custom messages.
-
-QGC uses a pre-built C library that must be located at [/qgroundcontrol/libs/mavlink/include/mavlink](https://github.com/mavlink/qgroundcontrol/tree/master/libs/mavlink/include/mavlink) in the QGC source.
-
-By default this is pre-included as a submodule from <https://github.com/mavlink/c_library_v2> but you can [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
-
-QGC uses the all.xml dialect by default, which includes **common.xml**.
-Ви можете додавати свої повідомлення як у файлі, так і у власному діалекті.
-However if you use your own dialect then it should include ArduPilotMega.xml (or it will miss all the existing messages), and you will need to change the dialect used by setting it in [`MAVLINK_CONF`](https://github.com/mavlink/qgroundcontrol/blob/master/QGCExternalLibs.pri#L52) when running _qmake_.
-
-### Оновлення MAVSDK
-
-See the MAVSDK docs for information about how to work with [MAVLink headers and dialects](https://mavsdk.mavlink.io/main/en/cpp/guide/build.html).
@@ -225,16 +225,16 @@ ist8310 <command> [arguments...]
   status        print status info
 ```

-## lis2mdl
+## iis2mdc

-Source: [drivers/magnetometer/lis2mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis2mdl)
+Source: [drivers/magnetometer/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/iis2mdc)

-<a id="lis2mdl_usage"></a>
+<a id="iis2mdc_usage"></a>

 ### Використання

 ```
-lis2mdl <command> [arguments...]
+iis2mdc <command> [arguments...]
 Commands:
   start
     [-I]        Internal I2C bus(es)
@@ -79,6 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))

 ### Ethernet

@@ -1,8 +1,9 @@
 # Симуляція Gazebo Classic

 :::warning
-_Gazebo Classic_ is supported with PX4 up to Ubuntu Linux 20.04.
-In Ubuntu 22.04 and later you must use [Gazebo](../sim_gazebo_gz/index.md) (which was [formerly known](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) as "Gazebo Ignition").
+[Gazebo](../sim_gazebo_gz/index.md) is nearing feature-parity with Gazebo Classic on PX4, and will soon replace it.
+Until then you can continue to use Gazebo-Classic on Ubuntu 22.04 for the few cases where you still need to.
+For more information see [PX4-Autopilot#23602: GZ Feature tracker](https://github.com/PX4/PX4-Autopilot/issues/23602).
 :::

 Gazebo Classic - це потужне середовище 3D симуляції для автономних систем яке зокрема підходить для перевірки уникання об'єктів та комп'ютерного зору.
@@ -32,11 +33,8 @@ See [Simulation](../simulation/index.md) for general information about simulator
 If you plan to use PX4 with ROS you **should follow the** [ROS Instructions](../simulation/ros_interface.md) to install both ROS and Gazebo Classic (and thereby avoid installation conflicts).
 :::

-Gazebo Classic setup is included in our [standard build instructions](../dev_setup/dev_env.md) for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
-
-For Ubuntu 22.04 LTS and later, the installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) simulator instead.
-
-If you want to use Gazebo Classic on Ubuntu 22.04 you can use the following commands to remove [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) and then reinstall Gazebo-Classic 11:
+The standard installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) simulator.
+If you want to use Gazebo Classic on _Ubuntu 22.04 (only)_ you can use the following commands to remove Gazebo and then reinstall Gazebo-Classic 11:

 ```sh
 sudo apt remove gz-harmonic
@@ -47,17 +45,17 @@ sudo aptitude install gazebo libgazebo11 libgazebo-dev
 Note that `aptitude` is needed because it can resolve dependency conflicts (by removing certain packages) that `apt` is unable to handle.

 :::tip
-You could also modify the installation script to install Gazebo Classic on later versions before it is run for the first time.
-:::
+You could also modify the installation script to install Gazebo Classic on Ubuntu 22.04 before it is run for the first time.

 Additional installation instructions can be found on gazebosim.org.
+:::

 ## Запуск симуляції

-Виконайте симуляцію запустивши PX4 SITL та Gazebo Classic з налаштуванням планеру для завантаження (підтримуються мультикоптери, літаки, ВЗІП, оптичний потік так симуляції кількох засобів).
+Run a simulation by starting PX4 SITL and Gazebo Classic with the airframe configuration to load (multicopters, planes, VTOL, optical flow and multi-vehicle simulations are supported).

 The easiest way to do this is to open a terminal in the root directory of the PX4 _PX4-Autopilot_ repository and call `make` for the desired target.
-Наприклад для запуску симуляції квадрокоптера (за замовчуванням):
+For example, to start a quadrotor simulation (the default):

 ```sh
 cd /path/to/PX4-Autopilot
@@ -93,7 +91,7 @@ The [Installing Files and Code](../dev_setup/dev_env.md) guide is a useful refer
 :::

 Вищенаведені команди запускають єдиний засіб з повним користувацьким інтерфейсом.
-Інші варіанти включають:
+Other options include:

 - [Starting PX4 and Gazebo separately](#starting-gazebo-and-px4-separately) so that you can keep Gazebo Classic running and only re-launch PX4 when needed (quicker than restarting both).
 - Run the simulation in [Headless Mode](#headless-mode), which does not start the Gazebo Classic UI (this uses fewer resources and is much faster).
@@ -102,7 +100,7 @@ The [Installing Files and Code](../dev_setup/dev_env.md) guide is a useful refer

 The `make` commands above first build PX4, and then run it along with the Gazebo Classic simulator.

-Після запуску PX4 запуститься оболонка PX4, як показано нижче.
+Once PX4 has started it will launch the PX4 shell as shown below.

 ```sh
 ______  __   __    ___
@@ -127,7 +125,7 @@ http://gazebosim.org
 INFO  [ecl/EKF] 5188000: commencing GPS fusion
 ```

-Консоль буде виводити статус поки PX4 завантажує файли ініціалізації та параметрів для певного планера, чекати та підключатися до симулятора.
+The console will print out status as PX4 loads the airframe-specific initialisation and parameter files, waits for (and connects to) the simulator.
 Once there is an INFO print that [ecl/EKF] is `commencing GPS fusion` the vehicle is ready to arm.

 :::info
@@ -153,7 +151,7 @@ Options that apply to all simulators are covered in the top level [Simulation](.
 ### Режим без інтерфейсу

 Gazebo Classic can be run in a _headless_ mode in which the Gazebo Classic UI is not launched.
-Цей режим запускається швидше та використовує менше системних ресурсів (тобто більш "легкий" спосіб запускати симуляцію).
+This starts up more quickly and uses less system resources (i.e. it is a more "lightweight" way to run the simulation).

 Simply prefix the normal `make` command with `HEADLESS=1` as shown:

@@ -165,7 +163,7 @@ HEADLESS=1 make px4_sitl gazebo-classic_plane

 ### Встановлення власного місця зльоту

-Місце зльоту в Gazebo Classic можна встановити використовуючи змінні середовища.
+The takeoff location in Gazebo Classic can be set using environment variables.
 This will override both the default takeoff location, and any value [set for the world](#set-world-location).

 The variables to set are: `PX4_HOME_LAT`, `PX4_HOME_LON`, and `PX4_HOME_ALT`.
@@ -189,7 +187,7 @@ To run at double real-time:
 PX4_SIM_SPEED_FACTOR=2 make px4_sitl_default gazebo-classic
 ```

-Запустити в половину реального часу:
+To run at half real-time:

 ```sh
 PX4_SIM_SPEED_FACTOR=0.5  make px4_sitl_default gazebo-classic
@@ -202,7 +200,7 @@ export PX4_SIM_SPEED_FACTOR=2
 make px4_sitl_default gazebo-classic
 ```

-### Зміна швидкості вітру
+### Change Wind Speed

 To simulate wind speed, add this plugin to your world file and set `windVelocityMean` in m/s (replace `SET_YOUR_WIND_SPEED` with your desired speed).
 If needed, adapt the `windVelocityMax` parameter so that it is greater than `windVelocityMean`:
@@ -227,8 +225,8 @@ If needed, adapt the `windVelocityMax` parameter so that it is greater than `win
    </plugin>
 ```

-Напрямок вітру передається як вектор напрямку (за стандартною конвенцією ENU), який буде нормалізовано в плагіні gazebo.
-Додатково ви можете вказати відхилення швидкості вітру у (м/с)² та відхилення у напрямку на основі нормального розподілу, щоб додати випадковий фактор в симуляцію.
+Wind direction is passed as a direction vector (standard ENU convention), which will be normalized in the gazebo plugin.
+Additionally you can state wind velocity variance in (m/s)² and direction variance based on a normal distribution to add some random factor into the simulation.
 Gust is internally handled in the same way as wind, with the slight difference that you can state start time and duration with the following two parameters `windGustStart` and `windGustDuration`.

 You can see how this is done in [PX4/PX4-SITL_gazebo-classic/worlds/windy.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/windy.world#L15-L31).
@@ -237,24 +235,24 @@ You can see how this is done in [PX4/PX4-SITL_gazebo-classic/worlds/windy.world]

 Joystick and thumb-joystick support are supported through _QGroundControl_ ([setup instructions here](../simulation/index.md#joystick-gamepad-integration)).

-### Підвищення ефективності сенсору відстані
+### Improving Distance Sensor Performance

 The current default world is [PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/**iris.world**](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/worlds)), which uses a heightmap as ground.

-Це може викликати труднощі під час використання датчика відстані.
+This can cause difficulty when using a distance sensor.
 If there are unexpected results we recommend you change the model in **iris.model** from `uneven_ground` to `asphalt_plane`.

-### Симуляція шуму GPS
+### Simulating GPS Noise

-Gazebo Classic може симулювати шум GPS подібний до того, який зазвичай можна знайти в реальних системах (в іншому випадку значення GPS що передаються будуть вільними від шуму або ідеальними).
-Це корисно, якщо ви працюєте над додатками, на які може вплинути шум GPS, наприклад точного позиціювання.
+Gazebo Classic can simulate GPS noise that is similar to that typically found in real systems (otherwise reported GPS values will be noise-free/perfect).
+This is useful when working on applications that might be impacted by GPS noise - e.g. precision positioning.

 GPS noise is enabled if the target vehicle's SDF file contains a value for the `gpsNoise` element (i.e. it has the line: `<gpsNoise>true</gpsNoise>`).
 It is enabled by default in many vehicle SDF files: **solo.sdf**, **iris.sdf**, **standard_vtol.sdf**, **delta_wing.sdf**, **plane.sdf**, **typhoon_h480**, **tailsitter.sdf**.

-Щоб увімкнути/вимкнути шум GPS:
+To enable/disable GPS noise:

-1. Зберіть будь-яку ціль збірки gazebo, щоб згенерувати SDF файл (для всіх засобів).
+1. Build any gazebo target in order to generate SDF files (for all vehicles).
  Наприклад:

  ```sh
@@ -277,19 +275,19 @@ It is enabled by default in many vehicle SDF files: **solo.sdf**, **iris.sdf**,
  </plugin>
  ```

-  - Якщо він присутній, GPS включений.
+  - If it is present, GPS is enabled.
    You can disable it by deleting the line: `<gpsNoise>true</gpsNoise>`
-  - Якщо він відсутній, GPS вимкнено.
+  - If it is not present, GPS is disabled.
    You can enable it by adding the `gpsNoise` element to the `gps_plugin` section (as shown above).

-Наступного разу, коли ви зберете/перезапустите Gazebo Classic він буде використовувати нове налаштування шуму GPS.
+The next time you build/restart Gazebo Classic it will use the new GPS noise setting.

-## Завантаження певного світу
+## Loading a Specific World

 PX4 supports a number of [Worlds](../sim_gazebo_classic/worlds.md), which are stored in [PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/worlds).
 By default Gazebo Classic displays a flat featureless plane, as defined in [empty.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/empty.world).

-Можна завантажити будь-який зі світів вказавши їх як завершальний параметр в налаштуваннях цілі збірки PX4.
+You can load any of the worlds by specifying them as the final option in the PX4 configuration target.

 For example, to load the _warehouse_ world, you can append it as shown:

@@ -303,30 +301,30 @@ See [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px
 :::

 You can also specify the full path to a world to load using the `PX4_SITL_WORLD` environment variable.
-Це підходить при тестуванні нового світу, який ще не включений до PX4.
+This is useful if testing a new world that is not yet included with PX4.

 :::tip
 If the loaded world does not align with the map, you may need to [set the world location](#set-world-location).
 :::

-## Встановлення розташування світу
+## Set World Location

-Рухомий засіб відтворюється дуже близько до початкового положення моделі світу у певному симульованому GPS розташуванні.
+The vehicle gets spawned very close to the origin of the world model at some simulated GPS location.

 :::info
 The vehicle is not spawned exactly at the Gazebo origin (0,0,0), but using a slight offset, which can highlight a number of common coding issues.
 :::

-При використанні світу, що відтворює реальне місце (наприклад певний аеропорт) це може призвести до доволі наявної невідповідності між тим що показується у світі, що симулюється та тим, що показується на мапі наземної станції.
-Для подолання цієї проблеми ви можете встановити місце розташування початкового положення світу до GPS координат, де воно буде в "реальному житті".
+If using a world that recreates a real location (e.g. a particular airport) this can result in a very obvious mismatch between what is displayed in the simulated world, and what is shown on the ground station map.
+To overcome this problem you can set the location of the world origin to the GPS coordinates where it would be in "real life".

 :::info
 You can also set a [Custom Takeoff Location](#custom_takeoff_location) that does the same thing.
-Однак додавання розташування на мапу простіше (і воно все ще може бути змінене шляхом встановлення користувацького розташування при необхідності).
+However adding the location to the map is easier (and can still be over-ridden by setting a custom location if needed).
 :::

 The location of the world is defined in the **.world** file by specifying the location of the origin using the `spherical_coordinates` tag.
-Щоб це було коректним, обов'язково треба вказати широту, довготу та висоту над рівнем моря.
+The latitude, longitude, elevation must all be specified (for this to be a valid).

 An example can be found in the [sonoma_raceway.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/sonoma_raceway.world):

@@ -345,18 +343,18 @@ You can test this by spawning a rover in the [Sonoma Raceway World](../sim_gazeb
 make px4_sitl gazebo-classic_rover__sonoma_raceway
 ```

-У наведеному нижче відео видно, що розташування середовища збігається зі світом:
+The video below shows that the location of the environment is aligned with the world:

 <lite-youtube videoid="-a2WWLni5do" title="Driving a simulated PX4 Rover in the Sonoma Raceway"/>

-## Запуск Gazebo та PX4 окремо
+## Starting Gazebo and PX4 Separately

-Для розширених сеансів розробки можливо більш зручно запускати Gazebo Classic та PX4 окремо або навіть з IDE.
+For extended development sessions it might be more convenient to start Gazebo Classic and PX4 separately or even from within an IDE.

 In addition to the existing cmake targets that run `sitl_run.sh` with parameters for px4 to load the correct model it creates a launcher targets named `px4_<mode>` that is a thin wrapper around original sitl px4 app.
-Ця тонка обгортка просто містить аргументи застосунку типу поточної робочої директорії та шляху до файлу моделі.
+This thin wrapper simply embeds app arguments like current working directories and the path to the model file.

-Щоб запустити Gazebo Classic та PX4 окремо:
+To start Gazebo Classic and PX4 separately:

 - Run gazebo classic (or any other sim) server and client viewers via the terminal specifying an `_ide` variant:

@@ -372,15 +370,15 @@ In addition to the existing cmake targets that run `sitl_run.sh` with parameters

 - In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`)

- Запустіть сеанс налагодження безпосередньо з IDE
+- Start the debug session directly from IDE

-Цей підхід суттєво зменшує час циклу налагодження, оскільки симулятор завжди працює у фоновому режимі та ви перезавантажуєте тільки процес px4, який дуже легкий.
+This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the px4 process which is very light.

-## Симуляція камери спостереження
+## Simulated Survey Camera

 The _Gazebo Classic_ survey camera simulates a [MAVLink camera](https://mavlink.io/en/services/camera.html) that captures geotagged JPEG images and sends camera capture information to a connected ground station.
-Камера також підтримує відеотрансляцію.
-Вона може бути використана для перевірки захоплення камери, зокрема в політних завданнях спостереження.
+The camera also supports video streaming.
+It can be used to test camera capture, in particular within survey missions.

 The camera emits the [CAMERA_IMAGE_CAPTURED](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) message every time an image is captured.
 The captured images are saved to: `PX4-Autopilot/build/px4_sitl_default/src/modules/simulation/simulator_mavlink/frames/DSC_n.jpg` (where _n_ starts as 00000 and is iterated by one on each capture).
@@ -518,18 +516,18 @@ Lockstep makes it possible to [change the simulation speed](#change-simulation-s

 #### Lockstep Sequence

-Послідовність кроків для lockstep наступна:
+The sequence of steps for lockstep are:

 1. The simulation sends a sensor message [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) including a timestamp `time_usec` to update the sensor state and time of PX4.
 2. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
-3. Симуляція чекає, поки не отримає повідомлення від приводу/двигуна, потім моделює фізику і обчислює наступне повідомлення від датчика, яке знову надсилається до PX4.
+3. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.

-Система починається з "вільного ходу", під час якого симуляція надсилає повідомлення від датчиків, зокрема про час, і, таким чином, запускає PX4, доки він не ініціалізується і не надішле відповідне повідомлення від приводу.
+The system starts with a "freewheeling" period where the simulation sends sensor messages including time and therefore runs PX4 until it has initialized and responds with an actuator message.

 #### Disabling Lockstep

-Lockstep симуляцію можна вимкнути, якщо, наприклад, SITL потрібно використовувати з тренажером, який не підтримує цю функцію.
-У цьому випадку симулятор і PX4 використовують системний час хоста і не чекають один на одного.
+The lockstep simulation can be disabled if, for example, SITL is to be used with a simulator that does not support this feature.
+In this case the simulator and PX4 use the host system time and do not wait on each other.

 To disable lockstep in:

@@ -148,15 +148,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500

 The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.

-| World      | Команда                    | Опис                                                        |
-| ---------- | -------------------------- | ----------------------------------------------------------- |
-| `default`  | `make px4_sitl *`          | Порожній світ (сіра площина)             |
-| `aruco`    | `make px4_sitl *_aruco`    | Empty world with aruco marker for testing precision landing |
-| `baylands` | `make px4_sitl *_baylands` | Світ Baylands оточений водою                                |
-| `lawn`     | `make px4_sitl *_lawn`     | Lawn world for testing rovers                               |
-| `rover`    | `make px4_sitl *_rover`    | Rover world (optimised/preferred)        |
-| `walls`    | `make px4_sitl *_walls`    | Wall world for testing collision prevention                 |
-| `windy`    | `make px4_sitl *_windy`    | Порожній світ з увімкненим вітром                           |
+| World             | Команда                           | Опис                                                        |
+| ----------------- | --------------------------------- | ----------------------------------------------------------- |
+| `default`         | `make px4_sitl *`                 | Порожній світ (сіра площина)             |
+| `aruco`           | `make px4_sitl *_aruco`           | Empty world with aruco marker for testing precision landing |
+| `baylands`        | `make px4_sitl *_baylands`        | Світ Baylands оточений водою                                |
+| `lawn`            | `make px4_sitl *_lawn`            | Lawn world for testing rovers                               |
+| `rover`           | `make px4_sitl *_rover`           | Rover world (optimised/preferred)        |
+| `walls`           | `make px4_sitl *_walls`           | Wall world for testing collision prevention                 |
+| `windy`           | `make px4_sitl *_windy`           | Порожній світ з увімкненим вітром                           |
+| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform                |

 :::warning
 Note that if no world is specified, PX4 will use the `default` world.
@@ -185,7 +186,7 @@ For example, to run the Gazebo simulation of the X500 frame at 2 times the real
 PX4_SIM_SPEED_FACTOR=2 make px4_sitl gz_x500
 ```

-Запустити в половину реального часу:
+To run at half real-time:

 ```sh
 PX4_SIM_SPEED_FACTOR=0.5 make px4_sitl gz_x500
@@ -263,6 +264,9 @@ where `ARGS` is a list of environment variables including:

  - Ця змінна ігнорується, якщо наявна модель вже запущена.
  - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument.
+  - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables:
+    - `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+    - `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.

 - `PX4_SIMULATOR=GZ`:
  Sets the simulator, which for Gazebo must be `gz`.
@@ -73,6 +73,30 @@ World with walls that is designed for testing [collision prevention](../computer

 [PX4-gazebo-models/main/worlds/windy.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/windy.sdf)

+## Moving Platform
+
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+
+[Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
+
+```
+PX4_GZ_MODEL_POSE=0,0,2.2 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
+```
+
+The plugin can be configured with the following environment variables:
+
+- `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+- `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.
+
+[PX4-gazebo-models/main/worlds/moving_platform.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/moving_platform.sdf)
+
+![screenshot of moving platform world](../../assets/simulation/gazebo/worlds/moving_platform.png)
+
+:::tip
+The moving platform plugin can also be used within other worlds.
+For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md).
+:::
+
 ## Model Specific Worlds {#model_specific_worlds}

 Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world.
@@ -136,7 +136,7 @@ To run at double real-time:
 PX4_SIM_SPEED_FACTOR=2 make px4_sitl_default jmavsim
 ```

-Запустити в половину реального часу:
+To run at half real-time:

 ```sh
 PX4_SIM_SPEED_FACTOR=0.5  make px4_sitl_default jmavsim
@@ -194,18 +194,18 @@ Lockstep makes it possible to [change the simulation speed](#change-simulation-s

 #### Lockstep Sequence

-Послідовність кроків для lockstep наступна:
+The sequence of steps for lockstep are:

 1. The simulation sends a sensor message [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) including a timestamp `time_usec` to update the sensor state and time of PX4.
 2. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
-3. Симуляція чекає, поки не отримає повідомлення від приводу/двигуна, потім моделює фізику і обчислює наступне повідомлення від датчика, яке знову надсилається до PX4.
+3. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.

-Система починається з "вільного ходу", під час якого симуляція надсилає повідомлення від датчиків, зокрема про час, і, таким чином, запускає PX4, доки він не ініціалізується і не надішле відповідне повідомлення від приводу.
+The system starts with a "freewheeling" period where the simulation sends sensor messages including time and therefore runs PX4 until it has initialized and responds with an actuator message.

 #### Disabling Lockstep

-Lockstep симуляцію можна вимкнути, якщо, наприклад, SITL потрібно використовувати з тренажером, який не підтримує цю функцію.
-У цьому випадку симулятор і PX4 використовують системний час хоста і не чекають один на одного.
+The lockstep simulation can be disabled if, for example, SITL is to be used with a simulator that does not support this feature.
+In this case the simulator and PX4 use the host system time and do not wait on each other.

 To disable lockstep in:

@@ -4,87 +4,87 @@

 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-PX4 is the _Professional Autopilot_.
+_PX4_ 是一款专业级飞控。
 它由来自业界和学术界的世界级开发商开发，并得到活跃的全球社区的支持，为从竞速和物流无人机到地面车辆和潜水艇的各种载具提供动力。

 :::tip
-这份指南包含组装、配置、安全使用 PX4 的设备的各种只是。 对贡献感兴趣吗 Check out the [Development](development/development.md) section.
+这份指南包含组装、配置、安全使用 PX4 的设备的各种只是。 对贡献感兴趣吗 查看 [Development](development/development.md) 部分。

 :::

 :::warning
-This guide is for the _development_ version of PX4 (`main` branch).
-Use the **Version** selector to find the current _stable_ version.
+本指南适用于_development_ version of PX4 (`main` 分支)。
+使用 **版本** 选择器查找当前的 _稳定_ 版本。

-Documented changes since the stable release are captured in the evolving [release note](releases/main.md).
+自稳定版本发布以来的已记录变更，收录在不断更新的(releases/main.md ) 中。
 :::

 ## 如何开始？

-所有用户都应该先阅读[基本概念](getting_started/px4_basic_concepts.md) !
-It provides an overview of PX4, including features provided by the flight stack (flight modes and safety features) and the supported hardware (flight controller, vehicle types, telemetry systems, RC control systems).
+所有用户都应该先阅读[基本概念](getting_started/px4_basic_concepts.md) ！
+它概述了PX4，包括由飞行堆栈提供的功能（飞行模式和安全特征）和支持的硬件（飞行控制器、载具类型、数传系统、遥控控制系统）。

 根据您想要实现的目标，以下提示将帮助您浏览本指南：

 ### 我想要一个能与PX4配合使用的载具

-In the [Multicopter](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), and [Plane (Fixed-Wing)](frames_plane/index.md) sections you'll find topics like the following (these links are for multicopter):
+在 [多旋翼](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), 和 [平面(固定翼)](frames_plane/index.md)部分你会找到如下主题（这些链接针对多旋翼飞行器）：

 - [完整的载具](complete_vehicles_mc/index.md)列出了到手飞(RTF)的硬件
- [Kits](frames_multicopter/kits.md) lists drones that you have to build yourself from a set of preselected parts
- [DIY Builds](frames_multicopter/diy_builds.md) shows some examples of drones that have been built using parts that were sourced individually
+- [套件(frames_multicopter/kits.md) 列出了需要你利用一组预先选定的部件自行组装的无人机。
+- [DIY 组装](frames_multicopter/diy_builds.md) 展示了一些使用单独采购的零部件组装而成的无人机示例。

-Both kits and complete vehicles usually include everything you need except for a battery and RC System.
-Kits are usually not hard to build, provide a good introduction to how drones fit together, and are relatively inexpensive.
-We provide generic instructions for assembly, such as [Assembling a Multicopter](assembly/assembly_mc.md), and most kits come with specific instructions too.
+无论是套件还是成品飞行器，通常都包含你所需的一切，除了电池和遥控系统。
+套装通常不难建造，可以很好地介绍无人机如何合在一起，而且费用相对较低。
+我们提供了一般的组装指示，例如[组装一个多旋翼机](assembly/assembly_mc.md)，大多数套装也附有具体的指示。

-If the kits and complete drones aren't quite right for you then you can build a vehicle from scratch, but this requires more knowledge.
-[Airframe Builds](airframes/index.md) lists the supported frame starting points to give you some idea of what is possible.
+如果套件和成品无人机不太符合你的需求，那么你可以从零开始打造一架飞行器，但这需要更多专业知识。
+[机身构建](airframes/index.md) 列出了受支持的机身起点，让你了解哪些方案是可行的。

-Once you have a vehicle that supports PX4 you will need to configure it and calibrate the sensors.
-Each vehicle type has its own configuration section that explains the main steps, such as [Multicopter Configuration/Tuning](config_mc/index.md).
+一旦你拥有支持PX4的载具，你将需要配置它并校准传感器。
+每种飞行器类型都有其专属的配置章节，阐述主要步骤，比如[多旋翼飞行器配置 / 调校](config_mc/index.md))。

-### I want to add a payload/camera
+### 我想添加一个有效载荷/相机

-The [Payloads](payloads/index.md) section describes how to add a camera and how to configure PX4 to enable you to deliver packages.
+[有效载荷](payloads/index.md部分描述了如何添加相机，以及如何配置 PX4 以实现交付包裹。

-### I am modifying a supported vehicle
+### 我正在修改一个支持的载具

-The [Hardware Selection & Setup](hardware/drone_parts.md) section provides both high level and product-specific information about hardware that you might use with PX4 and its configuration.
-This is the first place you should look if you want to modify a drone and add new components.
+[硬件选择和设置](hardware/drone_parts.md)部分提供了关于您可能使用 PX4 的硬件及其配置的高层次和特定产品信息。
+如果你想改装无人机并添加新组件，这里是你首先应该查看的地方。

-### I want to fly
+### 我想飞行

-Before you fly you should read [Operations](config/operations.md) to understand how to set up the safety features of your vehicle and the common behaviours of all frame types.
-Once you've done that you're ready to fly.
+在飞行之前，您应该阅读 [Operations](config/operations.md)来了解如何设置您的载具的安全性能和所有机型的常见特性。
+完成后，你可以准备飞行。

-Basic instructions for flying each vehicle type are provided in the respective sections, such as [Basic Flying (Multicopter)](flying/basic_flying_mc.md).
+每种飞行器类型的基本飞行说明在各自对应部分给出，例如[基本飞行（多旋翼飞行器）](flying/basic_flying_mc.md)。

-### I want to run PX4 on a new Flight Controller and extend the platform
+### 我想在一个新的飞行控制器上运行 PX4并扩展平台

-The [Development](development/development.md) section explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4.
+[开发](development/development.md)部分解释了如何支持新的机体和车辆类型，修改飞行算法添加新模式，整合新的硬件，与飞行控制器外的 PX4 进行沟通，并为PX4 作出贡献。

 ## 获取帮助

-The [Support](contribute/support.md) page explains how to get help from the core dev team and the wider community.
+[支持](contribute/support.md页解释了如何从核心开发团队和更广泛的社区获得帮助。

 除此以外，它还包括了：

- [Forums where you can get help](contribute/support.md#forums-and-chat)
- [Diagnosing issues](contribute/support.md#diagnosing-problems)
- [How to report bugs](contribute/support.md#issue-bug-reporting)
- [Weekly dev call](contribute/support.md#weekly-dev-call)
+- [您可以获得帮助的论坛](contribute/support.md#forums-and-chat)
+- [诊断问题](contribute/support.md#diagnosing-problems)
+- [如何报告bug](contribute/support.md#issue-bug-reporting)
+- [每周开发会议](contribute/support.md#weekly-dev-call)

-## Reporting Bugs & Issues
+## 报告错误和问题

-If you have any problems using PX4 first post them on the [support forums](contribute/support.md#forums-and-chat) (as they may be caused by vehicle configuration).
+如果您在使用 PX4 首次发布时遇到任何问题，请在[支持论坛](contribute/support.md#forums-and-chat) 上(因为它们可能是由载具配置引起)。

-If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues).
-Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template.
+如果开发团队指示，代码问题可以在 [Github](https://github.com/PX4/PX4-Autopilot/issues) 上提出。
+尽可能提供 [飞行日志](getting_started/flight_reporting.md) 和问题模板中要求的其他信息。

 ## 参与贡献

-Information on how to contribute to code and documentation can be found in the [Contributing](contribute/index.md) section:
+如何贡献代码和文档的信息可以在 [贡献](contribute/index.md部分中找到：

 - [Code](contribute/index.md)
 - [Documentation](contribute/docs.md)
@@ -92,22 +92,22 @@ Information on how to contribute to code and documentation can be found in the [

 ## 翻译

-There are several [translations](contribute/translation.md) of this guide.
-您可以从语言菜单中访问到它们（右上角）：
+本指南有多种 [译文](contribute/translation.md)。
+您可以从语言菜单中访问到它们 （右上角）：

-![Language Selector](../assets/vuepress/language_selector.png)
+![语言选择器](../assets/vuepress/language_selector.png)

 <!--@include: _contributors.md-->

 ## 许可证

-PX4 code is free to use and modify under the terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause).
-This documentation is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
-For more information see: [Licences](contribute/licenses.md).
+PX4 代码可依据宽松的 [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) 免费使用和修改。
+此文档已使用 [CC BY 4.0]授权。(https://creativecommons.org/licenses/by/4.0/)。
+详情见： [Licences](contribute/licenses.md)。

-## Calendar & Events
+## 日历和活动

-The _Dronecode Calendar_ shows important community events for platform users and developers.
+_Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动。
 选择以下链接将其显示在您所在的时区日历中(并将其添加到您自己的日历中)：

 - [Switzerland – Zurich](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=Europe%2FZurich)
@@ -115,7 +115,7 @@ The _Dronecode Calendar_ shows important community events for platform users and
 - [Australia – Melbourne/Sydney/Hobart](https://calendar.google.com/calendar/embed?src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&ctz=Australia%2FSydney)

 :::tip
-The calendar default timezone is Central European Time (CET).
+日历的默认时区为中欧时间（CET）。

 :::

@@ -125,14 +125,16 @@ The calendar default timezone is Central European Time (CET).

 此库中使用的以下图标是单独授权的（如下所示）：

-<img src="../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" /> _placeholder_ icon made by <a href="https://www.flaticon.com/authors/smashicons" title="Smashicons">Smashicons</a> from <a href="https://www.flaticon.com/" title="Flaticon">www.flaticon.com</a> is licensed by <a href="https://creativecommons.org/licenses/by/3.0/" title="Creative Commons BY 3.0" target="_blank">CC 3.0 BY</a>.
+<img src="../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" /> _placeholder_icon 由 <a href="https://www.flaticon.com/authors/smashicons" title="Smashicons">Smashicons</a> 通过 <a href="https://www.flaticon.com/" title="Flaticon">www.flaticon.com</a> 创作，使用 <a href="https://creativecommons.org/licenses/by/3.0/" title="Creative Commons BY 3.0" target="_blank">CC 3.0 By</a> 授权。

-<img src="../assets/site/automatic_mode.svg" title="Automatic mode" width="30px" /> _camera-automatic-mode_ icon made by <a href="https://www.freepik.com" title="Freepik">Freepik</a> from <a href="https://www.flaticon.com/" title="Flaticon">www.flaticon.com</a> is licensed by <a href="http://creativecommons.org/licenses/by/3.0/" title="Creative Commons BY 3.0" target="_blank">CC 3.0 BY</a>.
+<0/> _camera-automatic-mode_ 图标由 <1>Freepik</1> 通过 <2>www.flaticon.com</2> 创作，使用 <3>CC 3.0 BY</3> 授权。

 ## 治理

-The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://www.dronecode.org/).
+PX4 飞行控制架构由[Dronecode Project](https://www.dronecode.org/)负责管理。

 <a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>
+
+Doc build time: {{ $buildTime }}
@@ -79,6 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))

 ### Ethernet

@@ -148,15 +148,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500

 The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.

-| 世界坐标系      | 通信                         | 描述                                                          |
-| ---------- | -------------------------- | ----------------------------------------------------------- |
-| `default`  | `make px4_sitl *`          | Empty world (a grey plane)               |
-| `aruco`    | `make px4_sitl *_aruco`    | Empty world with aruco marker for testing precision landing |
-| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water                          |
-| `lawn`     | `make px4_sitl *_lawn`     | Lawn world for testing rovers                               |
-| `rover`    | `make px4_sitl *_rover`    | Rover world (optimised/preferred)        |
-| `walls`    | `make px4_sitl *_walls`    | Wall world for testing collision prevention                 |
-| `windy`    | `make px4_sitl *_windy`    | Empty world with wind enabled                               |
+| 世界坐标系             | 通信                                | 描述                                                          |
+| ----------------- | --------------------------------- | ----------------------------------------------------------- |
+| `default`         | `make px4_sitl *`                 | Empty world (a grey plane)               |
+| `aruco`           | `make px4_sitl *_aruco`           | Empty world with aruco marker for testing precision landing |
+| `baylands`        | `make px4_sitl *_baylands`        | Baylands world surrounded by water                          |
+| `lawn`            | `make px4_sitl *_lawn`            | Lawn world for testing rovers                               |
+| `rover`           | `make px4_sitl *_rover`           | Rover world (optimised/preferred)        |
+| `walls`           | `make px4_sitl *_walls`           | Wall world for testing collision prevention                 |
+| `windy`           | `make px4_sitl *_windy`           | Empty world with wind enabled                               |
+| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform                |

 :::warning
 Note that if no world is specified, PX4 will use the `default` world.
@@ -263,6 +264,9 @@ where `ARGS` is a list of environment variables including:

  - This variable is ignored if an existing simulation is already running.
  - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument.
+  - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables:
+    - `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+    - `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.

 - `PX4_SIMULATOR=GZ`:
  Sets the simulator, which for Gazebo must be `gz`.
@@ -73,6 +73,30 @@ World with walls that is designed for testing [collision prevention](../computer

 [PX4-gazebo-models/main/worlds/windy.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/windy.sdf)

+## Moving Platform
+
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
+
+[Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
+
+```
+PX4_GZ_MODEL_POSE=0,0,2.2 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
+```
+
+The plugin can be configured with the following environment variables:
+
+- `PX4_GZ_PLATFORM_VEL`: Platform speed (m/s).
+- `PX4_GZ_PLATFORM_HEADING_DEG`: Platform heading and direction of velocity (degrees). 0 = east, positive direction is counterclockwise.
+
+[PX4-gazebo-models/main/worlds/moving_platform.sdf](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/moving_platform.sdf)
+
+![screenshot of moving platform world](../../assets/simulation/gazebo/worlds/moving_platform.png)
+
+:::tip
+The moving platform plugin can also be used within other worlds.
+For more information, see the plugin [README](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_plugins/moving_platform_controller/README.md).
+:::
+
 ## Model Specific Worlds {#model_specific_worlds}

 Some [vehicle models](../sim_gazebo_gz/vehicles.md) rely on the physics / plugins of a specific world.
@@ -131,6 +131,7 @@ set(msg_files
 	ManualControlSwitches.msg
 	MavlinkLog.msg
 	MavlinkTunnel.msg
+	MecanumVelocitySetpoint.msg
 	MessageFormatRequest.msg
 	MessageFormatResponse.msg
 	Mission.msg
@@ -1,28 +1,38 @@
-uint64 timestamp	# time since system start (microseconds)
+# Cellular status
+#
+# This is currently used only for logging cell status from MAVLink.

-uint8 CELLULAR_STATUS_FLAG_UNKNOWN=0 # State unknown or not reportable
-uint8 CELLULAR_STATUS_FLAG_FAILED=1 # velocity setpoint
-uint8 CELLULAR_STATUS_FLAG_INITIALIZING=2 # Modem is being initialized
-uint8 CELLULAR_STATUS_FLAG_LOCKED=3	# Modem is locked
-uint8 CELLULAR_STATUS_FLAG_DISABLED=4	# Modem is not enabled and is powered down
-uint8 CELLULAR_STATUS_FLAG_DISABLING=5	# Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
-uint8 CELLULAR_STATUS_FLAG_ENABLING=6 	# Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
-uint8 CELLULAR_STATUS_FLAG_ENABLED=7  # Modem is enabled and powered on but not registered with a network provider and not available for data connections
-uint8 CELLULAR_STATUS_FLAG_SEARCHING=8  # Modem is searching for a network provider to register
-uint8 CELLULAR_STATUS_FLAG_REGISTERED=9  # Modem is registered with a network provider, and data connections and messaging may be available for use
-uint8 CELLULAR_STATUS_FLAG_DISCONNECTING=10  # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
-uint8 CELLULAR_STATUS_FLAG_CONNECTING=11  # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
-uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is active and connected
+uint64 timestamp # Time since system start [us]

-uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
-uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
+uint16 status # Status bitmap [@enum STATUS_FLAG]
+uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable
+uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable
+uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized
+uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked
+uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down
+uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
+uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
+uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
+uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register
+uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use
+uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
+uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
+uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected

-uint16 status 	# Status bitmap 1: Roaming is active
-uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
-uint8 type 	# Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte
-uint8 quality	# Cellular network RSSI/RSRP in dBm, absolute value
-uint16 mcc	# Mobile country code. If unknown, set to: UINT16_MAX
-uint16 mnc	# Mobile network code. If unknown, set to: UINT16_MAX
-uint16 lac	# Location area code. If unknown, set to: 0
+uint8 failure_reason # Failure reason [@enum FAILURE_REASON]
+uint8 FAILURE_REASON_NONE = 0 # No error
+uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown
+uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing
+uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection
+
+uint8 type # Cellular network radio type [@enum CELLULAR_NETWORK_RADIO_TYPE]
+uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0
+uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1
+uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2
+uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3
+uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4
+
+uint8 quality # Cellular network RSSI/RSRP, absolute value [dBm]
+uint16 mcc # Mobile country code. [@invalid UINT16_MAX]
+uint16 mnc # Mobile network code. [@invalid UINT16_MAX]
+uint16 lac # Location area code. [@invalid 0]
@@ -0,0 +1,5 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed # [m/s] [-inf, inf] Speed setpoint
+float32 bearing         # [rad] [-pi, pi] from North.
+float32 yaw 	        # [rad] [-pi, pi] (Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame
@@ -0,0 +1,18 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp				# time since system start (microseconds)
+
+float32 indicated_airspeed_m_s			# indicated airspeed in m/s (IAS), set to NAN if invalid
+float32 calibrated_airspeed_m_s     		# calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
+float32 true_airspeed_m_s			# true filtered airspeed in m/s (TAS), set to NAN if invalid
+
+float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
+float32 true_ground_minus_wind_m_s 		# TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
+
+bool airspeed_sensor_measurement_valid 		# True if data from at least one airspeed sensor is declared valid.
+
+int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
+
+float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
+float32 throttle_filtered			# filtered fixed-wing throttle [-]
+float32 pitch_filtered				# filtered pitch [rad]
@@ -11,3 +11,4 @@
 //#include "example_translation_service_v1.h"

 #include "translation_vehicle_status_v1.h"
+#include "translation_airspeed_validated_v1.h"
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate AirspeedValidated v0 <--> v1
+#include <px4_msgs_old/msg/airspeed_validated_v0.hpp>
+#include <px4_msgs/msg/airspeed_validated.hpp>
+
+class AirspeedValidatedV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::AirspeedValidatedV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::AirspeedValidated;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/airspeed_validated";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		// Set msg_newer from msg_older
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.indicated_airspeed_m_s = msg_older.indicated_airspeed_m_s;
+		msg_newer.calibrated_airspeed_m_s = msg_older.calibrated_airspeed_m_s;
+		msg_newer.true_airspeed_m_s = msg_older.true_airspeed_m_s;
+		msg_newer.airspeed_source = msg_older.selected_airspeed_index;
+		msg_newer.calibrated_ground_minus_wind_m_s = msg_older.calibrated_ground_minus_wind_m_s;
+		msg_newer.calibraded_airspeed_synth_m_s = NAN;
+		msg_newer.airspeed_derivative_filtered = msg_older.airspeed_derivative_filtered;
+		msg_newer.throttle_filtered = msg_older.throttle_filtered;
+		msg_newer.pitch_filtered = msg_older.pitch_filtered;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		// Set msg_older from msg_newer
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.indicated_airspeed_m_s = msg_newer.indicated_airspeed_m_s;
+		msg_older.calibrated_airspeed_m_s = msg_newer.calibrated_airspeed_m_s;
+		msg_older.true_airspeed_m_s = msg_newer.true_airspeed_m_s;
+		msg_older.calibrated_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
+		msg_older.true_ground_minus_wind_m_s = msg_newer.calibrated_ground_minus_wind_m_s;
+		msg_older.airspeed_sensor_measurement_valid = msg_newer.airspeed_source > 0 && msg_newer.airspeed_source <= 3;
+		msg_older.selected_airspeed_index = msg_newer.airspeed_source;
+		msg_older.airspeed_derivative_filtered = msg_newer.airspeed_derivative_filtered;
+		msg_older.throttle_filtered = msg_newer.throttle_filtered;
+		msg_older.pitch_filtered = msg_newer.pitch_filtered;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(AirspeedValidatedV1Translation);
@@ -1,18 +1,22 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp				# time since system start (microseconds)

-float32 indicated_airspeed_m_s			# indicated airspeed in m/s (IAS), set to NAN if invalid
-float32 calibrated_airspeed_m_s     		# calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
-float32 true_airspeed_m_s			# true filtered airspeed in m/s (TAS), set to NAN if invalid
+float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
+float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
+float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid

+int8 airspeed_source				# Source of currently published airspeed values
+int8 DISABLED = -1
+int8 GROUND_MINUS_WIND = 0
+int8 SENSOR_1 = 1
+int8 SENSOR_2 = 2
+int8 SENSOR_3 = 3
+int8 SYNTHETIC = 4
+
+# debug states
 float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-float32 true_ground_minus_wind_m_s 		# TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-
-bool airspeed_sensor_measurement_valid 		# True if data from at least one airspeed sensor is declared valid.
-
-int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
-
+float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
 float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
 float32 throttle_filtered			# filtered fixed-wing throttle [-]
 float32 pitch_filtered				# filtered pitch [rad]
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	0c31bbfdc5	tools: initial draft of manifes generation Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-10 13:50:26 -07:00
Ramon Roche	d4b18f4a16	ci: build px4-dev containers on demand Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-08 14:44:34 -07:00
Matthias Grob	406f0bb470	Fix cellular_status message definition (#24662 ) * msg: fix cellular_status definition 12 * Update msg/CellularStatus.msg * cellular_status: remove confusing reference to roaming Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-08 15:07:11 +02:00
Hamish Willee	6bca750ab3	crowdin_docs.yml - ignore the param reference	2025-05-07 19:29:57 -07:00
Jacob Dahl	050425af25	gz: specify custom world coordinates (#24813 ) gz: allow custom world coordinates with environment variables and update the docs	2025-05-07 20:36:40 +02:00
Ramon Roche	688e6aafae	ci: introduce px4-dev container with multi arch support (#24022 )	2025-05-07 12:12:27 -04:00
chfriedrich98	2d23fda77d	rtl_direct: fix function naming	2025-05-07 17:42:07 +02:00
chfriedrich98	4e436cc64e	rover: update land detector	2025-05-07 17:42:07 +02:00
chfriedrich98	771d09b968	navigator: reset next WP in mission fast reverse	2025-05-07 17:42:07 +02:00
chfriedrich98	b78b063fd8	rover: skip to LAND on direct RTL activation	2025-05-07 17:42:07 +02:00
chfriedrich98	f13f9b2240	rover: update rtl time estimator	2025-05-07 17:42:07 +02:00
Beat Küng	fee575f944	docs: update integration tests (#24671 ) * docs: update integration tests Updates for https://github.com/PX4/PX4-Autopilot/pull/22494. Transferred from https://github.com/PX4/PX4-user_guide/pull/2970. * Apply suggestions from code review * Update docs/en/test_and_ci/integration_testing_ros1_mavros.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-07 13:52:03 +10:00
Matthias Grob	87db286a88	pps_capture_params: clarify description (#24641 )	2025-05-07 11:15:20 +10:00
Ramon Roche	b851c3728c	ci: avoid multiple builds with concurrency checks Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-06 20:59:26 -04:00
Hamish Willee	93408cc4e2	Update main.md release to indicate may be out of date on a branch (#24810 )	2025-05-07 10:57:46 +10:00
Seungbin Lee	881d58b79f	[Doc] Update JFI Telemetry v1.1 Changes (#24747 ) * update jfi image * Update jfi_telemetry.md * update images * File size compression --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-07 10:37:32 +10:00
PX4 Build Bot	76a772354c	New Crowdin translations - ko (#24797 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:07:34 +10:00
PX4 Build Bot	3eaba5f9eb	New Crowdin translations - uk (#24798 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:07:02 +10:00
PX4 Build Bot	2d30a010f4	New Crowdin translations - zh-CN (#24799 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:06:44 +10:00
Roman Shtylman	fed1b338c0	Update ulog_file_format.md (#24809 ) * Update ulog_file_format.md Update Known Parser Implementations with updated information for Foxglove and the typescript parser * Update docs/en/dev_log/ulog_file_format.md	2025-05-07 08:59:22 +10:00
bresch	6b8bf80423	ekf2-mag: never skip post-takeoff mag yaw reset	2025-05-06 11:24:31 -04:00
chfriedrich98	4e17c5496c	mecanum: streamline flow of information	2025-05-05 11:38:17 +02:00
chfriedrich98	04512ee91f	mecanum: separate velocity control	2025-05-05 11:38:17 +02:00
Julian Oes	3c39095271	[Sponsored by Holybro] Support for Kakute H743-Wing (#24669 ) * hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing	2025-05-04 14:44:11 -08:00
Jacob Dahl	2fece23c64	gz small improvements (#24761 ) * gz: print version number in init, remove gst plugin spam, rename function * fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions * format * change gzerr to gzwarn	2025-05-04 14:41:19 -08:00
Silvan	918848095a	ROMFS: exclude 4020_holybro_px4vision_v1_5 from v6x builds to save flash Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Marco Hauswirth	f0fdf0b53b	EKF2: distinguish airspeed source and use synthetic for wind Enable wind-dead-reckoning with airspeed source to synthetic airspeed	2025-05-02 13:37:18 +02:00
Silvan	6d12b04bb0	VTOL: do central handling of airspeed measurement - only use data from airspeed_validated topic if source is SENSOR - add 1s timeout (set to NAN if older) - use FW_USE_AIRSPD consitently (treat the same as CAS=NAN) Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Silvan	f7bb5d13f7	At every consumation of AirspeedValidated, check for SOURCE Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Marco Hauswirth	5842c991ec	AirspeedSelector: add synthetic airspeed option Synthetic airspeed is calculated based on the thrust setpoint and the thrust<->airpseed model as configured in the parameters.	2025-05-02 13:37:18 +02:00
Marco Hauswirth	c3c863ad95	AirspeedSelector: clean up in preparation of synthetic airspeed	2025-05-02 13:37:18 +02:00
bresch	e7250bc8d5	ekf2: do not let mag heading and declination update xy gyro biases This can destabilize the tilt estimate when the mag field is disturbed	2025-05-02 10:23:43 +02:00
bresch	a40377e544	ekf2: always update IMU filters	2025-05-02 10:23:43 +02:00
bresch	6a105bcbdb	ekf2-grav: accelerate tilt alignment	2025-05-02 10:23:43 +02:00
bresch	c59101e8ed	ekf2-gravity: do not estimate accel bias when gravity fusion is active Gravity fusion uses the bias corrected accelerometer data to correct the tilt estimate. We should not continue to estimate the accel bias when this is active as it creates an unwanted feedback loop.	2025-05-02 10:23:43 +02:00
bresch	ee30b70a3c	ekf2-gravity: start based on accel LPF instead of peak hold This prevent rapid switching in presence of noise and the innovation filter is good at rejecting spikes	2025-05-02 10:23:43 +02:00
bresch	6ec6f1b297	ekf2-decl: do not always update tilt	2025-05-02 10:23:43 +02:00
PX4 Build Bot	ef0f0884f0	New Crowdin translations - uk (#24714 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-02 09:33:50 +10:00
Balduin	ea93019b62	Docs: gazebo moving platform (#24720 ) * Docs: add moving platform documenting the addition in #24471 * Moving platform docs: address review - Release note, write release in docs - Describe configuration also in main gazebo sim docs, syntax section - Tip that plugin can be used in other worlds, linking to plugin readme * Update docs/en/sim_gazebo_gz/index.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-02 08:51:21 +10:00
Hamish Willee	9cf3e83197	VehicleCommand.msg - takeoff & global position (#24574 ) * VehicleCommand.msg - takeoff & global position * Apply suggestions from code review * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg	2025-05-01 18:37:46 +10:00
Hamish Willee	9e6e2df15c	docs_bug_report.yml - fix errors (#24790 )	2025-05-01 13:56:07 +10:00
Hamish Willee	1a4a44a223	Add docs issue template (#24788 )	2025-05-01 13:36:17 +10:00