SDP3X: fix broken datasheet link

Airspeed Filter: add filter to airspeed for scaling (#25908 )
mode: control auto set home from an external mode
2026-08-21 01:00:34 +08:00 · 2025-11-27 09:13:22 +01:00 · 2025-11-26 12:38:17 +01:00 · 2025-11-26 10:16:54 +01:00 · 2025-11-26 10:04:53 +01:00 · 2025-11-26 09:51:15 +01:00
293 changed files with 4246 additions and 1451 deletions
@@ -1,22 +1,9 @@
 <!--

-Thank you for your contribution!
-
-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
-
-->
-
 ### Solved Problem
-When ... I found that ...
-
 Fixes #{Github issue ID}

 ### Solution
- Add ... for ...
- Refactor ...

 ### Changelog Entry
 For release notes:
@@ -27,11 +14,10 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
-We could also ...

 ### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/

 ### Context
 Related links, screenshot before/after, video
+
+-->
@@ -54,6 +54,7 @@ jobs:
        run: |
          make clean
          make distclean
+          make submodulesclean

      - name: If it's a PR checkout the base branch
        if: ${{ github.event.pull_request }}
@@ -118,7 +118,7 @@ jobs:
          PX4_HOME_LON: ${{matrix.config.longitude}}
          PX4_HOME_ALT: ${{matrix.config.altitude}}
          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
        timeout-minutes: 45

      - name: Upload failed logs
@@ -231,6 +231,12 @@ then
 	ads7953 start -S
 fi

+# ADC sensor tla2528 external I2C
+if param compare -s ADC_TLA2528_EN 1
+then
+	tla2528 start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -1656,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
+    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
    coef_baro_0_x = np.polyfit(temperature,baro,5)

 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1717,9 +1717,9 @@ if num_baros >= 2:
    # fit data
    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
        coef_baro_1_x = np.polyfit(temperature,baro,5)

    baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1778,9 +1778,9 @@ if num_baros >= 3:
    # fit data
    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
    else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
        coef_baro_2_x = np.polyfit(temperature,baro,5)

    baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1838,7 +1838,7 @@ if num_baros >= 4:

    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
    baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
    baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
    baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -132,7 +132,6 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -67,7 +67,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -72,7 +72,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -50,7 +50,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -41,7 +41,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -14,6 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -57,7 +58,6 @@ CONFIG_LOGGER_STACK_SIZE=4100
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -77,9 +77,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -91,7 +89,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 # By disabling INA modules, we use the
-# i2c_launcher instead.
+# auterion launcher instead.
 param set-default SENS_EN_INA226 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA238 0
@@ -19,6 +19,13 @@ param set-default SDLOG_BACKEND 2
 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21

+# Uncomment to use PWM9 as Analog input
+# param set-default PWM_MAIN_TIM2 -2
+
+# Uncomment to use PWM10 as PPS input
+# param set-default PWM_MAIN_TIM3 -2
+# param set-default PWM_MAIN_FUNC10 2064
+
 # Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 param set-default UXRCE_DDS_PTCFG 2
 param set-default UXRCE_DDS_AG_IP 170461697
@@ -238,9 +238,12 @@ CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=4096
-CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART5=y
 CONFIG_STM32H7_UART7=y
@@ -135,15 +135,14 @@


 /* PWM Timers */
-#define BOARD_NUM_IO_TIMERS 2
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
+/* 3 for PWM outputs, 1 for input capture */
+#define BOARD_NUM_IO_TIMERS 4
+/* 9 for PWM outputs, 1 for input capture */
+#define DIRECT_PWM_OUTPUT_CHANNELS 10

 /* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-#define HRT_PPM_CHANNEL         /* T8C2 */  2  /* use capture/compare channel 1 */
-#define GPIO_PPM_IN             /* PC7  */ GPIO_TIM8_CH2IN_1
+#define HRT_TIMER               4  /* use timer4 for the HRT */
+#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
@@ -44,11 +44,17 @@
 * TIM3_CH2  T FMU_CH6
 * TIM3_CH3  T FMU_CH7
 * TIM3_CH4  T FMU_CH8
+ *
+ * TIM5_CH1  T FMU_CH9
+ *
+ * TIM8_CH2  T FMU_CAP1 < Input Capture
 */

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5),
+	initIOTimer(Timer::Timer8),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -60,6 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	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::PortC, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------

 # By disabling all 3 INA modules, we use the
-# i2c_launcher instead.
+# auterion launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 0
@@ -471,7 +471,7 @@
 #define PX4_I2C_BUS_MTD      4,5


-#define BOARD_NUM_IO_TIMERS 5
+#define BOARD_NUM_IO_TIMERS 4

 /* No CDCACM driver for this board, so this is manually defined for version.c
 * so that the px4_board_version reports the correct board id to the companion */
@@ -50,8 +50,6 @@
 * TIM1_CH3  T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
 * TIM1_CH1  T SPIX_SYNC              > Pulse or GPIO strobe
 *
- * TIM2_CH3  T HEATER                 > PWM OUT or GPIO
- *
 * TIM14_CH1 T BUZZER_1              - Driven by other driver
 * TIM8_CH1_IN T FMU_PPM_INPUT       - Sampled byt HRT by other driver
 */
@@ -61,7 +59,6 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer12),
 	initIOTimer(Timer::Timer1),
-	initIOTimer(Timer::Timer2),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -30,8 +31,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -74,7 +74,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -71,7 +71,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"
@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_MODULES_ZENOH=y
@@ -35,7 +35,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -0,0 +1 @@
+CONFIG_MAVLINK_DIALECT="development"
@@ -34,7 +34,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -672,8 +672,6 @@
        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
-        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
-        - [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
        - [Rpm](msg_docs/Rpm.md)
        - [RtlStatus](msg_docs/RtlStatus.md)
        - [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
@@ -695,6 +693,7 @@
        - [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
        - [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
        - [SensorSelection](msg_docs/SensorSelection.md)
+        - [SensorTemp](msg_docs/SensorTemp.md)
        - [SensorUwb](msg_docs/SensorUwb.md)
        - [SensorsStatus](msg_docs/SensorsStatus.md)
        - [SensorsStatusImu](msg_docs/SensorsStatusImu.md)
@@ -765,6 +764,7 @@
      - [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
      - [Radio Control](modules/modules_driver_radio_control.md)
      - [Transponder](modules/modules_driver_transponder.md)
+      - [adc](modules/modules_driver_adc.md)
    - [Estimators](modules/modules_estimator.md)
    - [Simulations](modules/modules_simulation.md)
    - [System](modules/modules_system.md)
@@ -85,7 +85,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame

 <!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->

+## ADC
+
+### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN}
+
+Enable ADS7953.
+
+Enable the driver for the ADS7953 board
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |
+
+### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV}
+
+Applied reference Voltage.
+
+The voltage applied to the ADS7953 board as reference
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 2.0      | 3.0      | 0.01      | 2.5     | V    |
+
+### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN}
+
+Enable TLA2528.
+
+Enable the driver for the TLA2528
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |
+
+### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV}
+
+Applied reference Voltage.
+
+The voltage applied to the TLA2528 board as reference
+
+| Reboot  | minValue | maxValue | increment | default | unit |
+| ------- | -------- | -------- | --------- | ------- | ---- |
+| &check; | 2.0      | 3.0      | 0.01      | 2.5     | V    |
+
 ## ADSB

 ### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1.

 This is the scale IAS --> CAS of the first airspeed sensor instance

-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0.5      | 2.0      |           | 1.0     |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.5      | 2.0      |           | 1.0     |

 ### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2}

@@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2.

 This is the scale IAS --> CAS of the second airspeed sensor instance

-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0.5      | 2.0      |           | 1.0     |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.5      | 2.0      |           | 1.0     |

 ### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3}

@@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3.

 This is the scale IAS --> CAS of the third airspeed sensor instance

-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0.5      | 2.0      |           | 1.0     |
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0.5      | 2.0      |           | 1.0     |

 ### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY}

@@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion

 ### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}

-GPS measurement delay relative to IMU measurements.
+GPS measurement delay relative to IMU measurement.
+
+GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).

 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements.

 Fusion reset mode.

-Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
+Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.

 **Values:**

@@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx).
 | ------- | -------- | -------- | --------- | ------------ | ---- |
 | &check; |          |          |           | Disabled (0) |

+### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808}
+
+Enable MCP9808 temperature sensor (external I2C).
+
+| Reboot  | minValue | maxValue | increment | default      | unit |
+| ------- | -------- | -------- | --------- | ------------ | ---- |
+| &check; |          |          |           | Disabled (0) |
+
 ### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT}

 Enable Mappydot rangefinder (i2c).
@@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 2.0     |

+### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE}
+
+Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 1        |           | 0       |
+
 ### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT}

 UUV Thrust setpoint Saturation.
@@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.

 ### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I}

-Backtransition deceleration setpoint to pitch I gain.
+Backtransition deceleration setpoint to tilt I gain.

 | Reboot | minValue | maxValue | increment | default | unit    |
 | ------ | -------- | -------- | --------- | ------- | ------- |
@@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -10.0    | 45.0     | 0.1       | -5.0    | deg  |
+| &nbsp; | -10.0    | 45.0     | 0.1       | 0.0     | deg  |

 ### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN}

@@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | -10.0    | 45.0     | 0.1       | -5.0    | deg  |
+| &nbsp; | -10.0    | 45.0     | 0.1       | 0.0     | deg  |

 ### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW}

@@ -348,6 +348,60 @@ The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period
 Note that `ekf2_gps_drift` is not logged!
 :::

+#### GNSS Fault Detection
+
+PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
+
+The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
+The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
+
+- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
+  EKF2 resets on fusion timeouts if no other source of position is available.
+- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
+  EKF2 may reset if no other sources of position or velocity are available.
+  If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
+
+##### Detection Logic
+
+Horizontal Position:
+
+- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
+- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
+
+Altitude:
+
+- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
+- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
+- When height reference is set to GNSS:
+- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
+- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
+
+##### Faulty GNSS Data During Boot
+
+The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
+
+If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
+The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
+
+##### Enabling GNSS Fusion Mid-Flight
+
+With Faulty GNSS Data:
+
+- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
+- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
+
+With Valid GNSS Data:
+
+- **Automatic mode**: Vehicle will reset to GNSS measurements.
+- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
+
+##### Notes
+
+- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
+- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
+- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
+- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
+
 ### Range Finder

 [Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
@@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

   One approach to determine an appropriate value is:
   1. From a standstill, give the rover full throttle until it reaches the maximum speed.
-   2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
+   2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
   3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).

   Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
@@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa
   $v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $

   with
-
   - $v_{max}:$ Maximum speed
   - $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
   - $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
@@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa

   ::: tip
   Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
-
   - If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
   - If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).

   These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
   :::

-3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
+3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
   If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).

 ## Path Following
@@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm:
   Decreasing the parameter makes it more aggressive but can lead to oscillations.

   To tune this:
-
   1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
   2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
   3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
@@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced

   ::: tip
   To further tune this parameter:
-
   1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
      This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
   2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
-   3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
+   3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
   4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
      If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.

@@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
   Decreasing the parameter makes it more aggressive but can lead to oscillations.

   To tune this:
-
   1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
   2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
   3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
@@ -215,7 +215,7 @@ Predefined information messages are:
 | `char[value_len] ver_sw_branch`     | git branch                                  | "master"           |
 | `uint32_t ver_sw_release`           | Software version (see below)                | 0x010401ff         |
 | `char[value_len] sys_os_name`       | Operating System Name                       | "Linux"            |
-| `char[value_len] sys_os_ve`r        | OS version (git tag)                        | "9f82919"          |
+| `char[value_len] sys_os_ver`        | OS version (git tag)                        | "9f82919"          |
 | `uint32_t ver_os_release`           | OS version (see below)                      | 0x010401ff         |
 | `char[value_len] sys_toolchain`     | Toolchain Name                              | "GNU GCC"          |
 | `char[value_len] sys_toolchain_ver` | Toolchain Version                           | "6.2.1"            |
@@ -100,6 +100,24 @@ At very high level, the main differences are:

 <a id="licensing-and-trademarks"></a>

+### FMUv6 Comparison
+
+| Feature            | **FMUv6X-RT**         | **FMUv6X**        | **FMUv6C**        |
+| ------------------ | --------------------- | ----------------- | ------------------ |
+| **FMU MCU**        | NXP i.MX RT1176       | STM32H753         | STM32H743V         |
+| **RAM**            | 2 MB                  | 1 MB              | 1 MB               |
+| **Flash**          | 64 MB Octal SPI       | 2 MB internal     | 2 MB internal      |
+| **IO MCU**         | STM32F103             | STM32F103         | STM32F103          |
+| **Secure Element** | NXP SE051             | NXP SE051         | Not supported      |
+| **PAB Standard**   | Supported             | Supported         | Not supported      |
+| **Ethernet**       | Supported             | Supported         | Not supported      |
+| **IMUs**           | 3×                    | 3×                | 2×                 |
+| **Barometers**     | 2×                    | 2×                | 1×                 |
+| **Magnetometer**   | 1×                    | 1×                | 1×                 |
+| **FMU PWM**        | 12×                   | 8×                | 8×                 |
+| **IO PWM**         | 8×                    | 8×                | 8×                 |
+| **CAN Bus**        | 3×                    | 2×                | 2×                 |
+
 ### Licensing and Trademarks

 Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
@@ -196,6 +196,14 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH

 EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.

+### GNSS Position Fusion
+
+GNSS position fusion will not begin until yaw alignment is established.
+If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
+If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
+Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
+This behavior prevents large position errors that could occur when the yaw reference is uncertain.
+
 ## Developer Information

 - GPS/RTK-GPS
@@ -4,75 +4,84 @@
 This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
 :::

-
-The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).

 This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.

 ## Publications

-Topic | Type| Rate Limit
--- | --- | ---
-`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
-`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
-`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
-`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
-`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
-`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
-`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
-`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
-`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
-`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
-`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
-`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
-`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
-`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
-`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
-`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
-`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
-`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
-`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
-`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
-`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
-`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
-`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
-`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
+| Topic                                    | Type                                                                                   | Rate Limit |
+| ---------------------------------------- | -------------------------------------------------------------------------------------- | ---------- |
+| `/fmu/out/register_ext_component_reply`  | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md)   |
+| `/fmu/out/arming_check_request`          | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md)                 | 5.0        |
+| `/fmu/out/mode_completed`                | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)                           | 50.0       |
+| `/fmu/out/battery_status`                | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md)                           | 1.0        |
+| `/fmu/out/collision_constraints`         | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md)             | 50.0       |
+| `/fmu/out/estimator_status_flags`        | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md)             | 5.0        |
+| `/fmu/out/failsafe_flags`                | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md)                           | 5.0        |
+| `/fmu/out/manual_control_setpoint`       | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)           | 25.0       |
+| `/fmu/out/message_format_response`       | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md)           |
+| `/fmu/out/position_setpoint_triplet`     | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md)       | 5.0        |
+| `/fmu/out/sensor_combined`               | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md)                         |
+| `/fmu/out/timesync_status`               | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md)                         | 10.0       |
+| `/fmu/out/transponder_report`            | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md)                   |
+| `/fmu/out/vehicle_land_detected`         | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md)               | 5.0        |
+| `/fmu/out/vehicle_attitude`              | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md)                       | 50.0       |
+| `/fmu/out/vehicle_control_mode`          | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)                 | 50.0       |
+| `/fmu/out/vehicle_command_ack`           | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md)                   |
+| `/fmu/out/vehicle_global_position`       | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)           | 50.0       |
+| `/fmu/out/vehicle_gps_position`          | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md)                                   | 50.0       |
+| `/fmu/out/vehicle_local_position`        | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md)             | 50.0       |
+| `/fmu/out/vehicle_odometry`              | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)                       | 100.0      |
+| `/fmu/out/vehicle_status`                | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md)                           | 5.0        |
+| `/fmu/out/airspeed_validated`            | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md)                   | 50.0       |
+| `/fmu/out/vtol_vehicle_status`           | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md)                   |
+| `/fmu/out/home_position`                 | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md)                             | 5.0        |
+| `/fmu/out/wind`                          | [px4_msgs::msg::Wind](../msg_docs/Wind.md)                                             | 1.0        |
+| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0       |

 ## Subscriptions

-Topic | Type
--- | ---
-/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
-/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
-/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
-/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
-/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
-/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
-/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
-/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
-/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
-/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
-/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
-/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
-/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
-/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
-/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
-/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
-/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
-/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
-/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
-/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
-/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
-/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
-/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
-/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
-/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
-/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
-/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
-/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
-/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
-/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
-/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
+| Topic                                      | Type                                                                                               |
+| ------------------------------------------ | -------------------------------------------------------------------------------------------------- |
+| /fmu/in/register_ext_component_request     | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)           |
+| /fmu/in/unregister_ext_component           | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)                     |
+| /fmu/in/config_overrides_request           | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)                                   |
+| /fmu/in/arming_check_reply                 | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)                                 |
+| /fmu/in/message_format_request             | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)                         |
+| /fmu/in/mode_completed                     | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)                                       |
+| /fmu/in/config_control_setpoints           | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)                             |
+| /fmu/in/distance_sensor                    | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)                                     |
+| /fmu/in/manual_control_input               | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)                       |
+| /fmu/in/offboard_control_mode              | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)                           |
+| /fmu/in/onboard_computer_status            | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)                       |
+| /fmu/in/obstacle_distance                  | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)                                 |
+| /fmu/in/sensor_optical_flow                | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)                               |
+| /fmu/in/goto_setpoint                      | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)                                         |
+| /fmu/in/telemetry_status                   | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)                                   |
+| /fmu/in/trajectory_setpoint                | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)                             |
+| /fmu/in/vehicle_attitude_setpoint          | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)                   |
+| /fmu/in/vehicle_mocap_odometry             | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)                                   |
+| /fmu/in/vehicle_rates_setpoint             | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)                         |
+| /fmu/in/vehicle_visual_odometry            | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)                                   |
+| /fmu/in/vehicle_command                    | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)                                     |
+| /fmu/in/vehicle_command_mode_executor      | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)                                     |
+| /fmu/in/vehicle_thrust_setpoint            | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)                       |
+| /fmu/in/vehicle_torque_setpoint            | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)                       |
+| /fmu/in/actuator_motors                    | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)                                     |
+| /fmu/in/actuator_servos                    | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)                                     |
+| /fmu/in/aux_global_position                | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)                       |
+| /fmu/in/fixed_wing_longitudinal_setpoint   | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)       |
+| /fmu/in/fixed_wing_lateral_setpoint        | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)                 |
+| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
+| /fmu/in/lateral_control_configuration      | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)           |
+| /fmu/in/rover_position_setpoint            | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)                       |
+| /fmu/in/rover_speed_setpoint               | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md)                             |
+| /fmu/in/rover_attitude_setpoint            | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)                       |
+| /fmu/in/rover_rate_setpoint                | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)                               |
+| /fmu/in/rover_throttle_setpoint            | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)                       |
+| /fmu/in/rover_steering_setpoint            | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)                       |
+| /fmu/in/landing_gear                       | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md)                                           |

 ## Subscriptions Multi

@@ -85,192 +94,191 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [EventV0](../msg_docs/EventV0.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [InputRc](../msg_docs/InputRc.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [Event](../msg_docs/Event.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
 - [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
 - [CameraCapture](../msg_docs/CameraCapture.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [Ping](../msg_docs/Ping.md)
- [LedControl](../msg_docs/LedControl.md)
- [Wind](../msg_docs/Wind.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Gripper](../msg_docs/Gripper.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [LandingGear](../msg_docs/LandingGear.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
 - [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
 - [GpioOut](../msg_docs/GpioOut.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [Mission](../msg_docs/Mission.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [Ping](../msg_docs/Ping.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [Event](../msg_docs/Event.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
 - [VelocityLimits](../msg_docs/VelocityLimits.md)
 - [MagWorkerData](../msg_docs/MagWorkerData.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Rpm](../msg_docs/Rpm.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
 - [Cpuload](../msg_docs/Cpuload.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TransponderReport](../msg_docs/TransponderReport.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
 - [MavlinkLog](../msg_docs/MavlinkLog.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [Mission](../msg_docs/Mission.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
 - [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
 - [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
 - [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
-:::
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+  :::
@@ -503,6 +503,11 @@ publications:
  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
    type: px4_msgs::msg::VehicleTrajectoryWaypoint

+  - topic: /fmu/out/vehicle_imu
+    type: px4_msgs::msg::VehicleImu
+    rate_limit: 50.
+    instance: 1 # OPTIONAL
+
 subscriptions:

  - topic: /fmu/in/offboard_control_mode
@@ -535,6 +540,9 @@ Each (`topic`,`type`) pairs defines:
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
   If left unspecified, the maximum publication rate limit is set to 100 Hz.
+6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
+   If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
+   In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

 `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
 Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
@@ -434,6 +434,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
 #include <unistd.h>
@@ -2,6 +2,7 @@

 Subcategories:

+- [Adc](modules_driver_adc.md)
 - [Airspeed Sensor](modules_driver_airspeed_sensor.md)
 - [Baro](modules_driver_baro.md)
 - [Camera](modules_driver_camera.md)
@@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
   status        print status info
 ```

-## adc
-
-Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
-
-### Description
-
-ADC driver.
-
-### Usage {#adc_usage}
-
-```
-adc <command> [arguments...]
- Commands:
-   start
-
-   test
-     [-n]        Do not publish ADC report, only system power
-
-   stop
-
-   status        print status info
-```
-
-## ads1115
-
-Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
-
-### Description
-
-Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
-
-The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
-such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
-(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
-
-It is enabled/disabled using the
-[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
-parameter, and is disabled by default.
-If enabled, internal ADCs are not used.
-
-### Usage {#ads1115_usage}
-
-```
-ads1115 <command> [arguments...]
- Commands:
-   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
-                 (default=1))
-     [-f <val>]  bus frequency in kHz
-     [-q]        quiet startup (no message if no device found)
-     [-a <val>]  I2C address
-                 default: 72
-
-   stop
-
-   status        print status info
-```
-
 ## atxxxx

 Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
   status        print status info
 ```

+## mcp9808
+
+Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
+
+### Usage {#mcp9808_usage}
+
+```
+mcp9808 <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 24
+
+   stop
+
+   status        print status info
+```
+
 ## msp_osd

 Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
@@ -0,0 +1,107 @@
+# Modules Reference: Adc (Driver)
+
+## TLA2528
+
+Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
+
+### Usage {#TLA2528_usage}
+
+```
+TLA2528 <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+
+   stop
+
+   status        print status info
+```
+
+## adc
+
+Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
+
+### Description
+
+ADC driver.
+
+### Usage {#adc_usage}
+
+```
+adc <command> [arguments...]
+ Commands:
+   start
+
+   test
+     [-n]        Do not publish ADC report, only system power
+
+   stop
+
+   status        print status info
+```
+
+## ads1115
+
+Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
+
+### Description
+
+Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
+
+The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
+such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
+(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
+
+It is enabled/disabled using the
+[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
+parameter, and is disabled by default.
+If enabled, internal ADCs are not used.
+
+### Usage {#ads1115_usage}
+
+```
+ads1115 <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 72
+
+   stop
+
+   status        print status info
+```
+
+## ads7953
+
+Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
+
+### Usage {#ads7953_usage}
+
+```
+ads7953 <command> [arguments...]
+ Commands:
+   start
+     [-s]        Internal SPI bus(es)
+     [-S]        External SPI bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
+     [-m <val>]  SPI mode
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+
+   stop
+
+   status        print status info
+```
@@ -4,10 +4,9 @@

 Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)

-
 ### Description
-This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data

+This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data

 ### Usage {#crsf_rc_usage}

@@ -17,6 +16,10 @@ crsf_rc <command> [arguments...]
   start
     [-d <val>]  RC device
                 values: <file:dev>, default: /dev/ttyS3
+     [-b <val>]  RC baudrate
+                 default: 420000
+
+   inject        Inject frame data bytes (for testing)

   stop

@@ -27,10 +30,9 @@ crsf_rc <command> [arguments...]

 Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)

-
 ### Description
-This module does Spektrum DSM RC input parsing.

+This module does Spektrum DSM RC input parsing.

 ### Usage {#dsm_rc_usage}

@@ -52,10 +54,9 @@ dsm_rc <command> [arguments...]

 Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)

-
 ### Description
-This module does Ghost (GHST) RC input parsing.

+This module does Ghost (GHST) RC input parsing.

 ### Usage {#ghst_rc_usage}

@@ -75,9 +76,10 @@ ghst_rc <command> [arguments...]

 Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)

-
 ### Description
+
 This module does the RC input parsing and auto-selecting the method. Supported methods are:
+
 - PPM
 - SBUS
 - DSM
@@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m
 - ST24
 - TBS Crossfire (CRSF)

-
 ### Usage {#rc_input_usage}

 ```
@@ -106,10 +107,9 @@ rc_input <command> [arguments...]

 Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)

-
 ### Description
-This module does SBUS RC input parsing.

+This module does SBUS RC input parsing.

 ### Usage {#sbus_rc_usage}

@@ -1,15 +1,21 @@
 # AdcReport (UORB message)

+ADC raw data.

+Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.

 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)

 ```c
-uint64 timestamp		# time since system start (microseconds)
-uint32 device_id		# unique device ID for the sensor that does not change between power cycles
-int16[12] channel_id		# ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
-int32[12] raw_data		# ADC channel raw value, accept negative value, valid if channel ID is positive
-uint32 resolution		# ADC channel resolution
-float32 v_ref			# ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
+# ADC raw data.
+#
+# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
+
+uint64 timestamp      # [us] Time since system start
+uint32 device_id      # [-] unique device ID for the sensor that does not change between power cycles
+int16[16] channel_id  # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
+int32[16] raw_data    # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
+uint32 resolution     # [-] ADC channel resolution
+float32 v_ref         # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)

 ```
@@ -1,7 +1,5 @@
 # EscReport (UORB message)

-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)

 ```c
@@ -18,6 +16,19 @@ uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)

+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
+uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
+uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
+uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
+uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
+uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
+uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
+uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
+uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
+uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
+uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
+
 uint16 failures					# Bitmask to indicate the internal ESC faults
 int8 esc_power					# Applied power 0-100 in % (negative values reserved)

@@ -1,7 +1,5 @@
 # InputRc (UORB message)

-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)

 ```c
@@ -39,11 +37,13 @@ bool rc_lost				# RC receiver connection status: True,if no frame has arrived in
 uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
+uint16 rc_frame_rate			# RC frame rate in msg/second. 0 = invalid

 uint8 input_source			# Input source
 uint16[18] values			# measured pulse widths for each of the supported channels

 int8 link_quality			# link quality. Percentage 0-100%. -1 = invalid
 float32 rssi_dbm			# Actual rssi in units of dBm. NaN = invalid
+int8 link_snr				# link signal to noise ratio in units of dB. -1 = invalid

 ```
@@ -1,15 +0,0 @@
-# RoverVelocitySetpoint (UORB message)
-
-Rover Velocity Setpoint
-
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
-
-```c
-# Rover Velocity Setpoint
-
-uint64 timestamp # [us] Time since system start
-float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
-float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
-float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint
-
-```
@@ -1,18 +0,0 @@
-# RoverVelocityStatus (UORB message)
-
-Rover Velocity Status
-
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
-
-```c
-# Rover Velocity Status
-
-uint64 timestamp # [us] Time since system start
-float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
-float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
-float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
-float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
-
-```
@@ -0,0 +1,11 @@
+# SensorTemp (UORB message)
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
+
+```c
+uint64 timestamp          # time since system start (microseconds)
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+float32  temperature      # Temperature provided by sensor (Celsius)
+
+```
@@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
 uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
 uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
-uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout  - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
@@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [ActuatorOutputs](ActuatorOutputs.md)
 - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
 - [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md)
+- [AdcReport](AdcReport.md) — ADC raw data.
 - [Airspeed](Airspeed.md) — Airspeed data from sensors
 - [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
 - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
@@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
  The topic will not be updated when the vehicle is armed
 - [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
  Will be updated on startup of the sensor module and when sensor selection changes
+- [SensorTemp](SensorTemp.md)
 - [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
  such as Pozyx or NXP Rddrone.
 - [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
@@ -76,6 +76,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 - TBD

+### RC
+
+- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
+
 ### Multi-Rotor

 - Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
@@ -30,17 +30,51 @@ If needed, you can:
 - Change the selection order of barometers using the [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) parameters for each barometer.
 - Disable a barometer by setting its [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) value to `0`.

-## Calibration
+## Baro Auto-Calibration (Developers)

-Barometers don't require calibration.
+::: tip
+This section documents the automated calibration mechanisms that ensure accurate altitude measurements throughout flight operations.
+It is intended primarily for a developer audience who want to understand the underlying mechanisms.
+:::

-<!-- Notes:
- Absolute value isn't important since we just use the difference in altitude between "now" and the value when initializing EKF2
- There is usually a scale factor error but it's compensated by the GNSS altitude using a bias estimator in EKF2 (we don't provide a way to calibrate that). This method is fine as long as the height change of the drone isn't too fast (below 200-300km/h probably; don't have real data on that).
- The baro readings can be corrected using a param SENS_BARO_QNH (https://en.wikipedia.org/wiki/Altimeter_setting) parameter, but again, it is only necessary to adjust it if the absolute barometric altitude is required by the pilot.
-->
+The system implements two complementary calibration approaches that work together to maintain altitude measurement precision.
+Both calibrations are initiated at the beginning after a system boot.
+Relative calibration is performed first, followed by GNSS-barometric calibration.

-## Developer Information
+### Relative Calibration
+
+Relative baro calibration is **always enabled** and operates automatically during system initialization.
+This calibration establishes offset corrections for all secondary baro sensors relative to the primary (selected) sensor.
+
+This calibration:
+
+- Eliminates altitude jumps when switching between baro sensors during flight.
+- Ensures consistent altitude readings across all available baro sensors.
+- Maintains seamless sensor redundancy and failover capability.
+
+### GNSS-Baro Calibration
+
+::: info
+GNSS-baro calibration requires an operational GNSS receiver with vertical accuracy (EPV) ≤ 8 meters.
+Relative calibration must already have completed.
+:::
+
+GNSS-baro calibration adjusts baro sensor offsets to align with absolute altitude measurements from the GNSS receiver.
+This calibration is controlled by the [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) parameter (enabled by default).
+
+The algorithm monitors GNSS quality, collects altitude differences over a 2-second filtered window, and verifies stability within 4m tolerance.
+Once stable, it uses binary search to calculate pressure offsets that align baro altitude with GNSS altitude (0.1m precision), then applies the offset to all sensors and saves the parameters.
+
+Notes:
+
+- **EKF Independence**: GNSS-baro calibration operates independently of EKF2 altitude fusion settings.
+- **Execution Timing**: Calibration runs even when [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) altitude fusion is disabled.
+- **One-Time Process**: Each calibration session completes once per system startup.
+- **Persistence**: Calibration offsets are saved to parameters and persist across reboots.
+- **Faulty GNSS Vulnerability**: If GNSS data is faulty during boot, the calibration will use incorrect altitude reference.
+  See [Faulty GNSS Data During Boot](../advanced_config/tuning_the_ecl_ekf.md#faulty-gnss-data-during-boot) for mitigation strategies.
+
+## See Also

 - [Baro driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)
 - [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation.
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/Serial 포트](uart/index.md)
        - [포트 설정 가능 시리얼 드라이버](uart/user_configurable_serial_driver.md)
    - [RTK GPS (통합)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [미들웨어](middleware/index.md)
    - [uORB 메시지 전송](middleware/uorb.md)
    - [uORB 그라프](middleware/uorb_graph.md)
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## 개요
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## 지원 하드웨어
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## 설정
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### 배선
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## 검증
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+주요 기능:
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
@@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## 요약
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- 내장 센서 :
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- 기타 특성:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### 인터페이스
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C port
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Electrical data
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Mechanical data
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## 구매처
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## 핀배열
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## 시리얼 포트 매핑
+
+| UART   | 장치         | 포트     |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Sample Wiring Diagram
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## 펌웨어 빌드
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## 펌웨어 설치
+
+펌웨어는 일반적인 방법으로 설치할 수 있습니다.
+
+- 소스 빌드 및 업로드
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## 무선 조종
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## 지원 플랫폼 및 기체
+
+일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## 주변 장치
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## 추가 정보
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
@@ -100,6 +100,24 @@ PX4 _developers_ need to know the FMU version of their board, as this is require

 <a id="licensing-and-trademarks"></a>

+### FMUv6 Comparison
+
+| 기능                 | **FMUv6X-RT**                   | **FMUv6X**    | **FMUv6C**    |
+| ------------------ | ------------------------------- | ------------- | ------------- |
+| **FMU MCU**        | NXP i.MX RT1176 | STM32H753     | STM32H743V    |
+| **RAM**            | 2 MB                            | 1 MB          | 1 MB          |
+| **Flash**          | 64 MB Octal SPI                 | 2 MB internal | 2 MB internal |
+| **IO MCU**         | STM32F103                       | STM32F103     | STM32F103     |
+| **Secure Element** | NXP SE051                       | NXP SE051     | Not supported |
+| **PAB Standard**   | Supported                       | Supported     | Not supported |
+| **Ethernet**       | Supported                       | Supported     | Not supported |
+| **IMUs**           | 3×                              | 3×            | 2×            |
+| **Barometers**     | 2×                              | 2×            | 1×            |
+| **Magnetometer**   | 1×                              | 1×            | 1×            |
+| **FMU PWM**        | 12×                             | 8×            | 8×            |
+| **IO PWM**         | 8×                              | 8×            | 8×            |
+| **CAN Bus**        | 3×                              | 2×            | 2×            |
+
 ### 라이선스와 상표

 Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
@@ -25,11 +25,6 @@ The default type is recommended.

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## Technical Summary

 Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
@@ -145,21 +145,21 @@ To ensure the port is set up correctly perform a [Serial Port Configuration](../
 The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_:

 1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**.
-  - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
-  - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
+   - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
+   - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.

-    ![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png)
+     ![QGC Serial Example](../../assets/peripherals/qgc_serial_config_example.png)

 2. 다른 매개변수를 표시하려면 기체를 재부팅하십시오.

 3. Select the **Serial** tab, and open the [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD) parameter (`GPS 2` port baud rate): set it to _Auto_ (or 115200 for the Trimble).

-  ![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png)
+   ![QGC Serial Baudrate Example](../../assets/peripherals/qgc_serial_baudrate_example.png)

 보조 GPS 포트를 설정 후 :

 1. 두 GPS 시스템의 데이터를 혼합하도록 ECL/EKF2 추정기를 설정합니다.
-  For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).
+   For detailed instructions see: [Using the ECL EKF > Dual Receivers](../advanced_config/tuning_the_ecl_ekf.md#dual-receivers).

 ### DroneCAN GNSS Configuration

@@ -197,11 +197,21 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH

 EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.

+### GNSS Position Fusion
+
+GNSS position fusion will not begin until yaw alignment is established.
+If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
+If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
+Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
+This behavior prevents large position errors that could occur when the yaw reference is uncertain.
+
 ## 개발자 정보

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - 나침반
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
@@ -40,6 +40,7 @@ This list contains stand-alone magnetometer modules (without GNSS).

 | 장치                                                                                                               |   나침반  | DroneCan |
 | :--------------------------------------------------------------------------------------------------------------- | :----: | :------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                              | RM3100 |     ✓    |
 | [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |          |
 | [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass)             | RM3100 |     ✓    |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)           | RM3100 |     ✓    |
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@@ -515,6 +516,11 @@ publications:
  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
    type: px4_msgs::msg::VehicleTrajectoryWaypoint

+  - topic: /fmu/out/vehicle_imu
+    type: px4_msgs::msg::VehicleImu
+    rate_limit: 50.
+    instance: 1 # OPTIONAL
+
 subscriptions:

  - topic: /fmu/in/offboard_control_mode
@@ -547,6 +553,9 @@ Each (`topic`,`type`) pairs defines:
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
   If left unspecified, the maximum publication rate limit is set to 100 Hz.
+6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
+   If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
+   In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

 `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
 Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
@@ -588,7 +597,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
@@ -28,151 +28,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 1. Create a new directory **PX4-Autopilot/src/examples/px4_simple_app**.

 2. Create a new C file in that directory named **px4_simple_app.c**:
-  - 기본 헤더를 페이지 상단에 복사합니다.
-    이것은 기여한 모든 파일에 첨부하여야 합니다.
+   - 기본 헤더를 페이지 상단에 복사합니다.
+     이것은 기여한 모든 파일에 첨부하여야 합니다.

-    ```c
-    /****************************************************************************
-     *
-     *   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.
-     *
-     ****************************************************************************/
-    ```
+     ```c
+     /****************************************************************************
+      *
+      *   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.
+      *
+      ****************************************************************************/
+     ```

-  - 기본 헤더 아래에 다음 코드를 복사합니다.
-    이것은 기여한 모든 파일에 첨부하여야 합니다.
+   - 기본 헤더 아래에 다음 코드를 복사합니다.
+     이것은 기여한 모든 파일에 첨부하여야 합니다.

-    ```c
-    /**
-     * @file px4_simple_app.c
-     * Minimal application example for PX4 autopilot
-     *
-     * @author Example User <mail@example.com>
-     */
+     ```c
+     /**
+      * @file px4_simple_app.c
+      * Minimal application example for PX4 autopilot
+      *
+      * @author Example User <mail@example.com>
+      */

-    #include <px4_platform_common/log.h>
+     #include <px4_platform_common/log.h>

-    __EXPORT int px4_simple_app_main(int argc, char *argv[]);
+     __EXPORT int px4_simple_app_main(int argc, char *argv[]);

-    int px4_simple_app_main(int argc, char *argv[])
-    {
-    	PX4_INFO("Hello Sky!");
-    	return OK;
-    }
-    ```
+     int px4_simple_app_main(int argc, char *argv[])
+     {
+     	PX4_INFO("Hello Sky!");
+     	return OK;
+     }
+     ```

-    :::tip
-    The main function must be named `<module_name>_main` and exported from the module as shown.
+     :::tip
+     The main function must be named `<module_name>_main` and exported from the module as shown.

 :::

-    :::tip
-    `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
-    There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
-    Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
+     :::tip
+     `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
+     There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
+     Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).

 :::

 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
-  아래 텍스트를 복사하십시오.
+   아래 텍스트를 복사하십시오.

-  ```cmake
-  ############################################################################
-  #
-  #   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-  #
-  # Redistribution and use in source and binary forms, with or without
-  # modification, are permitted provided that the following conditions
-  # are met:
-  #
-  # 1. Redistributions of source code must retain the above copyright
-  #    notice, this list of conditions and the following disclaimer.
-  # 2. Redistributions in binary form must reproduce the above copyright
-  #    notice, this list of conditions and the following disclaimer in
-  #    the documentation and/or other materials provided with the
-  #    distribution.
-  # 3. Neither the name PX4 nor the names of its contributors may be
-  #    used to endorse or promote products derived from this software
-  #    without specific prior written permission.
-  #
-  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-  # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-  # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-  # POSSIBILITY OF SUCH DAMAGE.
-  #
-  ############################################################################
-  px4_add_module(
-  	MODULE examples__px4_simple_app
-  	MAIN px4_simple_app
-  	STACK_MAIN 2000
-  	SRCS
-  		px4_simple_app.c
-  	DEPENDS
-  	)
-  ```
+   ```cmake
+   ############################################################################
+   #
+   #   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+   #
+   # Redistribution and use in source and binary forms, with or without
+   # modification, are permitted provided that the following conditions
+   # are met:
+   #
+   # 1. Redistributions of source code must retain the above copyright
+   #    notice, this list of conditions and the following disclaimer.
+   # 2. Redistributions in binary form must reproduce the above copyright
+   #    notice, this list of conditions and the following disclaimer in
+   #    the documentation and/or other materials provided with the
+   #    distribution.
+   # 3. Neither the name PX4 nor the names of its contributors may be
+   #    used to endorse or promote products derived from this software
+   #    without specific prior written permission.
+   #
+   # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+   # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+   # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+   # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+   # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+   # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+   # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+   # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+   # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+   # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   # POSSIBILITY OF SUCH DAMAGE.
+   #
+   ############################################################################
+   px4_add_module(
+   	MODULE examples__px4_simple_app
+   	MAIN px4_simple_app
+   	STACK_MAIN 2000
+   	SRCS
+   		px4_simple_app.c
+   	DEPENDS
+   	)
+   ```

-  The `px4_add_module()` method builds a static library from a module description.
+   The `px4_add_module()` method builds a static library from a module description.

-  - The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
-  - The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
+   - The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
+   - The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.

-  :::tip
-  The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
+   :::tip
+   The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->

 :::

-  ::: info
-  If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
-  Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
-  You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
+   ::: info
+   If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
+   Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
+   You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`

 :::

 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
-  아래 텍스트를 복사하십시오.
+   아래 텍스트를 복사하십시오.

-  ```
-  menuconfig EXAMPLES_PX4_SIMPLE_APP
-  	bool "px4_simple_app"
-  	default n
-  	---help---
-  		Enable support for px4_simple_app
-  ```
+   ```
+   menuconfig EXAMPLES_PX4_SIMPLE_APP
+   	bool "px4_simple_app"
+   	default n
+   	---help---
+   		Enable support for px4_simple_app
+   ```

 ## 애플리케이션/펌웨어 빌드

@@ -440,6 +440,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
 #include <unistd.h>
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/Послідовний порт](uart/index.md)
        - [Драйвери послідовного порту і їх налаштування](uart/user_configurable_serial_driver.md)
    - [RTK GPS (Інтеграція)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [Проміжне програмне забезпечення](middleware/index.md)
    - [Повідомлення uORB](middleware/uorb.md)
    - [Граф uORB](middleware/uorb_graph.md)
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## Загальний огляд
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## Підтримуване обладнання
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## Установка
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### Підключення
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## Перевірка
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+Основні функції:
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ dfu-util -a 0 --dfuse-address 0x08000000 -D  build/<target>/<target>.bin
 Список контролерів, яких це стосується, можна отримати, виконавши наступну команду `make` і зазначивши цілі `make`, які закінчуються на `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -30,6 +30,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
@@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 не розробляє цей (або будь-який інший) автопілот.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## Короткий опис
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- Сенсори на платі
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- Інші характеристики:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### Інтерфейси
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C порт
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Електричні дані
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Механічні характеристики
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## Де купити
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## Схема розташування виводів
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## Налаштування послідовного порту
+
+| UART   | Пристрій   | Порт   |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Зразок схеми з'єднань
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## Збірка прошивки
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## Встановлення прошивки PX4
+
+Прошивку можна встановити будь-якими звичайними способами:
+
+- Збудуйте та завантажте джерело
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## Радіоуправління
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## Підтримувані платформи / Конструкції
+
+Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## Периферійні пристрої
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## Подальша інформація
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
@@ -100,6 +100,24 @@ PX4 _developers_ need to know the FMU version of their board, as this is require

 <a id="licensing-and-trademarks"></a>

+### FMUv6 Comparison
+
+| Характеристика     | **FMUv6X-RT**                   | **FMUv6X**    | **FMUv6C**    |
+| ------------------ | ------------------------------- | ------------- | ------------- |
+| **FMU MCU**        | NXP i.MX RT1176 | STM32H753     | STM32H743V    |
+| **RAM**            | 2 MB                            | 1 MB          | 1 MB          |
+| **Flash**          | 64 MB Octal SPI                 | 2 MB internal | 2 MB internal |
+| **IO MCU**         | STM32F103                       | STM32F103     | STM32F103     |
+| **Secure Element** | NXP SE051                       | NXP SE051     | Not supported |
+| **PAB Standard**   | Supported                       | Supported     | Not supported |
+| **Ethernet**       | Supported                       | Supported     | Not supported |
+| **IMUs**           | 3×                              | 3×            | 2×            |
+| **Barometers**     | 2×                              | 2×            | 1×            |
+| **Magnetometer**   | 1×                              | 1×            | 1×            |
+| **FMU PWM**        | 12×                             | 8×            | 8×            |
+| **IO PWM**         | 8×                              | 8×            | 8×            |
+| **CAN Bus**        | 3×                              | 2×            | 2×            |
+
 ### Ліцензування та товарні знаки

 Pixhawk project schematics and reference designs are licensed under [CC BY-SA 3](https://creativecommons.org/licenses/by-sa/3.0/legalcode).
@@ -25,11 +25,6 @@

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## Технічний підсумок

 Літальні апарати з фіксованим крилом за замовчуванням використовують тип повернення до призначення _місії посадки/точка збору_.
@@ -197,11 +197,21 @@ It is possible to have low DOP (good satellite geometry) but still have high EPH

 EPH/EPV values therefore provide a more immediate and practical estimate of the actual GPS accuracy you can expect under current conditions.

+### GNSS Position Fusion
+
+GNSS position fusion will not begin until yaw alignment is established.
+If a magnetometer is available, the EKF aligns yaw using the magnetic heading, allowing GPS position fusion to start soon after boot.
+If no magnetometer is present, the system must rely on GPS yaw (from a dual-antenna setup) or movement-based yaw estimation.
+Until one of these provides a valid heading, the EKF will not start GPS position fusion, and the vehicle will remain in a “no position” state even though attitude data is valid.
+This behavior prevents large position errors that could occur when the yaw reference is uncertain.
+
 ## Інформація для розробників

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - Компас
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
@@ -40,6 +40,7 @@ PX4 можна використовувати з багатьма деталям

 | Пристрій                                                                                                        | Компас | DroneCan |
 | :-------------------------------------------------------------------------------------------------------------- | :----: | :------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                             | RM3100 |     ✓    |
 | [Магнітометр UAVCAN Avionics Anonymous](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |          |
 | [Компас/Магнітометр Holybro DroneCAN RM3100](https://holybro.com/products/dronecan-rm3100-compass)              | RM3100 |     ✓    |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)          | RM3100 |     ✓    |
@@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@@ -515,6 +516,11 @@ publications:
  - topic: /fmu/out/vehicle_trajectory_waypoint_desired
    type: px4_msgs::msg::VehicleTrajectoryWaypoint

+  - topic: /fmu/out/vehicle_imu
+    type: px4_msgs::msg::VehicleImu
+    rate_limit: 50.
+    instance: 1 # OPTIONAL
+
 subscriptions:

  - topic: /fmu/in/offboard_control_mode
@@ -547,6 +553,9 @@ Each (`topic`,`type`) pairs defines:
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
 5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
   If left unspecified, the maximum publication rate limit is set to 100 Hz.
+6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
+   If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
+   In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

 `subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
 Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
@@ -588,7 +597,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
@@ -440,6 +440,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
 */

 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
 #include <unistd.h>
@@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@@ -504,6 +505,7 @@
      - [UART/串口](uart/index.md)
        - [可配置的串口驱动](uart/user_configurable_serial_driver.md)
    - [RTK GPS (集成)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [中间件](middleware/index.md)
    - [uORB 通讯](middleware/uorb.md)
    - [uORB 图](middleware/uorb_graph.md)
@@ -8,6 +8,6 @@

 - [电调校准](../advanced_config/esc_calibration.md) — PWM 电调的校准 (DShot/CAN 电调/舵机不需要) 。

-## See Also
+## 另见

 - [外设](../peripherals/index.md) - 包括非核心执行器，如夹具， 降落伞等。
@@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## 综述
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## 支持的硬件
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## 设置
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### 布线
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## 验证
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+主要特性：
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
@@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
@@ -268,7 +268,7 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
   accelerometer_integral_dt: 4997
   ```

-## See Also
+## 另见

 - [Get The Pixhawk Raspberry Pi CM4 Baseboard By Holybro Talking With PX4](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/) (px4.io blog):
  - 展示如何通过有线以太网连接 Pixhawk 6X + Raspberry Pi 到 CM4 主板。
@@ -33,7 +33,7 @@
 - [Bootloader 更新](../advanced_config/bootloader_update.md)
  - [通过 USB 更新 FMUv6X-RT bootloader](../advanced_config/bootloader_update_v6xrt.md)

-## See Also
+## 另见

 - [标准配置](../config/index.md) - 大多数 PX4 机体所需要的基本传感器/功能配置。
 - [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
@@ -421,7 +421,7 @@ They recommend sensors, power systems, and other components from the same manufa
 - [Pixracer Wiring Quickstart](../assembly/quick_start_pixracer.md)
 - [mRo (3DR) Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)

-## See Also
+## 另见

 - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
 - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
@@ -107,7 +107,7 @@ The logged topic will depend on whether or not the camera capture pin is enabled

 Note that camera capture events are not logged when using the [MAVLink cameras that support Camera Protocol v2](../camera/mavlink_v2_camera.md), because the corresponding trigger events are not generated within PX4.

-## See Also
+## 另见

 - Camera trigger driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger) <!-- no module doc -->
 - Camera capture driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture) <!-- no module doc -->
@@ -310,7 +310,7 @@ Wire up your cameras to your AUX port by connecting the ground and signal pins t
 You will have to modify your driver to follow the sequence diagram above.
 Public reference implementations for [IDS Imaging UEye](https://github.com/ProjectArtemis/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.

-## See Also
+## 另见

 - Camera trigger driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger) <!-- no module doc -->
 - Camera capture driver: [source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture) <!-- no module doc -->
@@ -14,7 +14,7 @@ PX4 integrates with three types of cameras:
 推荐[MAVLink 摄像头](../camera/mavlink_v2_camera.md)，因为它们使用简单一致的命令/消息集提供了最广泛的相机功能访问。
 如果相机不支持该协议，则可以在一台机载计算机上运行[摄像机管理器](../camera/mavlink_v2_camera.md#camera-managers)以在 MAVLink 和相机的本机协议之间进行接口交互。

-## See Also
+## 另见

 - [云台(相机支架)](../advanced/gimbal_control.md)
 - [相机集成/架构](../camera/camera_architecture.md) ( PX4 开发者)
@@ -89,6 +89,6 @@ To flash the kernel, connect the Jetson to your Host PC via Micro USB, and boot

 ![Jetson Carrier Flashing Guide](../../assets/companion_computer/ark_jetson_pab_carrier/ark_jetson_flashing_guide.png)

-## See Also
+## 另见

 - [ARK Jetson PAB Documentation](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-jetson-pab-carrier) (ARK Docs)
@@ -1329,7 +1329,7 @@ You should see high frequency sensor messages as the output:
 [sensor_combined_listener-1] accelerometer_integral_dt: 4999
 ```

-## See Also
+## 另见

 - [Jetson carrier board Holybro Docs](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard)
 - [PX4 Middleware docs](../middleware/uxrce_dds.md#starting-the-client)
@@ -418,7 +418,7 @@ And such output is expected if everything is set up correctly:
 [1731210066.597046] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x00000001, datareader_id: 0x804(6), subscriber_id: 0x804(4)
 ```

-## See Also
+## 另见

 - [Get The Pixhawk Raspberry Pi CM4 Baseboard By Holybro Talking With PX4](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/) (px4.io blog):
  - 展示如何通过有线以太网连接 Pixhawk 6X + Raspberry Pi 到 CM4 主板。
@@ -35,7 +35,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
 This section lists vehicles where you can update the software to run PX4.
 -->

-## See Also
+## 另见

 - [DIY Builds](../frames_plane/diy_builds.md)
 - [Complete Vehicles (VTOL)](../complete_vehicles_vtol/index.md)
@@ -40,7 +40,7 @@ These may or may not be updatable to run "vanilla" PX4.
 - [Yuneec H520](https://px4.io/project/yuneec-h520-hexacopter/)
 - [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)

-## See Also
+## 另见

 - [Kits (MC)](../frames_multicopter/kits.md)
 - [DIY Builds](../frames_multicopter/diy_builds.md)
@@ -30,7 +30,7 @@ These may or may not be updatable to run "vanilla" PX4.
 - [WingtraOne Tailsitter VTOL](https://px4.io/project/wingtraone-tailsitter-vtol/)
 - [Flightwave Edge](https://px4.io/project/flywave-edge/)

-## See Also
+## 另见

 - [Complete Vehicles (Fixed-Wing)](../complete_vehicles_fw/index.md)
 - [Complete Vehicles (MC)](../complete_vehicles_mc/index.md)
@@ -72,7 +72,7 @@ The video below shows most of the calibration process (it uses an older version

 If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18).

-## See Also
+## 另见

 - [QGroundControl > Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/setup_view.html)
 - [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
@@ -161,7 +161,7 @@ My assumption is that the mixing system can cope with whatever geometry you thro
 Yes but it must be physically feasible. E.g. if you make a quadrotor where all motors turn the same way it will "deal" with it but that cannot work without very specific controllers. Same for a monocopter or a tricopter without swiveling one motor.
 -->

-## See Also
+## 另见

 - [QGroundControl > Setup](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/setup_view.html)
 - [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Balduin	ca796a5699	SDP3X: fix broken datasheet link	2025-11-27 09:13:22 +01:00
Nick	93d767ab51	Airspeed Filter: add filter to airspeed for scaling (#25908 )	2025-11-26 12:38:17 +01:00
Michael Schaeuble	d97a8d7d3b	mode: control auto set home from an external mode The mode executor can run land mode which updates the home position to the landing location. This can be not the desirable behavior and the home position should stay at the original location. A flag is added to the configuration overrides to control if the home position is updated or not.	2025-11-26 10:16:54 +01:00
Michael Schaeuble	a2299b02c8	modes: make available modes user selectable with a registration option Some modes should only be run within the context of a mode executor and the user should not be able to select them in the GCS. With this change, the external component registration request can be used to set if a mode is selectable or not.	2025-11-26 10:04:53 +01:00
Julian Oes	276cab8d3c	mavlink: don't silently ignore mavlink dev streams I don't think it makes sense to ignore required streams that easily. If we do use some streams that are only in the MAVLink development.xml dialect, then we will have to properly and explicitly ifdef them everywhere that we use them. Otherwise, this basically means that we will just swallow this warning on most (non mavlink-dev) platforms which can mask issues.	2025-11-26 09:51:15 +01:00
Balduin	a6d5c78d10	Ignore max HAGL failsafe in front transition (#25982 ) * mission_block: readibility improvement * mission_block: ignore max hagl failsafe in front transition	2025-11-26 09:14:06 +01:00
mahima-yoga	7bb12b15b5	fw_att_ctrl: zero initialize all member variables	2025-11-25 21:19:36 -09:00
Hamish Willee	526c64aab7	COM_ARM_WO_GPS clarifications (#25954 )	2025-11-26 15:28:33 +11:00
Hamish Willee	6eb2251ee5	docs: Update metadata (#25993 )	2025-11-26 15:05:05 +11:00
Marco Hauswirth	d9a66b11ac	Docs: baro-auto-calibration and gnss-fault-detection (#25796 )	2025-11-26 11:52:40 +11:00
Mahima Yoga	a8c5df90ce	fw-ctrl: advertise attitude_sp_pub in attitude and FwLateralLongitudinal controller (#25983 )	2025-11-25 21:25:43 +01:00
Alexander Lerach	8dd88e036d	gps: add init timeout to handle larger diff after configuration	2025-11-25 11:41:50 -05:00
Alexander Lerach	c4a459838e	gps: wipe FLASH config only once	2025-11-25 11:41:50 -05:00
Niklas Hauser	932abfd558	[auav] Robustify I2C transfers and enforce minimum sample time	2025-11-25 17:09:52 +01:00
Alexander Lerach	bd3b3d647f	drivers: PCA9685 robustness & logging improvements Co-authored-by: Phil-Engljaehringer <philipp.engljahringer@auterion.com>	2025-11-25 10:42:48 -05:00
Alexander Lerach	14b38f2eba	boards: free up FLASH in auterion v6s by disabling modules	2025-11-25 09:50:01 -05:00
Niklas Hauser	bb72088ff6	[crsf_rc] Add ability to inject buffers for development	2025-11-25 13:15:44 +01:00
Niklas Hauser	1904838043	[crsf_rc] Extend the RC packet reception timeouts to 0.5s	2025-11-25 13:15:44 +01:00
Niklas Hauser	7a9b04c67c	[crsf_rc] Allow setting the baudrate via parameter	2025-11-25 13:15:44 +01:00
Niklas Hauser	a514560169	[crsf_rc] Add support for link statistic messages	2025-11-25 13:15:44 +01:00
Jacopo Panerati	6901bc6a01	VTOL Takeoff: Use VehicleCommand specified heading for VTOL transition (#24040 ) * Use VehicleCommand heading for VTOL transition * options for param2 of vehicle_cmd_nav_vtol_takeoff	2025-11-25 09:46:48 +01:00
Alexis Guijarro	a6d9e114be	Revert "3DR Control Zero H7 OEM RevG: MTD driver fix (#25015 )" This reverts commit `26499b3c8b`.	2025-11-24 10:37:45 -09:00
Alexis Guijarro	5f7e395609	NuttX: Add support for FM25V02A-DGQ	2025-11-24 10:37:45 -09:00
Peter van der Perk	921e91863a	dshot: IMXRT BDSHOT baud training AM32 bdshot doesn't do clock compensation like BLHeli32 did. Instead we traing BDSHOT timing on known zero value to lock on best bdshot baudrate to receive. Reduces CRC and frame errors on AM32 a lot	2025-11-24 09:24:49 -09:00
Edvard Sire	585a615e64	Fix typo in OS version field name	2025-11-24 09:23:17 -09:00
bresch	45e8712d60	VectorNav: set global position validity	2025-11-24 12:00:55 +01:00
Phil-Engljaehringer	0cefd74fee	drivers: add perf counters and documentation to ads7953	2025-11-24 11:06:56 +01:00
PX4 Build Bot	7d8e79c49d	New Crowdin translations - ko (#25963 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-24 07:27:59 +11:00
PX4 Build Bot	faedf252b3	New Crowdin translations - zh-CN (#25965 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-24 07:21:18 +11:00
PX4 Build Bot	7f8d2b5067	New Crowdin translations - uk (#25964 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-24 07:21:00 +11:00
Peter van der Perk	4498475515	fmu-v6x: zenoh config set CONSTRAINED_FLASH Fixes flash overflow with zenoh target on fmu-v6x	2025-11-21 10:10:32 -09:00
Peter van der Perk	b8974cb77b	Zenoh: Improve out-of-memory behaviour Abort publication immediately when not enough memory is available. Zero _zenoh_publishers and _zenoh_subscribers to ensure we're not dereferencing a wrong pointer	2025-11-21 10:10:32 -09:00
Peter van der Perk	042a251542	Zenoh: Update zenoh-pico library	2025-11-21 10:10:32 -09:00
Julian Oes	ff06a206d1	mavsdk_tests: bump version to 3.11.1 This should now include the figure eight messages.	2025-11-20 23:23:40 -09:00
Julian Oes	46ed71fa5b	mavsdk_tests: figure eight is in common now	2025-11-20 23:23:40 -09:00
Julian Oes	2ef2580388	Gazebo-classic: add define for development.xml And update submodule.	2025-11-20 23:23:40 -09:00
Julian Oes	c89667d911	boards: add MAVLink development targets These targets can be used to test MAVLink messages in the development.xml dialect.	2025-11-20 23:23:40 -09:00
Julian Oes	fa7ffa423c	boards: remove MAVLink development dialect We should not build and release with the MAVLink development dialect because messages in development.xml can change at any time and break things. Instead we should prototype and test things using specific mavlink-dev targets.	2025-11-20 23:23:40 -09:00
Julian Oes	8f3442b358	mavlink: update submodule	2025-11-20 23:23:40 -09:00
Niklas Hauser	17f3db9231	[serial] Fix byte size, flow control, parity, stop bits configuration	2025-11-20 10:29:57 -09:00
Henry Kotzé	25138d0a12	MavlinkTimeSync: Specify compid & Sysid (#25949 ) Co-authored-by: henrykotze <henry@autonosky.com> Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2025-11-20 12:43:46 +00:00
DrinkingHook	70f32f4631	Clean up duplicate assignments in flight_mode_manager-task-auto	2025-11-19 20:44:22 -09:00
Ramon Roche	e74e1bb32a	github: Update pull request template for clarity Removed outdated sections and streamlined the pull request template.	2025-11-19 10:26:35 -09:00
Jacob Dahl	5c469a36b8	drivers: bootloaders: specify UAVCAN only in KConfig (#25947 )	2025-11-19 13:58:58 -05:00
Jacob Dahl	efbc9e64a4	mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. (#25849 ) * mavlink: esc: fix ESC_STATUS and ESC_INFO message emission. Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order. * Update src/modules/mavlink/streams/ESC_STATUS.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update src/modules/mavlink/streams/ESC_INFO.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove dependency on mixer_module/output_functions.hpp * add actuator function definitions to EscReport.msg * clean up * add missing header --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>	2025-11-20 06:51:42 +13:00
Alexander Lerach	229b53d25d	uavcannode: fix compile error in BatteryInfo.hpp (#25944 )	2025-11-19 16:23:25 +01:00
dirksavage88	e0137fe7a7	add back linux pwm to bbblue Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2025-11-18 20:25:58 -09:00
Ryan Johnston	072eeb4617	Add GNSS position fusion details to documentation (#25900 )	2025-11-19 16:23:48 +11:00
PX4 Build Bot	9c850b1594	New Crowdin translations - zh-CN (#25890 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-19 15:56:43 +11:00
PX4 Build Bot	ad2279adb5	New Crowdin translations - ko (#25888 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-19 15:56:28 +11:00
PX4 Build Bot	e54d1fd114	New Crowdin translations - uk (#25889 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-11-19 15:56:20 +11:00
Ahmed Osman	d0009c2af8	Add log.h include to hello_sky.md	2025-11-18 19:48:23 -09:00
Tharnath	06d73b3758	Docs: Review Changes	2025-11-18 19:36:11 -09:00
Tharnath	8fe24d8884	Doc: Add pixhawk version comparison table. Added a table to compare V6X-RT, V6X, V6C standards.	2025-11-18 19:36:11 -09:00
Beniamino Pozzan	ffc184fcf7	[uxrce_dds_client] Allow for arbitrary topic instances to be bridged (#22350 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-11-18 23:24:35 +00:00
Phil-Engljaehringer	8a2239f3e8	drivers: Add TLA2528 ADC driver (#25898 ) * tla2528 basic implementation (restarting driver still fails) * fixed probe function, restarting driver now works * -added reset call to init -added return value checks on all important transfers and retry if failed when possible -removed comments -removed unnecessary parameters of module * Introduced initialization-states that can be executed multiple times on failure * Added one more state s.t. init() only does probing * added communication error count _comms_errors * use get() instead of param_find * changed scheduling interval * start in reset state. check second byte in probe. add 2 retries to probe function * add space in front of comments * jump to reset state when another state fails * changed SAMPLE_INTERVAL to 10_ms * added static assert on number of channels in adc_report	2025-11-18 17:30:34 +01:00
Victor Nan Fernandez-Ayala	f7269c9c22	uuv_att_control: added a new surge, sway, heave, yaw control mode, and a stick selector param to switch between modes (#25891 ) * feat: surge, sway, heave, yaw control method added Signed-off-by: ViktorNfa <viktornfa@gmail.com> * fix: ran make format * fix: clean naming and default conditions * fix: switched param selector --------- Signed-off-by: ViktorNfa <viktornfa@gmail.com> Co-authored-by: Pedro Roque <roque@caltech.edu>	2025-11-17 15:34:35 -08:00
Silvan	a3694c84f4	PPS: remove redundant boolean literal to silence clang-tidy Signed-off-by: Silvan <silvan@auterion.com>	2025-11-17 12:02:31 -09:00
Niklas Hauser	49febef5ca	[AutFMUv6x] Enable PPS capture driver	2025-11-17 11:59:06 +01:00
Niklas Hauser	7cf9be6e10	[AutFMUv6x] Remove unused timer 2	2025-11-17 11:59:06 +01:00
Niklas Hauser	676fa8a883	[FMUv6s] Convert unused PPM pin to PPS input	2025-11-17 11:59:06 +01:00
alexklimaj	67ace35182	boards: ark-gps safety led open drain	2025-11-14 16:17:55 -09:00
alexklimaj	f1a68b7450	gps: update submodule and fix M9N output rate	2025-11-14 16:16:45 -09:00
Alexander Lerach	9248238f9e	ci: fix flash-analysis sporadic fail	2025-11-14 21:56:00 +01:00
Pernilla	82d8813987	ICE: switch of engine if aux is negative instead of zero (#25923 )	2025-11-14 16:44:05 +01:00
Matthias Grob	7b05a00db1	MS5837: correct unit conversion to Pascal	2025-11-13 15:52:00 -08:00
Matthias Grob	b83f21ec6f	temperature_calibration/baro: fix pressure unit It's Pascal, not Hectopascal since `0c31f63896`	2025-11-13 15:52:00 -08:00
Matthias Grob	05c79e23d5	SensorBaroSim: correcct comment, nothing in hPa This comment was forgotten in #20057	2025-11-13 15:52:00 -08:00
Matthias Grob	363242972c	process_sensor_caldata: correct pressure unit to Pascal instead of Hectopascal Barometeric pressure was changed to the SI unit Pascal instead of the non-SI unit Hectopascal/Millibar in `0c31f63896` This script stayed unchanged and suffers from assuming `sensor_baro.pressure` is still in the old unit which would be a 100 times smaller number.	2025-11-13 15:52:00 -08:00
Ramon Roche	6bca640cac	ci: no more uploads to flight review Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-11-13 13:43:40 -09:00
esmaeelE	acef86cb4d	docs: add an extra space (#25901 )	2025-11-13 15:08:48 -06:00
Jacob Dahl	0e7f980c76	v6c: neural: remove INS drivers to save flash	2025-11-13 09:13:39 -09:00