AirspeedWing: log the airspeed innovation test ratio

- if the value exceeds 1, then airspeed checks will trigger - useful to monitoring the check and tuning Signed-off-by: RomanBapst <bapstroman@gmail.com>
params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout (#25062 )
2026-08-10 02:10:35 +08:00 · 2025-06-17 09:22:32 +03:00 · 2025-06-16 18:50:43 -08:00 · 2025-06-17 13:37:47 +12:00 · 2025-06-16 14:59:03 -08:00 · 2025-06-16 14:58:38 -08:00
94 changed files with 2883 additions and 2191 deletions
@@ -27,7 +27,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -28,7 +28,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -22,7 +22,7 @@ jobs:
    name: Checking ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
    strategy:
      fail-fast: false
      matrix:
@@ -31,7 +31,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -11,13 +11,11 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
-      - '.github/**'

 jobs:
  build:
@@ -33,6 +31,12 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
    px4_sitl_nolockstep:
      short: px4_sitl_nolockstep
      buildType: RelWithDebInfo
@@ -301,6 +306,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
    holybro_kakuteh7dualimu_default:
      short: holybro_kakuteh7dualimu
      buildType: MinSizeRel
@@ -216,12 +216,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
+
+			# Generate the file using configure_file at configure time to a temporary location
+			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
+
+			# Then copy it at build time with proper dependencies
+			add_custom_command(
+				OUTPUT
+					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+					rc.board_bootloader_upgrade.stamp
+				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
+				DEPENDS
+					${bootloader_upgrade_tmp}
+					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
+					romfs_copy.stamp
+				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
+			)
+
+			list(APPEND extras_dependencies
+				rc.board_bootloader_upgrade.stamp
+			)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
-
 	endif()
 endforeach()

@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004
@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -114,7 +114,6 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

-	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults

 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45

 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0
@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-set VEHICLE_TYPE sc
+set VEHICLE_TYPE spacecraft

-# MAV_TYPE_QUADROTOR 2
-#param set-default MAV_TYPE 12
+# MAV_TYPE_SPACECRAFT_ORBITTER
+param set-default MAV_TYPE 45

 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775
@@ -68,6 +68,15 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi

+#
+# Spapcecraft setup.
+#
+if [ $VEHICLE_TYPE = spacecraft ]
+then
+	# Start standard multicopter apps.
+	. ${R}etc/init.d/rc.sc_apps
+fi
+
 #
 # Airship setup.
 #
@@ -280,6 +280,14 @@ else
 	#
 	send_event start

+	#
+	# Start the hardfault streamer.
+	#
+	if param compare -s SYS_HF_MAV 1
+	then
+		hardfault_stream start
+	fi
+
 	#
 	# Start the resource load monitor.
 	#
@@ -35,6 +35,7 @@ if args.filter:
    for board in args.filter.split(','):
        board_filter.append(board)

+default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -86,7 +87,7 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+        container = default_container
        if platform == 'posix':
            group = 'base'
            if toolchain:
@@ -120,7 +121,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -15,7 +15,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
 fi

 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
@@ -27,3 +27,4 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
+lark
@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -43,6 +43,7 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -64,6 +64,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -733,6 +733,7 @@
      - [Protocols/Microservices](mavlink/protocols.md)
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
  - [모듈과 명령어](modules/modules_main.md)
    - [자동 튜닝](modules/modules_autotune.md)
    - [명령어](modules/modules_command.md)
@@ -128,21 +128,21 @@ You add some "boilerplate" code to regularly listen for changes in the [uORB Top

 - **px4_platform_common/module_params.h** to get the `DEFINE_PARAMETERS` macro:

- ```cpp
- #include <px4_platform_common/module_params.h>
- ```
+  ```cpp
+  #include <px4_platform_common/module_params.h>
+  ```

 - **parameter_update.h** to access the uORB `parameter_update` message:

- ```cpp
- #include <uORB/topics/parameter_update.h>
- ```
+  ```cpp
+  #include <uORB/topics/parameter_update.h>
+  ```

 - **Subscription.hpp** for the uORB C++ subscription API:

- ```cpp
- #include <uORB/Subscription.hpp>
- ```
+  ```cpp
+  #include <uORB/Subscription.hpp>
+  ```

 Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes.
 매개변수의 이름은 매개변수 메타데이터 정의와 동일하여야 합니다.
@@ -194,7 +194,7 @@ void Module::parameters_update()
 - `_parameter_update_sub.updated()` tells us if there is _any_ update to the `param_update` uORB message (but not what parameter is affected).
 - If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_update`), to clear the pending update.
 - Then we call `ModuleParams::updateParams()`.
- This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
+  This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.

 The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes.

@@ -267,12 +267,12 @@ YAML meta data is intended as a full replacement for the **.c** definitions.
 - An example of YAML definitions being used can be found in the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml).
 - YAML 파일은 다음을 추가하여 cmake 빌드 시스템에 등록됩니다.

- ```cmake
- MODULE_CONFIG
- 	module.yaml
- ```
+  ```cmake
+  MODULE_CONFIG
+  	module.yaml
+  ```

- to the `px4_add_module` section of the `CMakeLists.txt` file of that module.
+  to the `px4_add_module` section of the `CMakeLists.txt` file of that module.

 #### 다중 인스턴스(템플릿) YAML 메타 데이터

@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
 You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

 - External display.
- If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
+  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
 - Ethernet cable
 - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

@@ -45,11 +45,11 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 크기

- - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
- - 126 x 80 x 22.9mm (without Jetson and FC Module)
+  - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
+  - 126 x 80 x 22.9mm (without Jetson and FC Module)

 - 중량
- - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)
+  - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)

 :::

@@ -57,67 +57,67 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - Ethernet Switch powered by the same circuit as the Pixhawk
- - 8-pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - Ethernet Switch powered by the same circuit as the Pixhawk
+  - 8-pin JST-GH
+  - RJ45

 - 2x MIPI CSI Camera Inputs

- - 4 Lanes each
- - 22-Pin Raspberry Pi Cam FFC
+  - 4 Lanes each
+  - 22-Pin Raspberry Pi Cam FFC

 - 2x USB 3.0 Host Port

- - USB A
- - 5A Current Limit
+  - USB A
+  - 5A Current Limit

 - 2x USB 2.0 Host Port

- - 5-Pin JST-GH
- - 0A Current Limit
+  - 5-Pin JST-GH
+  - 0A Current Limit

 - USB 2.0 for Programming/Debugging

- - USB-C
+  - USB-C

 - 2 Key M 2242/2280 for NVMe SSD

- - PCIEx4
+  - PCIEx4

 - 2 Key E 2230 for WiFi/BT

- - PCIEx2
- - USB
- - UART
- - I2S
+  - PCIEx2
+  - USB
+  - UART
+  - I2S

 - Mini HDMI Out

 - 4x GPIO

- - 6-pin JST-GH
+  - 6-pin JST-GH

 - CAN Port

- - Connected to Autopilot's CAN2 (4 Pin JST-GH)
+  - Connected to Autopilot's CAN2 (4 Pin JST-GH)

 - SPI Port

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - I2C Port

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - I2S Port

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - 2x UART Port

- - 1 for debug
- - 1 connected to Autopilot's telem2
+  - 1 for debug
+  - 1 connected to Autopilot's telem2

 - Fan Power Port

@@ -129,13 +129,13 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - Pixhawk Autopilot Bus Interface

- - 100 Pin Hirose DF40
- - 50 Pin Hirose DF40
+  - 100 Pin Hirose DF40
+  - 50 Pin Hirose DF40

 - Redundant Digital Power Module Inputs

- - I2C Power Monitor Support
- - 2x 6-Pin Molex CLIK-Mate
+  - I2C Power Monitor Support
+  - 2x 6-Pin Molex CLIK-Mate

 - Power Path Selector

@@ -143,68 +143,68 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 정격 전압

- - 최대 입력 전압: 6V
- - USB 전원 입력: 4.75~5.25V
+  - 최대 입력 전압: 6V
+  - USB 전원 입력: 4.75~5.25V

 - Full GPS Plus Safety Switch Port

- - 10-Pin JST-GH
+  - 10-Pin JST-GH

 - Secondary (GPS2) Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x CAN Ports

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - 3x Telemetry Ports with Flow Control

- - 2x 6-Pin JST-GH
- - 1 is connected to Jetson's `UART1` Port
+  - 2x 6-Pin JST-GH
+  - 1 is connected to Jetson's `UART1` Port

 - 16 PWM Outputs

- - 2x 10-Pin JST-GH
+  - 2x 10-Pin JST-GH

 - UART4 & I2C Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - 8-Pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - 8-Pin JST-GH
+  - RJ45

 - AD & IO

- - 8-Pin JST-GH
+  - 8-Pin JST-GH

 - USB 2.0

- - USB-C
- - 4-Pin JST-GH
+  - USB-C
+  - 4-Pin JST-GH

 - DSM Input

- - 3-Pin JST-ZH 1.5mm Pitch
+  - 3-Pin JST-ZH 1.5mm Pitch

 - RC In

- - PPM/SBUS
- - 5-Pin JST-GH
+  - PPM/SBUS
+  - 5-Pin JST-GH

 - SPI Port

- - External Sensor Bus (SPI5)
- - 11-Pin JST-GH
+  - External Sensor Bus (SPI5)
+  - 11-Pin JST-GH

 - 2x Debug Port

- - 1 for FMU
- - 1 for IO
- - 10-Pin JST-SH
+  - 1 for FMU
+  - 1 for IO
+  - 10-Pin JST-SH

 :::

@@ -218,7 +218,7 @@ The Jetson has separate input power circuitry from the Pixhawk autopilot:
 - 8V/3A Minimum (Depends on Usage and Peripherals)
 - Voltage Rating: 7-21V (3S-4S)
 - Jetson Baseboard onboard BEC is rated for 7-21V (3S-4S).
- Note that the external UBEC-12A can be used for applications above 4S
+  Note that the external UBEC-12A can be used for applications above 4S

 During development using the following wired power supply is recommended:

@@ -698,7 +698,7 @@ On the following screen, confirm your selected device:

 - Choose `Pre-config` for the OEM Configuration (this will skip Ubuntu first time setup screens after reboot).
 - Choose your preferred username and password (and write them down).
- These will be used as your login credentials to Jetpack.
+  These will be used as your login credentials to Jetpack.
 - Choose `NVMe` as the storage device because the board has separate SSD for storage.

 ![SDK Manager installation storage and OEM config page](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/nvidia_sdkmanager_3.png)
@@ -922,95 +922,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
 Next we modify the Jetson IP address to be on the same network as the Pixhawk:

 1. Make sure `netplan` is installed.
- You can check by running the following command:
+  You can check by running the following command:

- ```sh
- netplan -h
- ```
+  ```sh
+  netplan -h
+  ```

- If not, install it using the commands:
+  If not, install it using the commands:

- ```sh
- sudo apt update
- sudo apt install netplan.io
- ```
+  ```sh
+  sudo apt update
+  sudo apt install netplan.io
+  ```

 2. Check `system_networkd` is running:

- ```sh
- sudo systemctl status systemd-networkd
- ```
+  ```sh
+  sudo systemctl status systemd-networkd
+  ```

- You should see output like below if it is active:
+  You should see output like below if it is active:

- ```sh
- ● systemd-networkd.service - Network Configuration
-      Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
-      Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
- TriggeredBy: ● systemd-networkd.socket
-        Docs: man:systemd-networkd.service(8)
-    Main PID: 2452 (systemd-network)
-      Status: "Processing requests..."
-       Tasks: 1 (limit: 18457)
-      Memory: 2.7M
-         CPU: 157ms
-      CGroup: /system.slice/systemd-networkd.service
-              └─2452 /lib/systemd/systemd-networkd
+  ```sh
+  ● systemd-networkd.service - Network Configuration
+       Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
+       Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
+  TriggeredBy: ● systemd-networkd.socket
+         Docs: man:systemd-networkd.service(8)
+     Main PID: 2452 (systemd-network)
+       Status: "Processing requests..."
+        Tasks: 1 (limit: 18457)
+       Memory: 2.7M
+          CPU: 157ms
+       CGroup: /system.slice/systemd-networkd.service
+               └─2452 /lib/systemd/systemd-networkd

- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
- Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- ```
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
+  Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  ```

- If `system_networkd` is not running, it can be enabled using:
+  If `system_networkd` is not running, it can be enabled using:

- ```sh
- sudo systemctl start systemd-networkd
- sudo systemctl enable systemd-networkd
- ```
+  ```sh
+  sudo systemctl start systemd-networkd
+  sudo systemctl enable systemd-networkd
+  ```

 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).

- The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
- Below we use `nano` to open the file, but you can use your preferred text editor:
+  The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
+  Below we use `nano` to open the file, but you can use your preferred text editor:

- ```sh
- sudo nano /etc/netplan/01-netcfg.yaml
- ```
+  ```sh
+  sudo nano /etc/netplan/01-netcfg.yaml
+  ```

 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:

- ```sh
- network:
-   version: 2
-   renderer: networkd
-   ethernets:
-     eth0:
-       dhcp4: no
-       addresses:
-         - 10.41.10.1/24
-       routes:
-         - to: 0.0.0.0/0
-           via: 10.41.10.254
-       nameservers:
-         addresses:
-           - 10.41.10.254
- ```
+  ```sh
+  network:
+    version: 2
+    renderer: networkd
+    ethernets:
+      eth0:
+        dhcp4: no
+        addresses:
+          - 10.41.10.1/24
+        routes:
+          - to: 0.0.0.0/0
+            via: 10.41.10.254
+        nameservers:
+          addresses:
+            - 10.41.10.254
+  ```

- This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
+  This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .

 5. Apply the changes using the following command:

- ```sh
- sudo netplan apply
- ```
+  ```sh
+  sudo netplan apply
+  ```

 The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
 We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -1221,15 +1221,15 @@ Assuming the client is set up as defined above:

 - (Serial connection) Start the agent on `/dev/ttyTHS1`:

- ```sh
- sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
- ```
+  ```sh
+  sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
+  ```

 - (Ethernet) Start the agent on UDP port `8888`:

- ```sh
- MicroXRCEAgent udp4 -p 8888
- ```
+  ```sh
+  MicroXRCEAgent udp4 -p 8888
+  ```

 If your agent and client are connected and no nodes are running, you should see output similar to this in the Agent terminal:

@@ -71,42 +71,42 @@ Explanations and requirements:
 - `/* EVENT`: This tag indicates that a comment defines metadata for the following event.

 - **event_name**: the event name (`events::ID(event_name)`).
- - must be unique within the whole source code of PX4.
-  As a general convention, prefix it with the module name, or the source file for larger modules.
- - must be a valid variable name, i.e. must not contain spaces, colons, etc.
- - from that name, a 24 bit event ID is derived using a hash function.
-  This means as long as the event name stays the same, so will the ID.
+  - must be unique within the whole source code of PX4.
+    As a general convention, prefix it with the module name, or the source file for larger modules.
+  - must be a valid variable name, i.e. must not contain spaces, colons, etc.
+  - from that name, a 24 bit event ID is derived using a hash function.
+    This means as long as the event name stays the same, so will the ID.

 - **Log Level**:

- - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
-  In order of descending importance these are:
+  - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
+    In order of descending importance these are:

-  ```plain
-  Emergency,
-  Alert,
-  Critical,
-  Error,
-  Warning,
-  Notice,
-  Info,
-  Debug,
-  Disabled,
-  ```
+    ```plain
+    Emergency,
+    Alert,
+    Critical,
+    Error,
+    Warning,
+    Notice,
+    Info,
+    Debug,
+    Disabled,
+    ```

- - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
-  For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
-  There are cases it makes sense to have two different log levels.
-  For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
+  - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
+    For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
+    There are cases it makes sense to have two different log levels.
+    For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.

 - **Event Message**:
- - Single-line, short message of the event.
-  It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
+  - Single-line, short message of the event.
+    It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.

 - **Event Description**:
- - Detailed, optional event description.
- - Can be multiple lines/paragraphs.
- - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
+  - Detailed, optional event description.
+  - Can be multiple lines/paragraphs.
+  - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)

 #### Arguments and Enums

@@ -125,35 +125,35 @@ Text format for event message description:

 - characters can be escaped with \\

- These have to be escaped: '\\\\', '\\<', '\\{'.
+  These have to be escaped: '\\\\', '\\<', '\\{'.

 - supported tags:

- - Profiles: `<profile name="[!]NAME">CONTENT</profile>`
+  - Profiles: `<profile name="[!]NAME">CONTENT</profile>`

-  `CONTENT` will only be shown if the name matches the configured profile.
-  This can be used for example to hide developer information from end-users.
+    `CONTENT` will only be shown if the name matches the configured profile.
+    This can be used for example to hide developer information from end-users.

- - URLs: `<a [href="URL"]>CONTENT</a>`.
-  If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
+  - URLs: `<a [href="URL"]>CONTENT</a>`.
+    If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)

- - Parameters: `<param>PARAM_NAME</param>`
+  - Parameters: `<param>PARAM_NAME</param>`

- - no nested tags of the same type are allowed
+  - no nested tags of the same type are allowed

 - arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)

- - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
+  - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`

-  UNIT:
+    UNIT:

-  - m: horizontal distance in meters
-  - m_v: vertical distance in meters
-  - m^2: area in m^2
-  - m/s: speed in m/s
-  - C: temperature in degrees celsius
+    - m: horizontal distance in meters
+    - m_v: vertical distance in meters
+    - m^2: area in m^2
+    - m/s: speed in m/s
+    - C: temperature in degrees celsius

- - `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
+  - `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.

 ## 로깅

@@ -38,9 +38,9 @@ A frame configuration can define everything about a vehicle, from it's geometry
 When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration:

 - Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions.
- After selecting the airframe you define the actual geometry and then configure outputs.
+  After selecting the airframe you define the actual geometry and then configure outputs.
 - Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions.
- After selecting the airframe you usually still have to configure outputs.
+  After selecting the airframe you usually still have to configure outputs.

 :::

@@ -52,7 +52,7 @@ This ensures that all ESC provide exactly the same output for a given input (ide
 The final step is [Motor Configuration](../config/actuators.md#motor-configuration):

 - [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
- For DShot ESC you can do this through the Acuator Testing UI.
+  For DShot ESC you can do this through the Acuator Testing UI.
 - PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC)

 Relevant topics:
@@ -123,14 +123,14 @@ Tuning is the final step, carried out only after most other setup and configurat

 - [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).

- ::: info
- Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
- It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
+  ::: info
+  Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
+  It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.

- Manual tuning using these guides are only needed if there is a problem with autotune:
+  Manual tuning using these guides are only needed if there is a problem with autotune:

- - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
- - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
+  - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
+  - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.


 :::
@@ -138,7 +138,7 @@ Tuning is the final step, carried out only after most other setup and configurat
 - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.

 - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
- - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
+  - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)

 - [Multicopter Racer Setup](../config_mc/racer_setup.md)

@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
 - [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on.
 - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
 - Vehicle-Centric Config/Tuning:
- - **Multicopter Config/Tuning**
- - [Helicopter Config/Tuning](../config_heli/index.md)
- - [Fixed Wing Config/Tuning](../config_fw/index.md)
- - [VTOL Config/Tuning](../config_vtol/index.md)
+  - **Multicopter Config/Tuning**
+  - [Helicopter Config/Tuning](../config_heli/index.md)
+  - [Fixed Wing Config/Tuning](../config_fw/index.md)
+  - [VTOL Config/Tuning](../config_vtol/index.md)
@@ -26,13 +26,13 @@ ARF 키트는 PX4와 호환되는 대부분의 비행 콘트롤러를 지원합
 The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:

 - X500V2 프레임 키트
- - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
- - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
- - Landing gear - 16mm & 10mm diameter carbon fiber tubes
- - Platform board - With mounting holes for GPS & popular companion computer
- - 이중 10mm Ø 로드 x 250mm 롱 레일 마운팅 시스템
- - 2개의 배터리 스트랩이 있는 배터리 마운트
- - 설치용 수공구
+  - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
+  - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
+  - Landing gear - 16mm & 10mm diameter carbon fiber tubes
+  - Platform board - With mounting holes for GPS & popular companion computer
+  - 이중 10mm Ø 로드 x 250mm 롱 레일 마운팅 시스템
+  - 2개의 배터리 스트랩이 있는 배터리 마운트
+  - 설치용 수공구
 - Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
@@ -93,92 +93,92 @@ Tools are included to do the assembly, however you may need:
 Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)

 1. Start by assembling the payload & battery holder.
- Push the rubbers into grippers (Do not use sharp items to push them in!).
- Next, pass the holders through the holder bars with the battery holder bases as Figure 3.
+  Push the rubbers into grippers (Do not use sharp items to push them in!).
+  Next, pass the holders through the holder bars with the battery holder bases as Figure 3.

- ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)
+  ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)

- _Figure 2_: Payload holder components
+  _Figure 2_: Payload holder components

- ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)
+  ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)

- _Figure 3_: Payload holder assembled
+  _Figure 3_: Payload holder assembled

 2. The next is to go for attaching the bottom plate to the payload holder.

- You will need the parts as shown in Figure 4.
- Then mount the base for power distribution board using nylon nuts as Figure 5.
- Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)
+  You will need the parts as shown in Figure 4.
+  Then mount the base for power distribution board using nylon nuts as Figure 5.
+  Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)

- ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)
+  ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)

- _Figure 4_: Needed Materials
+  _Figure 4_: Needed Materials

- ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)
+  ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)

- _Figure 5_: PDB mount base
+  _Figure 5_: PDB mount base

- ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)
+  ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)

- _Figure 6_: Mounted pdb with nylon nuts
+  _Figure 6_: Mounted pdb with nylon nuts

- ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)
+  ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)

- _Figure 7_: Mounted Plate on payload holder
+  _Figure 7_: Mounted Plate on payload holder

 3. Let's gather the stuff needed for mounting landing gear as Figure 8.
- Use the hex screws to join landing gears to the bottom plate.
- You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
- Do not forget to tighten them back again.
+  Use the hex screws to join landing gears to the bottom plate.
+  You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
+  Do not forget to tighten them back again.

- ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)
+  ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)

- _Figure 8_: Required parts for landing gear attachment
+  _Figure 8_: Required parts for landing gear attachment

- ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)
+  ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)

- _Figure 9_: Landing gear attachment to the body
+  _Figure 9_: Landing gear attachment to the body

 4. We will gather all the arms now to mount the top plate.
- Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
- Fortunately, motors are mounted and ESCs have been connected in advance.
- Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
- Then you can connect XT30 power connectors to the power board.
- Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.
+  Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
+  Fortunately, motors are mounted and ESCs have been connected in advance.
+  Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
+  Then you can connect XT30 power connectors to the power board.
+  Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">

- _Figure 10_: Connecting arms needed materials.
+  _Figure 10_: Connecting arms needed materials.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">

- _Figure 11_: Guide for the arms mount
+  _Figure 11_: Guide for the arms mount

 5. Tighten all 16 screws and nuts by using both hex wrench and nut driver.

- ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)
+  ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)

- _Figure 12_: Mounted top plate
+  _Figure 12_: Mounted top plate

 6. Next you can mount your pixhawk on the top plate by using the stickers.
- It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.
+  It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.

- ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)
+  ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)

- _Figure 13_: Sticker tapes on Pixhawk
+  _Figure 13_: Sticker tapes on Pixhawk

 7. If you want to mount the GPS on the companion computer plate, you can now secure the GPS mount onto it using 4 screws and nuts.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">

- _Figure 14_: Secure GPS mount onto companion plate
+  _Figure 14_: Secure GPS mount onto companion plate

 8. 테이프를 사용하여 GPS를 GPS 마스트 상단에 붙이고 GPS 마스트를 장착합니다.
- Make sure the arrow on the gps is pointing forward (Figure 15).
+  Make sure the arrow on the gps is pointing forward (Figure 15).

- <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
+  <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">

- _Figure 15_: GPS and mast
+  _Figure 15_: GPS and mast

 9. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.

@@ -204,14 +204,14 @@ First update the firmware, airframe, and actuator mappings:

 - [Airframe](../config/airframe.md)

- You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
+  You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)

- ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
+  ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)

 - [Actuators](../config/actuators.md)
- - You should not need to update the vehicle geometry (as this is a preconfigured airframe).
- - Assign actuator functions to outputs to match your wiring.
- - Test the configuration using the sliders.
+  - You should not need to update the vehicle geometry (as this is a preconfigured airframe).
+  - Assign actuator functions to outputs to match your wiring.
+  - Test the configuration using the sliders.

 그리고, 설치후에 필수적인 설정 작업과 보정 작업을 진행하여야 합니다.

@@ -20,12 +20,12 @@ Key airframe features:
 - Removable V tail or conventional tail options included
 - Threaded inserts in the wings and fuselage top for external mounting
 - Numerous mounting features
- - Top antenna hole
- - Top GPS cover
- - Side "T" antenna mounts
- - Rear electronics tray
- - Front facing "action cam" cutout
- - Front facing FPV camera cutout
+  - Top antenna hole
+  - Top GPS cover
+  - Side "T" antenna mounts
+  - Rear electronics tray
+  - Front facing "action cam" cutout
+  - Front facing FPV camera cutout
 - Removable wings
 - Low stall speed
 - Gentle handling
@@ -69,10 +69,10 @@ Key build features
 - [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)

 - [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- - ARK6X carrier mount
- - Holybro Pixhawk 5x carrier mount
- - FPV pod and camera mount
- - Pitot static probe "plug" adapter
+  - ARK6X carrier mount
+  - Holybro Pixhawk 5x carrier mount
+  - FPV pod and camera mount
+  - Pitot static probe "plug" adapter

 - [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)

@@ -426,15 +426,15 @@ Prior to the first flight, a comprehensive preflight must be conducted.
 I recommend checking the following items:

 - Sensor calibration (QGC)
- - Mag calibration
- - Accelerometer calibration
- - 대기속도 보정
- - Level horizon calibration
+  - Mag calibration
+  - Accelerometer calibration
+  - 대기속도 보정
+  - Level horizon calibration
 - Check control surface deflection
 - Right stick -> Right aileron goes up, left aileron goes down
 - Left stick -> Left aileron goes up, right aileron goes down
 - Stick back -> elevator goes up
- -Stick forward -> elevator goes down
+  -Stick forward -> elevator goes down
 - Left rudder -> Rudder goes left
 - Right rudder -> Rudder goes right
 - Check Px4 inputs (in `stabilized mode`)
@@ -98,11 +98,11 @@ The mapping between flight controller outputs and specific controls/motors depen
 Assembly information is covered in several sections:

 - [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md).
- 가이드가 없는 비행 컨트롤러는 일반적으로 거의 같은 방법으로 설정됩니다(거의 항상 유사한 설정 가이드가 포함됨).
+  가이드가 없는 비행 컨트롤러는 일반적으로 거의 같은 방법으로 설정됩니다(거의 항상 유사한 설정 가이드가 포함됨).
 - [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md).
 - [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration:
- - 정의된 기체의 구성을 선택하십시오. 이는 비행을 위하여 사전 튜닝이 충분하기 때문입니다(미세 조정만 필요할 수 있음).
- - 그렇지 않으면, 기체와 일치하는 "일반 기체"를 선택하십시오.
+  - 정의된 기체의 구성을 선택하십시오. 이는 비행을 위하여 사전 튜닝이 충분하기 때문입니다(미세 조정만 필요할 수 있음).
+  - 그렇지 않으면, 기체와 일치하는 "일반 기체"를 선택하십시오.

 In addition, build logs showing how others have set up different types of vehicles are provided as sub topics.
 For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md).
@@ -0,0 +1,277 @@
+# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+:::info
+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) 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                                   | 형식                                                                                                                                                                        | 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  |
+
+## Subscriptions
+
+| Topic                                                                                                   | 형식                                                                                                                                                                                      |
+| ------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| /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)           |
+
+## Subscriptions Multi
+
+None
+
+## Not Exported
+
+These messages are not listed in the yaml file.
+They are not build into the module, and hence are neither published or subscribed.
+
+:::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)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.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)
+- [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)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.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)
+- [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)
+- [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)
+- [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)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+
+:::
@@ -38,7 +38,7 @@ The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is gen
 The agent has no dependency on client code.
 It can be built standalone or in a ROS 2 workspace, or installed as a snap package on Ubuntu.

-When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).
+When PX4 is built, a code generator uses the uORB message definitions in the source tree ([PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg)) to compile support for the subset of uORB topics in [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client).

 PX4 main or release builds automatically export the set of uORB messages definitions in the build to an associated branch in [PX4/px4_msgs](https://github.com/PX4/px4_msgs).

@@ -326,13 +326,11 @@ ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_

 ## Supported uORB Messages

-The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+The set of [PX4 uORB topics](../msg_docs/index.md) that are exposed through the client are set in [dds_topics.yaml](../middleware/dds_topics.md).

 The topics are release specific (support is compiled into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) at build time).
 While most releases should support a very similar set of messages, to be certain you would need to check the yaml file for your particular release.

-<!-- Jublish the set we use?: https://github.com/PX4/px4_msgs/issues/22 -->
-
 Note that ROS 2/DDS needs to have the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware in order to interpret the messages.
 The message definitions are stored in the ROS 2 interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs), and they are automatically synchronized by CI on the `main` and release branches.
 Note that all the messages from PX4 source code are present in the repository, but only those listed in `dds_topics.yaml` will be available as ROS 2 topics.
@@ -349,21 +347,21 @@ Therefore,
  ```

  ::: info
-  Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  Technically, [dds_topics.yaml](../middleware/dds_topics.md) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
  For more information see [DDS Topics YAML](#dds-topics-yaml) below.

 :::

 ## Customizing the Namespace

-Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) or at runtime (which is useful for multi vehicle operations):
+Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):

 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
  This technique can be used both in simulation and real vehicles.
 - A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.

 :::info
-Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#dds-ros-2-services).
+Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#dds-ros-2-services).
 Therefore, commands like:

 ```sh
@@ -420,7 +418,7 @@ Deadline, lifespan, and lease durations are also all set to "default".

 ## DDS Topics YAML

-The PX4 yaml file [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) defines the set of PX4 uORB topics that are built into firmware and published.
+The PX4 [dds_topics.yaml](../middleware/dds_topics.md) file defines the set of PX4 uORB topics that are built into firmware and published.
 More precisely, it completely defines the relationship/pairing between PX4 uORB and ROS 2 messages.

 The file is structured as follows:
@@ -549,7 +547,7 @@ Take a look at the [client startup section](#starting-the-client) to learn how t

 #### New file for setting which topics are published

-The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topic.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)
+The list of topics that are published and subscribed for a particular firmware is now managed by the [dds_topics.yaml](../middleware/dds_topics.md) configuration file, which replaces [urtps_bridge_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/release/1.13/msg/tools/urtps_bridge_topics.yaml)

 See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information.

@@ -29,151 +29,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too

 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

@@ -347,7 +347,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
 Additionally, to enable the module:

 - Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
- to true and adjust the other `ICE_` module parameters according to your needs.
+  to true and adjust the other `ICE_` module parameters according to your needs.
 - Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.

 The module outputs control signals for ignition, throttle, and choke,
@@ -367,8 +367,8 @@ The state machine:

 - Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
 - Allows for user inputs from:
- - AUX{N}
- - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
+  - AUX{N}
+  - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)

 The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).

@@ -484,7 +484,7 @@ The normal log is always a superset of the mission log.
 The implementation uses two threads:

 - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
- data updates
+  data updates
 - The writer thread, writing data to the file

 In between there is a write buffer with configurable size (and another fixed-size buffer for
@@ -688,9 +688,9 @@ There are 2 environment variables used for configuration: `replay`, which must b
 the log file to be replayed. The second is the mode, specified via `replay_mode`:

 - `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
- to run as fast as possible.
+  to run as fast as possible.
 - Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
- log was recorded.
+  log was recorded.

 The module is typically used together with uORB publisher rules, to specify which messages should be replayed.
 The replay module will just publish all messages that are found in the log. It also applies the parameters from
@@ -842,12 +842,12 @@ it into a more usable form, and publishes it for the rest of the system.
 The provided functionality includes:

 - Read the output from the sensor drivers (`SensorGyro`, etc.).
- If there are multiple of the same type, do voting and failover handling.
- Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
- topics is `SensorCombined`, used by many parts of the system.
+  If there are multiple of the same type, do voting and failover handling.
+  Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
+  topics is `SensorCombined`, used by many parts of the system.
 - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
- on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
- sensor drivers must already be running when `sensors` is started.
+  on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
+  sensor drivers must already be running when `sensors` is started.
 - Do sensor consistency checks and publish the `SensorsStatusImu` topic.

 ### 구현
@@ -25,38 +25,38 @@ Other examples in Python can be found here: [integrationtests/python_src/px4_it/

 1. Open the terminal and go to `~/catkin_ws/src` directory

- ```sh
- roscd  # Should cd into ~/catkin_ws/devel
- cd ..
- cd src
- ```
+   ```sh
+   roscd  # Should cd into ~/catkin_ws/devel
+   cd ..
+   cd src
+   ```

 2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency:

- ```sh
- catkin_create_pkg offboard_py rospy
- ```
+   ```sh
+   catkin_create_pkg offboard_py rospy
+   ```

 3. Build the new package in the `~/catkin_ws/` directory:

- ```sh
- cd .. # Assuming previous directory to be ~/catkin_ws/src
- catkin build
- source devel/setup.bash
- ```
+   ```sh
+   cd .. # Assuming previous directory to be ~/catkin_ws/src
+   catkin build
+   source devel/setup.bash
+   ```

 4. You should now be able to cd into the package by using:

- ```sh
- roscd offboard_py
- ```
+   ```sh
+   roscd offboard_py
+   ```

 5. To store your Python files, create a new folder called `/scripts` on the package:

- ```sh
- mkdir scripts
- cd scripts
- ```
+   ```sh
+   mkdir scripts
+   cd scripts
+   ```

 ## 코드

@@ -37,63 +37,63 @@ To build and run the example:

 2. Create and navigate into a new colcon workspace directory using:

- ```sh
- mkdir -p ~/ws_offboard_control/src/
- cd ~/ws_offboard_control/src/
- ```
+   ```sh
+   mkdir -p ~/ws_offboard_control/src/
+   cd ~/ws_offboard_control/src/
+   ```

 3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):

- ```sh
- git clone https://github.com/PX4/px4_msgs.git
- # checkout the matching release branch if not using PX4 main.
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_msgs.git
+   # checkout the matching release branch if not using PX4 main.
+   ```

 4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:

- ```sh
- git clone https://github.com/PX4/px4_ros_com.git
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_ros_com.git
+   ```

 5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:

- :::: tabs
+   :::: tabs

- ::: tab humble
+   ::: tab humble

- ```sh
- cd ..
- source /opt/ros/humble/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/humble/setup.bash
+   colcon build
+   ```


 :::

- ::: tab foxy
+   ::: tab foxy

- ```sh
- cd ..
- source /opt/ros/foxy/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/foxy/setup.bash
+   colcon build
+   ```


 :::

- ::::
+   ::::

 6. Source the `local_setup.bash`:

- ```sh
- source install/local_setup.bash
- ```
+   ```sh
+   source install/local_setup.bash
+   ```

 7. Launch the example.

- ```
- ros2 run px4_ros_com offboard_control
- ```
+   ```
+   ros2 run px4_ros_com offboard_control
+   ```

 The vehicle should arm, ascend 5 metres, and then wait (perpetually).

@@ -28,7 +28,7 @@ The agent acts as a proxy for the client to publish and subscribe to topics in t

 The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is generated at build time and included in PX4 firmware by default.
 It includes both the "generic" micro XRCE-DDS client code, and PX4-specific translation code that it uses to publish to/from uORB topics.
-The subset of uORB messages that are generated into the client are listed in [PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+The subset of uORB messages that are generated into the client are specified in [dds_topics.yaml](../middleware/dds_topics.md).
 The generator uses the uORB message definitions in the source tree: [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to create the code for sending ROS 2 messages.

 ROS 2 applications need to be built in a workspace that has the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware.
@@ -97,48 +97,48 @@ To install ROS 2 and its dependencies:

 1. Install ROS 2.

- :::: tabs
+  :::: tabs

- ::: tab humble
- To install ROS 2 "Humble" on Ubuntu 22.04:
+  ::: tab humble
+  To install ROS 2 "Humble" on Ubuntu 22.04:

- ```sh
- sudo apt update && sudo apt install locales
- sudo locale-gen en_US en_US.UTF-8
- sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
- export LANG=en_US.UTF-8
- sudo apt install software-properties-common
- sudo add-apt-repository universe
- sudo apt update && sudo apt install curl -y
- sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
- echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
- sudo apt update && sudo apt upgrade -y
- sudo apt install ros-humble-desktop
- sudo apt install ros-dev-tools
- source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
- ```
+  ```sh
+  sudo apt update && sudo apt install locales
+  sudo locale-gen en_US en_US.UTF-8
+  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+  export LANG=en_US.UTF-8
+  sudo apt install software-properties-common
+  sudo add-apt-repository universe
+  sudo apt update && sudo apt install curl -y
+  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+  sudo apt update && sudo apt upgrade -y
+  sudo apt install ros-humble-desktop
+  sudo apt install ros-dev-tools
+  source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
+  ```

- The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
- You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
+  The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
+  You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).

 :::

- ::: tab foxy
- To install ROS 2 "Foxy" on Ubuntu 20.04:
+  ::: tab foxy
+  To install ROS 2 "Foxy" on Ubuntu 20.04:

- - Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
+  - Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).

- You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
+  You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).

 :::

- ::::
+  ::::

 2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):

- ```sh
- pip install --user -U empy==3.3.4 pyros-genmsg setuptools
- ```
+  ```sh
+  pip install --user -U empy==3.3.4 pyros-genmsg setuptools
+  ```

 ### Setup Micro XRCE-DDS Agent & Client

@@ -155,22 +155,22 @@ To setup and start the agent:

 2. Enter the following commands to fetch and build the agent from source:

- ```sh
- git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
- cd Micro-XRCE-DDS-Agent
- mkdir build
- cd build
- cmake ..
- make
- sudo make install
- sudo ldconfig /usr/local/lib/
- ```
+  ```sh
+  git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+  cd Micro-XRCE-DDS-Agent
+  mkdir build
+  cd build
+  cmake ..
+  make
+  sudo make install
+  sudo ldconfig /usr/local/lib/
+  ```

 3. Start the agent with settings for connecting to the uXRCE-DDS client running on the simulator:

- ```sh
- MicroXRCEAgent udp4 -p 8888
- ```
+  ```sh
+  MicroXRCEAgent udp4 -p 8888
+  ```

 The agent is now running, but you won't see much until we start PX4 (in the next step).

@@ -187,31 +187,31 @@ To start the simulator (and client):

 1. Open a new terminal in the root of the **PX4 Autopilot** repo that was installed above.

- :::: tabs
+  :::: tabs

- ::: tab humble
+  ::: tab humble

- - Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
+  - Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:

-  ```sh
-  make px4_sitl gz_x500
-  ```
+    ```sh
+    make px4_sitl gz_x500
+    ```


 :::

- ::: tab foxy
+  ::: tab foxy

- - Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
+  - Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:

-  ```sh
-  make px4_sitl gazebo-classic
-  ```
+    ```sh
+    make px4_sitl gazebo-classic
+    ```


 :::

- ::::
+  ::::

 The agent and client are now running they should connect.

@@ -261,52 +261,52 @@ To create and build the workspace:

 2. Create and navigate into a new workspace directory using:

- ```sh
- mkdir -p ~/ws_sensor_combined/src/
- cd ~/ws_sensor_combined/src/
- ```
+  ```sh
+  mkdir -p ~/ws_sensor_combined/src/
+  cd ~/ws_sensor_combined/src/
+  ```

- ::: info
- A naming convention for workspace folders can make it easier to manage workspaces.
+  ::: info
+  A naming convention for workspace folders can make it easier to manage workspaces.

 :::

 3. Clone the example repository and [px4_msgs](https://github.com/PX4/px4_msgs) to the `/src` directory (the `main` branch is cloned by default, which corresponds to the version of PX4 we are running):

- ```sh
- git clone https://github.com/PX4/px4_msgs.git
- git clone https://github.com/PX4/px4_ros_com.git
- ```
+  ```sh
+  git clone https://github.com/PX4/px4_msgs.git
+  git clone https://github.com/PX4/px4_ros_com.git
+  ```

 4. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:

- :::: tabs
+  :::: tabs

- ::: tab humble
+  ::: tab humble

- ```sh
- cd ..
- source /opt/ros/humble/setup.bash
- colcon build
- ```
+  ```sh
+  cd ..
+  source /opt/ros/humble/setup.bash
+  colcon build
+  ```


 :::

- ::: tab foxy
+  ::: tab foxy

- ```sh
- cd ..
- source /opt/ros/foxy/setup.bash
- colcon build
- ```
+  ```sh
+  cd ..
+  source /opt/ros/foxy/setup.bash
+  colcon build
+  ```


 :::

- ::::
+  ::::

- This builds all the folders under `/src` using the sourced toolchain.
+  This builds all the folders under `/src` using the sourced toolchain.

 #### Running the Example

@@ -322,42 +322,42 @@ In a new terminal:

 1. Navigate into the top level of your workspace directory and source the ROS 2 environment (in this case "Humble"):

- :::: tabs
+  :::: tabs

- ::: tab humble
+  ::: tab humble

- ```sh
- cd ~/ws_sensor_combined/
- source /opt/ros/humble/setup.bash
- ```
+  ```sh
+  cd ~/ws_sensor_combined/
+  source /opt/ros/humble/setup.bash
+  ```


 :::

- ::: tab foxy
+  ::: tab foxy

- ```sh
- cd ~/ws_sensor_combined/
- source /opt/ros/foxy/setup.bash
- ```
+  ```sh
+  cd ~/ws_sensor_combined/
+  source /opt/ros/foxy/setup.bash
+  ```


 :::

- ::::
+  ::::

 2. Source the `local_setup.bash`.

- ```sh
- source install/local_setup.bash
- ```
+  ```sh
+  source install/local_setup.bash
+  ```

 3. Now launch the example.
- Note here that we use `ros2 launch`, which is described below.
+  Note here that we use `ros2 launch`, which is described below.

- ```sh
- ros2 launch px4_ros_com sensor_combined_listener.launch.py
- ```
+  ```sh
+  ros2 launch px4_ros_com sensor_combined_listener.launch.py
+  ```

 If this is working you should see data being printed on the terminal/console where you launched the ROS listener:

@@ -385,18 +385,18 @@ If you were to use incompatible [message versions](../middleware/uorb.md#message

 1. Include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into the example workspace or a separate workspace by running the following script:

- ```sh
- cd /path/to/ros_ws
- /path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
- ```
+  ```sh
+  cd /path/to/ros_ws
+  /path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
+  ```

 2. Build and run the translation node:

- ```sh
- colcon build
- source install/local_setup.bash
- ros2 run translation_node translation_node_bin
- ```
+  ```sh
+  colcon build
+  source install/local_setup.bash
+  ros2 run translation_node translation_node_bin
+  ```

 ## Controlling a Vehicle

@@ -405,7 +405,7 @@ To control applications, ROS 2 applications:
 - subscribe to (listen to) telemetry topics published by PX4
 - publish to topics that cause PX4 to perform some action.

-The topics that you can use are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
+The topics that you can use are defined in [dds_topics.yaml](../middleware/dds_topics.md), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
 For example, [VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) can be used to get the vehicle global position, while [VehicleCommand](../msg_docs/VehicleCommand.md) can be used to command actions such as takeoff and land.

 The [ROS 2 Example applications](#ros-2-example-applications) examples below provide concrete examples of how to use these topics.
@@ -456,13 +456,13 @@ Therefore, ROS 2 nodes that want to interface with PX4 must take care of the fra

 - To rotate a vector from ENU to NED two basic rotations must be performed:

- - first a pi/2 rotation around the `Z`-axis (up),
- - then a pi rotation around the `X`-axis (old East/new North).
+  - first a pi/2 rotation around the `Z`-axis (up),
+  - then a pi rotation around the `X`-axis (old East/new North).

 - To rotate a vector from NED to ENU two basic rotations must be performed:

 - - first a pi/2 rotation around the `Z`-axis (down),
- - then a pi rotation around the `X`-axis (old North/new East). Note that the two resulting operations are mathematically equivalent.
+  - then a pi rotation around the `X`-axis (old North/new East). Note that the two resulting operations are mathematically equivalent.

 - To rotate a vector from FLU to FRD a pi rotation around the `X`-axis (front) is sufficient.

@@ -720,17 +720,17 @@ Therefore,

 - If you're using a main or release version of PX4 you can get the message definitions by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your workspace.
 - If you're creating or modifying uORB messages you must manually update the messages in your workspace from your PX4 source tree.
- Generally this means that you would update [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), clone the interface package, and then manually synchronize it by copying the new/modified message definitions from [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to its `msg` folders.
- Assuming that PX4-Autopilot is in your home directory `~`, while `px4_msgs` is in `~/ros2_ws/src/`, then the command might be:
+  Generally this means that you would update [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), clone the interface package, and then manually synchronize it by copying the new/modified message definitions from [PX4-Autopilot/msg](https://github.com/PX4/PX4-Autopilot/tree/main/msg) to its `msg` folders.
+  Assuming that PX4-Autopilot is in your home directory `~`, while `px4_msgs` is in `~/ros2_ws/src/`, then the command might be:

- ```sh
- rm ~/ros2_ws/src/px4_msgs/msg/*.msg
- cp ~/PX4-Autopilot/mgs/*.msg ~/ros2_ws/src/px4_msgs/msg/
- ```
+  ```sh
+  rm ~/ros2_ws/src/px4_msgs/msg/*.msg
+  cp ~/PX4-Autopilot/mgs/*.msg ~/ros2_ws/src/px4_msgs/msg/
+  ```

- ::: info
- Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
- For more information see [uXRCE-DDS > DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml).
+  ::: info
+  Technically, [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  For more information see [uXRCE-DDS > DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml).

 :::

@@ -739,11 +739,11 @@ Therefore,
 Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) or at runtime (useful for multi vehicle operations):

 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
- This technique can be used both in simulation and real vehicles.
+  This technique can be used both in simulation and real vehicles.
 - A custom namespace can be provided for simulations (only) by setting the environment variable `PX4_UXRCE_DDS_NS` before starting the simulation.

 :::info
-Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#px4-ros-2-service-servers).
+Changing the namespace at runtime will append the desired namespace as a prefix to all `topic` fields in [dds_topics.yaml](../middleware/dds_topics.md) and all [service servers](#px4-ros-2-service-servers).
 Therefore, commands like:

 ```sh
@@ -780,7 +780,7 @@ The service servers that are built into the PX4 [uxrce_dds_client](../modules/mo

 - `/fmu/vehicle_command` (definition: [`px4_msgs::srv::VehicleCommand`](https://github.com/PX4/px4_msgs/blob/main/srv/VehicleCommand.srv).)

- This service can be called by ROS 2 applications to send PX4 [VehicleCommand](../msg_docs/VehicleCommand.md) uORB messages and receive PX4 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md) uORB messages in response.
+  This service can be called by ROS 2 applications to send PX4 [VehicleCommand](../msg_docs/VehicleCommand.md) uORB messages and receive PX4 [VehicleCommandAck](../msg_docs/VehicleCommandAck.md) uORB messages in response.

 All PX4 service names follow the convention `{extra_namespace}/fmu/{server_specific_name}` where `{extra_namespace}` is the same [custom namespace](#customizing-the-namespace) that can be given to the PX4 topics.

@@ -973,38 +973,38 @@ The standard installation should include all the tools needed by ROS 2.
 If any are missing, they can be added separately:

 - **`colcon`** build tools should be in the development tools.
- It can be installed using:
+  It can be installed using:

- ```sh
- $ git clone https://github.com/PX4/px4_ros_com.git ~/px4_ros_com_ros2/src/px4_ros_com
-    $ git clone https://github.com/PX4/px4_msgs.git ~/px4_ros_com_ros2/src/px4_msgs
- ```
+  ```sh
+  $ git clone https://github.com/PX4/px4_ros_com.git ~/px4_ros_com_ros2/src/px4_ros_com
+     $ git clone https://github.com/PX4/px4_msgs.git ~/px4_ros_com_ros2/src/px4_msgs
+  ```

 - The Eigen3 library used by the transforms library should be in the both the desktop and base packages.
- It should be installed as shown:
+  It should be installed as shown:

- :::: tabs
+  :::: tabs

- ::: tab humble
+  ::: tab humble

- ```sh
- sudo apt install ros-humble-eigen3-cmake-module
- ```
+  ```sh
+  sudo apt install ros-humble-eigen3-cmake-module
+  ```


 :::

- ::: tab foxy
+  ::: tab foxy

- ```sh
- $ cd ~/px4_ros_com_ros2/src/px4_ros_com/scripts
-    $ source build_ros2_workspace.bash
- ```
+  ```sh
+  $ cd ~/px4_ros_com_ros2/src/px4_ros_com/scripts
+     $ source build_ros2_workspace.bash
+  ```


 :::

- ::::
+  ::::

 ### ros_gz_bridge not publishing on the \clock topic

@@ -733,6 +733,7 @@
      - [Protocols/Microservices](mavlink/protocols.md)
        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
  - [Модулі & Команди](modules/modules_main.md)
    - [Автоматичне підлаштування](modules/modules_autotune.md)
    - [Команди](modules/modules_command.md)
@@ -128,21 +128,21 @@ You add some "boilerplate" code to regularly listen for changes in the [uORB Top

 - **px4_platform_common/module_params.h** для отримання макросу `DEFINE_PARAMETERS`:

- ```cpp
- #include <px4_platform_common/module_params.h>
- ```
+  ```cpp
+  #include <px4_platform_common/module_params.h>
+  ```

 - **parameter_update.h** для доступу до повідомлень uORB `parameter_update`:

- ```cpp
- #include <uORB/topics/parameter_update.h>
- ```
+  ```cpp
+  #include <uORB/topics/parameter_update.h>
+  ```

 - **Subscription.hpp** для uORB C++ API підписки:

- ```cpp
- #include <uORB/Subscription.hpp>
- ```
+  ```cpp
+  #include <uORB/Subscription.hpp>
+  ```

 Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes.
 Назви параметрів мають збігатися з визначеннями метаданих параметрів.
@@ -194,7 +194,7 @@ void Module::parameters_update()
 - `_param_update_sub.updated()` повідомляє нам, чи є _будь-яке_ оновлення в uORB-повідомленні `param_update` (але не вказує, який саме параметр змінено).
 - Якщо було оновлено "деякий" параметр, ми копіюємо оновлення у `parameter_update_s` (`param_update`), щоб очистити очікуване оновлення.
 - Then we call `ModuleParams::updateParams()`.
- This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
+  This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.

 Атрибути параметрів (`_sys_autostart` і `_att_bias_max` у цьому випадку) можна використовувати для відображення параметрів, і вони будуть оновлюватися щоразу, коли значення параметра змінюватиметься.

@@ -267,12 +267,12 @@ YAML meta data is intended as a full replacement for the **.c** definitions.
 - Приклад використання визначень YAML можна знайти у визначенні параметрів MAVLink: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml).
 - YAML-файл реєструється у системі збірки cmake шляхом додавання

- ```cmake
- MODULE_CONFIG
- 	module.yaml
- ```
+  ```cmake
+  MODULE_CONFIG
+  	module.yaml
+  ```

- до секції `px4_add_module` файлу `CMakeLists.txt` цього модуля.
+  до секції `px4_add_module` файлу `CMakeLists.txt` цього модуля.

 #### Мета-дані YAML з багатьма екземплярами (шаблонами)

@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
 You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

 - External display.
- If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
+  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
 - Ethernet cable
 - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

@@ -45,11 +45,11 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - Розміри

- - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
- - 126 x 80 x 22.9mm (without Jetson and FC Module)
+  - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
+  - 126 x 80 x 22.9mm (without Jetson and FC Module)

 - Вага
- - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)
+  - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)

 :::

@@ -57,67 +57,67 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - Ethernet Switch powered by the same circuit as the Pixhawk
- - 8-pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - Ethernet Switch powered by the same circuit as the Pixhawk
+  - 8-pin JST-GH
+  - RJ45

 - 2x MIPI CSI Camera Inputs

- - 4 Lanes each
- - 22-Pin Raspberry Pi Cam FFC
+  - 4 Lanes each
+  - 22-Pin Raspberry Pi Cam FFC

 - 2x USB 3.0 Host Port

- - USB A
- - 5A Current Limit
+  - USB A
+  - 5A Current Limit

 - 2x USB 2.0 Host Port

- - 5-Pin JST-GH
- - 0A Current Limit
+  - 5-Pin JST-GH
+  - 0A Current Limit

 - USB 2.0 for Programming/Debugging

- - USB-C
+  - USB-C

 - 2 Key M 2242/2280 for NVMe SSD

- - PCIEx4
+  - PCIEx4

 - 2 Key E 2230 for WiFi/BT

- - PCIEx2
- - USB
- - UART
- - I2S
+  - PCIEx2
+  - USB
+  - UART
+  - I2S

 - Mini HDMI Out

 - 4x GPIO

- - 6-pin JST-GH
+  - 6-pin JST-GH

 - CAN Port

- - Connected to Autopilot's CAN2 (4 Pin JST-GH)
+  - Connected to Autopilot's CAN2 (4 Pin JST-GH)

 - SPI порт

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - I2C порт

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - I2S Port

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - 2x UART Port

- - 1 for debug
- - 1 connected to Autopilot's telem2
+  - 1 for debug
+  - 1 connected to Autopilot's telem2

 - Fan Power Port

@@ -129,13 +129,13 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - Pixhawk Autopilot Bus Interface

- - 100 Pin Hirose DF40
- - 50 Pin Hirose DF40
+  - 100 Pin Hirose DF40
+  - 50 Pin Hirose DF40

 - Redundant Digital Power Module Inputs

- - I2C Power Monitor Support
- - 2x 6-Pin Molex CLIK-Mate
+  - I2C Power Monitor Support
+  - 2x 6-Pin Molex CLIK-Mate

 - Power Path Selector

@@ -143,68 +143,68 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - Номінальна напруга

- - Максимальна вхідна напруга: 6 В
- - Вхід USB Power: 4.75~5.25V
+  - Максимальна вхідна напруга: 6 В
+  - Вхід USB Power: 4.75~5.25V

 - Повноцінний порт перемикача безпеки GPS Plus

- - 10-Pin JST-GH
+  - 10-Pin JST-GH

 - Secondary (GPS2) Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x CAN Ports

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - 3x Telemetry Ports with Flow Control

- - 2x 6-Pin JST-GH
- - 1 is connected to Jetson's `UART1` Port
+  - 2x 6-Pin JST-GH
+  - 1 is connected to Jetson's `UART1` Port

 - 16 PWM Outputs

- - 2x 10-Pin JST-GH
+  - 2x 10-Pin JST-GH

 - UART4 & I2C Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - 8-Pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - 8-Pin JST-GH
+  - RJ45

 - AD & IO

- - 8-Pin JST-GH
+  - 8-Pin JST-GH

 - USB 2.0

- - USB-C
- - 4-Pin JST-GH
+  - USB-C
+  - 4-Pin JST-GH

 - DSM Input

- - 3-Pin JST-ZH 1.5mm Pitch
+  - 3-Pin JST-ZH 1.5mm Pitch

 - RC In

- - PPM/SBUS
- - 5-Pin JST-GH
+  - PPM/SBUS
+  - 5-Pin JST-GH

 - SPI порт

- - External Sensor Bus (SPI5)
- - 11-Pin JST-GH
+  - External Sensor Bus (SPI5)
+  - 11-Pin JST-GH

 - 2x Debug Port

- - 1 for FMU
- - 1 for IO
- - 10-Pin JST-SH
+  - 1 for FMU
+  - 1 for IO
+  - 10-Pin JST-SH

 :::

@@ -218,7 +218,7 @@ The Jetson has separate input power circuitry from the Pixhawk autopilot:
 - 8V/3A Minimum (Depends on Usage and Peripherals)
 - Voltage Rating: 7-21V (3S-4S)
 - Jetson Baseboard onboard BEC is rated for 7-21V (3S-4S).
- Note that the external UBEC-12A can be used for applications above 4S
+  Note that the external UBEC-12A can be used for applications above 4S

 During development using the following wired power supply is recommended:

@@ -698,7 +698,7 @@ On the following screen, confirm your selected device:

 - Choose `Pre-config` for the OEM Configuration (this will skip Ubuntu first time setup screens after reboot).
 - Choose your preferred username and password (and write them down).
- These will be used as your login credentials to Jetpack.
+  These will be used as your login credentials to Jetpack.
 - Choose `NVMe` as the storage device because the board has separate SSD for storage.

 ![SDK Manager installation storage and OEM config page](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/nvidia_sdkmanager_3.png)
@@ -922,95 +922,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
 Next we modify the Jetson IP address to be on the same network as the Pixhawk:

 1. Make sure `netplan` is installed.
- You can check by running the following command:
+  You can check by running the following command:

- ```sh
- netplan -h
- ```
+  ```sh
+  netplan -h
+  ```

- If not, install it using the commands:
+  If not, install it using the commands:

- ```sh
- sudo apt update
- sudo apt install netplan.io
- ```
+  ```sh
+  sudo apt update
+  sudo apt install netplan.io
+  ```

 2. Check `system_networkd` is running:

- ```sh
- sudo systemctl status systemd-networkd
- ```
+  ```sh
+  sudo systemctl status systemd-networkd
+  ```

- You should see output like below if it is active:
+  You should see output like below if it is active:

- ```sh
- ● systemd-networkd.service - Network Configuration
-      Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
-      Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
- TriggeredBy: ● systemd-networkd.socket
-        Docs: man:systemd-networkd.service(8)
-    Main PID: 2452 (systemd-network)
-      Status: "Processing requests..."
-       Tasks: 1 (limit: 18457)
-      Memory: 2.7M
-         CPU: 157ms
-      CGroup: /system.slice/systemd-networkd.service
-              └─2452 /lib/systemd/systemd-networkd
+  ```sh
+  ● systemd-networkd.service - Network Configuration
+       Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
+       Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
+  TriggeredBy: ● systemd-networkd.socket
+         Docs: man:systemd-networkd.service(8)
+     Main PID: 2452 (systemd-network)
+       Status: "Processing requests..."
+        Tasks: 1 (limit: 18457)
+       Memory: 2.7M
+          CPU: 157ms
+       CGroup: /system.slice/systemd-networkd.service
+               └─2452 /lib/systemd/systemd-networkd

- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
- Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- ```
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
+  Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  ```

- If `system_networkd` is not running, it can be enabled using:
+  If `system_networkd` is not running, it can be enabled using:

- ```sh
- sudo systemctl start systemd-networkd
- sudo systemctl enable systemd-networkd
- ```
+  ```sh
+  sudo systemctl start systemd-networkd
+  sudo systemctl enable systemd-networkd
+  ```

 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).

- The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
- Below we use `nano` to open the file, but you can use your preferred text editor:
+  The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
+  Below we use `nano` to open the file, but you can use your preferred text editor:

- ```sh
- sudo nano /etc/netplan/01-netcfg.yaml
- ```
+  ```sh
+  sudo nano /etc/netplan/01-netcfg.yaml
+  ```

 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:

- ```sh
- network:
-   version: 2
-   renderer: networkd
-   ethernets:
-     eth0:
-       dhcp4: no
-       addresses:
-         - 10.41.10.1/24
-       routes:
-         - to: 0.0.0.0/0
-           via: 10.41.10.254
-       nameservers:
-         addresses:
-           - 10.41.10.254
- ```
+  ```sh
+  network:
+    version: 2
+    renderer: networkd
+    ethernets:
+      eth0:
+        dhcp4: no
+        addresses:
+          - 10.41.10.1/24
+        routes:
+          - to: 0.0.0.0/0
+            via: 10.41.10.254
+        nameservers:
+          addresses:
+            - 10.41.10.254
+  ```

- This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
+  This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .

 5. Apply the changes using the following command:

- ```sh
- sudo netplan apply
- ```
+  ```sh
+  sudo netplan apply
+  ```

 The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
 We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -1221,15 +1221,15 @@ Assuming the client is set up as defined above:

 - (Serial connection) Start the agent on `/dev/ttyTHS1`:

- ```sh
- sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
- ```
+  ```sh
+  sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
+  ```

 - (Ethernet) Start the agent on UDP port `8888`:

- ```sh
- MicroXRCEAgent udp4 -p 8888
- ```
+  ```sh
+  MicroXRCEAgent udp4 -p 8888
+  ```

 If your agent and client are connected and no nodes are running, you should see output similar to this in the Agent terminal:

@@ -71,42 +71,42 @@ events::send<uint8_t, float>(events::ID("event_name"),
 - `/* EVENT`: Цей тег вказує, що коментар описує метадані для наступної події.

 - **event_name**: ім'я події (`events::ID(event_name)`).
- - повинно бути унікальним в межах всього вихідного коду PX4.
-  Як загальне правило, додайте префікс з назвою модуля або вихідного файлу для великих модулів.
- - має бути дійсна назва змінної, тобто не повинна містити пробіли, двокрапки тощо.
- - з цього імені отримується 24-бітний ID події за допомогою геш-функції.
-  Це означає, що до тих пір, поки ім'я події залишається однаковим, ID залишиться тим же.
+  - повинно бути унікальним в межах всього вихідного коду PX4.
+    Як загальне правило, додайте префікс з назвою модуля або вихідного файлу для великих модулів.
+  - має бути дійсна назва змінної, тобто не повинна містити пробіли, двокрапки тощо.
+  - з цього імені отримується 24-бітний ID події за допомогою геш-функції.
+    Це означає, що до тих пір, поки ім'я події залишається однаковим, ID залишиться тим же.

 - **Рівень журналювання**:

- - припустимі рівні журналювання такі ж, як і у перерахуванні MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY).
-  Рівні перелічені за зменшенням важливості:
+  - припустимі рівні журналювання такі ж, як і у перерахуванні MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY).
+    Рівні перелічені за зменшенням важливості:

-  ```plain
-  Emergency,
-  Alert,
-  Critical,
-  Error,
-  Warning,
-  Notice,
-  Info,
-  Debug,
-  Disabled,
-  ```
+    ```plain
+    Emergency,
+    Alert,
+    Critical,
+    Error,
+    Warning,
+    Notice,
+    Info,
+    Debug,
+    Disabled,
+    ```

- - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
-  For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
-  There are cases it makes sense to have two different log levels.
-  For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
+  - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
+    For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
+    There are cases it makes sense to have two different log levels.
+    For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.

 - **Повідомлення про подію**:
- - Коротке повідомлення про подію в один рядок.
-  Може мати шаблонні замінники для аргументів (наприклад `{1}`). Для додаткової інформації дивіться нижче. Для додаткової інформації дивіться нижче.
+  - Коротке повідомлення про подію в один рядок.
+    Може мати шаблонні замінники для аргументів (наприклад `{1}`). Для додаткової інформації дивіться нижче. Для додаткової інформації дивіться нижче.

 - **Опис події**:
- - Докладний, необов'язковий опис події.
- - Може бути кілька рядів/абзаців.
- - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
+  - Докладний, необов'язковий опис події.
+  - Може бути кілька рядів/абзаців.
+  - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)

 #### Аргументи та перерахування

@@ -125,35 +125,35 @@ Events can have a fixed set of arguments that can be inserted into the message o

 - символи можна екранувати за допомогою \\

- Ці символи повинні бути екрановані: '\\\\', '\\<', '\\{'.
+  Ці символи повинні бути екрановані: '\\\\', '\\<', '\\{'.

 - теги що підтримуються:

- - Профілі: `<profile name="[!]NAME">CONTENT</profile>`
+  - Профілі: `<profile name="[!]NAME">CONTENT</profile>`

-  `CONTENT` буде показано, лише якщо назва збігається з налаштованим профілем.
-  Це може бути використано, наприклад, щоб приховати інформацію для розробників від кінцевих користувачів.
+    `CONTENT` буде показано, лише якщо назва збігається з налаштованим профілем.
+    Це може бути використано, наприклад, щоб приховати інформацію для розробників від кінцевих користувачів.

- - URLs: `<a [href="URL"]>CONTENT</a>`.
-  If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
+  - URLs: `<a [href="URL"]>CONTENT</a>`.
+    If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)

- - Parameters: `<param>PARAM_NAME</param>`
+  - Parameters: `<param>PARAM_NAME</param>`

- - не дозволено використовувати вкладені теги того ж типу
+  - не дозволено використовувати вкладені теги того ж типу

 - аргументи: шаблонні замінники, що відповідають синтаксису python з індексацією що починається з 1 (замість 0)

- - загальна форма: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
+  - загальна форма: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`

-  UNIT:
+    UNIT:

-  - m: горизонтальна відстань в метрах
-  - m_v: вертикальна відстань в метрах
-  - m^2: площа в метрах квадратних
-  - m/s: швидкість у метрах в секунду
-  - C: температура у градусах Цельсія
+    - m: горизонтальна відстань в метрах
+    - m_v: вертикальна відстань в метрах
+    - m^2: площа в метрах квадратних
+    - m/s: швидкість у метрах в секунду
+    - C: температура у градусах Цельсія

- - `NUM_DECIMAL_DIGITS` підходить тільки для аргументів у вигляді дійсних чисел.
+  - `NUM_DECIMAL_DIGITS` підходить тільки для аргументів у вигляді дійсних чисел.

 ## Логування

@@ -38,9 +38,9 @@ Selecting an airframe applies a [frame configuration file](../dev_airframes/addi
 Коли ви виводите новий транспортний засіб, рама зазвичай містить досить мінімальну конфігурацію:

 - Кадри з назвою "Загальний" визначають тип транспортного засобу, кількість роторів та позиції роторів-заповнювачі.
- Після вибору конструкції фюзеляжу ви визначаєте фактичну геометрію, а потім налаштовуєте виходи.
+  Після вибору конструкції фюзеляжу ви визначаєте фактичну геометрію, а потім налаштовуєте виходи.
 - Кадри з назвою моделі/бренду визначать тип транспортного засобу, кількість роторів, фактичні позиції роторів та напрямки руху двигуна.
- Після вибору конструкції фюзеляжу вам зазвичай все ще потрібно налаштувати виводи.
+  Після вибору конструкції фюзеляжу вам зазвичай все ще потрібно налаштувати виводи.

 :::

@@ -52,7 +52,7 @@ If using PWM ESCs and OneShot ESCs (but not DShot and DroneCAN/Cyphal ESC) you s
 The final step is [Motor Configuration](../config/actuators.md#motor-configuration):

 - [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
- Для DShot ESC ви можете це зробити через інтерфейс тестування приводу.
+  Для DShot ESC ви можете це зробити через інтерфейс тестування приводу.
 - PWM, OneShot та CAN ESC встановлюють ліміти введення мотора для режимів роззброєння, низької та високої швидкості (не потрібно для DShot ESC)

 Відповідні теми:
@@ -123,14 +123,14 @@ PX4 може бути налаштований для автоматичної

 - [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).

- ::: info
- Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
- Це було перевірено в основному на гоночних квадрокоптерах та X500, і очікується, що воно буде менш ефективним на трикоптерах з нахилом ротора.
+  ::: info
+  Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
+  Це було перевірено в основному на гоночних квадрокоптерах та X500, і очікується, що воно буде менш ефективним на трикоптерах з нахилом ротора.

- Manual tuning using these guides are only needed if there is a problem with autotune:
+  Manual tuning using these guides are only needed if there is a problem with autotune:

- - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
- - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
+  - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
+  - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.


 :::
@@ -138,7 +138,7 @@ PX4 може бути налаштований для автоматичної
 - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.

 - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
- - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
+  - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)

 - [Multicopter Racer Setup](../config_mc/racer_setup.md)

@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
 - [Периферія контролера польоту](../peripherals/README.md) - налаштування конкретних датчиків, опціональних датчиків, приводів тощо.
 - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
 - Конфігурація/налаштування, що залежать від апарату:
- - **Multicopter Config/Tuning**
- - [Конфігурація/налаштування гелікоптера](../config_heli/index.md)
- - [Fixed Wing Config/Tuning](../config_fw/index.md)
- - [Конфігурація/налаштування VTOL](../config_vtol/index.md)
+  - **Multicopter Config/Tuning**
+  - [Конфігурація/налаштування гелікоптера](../config_heli/index.md)
+  - [Fixed Wing Config/Tuning](../config_fw/index.md)
+  - [Конфігурація/налаштування VTOL](../config_vtol/index.md)
@@ -26,13 +26,13 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit]
 The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:

 - X500V2 Frame Kit
- - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
- - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
- - Landing gear - 16mm & 10mm diameter carbon fiber tubes
- - Platform board - With mounting holes for GPS & popular companion computer
- - Система кріплення з подвійними пружинними валиками 10 мм Ø та довжиною 250 мм
- - Кріплення батареї з двома стропами для батареї
- - Ручні інструменти для встановлення
+  - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
+  - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
+  - Landing gear - 16mm & 10mm diameter carbon fiber tubes
+  - Platform board - With mounting holes for GPS & popular companion computer
+  - Система кріплення з подвійними пружинними валиками 10 мм Ø та довжиною 250 мм
+  - Кріплення батареї з двома стропами для батареї
+  - Ручні інструменти для встановлення
 - Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
@@ -93,92 +93,92 @@ _Figure 1_: X500 V2 ARF Kit what's inside
 Орієнтовний час збірки - 55 хвилин (25 хвилин на раму, 30 хвилин на встановлення/налаштування автопілота)

 1. Start by assembling the payload & battery holder.
- Втисніть гумки в захоплювачі (не використовуйте гострі предмети, щоб їх втиснути в них!).
- Далі пропустіть тримачі через планки тримача з основами тримача батарей, як показано на рисунку 3.
+  Втисніть гумки в захоплювачі (не використовуйте гострі предмети, щоб їх втиснути в них!).
+  Далі пропустіть тримачі через планки тримача з основами тримача батарей, як показано на рисунку 3.

- ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)
+  ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)

- _Figure 2_: Payload holder components
+  _Figure 2_: Payload holder components

- ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)
+  ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)

- _Figure 3_: Payload holder assembled
+  _Figure 3_: Payload holder assembled

 2. Наступним кроком буде прикріплення нижньої пластини до тримача вантажу.

- Вам знадобляться деталі, як показано на рисунку 4.
- Потім встановіть основу для розподільної плати живлення, використовуючи нейлонові гайки, як зображено на Рис. 5.
- Нарешті, використовуючи 8 шестигранних гвинтів, ви можете приєднати нижню пластину до тримача навантаження (Рисунок 7)
+  Вам знадобляться деталі, як показано на рисунку 4.
+  Потім встановіть основу для розподільної плати живлення, використовуючи нейлонові гайки, як зображено на Рис. 5.
+  Нарешті, використовуючи 8 шестигранних гвинтів, ви можете приєднати нижню пластину до тримача навантаження (Рисунок 7)

- ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)
+  ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)

- _Figure 4_: Needed Materials
+  _Figure 4_: Needed Materials

- ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)
+  ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)

- _Figure 5_: PDB mount base
+  _Figure 5_: PDB mount base

- ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)
+  ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)

- _Figure 6_: Mounted pdb with nylon nuts
+  _Figure 6_: Mounted pdb with nylon nuts

- ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)
+  ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)

- _Figure 7_: Mounted Plate on payload holder
+  _Figure 7_: Mounted Plate on payload holder

 3. Давайте зберемо речі, необхідні для монтажу посадкового шасі, як на рисунку 8.
- Використовуйте гвинти, щоб приєднати посадкові шасі до нижньої пластини.
- Також потрібно відкрити три шестигранних гвинти на кожній з ніжок, щоб ви могли вставити їх у вуглецеві труби.
- Не забудьте знову їх затягнути.
+  Використовуйте гвинти, щоб приєднати посадкові шасі до нижньої пластини.
+  Також потрібно відкрити три шестигранних гвинти на кожній з ніжок, щоб ви могли вставити їх у вуглецеві труби.
+  Не забудьте знову їх затягнути.

- ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)
+  ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)

- _Figure 8_: Required parts for landing gear attachment
+  _Figure 8_: Required parts for landing gear attachment

- ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)
+  ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)

- _Figure 9_: Landing gear attachment to the body
+  _Figure 9_: Landing gear attachment to the body

 4. Зараз ми зберемо все оснащення, щоб встановити верхню пластину.
- Прошу звернути увагу, що номери моторів на кронштейнах відповідають тим, що згадані на верхній платі.
- На щастя, мотори встановлені, а ESCs були з'єднані заздалегідь.
- Почніть, проходячи через всі гвинти, так як ви зафіксували кронштейни на їхніх власних місцях (Вони мають направляючий елемент, як показано на рисунку 11, щоб переконатися, що вони на місці), і трохи підтягніть всі нейлонові гайки.
- Потім ви зможете підключити роз'єми живлення XT30 до плати живлення.
- Пам'ятайте, що дроти сигналу повинні бути проведені через верхню пластину так, що ми зможемо пізніше їх підключити до Pixhawk.
+  Прошу звернути увагу, що номери моторів на кронштейнах відповідають тим, що згадані на верхній платі.
+  На щастя, мотори встановлені, а ESCs були з'єднані заздалегідь.
+  Почніть, проходячи через всі гвинти, так як ви зафіксували кронштейни на їхніх власних місцях (Вони мають направляючий елемент, як показано на рисунку 11, щоб переконатися, що вони на місці), і трохи підтягніть всі нейлонові гайки.
+  Потім ви зможете підключити роз'єми живлення XT30 до плати живлення.
+  Пам'ятайте, що дроти сигналу повинні бути проведені через верхню пластину так, що ми зможемо пізніше їх підключити до Pixhawk.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">

- _Figure 10_: Connecting arms needed materials.
+  _Figure 10_: Connecting arms needed materials.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">

- _Figure 11_: Guide for the arms mount
+  _Figure 11_: Guide for the arms mount

 5. Для затягування всіх 16 гвинтів і гайок використовуйте як шестигранний ключ, так і гайковий ключ.

- ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)
+  ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)

- _Figure 12_: Mounted top plate
+  _Figure 12_: Mounted top plate

 6. Наступним кроком ви можете закріпити свій pixhawk на верхній плиті, використовуючи наклейки.
- Рекомендується мати напрямок стрілки вашого Pixhawk таким же, як зазначено на верхній плиті.
+  Рекомендується мати напрямок стрілки вашого Pixhawk таким же, як зазначено на верхній плиті.

- ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)
+  ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)

- _Figure 13_: Sticker tapes on Pixhawk
+  _Figure 13_: Sticker tapes on Pixhawk

 7. Якщо ви хочете встановити GPS на плату компаньйона-комп'ютера, тепер ви можете закріпити кріплення GPS на ній за допомогою 4 гвинтів і гайок.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">

- _Figure 14_: Secure GPS mount onto companion plate
+  _Figure 14_: Secure GPS mount onto companion plate

 8. За допомогою скотча приклейте GPS до верхньої частини GPS-щогли і встановіть її на щоглу.
- Переконайтеся, що стрілка на gps вказує вперед (зображення 15).
+  Переконайтеся, що стрілка на gps вказує вперед (зображення 15).

- <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
+  <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">

- _Figure 15_: GPS and mast
+  _Figure 15_: GPS and mast

 9. Наразі ви можете підключити інтерфейси Pixhawk, такі як телеметрійне радіо до 'TELEM1' та відповідно кабелі сигналів для моторів.

@@ -204,14 +204,14 @@ _QGroundControl_ is used to install the PX4 autopilot and configure/tune it for

 - [Airframe](../config/airframe.md)

- You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
+  You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)

- ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
+  ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)

 - [Actuators](../config/actuators.md)
- - Вам не потрібно оновлювати геометрію транспортного засобу (оскільки це попередньо налаштована конструкція повітряного каркасу).
- - Призначте функції приводу до актуаторів, щоб відповідати вашому підключенню.
- - Перевірте конфігурацію, використовуючи слайдери.
+  - Вам не потрібно оновлювати геометрію транспортного засобу (оскільки це попередньо налаштована конструкція повітряного каркасу).
+  - Призначте функції приводу до актуаторів, щоб відповідати вашому підключенню.
+  - Перевірте конфігурацію, використовуючи слайдери.

 Потім виконайте обов'язкове налаштування / калібрування:

@@ -20,12 +20,12 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
 - Видалення V-хвоста або варіанти звичайного хвоста включені
 - Різьбові вставки в крилах та верхній частині фюзеляжу для зовнішнього монтажу
 - Чимало кріплень-ознак
- - Отвір для верхньої антени
- - Верхнє покриття GPS
- - Кріплення антени біля гільзи "T"
- - Задній електронний лоток
- - Виріз "екшн камери" на передній панелі
- - Виріз для камери FPV спереду
+  - Отвір для верхньої антени
+  - Верхнє покриття GPS
+  - Кріплення антени біля гільзи "T"
+  - Задній електронний лоток
+  - Виріз "екшн камери" на передній панелі
+  - Виріз для камери FPV спереду
 - Знімні крила
 - Низька швидкість стійки
 - Лагідна обробка
@@ -69,10 +69,10 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
 - [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)

 - [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- - Монтаж платформи ARK6X
- - Кріплення для каркасу Holybro Pixhawk 5x
- - FPV модуль та кріплення камери
- - Адаптер "заглушка" статичного зонда Піто
+  - Монтаж платформи ARK6X
+  - Кріплення для каркасу Holybro Pixhawk 5x
+  - FPV модуль та кріплення камери
+  - Адаптер "заглушка" статичного зонда Піто

 - [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)

@@ -425,15 +425,15 @@ With the propellers removed, power the airplane up and use the [Actuator](../con
 Я рекомендую перевірити наступні елементи:

 - Калібрування датчиків (QGC)
- - Калібрування магнітів
- - Калібрування акселерометра
- - Калібрування швидкості повітря
- - Калібрування рівня горизонту
+  - Калібрування магнітів
+  - Калібрування акселерометра
+  - Калібрування швидкості повітря
+  - Калібрування рівня горизонту
 - Перевірка контролю над відхиленням поверхні
 - Right stick -> Right aileron goes up, left aileron goes down
 - Left stick -> Left aileron goes up, right aileron goes down
 - Stick back -> elevator goes up
- -Stick forward -> elevator goes down
+  -Stick forward -> elevator goes down
 - Left rudder -> Rudder goes left
 - Right rudder -> Rudder goes right
 - Check Px4 inputs (in `stabilized mode`)
@@ -98,11 +98,11 @@ The mapping between flight controller outputs and specific controls/motors depen
 Assembly information is covered in several sections:

 - [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md).
- Контролери польоту, для яких у нас немає посібників, зазвичай налаштовуються таким же чином (і майже завжди містять схожі посібники з налаштуванням).
+  Контролери польоту, для яких у нас немає посібників, зазвичай налаштовуються таким же чином (і майже завжди містять схожі посібники з налаштуванням).
 - [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md).
 - [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration:
- - Виберіть конфігурацію для вашого транспортного засобу, якщо вона існує, оскільки вона буде достатньо попередньо налаштована для польоту (можливо, потребує тільки дрібного налаштування).
- - В іншому випадку виберіть "Загальну конструкцію", яка відповідає вашому транспортному засобу.
+  - Виберіть конфігурацію для вашого транспортного засобу, якщо вона існує, оскільки вона буде достатньо попередньо налаштована для польоту (можливо, потребує тільки дрібного налаштування).
+  - В іншому випадку виберіть "Загальну конструкцію", яка відповідає вашому транспортному засобу.

 In addition, build logs showing how others have set up different types of vehicles are provided as sub topics.
 For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md).
@@ -29,151 +29,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too

 2. Create a new C file in that directory named **px4_simple_app.c**:

- - Скопіюйте заголовок за замовчуванням у верхній частині сторінки.
-  Це повинно бути присутнім у всіх розміщених файлах!
+  - Скопіюйте заголовок за замовчуванням у верхній частині сторінки.
+    Це повинно бути присутнім у всіх розміщених файлах!

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

- - Скопіюйте наступний код під заголовком за замовчуванням.
-  Це повинно бути присутнім у всіх розміщених файлах!
+  - Скопіюйте наступний код під заголовком за замовчуванням.
+    Це повинно бути присутнім у всіх розміщених файлах!

-  ```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**.
- Скопіюйте текст нижче:
+  Скопіюйте текст нижче:

- ```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)).
- Скопіюйте текст нижче:
+  Скопіюйте текст нижче:

- ```
- 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
+  ```

 ## Побудуйте Програму/прошивку

@@ -347,7 +347,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
 Additionally, to enable the module:

 - Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
- to true and adjust the other `ICE_` module parameters according to your needs.
+  to true and adjust the other `ICE_` module parameters according to your needs.
 - Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.

 The module outputs control signals for ignition, throttle, and choke,
@@ -367,8 +367,8 @@ The state machine:

 - Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
 - Allows for user inputs from:
- - AUX{N}
- - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
+  - AUX{N}
+  - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)

 The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).

@@ -484,7 +484,7 @@ The normal log is always a superset of the mission log.
 The implementation uses two threads:

 - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
- data updates
+  data updates
 - The writer thread, writing data to the file

 In between there is a write buffer with configurable size (and another fixed-size buffer for
@@ -688,9 +688,9 @@ There are 2 environment variables used for configuration: `replay`, which must b
 the log file to be replayed. The second is the mode, specified via `replay_mode`:

 - `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
- to run as fast as possible.
+  to run as fast as possible.
 - Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
- log was recorded.
+  log was recorded.

 The module is typically used together with uORB publisher rules, to specify which messages should be replayed.
 The replay module will just publish all messages that are found in the log. It also applies the parameters from
@@ -842,12 +842,12 @@ it into a more usable form, and publishes it for the rest of the system.
 The provided functionality includes:

 - Read the output from the sensor drivers (`SensorGyro`, etc.).
- If there are multiple of the same type, do voting and failover handling.
- Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
- topics is `SensorCombined`, used by many parts of the system.
+  If there are multiple of the same type, do voting and failover handling.
+  Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
+  topics is `SensorCombined`, used by many parts of the system.
 - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
- on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
- sensor drivers must already be running when `sensors` is started.
+  on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
+  sensor drivers must already be running when `sensors` is started.
 - Do sensor consistency checks and publish the `SensorsStatusImu` topic.

 ### Імплементація
@@ -25,37 +25,37 @@ Other examples in Python can be found here: [integrationtests/python_src/px4_it/

 1. Open the terminal and go to `~/catkin_ws/src` directory

- ```sh
- roscd  # Should cd into ~/catkin_ws/devel
- cd ..
- cd src
- ```
+   ```sh
+   roscd  # Should cd into ~/catkin_ws/devel
+   cd ..
+   cd src
+   ```

 2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency:

- ```sh
- catkin_create_pkg offboard_py rospy
- ```
+   ```sh
+   catkin_create_pkg offboard_py rospy
+   ```

 3. Build the new package in the `~/catkin_ws/` directory:

- ```sh
- cd .. # Assuming previous directory to be ~/catkin_ws/src
- catkin build
- source devel/setup.bash
- ```
+   ```sh
+   cd .. # Assuming previous directory to be ~/catkin_ws/src
+   catkin build
+   source devel/setup.bash
+   ```

 4. Тепер ви можете мати можливість перейти до пакета, використовуючи:

- ```sh
- ```
+   ```sh
+   ```

 5. To store your Python files, create a new folder called `/scripts` on the package:

- ```sh
- mkdir scripts
- cd scripts
- ```
+   ```sh
+   mkdir scripts
+   cd scripts
+   ```

 ## Код

@@ -37,63 +37,63 @@ This is needed because, by default, you cannot arm a vehicle without a connectio

 2. Створіть новий каталог робочого простору colcon і перейдіть до нього за допомогою:

- ```sh
- mkdir -p ~/ws_offboard_control/src/
- cd ~/ws_offboard_control/src/
- ```
+   ```sh
+   mkdir -p ~/ws_offboard_control/src/
+   cd ~/ws_offboard_control/src/
+   ```

 3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):

- ```sh
- git clone https://github.com/PX4/px4_msgs.git
- # checkout the matching release branch if not using PX4 main.
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_msgs.git
+   # checkout the matching release branch if not using PX4 main.
+   ```

 4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:

- ```sh
- git clone https://github.com/PX4/px4_ros_com.git
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_ros_com.git
+   ```

 5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:

- :::: tabs
+   :::: tabs

- ::: tab humble
+   ::: tab humble

- ```sh
- cd ..
- source /opt/ros/humble/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/humble/setup.bash
+   colcon build
+   ```


 :::

- ::: tab foxy
+   ::: tab foxy

- ```sh
- cd ..
- source /opt/ros/foxy/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/foxy/setup.bash
+   colcon build
+   ```


 :::

- ::::
+   ::::

 6. Source the `local_setup.bash`:

- ```sh
- source install/local_setup.bash
- ```
+   ```sh
+   source install/local_setup.bash
+   ```

 7. Запустіть приклад.

- ```
- ros2 run px4_ros_com offboard_control
- ```
+   ```
+   ros2 run px4_ros_com offboard_control
+   ```

 Транспортний засіб повинен озброїтися, піднятися на 5 метрів і потім зачекати (вічно).

@@ -128,21 +128,21 @@ You add some "boilerplate" code to regularly listen for changes in the [uORB Top

 - **px4_platform_common/module_params.h** to get the `DEFINE_PARAMETERS` macro:

- ```cpp
- #include <px4_platform_common/module_params.h>
- ```
+  ```cpp
+  #include <px4_platform_common/module_params.h>
+  ```

 - **parameter_update.h** to access the uORB `parameter_update` message:

- ```cpp
- #include <uORB/topics/parameter_update.h>
- ```
+  ```cpp
+  #include <uORB/topics/parameter_update.h>
+  ```

 - **Subscription.hpp** for the uORB C++ subscription API:

- ```cpp
- #include <uORB/Subscription.hpp>
- ```
+  ```cpp
+  #include <uORB/Subscription.hpp>
+  ```

 Derive your class from `ModuleParams`, and use `DEFINE_PARAMETERS` to specify a list of parameters and their associated parameter attributes.
 参数的名称必须与其参数元数据定义相同。
@@ -194,7 +194,7 @@ void Module::parameters_update()
 - `_parameter_update_sub.updated()` tells us if there is _any_ update to the `param_update` uORB message (but not what parameter is affected).
 - If there has been "some" parameter updated, we copy the update into a `parameter_update_s` (`param_update`), to clear the pending update.
 - Then we call `ModuleParams::updateParams()`.
- This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.
+  This "under the hood" updates all parameter attributes listed in our `DEFINE_PARAMETERS` list.

 The parameter attributes (`_sys_autostart` and `_att_bias_max` in this case) can then be used to represent the parameters, and will be updated whenever the parameter value changes.

@@ -267,12 +267,12 @@ YAML meta data is intended as a full replacement for the **.c** definitions.
 - An example of YAML definitions being used can be found in the MAVLink parameter definitions: [/src/modules/mavlink/module.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/module.yaml).
 - 通过添加到 cmake 构建系统中注册一个 YAML 文件

- ```cmake
- MODULE_CONFIG
- 	module.yaml
- ```
+  ```cmake
+  MODULE_CONFIG
+  	module.yaml
+  ```

- to the `px4_add_module` section of the `CMakeLists.txt` file of that module.
+  to the `px4_add_module` section of the `CMakeLists.txt` file of that module.

 #### 多实例（模块化）YAML 元数据

@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
 You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

 - External display.
- If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
+  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
 - Ethernet cable
 - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

@@ -45,11 +45,11 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 尺寸

- - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
- - 126 x 80 x 22.9mm (without Jetson and FC Module)
+  - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
+  - 126 x 80 x 22.9mm (without Jetson and FC Module)

 - 重量
- - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)
+  - 190g (with Jetson, Heatsink, Flight Controller, M.2 SSD, M.2 Wi-Fi Module)

 :::

@@ -57,67 +57,67 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - Ethernet Switch powered by the same circuit as the Pixhawk
- - 8-pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - Ethernet Switch powered by the same circuit as the Pixhawk
+  - 8-pin JST-GH
+  - RJ45

 - 2x MIPI CSI Camera Inputs

- - 4 Lanes each
- - 22-Pin Raspberry Pi Cam FFC
+  - 4 Lanes each
+  - 22-Pin Raspberry Pi Cam FFC

 - 2x USB 3.0 Host Port

- - USB A
- - 5A Current Limit
+  - USB A
+  - 5A Current Limit

 - 2x USB 2.0 Host Port

- - 5-Pin JST-GH
- - 0A Current Limit
+  - 5-Pin JST-GH
+  - 0A Current Limit

 - USB 2.0 for Programming/Debugging

- - USB-C
+  - USB-C

 - 2 Key M 2242/2280 for NVMe SSD

- - PCIEx4
+  - PCIEx4

 - 2 Key E 2230 for WiFi/BT

- - PCIEx2
- - USB
- - UART
- - I2S
+  - PCIEx2
+  - USB
+  - UART
+  - I2S

 - Mini HDMI Out

 - 4x GPIO

- - 6-pin JST-GH
+  - 6-pin JST-GH

 - CAN Port

- - Connected to Autopilot's CAN2 (4 Pin JST-GH)
+  - Connected to Autopilot's CAN2 (4 Pin JST-GH)

 - SPI Port

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - I2C Port

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - I2S Port

- - 7-Pin JST-GH
+  - 7-Pin JST-GH

 - 2x UART Port

- - 1 for debug
- - 1 connected to Autopilot's telem2
+  - 1 for debug
+  - 1 connected to Autopilot's telem2

 - Fan Power Port

@@ -129,13 +129,13 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - Pixhawk Autopilot Bus Interface

- - 100 Pin Hirose DF40
- - 50 Pin Hirose DF40
+  - 100 Pin Hirose DF40
+  - 50 Pin Hirose DF40

 - Redundant Digital Power Module Inputs

- - I2C Power Monitor Support
- - 2x 6-Pin Molex CLIK-Mate
+  - I2C Power Monitor Support
+  - 2x 6-Pin Molex CLIK-Mate

 - Power Path Selector

@@ -143,68 +143,68 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]

 - 额定电压

- - Max input voltage: 6V
- - USB 电源输入：4.75~5.25V
+  - Max input voltage: 6V
+  - USB 电源输入：4.75~5.25V

 - Full GPS Plus Safety Switch Port

- - 10-Pin JST-GH
+  - 10-Pin JST-GH

 - Secondary (GPS2) Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x CAN Ports

- - 4-Pin JST-GH
+  - 4-Pin JST-GH

 - 3x Telemetry Ports with Flow Control

- - 2x 6-Pin JST-GH
- - 1 is connected to Jetson's `UART1` Port
+  - 2x 6-Pin JST-GH
+  - 1 is connected to Jetson's `UART1` Port

 - 16 PWM Outputs

- - 2x 10-Pin JST-GH
+  - 2x 10-Pin JST-GH

 - UART4 & I2C Port

- - 6-Pin JST-GH
+  - 6-Pin JST-GH

 - 2x Gigabit Ethernet Port

- - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
- - 8-Pin JST-GH
- - RJ45
+  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
+  - 8-Pin JST-GH
+  - RJ45

 - AD & IO

- - 8-Pin JST-GH
+  - 8-Pin JST-GH

 - USB 2.0

- - USB-C
- - 4-Pin JST-GH
+  - USB-C
+  - 4-Pin JST-GH

 - DSM Input

- - 3-Pin JST-ZH 1.5mm Pitch
+  - 3-Pin JST-ZH 1.5mm Pitch

 - RC In

- - PPM/SBUS
- - 5-Pin JST-GH
+  - PPM/SBUS
+  - 5-Pin JST-GH

 - SPI Port

- - External Sensor Bus (SPI5)
- - 11-Pin JST-GH
+  - External Sensor Bus (SPI5)
+  - 11-Pin JST-GH

 - 2x Debug Port

- - 1 for FMU
- - 1 for IO
- - 10-Pin JST-SH
+  - 1 for FMU
+  - 1 for IO
+  - 10-Pin JST-SH

 :::

@@ -218,7 +218,7 @@ The Jetson has separate input power circuitry from the Pixhawk autopilot:
 - 8V/3A Minimum (Depends on Usage and Peripherals)
 - Voltage Rating: 7-21V (3S-4S)
 - Jetson Baseboard onboard BEC is rated for 7-21V (3S-4S).
- Note that the external UBEC-12A can be used for applications above 4S
+  Note that the external UBEC-12A can be used for applications above 4S

 During development using the following wired power supply is recommended:

@@ -698,7 +698,7 @@ On the following screen, confirm your selected device:

 - Choose `Pre-config` for the OEM Configuration (this will skip Ubuntu first time setup screens after reboot).
 - Choose your preferred username and password (and write them down).
- These will be used as your login credentials to Jetpack.
+  These will be used as your login credentials to Jetpack.
 - Choose `NVMe` as the storage device because the board has separate SSD for storage.

 ![SDK Manager installation storage and OEM config page](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/nvidia_sdkmanager_3.png)
@@ -922,95 +922,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
 Next we modify the Jetson IP address to be on the same network as the Pixhawk:

 1. Make sure `netplan` is installed.
- You can check by running the following command:
+  You can check by running the following command:

- ```sh
- netplan -h
- ```
+  ```sh
+  netplan -h
+  ```

- If not, install it using the commands:
+  If not, install it using the commands:

- ```sh
- sudo apt update
- sudo apt install netplan.io
- ```
+  ```sh
+  sudo apt update
+  sudo apt install netplan.io
+  ```

 2. Check `system_networkd` is running:

- ```sh
- sudo systemctl status systemd-networkd
- ```
+  ```sh
+  sudo systemctl status systemd-networkd
+  ```

- You should see output like below if it is active:
+  You should see output like below if it is active:

- ```sh
- ● systemd-networkd.service - Network Configuration
-      Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
-      Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
- TriggeredBy: ● systemd-networkd.socket
-        Docs: man:systemd-networkd.service(8)
-    Main PID: 2452 (systemd-network)
-      Status: "Processing requests..."
-       Tasks: 1 (limit: 18457)
-      Memory: 2.7M
-         CPU: 157ms
-      CGroup: /system.slice/systemd-networkd.service
-              └─2452 /lib/systemd/systemd-networkd
+  ```sh
+  ● systemd-networkd.service - Network Configuration
+       Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
+       Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
+  TriggeredBy: ● systemd-networkd.socket
+         Docs: man:systemd-networkd.service(8)
+     Main PID: 2452 (systemd-network)
+       Status: "Processing requests..."
+        Tasks: 1 (limit: 18457)
+       Memory: 2.7M
+          CPU: 157ms
+       CGroup: /system.slice/systemd-networkd.service
+               └─2452 /lib/systemd/systemd-networkd

- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
- Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
- Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
- Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
- ```
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
+  Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  ```

- If `system_networkd` is not running, it can be enabled using:
+  If `system_networkd` is not running, it can be enabled using:

- ```sh
- sudo systemctl start systemd-networkd
- sudo systemctl enable systemd-networkd
- ```
+  ```sh
+  sudo systemctl start systemd-networkd
+  sudo systemctl enable systemd-networkd
+  ```

 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).

- The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
- Below we use `nano` to open the file, but you can use your preferred text editor:
+  The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
+  Below we use `nano` to open the file, but you can use your preferred text editor:

- ```sh
- sudo nano /etc/netplan/01-netcfg.yaml
- ```
+  ```sh
+  sudo nano /etc/netplan/01-netcfg.yaml
+  ```

 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:

- ```sh
- network:
-   version: 2
-   renderer: networkd
-   ethernets:
-     eth0:
-       dhcp4: no
-       addresses:
-         - 10.41.10.1/24
-       routes:
-         - to: 0.0.0.0/0
-           via: 10.41.10.254
-       nameservers:
-         addresses:
-           - 10.41.10.254
- ```
+  ```sh
+  network:
+    version: 2
+    renderer: networkd
+    ethernets:
+      eth0:
+        dhcp4: no
+        addresses:
+          - 10.41.10.1/24
+        routes:
+          - to: 0.0.0.0/0
+            via: 10.41.10.254
+        nameservers:
+          addresses:
+            - 10.41.10.254
+  ```

- This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
+  This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .

 5. Apply the changes using the following command:

- ```sh
- sudo netplan apply
- ```
+  ```sh
+  sudo netplan apply
+  ```

 The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
 We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -1221,15 +1221,15 @@ Assuming the client is set up as defined above:

 - (Serial connection) Start the agent on `/dev/ttyTHS1`:

- ```sh
- sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
- ```
+  ```sh
+  sudo MicroXRCEAgent serial --dev /dev/ttyTHS1 -b 921600
+  ```

 - (Ethernet) Start the agent on UDP port `8888`:

- ```sh
- MicroXRCEAgent udp4 -p 8888
- ```
+  ```sh
+  MicroXRCEAgent udp4 -p 8888
+  ```

 If your agent and client are connected and no nodes are running, you should see output similar to this in the Agent terminal:

@@ -71,42 +71,42 @@ Explanations and requirements:
 - `/* EVENT`: This tag indicates that a comment defines metadata for the following event.

 - **event_name**: the event name (`events::ID(event_name)`).
- - must be unique within the whole source code of PX4.
-  As a general convention, prefix it with the module name, or the source file for larger modules.
- - must be a valid variable name, i.e. must not contain spaces, colons, etc.
- - from that name, a 24 bit event ID is derived using a hash function.
-  This means as long as the event name stays the same, so will the ID.
+  - must be unique within the whole source code of PX4.
+    As a general convention, prefix it with the module name, or the source file for larger modules.
+  - must be a valid variable name, i.e. must not contain spaces, colons, etc.
+  - from that name, a 24 bit event ID is derived using a hash function.
+    This means as long as the event name stays the same, so will the ID.

 - **Log Level**:

- - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
-  In order of descending importance these are:
+  - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
+    In order of descending importance these are:

-  ```plain
-  Emergency,
-  Alert,
-  Critical,
-  Error,
-  Warning,
-  Notice,
-  Info,
-  Debug,
-  Disabled,
-  ```
+    ```plain
+    Emergency,
+    Alert,
+    Critical,
+    Error,
+    Warning,
+    Notice,
+    Info,
+    Debug,
+    Disabled,
+    ```

- - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
-  For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
-  There are cases it makes sense to have two different log levels.
-  For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
+  - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
+    For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
+    There are cases it makes sense to have two different log levels.
+    For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.

 - **Event Message**:
- - Single-line, short message of the event.
-  It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
+  - Single-line, short message of the event.
+    It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.

 - **Event Description**:
- - Detailed, optional event description.
- - Can be multiple lines/paragraphs.
- - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
+  - Detailed, optional event description.
+  - Can be multiple lines/paragraphs.
+  - It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)

 #### Arguments and Enums

@@ -125,35 +125,35 @@ Text format for event message description:

 - characters can be escaped with \\

- These have to be escaped: '\\\\', '\\<', '\\{'.
+  These have to be escaped: '\\\\', '\\<', '\\{'.

 - supported tags:

- - Profiles: `<profile name="[!]NAME">CONTENT</profile>`
+  - Profiles: `<profile name="[!]NAME">CONTENT</profile>`

-  `CONTENT` will only be shown if the name matches the configured profile.
-  This can be used for example to hide developer information from end-users.
+    `CONTENT` will only be shown if the name matches the configured profile.
+    This can be used for example to hide developer information from end-users.

- - URLs: `<a [href="URL"]>CONTENT</a>`.
-  If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
+  - URLs: `<a [href="URL"]>CONTENT</a>`.
+    If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)

- - Parameters: `<param>PARAM_NAME</param>`
+  - Parameters: `<param>PARAM_NAME</param>`

- - no nested tags of the same type are allowed
+  - no nested tags of the same type are allowed

 - arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)

- - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
+  - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`

-  UNIT:
+    UNIT:

-  - m: horizontal distance in meters
-  - m_v: vertical distance in meters
-  - m^2: area in m^2
-  - m/s: speed in m/s
-  - C: temperature in degrees celsius
+    - m: horizontal distance in meters
+    - m_v: vertical distance in meters
+    - m^2: area in m^2
+    - m/s: speed in m/s
+    - C: temperature in degrees celsius

- - `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
+  - `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.

 ## 日志

@@ -38,9 +38,9 @@ A frame configuration can define everything about a vehicle, from it's geometry
 When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration:

 - Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions.
- After selecting the airframe you define the actual geometry and then configure outputs.
+  After selecting the airframe you define the actual geometry and then configure outputs.
 - Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions.
- After selecting the airframe you usually still have to configure outputs.
+  After selecting the airframe you usually still have to configure outputs.

 :::

@@ -52,7 +52,7 @@ This ensures that all ESC provide exactly the same output for a given input (ide
 The final step is [Motor Configuration](../config/actuators.md#motor-configuration):

 - [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
- For DShot ESC you can do this through the Acuator Testing UI.
+  For DShot ESC you can do this through the Acuator Testing UI.
 - PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC)

 相关章节：
@@ -123,14 +123,14 @@ Tuning is the final step, carried out only after most other setup and configurat

 - [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).

- ::: info
- Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
- It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
+  ::: info
+  Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
+  It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.

- Manual tuning using these guides are only needed if there is a problem with autotune:
+  Manual tuning using these guides are only needed if there is a problem with autotune:

- - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
- - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
+  - [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
+  - [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.


 :::
@@ -138,7 +138,7 @@ Tuning is the final step, carried out only after most other setup and configurat
 - [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.

 - [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
- - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
+  - [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)

 - [Multicopter Racer Setup](../config_mc/racer_setup.md)

@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
 - [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
 - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
 - Vehicle-Centric Config/Tuning:
- - **Multicopter Config/Tuning**
- - [直升机配置/调参](../config_heli/index.md)
- - [Fixed Wing Config/Tuning](../config_fw/index.md)
- - [VTOL 配置/调参](../config_vtol/index.md)
+  - **Multicopter Config/Tuning**
+  - [直升机配置/调参](../config_heli/index.md)
+  - [Fixed Wing Config/Tuning](../config_fw/index.md)
+  - [VTOL 配置/调参](../config_vtol/index.md)
@@ -26,13 +26,13 @@ The ARF kit can be used with most flight controllers supported by PX4.
 The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:

 - X500V2 Frame Kit
- - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
- - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
- - Landing gear - 16mm & 10mm diameter carbon fiber tubes
- - Platform board - With mounting holes for GPS & popular companion computer
- - Dual 10mm Ø rod x 250 mm long rail mounting system
- - Battery mount with two Battery Straps
- - Hand tools for installation
+  - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
+  - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
+  - Landing gear - 16mm & 10mm diameter carbon fiber tubes
+  - Platform board - With mounting holes for GPS & popular companion computer
+  - Dual 10mm Ø rod x 250 mm long rail mounting system
+  - Battery mount with two Battery Straps
+  - Hand tools for installation
 - Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
 - Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
@@ -93,92 +93,92 @@ Tools are included to do the assembly, however you may need:
 Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)

 1. Start by assembling the payload & battery holder.
- Push the rubbers into grippers (Do not use sharp items to push them in!).
- Next, pass the holders through the holder bars with the battery holder bases as Figure 3.
+  Push the rubbers into grippers (Do not use sharp items to push them in!).
+  Next, pass the holders through the holder bars with the battery holder bases as Figure 3.

- ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)
+  ![Landing Figure 1: Components](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_required_stuff.png)

- _Figure 2_: Payload holder components
+  _Figure 2_: Payload holder components

- ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)
+  ![Landing Figure 2: Assembled](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/payload_holder_assembled.png)

- _Figure 3_: Payload holder assembled
+  _Figure 3_: Payload holder assembled

 2. The next is to go for attaching the bottom plate to the payload holder.

- You will need the parts as shown in Figure 4.
- Then mount the base for power distribution board using nylon nuts as Figure 5.
- Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)
+  You will need the parts as shown in Figure 4.
+  Then mount the base for power distribution board using nylon nuts as Figure 5.
+  Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)

- ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)
+  ![Materials to attach bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/topplate_holder_stuff.png)

- _Figure 4_: Needed Materials
+  _Figure 4_: Needed Materials

- ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)
+  ![PDB mountbase](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/powerboard-mountbase.png)

- _Figure 5_: PDB mount base
+  _Figure 5_: PDB mount base

- ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)
+  ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png)

- _Figure 6_: Mounted pdb with nylon nuts
+  _Figure 6_: Mounted pdb with nylon nuts

- ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)
+  ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png)

- _Figure 7_: Mounted Plate on payload holder
+  _Figure 7_: Mounted Plate on payload holder

 3. Let's gather the stuff needed for mounting landing gear as Figure 8.
- Use the hex screws to join landing gears to the bottom plate.
- You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
- Do not forget to tighten them back again.
+  Use the hex screws to join landing gears to the bottom plate.
+  You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
+  Do not forget to tighten them back again.

- ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)
+  ![Attach Landing Gear Stuff](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/landing_gear_materials.png)

- _Figure 8_: Required parts for landing gear attachment
+  _Figure 8_: Required parts for landing gear attachment

- ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)
+  ![Lanfing great to bottom plate](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/attached_landing_gear.png)

- _Figure 9_: Landing gear attachment to the body
+  _Figure 9_: Landing gear attachment to the body

 4. We will gather all the arms now to mount the top plate.
- Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
- Fortunately, motors are mounted and ESCs have been connected in advance.
- Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
- Then you can connect XT30 power connectors to the power board.
- Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.
+  Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
+  Fortunately, motors are mounted and ESCs have been connected in advance.
+  Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
+  Then you can connect XT30 power connectors to the power board.
+  Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">

- _Figure 10_: Connecting arms needed materials.
+  _Figure 10_: Connecting arms needed materials.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">

- _Figure 11_: Guide for the arms mount
+  _Figure 11_: Guide for the arms mount

 5. Tighten all 16 screws and nuts by using both hex wrench and nut driver.

- ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)
+  ![Top plae mounted](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_top_plate.png)

- _Figure 12_: Mounted top plate
+  _Figure 12_: Mounted top plate

 6. Next you can mount your pixhawk on the top plate by using the stickers.
- It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.
+  It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.

- ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)
+  ![Flight controller mounting stickers](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pixhawk5x_stickertapes.png)

- _Figure 13_: Sticker tapes on Pixhawk
+  _Figure 13_: Sticker tapes on Pixhawk

 7. If you want to mount the GPS on the companion computer plate, you can now secure the GPS mount onto it using 4 screws and nuts.

- <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">
+  <img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">

- _Figure 14_: Secure GPS mount onto companion plate
+  _Figure 14_: Secure GPS mount onto companion plate

 8. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
- Make sure the arrow on the gps is pointing forward (Figure 15).
+  Make sure the arrow on the gps is pointing forward (Figure 15).

- <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
+  <img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">

- _Figure 15_: GPS and mast
+  _Figure 15_: GPS and mast

 9. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.

@@ -204,14 +204,14 @@ First update the firmware, airframe, and actuator mappings:

 - [Airframe](../config/airframe.md)

- You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
+  You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)

- ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
+  ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)

 - [Actuators](../config/actuators.md)
- - You should not need to update the vehicle geometry (as this is a preconfigured airframe).
- - Assign actuator functions to outputs to match your wiring.
- - Test the configuration using the sliders.
+  - You should not need to update the vehicle geometry (as this is a preconfigured airframe).
+  - Assign actuator functions to outputs to match your wiring.
+  - Test the configuration using the sliders.

 Then perform the mandatory setup/calibration:

@@ -20,12 +20,12 @@ Key airframe features:
 - Removable V tail or conventional tail options included
 - Threaded inserts in the wings and fuselage top for external mounting
 - Numerous mounting features
- - Top antenna hole
- - Top GPS cover
- - Side "T" antenna mounts
- - Rear electronics tray
- - Front facing "action cam" cutout
- - Front facing FPV camera cutout
+  - Top antenna hole
+  - Top GPS cover
+  - Side "T" antenna mounts
+  - Rear electronics tray
+  - Front facing "action cam" cutout
+  - Front facing FPV camera cutout
 - Removable wings
 - Low stall speed
 - Gentle handling
@@ -69,10 +69,10 @@ Key build features
 - [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)

 - [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- - ARK6X carrier mount
- - Holybro Pixhawk 5x carrier mount
- - FPV pod and camera mount
- - Pitot static probe "plug" adapter
+  - ARK6X carrier mount
+  - Holybro Pixhawk 5x carrier mount
+  - FPV pod and camera mount
+  - Pitot static probe "plug" adapter

 - [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)

@@ -426,15 +426,15 @@ Prior to the first flight, a comprehensive preflight must be conducted.
 I recommend checking the following items:

 - Sensor calibration (QGC)
- - Mag calibration
- - Accelerometer calibration
- - Airspeed calibration
- - Level horizon calibration
+  - Mag calibration
+  - Accelerometer calibration
+  - Airspeed calibration
+  - Level horizon calibration
 - Check control surface deflection
 - Right stick -> Right aileron goes up, left aileron goes down
 - Left stick -> Left aileron goes up, right aileron goes down
 - Stick back -> elevator goes up
- -Stick forward -> elevator goes down
+  -Stick forward -> elevator goes down
 - Left rudder -> Rudder goes left
 - Right rudder -> Rudder goes right
 - Check Px4 inputs (in `stabilized mode`)
@@ -98,11 +98,11 @@ The mapping between flight controller outputs and specific controls/motors depen
 Assembly information is covered in several sections:

 - [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md).
- Flight controllers for which we do not have guides are usually set up in much the same way (and almost always include similar setup guides).
+  Flight controllers for which we do not have guides are usually set up in much the same way (and almost always include similar setup guides).
 - [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md).
 - [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration:
- - Select the configuration for your vehicle if one exists, as this will have been pre-tuned well enough to fly (may only require fine tuning).
- - Otherwise select a "Generic Airframe" that matches your vehicle.
+  - Select the configuration for your vehicle if one exists, as this will have been pre-tuned well enough to fly (may only require fine tuning).
+  - Otherwise select a "Generic Airframe" that matches your vehicle.

 In addition, build logs showing how others have set up different types of vehicles are provided as sub topics.
 For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md).
@@ -29,151 +29,151 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too

 2. Create a new C file in that directory named **px4_simple_app.c**:

- - Copy in the default header to the top of the page.
-  该注释应出现在所有贡献的文件中！
+  - Copy in the default header to the top of the page.
+    该注释应出现在所有贡献的文件中！

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

- - 将下面的代码复制到头部注释的下方，
-  该注释应出现在所有贡献的文件中！
+  - 将下面的代码复制到头部注释的下方，
+    该注释应出现在所有贡献的文件中！

-  ```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**.
- 复制下面的文本：
+  复制下面的文本：

- ```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)).
- 复制下面的文本：
+  复制下面的文本：

- ```
- 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
+  ```

 ## 编译应用程序/固件

@@ -347,7 +347,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
 Additionally, to enable the module:

 - Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
- to true and adjust the other `ICE_` module parameters according to your needs.
+  to true and adjust the other `ICE_` module parameters according to your needs.
 - Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.

 The module outputs control signals for ignition, throttle, and choke,
@@ -367,8 +367,8 @@ The state machine:

 - Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
 - Allows for user inputs from:
- - AUX{N}
- - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
+  - AUX{N}
+  - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)

 The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).

@@ -484,7 +484,7 @@ The normal log is always a superset of the mission log.
 The implementation uses two threads:

 - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
- data updates
+  data updates
 - The writer thread, writing data to the file

 In between there is a write buffer with configurable size (and another fixed-size buffer for
@@ -688,9 +688,9 @@ There are 2 environment variables used for configuration: `replay`, which must b
 the log file to be replayed. The second is the mode, specified via `replay_mode`:

 - `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
- to run as fast as possible.
+  to run as fast as possible.
 - Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
- log was recorded.
+  log was recorded.

 The module is typically used together with uORB publisher rules, to specify which messages should be replayed.
 The replay module will just publish all messages that are found in the log. It also applies the parameters from
@@ -842,12 +842,12 @@ it into a more usable form, and publishes it for the rest of the system.
 The provided functionality includes:

 - Read the output from the sensor drivers (`SensorGyro`, etc.).
- If there are multiple of the same type, do voting and failover handling.
- Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
- topics is `SensorCombined`, used by many parts of the system.
+  If there are multiple of the same type, do voting and failover handling.
+  Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
+  topics is `SensorCombined`, used by many parts of the system.
 - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
- on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
- sensor drivers must already be running when `sensors` is started.
+  on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
+  sensor drivers must already be running when `sensors` is started.
 - Do sensor consistency checks and publish the `SensorsStatusImu` topic.

 ### 实现
@@ -25,38 +25,38 @@ Other examples in Python can be found here: [integrationtests/python_src/px4_it/

 1. Open the terminal and go to `~/catkin_ws/src` directory

- ```sh
- roscd  # Should cd into ~/catkin_ws/devel
- cd ..
- cd src
- ```
+   ```sh
+   roscd  # Should cd into ~/catkin_ws/devel
+   cd ..
+   cd src
+   ```

 2. In the `~/catkin_ws/src` directory create a new package named `offboard_py` (in this case) with the `rospy` dependency:

- ```sh
- catkin_create_pkg offboard_py rospy
- ```
+   ```sh
+   catkin_create_pkg offboard_py rospy
+   ```

 3. Build the new package in the `~/catkin_ws/` directory:

- ```sh
- cd .. # Assuming previous directory to be ~/catkin_ws/src
- catkin build
- source devel/setup.bash
- ```
+   ```sh
+   cd .. # Assuming previous directory to be ~/catkin_ws/src
+   catkin build
+   source devel/setup.bash
+   ```

 4. 您现在应该能够通过使用以下方法切换至包目录：

- ```sh
- roscd offboard_py
- ```
+   ```sh
+   roscd offboard_py
+   ```

 5. To store your Python files, create a new folder called `/scripts` on the package:

- ```sh
- mkdir scripts
- cd scripts
- ```
+   ```sh
+   mkdir scripts
+   cd scripts
+   ```

 ## 代码

@@ -37,63 +37,63 @@ This is needed because, by default, you cannot arm a vehicle without a connectio

 2. 使用以下方法创建并切换至新的 colcon工作目录：

- ```sh
- mkdir -p ~/ws_offboard_control/src/
- cd ~/ws_offboard_control/src/
- ```
+   ```sh
+   mkdir -p ~/ws_offboard_control/src/
+   cd ~/ws_offboard_control/src/
+   ```

 3. Clone the [px4_msgs](https://github.com/PX4/px4_msgs) repo to the `/src` directory (this repo is needed in every ROS 2 PX4 workspace!):

- ```sh
- git clone https://github.com/PX4/px4_msgs.git
- # checkout the matching release branch if not using PX4 main.
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_msgs.git
+   # checkout the matching release branch if not using PX4 main.
+   ```

 4. Clone the example repository [px4_ros_com](https://github.com/PX4/px4_ros_com) to the `/src` directory:

- ```sh
- git clone https://github.com/PX4/px4_ros_com.git
- ```
+   ```sh
+   git clone https://github.com/PX4/px4_ros_com.git
+   ```

 5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:

- :::: tabs
+   :::: tabs

- ::: tab humble
+   ::: tab humble

- ```sh
- cd ..
- source /opt/ros/humble/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/humble/setup.bash
+   colcon build
+   ```


 :::

- ::: tab foxy
+   ::: tab foxy

- ```sh
- cd ..
- source /opt/ros/foxy/setup.bash
- colcon build
- ```
+   ```sh
+   cd ..
+   source /opt/ros/foxy/setup.bash
+   colcon build
+   ```


 :::

- ::::
+   ::::

 6. Source the `local_setup.bash`:

- ```sh
- source install/local_setup.bash
- ```
+   ```sh
+   source install/local_setup.bash
+   ```

 7. 启动例程。

- ```
- ros2 run px4_ros_com offboard_control
- ```
+   ```
+   ros2 run px4_ros_com offboard_control
+   ```

 飞行器将解锁、起飞至5米并悬停等待（永久）。

@@ -9,6 +9,7 @@ float32 variance_east		# Wind estimate error variance in east / Y direction (m/s

 float32 tas_innov 		# True airspeed innovation
 float32 tas_innov_var 		# True airspeed innovation variance
+float32 tas_innov_integ_test_ratio  # Value > 1 indicates that innovation failure check has triggered

 float32 tas_scale_raw 		# Estimated true airspeed scale factor (not validated)
 float32 tas_scale_raw_var 	# True airspeed scale factor variance
@@ -1,15 +1,16 @@
 # Motor control message
+#
+# Normalised thrust setpoint for up to 12 motors.
+# Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp			# time since system start (microseconds)
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags     # bitset which motors are configured to be reversible
+uint16 reversible_flags # Bitset indicating which motors are configured to be reversible

 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101

 uint8 NUM_CONTROLS = 12
-float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
-                    # -1 maximum negative (if not supported by the output, <0 maps to NaN),
-                    # and NaN maps to disarmed (stop the motors)
+float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
@@ -1,11 +1,12 @@
 # Servo control message
+#
+# Normalised output setpoint for up to 8 servos.
+# Published by the vehicle's allocation and consumed by the actuator output drivers.

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp			# time since system start (microseconds)
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

 uint8 NUM_CONTROLS = 8
-float32[8] control # range: [-1, 1], where 1 means maximum positive position,
-                   # -1 maximum negative,
-                   # and NaN maps to disarmed
+float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
@@ -1,74 +1,79 @@
+# Battery status
+#
+# Battery status information for up to 4 battery instances.
+# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
+# Battery instance information is also logged and streamed in MAVLink telemetry.
+
 uint32 MESSAGE_VERSION = 0
-
-uint64 timestamp				# time since system start (microseconds)
-bool connected					# Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v				# Battery voltage in volts, 0 if unknown
-float32 current_a				# Battery current in amperes, -1 if unknown
-float32 current_average_a			# Battery current average in amperes (for FW average in level flight), -1 if unknown
-float32 discharged_mah				# Discharged amount in mAh, -1 if unknown
-float32 remaining				# From 1 to 0, -1 if unknown
-float32 scale					# Power scaling factor, >= 1, or -1 if unknown
-float32 time_remaining_s			# predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
-float32 temperature				# Temperature of the battery in degrees Celcius, NaN if unknown
-uint8 cell_count				# Number of cells, 0 if unknown
-
-uint8 SOURCE_POWER_MODULE = 0
-uint8 SOURCE_EXTERNAL = 1
-uint8 SOURCE_ESCS = 2
-uint8 source					# Battery source
-uint8 priority					# Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity					# actual capacity of the battery
-uint16 cycle_count				# number of discharge cycles the battery has experienced
-uint16 average_time_to_empty			# predicted remaining battery capacity based on the average rate of discharge in min
-uint16 serial_number				# serial number of the battery pack
-uint16 manufacture_date				# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health				# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
-uint16 max_error				# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
-uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error				# interface error counter
-
-float32[14] voltage_cell_v			# Battery individual cell voltages, 0 if unknown
-float32 max_cell_voltage_delta			# Max difference between individual cell voltages
-
-bool is_powering_off				# Power off event imminent indication, false if unknown
-bool is_required				# Set if the battery is explicitly required before arming
-
-
-uint8 WARNING_NONE = 0			# no battery low voltage warning active
-uint8 WARNING_LOW = 1			# warning of low voltage
-uint8 WARNING_CRITICAL = 2		# critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3		# immediate landing required
-uint8 WARNING_FAILED = 4		# the battery has failed completely
-uint8 STATE_UNHEALTHY = 6 		# Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 STATE_CHARGING = 7 		# Battery is charging
-
-uint8 FAULT_DEEP_DISCHARGE = 0 		# Battery has deep discharged
-uint8 FAULT_SPIKES = 1 			# Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 		# One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 		# Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 	# hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 		# Battery had a problem while arming
-uint8 FAULT_COUNT = 11 			# Counter - keep it as last element!
-
-uint16 faults					# Smart battery supply status/fault flags (bitmask) for health indication.
-uint8 warning					# Current battery warning
-
 uint8 MAX_INSTANCES = 4

-float32 full_charge_capacity_wh     		# The compensated battery capacity
-float32 remaining_capacity_wh       		# The compensated battery capacity remaining
-uint16 over_discharge_count         		# Number of battery overdischarge
-float32 nominal_voltage             		# Nominal voltage of the battery pack
+uint64 timestamp # [us] Time since system start
+bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v # [V] [@invalid 0] Battery voltage
+float32 current_a # [A] [@invalid -1] Battery current
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature # [°C] [@invalid NaN] Temperature of the battery
+uint8 cell_count # [@invalid 0] Number of cells

-float32 internal_resistance_estimate            # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate                            # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered			# [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate			# [0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction			# [V] Predicted voltage
-float32 prediction_error                        # [V] Prediction error
-float32 estimation_covariance_norm		# Norm of the covariance matrix
+
+uint8 source # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0 # Power module
+uint8 SOURCE_EXTERNAL = 1 # External
+uint8 SOURCE_ESCS = 2 # ESCs
+
+uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 serial_number # Serial number of the battery pack
+uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error # Interface error counter
+
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta # Max difference between individual cell voltages
+
+bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_required # Set if the battery is explicitly required before arming
+
+uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7 # Battery is charging
+
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+
+float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count # Number of battery overdischarge
+float32 nominal_voltage # [V] Nominal voltage of the battery pack
+
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction # [V] Predicted voltage
+float32 prediction_error # [V] Prediction error
+float32 estimation_covariance_norm # Norm of the covariance matrix
@@ -89,6 +89,7 @@ uint8 HIL_STATE_ON = 1

 # Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
 uint8 vehicle_type
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
 uint8 VEHICLE_TYPE_ROTARY_WING = 1
 uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -31,27 +31,21 @@
 *
 ****************************************************************************/

-/* Include Files */
 #include "AFBRS50.hpp"
-#include "argus_hal_test.h"
+#include "s2pi.h"

 #include <lib/drivers/device/Device.hpp>
-
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>

-/*! Define the SPI baud rate (to be used in the SPI module). */
-#define SPI_BAUD_RATE 5000000
-
-#include "s2pi.h"
-#include "timer.h"
-#include "argus_hal_test.h"
+using namespace time_literals;

 AFBRS50 *g_dev{nullptr};

 AFBRS50::AFBRS50(uint8_t device_orientation):
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	// ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::SPI6),
 	_px4_rangefinder(0, device_orientation)
 {
 	device::Device::DeviceId device_id{};
@@ -65,278 +59,263 @@ AFBRS50::AFBRS50(uint8_t device_orientation):

 AFBRS50::~AFBRS50()
 {
-	stop();
+	ScheduleClear();
+
+	Argus_StopMeasurementTimer(_hnd);
+	Argus_Deinit(_hnd);
+	Argus_DestroyHandle(_hnd);

 	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_not_ready_perf);
 }

-status_t AFBRS50::measurement_ready_callback(status_t status, argus_hnd_t *hnd)
+status_t AFBRS50::measurementReadyCallback(status_t status, argus_hnd_t *hnd)
 {
-	if (!up_interrupt_context()) {
-		if (status == STATUS_OK) {
-			if (g_dev) {
-				g_dev->ProcessMeasurement(hnd);
-			}
+	// Called from the SPI comms thread context

-		} else {
-			PX4_ERR("Measurement Ready Callback received error!: %i", (int)status);
-		}
+	if (up_interrupt_context()) {
+		// We cannot be in interrupt context
+		g_dev->recordCommsError();
+		return ERROR_FAIL;
 	}

+	if ((g_dev == nullptr) || (status != STATUS_OK)) {
+		g_dev->recordCommsError();
+		return ERROR_FAIL;
+	}
+
+	g_dev->scheduleCollect();
+
 	return status;
 }

-void AFBRS50::ProcessMeasurement(argus_hnd_t *hnd)
+void AFBRS50::scheduleCollect()
+{
+	_state = STATE::COLLECT;
+	ScheduleNow();
+}
+
+void AFBRS50::recordCommsError()
+{
+	perf_count(_comms_errors);
+}
+
+void AFBRS50::processMeasurement()
 {
 	perf_count(_sample_perf);

 	argus_results_t res{};
-	status_t evaluate_status = Argus_EvaluateData(hnd, &res);
+	status_t evaluate_status = Argus_EvaluateData(_hnd, &res);

-	if ((evaluate_status == STATUS_OK) && (res.Status == STATUS_OK)) {
-		uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
-		float result_m = static_cast<float>(result_mm) / 1000.f;
-		int8_t quality = res.Bin.SignalQuality;
-
-		// Signal quality indicates 100% for good signals, 50% and lower for weak signals.
-		// 1% is an errored signal (not reliable). Signal Quality of 0% is unknown.
-		if (quality == 1) {
-			quality = 0;
-		}
-
-		// distance quality check
-		if (result_m > _max_distance) {
-			result_m = 0.0;
-			quality = 0;
-		}
-
-		_current_distance = result_m;
-		_current_quality = quality;
-		_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m, quality);
+	if ((evaluate_status != STATUS_OK) || (res.Status != STATUS_OK)) {
+		perf_count(_comms_errors);
+		return;
 	}
+
+	uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
+	float distance = static_cast<float>(result_mm) / 1000.f;
+	int8_t quality = res.Bin.SignalQuality;
+
+	// Signal quality indicates 100% for good signals, 50% and lower for weak signals.
+	// 1% is an errored signal (not reliable). Signal Quality of 0% is unknown.
+	if (quality == 1) {
+		quality = 0;
+	}
+
+	// TODO: I don't think we need this..
+	if (distance > _max_distance) {
+		distance = 0.0;
+		quality = 0;
+	}
+
+	_current_distance = distance;
+	_current_quality = quality;
+	_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), distance, quality);
 }

 int AFBRS50::init()
 {
-	// Retry initialization 3 times
-	for (int32_t i = 0; i < 3; i++) {
-		if (_hnd != nullptr) {
-			// retry
-			Argus_Deinit(_hnd);
-			Argus_DestroyHandle(_hnd);
-			_hnd = nullptr;
-		}
-
-		_hnd = Argus_CreateHandle();
-
-		if (_hnd == nullptr) {
-			PX4_ERR("Handle not initialized");
-			return PX4_ERROR;
-		}
-
-		// Initialize the S2PI hardware required by the API.
-		S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
-
-		int32_t mode_param = _p_sens_afbr_mode.get();
-
-		if (mode_param < 0 || mode_param > 3) {
-			PX4_ERR("Invalid mode parameter: %li", mode_param);
-			return PX4_ERROR;
-		}
-
-		argus_mode_t mode = ARGUS_MODE_SHORT_RANGE;
-
-		switch (mode_param) {
-		case 0:
-			mode = ARGUS_MODE_SHORT_RANGE;
-			break;
-
-		case 1:
-			mode = ARGUS_MODE_LONG_RANGE;
-			break;
-
-		case 2:
-			mode = ARGUS_MODE_HIGH_SPEED_SHORT_RANGE;
-			break;
-
-		case 3:
-			mode = ARGUS_MODE_HIGH_SPEED_LONG_RANGE;
-			break;
-
-		default:
-			break;
-		}
-
-		status_t status = Argus_InitMode(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS, mode);
-
-		if (status == STATUS_OK) {
-			uint32_t id = Argus_GetChipID(_hnd);
-			uint32_t value = Argus_GetAPIVersion();
-			uint8_t a = (value >> 24) & 0xFFU;
-			uint8_t b = (value >> 16) & 0xFFU;
-			uint8_t c = value & 0xFFFFU;
-			PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c);
-
-			argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
-
-			switch (mv) {
-			case AFBR_S50MV85G_V1:
-
-			// FALLTHROUGH
-			case AFBR_S50MV85G_V2:
-
-			// FALLTHROUGH
-			case AFBR_S50MV85G_V3:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50MV85G\n");
-				break;
-
-			case AFBR_S50LV85D_V1:
-				_min_distance = 0.0f;
-				_max_distance = 30.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50LV85D\n");
-				break;
-
-			case AFBR_S50LX85D_V1:
-				_min_distance = 0.0f;
-				_max_distance = 50.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50LX85D\n");
-				break;
-
-			case AFBR_S50MV68B_V1:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(1.f));
-				PX4_INFO_RAW("AFBR-S50MV68B (v1)\n");
-				break;
-
-			case AFBR_S50MV85I_V1:
-				_min_distance = 0.0f;
-				_max_distance = 5.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50MV85I (v1)\n");
-				break;
-
-			case AFBR_S50SV85K_V1:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(4.f));
-				PX4_INFO_RAW("AFBR-S50SV85K (v1)\n");
-				break;
-
-			default:
-				break;
-			}
-
-			if (_testing) {
-				_state = STATE::TEST;
-
-			} else {
-				_state = STATE::CONFIGURE;
-			}
-
-			ScheduleDelayed(_measure_interval);
-			return PX4_OK;
-
-		} else {
-			PX4_ERR("Argus_InitMode failed: %ld", status);
-		}
+	if (hrt_absolute_time() < 1_ms) {
+		PX4_WARN("Power-up time requires at least 1ms!");
 	}

-	return PX4_ERROR;
-}
-
-void AFBRS50::Run()
-{
-	if (_parameter_update_sub.updated()) {
-		// clear update
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
-
-		// update parameters from storage
-		ModuleParams::updateParams();
+	if (_hnd != nullptr) {
+		Argus_Deinit(_hnd);
+		Argus_DestroyHandle(_hnd);
+		_hnd = nullptr;
 	}

-	switch (_state) {
-	case STATE::TEST: {
-			if (_testing) {
-				Argus_VerifyHALImplementation(Argus_GetSPISlave(_hnd));
-				_testing = false;
+	_hnd = Argus_CreateHandle();

-			} else {
-				_state = STATE::CONFIGURE;
-			}
-		}
+	if (_hnd == nullptr) {
+		PX4_ERR("Handle not initialized");
+		return PX4_ERROR;
+	}
+
+	// Initialize the S2PI hardware required by the API.
+	static constexpr uint32_t SPI_BAUD_RATE = 5000000;
+	S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
+
+	// Initialize device with initial mode
+	status_t status = Argus_InitMode(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS, argusModeFromParameter());
+
+	if (status != STATUS_OK) {
+		PX4_ERR("Argus_InitMode failed: %ld", status);
+		return PX4_ERROR;
+	}
+
+	uint32_t id = Argus_GetChipID(_hnd);
+	uint32_t value = Argus_GetAPIVersion();
+	uint8_t a = (value >> 24) & 0xFFU;
+	uint8_t b = (value >> 16) & 0xFFU;
+	uint8_t c = value & 0xFFFFU;
+	PX4_INFO("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d", (uint)id, (uint)value, a, b, c);
+
+	char module_string[20] = {};
+	argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
+
+	float min_distance = 0.f;
+	float max_distance = 30.f;
+	float fov_degrees = 6.f;
+
+	switch (mv) {
+	case AFBR_S50MV85G_V1:
+	case AFBR_S50MV85G_V2:
+	case AFBR_S50MV85G_V3:
+		max_distance = 10.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV85G");
 		break;

-	case STATE::CONFIGURE: {
-			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
-			status_t status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF);
-
-			if (status != STATUS_OK) {
-				PX4_ERR("CONFIGURE status not okay: %i", (int)status);
-				_state = STATE::STOP;
-				ScheduleNow();
-			}
-
-			status = Argus_SetConfigurationSmartPowerSaveEnabled(_hnd, false);
-
-			if (status != STATUS_OK) {
-				PX4_ERR("Argus_SetConfigurationSmartPowerSaveEnabled status not okay: %i", (int)status);
-				ScheduleNow();
-
-			} else {
-				_state = STATE::COLLECT;
-				ScheduleDelayed(_measure_interval);
-			}
-		}
+	case AFBR_S50LV85D_V1:
+		max_distance = 30.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50LV85D");
 		break;

-	case STATE::COLLECT: {
-			// Only start a new measurement if one is not ongoing
-			if (Argus_GetStatus(_hnd) == STATUS_IDLE) {
-				status_t status = Argus_TriggerMeasurement(_hnd, measurement_ready_callback);
-
-				if (status != STATUS_OK) {
-					PX4_ERR("Argus_TriggerMeasurement status not okay: %i", (int)status);
-				}
-			}
-
-			Evaluate_rate();
-		}
+	case AFBR_S50LX85D_V1:
+		max_distance = 50.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50LX85D");
 		break;

-	case STATE::STOP: {
-			Argus_StopMeasurementTimer(_hnd);
-			Argus_Deinit(_hnd);
-			Argus_DestroyHandle(_hnd);
-		}
+	case AFBR_S50MV68B_V1:
+		max_distance = 10.f;
+		fov_degrees = 1.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV68B");
+		break;
+
+	case AFBR_S50MV85I_V1:
+		max_distance = 5.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV85I");
+		break;
+
+	case AFBR_S50SV85K_V1:
+		max_distance = 10.f;
+		fov_degrees = 4.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50SV85K");
 		break;

 	default:
 		break;
 	}

-	ScheduleDelayed(_measure_interval);
+	PX4_INFO("Module: %s", module_string);
+	_max_distance = max_distance;
+	_px4_rangefinder.set_min_distance(min_distance);
+	_px4_rangefinder.set_max_distance(max_distance);
+	_px4_rangefinder.set_fov(math::radians(fov_degrees));
+
+	_state = STATE::CONFIGURE;
+	// Initialization Time is 300ms
+	ScheduleDelayed(350_ms);
+	return PX4_OK;
 }

-void AFBRS50::Evaluate_rate()
+void AFBRS50::Run()
+{
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		ModuleParams::updateParams();
+	}
+
+	switch (_state) {
+	case STATE::CONFIGURE: {
+			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
+			status_t status = setRateAndDfm(_current_rate, DFM_MODE_OFF);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("CONFIGURE status not okay: %i", (int)status);
+				ScheduleDelayed(350_ms);
+				return;
+			}
+
+			status = Argus_SetConfigurationSmartPowerSaveEnabled(_hnd, false);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("Argus_SetConfigurationSmartPowerSaveEnabled status not okay: %i", (int)status);
+				// TODO: delay?
+				ScheduleNow();
+				return;
+			}
+
+			// Enable interrupt on falling edge
+			px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_IRQ);
+			_state = STATE::TRIGGER;
+			// TODO: delay after configure?
+			ScheduleNow();
+			// ScheduleDelayed(50_ms);
+		}
+		break;
+
+	case STATE::TRIGGER: {
+			if (Argus_GetStatus(_hnd) != STATUS_IDLE) {
+				perf_count(_not_ready_perf);
+				ScheduleDelayed(10_ms);
+				return;
+			}
+
+			// Trigger continuous measurement mode. An hrt_call_after will trigger
+			// measurements periodically -- see API/Src/timer.c
+			status_t status = Argus_StartMeasurementTimer(_hnd, measurementReadyCallback);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("Argus_TriggerMeasurement status not okay: %i", (int)status);
+				perf_count(_not_ready_perf);
+				ScheduleDelayed(50_ms);
+			}
+		}
+		break;
+
+	case STATE::COLLECT: {
+			processMeasurement();
+
+			// Change measurement rate and mode based on range
+			updateMeasurementRateFromRange();
+
+			// Rechedule watchdog, push back by 2x measurement rate
+			_state = STATE::WATCHDOG;
+			ScheduleDelayed(_measurement_inverval * 2);
+		}
+		break;
+
+	case STATE::WATCHDOG: {
+			PX4_WARN("watchdog triggered, rescheduling");
+			_state = STATE::TRIGGER;
+			// When this occurs the device locks up for ~160ms
+			ScheduleDelayed(160_ms);
+		}
+		break;
+
+	default:
+		break;
+	}
+}
+
+void AFBRS50::updateMeasurementRateFromRange()
 {
 	// only update mode if _current_distance is a valid measurement and if the last rate switch was more than 1 second ago
 	if ((_current_distance > 0) && (_current_quality > 0) && ((hrt_absolute_time() - _last_rate_switch) > 1_s)) {
@@ -347,7 +326,7 @@ void AFBRS50::Evaluate_rate()
 		    && (_current_rate != (uint32_t)_p_sens_afbr_l_rate.get())) {

 			_current_rate = (uint32_t)_p_sens_afbr_l_rate.get();
-			status = set_rate_and_dfm(_current_rate, DFM_MODE_8X);
+			status = setRateAndDfm(_current_rate, DFM_MODE_8X);

 			if (status != STATUS_OK) {
 				PX4_ERR("set_rate status not okay: %i", (int)status);
@@ -361,7 +340,7 @@ void AFBRS50::Evaluate_rate()
 			   && (_current_rate != (uint32_t)_p_sens_afbr_s_rate.get())) {

 			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
-			status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF);
+			status = setRateAndDfm(_current_rate, DFM_MODE_OFF);

 			if (status != STATUS_OK) {
 				PX4_ERR("set_rate status not okay: %i", (int)status);
@@ -374,28 +353,7 @@ void AFBRS50::Evaluate_rate()
 	}
 }

-void AFBRS50::stop()
-{
-	_state = STATE::STOP;
-	ScheduleNow();
-}
-
-int AFBRS50::test()
-{
-	_testing = true;
-
-	init();
-
-	return PX4_OK;
-}
-
-void AFBRS50::print_info()
-{
-	perf_print_counter(_sample_perf);
-	get_info();
-}
-
-status_t AFBRS50::set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
+status_t AFBRS50::setRateAndDfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
 {
 	while (Argus_GetStatus(_hnd) != STATUS_IDLE) {
 		px4_usleep(1_ms);
@@ -423,20 +381,53 @@ status_t AFBRS50::set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
 		return status;

 	} else {
-		_measure_interval = current_rate;
+		_measurement_inverval = current_rate;
 	}

 	return status;
 }

-void AFBRS50::get_info()
+argus_mode_t AFBRS50::argusModeFromParameter()
 {
-	argus_dfm_mode_t dfm_mode;
-	Argus_GetConfigurationDFMMode(_hnd, &dfm_mode);
+	int32_t mode_param = _p_sens_afbr_mode.get();
+	argus_mode_t mode = ARGUS_MODE_SHORT_RANGE;

+	if (mode_param < 0 || mode_param > 3) {
+		PX4_ERR("Invalid mode parameter: %li", mode_param);
+		return mode;
+	}
+
+	switch (mode_param) {
+	case 0:
+		mode = ARGUS_MODE_SHORT_RANGE;
+		break;
+
+	case 1:
+		mode = ARGUS_MODE_LONG_RANGE;
+		break;
+
+	case 2:
+		mode = ARGUS_MODE_HIGH_SPEED_SHORT_RANGE;
+		break;
+
+	case 3:
+		mode = ARGUS_MODE_HIGH_SPEED_LONG_RANGE;
+		break;
+
+	default:
+		break;
+	}
+
+	return mode;
+}
+
+void AFBRS50::printInfo()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_not_ready_perf);
 	PX4_INFO_RAW("distance: %.3fm\n", (double)_current_distance);
-	PX4_INFO_RAW("dfm mode: %d\n", dfm_mode);
-	PX4_INFO_RAW("rate: %u Hz\n", (uint)(1000000 / _measure_interval));
+	PX4_INFO_RAW("rate: %u Hz\n", (uint)(1000000 / _measurement_inverval));
 }

 namespace afbrs50
@@ -456,7 +447,6 @@ static int start(const uint8_t rotation)
 		return PX4_ERROR;
 	}

-	// Initialize the sensor.
 	if (g_dev->init() != PX4_OK) {
 		PX4_ERR("driver start failed");
 		delete g_dev;
@@ -474,7 +464,7 @@ static int status()
 		return PX4_ERROR;
 	}

-	g_dev->print_info();
+	g_dev->printInfo();

 	return PX4_OK;
 }
@@ -495,30 +485,6 @@ static int stop()
 	return PX4_OK;
 }

-static int test(const uint8_t rotation)
-{
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
-
-	g_dev = new AFBRS50(rotation);
-
-	if (g_dev == nullptr) {
-		PX4_ERR("object instantiate failed");
-		return PX4_ERROR;
-	}
-
-	if (g_dev->test() != PX4_OK) {
-		PX4_ERR("driver test failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
 static int usage()
 {
 	PRINT_MODULE_DESCRIPTION(
@@ -540,7 +506,6 @@ $ afbrs50 stop
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 25, 0, 25, "Sensor rotation - downward facing by default", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test driver");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
 	return PX4_OK;
 }
@@ -581,9 +546,6 @@ extern "C" __EXPORT int afbrs50_main(int argc, char *argv[])
 	} else if (!strcmp(argv[myoptind], "stop")) {
 		return afbrs50::stop();

-	} else if (!strcmp(argv[myoptind], "test")) {
-		return afbrs50::test(rotation);
-
 	}

 	return afbrs50::usage();
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -31,12 +31,6 @@
 *
 ****************************************************************************/

-/**
- * @file AFBRS50.hpp
- *
- * Driver for the Broadcom AFBR-S50 connected via SPI.
- *
- */
 #pragma once

 #include "argus.h"
@@ -51,8 +45,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>

-using namespace time_literals;
-
 class AFBRS50 : public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -60,63 +52,53 @@ public:
 	~AFBRS50() override;

 	int init();
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void print_info();
-
-	/**50
-	 * Stop the automatic measurement state machine.
-	 */
-	void stop();
-
-	int test();
-
-	bool _testing = false;
+	void printInfo();

 private:
 	void Run() override;

-	void Evaluate_rate();
+	void recordCommsError();
+	void scheduleCollect();
+	void processMeasurement();
+	void updateMeasurementRateFromRange();

-	void ProcessMeasurement(argus_hnd_t *hnd);
+	static status_t measurementReadyCallback(status_t status, argus_hnd_t *hnd);

-	static status_t measurement_ready_callback(status_t status, argus_hnd_t *hnd);
+	status_t setRateAndDfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode);
+	argus_mode_t argusModeFromParameter();

-	void get_info();
-	status_t set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode);
-
-	argus_hnd_t *_hnd{nullptr};
+private:
+	argus_hnd_t *_hnd {nullptr};

 	enum class STATE : uint8_t {
-		TEST,
 		CONFIGURE,
+		TRIGGER,
 		COLLECT,
-		STOP
+		WATCHDOG
 	} _state{STATE::CONFIGURE};

 	PX4Rangefinder _px4_rangefinder;

-	hrt_abstime _measurement_time{0};
 	hrt_abstime _last_rate_switch{0};

-	perf_counter_t _sample_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": sample interval")};
+	perf_counter_t _sample_perf{perf_alloc(PC_COUNT, MODULE_NAME": sample count")};
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": comms error")};
+	perf_counter_t _not_ready_perf{perf_alloc(PC_COUNT, MODULE_NAME": not ready")};

-	uint32_t _measure_interval{1000000 / 50}; // 50Hz
 	float _current_distance{0};
 	int8_t _current_quality{0};
-	float _max_distance;
-	float _min_distance;
+	float _max_distance{30.f};
 	uint32_t _current_rate{0};

 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};

+	uint32_t _measurement_inverval {1000000 / 50}; // 50Hz
+
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::SENS_AFBR_MODE>)   _p_sens_afbr_mode,
-		(ParamInt<px4::params::SENS_AFBR_S_RATE>)  _p_sens_afbr_s_rate,
-		(ParamInt<px4::params::SENS_AFBR_L_RATE>)  _p_sens_afbr_l_rate,
+		(ParamInt<px4::params::SENS_AFBR_S_RATE>) _p_sens_afbr_s_rate,
+		(ParamInt<px4::params::SENS_AFBR_L_RATE>) _p_sens_afbr_l_rate,
 		(ParamInt<px4::params::SENS_AFBR_THRESH>) _p_sens_afbr_thresh,
-		(ParamInt<px4::params::SENS_AFBR_HYSTER>)    _p_sens_afbr_hyster
+		(ParamInt<px4::params::SENS_AFBR_HYSTER>) _p_sens_afbr_hyster
 	);
 };
@@ -14,6 +14,8 @@

 #include <lib/perf/perf_counter.h>

+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
 /*! A structure to hold all internal data required by the S2PI module. */
 typedef struct {
 	/*! Determines the current driver status. */
@@ -52,11 +54,71 @@ s2pi_handle_t s2pi_ = { .GPIOs = { [ S2PI_CLK ]  = BROADCOM_AFBR_S50_S2PI_CLK,
 				 }
 		      };

-static struct work_s broadcom_s2pi_transfer_work = {};
+static perf_counter_t irq_perf = NULL;

-static perf_counter_t s2pi_transfer_perf = NULL;
-static perf_counter_t s2pi_transfer_callback_perf = NULL;
-static perf_counter_t s2pi_irq_callback_perf = NULL;
+class AFBRS50_SPI :  public px4::ScheduledWorkItem
+{
+public:
+	AFBRS50_SPI();
+	void schedule_now();
+	void schedule_clear();
+
+private:
+
+	void Run() override;
+
+};
+
+AFBRS50_SPI::AFBRS50_SPI():
+	// NOTE: we use SPI0 WQ since it is the 2nd highest priority thread (behind rate_ctrl).
+	// TODO: we should fix how SPI comms work. Async SPI comms is
+	// undesirable. We should use SPI TX DMA complete callback
+	// instead of relying on a high priority thread.
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::SPI0)
+{
+	// Anything to do?
+}
+
+void AFBRS50_SPI::Run()
+{
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
+	SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
+
+	//// WARNING!
+	// After the last SPI TX we have ~60us to execute the below
+	// callback otherwise the IRQ will fire and we're screwed.
+	// The proper way to solve this problem is to either fix
+	// the API or to configure SPI TX DMA callback complete
+	// to execute the below callback immediately.
+
+
+	// If we are pre-empted here and the IRQ fires before the
+	// callback has been invoked -- we're screwed.
+
+	IRQ_LOCK();
+	s2pi_.Status = STATUS_IDLE;
+
+	if (s2pi_.Callback != 0) {
+		s2pi_callback_t callback = s2pi_.Callback;
+		s2pi_.Callback = 0;
+		callback(STATUS_OK, s2pi_.CallbackData);
+	}
+
+	IRQ_UNLOCK();
+}
+
+void AFBRS50_SPI::schedule_now()
+{
+	ScheduleNow();
+}
+
+void AFBRS50_SPI::schedule_clear()
+{
+	ScheduleClear();
+}
+
+static AFBRS50_SPI *_spi_iface = nullptr;

 /*!***************************************************************************
 * @brief Initialize the S2PI module.
@@ -71,18 +133,6 @@ static perf_counter_t s2pi_irq_callback_perf = NULL;
 *
 * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
 *****************************************************************************/
-
-static int gpio_falling_edge(int irq, void *context, void *arg)
-{
-	if (s2pi_.IrqCallback != 0) {
-		perf_begin(s2pi_irq_callback_perf);
-		s2pi_.IrqCallback(s2pi_.IrqCallbackData);
-		perf_end(s2pi_irq_callback_perf);
-	}
-
-	return 0;
-}
-
 status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps)
 {
 	(void)defaultSlave;
@@ -91,12 +141,25 @@ status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps)

 	s2pi_.spidev = px4_spibus_initialize(BROADCOM_AFBR_S50_S2PI_SPI_BUS);

-	px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_IRQ);
-	px4_arch_gpiosetevent(BROADCOM_AFBR_S50_S2PI_IRQ, false, true, false, &gpio_falling_edge, NULL);
+	// Falling edge callback
+	auto callback = [](int irq, void *context, void *arg) -> int {
+		if (s2pi_.IrqCallback != 0)
+		{
+			perf_begin(irq_perf);
+			s2pi_.IrqCallback(s2pi_.IrqCallbackData);
+			perf_end(irq_perf);
+		}

-	s2pi_transfer_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer");
-	s2pi_transfer_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer callback");
-	s2pi_irq_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": irq callback");
+		return 0;
+	};
+	// NOTE: we enable the interrupt event here but do not configure the GPIO.
+	// We configure the GPIO and enable the interrupt after the device mode
+	// has been configured. This prevents erroneous interrupts from occuring.
+	px4_arch_gpiosetevent(BROADCOM_AFBR_S50_S2PI_IRQ, false, true, false, callback, NULL);
+
+	irq_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": irq callback");
+
+	_spi_iface = new AFBRS50_SPI();

 	return S2PI_SetBaudRate(baudRate_Bps);
 }
@@ -334,25 +397,6 @@ status_t S2PI_CycleCsPin(s2pi_slave_t slave)
 * was not started.
 *****************************************************************************/

-static void broadcom_s2pi_transfer_callout(void *arg)
-{
-	perf_begin(s2pi_transfer_perf);
-	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
-	SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
-	s2pi_.Status = STATUS_IDLE;
-	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
-	perf_end(s2pi_transfer_perf);
-
-	/* Invoke callback if there is one */
-	if (s2pi_.Callback != 0) {
-		perf_begin(s2pi_transfer_callback_perf);
-		s2pi_callback_t callback = s2pi_.Callback;
-		s2pi_.Callback = 0;
-		callback(STATUS_OK, s2pi_.CallbackData);
-		perf_end(s2pi_transfer_callback_perf);
-	}
-}
-
 status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8_t *rxData, size_t frameSize,
 			    s2pi_callback_t callback, void *callbackData)
 {
@@ -384,7 +428,8 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
 	s2pi_.spi_tx_data = (uint8_t *)txData;
 	s2pi_.spi_rx_data = rxData;
 	s2pi_.spi_frame_size = frameSize;
-	work_queue(HPWORK, &broadcom_s2pi_transfer_work, broadcom_s2pi_transfer_callout, NULL, 0);
+
+	_spi_iface->schedule_now();

 	IRQ_UNLOCK();

@@ -410,7 +455,7 @@ status_t S2PI_Abort(s2pi_slave_t slave)

 	/* Abort SPI transfer. */
 	if (status == STATUS_BUSY) {
-		work_cancel(HPWORK, &broadcom_s2pi_transfer_work);
+		_spi_iface->schedule_clear();
 	}

 	return STATUS_OK;
@@ -47,7 +47,7 @@ px4_add_module(
 		AFBRS50.cpp
 		AFBRS50.hpp
 		API/Src/irq.c
-		API/Src/s2pi.c
+		API/Src/s2pi.cpp
 		API/Src/timer.c
 		argus_hal_test.c
 	DEPENDS
@@ -150,7 +150,7 @@ The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
 Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
 )DESCR_STR");

-	PRINT_MODULE_USAGE_NAME("ll40ls", "driver");
+	PRINT_MODULE_USAGE_NAME("ll40ls_pwm", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
@@ -118,6 +118,7 @@ int Decoder::parse(Header *header) const
 int Decoder::parse(DOP *message) const
 {
 	if (can_parse() && id() == BlockID::DOP) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(DOP));
 		return PX4_OK;
 	}
@@ -128,6 +129,7 @@ int Decoder::parse(DOP *message) const
 int Decoder::parse(PVTGeodetic *message) const
 {
 	if (can_parse() && id() == BlockID::PVTGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(PVTGeodetic));
 		return PX4_OK;
 	}
@@ -138,6 +140,7 @@ int Decoder::parse(PVTGeodetic *message) const
 int Decoder::parse(ReceiverStatus *message) const
 {
 	if (can_parse() && id() == BlockID::ReceiverStatus) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(ReceiverStatus));
 		return PX4_OK;
 	}
@@ -148,6 +151,7 @@ int Decoder::parse(ReceiverStatus *message) const
 int Decoder::parse(QualityInd *message) const
 {
 	if (can_parse() && id() == BlockID::QualityInd) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		// Safe to copy entire size of the message as it is smaller than the maximum expected SBF message size.
 		// It's up to the user of the parsed message to ignore the invalid fields.
 		memcpy(message, _message.payload, sizeof(QualityInd));
@@ -160,11 +164,16 @@ int Decoder::parse(QualityInd *message) const
 int Decoder::parse(RFStatus *message) const
 {
 	if (can_parse() && id() == BlockID::PVTGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(RFStatus) - sizeof(RFStatus::rf_band));

 		for (uint8_t i = 0; i < math::min(message->n, k_max_rfband_blocks); i++) {
-			memcpy(&message->rf_band[i], &_message.payload[sizeof(RFStatus) - sizeof(RFStatus::rf_band) + i *
-					message->sb_length], sizeof(RFBand));
+			const unsigned offset = sizeof(RFStatus) - sizeof(RFStatus::rf_band) + i *
+						message->sb_length;
+
+			if (offset + sizeof(RFBand) <= sizeof(_message.payload)) {
+				memcpy(&message->rf_band[i], &_message.payload[offset], sizeof(RFBand));
+			}
 		}

 		return PX4_OK;
@@ -176,6 +185,7 @@ int Decoder::parse(RFStatus *message) const
 int Decoder::parse(GALAuthStatus *message) const
 {
 	if (can_parse() && id() == BlockID::GALAuthStatus) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(GALAuthStatus));
 		return PX4_OK;
 	}
@@ -186,6 +196,7 @@ int Decoder::parse(GALAuthStatus *message) const
 int Decoder::parse(VelCovGeodetic *message) const
 {
 	if (can_parse() && id() == BlockID::VelCovGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(VelCovGeodetic));
 		return PX4_OK;
 	}
@@ -196,11 +207,17 @@ int Decoder::parse(VelCovGeodetic *message) const
 int Decoder::parse(GEOIonoDelay *message) const
 {
 	if (can_parse() && id() == BlockID::GEOIonoDelay) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc));

-		for (size_t i = 0; i < math::min(message->n, (uint8_t)4); i++) {
-			memcpy(&message->idc[i], &_message.payload[sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc) + i *
-					message->sb_length], sizeof(IDC));
+		for (size_t i = 0; i < math::min(message->n, (uint8_t)(sizeof(GEOIonoDelay::idc) / sizeof(GEOIonoDelay::idc[0])));
+		     i++) {
+			const unsigned offset = sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc) + i *
+						message->sb_length;
+
+			if (offset + sizeof(IDC) <= sizeof(_message.payload)) {
+				memcpy(&message->idc[i], &_message.payload[offset], sizeof(IDC));
+			}
 		}

 		return PX4_OK;
@@ -212,6 +229,7 @@ int Decoder::parse(GEOIonoDelay *message) const
 int Decoder::parse(AttEuler *message) const
 {
 	if (can_parse() && id() == BlockID::AttEuler) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(AttEuler));
 		return PX4_OK;
 	}
@@ -222,6 +240,7 @@ int Decoder::parse(AttEuler *message) const
 int Decoder::parse(AttCovEuler *message) const
 {
 	if (can_parse() && id() == BlockID::AttCovEuler) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(AttCovEuler));
 		return PX4_OK;
 	}
@@ -243,7 +262,7 @@ bool Decoder::done() const

 bool Decoder::can_parse() const
 {
-	return done()
+	return done() && _message.header.length <= sizeof(_message) && _message.header.length > 4
 	       && _message.header.crc == buffer_crc16(reinterpret_cast<const uint8_t *>(&_message) + 4, _message.header.length - 4);
 }

@@ -224,7 +224,7 @@ private:
 	bool can_parse() const;

 	State _state{State::SearchingSync1};
-	uint16_t _current_index;
+	uint16_t _current_index{0};
 	message_t _message;
 };

@@ -614,7 +614,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 		}

 		if (svr.validity.surfHeading) {
-			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 		}
 	}
@@ -622,7 +622,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 	if (svr.type == svrAirborne) {
 		if (svr.validity.airSpeed) {
 			t.hor_velocity = (svr.airborne.speed * SAGETECH_SCALE_KNOTS_TO_M_PER_SEC);	//Convert from knots to meters/second
-			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
 		}
@@ -180,7 +180,7 @@ bool AdsbConflict::handle_traffic_conflict()

 	case TRAFFIC_STATE::ADD_CONFLICT:
 	case TRAFFIC_STATE::REMIND_CONFLICT: {
-			take_action = send_traffic_warning((int)(math::degrees(_transponder_report.heading) + 180.f),
+			take_action = send_traffic_warning((int)math::degrees(_transponder_report.heading),
 							   (int)fabsf(_crosstrack_error.distance), _transponder_report.flags,
 							   _transponder_report.callsign,
 							   _transponder_report.icao_address,
@@ -128,7 +128,6 @@ PARAM_DEFINE_FLOAT(WEIGHT_GROSS, -1.0f);
 *
 * @unit m/s
 * @min 1.0
- * @max 15.0
 * @decimal 1
 * @increment 0.5
 * @group FW Performance
@@ -144,7 +143,6 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
 *
 * @unit m/s
 * @min 1.0
- * @max 5.0
 * @decimal 1
 * @increment 0.5
 * @group FW Performance
@@ -107,6 +107,8 @@ AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
 	wind_est.tas_scale_raw = _wind_estimator.get_tas_scale();
 	wind_est.tas_scale_raw_var = _wind_estimator.get_tas_scale_var();
 	wind_est.tas_scale_validated = _CAS_scale_validated;
+	wind_est.tas_innov_integ_test_ratio = _tas_innov_integ_threshold > FLT_EPSILON ? _aspd_innov_integ_state /
+					      _tas_innov_integ_threshold : 0.f;
 	return wind_est;
 }

@@ -688,7 +688,7 @@ Commander::Commander() :
 	_vehicle_status.system_id = 1;
 	_vehicle_status.component_id = 1;
 	_vehicle_status.system_type = 0;
-	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNSPECIFIED;
 	_vehicle_status.nav_state = _user_mode_intention.get();
 	_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
 	_vehicle_status.nav_state_timestamp = hrt_absolute_time();
@@ -127,6 +127,7 @@ PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
 *
 * The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost.
 * This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.
+ * Ensure the value is not set lower than the update interval of the RC or Joystick.
 *
 * @group Commander
 * @unit s
@@ -144,7 +144,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
 *
 * @unit deg
 * @min 0.0
- * @max 60.0
+ * @max 80.0
 * @decimal 1
 * @increment 0.5
 * @group FW General
@@ -158,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
 *
 * @unit deg
 * @min 35.0
- * @max 65.0
+ * @max 75.0
 * @decimal 1
 * @increment 0.5
 * @group FW General
@@ -203,7 +203,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 *
 * @unit norm
 * @min 0.0
- * @max 0.4
+ * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW General
@@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
 *
 * @unit deg
 * @min 1.0
- * @max 15.0
+ * @max 45.0
 * @decimal 1
 * @increment 0.5
 * @group FW Auto Landing
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
 *
 * @unit deg
 * @min -5.0
- * @max 30.0
+ * @max 80.0
 * @decimal 1
 * @increment 0.5
 * @group FW Auto Takeoff
@@ -390,8 +390,7 @@ PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
 * In manual modes: maximum climb rate setpoint.
 *
 * @unit m/s
- * @min 0.5
- * @max 15
+ * @min 0.1
 * @decimal 2
 * @increment 0.01
 * @group FW General
@@ -405,8 +404,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
 * In manual modes: maximum sink rate setpoint.
 *
 * @unit m/s
- * @min 0.5
- * @max 15
+ * @min 0.1
 * @decimal 2
 * @increment 0.01
 * @group FW General
@@ -422,7 +420,6 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
 *
 * @unit s
 * @min 0
- * @max 3600
 * @group FW General
 */
 PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
@@ -434,7 +431,7 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
 *
 * @unit deg
 * @min 0.0
- * @max 30.0
+ * @max 60.0
 * @decimal 1
 * @increment 0.5
 * @group FW General
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2016-2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE modules__hardfault_stream
+	MAIN hardfault_stream
+	COMPILE_FLAGS
+	SRCS
+		HardfaultStream.cpp
+		HardfaultStream.hpp
+	DEPENDS
+		px4_work_queue
+)
@@ -0,0 +1,224 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "HardfaultStream.hpp"
+
+using namespace time_literals;
+
+namespace hardfault_stream
+{
+
+HardfaultStream::HardfaultStream() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+HardfaultStream::~HardfaultStream()
+{
+	ScheduleClear();
+
+	if (_hardfault_file != nullptr) {
+		fclose(_hardfault_file);
+	}
+}
+
+int HardfaultStream::task_spawn(int argc, char *argv[])
+{
+	HardfaultStream *obj = new HardfaultStream();
+
+	if (!obj) {
+		PX4_ERR("alloc failed");
+		return -1;
+	}
+
+	_object.store(obj);
+	_task_id = task_id_is_work_queue;
+
+	/* Schedule a cycle to start things. */
+	obj->start();
+
+	return 0;
+}
+
+void HardfaultStream::start()
+{
+	ScheduleOnInterval(150_ms);
+}
+
+bool HardfaultStream::mavlink_gcs_up()
+{
+	for (auto &telemetry_status : _telemetry_status_subs) {
+		telemetry_status_s telemetry;
+
+		if (telemetry_status.update(&telemetry)) {
+			if (telemetry.heartbeat_type_gcs) {
+				return true;
+			}
+		}
+	}
+
+	return false;
+}
+
+void HardfaultStream::search_hardfault_file()
+{
+	DIR *dp = opendir(PX4_STORAGEDIR);
+
+	if (dp != nullptr) {
+
+		struct dirent *result;
+		struct stat st;
+		time_t latest_mtime = 0;
+
+		while ((result = readdir(dp))) {
+			// Check for pattern fault_*.log
+			if (strncmp("fault_", result->d_name, 6) == 0 && strcmp(result->d_name + strlen(result->d_name) - 4, ".log") == 0) {
+				char current_file_path[CONFIG_PATH_MAX + 1];
+				snprintf(current_file_path, sizeof(current_file_path), "%s/%s", PX4_STORAGEDIR, result->d_name);
+
+				if (stat(current_file_path, &st) == 0) {
+					if (st.st_mtime >= latest_mtime) {
+						latest_mtime = st.st_mtime;
+						strncpy(_hardfault_file_path, current_file_path, sizeof(_hardfault_file_path));
+						_hardfault_file_path[sizeof(_hardfault_file_path) - 1] = '\0';
+						_hardfault_file_present = true;
+					}
+				}
+			}
+		}
+	}
+
+	closedir(dp);
+}
+
+void HardfaultStream::stream_hardfault()
+{
+	if (_hardfault_file == nullptr) {
+		_hardfault_file = fopen(_hardfault_file_path, "rb");
+
+		if (_hardfault_file == nullptr) {
+			PX4_ERR("Can't open hardfault log: %s", _hardfault_file_path);
+			_state = State::RequestStop;
+			return;
+		}
+
+		PX4_INFO("Streaming hardfault log: %s", _hardfault_file_path);
+	}
+
+	static constexpr int chunk_size = sizeof(mavlink_log_s::text) - 1;
+	uint8_t chunk[chunk_size];
+	size_t bytes_read = fread(chunk, 1, chunk_size, _hardfault_file);
+
+	if (bytes_read > 0) {
+		mavlink_vasprintf(_MSG_PRIO_CRITICAL, &_mavlink_log_pub, "%.*s", bytes_read, chunk);
+
+	} else {
+		fclose(_hardfault_file);
+		_hardfault_file = nullptr;
+		_stream_finished = true;
+	}
+}
+
+void HardfaultStream::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+	}
+
+	switch (_state) {
+	case State::SearchFile:
+		search_hardfault_file();
+		_state = State::WaitMavlink;
+		ScheduleNow();
+		break;
+
+	case State::WaitMavlink:
+		if (mavlink_gcs_up()) {
+			_state = State::StreamFile;
+			ScheduleNow();
+		}
+
+		break;
+
+	case State::StreamFile:
+		if (!_hardfault_file_present || _stream_finished) {
+			_state = State::RequestStop;
+
+		} else {
+			stream_hardfault();
+		}
+
+		break;
+
+	case State::RequestStop:
+		request_stop();
+		_state = State::WaitStop;
+
+	case State::WaitStop:
+		break;
+	}
+}
+
+int HardfaultStream::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Background process that streams the latest hardfault via MAVLink.
+
+The module is especially useful when it is necessary to quickly push a hard fault to the ground station.
+This is useful in cases where the drone experiences a hard fault during flight.
+It ensures that some data is retained in case the permanent storage is destroyed during a crash.
+
+To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a
+high enough frequency. The recommended frequency is 10 Hz or higher.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("hardfault_stream", "system");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int hardfault_stream_main(int argc, char *argv[])
+{
+	return HardfaultStream::main(argc, argv);
+}
+
+} // namespace hardfault_stream
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <dirent.h>
+#include <string.h>
+#include <sys/stat.h>
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/mavlink_log.h>
+#include <uORB/topics/telemetry_status.h>
+
+#include <systemlib/mavlink_log.h>
+
+namespace hardfault_stream
+{
+
+class HardfaultStream : public ModuleBase<HardfaultStream>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	HardfaultStream();
+	~HardfaultStream() override;
+
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[])
+	{
+		return print_usage("unknown command");
+	}
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void start();
+
+private:
+	enum class State {
+		SearchFile,
+		WaitMavlink,
+		StreamFile,
+		RequestStop,
+		WaitStop,
+	};
+
+	/** Do a compute and schedule the next cycle. */
+	void Run() override;
+
+	bool mavlink_gcs_up();
+	void search_hardfault_file();
+	void stream_hardfault();
+
+	State _state {State::SearchFile};
+
+	bool _stream_finished {false};
+	bool _hardfault_file_present {false};
+
+	char _hardfault_file_path[CONFIG_PATH_MAX + 1];
+	FILE *_hardfault_file {nullptr};
+
+	orb_advert_t _mavlink_log_pub {nullptr};
+	uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};
+};
+
+} // namespace hardfault_stream
@@ -0,0 +1,6 @@
+menuconfig MODULES_HARDFAULT_STREAM
+	bool "hardfault_stream"
+	default n
+	depends on PLATFORM_NUTTX
+	---help---
+		Enable support for hardfault_stream
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Enable FMU SD card hardfault streaming
+ *
+ * When this is enabled all the hardfaults on the SD card are streamed
+ * over MAVLink. This is useful for cases where the FMU does reset in-flight due
+ * to a hardfault and the SD card may not survive a crash.
+ *
+ * @group System
+ * @boolean
+ */
+PARAM_DEFINE_INT32(SYS_HF_MAV, 1);
@@ -278,9 +278,14 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
 void
 MavlinkMissionManager::send_mission_current(uint16_t seq)
 {
+	// Update mission state before sending
+	update_mission_state();
+
 	mavlink_mission_current_t wpc{};
 	wpc.seq = seq;
 	wpc.total = _count[MAV_MISSION_TYPE_MISSION] > 0 ? _count[MAV_MISSION_TYPE_MISSION] : UINT16_MAX;
+	wpc.mission_state = static_cast<uint8_t>(_mission_state);
+	wpc.mission_mode = static_cast<uint8_t>(_mission_mode);
 	wpc.mission_id = _crc32[MAV_MISSION_TYPE_MISSION];
 	wpc.fence_id = _crc32[MAV_MISSION_TYPE_FENCE];
 	wpc.rally_points_id = _crc32[MAV_MISSION_TYPE_RALLY];
@@ -911,6 +916,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
 			_transfer_partner_compid = msg->compid;
 			_mission_type = (MAV_MISSION_TYPE)wpc.mission_type;
 			_transfer_current_crc32 = 0;
+			_last_reached = -1; // Reset last reached waypoint when new mission starts

 			if (wpc.count > current_max_item_count()) {
 				PX4_DEBUG("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count());
@@ -1907,3 +1913,51 @@ uint32_t MavlinkMissionManager::crc32_for_mission_item(const mavlink_mission_ite

 	return crc32part(u.raw, sizeof(u), prev_crc32);
 }
+
+void
+MavlinkMissionManager::update_mission_state()
+{
+	// Get vehicle status
+	vehicle_status_s vehicle_status;
+
+	if (!_vehicle_status_sub.update(&vehicle_status)) {
+		return;
+	}
+
+	// Get mission result
+	mission_result_s mission_result;
+
+	if (!_mission_result_sub.update(&mission_result)) {
+		return;
+	}
+
+	// Update mission mode
+	if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
+	    vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
+	    vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+		_mission_mode = MISSION_MODE_ACTIVE;
+
+	} else {
+		_mission_mode = MISSION_MODE_SUSPENDED;
+	}
+
+	// Update mission state
+	if (_count[MAV_MISSION_TYPE_MISSION] == 0) {
+		_mission_state = MISSION_STATE_NO_MISSION;
+
+	} else if (mission_result.finished) {
+		// Mission is complete if the navigator says it's finished
+		_mission_state = MISSION_STATE_COMPLETE;
+
+	} else if (_mission_mode == MISSION_MODE_ACTIVE
+		   && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		_mission_state = MISSION_STATE_ACTIVE;
+
+	} else if (_mission_mode == MISSION_MODE_SUSPENDED && _last_reached >= 0) {
+		// Only PAUSED if we were actually in the middle of a mission
+		_mission_state = MISSION_STATE_PAUSED;
+
+	} else {
+		_mission_state = MISSION_STATE_NOT_STARTED;
+	}
+}
@@ -49,6 +49,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/mission_result.h>
+#include <uORB/topics/vehicle_status.h>

 #include "mavlink_bridge_header.h"
 #include "mavlink_rate_limiter.h"
@@ -60,6 +61,13 @@ enum MAVLINK_WPM_STATES {
 	MAVLINK_WPM_STATE_ENUM_END
 };

+// Mission mode states
+enum MISSION_MODE {
+	MISSION_MODE_UNKNOWN = 0,
+	MISSION_MODE_ACTIVE = 1,
+	MISSION_MODE_SUSPENDED = 2
+};
+
 enum MAVLINK_WPM_CODES {
 	MAVLINK_WPM_CODE_OK = 0,
 	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
@@ -94,9 +102,13 @@ public:
 private:
 	enum MAVLINK_WPM_STATES _state {MAVLINK_WPM_STATE_IDLE};	///< Current state
 	enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION};	///< mission type of current transmission (only one at a time possible)
+	enum MISSION_STATE _mission_state {MISSION_STATE_UNKNOWN}; ///< Current mission state machine state
+	enum MISSION_MODE _mission_mode {MISSION_MODE_UNKNOWN}; ///< Current mission mode

 	DatamanClient _dataman_client{};

+	void update_mission_state();
+
 	uint64_t		_time_last_recv{0};
 	uint64_t		_time_last_sent{0};

@@ -138,6 +150,7 @@ private:

 	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
 	uORB::SubscriptionData<mission_s> 	_mission_sub{ORB_ID(mission)};
+	uORB::Subscription	_vehicle_status_sub{ORB_ID(vehicle_status)};	///< vehicle status subscription

 	uORB::Publication<mission_s>	_offboard_mission_pub{ORB_ID(mission)};

@@ -2548,7 +2548,7 @@ MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 	t.lon = adsb.lon * 1e-7;
 	t.altitude_type = adsb.altitude_type;
 	t.altitude = adsb.altitude / 1000.0f;
-	t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F;
+	t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F;
 	t.hor_velocity = adsb.hor_velocity / 100.0f;
 	t.ver_velocity = adsb.ver_velocity / 100.0f;
 	memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
@@ -77,7 +77,7 @@ private:
 			msg.lon = pos.lon * 1e7;
 			msg.altitude_type = pos.altitude_type;
 			msg.altitude = pos.altitude * 1e3f;
-			msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
+			msg.heading = pos.heading / M_PI_F * 180.0f * 100.0f;
 			msg.hor_velocity = pos.hor_velocity * 100.0f;
 			msg.ver_velocity = pos.ver_velocity * 100.0f;
 			memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
@@ -168,33 +168,44 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);

 /**
- * Board rotation Y (Pitch) offset
+ * Board rotation Y (pitch) offset
 *
- * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
- * to fine tune the board offset in the event of misalignment.
+ * Rotation from flight controller board to vehicle body frame.
+ * This parameter gets set during the "level horizon" calibration or can be
+ * set manually.
 *
+ * @min -45.0
+ * @max 45.0
+ * @decimal 1
 * @unit deg
 * @group Sensors
 */
 PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);

 /**
- * Board rotation X (Roll) offset
+ * Board rotation X (roll) offset
 *
- * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
- * to fine tune the board offset in the event of misalignment.
+ * Rotation from flight controller board to vehicle body frame.
+ * This parameter gets set during the "level horizon" calibration or can be
+ * set manually.
 *
 * @unit deg
+ * @min -45.0
+ * @max 45.0
+ * @decimal 1
 * @group Sensors
 */
 PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);

 /**
- * Board rotation Z (YAW) offset
+ * Board rotation Z (yaw) offset
 *
- * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
- * to fine tune the board offset in the event of misalignment.
+ * Rotation from flight controller board to vehicle body frame.
+ * Has to be set manually (not set by any calibration).
 *
+ * @min -45.0
+ * @max 45.0
+ * @decimal 1
 * @unit deg
 * @group Sensors
 */
@@ -169,7 +169,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400);
 * @reboot_required false
 * @group Sensors
 */
-PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 30.0f);
+PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 20.0f);

 /**
 * IMU gyro dynamic notch filtering
Author	SHA1	Message	Date
RomanBapst	d468ec4e1d	AirspeedWing: log the airspeed innovation test ratio - if the value exceeds 1, then airspeed checks will trigger - useful to monitoring the check and tuning Signed-off-by: RomanBapst <bapstroman@gmail.com>	2025-06-17 09:22:32 +03:00
Qiaosen Liu	59710b15ae	params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout (#25062 ) * params: COM_RC_LOSS_T: clarify safe adjustment of RC loss timeout * Update src/modules/commander/commander_params.c --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-06-16 18:50:43 -08:00
Julian Oes	0180ad3a63	mavlink: implement extended MISSION_CURRENT The message MISSION_CURRENT got extensions regarding mission state in https://github.com/mavlink/mavlink/pull/1869 This is an attempt to actually populate those fields.	2025-06-17 13:37:47 +12:00
Silvan Fuhrer	e0663cd6ad	Sensor params: improve board rotation parameter description and meta data (#25037 ) * Sensor params: add @decimals and @min, @max to SENS_BOARD_ params Signed-off-by: Silvan <silvan@auterion.com> * Sensor params: Improve parameter description Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-06-16 14:59:03 -08:00
Silvan Fuhrer	a6863f0930	FW mode manager: open up / remove some arbitrary params constraints (#25036 ) * performance model: remove arbitrary min/max parameter constraints Signed-off-by: Silvan <silvan@auterion.com> * FW mode manager: open up/remove unnecessary param @max constraints Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-06-16 14:58:38 -08:00
Ramon Roche	34d4eb7b9e	ci: update build container (#25059 ) adds lark python dependency #25056 https://github.com/PX4/PX4-Autopilot/pull/25056 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-16 14:57:17 -08:00
Ramon Roche	efc3e64c00	ci: update rosdistro apt keys (#25060 ) Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-06-16 13:46:33 -08:00
Peter van der Perk	0369abd556	Add lark to python requirements for the rosidl parser	2025-06-16 12:41:48 -07:00
QiTao Weng	75e4047f2a	Fix ADSB heading angle obtained from driver by removing +pi. Adjusted downstream accordingly	2025-06-13 15:28:25 +02:00
Beat Küng	310cbbedb1	fix septentrio: check for buffer underflow _message.header.length - 4 is passed as unsigned to the CRC method, so if _message.header.length < 4, the length wraps and causes invalid memory access.	2025-06-13 14:39:57 +02:00
Alexander Lerach	6f81998e27	hardfault: add option to stream via mavlink	2025-06-13 13:32:00 +02:00
Jacob Dahl	edda54b26b	build: romf: fix generation of rc.board_bootloader_upgrade (#25032 )	2025-06-13 00:45:14 -08:00
Beat Küng	e29771cd97	septentrio: add static assertions to ensure the buffer is large enough And check the access for dynamic sized input. This is only a precaution if the device sends invalid data (too large sb_length) with valid crc.	2025-06-13 09:46:10 +02:00
Beat Küng	ac74a02d7c	fix septentrio: ensure the crc check does not read past the buffer size in case the input data is invalid.	2025-06-13 09:46:10 +02:00
Beat Küng	d13692ca46	fix septentrio: initialize _current_index Decoder::reset sets it to 0, but it could have been accessed before the first call to reset().	2025-06-13 09:46:10 +02:00
Hamish Willee	77d854b045	Update ll40ls.cpp (#25007 )	2025-06-12 16:08:12 -08:00
Jacob Dahl	fae563b35e	[bug] AFBRS50 fix scheduling and refactor (#24837 ) * fix scheduling bug for afbrs50 * cleanup and refactor * format * clean up --------- Co-authored-by: Alex Klimaj <alex@arkelectron.com>	2025-06-12 16:59:02 -06:00
Julian Oes	4c130769bd	boards: set RC serial for KakuteH7-Wing This was missed earlier.	2025-06-13 10:19:54 +12:00
Julian Oes	599ea7545d	boards: fixup image size of KakuteH7-Wing We have 1 sector for the bootloader and the last 2 for parameters. That's to match how ArduPilot has it.	2025-06-13 10:19:54 +12:00
Julian Oes	9fd126194b	vscode: add KakuteH7-Wing	2025-06-13 10:19:54 +12:00
Pedro Roque	6d15019717	feat: spacecraft tooling for commander and VehicleStatus (#24716 ) * feat: spacecraft tooling for commander and VehicleStatus * fix: format * fix: remove iostream * feat: mavlink compliant spacecraft definition * feat: add orbiter to define feat: spacecraft tooling for commander and VehicleStatus fix: format fix: remove iostream feat: mavlink compliant spacecraft definition * feat: add orbiter to define * feat: update mavlink to latest * fix: get away without specifying spacecraft vehicle * fix: removed unnecessary definition * fix: format	2025-06-12 21:48:48 +02:00
Matthias Grob	6b2b20bd6e	imu_gyro_parameters: lower default angular acceleration filter from 30Hz to 20Hz to avoid noise getting into the derivative term of the PID rate control loop on integration flights.	2025-06-12 17:15:12 +02:00
Hamish Willee	e6e42fa043	BatteryStatus.msg - docs update (#24789 ) * BatteryStatus.msg - docs update * Update msg/versioned/BatteryStatus.msg * Units/enum/range before description * Update msg/versioned/BatteryStatus.msg * Apply suggestions from code review Co-authored-by: Matthias Grob <maetugr@gmail.com> * MOve MAX_INSTANCES to top * Fix up full stops --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-06-12 16:06:13 +02:00
Hamish Willee	3b35676afe	Update ActuatorServos.msg - remove terminating full stops.	2025-06-12 18:46:29 +10:00
Hamish Willee	b0d48ce786	unit/range first	2025-06-12 18:46:29 +10:00
Hamish Willee	f014bea723	ActuatorServos.msg - uORB docs	2025-06-12 18:46:29 +10:00
Hamish Willee	a9e67d4142	Remove field terminating full stops	2025-06-12 18:45:01 +10:00
Hamish Willee	46f3e2ea71	units/range first	2025-06-12 18:45:01 +10:00
Hamish Willee	dd1b435460	Update msg/versioned/ActuatorMotors.msg	2025-06-12 18:45:01 +10:00
Hamish Willee	9e07813005	Update msg/versioned/ActuatorMotors.msg Co-authored-by: PX4 Build Bot <bot@px4.io>	2025-06-12 18:45:01 +10:00
Hamish Willee	80b1f5532b	Update msg/versioned/ActuatorMotors.msg Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-06-12 18:45:01 +10:00
Hamish Willee	3de41e1847	Update msg/versioned/ActuatorMotors.msg Co-authored-by: Matthias Grob <maetugr@gmail.com>	2025-06-12 18:45:01 +10:00
Hamish Willee	828b6f5232	ActuatorMotors.msg - uORB docs	2025-06-12 18:45:01 +10:00
Crowdin Bot	2cec05e44a	New Crowdin translations - uk	2025-06-12 11:15:48 +10:00
Crowdin Bot	f56e6b0bda	New Crowdin translations - zh-CN	2025-06-12 11:15:39 +10:00
Crowdin Bot	bd17df8c29	New Crowdin translations - ko	2025-06-12 11:15:18 +10:00
Crowdin Bot	a19d6e4f6e	New Crowdin translations - zh-CN	2025-06-12 08:54:05 +10:00
Crowdin Bot	71e553c67e	New Crowdin translations - uk	2025-06-12 08:53:55 +10:00
Crowdin Bot	359d58effd	New Crowdin translations - ko	2025-06-12 08:53:45 +10:00