ci: debug with tmate

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

.github/workflows/docs_metadata_check.yml

@@ -0,0 +1,47 @@
+name: Docs Metadata
+
+permissions:
+  contents: write
+
+on:
+  pull_request: {}
+
+jobs:
+  metadata-check:
+    name: ${{ matrix.name }}
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=true]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: uORB Graphs
+            script: Tools/ci/metadata_uorb_graph.sh
+          - name: Failsafe Web
+            script: Tools/ci/metadata_failsafe_web.sh --debug
+          - name: uORB Messages
+            script: Tools/ci/metadata_msg_docs.sh
+          - name: Parameter Reference
+            script: Tools/ci/metadata_parameters.sh
+          - name: Airframe Reference
+            script: Tools/ci/metadata_airframe.sh
+          - name: Module Reference
+            script: Tools/ci/metadata_modules.sh
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: 0
+          persist-credentials: true
+
+      - name: Mark all directories safe for Git
+        run: git config --system --add safe.directory '*'
+
+      - name: Run ${{ matrix.name }} metadata check
+        run: ${{ matrix.script }} --test-only
+
+      - name: Setup tmate session
+        if: ${{ failure() }}
+        uses: mxschmitt/action-tmate@v3

.gitignore

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

MAINTAINERS.md

@@ -7,34 +7,33 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 
 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
-| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
-| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
-| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
-| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
-| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
+| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
+| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
+| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
+| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
+| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
 
 
 **Documentation Maintainers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
+| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
 
 **Release Managers**
 
 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
 
 **Retired Maintainers**
 

Makefile

@@ -379,7 +379,10 @@ module_documentation:
 extract_events:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
 
-px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
+msg_docs:
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_msg_documentation ver_gen
+
+px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events msg_docs
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -110,36 +110,25 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
 
-	sdf_pose_str=""
-
+	POSE_ARG=""
 	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
-		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
-		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pos_x=${pos_x:-0}
+		pos_y=${pos_y:-0}
+		pos_z=${pos_z:-0}
 
-		pose_x=${pose_x:-0}
-		pose_y=${pose_y:-0}
-		pose_z=${pose_z:-0}
-		pose_roll=${pose_roll:-0}
-		pose_pitch=${pose_pitch:-0}
-		pose_yaw=${pose_yaw:-0}
-
-		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
-		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
+		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 	fi
 
-	echo "INFO  [init] Spawning Gazebo model"
-
-	# include the actual SDF in this one, containing the pose if given
-	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
+	echo "INFO  [init] Spawning model"
 
 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
+			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
 
 	# Wait for model to spawn
 	sleep 1

Tools/ci/metadata_airframe.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+#
+# metadata_airframe.sh — generate and sync PX4 airframe reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_airframe.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="airframe_metadata"
+src_file="build/px4_sitl_default/docs/airframes.md"
+dest_file="docs/en/airframes/airframe_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing airframe reference docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Airframe reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Airframe reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated airframe_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Airframe docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update airframe reference metadata'"
+  exit 1
+fi

Tools/ci/metadata_failsafe_web.sh

@@ -0,0 +1,112 @@
+#!/usr/bin/env bash
+#
+# metadata_failsafe_web.sh — build and sync failsafe webapp metadata files
+#
+# Usage:
+#   Tools/ci/metadata_failsafe_web.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run build and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full build output and debug info for file comparisons and EMSDK install
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and commands
+build_cmd="make failsafe_web"
+src_dir="build/px4_sitl_default_failsafe_web"
+dest_dir="docs/public/config/failsafe"
+
+# Ensure Emscripten SDK is available
+if ! command -v emcc >/dev/null 2>&1; then
+  echo "🔧 Emscripten not found. Ensuring EMSDK is installed."
+  # Clone SDK only if not already present
+  if [ ! -d "_emscripten_sdk" ]; then
+    if [ "$debug" = true ]; then
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+    else
+      git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk > /dev/null 2>&1
+    fi
+  fi
+  pushd _emscripten_sdk >/dev/null
+  if [ "$debug" = true ]; then
+    ./emsdk install latest
+    ./emsdk activate latest
+  else
+    ./emsdk install latest > /dev/null 2>&1
+    ./emsdk activate latest > /dev/null 2>&1
+  fi
+  popd >/dev/null
+  # Load environment into current shell
+  if [ "$debug" = true ]; then
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh
+  else
+    # shellcheck source=/dev/null
+    . ./_emscripten_sdk/emsdk_env.sh > /dev/null 2>&1
+  fi
+fi
+
+# Build step
+if [ "$debug" = true ]; then
+  echo "🔧 Running build: $build_cmd"
+  $build_cmd
+else
+  echo "🔧 Running build"
+  $build_cmd > /dev/null 2>&1
+fi
+
+# Gather built files
+src_files=("$src_dir"/*.{js,wasm,json})
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated files found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# Prepare destination
+echo "🔍 Checking failsafe web metadata"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All failsafe web metadata files are in sync."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Failsafe web metadata needs update; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated files"
+for f in "${changed[@]}"; do cp -v "$src_dir/$f" "$dest_dir/$f"; done
+
+echo "🚨 Failsafe web metadata updated; please commit changes."
+exit 1

Tools/ci/metadata_modules.sh

@@ -0,0 +1,99 @@
+#!/usr/bin/env bash
+#
+# metadata_modules.sh - generate and sync PX4 module reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_modules.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="module_documentation"
+src_dir="build/px4_sitl_default/docs/modules"
+dest_dir="docs/en/modules"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No generated module docs found in $src_dir. Build failed or path wrong."
+  exit 1
+fi
+
+# ─── Strip trailing whitespace from all generated module docs (unless test-only) ─────────────
+if [ "$test_only" = false ]; then
+  echo "✂️ Removing trailing whitespace from generated module docs"
+  for src in "${src_files[@]}"; do
+    sed -i 's/[[:space:]]\+$//' "$src"
+  done
+else
+  [ "$debug" = true ] && echo "🧪 Test-only mode: skipping whitespace removal"
+fi
+
+echo "🔍 Checking module reference docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+  dst="$dest_dir/$name"
+
+  if [[ ! -e "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  else
+    # Use diff -q -b (ignore whitespace changes) and --strip-trailing-cr (ignore CRLF vs LF)
+    if ! diff -q -b --strip-trailing-cr "$src" "$dst" > /dev/null; then
+      [ "$debug" = true ] && echo "DEBUG: diff -q -b --strip-trailing-cr '$src' '$dst'  (exit_code=$?)"
+      changed+=("$name")
+    fi
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All module reference docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in module docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 Module reference docs need updating; rerun without --test-only to apply."
+  exit 1
+fi
+
+echo "📂 Copying updated module docs to $dest_dir"
+for f in "${changed[@]}"; do
+  cp -rv "$src_dir/$f" "$dest_dir/$f"
+done
+
+echo "🚨 Module reference docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update module reference metadata'"
+exit 1

Tools/ci/metadata_msg_docs.sh

@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+#
+# metadata_msg_docs.sh — generate and sync uORB message reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_msg_docs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying files
+#   --debug       Show full make output and debug info for file comparisons
+#
+set -euo pipefail
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="msg_docs"
+src_dir="build/px4_sitl_default/msg_docs"
+dest_dir="docs/en/msg_docs"
+middleware_dir="docs/en/middleware"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# Verify build output
+src_files=("$src_dir"/*)
+if [ ${#src_files[@]} -eq 0 ]; then
+  echo "❌ No files found in $src_dir. Build target '$make_target' failed or path is wrong."
+  exit 1
+fi
+
+echo "🔍 Checking uORB message docs in $dest_dir"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+  name=$(basename "$src")
+
+  # special-case dds_topics.md
+  if [[ "$name" == "dds_topics.md" ]]; then
+    dst="$middleware_dir/$name"
+  else
+    dst="$dest_dir/$name"
+  fi
+
+  if [[ ! -f "$dst" ]]; then
+    [ "$debug" = true ] && echo "DEBUG: missing $dst"
+    changed+=("$name")
+  elif ! cmp -s "$src" "$dst"; then
+    [ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+    changed+=("$name")
+  fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+  echo "✅ All uORB message docs are up to date."
+  exit 0
+fi
+
+echo "⚠️ Detected updates in the following docs:"
+for f in "${changed[@]}"; do echo "  - $f"; done
+
+if [ "$test_only" = true ]; then
+  echo "🚨 uORB message docs need updating! Rerun without --test-only to apply changes."
+  exit 1
+fi
+
+echo "📂 Copying updated doc files to $dest_dir"
+for f in "${changed[@]}"; do
+  if [[ "$f" == "dds_topics.md" ]]; then
+    cp -v "$src_dir/$f" "$middleware_dir/$f"
+  else
+    cp -v "$src_dir/$f" "$dest_dir/$f"
+  fi
+done
+
+echo "🚨 uORB message docs updated; please commit changes:"
+echo "    git status -s $dest_dir"
+echo "    git add $dest_dir/*"
+echo "    git commit -m 'docs: update uORB message reference docs'"
+exit 1

Tools/ci/metadata_parameters.sh

@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+#
+# metadata_parameters.sh — generate and sync PX4 parameter reference documentation
+#
+# Usage:
+#   Tools/ci/metadata_parameters.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run make target and comparison; exit 1 if diffs found, without copying file
+#   --debug       Show full make output and debug info for comparison
+#
+set -euo pipefail
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --test-only) test_only=true; shift ;;
+    --debug)     debug=true; shift ;;
+    *) echo "Usage: $0 [--test-only] [--debug]"; exit 2 ;;
+  esac
+done
+
+# Paths and make target
+make_target="parameters_metadata"
+src_file="build/px4_sitl_default/docs/parameters.md"
+dest_file="docs/en/advanced_config/parameter_reference.md"
+
+# Run make target
+if [ "$debug" = true ]; then
+  echo "🔧 Running 'make $make_target' (verbose)"
+  make $make_target
+else
+  echo "🔧 Running 'make $make_target'"
+  make $make_target > /dev/null 2>&1
+fi
+
+# ─── Strip trailing whitespace from the newly generated Markdown ────────────────────────────────
+echo "✂️ Removing trailing whitespace from $src_file"
+sed -i 's/[[:space:]]\+$//' "$src_file"
+
+# Verify build output
+if [[ ! -f "$src_file" ]]; then
+  echo "❌ Generated file not found: $src_file"
+  exit 1
+fi
+
+echo "🔍 Comparing parameter docs"
+
+# Compare files
+if cmp -s "$src_file" "$dest_file"; then
+  echo "✅ Parameter reference is up to date."
+  exit 0
+else
+  if [ "$debug" = true ]; then
+    echo "DEBUG: cmp -s '$src_file' '$dest_file'; echo \$?"
+  fi
+  echo "⚠️ Parameter reference needs updating."
+  if [ "$test_only" = true ]; then
+    exit 1
+  fi
+  # Copy over updated file
+  echo "📂 Copying updated parameter_reference.md"
+  cp -v "$src_file" "$dest_file"
+  echo "🚨 Parameter docs updated; commit the change:"
+  echo "    git status -s $dest_file"
+  echo "    git add $dest_file"
+  echo "    git commit -m 'docs: update parameter reference metadata'"
+  exit 1
+fi

Tools/ci/metadata_uorb_graph.sh

@@ -0,0 +1,108 @@
+#!/usr/bin/env bash
+#
+# update_uorb_graphs.sh — generate, compare, and sync uORB graph JSONs
+#
+# Usage:
+#   ./scripts/update_uorb_graphs.sh [--test-only] [--debug]
+#
+# Options:
+#   --test-only   Run generation and comparison only; exit 1 if diffs found, without copying files
+#   --debug       Echo debug info for missing or differing files and show full make output
+#
+# Examples:
+#   # CI mode: fail if docs need updates
+#   ./scripts/update_uorb_graphs.sh --test-only
+#
+#   # Developer mode: regenerate and sync JSONs
+#   ./scripts/update_uorb_graphs.sh
+#
+set -euo pipefail
+
+shopt -s nullglob
+
+# Parse flags
+test_only=false
+debug=false
+while [[ $# -gt 0 ]]; do
+	case "$1" in
+		--test-only)
+			test_only=true
+			shift
+			;;
+		--debug)
+			debug=true
+			shift
+			;;
+		*)
+			echo "Usage: $0 [--test-only] [--debug]"
+			exit 2
+			;;
+	esac
+done
+
+# Paths
+graph_dir="Tools/uorb_graph"
+dest_dir="docs/public/middleware"
+
+# Generate uORB graphs (conditionally silent)
+if [ "$debug" = true ]; then
+	echo "🔧 Generating uORB message graphs (verbose output)"
+	make uorb_graphs
+else
+	echo "🔧 Generating uORB message graphs"
+	make uorb_graphs > /dev/null 2>&1
+fi
+
+# Verify generation
+src_files=("$graph_dir"/*.json)
+if [ ${#src_files[@]} -eq 0 ]; then
+	echo "❌ No JSON files found in $graph_dir. Generation failed or path is wrong."
+	exit 1
+fi
+
+echo "🔍 Checking for updated uORB graph JSONs"
+mkdir -p "$dest_dir"
+
+changed=()
+for src in "${src_files[@]}"; do
+	name=$(basename "$src")
+	dst="$dest_dir/$name"
+
+	if [[ ! -f "$dst" ]]; then
+		[ "$debug" = true ] && echo "DEBUG: $dst missing"
+		changed+=("$name")
+
+	elif ! cmp -s "$src" "$dst"; then
+		[ "$debug" = true ] && echo "DEBUG: cmp -s '$src' '$dst'; echo \$?"
+		changed+=("$name")
+	fi
+done
+
+if [ ${#changed[@]} -eq 0 ]; then
+	echo "✅ All uORB graph JSONs are already in sync."
+	exit 0
+fi
+
+echo "⚠️ Detected updates in the following files:"
+for name in "${changed[@]}"; do
+	echo "	- $name"
+done
+
+if [ "$test_only" = true ]; then
+	echo
+	echo "🚨 uORB graph docs need updating! Rerun without --test-only to apply changes."
+	exit 1
+fi
+
+echo
+echo "📂 Copying updated files over"
+for name in "${changed[@]}"; do
+	cp -v "$graph_dir/$name" "$dest_dir/$name"
+done
+
+echo
+echo "🚨 uORB graph docs need updating! Review above, then run:"
+echo "	git status -s $dest_dir/"
+echo "	git add $dest_dir/*.json"
+echo "	git commit -m 'docs: metadata: update uORB graph JSONs'"
+exit 1

Tools/msg/generate_msg_docs.py

@@ -12,14 +12,25 @@ import sys
 
 import yaml
 
-def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
+def sort_dds_topics(topics):
+    return sorted(
+        topics,
+        key=lambda pub: pub["type"].rsplit("::", 1)[-1]
+    )
+
+def generate_dds_yaml_doc(allMessageFiles, output_dir):
     """
     Generates human readable version of dds_topics.yaml.
     Default output is to docs/en/middleware/dds_topics.md
     """
+    output_file = 'dds_topics.md'
+    dds_markdown = ""
+    if not os.path.isdir(output_dir):
+        print("Output directory not found")
+        sys.exit(1)
 
     dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
-    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
+    output_file_path = os.path.join(output_dir, output_file)
 
     try:
         with open(dds_file_path, 'r') as file:
@@ -43,7 +54,7 @@ def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
                 all_topics.add(message['topic'].split('/')[-1])
         for message in allMessageFiles:
             all_messages_in_source.add(message.split('/')[-1].split('.')[0])
-        messagesNotExported = all_messages_in_source - all_message_types
+        messagesNotExported = sorted(all_messages_in_source - all_message_types)
 
         # write out the dds file
         dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
@@ -63,14 +74,14 @@ Topic | Type| Rate Limit
 --- | --- | ---
 """
 
-        for message in data["publications"]:
+        for message in sort_dds_topics(data["publications"]):
             type = message['type']
             px4Type=type.split("::")[-1]
             dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
 
         dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
 
-        for message in data["subscriptions"]:
+        for message in sort_dds_topics(data["subscriptions"]):
             type = message['type']
             px4Type=type.split("::")[-1]
             dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
@@ -82,18 +93,17 @@ Topic | Type| Rate Limit
         else:
             print("Warning - we now have subscription_multi data - check format")
             dds_markdown += "Topic | Type\n--- | ---\n"
-            for message in data["subscriptions_multi"]:
+            for message in sort_dds_topics(data["subscriptions_multi"]):
                 dds_markdown += f"{message['topic']} | {message['type']}\n"
 
         if messagesNotExported:
             # Print the topics that are not exported to DDS
             dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
             dds_markdown += "\n\n::: details See messages\n"
-            for item in  messagesNotExported:
+            for item in sorted(messagesNotExported):
                 dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
             dds_markdown += "\n:::\n" # End of details block
 
-        #print(dds_markdown)
         with open(output_file_path, 'w') as content_file:
                 content_file.write(dds_markdown)
 
@@ -127,6 +137,7 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('--dds_topics', dest='dds_topics', help='Generate dds yaml doc', action='store_true')
     args = parser.parse_args()
 
     output_dir = args.dir
@@ -137,6 +148,9 @@ if __name__ == "__main__":
     msg_files = get_msgs_list(msg_path)
     msg_files.sort()
 
+    if args.dds_topics:
+        generate_dds_yaml_doc(msg_files, output_dir)
+
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
 
@@ -227,5 +241,3 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
     index_file = os.path.join(output_dir, 'index.md')
     with open(index_file, 'w') as content_file:
             content_file.write(index_text)
-
-    generate_dds_yaml_doc(msg_files)

Tools/uorb_graph/create.py

@@ -59,7 +59,7 @@ def get_N_colors(N, s=0.8, v=0.9):
 def topic_filename(topic):
     MSG_PATH = 'msg/'
 
-    file_list = os.listdir(MSG_PATH)
+    file_list = sorted(os.listdir(MSG_PATH))
     msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
 
     if topic in msg_files:
@@ -369,12 +369,14 @@ class Graph(object):
             if not scope.is_empty():
                 scopes_with_topic[name] = scope
 
+        # scopes_with_topic = sorted(scopes_with_topic)
+
         self._print_ambiguities = ambiguous_topics
         if use_topic_pubsub_union:
-            self._print_topics = subscribed_topics | published_topics
+            self._print_topics = sorted(subscribed_topics | published_topics)
             self._print_scopes = scopes_with_topic
         else:
-            self._print_topics = subscribed_topics & published_topics
+            self._print_topics = sorted(subscribed_topics & published_topics)
 
             # cull scopes to only those that pub or sub to a topic that has both
             intersect_scopes = {}
@@ -392,7 +394,7 @@ class Graph(object):
             log.debug('ignoring excluded path '+path)
             return
 
-        entries = os.listdir(path)
+        entries = sorted(os.listdir(path))
 
         # check if entering a new scope
         cmake_file = 'CMakeLists.txt'
@@ -685,8 +687,8 @@ class OutputJSON(object):
 
 
         # edges
-        for name,scope in output_scopes.items():
-            for topic in scope.publications:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.publications):
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 'm_'+name
@@ -695,8 +697,8 @@ class OutputJSON(object):
                     edge['style'] = 'dashed'
                     edges.append(edge)
 
-        for name,scope in output_scopes.items():
-            for topic in scope.subscriptions:
+        for name,scope in sorted(output_scopes.items(), key=lambda kv: kv[0]):
+            for topic in sorted(scope.subscriptions):
                 if topic in output_topics:
                     edge = {}
                     edge['source'] = 't_'+topic
@@ -723,10 +725,16 @@ if "__main__" == __name__:
             log.setLevel(logging.DEBUG)
             print("set log level to DEBUG")
 
+
+    print('')
+    print('== Starting uorb_graph/create.py ==')
+    if args.file:
+        print('  =Filename:', os.path.basename(args.file))
+
     # ignore topics that are subscribed/published by many topics, but are not really
     # useful to show in the graph
     topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
-    print('Excluded topics: '+str(topic_blacklist))
+    print('  =Excluded Topics: '+str(topic_blacklist))
 
     if len(args.modules) == 0:
         scope_whitelist = []
@@ -757,7 +765,7 @@ if "__main__" == __name__:
     if 0 < len(args.exclude_path):
         path_blacklist = args.exclude_path
     if path_blacklist:
-        print('Excluded Path: '+str(path_blacklist))
+        print('  =Excluded Path: '+str(path_blacklist))
 
     graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
 
@@ -784,3 +792,6 @@ if "__main__" == __name__:
         pass
     else:
         print('Error: unknown output format '+args.output)
+
+    print("== Completed uorb_graph/create.py ==")
+    print("")

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,7 +132,6 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/3dr/ctrl-zero-h7-oem-revg/src/mtd.cpp

@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2025 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi2,
-	.npart = 1,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
-		},
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs = 1,
-	.entries  = {
-		&fmum_fram
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = {
-		&mtd_mft
-	}
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}

boards/ark/fpv/nuttx-config/include/board_dma_map.h

@@ -34,25 +34,75 @@
 #pragma once
 
 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
-// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
-// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
+
+//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
+//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
+// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
+// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
+// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
+
+// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
+// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
+// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
+// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
+
+// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
+// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
+// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
-// available
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
+
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
+// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
+// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
+// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
+
+// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
+// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
+// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
+// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
+
+//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
 
 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */

boards/ark/fpv/nuttx-config/nsh/defconfig

@@ -260,6 +260,8 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -270,7 +272,6 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

cmake/metadata.cmake

@@ -116,10 +116,18 @@ add_custom_target(metadata_extract_events
 	USES_TERMINAL
 )
 
+add_custom_target(metadata_msg_documentation
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/msg_docs
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/generate_msg_docs.py --dds_topics -d ${PX4_BINARY_DIR}/msg_docs
+	COMMENT "Generating uORB message documentation"
+	USES_TERMINAL
+)
+
 add_custom_target(all_metadata
 	DEPENDS
 		metadata_airframes
 		metadata_parameters
 		metadata_module_documentation
 		metadata_extract_events
+		metadata_msg_documentation
 )

docs/en/SUMMARY.md

@@ -730,7 +730,7 @@
       - [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)
+      - [DDS Topic List](middleware/dds_topics.md)
   - [Modules & Commands](modules/modules_main.md)
     - [Autotune](modules/modules_autotune.md)
     - [Commands](modules/modules_command.md)

docs/en/_sidebar.md

@@ -490,17 +490,12 @@
       - [Versioned](/msg_docs/versioned_messages.md)
         - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
         - [ActuatorServos](/msg_docs/ActuatorServos.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](/msg_docs/BatteryStatus.md)
         - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
-        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
-        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
         - [HomePosition](/msg_docs/HomePosition.md)
-        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
-        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](/msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -529,8 +524,10 @@
         - [ActuatorTest](/msg_docs/ActuatorTest.md)
         - [AdcReport](/msg_docs/AdcReport.md)
         - [Airspeed](/msg_docs/Airspeed.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [AirspeedWind](/msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
+        - [Buffer128](/msg_docs/Buffer128.md)
         - [ButtonEvent](/msg_docs/ButtonEvent.md)
         - [CameraCapture](/msg_docs/CameraCapture.md)
         - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -569,9 +566,6 @@
         - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
-        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
-        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
-        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](/msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -624,6 +618,7 @@
         - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
+        - [NpfgStatus](/msg_docs/NpfgStatus.md)
         - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -659,12 +654,13 @@
         - [RcParameterMap](/msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
+        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
+        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
+        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
-        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
         - [Rpm](/msg_docs/Rpm.md)
         - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -696,7 +692,6 @@
         - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
-        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](/msg_docs/TransponderReport.md)
         - [TuneControl](/msg_docs/TuneControl.md)
         - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -720,18 +715,14 @@
         - [WheelEncoders](/msg_docs/WheelEncoders.md)
         - [Wind](/msg_docs/Wind.md)
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
-        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/mavlink/index.md)
+    - [MAVLink Messaging](/middleware/mavlink.md)
       - [Adding Messages](/mavlink/adding_messages.md)
       - [Streaming Messages](/mavlink/streaming_messages.md)
       - [Receiving Messages](/mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](/mavlink/custom_messages.md)
-      - [Protocols/Microservices](/mavlink/protocols.md)
-        - [Standard Modes Protocol](/mavlink/standard_modes.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)
   - [Modules & Commands](/modules/modules_main.md)
     - [Autotune](/modules/modules_autotune.md)
     - [Commands](/modules/modules_command.md)
@@ -857,7 +848,6 @@
   - [Licenses](/contribute/licenses.md)
 - [Releases](/releases/index.md)
   - [main (alpha)](/releases/main.md)
-  - [1.16 (release candidate)](/releases/1.16.md)
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)

docs/en/computer_vision/collision_prevention.md

@@ -212,7 +212,7 @@ The steps are:
      type: px4_msgs::msg::ObstacleDistance
    ```
 
-   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
+   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
    In the **Script Editor** tab, add following scripts in the appropriate sections:

docs/en/debug/plotting_realtime_uorb_data.md

@@ -94,13 +94,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of
 
 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](../middleware/dds_topics.md).
+These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
 
 The instructions below explain the changes needed to monitor topics that are not available by default.
 
 ### Missing Topics
 
-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
 
 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.
 
@@ -120,7 +120,7 @@ cd ~/ros2_ws/ && colcon build
 
 ### Custom Topics
 
-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
 
 ## See also
 

docs/en/debug/system_wide_replay.md

@@ -126,7 +126,8 @@ In EKF2 mode, the replay will automatically create the ORB publisher rules descr
 
 To perform an EKF2 replay:
 
-- Record the original log with `SDLOG_MODE` set to `1` to log from boot.
+- Record the original log.
+  Optionally set `SDLOG_MODE` to `1` to log from boot.
 
 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:
 

docs/en/middleware/dds_topics.md

@@ -13,66 +13,66 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
 
 Topic | Type| Rate Limit
 --- | --- | ---
-`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | 
+`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
 `/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/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.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/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
 `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
+`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | 
 `/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/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
+`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 
+`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | 
+`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
+`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
+`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
 `/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 | Type
 --- | ---
-/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
-/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
-/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
-/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
-/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
-/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
-/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
-/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
-/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
-/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
-/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
-/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
-/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
-/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
-/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
-/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
-/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
-/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
-/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
-/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
-/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
-/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
-/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
-/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
 /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
 /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
-/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
-/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
+/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
+/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
+/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.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/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
+/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
 /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
+/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
+/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.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/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.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/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
+/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.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/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
+/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.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/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
+/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
+/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
+/fmu/in/vehicle_visual_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_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
+/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
 
 ## Subscriptions Multi
 
@@ -85,192 +85,192 @@ They are not build into the module, and hence are neither published or subscribe
 
 ::: details See messages
 
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
 - [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
 - [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [Event](../msg_docs/Event.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
 - [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
 - [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
 - [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [LandingGear](../msg_docs/LandingGear.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
 - [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [Mission](../msg_docs/Mission.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.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)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [Ping](../msg_docs/Ping.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
+- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
+- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
+- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
+- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
 - [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [TransponderReport](../msg_docs/TransponderReport.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [Wind](../msg_docs/Wind.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
 :::

docs/en/middleware/uorb.md

@@ -1,35 +1,11 @@
 # uORB Messaging
 
-The Micro Object Request Broker (uORB) is PX4s low-latency asynchronous `publish()` / `subscribe()` messaging API for inter-thread/inter-process communication.
-It allows the different modules of the system to communicate effectively, while still being loosely coupled, and hence easily replaced.
-
 ## Introduction
 
-PX4 modules communicate using uORB _topics_.
-A topic represents a communication channel for sending _messages_ between a publisher module and one or more subscriber modules.
-A module that is interested in receiving messages can subscribe to a topic and use it to check for, and read, new messages.
-A module that wants to send messages to a particular topic (and hence all subscribers) must _advertise_ that it is going to do so, and can then _publish_ messages when it has new data.
-
-A topic behaves like a queue to which publishers write, and from which subscribers read.
-By default he queue can only buffer a single message, which may be overwritten if the publisher writes new message data before subscribers can read it.
-The [queue size may be increased](#uorb-buffer-length-orb-queue-length) in the rare cases when subscribers really need to receive every message.
-
-A message is a discrete sample of data that can be published/subscribed via a topic.
-The message fields, the constants that can be used with those fields, and the topic(s) to which the message can be published/subscribed are defined in a uORB message definition file.
-
-By default a single topic is automatically created for each message definition file, which is created by `underscore_snake_casing` the (CamelCase) message definition file name.
-For example, topic `battery_status` is automatically created for the `BatteryStatus.msg`.
-This is generally what you want if the message is always about the same kind of data (batteries in this case) and so all the subscribers will be interested in the same messages.
-
-Sometimes the same message structure can be used to represent data from different kinds of sources, which will have different sets of interested publishers and subscribers.
-In this case the topics need to be explicitly declared.
-For example the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) can be used for sending messages about global position from an estimator, GNSS, or an external source: the fields are the same, but the source and subscribers of the data may be different.
-
-uORB also provides a mechanism to publish multiple independent instances of the same topic.
-This is useful, for example, if the system has several sensors of the same type.
+The uORB is an asynchronous `publish()` / `subscribe()` messaging API used for inter-thread/inter-process communication.
 
 uORB is implemented in the [`uorb` module](../modules/modules_communication.md#uorb).
-The module is started automatically (with `uorb start`) early in the PX4 boot sequence, as many applications depend on it.
+It is started automatically (with `uorb start`) early in the PX4 boot sequence, as many applications depend on it.
 Unit tests can be started with `uorb_tests`.
 
 This document explains how to add uORB message definitions and their corresponding topic(s), how to use reference a topic in code, and how to view topics as they change in PX4.
@@ -66,31 +42,31 @@ In code you refer to the topic using its id, which in this example would be: `OR
 
 ## Message Definitions
 
-Every message should start with a [message description](#message-description) that outlines its purpose (a comment starts with the `#` symbol and goes to the end of the line).
+The message definition should start with a descriptive _comment_ that outlines its purpose (a comment starts with the `#` symbol and goes to the end of the line).
 The message will then define one or more fields, which are defined with a _type_, such as `bool`, `uint8`, and `float32`, followed by a _name_.
 By convention, each field is followed by a descriptive _comment_, which is any text from the `#` symbol to the end of the line.
 
-::: info
-All _versioned_ messages definitions must include the `uint32 MESSAGE_VERSION` field.
-For more information, refer to the [Message Versioning](#message-versioning) section.
-:::
-
 ::: warning
 All message definitions **must** include the `uint64_t timestamp` field, and this should be filled in when publishing the associated topic(s).
 This field is needed in order for the logger to be able to record UORB topics.
 :::
 
+::: info
+All _versioned_ messages definitions must include the `uint32 MESSAGE_VERSION` field.
+For more information, refer to the [Message Versioning](#message-versioning) section.
+:::
+
 For example the [VelocityLimits](../msg_docs/VelocityLimits.md) message definition shown below has a descriptive comment, followed by a number of fields, which each have a comment.
 
 ```text
 # Velocity and yaw rate limits for a multicopter position slow mode only
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp # time since system start (microseconds)
 
 # absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s] Horizontal velocity.
-float32 vertical_velocity # [m/s] Vertical velocity.
-float32 yaw_rate # [rad/s] Yaw rate.
+float32 horizontal_velocity # [m/s]
+float32 vertical_velocity # [m/s]
+float32 yaw_rate # [rad/s]
 ```
 
 By default this message definition will be compiled to a single topic with an id `velocity_limits`, a direct conversion from the CamelCase name to a snake_case version.
@@ -98,202 +74,16 @@ By default this message definition will be compiled to a single topic with an id
 This is the simplest form of a message.
 See the existing [`msg`](../msg_docs/index.md) files for other examples of how messages are defined.
 
-#### Message Description
-
-Every message should start with a [comment](#comments) block that describes the message (one or more of lines that all start with `#`).
-The first comment line is mandatory and provides the short description.
-This may be followed by an empty comment line and then a optional long description.
-
-```text
-# Short description
-#
-# Long(er) description for the message
-# that can be multiline
-```
-
-The short description should provide a succinct explanation for the purpose of the message.
-Minimally it may just mirror the message name.
-For example, [`BatteryStatus`](../msg_docs/BatteryStatus.md) has the short description `Battery status`.
-
-The long description should provide any additional context required to understand what how the message is used.
-It might explain who are the publishers and who are the expected consumers, such as MAVLink or the logging system.
-It might also cover whether the message is only used for a particular frame type or mode.
-
-Both short and long descriptions may be multi-line.
-The long description may also include empty comment lines (the short description cannot, because the first empty comment delineates the short and long description).
-A terminating full stop can be omitted from single line comments and from the final line.
-
-The block ends at the first non-comment line, such as an empty line, field, or constant.
-Any subsequent comment lines are considered "internal comments".
-
-### Comments
-
-Comments are text provided for explanation or documentation purposes.
-Any text after a `#` character is a comment (with the exception of lines that [start with `# TOPIC`](#multi-topic-message)).
-
-PX4 uses structured comments for message, field, and constant descriptions.
-Other comments are internal.
-
-### Fields
-
-Messages define one or more fields, which are the variables that are written and read by publishers and subscribers, respectively.
-
-A typical field might look like this:
-
-```sh
-float64 lat # [deg] Latitude (WGS84).
-```
-
-Each field has a _type_ followed by a _name_, and should also have a _comment_
-The format is as shown:
-
-```sh
-<type> <name> # [metadata] <description>
-```
-
-- `type`:
-  - A primitive data type: `bool`, `char`, `uint8`, `uint32`, `uint64`, `int8`, `int16`, `int32`, `float32` and `float64`.
-  - Another UORB message name, when creating complex types using [nested messages](#nested-messages).
-- `name`
-  - Any message-unique string.
-    By convention use lower case `underline_snake_case`.
-
-The comment must all be on the same line as the field, and should consist of optional metadata and a description:
-
-- `metadata` (Optional)
-  - Information about the field units and allowed values:
-    - `[<unit>]`
-      - The unit of measurement inside square brackets (note, no `@` delineator indicates a unit).
-        For example `[m]` or `[deg]`.
-        Typical units include: `m`, `deg`, `m/s`, `rad`, `rad/s`, and so on.
-    - `[@enum <enum_name>]`
-      - The `enum_name` gives the prefix of constant values in the message that can be assigned to the field.
-        Note that in UORB "enums" are a naming convention: they are not explicitly declared.
-        Multiple enum names indicate a possible error in the field design.
-    - `[@range <lower_value>, <upper_value>]`
-      - The allowed range of the field, specified as a `lower_value` and/or an `upper_value`.
-        Either value can be omitted to indicate an unbounded upper or lower value.
-        For example `[@range 0, 3]`, `[@range 5.3, ]`, `[@range , 3]`.
-    - `[@invalid <value> <description>]`
-      - The `value` to set the field to indicate that the field doesn't contain valid data.
-        The `description` is optional, and might be used to indicate the conditions under which data is invalid.
-- `description`
-  - A concise description of the purpose of the field and allowed values, and including any important information that can't be inferred from the name!
-    Use a capital first letter, and omit the full stop if the description is a single sentence.
-    Multiple sentences may also omit the final full stop.
-
-#### Array Fields
-
-A array field defines multiple variables in an array, where all values have the same type.
-The number of elements are given using square brackets after the type.
-Array fields are otherwise defined (and documented) in the same way as other fields.
-
-For example:
-
-```sh
-int32[12] raw_data # ADC channel raw value, accept negative value.
-```
-
-#### Mandatory Fields
-
-All message definitions **must** include following fields:
-
-- `uint64_t timestamp`
-  - This should be filled in when publishing the associated topic(s).
-    It is needed in order for the logger to be able to record UORB topics.
-  - The comment should be `# [us] Time since system start`.
-
-### Constants
-
-Constants specify a mapping between a name and a value.
-
-These are mainly used to predefine useful values that you might need to use for a particular field, such as a state or flag values.
-Often these are grouped together as [enums](#enums).
-There are also a small number of [metadata constants](#metadata-constants) that are used by the build infrastructure.
-
-For example, here are a number of constants for indicating battery warnings.
-
-```sh
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-```
-
-Constants are specified as a field assigned with a value.
-The field part has a _type_, which must match the type of the field they are to be used with, followed by a _name_.
-They should also have a _comment_ with a description.
-By convention they are defined immediately below the field with which they can used.
-
-The format is as shown:
-
-```sh
-<type> <name> = <value> # <description>
-```
-
-- `type`:
-  - Must match the `type` of the field with which it is to be used.
-- `name`
-  - The name of the constant.
-    This must be message-unique and is by convention `ALL_UPPER_CASE_UNDERLINE_SNAKE_CASE`
-  - Constant names that can be used with a field should share the same prefix and should indicate the value's purpose.
-
-The comment must all be on the same line as the field.
-Note that this is much like the field description (but there is no metadata):
-
-- `description`
-  - A terse description of the purpose of the constant.
-    Use a capital first letter, and omit the full stop if the description is a single sentence.
-    Multiple sentences may also omit the final full stop.
-
-#### Enums
-
-Enums are groups/sets of enumerated constants that can be used as values for a particular field.
-
-UORB does not define a formal syntax for enums.
-Instead we use a prefix naming convention to indicate all the constants that are part of the same enum.
-The constants in the enum should be declared immediately after the field in which they are used, and for parsing convenience, the prefix is listed in the field using `@enum` metadata.
-
-For example, here is the definition of the `warning` field and some of the `WARNING` enum values that can be used with it:
-
-```sh
-uint8 warning # [@enum WARNING] 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
-...
-```
-
-#### Metadata Constants
-
-A number of constants provide information that is used by the PX4 build system to configure how the message may be used, such as the version and length of the message.
-If relevant, these should appear near the top of the file, immediately after the [Message Description](#message-description).
-
-The allowed constants are:
-
-- `ORB_QUEUE_LENGTH` - Sets the [uORB Buffer Length](#uorb-buffer-length-orb-queue-length), which is used in rare cases where a subscriber needs all values that are set for a field, rather than just the most recent sample.
-- `MESSAGE_VERSION` - Sets the version number of a versioned message.
-  This is used as part of the infrastructure to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
-  For more information see [Message Versioning](#message-versioning)
-
-#### Multi-Topic Messages (`# TOPICS`) {#multi-topic-messages}
-
-By default a single topic is automatically created for each message definition file, which is created by `underscore_snake_casing` the (CamelCase) message definition file name.
-For example, topic `battery_status` is automatically created for the `BatteryStatus.msg`.
-This is generally what you want if the message is always about the same kind of data (batteries in this case) and so all the subscribers will be interested in the same messages.
+### Multi-Topic Messages
 
 Sometimes it is useful to use the same message definition for multiple topics.
-In this case the topics need to be explicitly declared.
-You can do this by adding one or more lines to the end of the message prefixed with `# TOPICS`, followed by space-separated topic ids.
-
-For example, the [VehicleGlobalPosition.msg](../msg_docs/VehicleGlobalPosition.md) message definition is used to define the topic ids as shown:
+This can be specified at the end of the message using a line prefixed with `# TOPICS `, followed by space-separated topic ids.
+For example, the [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) message definition is used to define the topic ids as shown:
 
 ```text
-# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
-# TOPICS estimator_global_position
-# TOPICS aux_global_position
+# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
 ```
 
-Note that multiple topics are useful in this case because the likely subscribers for the different sources of global position are likely to be different.
-
 ### Nested Messages
 
 Message definitions can be nested within other messages to create complex data structures.
@@ -302,34 +92,15 @@ To nest a message, simply include the nested message type in the parent message
 
 ```text
 # Global position setpoint triplet in WGS84 coordinates.
-#
 # This are the three next waypoints (or just the next two or one).
 
-uint64 timestamp # [us] Time since system start
+uint64 timestamp		# time since system start (microseconds)
 
 PositionSetpoint previous
 PositionSetpoint current
 PositionSetpoint next
 ```
 
-### uORB Buffer Length (ORB_QUEUE_LENGTH)
-
-uORB messages have a single-message buffer by default, which may be overwritten if the message publication rate is too high.
-In most cases this does not matter: either we are only interested in the latest sample of a topic, such as a sensor value or a setpoint, or losing a few samples is not a particular problem.
-For relatively few cases, such as vehicle commands, it is important that we don't drop topics.
-
-In order to reduce the chance that messages will be dropped we can use named constant `ORB_QUEUE_LENGTH` to create a buffer of the specified length.
-For example, to create a four-message queue, add the following line to your message definition:
-
-```sh
-uint8 ORB_QUEUE_LENGTH = 4
-```
-
-As long as subscribers are able to read messages out of the buffer quickly enough than it isn't ever fully filled to the queue length (by publishers), they will be able to get all messages that are sent.
-Messages will still be lost they are published when the queue is filled.
-
-Note that the queue length value must be a power of 2 (so 2, 4, 8, ...).
-
 ### Message/Field Deprecation {#deprecation}
 
 As there are external tools using uORB messages from log files, such as [Flight Review](https://github.com/PX4/flight_review), certain aspects need to be considered when updating existing messages:
@@ -343,7 +114,7 @@ As there are external tools using uORB messages from log files, such as [Flight
     This is to ensure that removed fields (or messages) are not re-added in future.
   - In case of a semantic change (e.g. the unit changes from degrees to radians), the field must be renamed as well and the previous one marked as deprecated as above.
 
-## Message Versioning (MESSAGE_VERSION) {#message-versioning}
+## Message Versioning
 
 <Badge type="tip" text="PX4 v1.16" />
 

docs/en/middleware/uxrce_dds.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 [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) 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 [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).
 
 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).
 
@@ -320,11 +320,13 @@ 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](../middleware/dds_topics.md).
+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 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.
@@ -341,20 +343,20 @@ Therefore,
   ```
 
   ::: info
-  Technically, [dds_topics.yaml](../middleware/dds_topics.md) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  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 [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](../middleware/dds_topics.md)) 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](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):
 
 - 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](../middleware/dds_topics.md) 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](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#dds-ros-2-services).
 Therefore, commands like:
 
 ```sh
@@ -411,7 +413,7 @@ Deadline, lifespan, and lease durations are also all set to "default".
 
 ## DDS Topics YAML
 
-The PX4 [dds_topics.yaml](../middleware/dds_topics.md) file defines the set of PX4 uORB topics that are built into firmware and published.
+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.
 More precisely, it completely defines the relationship/pairing between PX4 uORB and ROS 2 messages.
 
 The file is structured as follows:
@@ -540,7 +542,7 @@ 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_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)
+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)
 
 See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information.
 

docs/en/modules/modules_driver.md

@@ -1141,7 +1141,7 @@ px4io <command> [arguments...]
 
 ## rgbled
 
-Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
+Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
 
 ### Usage {#rgbled_usage}
 
@@ -1156,9 +1156,7 @@ rgbled <command> [arguments...]
      [-f <val>]  bus frequency in kHz
      [-q]        quiet startup (no message if no device found)
      [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85
 
    stop
 
@@ -1479,7 +1477,7 @@ Start the driver with a given device:
 ```
 uwb start -d /dev/ttyS2
 ```
-	
+
 ### Usage {#uwb_usage}
 
 ```
@@ -1639,7 +1637,7 @@ Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modul
 ### Description
 
 Zenoh demo bridge
-	
+
 ### Usage {#zenoh_usage}
 
 ```

docs/en/modules/modules_driver_distance_sensor.md

@@ -200,6 +200,43 @@ lightware_sf45_serial <command> [arguments...]
 
 ## ll40ls
 
+Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
+
+
+### Description
+
+I2C bus driver for LidarLite rangefinders.
+
+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
+
+### Usage {#ll40ls_usage}
+
+```
+ll40ls <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 98
+     [-R <val>]  Sensor rotation - downward facing by default
+                 default: 25
+
+   regdump
+
+   stop
+
+   status        print status info
+```
+
+## ll40ls_pwm
+
 Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
 
 
@@ -211,10 +248,10 @@ 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
 
-### Usage {#ll40ls_usage}
+### Usage {#ll40ls_pwm_usage}
 
 ```
-ll40ls <command> [arguments...]
+ll40ls_pwm <command> [arguments...]
  Commands:
    start         Start driver
      [-R <val>]  Sensor rotation - downward facing by default
@@ -342,7 +379,7 @@ Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tre
 
   The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
 
-  
+
 ### Usage {#srf05_usage}
 
 ```

docs/en/modules/modules_system.md

@@ -343,7 +343,7 @@ Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-
 
 
 ### Description
-		
+
 The module controls internal combustion engine (ICE) features including:
 ignition (on/off), throttle and choke level, starter engine delay, and user request.
 
@@ -377,18 +377,21 @@ The ICE is implemented with a (4) state machine:
 ![Architecture](../../assets/hardware/ice/ice_control_state_machine.png)
 
 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}
+  - Manual control AUX
   - Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
+- In the state "Stopped" the throttle is set to NAN, which by definition will set the
+  throttle output to the disarmed value configured for the specific output.
+
 
 The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
-		
+
 The architecture is as shown below:
 
 ![Architecture](../../assets/hardware/ice/ice_control_diagram.png)
-		
+
 <a id="internal_combustion_engine_control_usage"></a>
 
 ### Usage {#internal_combustion_engine_control_usage}

docs/en/msg_docs/ArmingCheckReply.md

@@ -1,43 +1,59 @@
 # ArmingCheckReply (UORB message)
 
+Arming check reply.
 
+This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
+The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
+The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
+
+Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
+The message is not used by internal/FMU components, as their mode requirements are known at compile time.
 
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
 
 ```c
-uint32 MESSAGE_VERSION = 0
+# Arming check reply.
+#
+# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
+# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
+# The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
+#
+# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
+# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
 
-uint64 timestamp # time since system start (microseconds)
+uint32 MESSAGE_VERSION = 1
 
-uint8 request_id
-uint8 registration_id
+uint64 timestamp # [us] Time since system start.
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+uint8 request_id # Id of ArmingCheckRequest for which this is a response.
+uint8 registration_id # Id of external component emitting this response.
 
-uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
-bool health_component_is_present
-bool health_component_warning
-bool health_component_error
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
 
-bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
 
-uint8 num_events
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
 
-Event[5] events
+uint8 num_events # Number of queued failure messages (Event) in the events field.
+
+Event[5] events # Arming failure reasons (Queue of events to report to GCS).
 
 # Mode requirements
-bool mode_req_angular_velocity
-bool mode_req_attitude
-bool mode_req_local_alt
-bool mode_req_local_position
-bool mode_req_local_position_relaxed
-bool mode_req_global_position
-bool mode_req_mission
-bool mode_req_home_position
-bool mode_req_prevent_arming
-bool mode_req_manual_control
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_attitude # Requires an attitude estimate.
+bool mode_req_local_alt # Requires a local altitude estimate.
+bool mode_req_local_position # Requires a local position estimate.
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
+bool mode_req_global_position # Requires a global position estimate.
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
+bool mode_req_mission # Requires an uploaded mission.
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
+bool mode_req_manual_control # Requires a manual controller
 
-
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 4 #
 
 ```

docs/en/msg_docs/ArmingCheckReplyV0.md

@@ -0,0 +1,43 @@
+# ArmingCheckReplyV0 (UORB message)
+
+
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
+
+```c
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+EventV0[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4
+
+```

docs/en/msg_docs/ArmingCheckRequest.md

@@ -1,16 +1,30 @@
 # ArmingCheckRequest (UORB message)
 
+Arming check request.
 
+Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+
+The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
 
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
 
 ```c
+# Arming check request.
+#
+# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+#
+# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-# broadcast message to request all registered arming checks to be reported
-
-uint8 request_id
+uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
 
 ```

docs/en/msg_docs/Event.md

@@ -2,10 +2,12 @@
 
 Events interface
 
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Event.msg)
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
 
 ```c
 # Events interface
+uint32 MESSAGE_VERSION = 1
+
 uint64 timestamp			# time since system start (microseconds)
 
 uint32 id                   # Event ID

docs/en/msg_docs/EventV0.md

@@ -0,0 +1,24 @@
+# EventV0 (UORB message)
+
+this message is required here in the msg_old folder because other msg are depending on it
+Events interface
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg)
+
+```c
+# this message is required here in the msg_old folder because other msg are depending on it
+# Events interface
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint32 id                   # Event ID
+uint16 event_sequence       # Event sequence number
+uint8[25] arguments         # (optional) arguments, depend on event id
+
+uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external
+
+uint8 ORB_QUEUE_LENGTH = 16
+
+```

docs/en/msg_docs/FailsafeFlags.md

@@ -22,6 +22,7 @@ uint32 mode_req_local_alt
 uint32 mode_req_local_position
 uint32 mode_req_local_position_relaxed
 uint32 mode_req_global_position
+uint32 mode_req_global_position_relaxed
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
@@ -39,6 +40,7 @@ bool local_position_invalid           # Local position estimate invalid
 bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
 bool local_velocity_invalid           # Local velocity estimate invalid
 bool global_position_invalid          # Global position estimate invalid
+bool global_position_invalid_relaxed  # Global position estimate invalid with relaxed accuracy requirements
 bool auto_mission_missing             # No mission available
 bool offboard_control_signal_lost     # Offboard signal lost
 bool home_position_invalid            # No home position available

docs/en/msg_docs/InternalCombustionEngineControl.md

@@ -7,10 +7,10 @@
 ```c
 uint64 timestamp        		# time since system start (microseconds)
 
-bool ignition_on          		# activate/deactivate ignition (Spark Plug)
-float32 throttle_control		# [0,1] - Motor should idle with 0. Includes slew rate if enabled.
-float32 choke_control			# [0,1] - 1 fully closes the air inlet.
-float32 starter_engine_control		# [0,1] - control value for electric starter motor.
+bool ignition_on          		# activate/deactivate ignition (spark plug)
+float32 throttle_control		# setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor]
+float32 choke_control			# setpoint for choke actuator, 1: fully closed [norm] [@range 0,1]
+float32 starter_engine_control		# setpoint for (electric) starter motor [norm] [@range 0,1]
 
 uint8 user_request			# user intent for the ICE being on/off
 

docs/en/msg_docs/index.md

@@ -16,10 +16,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
 - [AirspeedValidated](AirspeedValidated.md)
-- [ArmingCheckReply](ArmingCheckReply.md)
-- [ArmingCheckRequest](ArmingCheckRequest.md)
+- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
+- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
 - [BatteryStatus](BatteryStatus.md)
 - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
+- [Event](Event.md) — Events interface
 - [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
 Used by the fw_lateral_longitudinal_control module
 At least one of course, airspeed_direction, or lateral_acceleration must be finite.
@@ -124,7 +125,6 @@ scale errors, in-run bias and thermal drift (if thermal compensation is enabled
 - [EstimatorStates](EstimatorStates.md)
 - [EstimatorStatus](EstimatorStatus.md)
 - [EstimatorStatusFlags](EstimatorStatusFlags.md)
-- [Event](Event.md) — Events interface
 - [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks.
 - [FailureDetectorStatus](FailureDetectorStatus.md)
 - [FigureEightStatus](FigureEightStatus.md)
@@ -298,6 +298,9 @@ NaN means the state was not controlled
 - [Wind](Wind.md)
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 - [AirspeedValidatedV0](AirspeedValidatedV0.md)
+- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
+- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
+Events interface
 - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
 - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander
 

docs/en/ros2/user_guide.md

@@ -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 specified in [dds_topics.yaml](../middleware/dds_topics.md).
+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 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.
@@ -394,7 +394,7 @@ 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](../middleware/dds_topics.md), 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](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).
 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.
@@ -728,7 +728,7 @@ Custom topic and service namespaces can be applied at build time (changing [dds_
 - 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](../middleware/dds_topics.md) 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](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).
 Therefore, commands like:
 
 ```sh

docs/ko/SUMMARY.md

@@ -725,13 +725,12 @@
         - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
         - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](mavlink/index.md)
+    - [MAVLink Messaging](middleware/mavlink.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
-      - [Protocols/Microservices](mavlink/protocols.md)
-        - [Standard Modes Protocol](mavlink/standard_modes.md)
+      - [Standard Modes Protocol](mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
   - [모듈과 명령어](modules/modules_main.md)
     - [자동 튜닝](modules/modules_autotune.md)
@@ -861,7 +860,6 @@
 
 - [출시](releases/index.md)
   - [main (alpha)](releases/main.md)
-  - [1.16 (release candidate)](releases/1.16.md)
   - [1.15 (stable)](releases/1.15.md)
   - [1.14](releases/1.14.md)
   - [1.13](releases/1.13.md)

docs/ko/_sidebar.md

@@ -460,7 +460,6 @@
       - [Vehicles](/sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](/sim_gazebo_gz/worlds.md)
-      - [Plugins](/sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Gazebo Classic Simulation](/sim_gazebo_classic/index.md)
@@ -493,17 +492,12 @@
       - [Versioned](/msg_docs/versioned_messages.md)
         - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
         - [ActuatorServos](/msg_docs/ActuatorServos.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](/msg_docs/BatteryStatus.md)
         - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
-        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
-        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
         - [HomePosition](/msg_docs/HomePosition.md)
-        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
-        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](/msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -532,8 +526,10 @@
         - [ActuatorTest](/msg_docs/ActuatorTest.md)
         - [AdcReport](/msg_docs/AdcReport.md)
         - [Airspeed](/msg_docs/Airspeed.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [AirspeedWind](/msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
+        - [Buffer128](/msg_docs/Buffer128.md)
         - [ButtonEvent](/msg_docs/ButtonEvent.md)
         - [CameraCapture](/msg_docs/CameraCapture.md)
         - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -572,9 +568,6 @@
         - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
-        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
-        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
-        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](/msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -627,6 +620,7 @@
         - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
+        - [NpfgStatus](/msg_docs/NpfgStatus.md)
         - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -662,12 +656,13 @@
         - [RcParameterMap](/msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
+        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
+        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
+        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
-        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
         - [Rpm](/msg_docs/Rpm.md)
         - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -699,7 +694,6 @@
         - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
-        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](/msg_docs/TransponderReport.md)
         - [TuneControl](/msg_docs/TuneControl.md)
         - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -723,16 +717,13 @@
         - [WheelEncoders](/msg_docs/WheelEncoders.md)
         - [Wind](/msg_docs/Wind.md)
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
-        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/mavlink/index.md)
+    - [MAVLink Messaging](/middleware/mavlink.md)
       - [Adding Messages](/mavlink/adding_messages.md)
       - [Streaming Messages](/mavlink/streaming_messages.md)
       - [Receiving Messages](/mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](/mavlink/custom_messages.md)
-      - [Protocols/Microservices](/mavlink/protocols.md)
-        - [Standard Modes Protocol](/mavlink/standard_modes.md)
+      - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [모듈과 명령어](/modules/modules_main.md)
     - [자동 튜닝](/modules/modules_autotune.md)
@@ -749,7 +740,6 @@
       - [자기 센서](/modules/modules_driver_magnetometer.md)
       - [광류 센서](/modules/modules_driver_optical_flow.md)
       - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
-      - [Radio Control](/modules/modules_driver_radio_control.md)
       - [Transponder](/modules/modules_driver_transponder.md)
     - [추정기](/modules/modules_estimator.md)
     - [시뮬레이션](/modules/modules_simulation.md)
@@ -862,7 +852,6 @@
 
 - [출시](/releases/index.md)
   - [main (alpha)](/releases/main.md)
-  - [1.16 (release candidate)](/releases/1.16.md)
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)

docs/ko/computer_vision/collision_prevention.md

@@ -47,7 +47,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
 
 - Attach and configure the distance sensor on a particular port (see [sensor-specific docs](../sensor/rangefinders.md)) and enable collision prevention using [CP_DIST](#CP_DIST).
 - 방향을 설정하려면 드라이버를 수정하십시오.
-  This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
+ This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
 - Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
 
 ## PX4 (Software) Setup
@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
 
 2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
 
-  Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
+ Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
 
-  ```sh
-  - topic: /fmu/out/obstacle_distance_fused
-    type: px4_msgs::msg::ObstacleDistance
-  ```
+ ```sh
+ - topic: /fmu/out/obstacle_distance_fused
+   type: px4_msgs::msg::ObstacleDistance
+ ```
 
-  For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
+ For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
-  In the **Script Editor** tab, add following scripts in the appropriate sections:
+ In the **Script Editor** tab, add following scripts in the appropriate sections:
 
-  - **Global code, executed once:**
+ - **Global code, executed once:**
 
-    ```lua
-    obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
-    obs_dist_min = Timeseries.new("obstacle_distance_minimum")
-    ```
+  ```lua
+  obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
+  obs_dist_min = Timeseries.new("obstacle_distance_minimum")
+  ```
 
-  - **function(tracker_time)**
+ - **function(tracker_time)**
 
-    ```lua
-    obs_dist_fused_xy:clear()
+  ```lua
+  obs_dist_fused_xy:clear()
 
-    i = 0
-    angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
-    increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
-    min_dist = 65535
+  i = 0
+  angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
+  increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
+  min_dist = 65535
 
-    -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
-    local angle_offset_value = angle_offset:atTime(tracker_time)
-    local increment_value = increment:atTime(tracker_time)
+  -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
+  local angle_offset_value = angle_offset:atTime(tracker_time)
+  local increment_value = increment:atTime(tracker_time)
 
-    if increment_value == nil or increment_value <= 0 then
-        print("Invalid increment value: " .. tostring(increment_value))
-        return
-    end
+  if increment_value == nil or increment_value <= 0 then
+      print("Invalid increment value: " .. tostring(increment_value))
+      return
+  end
 
-    local max_steps = math.floor(360 / increment_value)
+  local max_steps = math.floor(360 / increment_value)
 
-    while i < max_steps do
-        local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
-        local distance = TimeseriesView.find(str)
-        if distance == nil then
-            print("No distance data for: " .. str)
-            break
-        end
+  while i < max_steps do
+      local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
+      local distance = TimeseriesView.find(str)
+      if distance == nil then
+          print("No distance data for: " .. str)
+          break
+      end
 
-        local dist = distance:atTime(tracker_time)
-        if dist ~= nil and dist < 65535 then
-            -- Calculate angle and Cartesian coordinates
-            local angle = angle_offset_value + i * increment_value
-            local y = dist * math.cos(math.rad(angle))
-            local x = dist * math.sin(math.rad(angle))
+      local dist = distance:atTime(tracker_time)
+      if dist ~= nil and dist < 65535 then
+          -- Calculate angle and Cartesian coordinates
+          local angle = angle_offset_value + i * increment_value
+          local y = dist * math.cos(math.rad(angle))
+          local x = dist * math.sin(math.rad(angle))
 
-            obs_dist_fused_xy:push_back(x, y)
+          obs_dist_fused_xy:push_back(x, y)
 
-            -- Update minimum distance
-            if dist < min_dist then
-                min_dist = dist
-            end
-        end
+          -- Update minimum distance
+          if dist < min_dist then
+              min_dist = dist
+          end
+      end
 
-        i = i + 1
-    end
+      i = i + 1
+  end
 
-    -- Push minimum distance once after the loop
-    if min_dist < 65535 then
-        obs_dist_min:push_back(tracker_time, min_dist)
-    else
-        print("No valid minimum distance found")
-    end
-    ```
+  -- Push minimum distance once after the loop
+  if min_dist < 65535 then
+      obs_dist_min:push_back(tracker_time, min_dist)
+  else
+      print("No valid minimum distance found")
+  end
+  ```
 
 4. Enter a name for the script on the top right, and press **Save**.
-  Once saved, the script should appear in the _Active Scripts_ section.
+ Once saved, the script should appear in the _Active Scripts_ section.
 
 5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
-  You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
+ You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
 
 Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
 

docs/ko/debug/plotting_realtime_uorb_data.md

@@ -96,13 +96,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of
 
 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](../middleware/dds_topics.md).
+These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
 
 The instructions below explain the changes needed to monitor topics that are not available by default.
 
 ### Missing Topics
 
-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
 
 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.
 
@@ -122,7 +122,7 @@ cd ~/ros2_ws/ && colcon build
 
 ### Custom Topics
 
-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
 
 ## See also
 

docs/ko/debug/system_wide_replay.md

@@ -128,7 +128,8 @@ In EKF2 mode, the replay will automatically create the ORB publisher rules descr
 
 To perform an EKF2 replay:
 
-- Record the original log with `SDLOG_MODE` set to `1` to log from boot.
+- Record the original log.
+  Optionally set `SDLOG_MODE` to `1` to log from boot.
 
 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:
 

docs/ko/dev_log/log_encryption.md

@@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl
 :::
 
 :::tip
-Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
+Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
 
 In earlier versions the encrypted symmetric key was stored in a separate file.
 For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).

docs/ko/flight_controller/kakuteh7-wing.md

@@ -1,6 +1,4 @@
-# Holybro Kakute H743-Wing
-
-<Badge type="tip" text="PX4 v1.16" />
+# Holybro Kakute H7 V2
 
 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -33,7 +31,9 @@ The board can be bought from one of the following shops (for example):
 | Buz-, Buz+       | Piezo buzzer                      |                                                               |
 | M1 to M14        | Motor signal outputs              |                                                               |
 
-## PX4 Bootloader Update {#bootloader}
+<a id="bootloader"></a>
+
+## 부트로더 업데이트
 
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
@@ -50,7 +50,7 @@ make holybro_kakuteh7-wing_default
 ## 펌웨어 설치
 
 :::info
-KakuteH7-wing is supported in PX4 v1.16 or newer.
+KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
 Prior to that release you will need to manually build and install the firmware.
 :::
 

docs/ko/flight_modes_rover/ackermann.md

@@ -137,7 +137,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |

docs/ko/flight_modes_rover/differential.md

@@ -115,7 +115,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                                               |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/ko/flight_modes_rover/mecanum.md

@@ -140,7 +140,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | 통신                                                                                                                             | 설명                                                                                               |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/ko/frames_rover/ackermann.md

@@ -1,6 +1,6 @@
 # Ackermann Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.

docs/ko/frames_rover/differential.md

@@ -1,6 +1,6 @@
 # Differential Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
 Forward motion is achieved by driving both wheels at the same speed in the same direction.

docs/ko/frames_rover/mecanum.md

@@ -1,6 +1,6 @@
 # Mecanum Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.

docs/ko/mavlink/index.md

@@ -1,89 +0,0 @@
-# MAVLink 메시징
-
-[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
-
-PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
-
-This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
-It also links instructions for how you can add PX4 support for:
-
-- [Adding Standard Messages](../mavlink/adding_messages.md)
-- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
-- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
-- [Custom MAVLink Messages](../mavlink/custom_messages.md)
-- [Protocols/Microservices](../mavlink/protocols.md)
-
-:::info
-We do not yet cover _command_ handling and sending, or how to implement your own microservices.
-:::
-
-## MAVLink Overview
-
-MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
-
-_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
-They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
-Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
-
-[Microservices](../mavlink/protocols.md) are "meta protocols" built on top of MAVLink messages.
-They are used to communicate information that cannot be sent in a single message.
-
-For example, the [Command Protocol](https://mavlink.io/en/services/command.html) is a service for sending commands that may need acknowledgement and retransmission (quality of service).
-Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
-The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
-The command is automatically resent a number of times if no acknowledgment is received.
-Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
-
-Others services include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html), [Parameter Protocol](https://mavlink.io/en/services/parameter.html), and [Mission Protocol](https://mavlink.io/en/services/mission.html).
-For more information on what PX4 supports see [Microservices](../mavlink/protocols.md).
-
-MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
-The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
-Note that most generated libraries do not create code to implement microservices.
-
-The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
-
-- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
-  The definitions move to `common.xml` if accepted following testing.
-- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
-  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
-  Flight stacks that use these definitions are more likely to interoperate.
-- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
-  They are present on the vast majority of flight stacks and implemented in the same way.
-- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
-
-The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
-
-The protocol relies on each end of the communication having a shared definition of what messages are being sent.
-What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
-
-<!--
-The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
-In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
-Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
-The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
-The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
--->
-
-## PX4 and MAVLink
-
-PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
-In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
-
-:::info
-To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
-During development you can use definitions in `development.xml`.
-You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
-:::
-
-PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
-
-The build toolchain generates the MAVLink 2 C header files at build time.
-The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
-
-- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
-  You can change this to any other definition file, but the file must include `common.xml`.
-- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
-
-The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/ko/mavlink/protocols.md

@@ -1,51 +0,0 @@
-# MAVLink Microservices (Protocols)
-
-MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
-For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
-
-MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
-
-This section lists the services known to be supported/not supported by PX4 in this version.
-
-## Supported Microservices
-
-These services are known to be supported in some form:
-
-- [Battery Protocol](https://mavlink.io/en/services/battery.html)
-  - [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
-- Camera Protocols
-  - [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
-    - [Camera Definition](https://mavlink.io/en/services/camera_def.html)
-- [Command Protocol](https://mavlink.io/en/services/command.html)
-- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
-- [Events Interface](https://mavlink.io/en/services/events.html)
-- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
-- Gimbal Protocols
-  - [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
-    - Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
-    - PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
-- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
-- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
-- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
-- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
-- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
-- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
-- [Mission Protocol](https://mavlink.io/en/services/mission.html)
-- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
-- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
-- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
-- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
-- [Payload Protocol](https://mavlink.io/en/services/payload.html)
-- [Ping Protocol](https://mavlink.io/en/services/ping.html)
-- [Standard Modes Protocol](../mavlink/standard_modes.md)
-- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
-- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
-- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
-- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
-
-## 미지원
-
-These services are not supported/used by PX4:
-
-- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
-- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)

docs/ko/middleware/mavlink.md

@@ -1 +1,87 @@
-<Redirect to="../mavlink/" />
+# MAVLink 메시징
+
+[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
+
+PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
+
+This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
+It also links instructions for how you can add PX4 support for:
+
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)
+
+:::info
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
+:::
+
+## MAVLink Overview
+
+MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
+
+_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
+They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
+Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
+
+The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement.
+Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
+The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
+The command is resent automatically if no acknowledgment is received.
+Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
+
+[Microservices](https://mavlink.io/en/services/) are other higher level protocols built on top of MAVLink messages.
+They are used to communicate information that cannot be sent in a single message, and to deliver features such as reliable communication.
+The command protocol described above is one such service.
+Others include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html) and [Mission Protocol](https://mavlink.io/en/services/mission.html).
+
+MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
+The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
+Note that most generated libraries do not create code to implement microservices.
+
+The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
+
+- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
+  The definitions move to `common.xml` if accepted following testing.
+- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
+  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
+  Flight stacks that use these definitions are more likely to interoperate.
+- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
+  They are present on the vast majority of flight stacks and implemented in the same way.
+- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
+
+The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
+
+The protocol relies on each end of the communication having a shared definition of what messages are being sent.
+What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
+
+<!--
+The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
+In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
+Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
+The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
+The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
+-->
+
+## PX4 and MAVLink
+
+PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
+In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
+
+:::info
+To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
+During development you can use definitions in `development.xml`.
+You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
+:::
+
+PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+
+The build toolchain generates the MAVLink 2 C header files at build time.
+The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
+
+- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
+  You can change this to any other definition file, but the file must include `common.xml`.
+- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
+
+The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/ko/middleware/uorb.md

@@ -61,12 +61,12 @@ For example the [VelocityLimits](../msg_docs/VelocityLimits.md) message definiti
 ```text
 # Velocity and yaw rate limits for a multicopter position slow mode only
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp # time since system start (microseconds)
 
 # absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s] Horizontal velocity.
-float32 vertical_velocity # [m/s] Vertical velocity.
-float32 yaw_rate # [rad/s] Yaw rate.
+float32 horizontal_velocity # [m/s]
+float32 vertical_velocity # [m/s]
+float32 yaw_rate # [rad/s]
 ```
 
 By default this message definition will be compiled to a single topic with an id `velocity_limits`, a direct conversion from the CamelCase name to a snake_case version.
@@ -92,34 +92,15 @@ To nest a message, simply include the nested message type in the parent message
 
 ```text
 # Global position setpoint triplet in WGS84 coordinates.
-#
 # This are the three next waypoints (or just the next two or one).
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp		# time since system start (microseconds)
 
 PositionSetpoint previous
 PositionSetpoint current
 PositionSetpoint next
 ```
 
-### uORB Buffer Length (ORB_QUEUE_LENGTH)
-
-uORB messages have a single-message buffer by default, which may be overwritten if the message publication rate is too high.
-In most cases this does not matter: either we are only interested in the latest sample of a topic, such as a sensor value or a setpoint, or losing a few samples is not a particular problem.
-For relatively few cases, such as vehicle commands, it is important that we don't drop topics.
-
-In order to reduce the chance that messages will be dropped we can use named constant `ORB_QUEUE_LENGTH` to create a buffer of the specified length.
-For example, to create a four-message queue, add the following line to your message definition:
-
-```sh
-uint8 ORB_QUEUE_LENGTH = 4
-```
-
-As long as subscribers are able to read messages out of the buffer quickly enough than it isn't ever fully filled to the queue length (by publishers), they will be able to get all messages that are sent.
-Messages will still be lost they are published when the queue is filled.
-
-Note that the queue length value must be a power of 2 (so 2, 4, 8, ...).
-
 ### Message/Field Deprecation {#deprecation}
 
 As there are external tools using uORB messages from log files, such as [Flight Review](https://github.com/PX4/flight_review), certain aspects need to be considered when updating existing messages:
@@ -135,9 +116,9 @@ As there are external tools using uORB messages from log files, such as [Flight
 
 ## Message Versioning
 
-<Badge type="tip" text="PX4 v1.16" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
 
-Optional message versioning was introduced PX4 v1.16 to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
+Optional message versioning was introduced in the `main` branch (planned for PX4 v1.16+) to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
 Versioned messages are designed to remain more stable over time compared to their non-versioned counterparts, as they are intended to be used across multiple releases of PX4 and external systems, ensuring greater compatibility over longer periods.
 
 Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, where `x` corresponds to the current version of the message.

docs/ko/middleware/uxrce_dds.md

@@ -430,17 +430,16 @@ publications:
 
   - topic: /fmu/out/collision_constraints
     type: px4_msgs::msg::CollisionConstraints
-    rate_limit: 50.  # Limit max publication rate to 50 Hz
 
   ...
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
-    # Use default publication rate limit of 100 Hz
+    rate_limit: 150.
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
-    rate_limit: 5.
+    rate_limit: 50.
 
   - topic: /fmu/out/vehicle_trajectory_waypoint_desired
     type: px4_msgs::msg::VehicleTrajectoryWaypoint

docs/ko/releases/1.16.md

@@ -1,221 +0,0 @@
-# PX4-Autopilot v1.16.0 Release Notes
-
-<Badge type="info" text="Candidate Release" />
-
-<script setup>
-import { useData } from 'vitepress'
-const { site } = useData();
-</script>
-
-<div v-if="site.title !== 'PX4 Guide (main)'">
-  <div class="custom-block danger">
-    <p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
-  </div>
-</div>
-
-This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
-
-:::info
-These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
-:::
-
-## Read Before Upgrading
-
-Please continue reading for [upgrade instructions](#upgrade-guide).
-
-## Major Changes
-
-- **Rover support rework**
-  - New dedicated firmware build for rovers (airframe IDs 50000–52000)
-  - Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
-  - Shared pure-pursuit guidance library for all rover modules
-  - Legacy rover position control module deprecated in favor of the new modules
-
-## Upgrade Guide
-
-- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
-- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
-- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
-
-## Other changes
-
-### Hardware Support
-
-- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
-- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
-- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
-- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
-- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
-- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
-- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
-- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
-- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
-- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
-- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
-- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
-
-### 공통
-
-- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
-
-- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
-
-- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
-  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
-  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
-  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
-
-- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
-  This makes log decryption much easier, as there is no need to download or identify a separate key file.
-  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
-
-- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
-  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
-  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
-  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
-
-- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
-
-- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
-  This typically reduces false warnings due to magnetometer inconsistencies.
-  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
-
-### 제어
-
-- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
-
-- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
-
-- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
-
-- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
-
-- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
-
-### Estimation
-
-- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
-
-- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
-
-- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
-
-- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
-
-- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
-
-### 센서
-
-- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
-
-- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
-
-- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
-
-- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
-
-- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
-
-- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
-
-- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
-
-- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
-
-- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
-
-- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
-
-- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
-
-- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
-
-### 시뮬레이션
-
-- **SIH**:
-  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
-    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
-  - SIH now supports the standard VTOL airframe
-    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
-- **Gazebo**:
-  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
-    The default installer scripts (used for CI) and documentation have been updated.
-    This is required because Garden end-of-life is Nov 2024.
-    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
-  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
-  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
-  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
-  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
-  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
-  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
-  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
-  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
-
-### uXRCE-DDS / ROS2
-
-- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
-- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
-- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
-
-### MAVLink
-
-- TBD
-
-### Multi-Rotor
-
-- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
-
-- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
-
-- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
-
-- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
-
-### 수직이착륙기(VTOL)
-
-- TBD
-
-### Fixed-wing
-
-- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
-
-- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
-
-- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
-
-### 탐사선
-
-This release contains a major rework for the rover support in PX4:
-
-- Complete restructure of the [rover related documentation](../frames_rover/index.md).
-- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
-  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
-- New module dedicated to [differential rovers](../frames_rover/differential.md):
-  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
-- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
-  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
-- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
-- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
-  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
-  - Generic Differential Rover `50000`.
-  - Generic Ackermann Rover `51000`.
-  - Axial SCX10 2 Trail Honcho `51001`.
-  - Generic Mecanum Rover `52000`.
-- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
-- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
-- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
-
-### Infrastructure
-
-- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
-- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
-- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
-- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
-- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
-- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
-- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows

docs/ko/releases/index.md

@@ -2,8 +2,7 @@
 
 PX4 릴리스 노트는 각 릴리스의 변경 사항들을 설명합니다.
 
-- [main](../releases/main.md) (changes since v1.16)
-- [v1.16](../releases/1.16.md)
+- [main](../releases/main.md) (changes since v1.15)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
 - [v1.13](../releases/1.13.md)

docs/ko/releases/main.md

@@ -9,15 +9,15 @@ const { site } = useData();
 
 <div v-if="site.title !== 'PX4 Guide (main)'">
   <div class="custom-block danger">
-    <p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+    <p class="custom-block-title">This page is on a release bramch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
   </div>
 </div>
 
-This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).
+This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
 
 :::warning
-PX4 v1.16 is in candidate-release testing, pending release.
-Update these notes with features that are going to be in `main` but not the PX4 v1.16 release.
+The PX4 v1.15 release is in beta testing, pending release.
+Update these notes with features that are going to be in `main` but not the PX4 v1.15 release.
 :::
 
 ## Read Before Upgrading
@@ -40,7 +40,22 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### 공통
 
-- TBD
+- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
+  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
+  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+  This makes log decryption much easier, as there is no need to download or identify a separate key file.
+  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
+- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
+  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
+  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
+  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
+- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
+- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
+  This typically reduces false warnings due to magnetometer inconsistencies.
+  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
 
 ### 제어
 
@@ -56,7 +71,26 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### 시뮬레이션
 
-- TBD
+- [SIH]:
+  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
+    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+  - SIH now supports the standard VTOL airframe
+    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
+- [Gazebo]:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+    The default installer scripts (used for CI) and documentation have been updated.
+    This is required because Garden end-of-life is Nov 2024.
+    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
+  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
+  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
+  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
+  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
+  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))
 
 ### Ethernet
 
@@ -64,7 +98,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### uXRCE-DDS / ROS2
 
-- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
+- **[Feature]** <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
 
 ### MAVLink
 
@@ -72,7 +106,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Multi-Rotor
 
-- TBD
+- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)
 
 ### 수직이착륙기(VTOL)
 
@@ -80,11 +115,29 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Fixed-wing
 
-- TBD
+- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
 
 ### 탐사선
 
-- TBD
+This release contains a major rework for the rover support in PX4:
+
+- Complete restructure of the [rover related documentation](../frames_rover/index.md).
+- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
+- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
+  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
+- New module dedicated to [differential rovers](../frames_rover/differential.md):
+  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
+- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
+  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
+- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
+  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
+  - Generic Differential Rover `50000`.
+  - Generic Ackermann Rover `51000`.
+  - Axial SCX10 2 Trail Honcho `51001`.
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
+- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
+- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
 
 ### ROS 2
 

docs/ko/ros2/px4_ros2_control_interface.md

@@ -345,7 +345,7 @@ The used types also define the compatibility with different vehicle types.
 The following sections provide a list of supported setpoint types:
 
 - [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
-- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
+- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics
 - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
 
 :::tip
@@ -407,7 +407,7 @@ _goto_setpoint->update(
 
 #### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
 
-<Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="warning" text="Fixed wing only" />
 
 :::info
 This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
@@ -549,7 +549,7 @@ If you want to control an actuator that does not control the vehicle's motion, b
 
 ### Controlling a VTOL
 
-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+<Badge type="warning" text="Experimental" />
 
 To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
 

docs/ko/ros2/px4_ros2_msg_translation_node.md

@@ -1,6 +1,6 @@
 # PX4 ROS 2 Message Translation Node
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 The message translation node allows ROS 2 applications that were compiled against different versions of the PX4 messages to interwork with newer versions of PX4, and vice versa, without having to change either the application or the PX4 side.
 
@@ -207,7 +207,7 @@ Message translations can be either _direct_ or _generic_.
 
 ### File Structure
 
-Starting from PX4 v1.16, the PX4-Autopilot `msg/` and `srv/` directories are structured as follows:
+Starting from PX4 v1.16 (main), the PX4-Autopilot `msg/` and `srv/` directories are structured as follows:
 
 ```
 PX4-Autopilot

docs/ko/ros2/user_guide.md

@@ -34,7 +34,7 @@ The generator uses the uORB message definitions in the source tree: [PX4-Autopil
 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.
 You can include these by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your ROS 2 workspace (branches in the repo correspond to the messages for different PX4 releases).
 
-Starting from PX4 v1.16, in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4.
+Starting from PX4 v1.16 (main) in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4.
 This requires the [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to be running to ensure that messages can be converted and exchanged correctly.
 
 Note that the micro XRCE-DDS _agent_ itself has no dependency on client-side code.
@@ -378,7 +378,7 @@ accelerometer_integral_dt: 4739
 
 #### (Optional) Starting the Translation Node
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="tip" />  <Badge type="warning" text="Experimental" />
 
 This example is built with PX4 and ROS2 versions that use the same message definitions.
 If you were to use incompatible [message versions](../middleware/uorb.md#message-versioning) you would need to install and run the [Message Translation Node](./px4_ros2_msg_translation_node.md) as well, before running the example:

docs/ko/sim_gazebo_gz/worlds.md

@@ -75,7 +75,7 @@ World with walls that is designed for testing [collision prevention](../computer
 
 ## Moving Platform
 
-<Badge type="tip" text="PX4 v1.16" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
 
 [Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with:
 

docs/ko/telemetry/jfi_telemetry.md

@@ -20,7 +20,7 @@ Operating in the 2.4GHz frequency band, it allows unrestricted global use withou
 
 - **Frequency Band:** 2.4GHz
 - **Speed:** Up to 11 Mbps (adjustable)
-- **Range:** Up to 1000 meters (varies upon environments)
+- **Range:** Up to 500 meters (varies upon environments)
 - **Payload Capacity:** Up to 1024 bytes
 
 ### Network Schemes

docs/uk/SUMMARY.md

@@ -725,13 +725,12 @@
         - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
         - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](mavlink/index.md)
+    - [Повідомлення MAVLink](middleware/mavlink.md)
       - [Adding Messages](mavlink/adding_messages.md)
       - [Streaming Messages](mavlink/streaming_messages.md)
       - [Receiving Messages](mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](mavlink/custom_messages.md)
-      - [Protocols/Microservices](mavlink/protocols.md)
-        - [Standard Modes Protocol](mavlink/standard_modes.md)
+      - [Standard Modes Protocol](mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
   - [Модулі & Команди](modules/modules_main.md)
     - [Автоматичне підлаштування](modules/modules_autotune.md)
@@ -861,7 +860,6 @@
 
 - [Релізи](releases/index.md)
   - [main (alpha)](releases/main.md)
-  - [1.16 (release candidate)](releases/1.16.md)
   - [1.15 (stable)](releases/1.15.md)
   - [1.14](releases/1.14.md)
   - [1.13](releases/1.13.md)

docs/uk/_sidebar.md

@@ -460,7 +460,6 @@
       - [Vehicles](/sim_gazebo_gz/vehicles.md)
         - [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
       - [Worlds](/sim_gazebo_gz/worlds.md)
-      - [Plugins](/sim_gazebo_gz/plugins.md)
       - [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
       - [Багатотранспортний Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
     - [Симуляція Gazebo Classic](/sim_gazebo_classic/index.md)
@@ -493,17 +492,12 @@
       - [Versioned](/msg_docs/versioned_messages.md)
         - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
         - [ActuatorServos](/msg_docs/ActuatorServos.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
         - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
         - [BatteryStatus](/msg_docs/BatteryStatus.md)
         - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
-        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
-        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
         - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
         - [HomePosition](/msg_docs/HomePosition.md)
-        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
-        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
         - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
         - [ModeCompleted](/msg_docs/ModeCompleted.md)
         - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -532,8 +526,10 @@
         - [ActuatorTest](/msg_docs/ActuatorTest.md)
         - [AdcReport](/msg_docs/AdcReport.md)
         - [Airspeed](/msg_docs/Airspeed.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
         - [AirspeedWind](/msg_docs/AirspeedWind.md)
         - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
+        - [Buffer128](/msg_docs/Buffer128.md)
         - [ButtonEvent](/msg_docs/ButtonEvent.md)
         - [CameraCapture](/msg_docs/CameraCapture.md)
         - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -572,9 +568,6 @@
         - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
         - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
         - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
-        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
-        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
-        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
         - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
         - [FollowTarget](/msg_docs/FollowTarget.md)
         - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -627,6 +620,7 @@
         - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
         - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
         - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
+        - [NpfgStatus](/msg_docs/NpfgStatus.md)
         - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
         - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
         - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -662,12 +656,13 @@
         - [RcParameterMap](/msg_docs/RcParameterMap.md)
         - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
         - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
+        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
+        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
+        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
-        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
         - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
         - [Rpm](/msg_docs/Rpm.md)
         - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -699,7 +694,6 @@
         - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
         - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
         - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
-        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
         - [TransponderReport](/msg_docs/TransponderReport.md)
         - [TuneControl](/msg_docs/TuneControl.md)
         - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -723,16 +717,13 @@
         - [WheelEncoders](/msg_docs/WheelEncoders.md)
         - [Wind](/msg_docs/Wind.md)
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
-        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/mavlink/index.md)
+    - [Повідомлення MAVLink](/middleware/mavlink.md)
       - [Adding Messages](/mavlink/adding_messages.md)
       - [Streaming Messages](/mavlink/streaming_messages.md)
       - [Receiving Messages](/mavlink/receiving_messages.md)
       - [Custom MAVLink Messages](/mavlink/custom_messages.md)
-      - [Protocols/Microservices](/mavlink/protocols.md)
-        - [Standard Modes Protocol](/mavlink/standard_modes.md)
+      - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [Модулі & Команди](/modules/modules_main.md)
     - [Автоматичне підлаштування](/modules/modules_autotune.md)
@@ -749,7 +740,6 @@
       - [Магнітометр](/modules/modules_driver_magnetometer.md)
       - [Оптичний потік](/modules/modules_driver_optical_flow.md)
       - [Датчик швидкості обертання](/modules/modules_driver_rpm_sensor.md)
-      - [Radio Control](/modules/modules_driver_radio_control.md)
       - [Транспондер](/modules/modules_driver_transponder.md)
     - [Естіматори](/modules/modules_estimator.md)
     - [Симуляції](/modules/modules_simulation.md)
@@ -862,7 +852,6 @@
 
 - [Релізи](/releases/index.md)
   - [main (alpha)](/releases/main.md)
-  - [1.16 (release candidate)](/releases/1.16.md)
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)

docs/uk/computer_vision/collision_prevention.md

@@ -47,7 +47,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
 
 - Attach and configure the distance sensor on a particular port (see [sensor-specific docs](../sensor/rangefinders.md)) and enable collision prevention using [CP_DIST](#CP_DIST).
 - Модифікуйте драйвер для встановлення орієнтації.
-  This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
+ This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
 - Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
 
 ## PX4 (Software) Setup
@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
 
 2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
 
-  Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
+ Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
 
-  ```sh
-  - topic: /fmu/out/obstacle_distance_fused
-    type: px4_msgs::msg::ObstacleDistance
-  ```
+ ```sh
+ - topic: /fmu/out/obstacle_distance_fused
+   type: px4_msgs::msg::ObstacleDistance
+ ```
 
-  For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
+ For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
-  In the **Script Editor** tab, add following scripts in the appropriate sections:
+ In the **Script Editor** tab, add following scripts in the appropriate sections:
 
-  - **Global code, executed once:**
+ - **Global code, executed once:**
 
-    ```lua
-    obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
-    obs_dist_min = Timeseries.new("obstacle_distance_minimum")
-    ```
+  ```lua
+  obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
+  obs_dist_min = Timeseries.new("obstacle_distance_minimum")
+  ```
 
-  - **function(tracker_time)**
+ - **function(tracker_time)**
 
-    ```lua
-    obs_dist_fused_xy:clear()
+  ```lua
+  obs_dist_fused_xy:clear()
 
-    i = 0
-    angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
-    increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
-    min_dist = 65535
+  i = 0
+  angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
+  increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
+  min_dist = 65535
 
-    -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
-    local angle_offset_value = angle_offset:atTime(tracker_time)
-    local increment_value = increment:atTime(tracker_time)
+  -- Cache increment and angle_offset values at tracker_time to avoid repeated calls
+  local angle_offset_value = angle_offset:atTime(tracker_time)
+  local increment_value = increment:atTime(tracker_time)
 
-    if increment_value == nil or increment_value <= 0 then
-        print("Invalid increment value: " .. tostring(increment_value))
-        return
-    end
+  if increment_value == nil or increment_value <= 0 then
+      print("Invalid increment value: " .. tostring(increment_value))
+      return
+  end
 
-    local max_steps = math.floor(360 / increment_value)
+  local max_steps = math.floor(360 / increment_value)
 
-    while i < max_steps do
-        local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
-        local distance = TimeseriesView.find(str)
-        if distance == nil then
-            print("No distance data for: " .. str)
-            break
-        end
+  while i < max_steps do
+      local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
+      local distance = TimeseriesView.find(str)
+      if distance == nil then
+          print("No distance data for: " .. str)
+          break
+      end
 
-        local dist = distance:atTime(tracker_time)
-        if dist ~= nil and dist < 65535 then
-            -- Calculate angle and Cartesian coordinates
-            local angle = angle_offset_value + i * increment_value
-            local y = dist * math.cos(math.rad(angle))
-            local x = dist * math.sin(math.rad(angle))
+      local dist = distance:atTime(tracker_time)
+      if dist ~= nil and dist < 65535 then
+          -- Calculate angle and Cartesian coordinates
+          local angle = angle_offset_value + i * increment_value
+          local y = dist * math.cos(math.rad(angle))
+          local x = dist * math.sin(math.rad(angle))
 
-            obs_dist_fused_xy:push_back(x, y)
+          obs_dist_fused_xy:push_back(x, y)
 
-            -- Update minimum distance
-            if dist < min_dist then
-                min_dist = dist
-            end
-        end
+          -- Update minimum distance
+          if dist < min_dist then
+              min_dist = dist
+          end
+      end
 
-        i = i + 1
-    end
+      i = i + 1
+  end
 
-    -- Push minimum distance once after the loop
-    if min_dist < 65535 then
-        obs_dist_min:push_back(tracker_time, min_dist)
-    else
-        print("No valid minimum distance found")
-    end
-    ```
+  -- Push minimum distance once after the loop
+  if min_dist < 65535 then
+      obs_dist_min:push_back(tracker_time, min_dist)
+  else
+      print("No valid minimum distance found")
+  end
+  ```
 
 4. Enter a name for the script on the top right, and press **Save**.
-  Once saved, the script should appear in the _Active Scripts_ section.
+ Once saved, the script should appear in the _Active Scripts_ section.
 
 5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
-  You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
+ You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
 
 Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
 

docs/uk/debug/plotting_realtime_uorb_data.md

@@ -96,13 +96,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of
 
 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](../middleware/dds_topics.md).
+These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
 
 The instructions below explain the changes needed to monitor topics that are not available by default.
 
 ### Missing Topics
 
-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
 
 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.
 
@@ -122,7 +122,7 @@ cd ~/ros2_ws/ && colcon build
 
 ### Custom Topics
 
-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
 
 ## Дивись також
 

docs/uk/debug/system_wide_replay.md

@@ -128,7 +128,8 @@ To enable recording for EKF replay you must set the parameters to enable a [sing
 
 Для виконання повторення EKF2:
 
-- Record the original log with `SDLOG_MODE` set to `1` to log from boot.
+- Запишіть оригінальний журнал.
+  Optionally set `SDLOG_MODE` to `1` to log from boot.
 
 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:
 

docs/uk/dev_log/log_encryption.md

@@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl
 :::
 
 :::tip
-Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
+Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
 
 In earlier versions the encrypted symmetric key was stored in a separate file.
 For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).

docs/uk/flight_controller/kakuteh7-wing.md

@@ -1,6 +1,4 @@
-# Holybro Kakute H743-Wing
-
-<Badge type="tip" text="PX4 v1.16" />
+# Holybro Kakute H7 V2
 
 :::warning
 PX4 не розробляє цей (або будь-який інший) автопілот.
@@ -33,7 +31,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 | Buz-, Buz+       | Piezo buzzer                      |                                                               |
 | M1 to M14        | Motor signal outputs              |                                                               |
 
-## PX4 Bootloader Update {#bootloader}
+<a id="bootloader"></a>
+
+## Оновлення завантажувача PX4
 
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
@@ -50,7 +50,7 @@ make holybro_kakuteh7-wing_default
 ## Встановлення прошивки PX4
 
 :::info
-KakuteH7-wing is supported in PX4 v1.16 or newer.
+KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
 До випуску вам потрібно буде вручну зібрати та встановити прошивку.
 :::
 

docs/uk/flight_modes_rover/ackermann.md

@@ -137,7 +137,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | Команда                                                                                                                        | Опис                                                              |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |

docs/uk/flight_modes_rover/differential.md

@@ -115,7 +115,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | Команда                                                                                                                        | Опис                                                                                             |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/uk/flight_modes_rover/mecanum.md

@@ -140,7 +140,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 #### Mission commands
 
-The following commands can be used in missions at time of writing (PX4 v1.16):
+The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
 
 | QGC mission item                      | Команда                                                                                                                        | Опис                                                                                             |
 | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------ |

docs/uk/frames_rover/ackermann.md

@@ -1,6 +1,6 @@
 # Ackermann Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.

docs/uk/frames_rover/differential.md

@@ -1,6 +1,6 @@
 # Differential Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
 Forward motion is achieved by driving both wheels at the same speed in the same direction.

docs/uk/frames_rover/mecanum.md

@@ -1,6 +1,6 @@
 # Mecanum Rovers
 
-<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
 
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.

docs/uk/mavlink/index.md

@@ -1,89 +0,0 @@
-# Повідомлення MAVLink
-
-[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
-
-PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
-
-Ця тема надає короткий огляд основних концепцій MAVLink, таких як повідомлення, команди та мікросервіси.
-It also links instructions for how you can add PX4 support for:
-
-- [Adding Standard Messages](../mavlink/adding_messages.md)
-- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
-- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
-- [Custom MAVLink Messages](../mavlink/custom_messages.md)
-- [Protocols/Microservices](../mavlink/protocols.md)
-
-:::info
-We do not yet cover _command_ handling and sending, or how to implement your own microservices.
-:::
-
-## Огляд MAVLink
-
-MAVLink - це легкий протокол, який був розроблений для ефективної відправки повідомлень по ненадійним радіоканалах з низькою пропускною здатністю.
-
-_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
-Вони навмисно легкі, мають обмежений розмір і не мають семантики для повторного надсилання та підтвердження.
-Окремі повідомлення зазвичай використовуються для потокової передачі телеметрії або інформації про стан, а також для надсилання команд, які не потребують підтвердження - наприклад, команд уставки, що надсилаються з високою швидкістю.
-
-[Microservices](../mavlink/protocols.md) are "meta protocols" built on top of MAVLink messages.
-They are used to communicate information that cannot be sent in a single message.
-
-For example, the [Command Protocol](https://mavlink.io/en/services/command.html) is a service for sending commands that may need acknowledgement and retransmission (quality of service).
-Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
-The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
-The command is automatically resent a number of times if no acknowledgment is received.
-Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
-
-Others services include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html), [Parameter Protocol](https://mavlink.io/en/services/parameter.html), and [Mission Protocol](https://mavlink.io/en/services/mission.html).
-For more information on what PX4 supports see [Microservices](../mavlink/protocols.md).
-
-MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
-Інструментарій MAVLink включає в себе генератори коду, які створюють з цих визначень специфічні для мови програмування бібліотеки для надсилання та отримання повідомлень.
-Зверніть увагу, що більшість згенерованих бібліотек не створюють код для реалізації мікросервісів.
-
-The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
-
-- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
-  The definitions move to `common.xml` if accepted following testing.
-- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
-  Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
-  Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
-- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
-  Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
-- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
-
-The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
-
-Протокол покладається на те, що кожна сторона комунікації має спільне визначення того, які повідомлення надсилаються.
-Це означає, що для того, щоб взаємодіяти, обидва кінці комунікації повинні використовувати бібліотеки, створені на основі одного і того ж визначення XML.
-
-<!--
-The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
-In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
-Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
-The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
-The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
--->
-
-## PX4 та MAVLink
-
-PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
-In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
-
-:::info
-To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
-During development you can use definitions in `development.xml`.
-You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
-:::
-
-PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
-
-Інструментарій збірки генерує заголовні файли MAVLink 2 C під час збірки.
-The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
-
-- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
-  You can change this to any other definition file, but the file must include `common.xml`.
-- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
-
-The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/uk/mavlink/protocols.md

@@ -1,51 +0,0 @@
-# MAVLink Microservices (Protocols)
-
-MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
-For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
-
-MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
-
-This section lists the services known to be supported/not supported by PX4 in this version.
-
-## Supported Microservices
-
-These services are known to be supported in some form:
-
-- [Battery Protocol](https://mavlink.io/en/services/battery.html)
-  - [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
-- Camera Protocols
-  - [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
-    - [Camera Definition](https://mavlink.io/en/services/camera_def.html)
-- [Command Protocol](https://mavlink.io/en/services/command.html)
-- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
-- [Events Interface](https://mavlink.io/en/services/events.html)
-- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
-- Gimbal Protocols
-  - [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
-    - Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
-    - PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
-- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
-- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
-- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
-- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
-- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
-- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
-- [Mission Protocol](https://mavlink.io/en/services/mission.html)
-- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
-- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
-- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
-- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
-- [Payload Protocol](https://mavlink.io/en/services/payload.html)
-- [Ping Protocol](https://mavlink.io/en/services/ping.html)
-- [Standard Modes Protocol](../mavlink/standard_modes.md)
-- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
-- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
-- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
-- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
-
-## Непідтримувано
-
-These services are not supported/used by PX4:
-
-- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
-- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)

docs/uk/middleware/dds_topics.md

@@ -1,277 +0,0 @@
-# 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                                   | Тип                                                                                                                                                                       | 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                                                                                                   | Тип                                                                                                                                                                                     |
-| ------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| /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)
-
-:::

docs/uk/middleware/mavlink.md

@@ -1 +1,87 @@
-<Redirect to="../mavlink/" />
+# Повідомлення MAVLink
+
+[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
+
+PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
+
+Ця тема надає короткий огляд основних концепцій MAVLink, таких як повідомлення, команди та мікросервіси.
+It also links instructions for how you can add PX4 support for:
+
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)
+
+:::info
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
+:::
+
+## Огляд MAVLink
+
+MAVLink - це легкий протокол, який був розроблений для ефективної відправки повідомлень по ненадійним радіоканалах з низькою пропускною здатністю.
+
+_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
+Вони навмисно легкі, мають обмежений розмір і не мають семантики для повторного надсилання та підтвердження.
+Окремі повідомлення зазвичай використовуються для потокової передачі телеметрії або інформації про стан, а також для надсилання команд, які не потребують підтвердження - наприклад, команд уставки, що надсилаються з високою швидкістю.
+
+The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement.
+Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
+The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
+Якщо команда не буде отримана, вона буде повторно надіслана автоматично.
+Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
+
+[Microservices](https://mavlink.io/en/services/) are other higher level protocols built on top of MAVLink messages.
+Вони використовуються для передачі інформації, яку неможливо надіслати одним повідомленням, а також для забезпечення таких функцій, як надійний зв'язок.
+Описаний вище командний протокол є одним з таких сервісів.
+Others include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html) and [Mission Protocol](https://mavlink.io/en/services/mission.html).
+
+MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
+Інструментарій MAVLink включає в себе генератори коду, які створюють з цих визначень специфічні для мови програмування бібліотеки для надсилання та отримання повідомлень.
+Зверніть увагу, що більшість згенерованих бібліотек не створюють код для реалізації мікросервісів.
+
+The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
+
+- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
+  The definitions move to `common.xml` if accepted following testing.
+- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
+  Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
+  Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
+- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
+  Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
+- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
+
+The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
+
+Протокол покладається на те, що кожна сторона комунікації має спільне визначення того, які повідомлення надсилаються.
+Це означає, що для того, щоб взаємодіяти, обидва кінці комунікації повинні використовувати бібліотеки, створені на основі одного і того ж визначення XML.
+
+<!--
+The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
+In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
+Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
+The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
+The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
+-->
+
+## PX4 та MAVLink
+
+PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
+In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
+
+:::info
+To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
+During development you can use definitions in `development.xml`.
+You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
+:::
+
+PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+
+Інструментарій збірки генерує заголовні файли MAVLink 2 C під час збірки.
+The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
+
+- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
+  You can change this to any other definition file, but the file must include `common.xml`.
+- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
+
+The files are generated into the build directory: `/build/<build target>/mavlink/`.

docs/uk/middleware/uorb.md

@@ -61,12 +61,12 @@ For example the [VelocityLimits](../msg_docs/VelocityLimits.md) message definiti
 ```text
 # Velocity and yaw rate limits for a multicopter position slow mode only
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp # time since system start (microseconds)
 
 # absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s] Horizontal velocity.
-float32 vertical_velocity # [m/s] Vertical velocity.
-float32 yaw_rate # [rad/s] Yaw rate.
+float32 horizontal_velocity # [m/s]
+float32 vertical_velocity # [m/s]
+float32 yaw_rate # [rad/s]
 ```
 
 By default this message definition will be compiled to a single topic with an id `velocity_limits`, a direct conversion from the CamelCase name to a snake_case version.
@@ -92,34 +92,15 @@ To nest a message, simply include the nested message type in the parent message
 
 ```text
 # Global position setpoint triplet in WGS84 coordinates.
-#
 # This are the three next waypoints (or just the next two or one).
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp		# time since system start (microseconds)
 
 PositionSetpoint previous
 PositionSetpoint current
 PositionSetpoint next
 ```
 
-### uORB Buffer Length (ORB_QUEUE_LENGTH)
-
-uORB messages have a single-message buffer by default, which may be overwritten if the message publication rate is too high.
-In most cases this does not matter: either we are only interested in the latest sample of a topic, such as a sensor value or a setpoint, or losing a few samples is not a particular problem.
-For relatively few cases, such as vehicle commands, it is important that we don't drop topics.
-
-In order to reduce the chance that messages will be dropped we can use named constant `ORB_QUEUE_LENGTH` to create a buffer of the specified length.
-For example, to create a four-message queue, add the following line to your message definition:
-
-```sh
-uint8 ORB_QUEUE_LENGTH = 4
-```
-
-As long as subscribers are able to read messages out of the buffer quickly enough than it isn't ever fully filled to the queue length (by publishers), they will be able to get all messages that are sent.
-Messages will still be lost they are published when the queue is filled.
-
-Note that the queue length value must be a power of 2 (so 2, 4, 8, ...).
-
 ### Message/Field Deprecation {#deprecation}
 
 As there are external tools using uORB messages from log files, such as [Flight Review](https://github.com/PX4/flight_review), certain aspects need to be considered when updating existing messages:
@@ -135,9 +116,9 @@ As there are external tools using uORB messages from log files, such as [Flight
 
 ## Message Versioning
 
-<Badge type="tip" text="PX4 v1.16" />
+<Badge type="tip" text="main (planned for: PX4 v1.16+)" />
 
-Optional message versioning was introduced PX4 v1.16 to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
+Optional message versioning was introduced in the `main` branch (planned for PX4 v1.16+) to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions.
 Versioned messages are designed to remain more stable over time compared to their non-versioned counterparts, as they are intended to be used across multiple releases of PX4 and external systems, ensuring greater compatibility over longer periods.
 
 Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, where `x` corresponds to the current version of the message.

docs/uk/middleware/uxrce_dds.md

@@ -38,7 +38,7 @@ The PX4 [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is gen
 Агент не залежить від клієнтського коду.
 Він може бути побудований окремо або в робочому просторі ROS 2, або встановлений як snap пакет в 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 [/src/modules/uxrce_dds_client/dds_topics.yaml](../middleware/dds_topics.md) 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 [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).
 
 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).
 
@@ -326,11 +326,13 @@ ROS_DOMAIN_ID=3 PX4_UXRCE_DDS_PORT=9999 PX4_UXRCE_DDS_NS=drone make px4_sitl gz_
 
 ## Підтримувані повідомлення uORB
 
-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 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 topics are release specific (support is compiled into [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) at build time).
 Хоча більшість випусків мають підтримувати дуже схожий набір повідомлень, щоб бути впевненими, вам слід перевірити файл yaml для вашого конкретного релізу.
 
+<!-- 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.
@@ -347,21 +349,21 @@ Note that all the messages from PX4 source code are present in the repository, b
   ```
 
   ::: info
-  Technically, [dds_topics.yaml](../middleware/dds_topics.md) completely defines the relationship between PX4 uORB topics and ROS 2 messages.
+  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 [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](../middleware/dds_topics.md)) 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](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):
 
 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
   Ця техніка може бути використана як у симуляторах, так і на реальних транспортних засобах.
 - 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](../middleware/dds_topics.md) 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](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) and all [service servers](#dds-ros-2-services).
 Отже, команди, подібні до:
 
 ```sh
@@ -383,13 +385,13 @@ PX4_UXRCE_DDS_NS=uav_1 make px4_sitl gz_x500
 
 :::
 
-## PX4 ROS 2 QoS Settings
+## Налаштування PX4 ROS 2 QoS
 
-PX4 QoS settings for publishers are incompatible with the default QoS settings for ROS 2 subscribers.
-So if ROS 2 code needs to subscribe to a uORB topic, it will need to use compatible QoS settings.
+Налаштування QoS PX4 для видавців несумісні з налаштуваннями QoS за замовчуванням для підписників ROS 2.
+Таким чином, якщо код ROS 2 потрібно підписатися на тему uORB, йому потрібно використовувати сумісні налаштування QoS.
 One example of which is shown in [ROS 2 User Guide > ROS 2 Subscriber QoS Settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
 
-PX4 uses the following QoS settings for publishers:
+PX4 використовує наступні параметри QoS для видавців:
 
 ```cpp
 uxrQoS_t qos = {
@@ -400,7 +402,7 @@ uxrQoS_t qos = {
 };
 ```
 
-PX4 uses the following QoS settings for subscribers:
+PX4 використовує наступні параметри QoS для підписників:
 
 ```cpp
 uxrQoS_t qos = {
@@ -411,34 +413,33 @@ uxrQoS_t qos = {
 };
 ```
 
-ROS 2 uses the following QoS settings (by default) for publishers and subscriptions: "keep last" for history with a queue size of 10, "reliable" for reliability, "volatile" for durability, and "system default" for liveliness.
-Deadline, lifespan, and lease durations are also all set to "default".
+ROS 2 використовує наступні налаштування QoS (за замовчуванням) для видавців та підписок: «зберігати останніми» для історії з розміром черги 10, «reliable» для надійності, «volatile» для тривалості і «system default» для життєздатності.
+Дедлайн, тривалість життя та оренда також налаштовані на "за замовчуванням".
 
 <!-- From https://github.com/PX4/PX4-user_guide/pull/2259#discussion_r1099788316 -->
 
-## DDS Topics YAML
+## DDS теми YAML
 
-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 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.
+Точніше, він повністю визначає взаємозв'язок/сполучення між повідомленнями PX4 uORB і ROS 2.
 
-The file is structured as follows:
+Файл структурований наступним чином:
 
 ```yaml
 publications:
 
   - topic: /fmu/out/collision_constraints
     type: px4_msgs::msg::CollisionConstraints
-    rate_limit: 50.  # Limit max publication rate to 50 Hz
 
   ...
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
-    # Use default publication rate limit of 100 Hz
+    rate_limit: 150.
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus
-    rate_limit: 5.
+    rate_limit: 50.
 
   - topic: /fmu/out/vehicle_trajectory_waypoint_desired
     type: px4_msgs::msg::VehicleTrajectoryWaypoint
@@ -469,7 +470,7 @@ Each (`topic`,`type`) pairs defines:
   It is identified by the last token in `topic:` that starts with `/` and does not contains any `/` in it.
   `vehicle_odometry`, `vehicle_status` and `offboard_control_mode` are examples of base names.
 3. The topic [namespace](https://design.ros2.org/articles/topic_and_service_names.html#namespaces).
-  By default it is set to:
+  За замовчуванням встановлено ​​на:
   - `/fmu/out/` for topics that are _published_ by PX4.
   - `/fmu/in/` for topics that are _subscribed_ by PX4.
 4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
@@ -483,22 +484,22 @@ Add a topic to the `subscriptions` section to:
 
 - Create a unidirectional route going from the ROS2 topic to the _default_ instance (instance 0) of the associated uORB topic.
   For example, it creates a ROS2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher of `vehicle_odometry`.
-- If other (internal) PX4 modules are already publishing on the same uORB topic instance as the ROS2 publisher, the instance's subscribers will receive all streams of messages.
-  The uORB subscriber will not be able to determine if an incoming message was published by PX4 or by ROS2.
-- This is the desired behavior when the ROS2 publisher is expected to be the sole publisher on the topic instance (for example, replacing an internal publisher to the topic during offboard control), or when the source of multiple publishing streams does not matter.
+- Якщо інші (внутрішні) модулі PX4 вже публікують у тому ж екземплярі теми uORB, що й публікатор ROS2, підписники цього екземпляра будуть отримувати всі потоки повідомлень.
+  Підписник uORB не зможе визначити, чи вхідне повідомлення було опубліковане PX4 або ROS2.
+- Це бажана поведінка, коли очікується, що ROS2-видавець буде єдиним видавцем у екземплярі теми (наприклад, для заміни внутрішнього видавця теми під час автономного керування), або коли джерело декількох потоків публікацій не має значення.
 
 Add a topic to the `subscriptions_multi` section to:
 
 - Create a unidirectional route going from the ROS2 topic to a _new_ instance of the associated uORB topic.
   For example, if `vehicle_odometry` has already `2` instances, it creates a ROS2 subscriber of `/fmu/in/vehicle_odometry` and a uORB publisher on instance `3` of `vehicle_odometry`.
-- This ensures that no other internal PX4 module will publish on the same instance used by uXRCE-DDS.
-  The subscribers will be able to subscribe to the desired instance and distinguish between publishers.
-- Note, however, that this guarantees separation between PX4 and ROS2 publishers, not among multiple ROS2 publishers.
-  In that scenario, their messages will still be routed to the same instance.
-- This is the desired behavior, for example, when you want PX4 to log the readings of two equal sensors; they will both publish on the same topic, but one will use instance 0 and the other will use instance 1.
+- Це гарантує, що жоден інший внутрішній модуль PX4 не публікуватиметься на тому самому екземплярі, що використовується uXRCE-DDS.
+  Підписники зможуть підписатися на потрібний екземпляр і розрізняти видавців.
+- Зауважте, однак, що це гарантує розділення між видавцями PX4 і ROS2, а не між кількома видавцями ROS2.
+  У цьому випадку їхні повідомлення все одно будуть перенаправлені на той самий екземпляр.
+- Це бажана поведінка, наприклад, коли ви хочете, щоб PX4 реєстрував показання двох однакових датчиків; вони обидва публікуватимуться в одній темі, але один з них використовуватиме екземпляр 0, а інший - екземпляр 1.
 
-You can arbitrarily change the configuration.
-For example, you could use different default namespaces or use a custom package to store the message definitions.
+Ви можете довільно змінювати конфігурацію.
+Наприклад, ви можете використовувати різні простори імен за замовчуванням або використовувати власний пакет для зберігання визначень повідомлень.
 
 ## DDS (ROS 2) Services
 
@@ -511,62 +512,62 @@ For example, the `/fmu/vehicle_command` service server defined in [`px4_msgs::sr
 
 For a list of services, details and examples see the [service documentation](../ros2/user_guide.md#px4-ros-2-service-servers) in the ROS 2 User Guide.
 
-## Fast-RTPS to uXRCE-DDS Migration Guidelines
+## Посібник міграції з Fast-RTPS на uXRCE-DDS
 
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).
 
 :::info
 This section contains migration-specific information.
-You should also read the rest of this page to properly understand uXRCE-DDS.
+Вам також слід прочитати решту цієї сторінки, щоб правильно зрозуміти uXRCE-DDS.
 :::
 
-#### Dependencies do not need to be removed
+#### Залежності не потрібно видаляти
 
 uXRCE-DDS does not need the dependencies that were required for Fast-RTPS, such as those installed by following the topic [Fast DDS Installation](https://docs.px4.io/v1.13/en/dev_setup/fast-dds-installation.html).
-You can keep them if you want, without affecting your uXRCE-DDS applications.
+Ви можете зберегти їх, якщо хочете, не впливаючи на ваші додатки uXRCE-DDS.
 
-If you do choose to remove the dependencies, take care not to remove anything that is used by applications (for example, Java).
+Якщо ви вирішили видалити залежності, будьте обережні, щоб не видалити нічого, що використовується програмами (наприклад, Java).
 
 #### `_rtps` targets have been removed
 
 Anywhere you previously used a build target with extension `_rtps`, such as `px4_fmu-v5_rtps` or `px4_sitl_rtps`, you can now use the equivalent default target (for these cases `px4_fmu-v5_default` and `px4_sitl_default`).
 
 The make targets with extension `_rtps` were used to build firmware that included client side RTPS code.
-The uXRCE-DDS middleware is included by default in builds for most boards, so you no longer need a special firmware to work with ROS 2.
+Проміжне програмне забезпечення uXRCE-DDS за замовчуванням включено до збірок для більшості плат, тому вам більше не потрібна спеціальна прошивка для роботи з ROS 2.
 
 To check if your board has the middleware, look for `CONFIG_MODULES_UXRCE_DDS_CLIENT=y` in the `.px4board` file of your board.
 Those files are nested in [PX4-Autopilot/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards).
 
 If it is not present, or if it is set to `n`, then you have to clone the PX4 repo, modify the board configuration and manually [compile](../dev_setup/building_px4.md) the firmware.
 
-#### New client module and new start parameters
+#### Новий модуль клієнта та нові параметри запуску
 
-As the client is implemented by a new PX4 module, you now have new parameters to start it.
+Оскільки клієнт реалізовано новим модулем PX4, тепер у вас є нові параметри для його запуску.
 Take a look at the [client startup section](#starting-the-client) to learn how this is done.
 
-#### New file for setting which topics are published
+#### Новий файл для налаштування того, які теми публікуються
 
-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)
+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)
 
 See [Supported uORB Messages](#supported-uorb-messages) and [DDS Topics YAML](#dds-topics-yaml) sections for more information.
 
-#### Topics no longer need to be synced between client and agent.
+#### Теми більше не потрібно синхронізувати між клієнтом і агентом.
 
 The list of bridged topics between agent and client no longer needs to be synced for ROS 2, so the `update_px4_ros2_bridge.sh` script is no longer needed.
 
-#### Default topic naming convention has changed
+#### Налаштування назви теми за замовчуванням змінено
 
-The topic naming format changed:
+Змінився формат назв тем:
 
 - Published topics: `/fmu/topic-name/out` (Fast-RTPS) to `/fmu/out/topic-name` (XRCE-DDS).
 - Subscribed topics: `/fmu/topic-name/in`(Fast-RTPS) to `/fmu/in/topic-name` (XRCE-DDS).
 
-You should update your application to the new convention.
+Вам слід оновити свій додаток відповідно до нової конвенції.
 
 :::info
 You might also edit [dds_topic.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to revert to the old convention.
-This is not recommended because it means that you would have to always use custom firmware.
+Це не рекомендується, оскільки це означає, що вам доведеться завжди використовувати кастомну прошивку.
 :::
 
 #### XRCE-DDS-Agent
@@ -574,18 +575,18 @@ This is not recommended because it means that you would have to always use custo
 The XRCE-DDS agent is "generic" and independent of PX4: [micro-xrce-dds-agent](https://micro-xrce-dds.docs.eprosima.com/en/latest/agent.html).
 There are many ways to install it on your PC / companion computer - for more information see the [dedicated section](#micro-xrce-dds-agent-installation).
 
-#### Application-Specific Changes
+#### Зміни, що стосуються конкретних додатків
 
 If you where not using ROS 2 alongside the agent ([Fast DDS Interface ROS-Independent](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent)), then you need to migrate to [eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/index.html).
 
 ROS 2 applications still need to compile alongside the PX4 messages, which you do by adding the [px4_msgs](https://github.com/PX4/px4_msgs) package to your workspace.
 You can remove the [px4_ros_com](https://github.com/PX4/px4_ros_com) package as it is no longer needed, other than for example code.
 
-In your ROS 2 nodes, you will need to:
+У ваших вузлах ROS 2 вам знадобиться:
 
 - Update the [QoS](#px4-ros-2-qos-settings) of your publishers and subscribers as PX4 does not use the ROS 2 default settings.
 - Change the names of your topics, unless you edited [dds_topic.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
-- Remove everything related to time synchronization, as XRCE-DDS automatically takes care of agent/client time synchronization.
+- Видаліть все, що стосується синхронізації часу, оскільки XRCE-DDS автоматично піклується про синхронізацію часу агента/клієнта.
 
   In C++ applications you can set the `timestamp` field of your messages like this:
 
@@ -599,7 +600,7 @@ In your ROS 2 nodes, you will need to:
   msg.timestamp = int(self.get_clock().now().nanoseconds / 1000)
   ```
 
-## Helpful Resources
+## Корисні ресурси
 
 - [ROS 2 in PX4: Technical Details of a Seamless Transition to XRCE-DDS](https://www.youtube.com/watch?v=F5oelooT67E) - Pablo Garrido & Nuno Marques (youtube)
 - [PX4 ROS 2 offboard tutorial](https://gist.github.com/julianoes/adbf76408663829cd9aed8d14c88fa29) (Github gist - JulianOes)

docs/uk/releases/1.16.md

@@ -1,221 +0,0 @@
-# PX4-Autopilot v1.16.0 Release Notes
-
-<Badge type="info" text="Candidate Release" />
-
-<script setup>
-import { useData } from 'vitepress'
-const { site } = useData();
-</script>
-
-<div v-if="site.title !== 'PX4 Guide (main)'">
-  <div class="custom-block danger">
-    <p class="custom-block-title">This page is on a release branch, and hence possibly out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
-  </div>
-</div>
-
-This document covers all changes in PX4 v1.16.0 since the previous stable release ([PX4 v1.15.0](../releases/1.15.md)).
-
-:::info
-These notes include only changes merged in 2023 and later — commits before 2023 are not listed.
-:::
-
-## Прочитайте перед оновленням
-
-Please continue reading for [upgrade instructions](#upgrade-guide).
-
-## Основні зміни
-
-- **Rover support rework**
-  - New dedicated firmware build for rovers (airframe IDs 50000–52000)
-  - Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
-  - Shared pure-pursuit guidance library for all rover modules
-  - Legacy rover position control module deprecated in favor of the new modules
-
-## Інструкції для оновлення
-
-- [PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648): Added setting default for EKF2_EV_CTRL to 15 for VOXL 2 boards
-- [PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517): Change default ethernet IP
-- [PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602): remove serial port default from sf45 module
-
-## Інші зміни
-
-### Підтримка обладнання
-
-- **[New Hardware]** [PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830): Boards: ARK FPV FC
-- **[New Hardware]** [PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414): board: add cuav 7-nano
-- **[New Hardware]** [PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769): add new board corvon743v1
-- **[New Hardware]** [PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018): boards: bluerobotics: navigator: Add initial support
-- **[New Hardware]** [PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147): boards: add new board micoair743-v2
-- **[New Hardware]** [PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218): boards: add new board micoair h743
-- **[New Hardware]** [PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512): boards: Add FMUv6s target
-- **[New Hardware]** [PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927): manifest: Add Skynode S baseboard
-- **[New Hardware]** [PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257): Add Tropic VMU board support (Baseboard for Teensy 4.1)
-- **[New Hardware]** [PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697): boards: add new board X-MAV AP-H743v2
-- **[New Hardware]** [PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551): 3DR boards: Support for 3DR Control Zero H7 OEM Rev G
-- **[New Hardware]** [PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623): new board support ZeroOne x6
-
-### Загальні
-
-- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
-
-- [PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813): Reintroduce optional parameter versioning mechanism for airframe maintainers
-
-- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
-  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
-  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
-  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
-
-- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
-  This makes log decryption much easier, as there is no need to download or identify a separate key file.
-  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
-
-- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
-  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
-  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
-  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
-
-- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
-
-- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
-  This typically reduces false warnings due to magnetometer inconsistencies.
-  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
-
-### Управління
-
-- [PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863): [Sponsored by ARK] Bidirectional DShot
-
-- [PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196): Make control allocation and actuator effectiveness a non-module-specific library
-
-- [PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221): Spacecraft Build and Bare Control Allocator
-
-- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
-
-- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
-
-### Оцінки
-
-- [PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854): EKF2: ellipsoidal earth navigation
-
-- [PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263): EKF2: Terrain state
-
-- [PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185): ekf2: add mag type init
-
-- [PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436): ekf2: Optical flow enabled by default
-
-- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
-
-### Датчики
-
-- [PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656): Implemented AUAV absolute/differential pressure sensor support
-
-- [PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639): Implemented temperature sensor support for INA228 / INA238
-
-- [PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744): Add Ublox ZED-F9P-15B
-
-- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Mag cal: automatically disable internal mags if external ones are available
-
-- [PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064): BMP581: Add Bosch BMP581 barometer
-
-- [PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914): Murata SCH16T IMU driver
-
-- [PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023): ST IIS2MDC Magnetometer driver
-
-- [PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121): Include distance sensor in dds topics
-
-- [PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925): drivers: magnetometer: mmc5983ma: Add SPI support
-
-- [PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909): drivers/magnetometer/ak09916: Add support to AK09915
-
-- [PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362): Add Bosch BMM350 magnetometer
-
-- [PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316): Compass calibration now disables internal compass when external unit present, reducing false warnings
-
-### Симуляція
-
-- **SIH**:
-  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
-    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
-  - SIH now supports the standard VTOL airframe
-    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
-- **Gazebo**:
-  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
-    The default installer scripts (used for CI) and documentation have been updated.
-    This is required because Garden end-of-life is Nov 2024.
-    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
-  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
-  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
-  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
-  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
-  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
-  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
-  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
-  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
-
-### uXRCE-DDS / ROS2
-
-- **[Feature]** [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
-- [PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582): dds_topics: add vtol_vehicle_status
-- [PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583): dds_topics: add home_position
-
-### MAVLink
-
-- Уточнюється
-
-### Мульти-Ротор
-
-- [PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173): [Multirotor] add yaw torque low pass filter
-
-- [PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943): Add gz model for quadtailsitter
-
-- [PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358): Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD)
-
-- [PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507): Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE).
-
-### VTOL
-
-- Уточнюється
-
-### Літак з фіксованим крилом
-
-- [PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167): Fixedwing: fix wheel controller
-
-- [PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520): FixedWing: allow position control without valid global position
-
-- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
-
-### Ровер
-
-This release contains a major rework for the rover support in PX4:
-
-- Complete restructure of the [rover related documentation](../frames_rover/index.md).
-- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
-  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
-- New module dedicated to [differential rovers](../frames_rover/differential.md):
-  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
-- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
-  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
-- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
-- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
-  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
-  - Generic Differential Rover `50000`.
-  - Generic Ackermann Rover `51000`.
-  - Axial SCX10 2 Trail Honcho `51001`.
-  - Generic Mecanum Rover `52000`.
-- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
-- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
-- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
-
-### Infrastructure
-
-- [PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011): standard_modes: add vehicle-type specific standard modes
-- [PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020): ci: build all upload to releases
-- [PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002): ci: px4-dev container
-- [PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937): ci: workflow for ubuntu 24
-- [PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869): ci: add test for Ubuntu 22.04
-- [PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574): ci: try runs-on Dronecode Infra
-- [PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550): ci: replace build workflows

docs/uk/releases/index.md

@@ -2,8 +2,7 @@
 
 Перелік PX4 реліз, вони містять список змін, що відбулися в кожному релізі, пояснення включених функцій, виправлень, застарілих та оновлень.
 
-- [main](../releases/main.md) (changes since v1.16)
-- [v1.16](../releases/1.16.md)
+- [main](../releases/main.md) (changes since v1.15)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
 - [v1.13](../releases/1.13.md)

docs/uk/releases/main.md

@@ -9,15 +9,15 @@ const { site } = useData();
 
 <div v-if="site.title !== 'PX4 Guide (main)'">
   <div class="custom-block danger">
-    <p class="custom-block-title">This page is on a release branch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
+    <p class="custom-block-title">This page is on a release bramch, and hence probably out of date. <a href="https://docs.px4.io/main/en/releases/main.html">See the latest version</a>.</p>
   </div>
 </div>
 
-This contains changes to PX4 `main` branch since the last major release ([PX v1.16](../releases/1.16.md)).
+This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
 
 :::warning
-PX4 v1.16 is in candidate-release testing, pending release.
-Update these notes with features that are going to be in `main` but not the PX4 v1.16 release.
+The PX4 v1.15 release is in beta testing, pending release.
+Update these notes with features that are going to be in `main` but not the PX4 v1.15 release.
 :::
 
 ## Прочитайте перед оновленням
@@ -40,7 +40,22 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Загальні
 
-- Уточнюється
+- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
+  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
+  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+  This makes log decryption much easier, as there is no need to download or identify a separate key file.
+  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
+- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
+  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
+  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
+  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
+- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
+- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
+  This typically reduces false warnings due to magnetometer inconsistencies.
+  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
 
 ### Управління
 
@@ -56,7 +71,26 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Симуляція
 
-- Уточнюється
+- [SIH]:
+  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
+    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+  - SIH now supports the standard VTOL airframe
+    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
+- [Gazebo]:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+    The default installer scripts (used for CI) and documentation have been updated.
+    This is required because Garden end-of-life is Nov 2024.
+    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
+  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
+  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
+  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
+  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
+  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [Moving platform simulation](../sim_gazebo_gz/worlds#moving-platform) ([PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471))
 
 ### Ethernet
 
@@ -64,7 +98,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### uXRCE-DDS / ROS2
 
-- [PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [Fixed Wing lateral/longitudinal setpoint](../ros2/px4_ros2_control_interface.md#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype) (`FwLateralLongitudinalSetpointType`) and [VTOL transitions](../ros2/px4_ros2_control_interface.md#controlling-a-vtol). ([PX4-Autopilot#24056](https://github.com/PX4/PX4-Autopilot/pull/24056)).
+- **[Feature]** <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
 
 ### MAVLink
 
@@ -72,7 +106,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Мульти-Ротор
 
-- Уточнюється
+- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)
 
 ### VTOL
 
@@ -80,11 +115,29 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Літак з фіксованим крилом
 
-- Уточнюється
+- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
 
 ### Ровер
 
-- Уточнюється
+This release contains a major rework for the rover support in PX4:
+
+- Complete restructure of the [rover related documentation](../frames_rover/index.md).
+- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
+- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
+  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
+- New module dedicated to [differential rovers](../frames_rover/differential.md):
+  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
+- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
+  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
+- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
+  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
+  - Generic Differential Rover `50000`.
+  - Generic Ackermann Rover `51000`.
+  - Axial SCX10 2 Trail Honcho `51001`.
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
+- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
+- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
 
 ### ROS 2
 

docs/uk/ros2/px4_ros2_control_interface.md

@@ -346,7 +346,7 @@ private:
 Наступні розділи надають список підтримуваних типів установок:
 
 - GotoSetpointType: Плавне позиціонування та (за бажанням) керування курсом
-- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
+- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics
 - DirectActuatorsSetpointType: Пряме керування моторами та установками сервоприводів польотних поверхонь
 
 :::tip
@@ -408,7 +408,7 @@ _goto_setpoint->update(
 
 #### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
 
-<Badge type="warning" text="Fixed wing only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" />
+<Badge type="warning" text="Fixed wing only" />
 
 :::info
 This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
@@ -550,7 +550,7 @@ and [`FW_THR_MAX`](../advanced_config/parameter_reference.md#FW_THR_MAX).
 
 ### Controlling a VTOL
 
-<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
+<Badge type="warning" text="Experimental" />
 
 To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration: