make boat setpoint msg less pedantic

formatting
pure pursuit
2026-06-06 13:00:04 +08:00 · 2024-06-12 16:46:41 +02:00 · 2024-06-12 14:07:51 +02:00 · 2024-06-12 11:41:11 +02:00 · 2024-05-21 09:55:22 +02:00 · 2024-05-17 13:57:00 +02:00
183 changed files with 3723 additions and 1741 deletions
@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -1,7 +1,7 @@
 root = true

 [*]
-insert_final_newline = false
+insert_final_newline = true

 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -4,6 +4,7 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -72,8 +72,6 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		rc.rover_apps
 		rc.rover_defaults
-
-		rc.boat_defaults # hack
 	)
 endif()

@@ -84,6 +82,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		rc.boat_apps
+		rc.boat_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# @name RC Boat
+#
+# @type Boat
+# @class Boat
+#
+# @output Servo1 Steering
+# @output Motor1 Throttle
+
+. ${R}etc/init.d/rc.boat_defaults
+
+# Failsafe
+param set-default NAV_RCL_ACT 6 # Disarm on stick input loss
+param set-default NAV_DLL_ACT 6 # Disarm on ground station loss
+param set-default COM_DL_LOSS_T 5 # timeout for ground station connection
+param set-default COM_RC_LOSS_T 10 # timeout for stick input
+param set-default COM_RCL_EXCEPT 1 # Continue mission without stick input
+
+param set-default COM_ARM_WO_GPS 1 # Disable GPS prearm check
+param set-default COM_DISARM_LAND -1 # Don't disarm automatically
+param set-default COM_DISARM_PRFLT -1
+
+# Steering PWM output
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_MIN1 1000
+param set-default PWM_AUX_MAX1 2000
+# Engine throttle PWM output
+param set-default PWM_AUX_FUNC2 101
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_MIN2 940 # Engine doesn't rev below that
+param set-default PWM_AUX_MAX2 2000 # Maximum trhottle at which it's not so easy to flip the boat
+
+param set-default CA_AIRFRAME 5
+
+# Estimation
+param set-default EKF2_MULTI_IMU 0 # Disable multi-IMU
+param set-default SENS_IMU_MODE 1
+param set-default CAL_MAG0_PRIO 0 # Disable internal Magnetometer
+param set-default MBE_ENABLE 0 # Disable online mag calibration when disarmed
+param set-default EKF2_GPS_CTRL 15 # Enable GPS heading fusion
+param set-default SENS_GPS_MASK 0 # Disable multi-GPS blending
+
+# Estimation workarounds, should be double-checked if necessary
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_SYNT_MAG_Z 1 # Why? Who said magnetometer Z is not usable?
+
+param set-default EKF2_GPS_V_NOISE 0.751 # Lower certainty for GPS
+param set-default EKF2_GPS_POS_X 2.5 # GPS position, accurate?
+param set-default EKF2_REQ_EPV 10 # Accept GPS easier
+param set-default EKF2_REQ_HDRIFT 1
+param set-default EKF2_REQ_SACC 2
+param set-default EKF2_REQ_VDRIFT 20
+
+param set-default EKF2_MAG_CHK_STR 0.5 # Accept mag easier
+param set-default COM_ARM_MAG_STR 0 # Disable magnetic field strength prearm check
+param set-default COM_ARM_MAG_ANG 360 # Disable internal/external magnetometer consistency check
+param set-default EKF2_ABL_LIM 1 # Higher accelerometer bias limit, was sometimes above the threshold, GPS reporting 0 altitude issue?
@@ -157,3 +157,9 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		70001_boat
+	)
+endif()
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a differential drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover differential drive controller.
+boat start
+
+# Start Land Detector.
+land_detector start rover
@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-set VEHICLE_TYPE rover
+set VEHICLE_TYPE boat

 # MAV_TYPE_SURFACE_BOAT 11
 param set-default MAV_TYPE 11
@@ -32,6 +32,15 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi

+#
+# Boat setup.
+#
+if [ $VEHICLE_TYPE = boat ]
+then
+	# Start standard Boat apps.
+	. ${R}etc/init.d/rc.boat_apps
+fi
+
 #
 # Differential Rover setup.
 #
@@ -6,7 +6,7 @@ function check_git_submodule {
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

 	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1
@@ -34,24 +34,23 @@ def extract_timer(line):
    if search:
        return search.group(1), 'generic'

-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'imxrt'
+        return (search.group(1) + '_' +  search.group(2)), 'imxrt'

    return None, 'unknown'

-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line, timer_names):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
        return search.group(1)

-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
    if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))

    return None

@@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
    timers_str = timer_config[open_idx:close_idx]
    timers = []
+    timer_names = []
    for line in timers_str.splitlines():
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
@@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):

        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
+            timer_names.append(timer)
+            timers.append(str(len(timers)))
+            dshot_support = {str(i): False for i in range(16)}
            for i in range(8): # First 8 channels support dshot
                dshot_support[str(i)] = True
-            break
-
-        if timer:
+        elif timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
            timers.append(timer)
@@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line, timer_names)

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -6,6 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
+param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

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

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -32,17 +32,17 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi

-param set-default EKF2_BARO_DELAY 13
+param set-default EKF2_BARO_DELAY 39
 param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_MAG_DELAY 100
+param set-default EKF2_HGT_REF 0
+param set-default EKF2_MAG_DELAY 60
 param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 48
+param set-default EKF2_OF_DELAY 28
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 48
+param set-default EKF2_RNG_DELAY 105
 param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
 param set-default EKF2_RNG_SFE 0.03
@@ -21,8 +21,10 @@ then
 fi

 # Internal magnetometer on I2C
-# TODO: Write a driver for the MMC5983MA
-mmc5983ma -I -b 4 start
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi

 # Internal Baro on I2C
 bmp388 -I -b 4 start
@@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -8,4 +8,7 @@ icm42688p -R 0 -s start

 bmp388 -I -b 1 start

-bmm150 -I -b 1 start
+if ! iis2mdc -R 4 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi
@@ -9,7 +9,7 @@ When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low
 The portion running on the DSP hosts the flight critical portions of PX4 such as
 the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
 state estimation. The DSP acts as the real time portion of the system. Non flight
-critical applications such as Mavlink, logging, and commander are running on the
+critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.

@@ -27,6 +27,7 @@ The full instructions are available here:
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
@@ -69,16 +70,15 @@ pxh>
 ## Notes

 You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
-to power cycle the board and restart everything.
+to power cycle the board and restart everything. Starting with SDK 1.3.0 it is possible
+to cleanly shutdown PX4 on VOXL 2.

 ## Tips

-Start with a VOXL 2 that only has the system image installed, not the SDK
-
-Run the command ```voxl-px4 -s``` on target to run the self-test
+Always use the latest SDK release

 In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
-can be used:
+can be used (Most messages are passed to the apps proc but certain low level messages are not):
 ```
 modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
 [sudo] password for modalai:
@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start

 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai

@@ -129,12 +129,6 @@ else
    DAEMON="-d"
 fi

-if [ ! -f /data/px4/param/parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
-   /bin/sync
-fi
-
 if [ $SENSOR_CAL == "FAKE" ]; then
   /bin/echo "[INFO] Setting up fake sensor calibration values"
   px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
@@ -1,192 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /data/px4/param/parameters
-
-# Make sure we are running at 800Hz on IMU
-param set IMU_GYRO_RATEMAX 800
-
-# EKF2 Parameters
-param set EKF2_IMU_POS_X 0.027
-param set EKF2_IMU_POS_Y 0.009
-param set EKF2_IMU_POS_Z -0.019
-param set EKF2_EV_DELAY 5
-param set EKF2_AID_MASK 280
-param set EKF2_ABL_LIM 0.8
-param set EKF2_TAU_POS 0.25
-param set EKF2_TAU_VEL 0.25
-
-param set MC_AIRMODE 0
-
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.15
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_D 0.0
-param set MC_YAWRATE_K 1.0
-
-param set MC_PITCH_P 5.5
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.2
-param set MC_PITCHRATE_D 0.0013
-param set MC_PITCHRATE_K 1.0
-
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.2
-param set MC_ROLLRATE_D 0.0013
-param set MC_ROLLRATE_K 1.0
-
-param set MPC_VELD_LP 5.0
-
-# tweak MPC_THR_MIN to prevent roll/pitch losing control
-# authority under rapid downward acceleration
-param set MPC_THR_MAX 0.75
-param set MPC_THR_MIN 0.08
-param set MPC_THR_HOVER 0.42
-param set MPC_MANTHR_MIN 0.05
-
-# default position mode with a little expo, smooth mode is terrible
-param set MPC_POS_MODE 0
-param set MPC_YAW_EXPO 0.20
-param set MPC_XY_MAN_EXPO 0.20
-param set MPC_Z_MAN_EXPO 0.20
-
-# max velocities
-param set MPC_VEL_MANUAL 5.0
-param set MPC_XY_VEL_MAX 5.0
-param set MPC_XY_CRUISE 5.0
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_MAX_UP 4.0
-param set MPC_LAND_SPEED 1.0
-
-# Horizontal position PID
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 3.00
-param set MPC_XY_VEL_I_ACC 0.10
-param set MPC_XY_VEL_D_ACC 0.00
-
-# Vertical position PID
-# PX4 Defaults
-param set MPC_Z_P 1.0
-param set MPC_Z_VEL_P_ACC 8.0
-param set MPC_Z_VEL_I_ACC 2.0
-param set MPC_Z_VEL_D_ACC 0.0
-
-param set MPC_TKO_RAMP_T 1.50
-param set MPC_TKO_SPEED	1.50
-
-# Set the ESC outputs to function as motors
-param set VOXL_ESC_FUNC1 101
-param set VOXL_ESC_FUNC2 103
-param set VOXL_ESC_FUNC3 104
-param set VOXL_ESC_FUNC4 102
-
-param set VOXL_ESC_SDIR1 0
-param set VOXL_ESC_SDIR2 0
-param set VOXL_ESC_SDIR3 0
-param set VOXL_ESC_SDIR4 0
-
-param set VOXL_ESC_CONFIG 1
-param set VOXL_ESC_REV 0
-param set VOXL_ESC_MODE 0
-param set VOXL_ESC_BAUD 2000000
-param set VOXL_ESC_RPM_MAX 10500
-param set VOXL_ESC_RPM_MIN 1000
-
-# Set the Voxl2 IO outputs to function as motors
-param set VOXL2_IO_FUNC1 101
-param set VOXL2_IO_FUNC2 102
-param set VOXL2_IO_FUNC3 103
-param set VOXL2_IO_FUNC4 104
-
-param set VOXL2_IO_BAUD 921600
-param set VOXL2_IO_MIN 1000
-param set VOXL2_IO_MAX 2000
-
-# Some parameters for control allocation
-param set CA_ROTOR_COUNT 4
-param set CA_R_REV 0
-param set CA_AIRFRAME 0
-param set CA_ROTOR_COUNT 4
-param set CA_ROTOR0_PX 0.15
-param set CA_ROTOR0_PY 0.15
-param set CA_ROTOR1_PX -0.15
-param set CA_ROTOR1_PY -0.15
-param set CA_ROTOR2_PX 0.15
-param set CA_ROTOR2_PY -0.15
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.15
-param set CA_ROTOR3_PY 0.15
-param set CA_ROTOR3_KM -0.05
-
-# Some parameter settings to disable / ignore certain preflight checks
-
-# No GPS driver yet so disable it
-param set SYS_HAS_GPS 0
-
-# Allow arming wihtout a magnetometer (Need magnetometer driver)
-param set SYS_HAS_MAG 0
-param set EKF2_MAG_TYPE	5
-
-# Allow arming without battery check (Need voxlpm driver)
-param set CBRK_SUPPLY_CHK 894281
-
-# Allow arming without an SD card
-param set COM_ARM_SDCARD 0
-
-# Allow arming wihtout CPU load information
-param set COM_CPU_MAX 0.0
-
-# Disable auto disarm. This is number of seconds to wait for takeoff
-# after arming. If no takeoff happens then it will disarm. A negative
-# value disables this.
-param set COM_DISARM_PRFLT -1
-
-# This parameter doesn't exist anymore. Need to see what the new method is.
-# param set MAV_BROADCAST 0
-
-# Doesn't work without setting this to Quadcopter
-param set MAV_TYPE 2
-
-# Parameters that we don't use but QGC complains about if they aren't there
-param set SYS_AUTOSTART 4001
-
-# Default RC channel mappings
-param set RC_MAP_ACRO_SW 0
-param set RC_MAP_ARM_SW 0
-param set RC_MAP_AUX1 0
-param set RC_MAP_AUX2 0
-param set RC_MAP_AUX3 0
-param set RC_MAP_AUX4 0
-param set RC_MAP_AUX5 0
-param set RC_MAP_AUX6 0
-param set RC_MAP_FAILSAFE 0
-param set RC_MAP_FLAPS 0
-param set RC_MAP_FLTMODE 6
-param set RC_MAP_GEAR_SW 0
-param set RC_MAP_KILL_SW 7
-param set RC_MAP_LOITER_SW 0
-param set RC_MAP_MAN_SW 0
-param set RC_MAP_MODE_SW 0
-param set RC_MAP_OFFB_SW 0
-param set RC_MAP_PARAM1 0
-param set RC_MAP_PARAM2 0
-param set RC_MAP_PARAM3 0
-param set RC_MAP_PITCH 2
-param set RC_MAP_POSCTL_SW 0
-param set RC_MAP_RATT_SW 0
-param set RC_MAP_RETURN_SW 0
-param set RC_MAP_ROLL 1
-param set RC_MAP_STAB_SW 0
-param set RC_MAP_THROTTLE 3
-param set RC_MAP_TRANS_SW 0
-param set RC_MAP_YAW 4
-
-param save
-
-sleep 2
-
-# Need px4-shutdown otherwise Linux system shutdown is called
-px4-shutdown
@@ -6,4 +6,5 @@
 param set-default BAT1_V_DIV 10.1
 param set-default BAT1_A_PER_V 17

+param set-default GPS_2_CONFIG 202
 param set-default TEL_FRSKY_CONFIG 103
@@ -0,0 +1,17 @@
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_BOAT=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set
@@ -0,0 +1,17 @@
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_BOAT=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set
@@ -66,6 +66,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -33,6 +33,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -84,6 +85,7 @@ CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_IO_BYPASS_CONTROL=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -12,9 +12,11 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550

+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
+param set-default SENS_EN_INA226 0

 safety_button start

@@ -17,6 +17,7 @@
 #------------------------------------------------------------------------------

 set HAVE_PM2 yes
+set INA_CONFIGURED no

 if mft query -q -k MFT -s MFT_PM2 -v 0
 then
@@ -39,6 +40,8 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi

 if param compare SENS_EN_INA228 1
@@ -49,6 +52,8 @@ then
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi

 if param compare SENS_EN_INA238 1
@@ -59,6 +64,25 @@ then
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
+fi
+
+#Start Auterion Power Module selector for Skynode boards
+if ver hwbasecmp 009 010
+then
+	pm_selector_auterion start
+else
+	if [ $INA_CONFIGURED = no ]
+	then
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
+	fi
+fi
 fi

 # Internal SPI bus ICM42686p (hard-mounted)
@@ -88,4 +112,5 @@ fi

 bmp388 -X -b 2 start

+unset INA_CONFIGURED
 unset HAVE_PM2
@@ -46,7 +46,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3643
 CONFIG_CDCACM_VENDORSTR="Dronecode Project, Inc."
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
@@ -185,7 +188,6 @@ CONFIG_LPUART8_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
 CONFIG_MMCSD_SDIO=y
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
@@ -258,7 +260,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=2032
-CONFIG_SCHED_WAITPID=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -277,6 +278,7 @@ CONFIG_SYSTEM_CLE=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
        self.assertTrue(res['pitch_error_std'] < 5.0, str(res))

        # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 10.0, str(res))
+        self.assertTrue(res['yaw_error_std'] < 13.0, str(res))


 if __name__ == '__main__':
@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 speed # [m/s] collective roll-off speed in body x-axis
+bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
+float32 yaw_rate # [rad] yaw_rate
+bool closed_loop_yaw_rate_control # true if rudder angle is controlled using feedback, false if direct feed-forward
+float32 heading_setpoint # [rad] desired heading
+bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward
+
+# TOPICS boat_setpoint boat_control_output
@@ -53,6 +53,7 @@ set(msg_files
 	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
 	BatteryStatus.msg
+	BoatSetpoint.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
@@ -1,5 +1,5 @@
 uint64 timestamp				# time since system start (microseconds)
-uint64 last_heartbeat				# timestamp of the last successful sbd session
+uint64 last_at_ok_timestamp			# timestamp of the last "OK" received after the "AT" command
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
@@ -1,4 +1,4 @@
-# A logging message, output with PX4_{WARN,ERR,INFO}
+# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO

 uint64 timestamp		# time since system start (microseconds)

@@ -50,3 +50,15 @@
 * @return 0 on success, -errno otherwise
 */
 int px4_get_parameter_value(const char *option, int &value);
+
+/**
+ * Parse a CLI argument to a float. There are 2 valid formats:
+ * - 'p:<param_name>'
+ *   in this case the parameter is loaded from an integer parameter
+ * - <float>
+ *   a floating-point value, so just a string to float conversion is done
+ * @param option CLI argument
+ * @param value returned value
+ * @return 0 on success, -errno otherwise
+ */
+int px4_get_parameter_value(const char *option, float &value);
@@ -45,7 +45,7 @@
 #endif

 #include <events/events_generated.h>
-#include <libevents_definitions.h>
+#include <uORB/topics/event.h>

 #include <stdint.h>

@@ -93,7 +93,7 @@ constexpr unsigned sizeofArguments(const T &t, const Args &... args)
 /**
 * publish/send an event
 */
-void send(EventType &event);
+void send(event_s &event);

 /**
 * Generate event ID from an event name
@@ -109,7 +109,7 @@ constexpr uint32_t ID(const char (&name)[N])
 template<typename... Args>
 inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	static_assert(util::sizeofArguments(args...) <= sizeof(e.arguments), "Too many arguments");
@@ -120,7 +120,7 @@ inline void send(uint32_t id, const LogLevels &log_levels, const char *message,

 inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
 {
-	EventType e{};
+	event_s e{};
 	e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
 	e.id = id;
 	CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message);
@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
 static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
 static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};

-static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", 2000, -50};

 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};
@@ -59,6 +59,7 @@ int px4_get_parameter_value(const char *option, int &value)
 		if (param_handle != PARAM_INVALID) {

 			if (param_type(param_handle) != PARAM_TYPE_INT32) {
+				PX4_ERR("Type of param '%s' is different from INT32", param_name);
 				return -EINVAL;
 			}

@@ -87,3 +88,48 @@ int px4_get_parameter_value(const char *option, int &value)

 	return 0;
 }
+
+int px4_get_parameter_value(const char *option, float &value)
+{
+	value = 0;
+
+	/* check if this is a param name */
+	if (strncmp("p:", option, 2) == 0) {
+
+		const char *param_name = option + 2;
+
+		/* user wants to use a param name */
+		param_t param_handle = param_find(param_name);
+
+		if (param_handle != PARAM_INVALID) {
+
+			if (param_type(param_handle) != PARAM_TYPE_FLOAT) {
+				PX4_ERR("Type of param '%s' is different from FLOAT", param_name);
+				return -EINVAL;
+			}
+
+			float pwm_parm;
+			int ret = param_get(param_handle, &pwm_parm);
+
+			if (ret != 0) {
+				return ret;
+			}
+
+			value = pwm_parm;
+
+		} else {
+			PX4_ERR("param name '%s' not found", param_name);
+			return -ENXIO;
+		}
+
+	} else {
+		char *ep;
+		value = strtof(option, &ep);
+
+		if (*ep != '\0') {
+			return -EINVAL;
+		}
+	}
+
+	return 0;
+}
@@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel)
 	return timer_io_channels[channel].timer_index;
 }

+static uint32_t get_timer_channels(unsigned timer)
+{
+	uint32_t channels = 0;
+	static uint32_t channels_cache[MAX_IO_TIMERS] = {0};
+
+	if (validate_timer_index(timer) < 0) {
+		return channels;
+
+	} else {
+		if (channels_cache[timer] == 0) {
+			/* Gather the channel bits that belong to the timer */
+
+			uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
+			uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+
+			for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) {
+				channels |= 1 << chan_index;
+			}
+
+			/* cache them */
+
+			channels_cache[timer] = channels;
+		}
+	}
+
+	return channels_cache[timer];
+}
+
 static uint32_t get_channel_mask(unsigned channel)
 {
 	return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0;
@@ -391,41 +419,66 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
 	return rv;
 }

-static int timer_set_rate(unsigned channel, unsigned rate)
+static int timer_set_rate(unsigned timer, unsigned rate)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+		}
+	}
+
 	px4_leave_critical_section(flags);
 	return 0;
 }

-static inline void io_timer_set_oneshot_mode(unsigned channel)
+static inline void io_timer_set_oneshot_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~SMCTRL_PRSC_MASK;
-	rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~SMCTRL_PRSC_MASK;
+			rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);

 }

-static inline void io_timer_set_PWM_mode(unsigned channel)
+static inline void io_timer_set_PWM_mode(unsigned timer)
 {
+	int channels = get_timer_channels(timer);
+
 	irqstate_t flags = px4_enter_critical_section();
-	uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
-	rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
-	rvalue |= SMCTRL_PRSC_DIV16;
-	rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-					   ;
-	rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
-	rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+
+	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
+		if ((1 << channel) & channels) {
+			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
+			rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
+			rvalue |= SMCTRL_PRSC_DIV16;
+			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
+							   ;
+			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
+			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
+		}
+	}
+
 	px4_leave_critical_section(flags);
 }

@@ -530,33 +583,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 			break;
 		}

-		uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
-		uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+		int channels = get_timer_channels(timer);

-		for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {
+		for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) {
+			if ((1 << chan) & channels) {

-			/* Clear all Faults */
-			rFSTS0(timer) = FSTS_FFLAG_MASK;
+				/* Clear all Faults */
+				rFSTS0(timer) = FSTS_FFLAG_MASK;

-			rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
-			rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
-			/* Edge aligned at 0 */
-			rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
-			rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
-			rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
-			rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
-					 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
-			rDTSRCSEL(timer) = 0;
-			rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
-			rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
-			io_timer_set_PWM_mode(chan);
-			timer_set_rate(chan, 50);
+				rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
+				rCTRL(timer, timer_io_channels[chan].sub_module)  = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
+				/* Edge aligned at 0 */
+				rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
+				rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
+				rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
+				rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
+						 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
+				rDTSRCSEL(timer) = 0;
+				rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
+				rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
+			}
 		}

+		io_timer_set_PWM_mode(timer);
+		timer_set_rate(timer, 50);
+
 		px4_leave_critical_section(flags);
 	}

@@ -818,8 +873,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
 	return value;
 }

-// The rt has 1:1 group to channel
-uint32_t io_timer_get_group(unsigned group)
+uint32_t io_timer_get_group(unsigned timer)
 {
-	return get_channel_mask(group);
+	return get_timer_channels(timer);
 }
@@ -75,7 +75,7 @@ SF45LaserSerial::SF45LaserSerial(const char *port, uint8_t rotation) :
 	// populate obstacle map members
 	_obstacle_map_msg.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD;
 	_obstacle_map_msg.increment = 5;
-	_obstacle_map_msg.angle_offset = -2.5;
+	_obstacle_map_msg.angle_offset = 2.5;
 	_obstacle_map_msg.min_distance = UINT16_MAX;
 	_obstacle_map_msg.max_distance = 5000;

@@ -157,7 +157,6 @@ int SF45LaserSerial::collect()
 	int64_t read_elapsed = hrt_elapsed_time(&_last_read);
 	int ret;
 	/* the buffer for read chars is buflen minus null termination */
-	param_get(param_find("SF45_CP_LIMIT"), &_collision_constraint);
 	uint8_t readbuf[SF45_MAX_PAYLOAD];

 	float distance_m = -1.0f;
@@ -669,34 +668,35 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
 				raw_yaw = raw_yaw * -1;
 			}

+			// SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}"
+			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
+
 			switch (_yaw_cfg) {
 			case 0:
 				break;

 			case 1:
-				if (raw_yaw > 180) {
-					raw_yaw = raw_yaw - 180;
+				if (scaled_yaw > 180) {
+					scaled_yaw = scaled_yaw - 180;

 				} else {
-					raw_yaw = raw_yaw + 180; // rotation facing aft
+					scaled_yaw = scaled_yaw + 180; // rotation facing aft
 				}

 				break;

 			case 2:
-				raw_yaw = raw_yaw + 90; // rotation facing right
+				scaled_yaw = scaled_yaw + 90; // rotation facing right
 				break;

 			case 3:
-				raw_yaw = raw_yaw - 90; // rotation facing left
+				scaled_yaw = scaled_yaw - 90; // rotation facing left
 				break;

 			default:
 				break;
 			}

-			scaled_yaw = raw_yaw * SF45_SCALE_FACTOR;
-
 			// Convert to meters for rangefinder update
 			*distance_m = raw_distance * SF45_SCALE_FACTOR;
 			obstacle_dist_cm = (uint16_t)raw_distance;
@@ -64,6 +64,7 @@
 #define DRV_MAG_DEVTYPE_IST8308  0x0B
 #define DRV_MAG_DEVTYPE_LIS2MDL  0x0C
 #define DRV_MAG_DEVTYPE_MMC5983MA  0x0D
+#define DRV_MAG_DEVTYPE_IIS2MDC  0x0E

 #define DRV_IMU_DEVTYPE_LSM303D  0x11

@@ -728,7 +728,8 @@ GPS::run()
 		int32_t gps_ubx_mode = 0;
 		param_get(handle, &gps_ubx_mode);

-		if (gps_ubx_mode == 1) { // heading
+		switch (gps_ubx_mode) {
+		case 1:  // heading
 			if (_instance == Instance::Main) {
 				ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;

@@ -736,10 +737,13 @@ GPS::run()
 				ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
 			}

-		} else if (gps_ubx_mode == 2) {
-			ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
+			break;

-		} else if (gps_ubx_mode == 3) {
+		case 2:
+			ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
+			break;
+
+		case 3:
 			if (_instance == Instance::Main) {
 				ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1;

@@ -747,11 +751,18 @@ GPS::run()
 				ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
 			}

-		} else if (gps_ubx_mode == 4) {
-			ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
+			break;

-		} else if (gps_ubx_mode == 5) { // rover with static base on Uart2
+		case 4:
+			ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
+			break;
+
+		case 5:  // rover with static base on Uart2
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
+			break;
+
+		default:
+			break;

 		}
 	}
@@ -939,7 +950,8 @@ GPS::run()
 						set_device_type(DRV_GPS_DEVTYPE_UBX_9);
 						break;

-					case GPSDriverUBX::Board::u_blox9_F9P:
+					case GPSDriverUBX::Board::u_blox9_F9P_L1L2:
+					case GPSDriverUBX::Board::u_blox9_F9P_L1L5:
 						set_device_type(DRV_GPS_DEVTYPE_UBX_F9P);
 						break;

@@ -1560,4 +1572,4 @@ int
 gps_main(int argc, char *argv[])
 {
 	return GPS::main(argc, argv);
-}
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2024 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
@@ -152,8 +152,9 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
 *
 * The offset angle increases clockwise.
 *
- * Set this to 90 if the rover (or Unicore primary) antenna is placed on the
- * right side of the vehicle and the moving base antenna is on the left side.
+ * Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
+ * antenna is placed on the right side of the vehicle and the moving base
+ * antenna is on the left side.
 *
 * (Note: the Unicore primary antenna is the one connected on the right as seen
 *        from the top).
@@ -247,14 +248,16 @@ PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
 * 2 : Use Galileo
 * 3 : Use BeiDou
 * 4 : Use GLONASS
+ * 5 : Use NAVIC
 *
 * @min 0
- * @max 31
+ * @max 63
 * @bit 0 GPS (with QZSS)
 * @bit 1 SBAS
 * @bit 2 Galileo
 * @bit 3 BeiDou
 * @bit 4 GLONASS
+ * @bit 5 NAVIC
 *
 * @reboot_required true
 * @group GPS
@@ -277,14 +280,16 @@ PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
 * 2 : Use Galileo
 * 3 : Use BeiDou
 * 4 : Use GLONASS
+ * 5 : Use NAVIC
 *
 * @min 0
- * @max 31
+ * @max 63
 * @bit 0 GPS (with QZSS)
 * @bit 1 SBAS
 * @bit 2 Galileo
 * @bit 3 BeiDou
 * @bit 4 GLONASS
+ * @bit 5 NAVIC
 *
 * @reboot_required true
 * @group GPS
@@ -172,7 +172,9 @@ void ADIS16507::RunImpl()
 			const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);

 			if (DIAG_STAT != 0) {
-				PX4_ERR("DIAG_STAT: %#X", DIAG_STAT);
+				PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT);
+				_state = STATE::RESET;
+				ScheduleDelayed(3_s);

 			} else {
 				PX4_DEBUG("self test passed");
@@ -441,10 +441,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 			sensor_gps.altitude_msl_m = positionGpsLla.c[2];
 			sensor_gps.altitude_ellipsoid_m = sensor_gps.altitude_msl_m;

-			sensor_gps.vel_ned_valid = true;
+			sensor_gps.vel_m_s = matrix::Vector3f(velocityGpsNed.c).length();
 			sensor_gps.vel_n_m_s = velocityGpsNed.c[0];
 			sensor_gps.vel_e_m_s = velocityGpsNed.c[1];
 			sensor_gps.vel_d_m_s = velocityGpsNed.c[2];
+			sensor_gps.vel_ned_valid = true;

 			sensor_gps.hdop = dop.hDOP;
 			sensor_gps.vdop = dop.vDOP;
@@ -831,7 +832,7 @@ Serial bus driver for the VectorNav VN-100, VN-200, VN-300.

 Most boards are configured to enable/start the driver on a specified UART using the SENS_VN_CFG parameter.

-Setup/usage information: https://docs.px4.io/master/en/sensor/vectornav.html
+Setup/usage information: https://docs.px4.io/main/en/sensor/vectornav.html

 ### Examples

@@ -41,4 +41,5 @@ add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)
 add_subdirectory(memsic)
 add_subdirectory(rm3100)
+add_subdirectory(st)
 add_subdirectory(vtrantech)
@@ -14,6 +14,7 @@ menu "Magnetometer"
        select DRIVERS_MAGNETOMETER_RM3100
        select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
        select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA
+        select DRIVERS_MAGNETOMETER_ST_IIS2MDC
        ---help---
            Enable default set of magnetometer drivers
    rsource "*/Kconfig"
@@ -0,0 +1,3 @@
+menu "ST"
+    rsource "*/Kconfig"
+endmenu
@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__magnetometer__st__iis2mdc
+	MAIN iis2mdc
+	COMPILE_FLAGS
+		# -DDEBUG_BUILD
+	SRCS
+		iis2mdc_i2c.cpp
+		iis2mdc_main.cpp
+		iis2mdc.cpp
+	DEPENDS
+		drivers_magnetometer
+		px4_work_queue
+	)
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_ST_IIS2MDC
+	bool "iis2mdc"
+	default n
+	---help---
+		Enable support for iis2mdc
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 "iis2mdc.h"
+
+using namespace time_literals;
+
+IIS2MDC::IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config) :
+	I2CSPIDriver(config),
+	_interface(interface),
+	_px4_mag(interface->get_device_id(), config.rotation),
+	_sample_count(perf_alloc(PC_COUNT, "iis2mdc_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "iis2mdc_comms_errors"))
+{}
+
+IIS2MDC::~IIS2MDC()
+{
+	perf_free(_sample_count);
+	perf_free(_comms_errors);
+	delete _interface;
+}
+
+int IIS2MDC::init()
+{
+	if (hrt_absolute_time() < 20_ms) {
+		px4_usleep(20_ms); // ~10ms power-on time
+	}
+
+	write_register(IIS2MDC_ADDR_CFG_REG_A, MD_CONTINUOUS | ODR_100 | COMP_TEMP_EN);
+	write_register(IIS2MDC_ADDR_CFG_REG_B, OFF_CANC);
+	write_register(IIS2MDC_ADDR_CFG_REG_C, BDU);
+
+	_px4_mag.set_scale(100.f / 65535.f); // +/- 50 Gauss, 16bit
+
+	ScheduleDelayed(20_ms);
+
+	return PX4_OK;
+}
+
+void IIS2MDC::RunImpl()
+{
+	uint8_t status = read_register(IIS2MDC_ADDR_STATUS_REG);
+
+	if (status & IIS2MDC_STATUS_REG_READY) {
+		SensorData data = {};
+
+		if (read_register_block(&data) == PX4_OK) {
+			int16_t x = int16_t((data.xout1 << 8) | data.xout0);
+			int16_t y = int16_t((data.yout1 << 8) | data.yout0);
+			int16_t z = -int16_t((data.zout1 << 8) | data.zout0);
+			int16_t t = int16_t((data.tout1 << 8) | data.tout0);
+			// 16 bits twos complement with a sensitivity of 8 LSB/°C. Typically, the output zero level corresponds to 25 °C.
+			_px4_mag.set_temperature(float(t) / 8.f + 25.f);
+			_px4_mag.update(hrt_absolute_time(), x, y, z);
+			_px4_mag.set_error_count(perf_event_count(_comms_errors));
+			perf_count(_sample_count);
+
+		} else {
+			PX4_DEBUG("read failed");
+			perf_count(_comms_errors);
+		}
+
+	} else {
+		PX4_DEBUG("not ready: %u", status);
+		perf_count(_comms_errors);
+	}
+
+	ScheduleDelayed(10_ms);
+}
+
+uint8_t IIS2MDC::read_register_block(SensorData *data)
+{
+	uint8_t reg = IIS2MDC_ADDR_OUTX_L_REG;
+
+	if (_interface->read(reg, data, sizeof(SensorData)) != PX4_OK) {
+		perf_count(_comms_errors);
+
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+uint8_t IIS2MDC::read_register(uint8_t reg)
+{
+	uint8_t value = 0;
+
+	if (_interface->read(reg, &value, sizeof(value)) != PX4_OK) {
+		perf_count(_comms_errors);
+	}
+
+	return value;
+}
+
+void IIS2MDC::write_register(uint8_t reg, uint8_t value)
+{
+	if (_interface->write(reg, &value, sizeof(value)) != PX4_OK) {
+		perf_count(_comms_errors);
+	}
+}
+
+void IIS2MDC::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_count);
+	perf_print_counter(_comms_errors);
+}
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+
+// IIS2MDC Registers
+#define IIS2MDC_ADDR_CFG_REG_A  0x60
+#define IIS2MDC_ADDR_CFG_REG_B  0x61
+#define IIS2MDC_ADDR_CFG_REG_C  0x62
+#define IIS2MDC_ADDR_STATUS_REG 0x67
+#define IIS2MDC_ADDR_OUTX_L_REG 0x68
+#define IIS2MDC_ADDR_WHO_AM_I   0x4F
+
+// IIS2MDC Definitions
+#define IIS2MDC_WHO_AM_I         0b01000000
+#define IIS2MDC_STATUS_REG_READY 0b00001111
+// CFG_REG_A
+#define COMP_TEMP_EN    (1 << 7)
+#define MD_CONTINUOUS   (0 << 0)
+#define ODR_100         ((1 << 3) | (1 << 2))
+// CFG_REG_B
+#define OFF_CANC        (1 << 1)
+// CFG_REG_C
+#define BDU             (1 << 4)
+
+extern device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config);
+
+class IIS2MDC : public I2CSPIDriver<IIS2MDC>
+{
+public:
+	IIS2MDC(device::Device *interface, const I2CSPIDriverConfig &config);
+	virtual ~IIS2MDC();
+
+	struct SensorData {
+		uint8_t xout0;
+		uint8_t xout1;
+		uint8_t yout0;
+		uint8_t yout1;
+		uint8_t zout0;
+		uint8_t zout1;
+		uint8_t tout0;
+		uint8_t tout1;
+	};
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	int init();
+	void print_status() override;
+
+	void RunImpl();
+
+private:
+	uint8_t read_register_block(SensorData *data);
+	uint8_t read_register(uint8_t reg);
+	void write_register(uint8_t reg, uint8_t value);
+
+	device::Device *_interface;
+	PX4Magnetometer _px4_mag;
+	perf_counter_t _sample_count;
+	perf_counter_t _comms_errors;
+};
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -31,18 +31,67 @@
 *
 ****************************************************************************/

-/*
- * This header defines the events::EventType type.
- */
+#include "iis2mdc.h"
+#include <drivers/device/i2c.h>

-#pragma once
-
-#include <uORB/topics/event.h>
-
-namespace events
+class IIS2MDC_I2C : public device::I2C
 {
-using EventType = event_s;
-} // namespace events
+public:
+	IIS2MDC_I2C(const I2CSPIDriverConfig &config);
+	virtual ~IIS2MDC_I2C() = default;

+	virtual int read(unsigned address, void *data, unsigned count) override;
+	virtual int write(unsigned address, void *data, unsigned count) override;

+protected:
+	virtual int probe();
+};

+IIS2MDC_I2C::IIS2MDC_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config)
+{
+}
+
+int IIS2MDC_I2C::probe()
+{
+	uint8_t data = 0;
+
+	if (read(IIS2MDC_ADDR_WHO_AM_I, &data, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	if (data != IIS2MDC_WHO_AM_I) {
+		DEVICE_DEBUG("IIS2MDC bad ID: %02x", data);
+		return -EIO;
+	}
+
+	_retries = 1;
+
+	return OK;
+}
+
+int IIS2MDC_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int IIS2MDC_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+device::Device *IIS2MDC_I2C_interface(const I2CSPIDriverConfig &config)
+{
+	return new IIS2MDC_I2C(config);
+}
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 "iis2mdc.h"
+#include <px4_platform_common/module.h>
+
+I2CSPIDriverBase *IIS2MDC::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
+{
+	device::Device *interface = IIS2MDC_I2C_interface(config);
+
+	if (interface == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (interface->init() != OK) {
+		delete interface;
+		PX4_DEBUG("no device on bus %i (devid 0x%lx)", config.bus, config.spi_devid);
+		return nullptr;
+	}
+
+	IIS2MDC *dev = new IIS2MDC(interface, config);
+
+	if (dev == nullptr) {
+		delete interface;
+		return nullptr;
+	}
+
+	if (OK != dev->init()) {
+		delete dev;
+		return nullptr;
+	}
+
+	return dev;
+}
+
+void IIS2MDC::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("iis2mdc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int iis2mdc_main(int argc, char *argv[])
+{
+	using ThisDriver = IIS2MDC;
+	int ch;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = 0x1E;
+	cli.default_i2c_frequency = 400000;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_IIS2MDC);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}
@@ -87,14 +87,6 @@ void PowerMonitorSelectorAuterion::Run()
 			int ret_val = ina226_probe(i);

 			if (ret_val == PX4_OK) {
-
-				float current_shunt_value = 0.0f;
-				param_get(param_find("INA226_SHUNT"), &current_shunt_value);
-
-				if (fabsf(current_shunt_value - _sensors[i].shunt_value) > FLT_EPSILON) {
-					param_set(param_find("INA226_SHUNT"), &(_sensors[i].shunt_value));
-				}
-
 				char bus_number[4] = {0};
 				itoa(_sensors[i].bus_number, bus_number, 10);
 				const char *start_argv[] {
@@ -34,4 +34,4 @@
 add_subdirectory(bst)
 add_subdirectory(frsky_telemetry)
 add_subdirectory(hott)
-#add_subdirectory(iridiumsbd)
+add_subdirectory(iridiumsbd)
@@ -235,7 +235,7 @@ int IridiumSBD::print_status()
 	PX4_INFO("RX session pending:           %d", _rx_session_pending);
 	PX4_INFO("RX read pending:              %d", _rx_read_pending);
 	PX4_INFO("Time since last signal check: %" PRId64, hrt_absolute_time() - _last_signal_check);
-	PX4_INFO("Last heartbeat:               %" PRId64, _last_heartbeat);
+	PX4_INFO("Last heartbeat:               %" PRId64, _last_at_ok_timestamp);
 	return 0;
 }

@@ -333,6 +333,11 @@ void IridiumSBD::standby_loop(void)
 		}
 	}

+	if (!is_modem_responsive()) {
+		VERBOSE_INFO("MODEM IS NOT RENSPONSIVE");
+		return;
+	}
+
 	// check for incoming SBDRING, handled inside read_at_command()
 	read_at_command();

@@ -477,7 +482,6 @@ void IridiumSBD::sbdsession_loop(void)
 		_ring_pending = false;
 		_tx_session_pending = false;
 		_last_read_time = hrt_absolute_time();
-		_last_heartbeat = _last_read_time;
 		++_successful_sbd_sessions;

 		if (mt_queued > 0) {
@@ -498,8 +502,6 @@ void IridiumSBD::sbdsession_loop(void)

 	case 1:
 		VERBOSE_INFO("SBD SESSION: MO SUCCESS, MT FAIL");
-		_last_heartbeat = hrt_absolute_time();
-
 		// after a successful session reset the tx buffer
 		_tx_buf_write_idx = 0;
 		++_successful_sbd_sessions;
@@ -552,11 +554,6 @@ void IridiumSBD::start_csq(void)

 	_last_signal_check = hrt_absolute_time();

-	if (!is_modem_ready()) {
-		VERBOSE_INFO("UPDATE SIGNAL QUALITY: MODEM NOT READY!");
-		return;
-	}
-
 	write_at("AT+CSQ");
 	_new_state = SATCOM_STATE_CSQ;
 }
@@ -571,11 +568,6 @@ void IridiumSBD::start_sbd_session(void)
 		VERBOSE_INFO("STARTING SBD SESSION");
 	}

-	if (!is_modem_ready()) {
-		VERBOSE_INFO("SBD SESSION: MODEM NOT READY!");
-		return;
-	}
-
 	if (_ring_pending) {
 		write_at("AT+SBDIXA");

@@ -610,8 +602,8 @@ void IridiumSBD::start_test(void)
 		printf("\n");
 	}

-	if (!is_modem_ready()) {
-		PX4_WARN("MODEM NOT READY!");
+	if (!is_modem_responsive()) {
+		PX4_WARN("MODEM NOT RENSPONSIVE!");
 		return;
 	}

@@ -718,11 +710,6 @@ ssize_t IridiumSBD::read(struct file *filp, char *buffer, size_t buflen)

 void IridiumSBD::write_tx_buf()
 {
-	if (!is_modem_ready()) {
-		VERBOSE_INFO("WRITE SBD: MODEM NOT READY!");
-		return;
-	}
-
 	pthread_mutex_lock(&_tx_buf_mutex);

 	char command[13];
@@ -779,11 +766,6 @@ void IridiumSBD::write_tx_buf()

 void IridiumSBD::read_rx_buf(void)
 {
-	if (!is_modem_ready()) {
-		VERBOSE_INFO("READ SBD: MODEM NOT READY!");
-		return;
-	}
-
 	pthread_mutex_lock(&_rx_buf_mutex);


@@ -949,11 +931,12 @@ satcom_uart_status IridiumSBD::open_uart(char *uart_name)
 	return SATCOM_UART_OK;
 }

-bool IridiumSBD::is_modem_ready(void)
+bool IridiumSBD::is_modem_responsive(void)
 {
 	write_at("AT");

 	if (read_at_command() == SATCOM_RESULT_OK) {
+		_last_at_ok_timestamp = hrt_absolute_time();
 		return true;

 	} else {
@@ -980,9 +963,9 @@ void IridiumSBD::publish_iridium_status()
 {
 	bool need_to_publish = false;

-	if (_status.last_heartbeat != _last_heartbeat) {
+	if (_status.last_at_ok_timestamp != _last_at_ok_timestamp) {
 		need_to_publish = true;
-		_status.last_heartbeat = _last_heartbeat;
+		_status.last_at_ok_timestamp = _last_at_ok_timestamp;
 	}

 	if (_status.tx_buf_write_index != _tx_buf_write_idx) {
@@ -245,7 +245,7 @@ private:
 	/*
 	 * Checks if the modem responds to the "AT" command
 	 */
-	bool is_modem_ready(void);
+	bool is_modem_responsive(void);

 	/*
 	 * Get the poll state
@@ -321,7 +321,7 @@ private:

 	hrt_abstime _last_write_time = 0;
 	hrt_abstime _last_read_time = 0;
-	hrt_abstime _last_heartbeat = 0;
+	hrt_abstime _last_at_ok_timestamp = 0;
 	hrt_abstime _session_start_time = 0;

 	satcom_state _state = SATCOM_STATE_STANDBY;
@@ -45,7 +45,7 @@ static uint16_t event_sequence{events::initial_event_sequence};
 namespace events
 {

-void send(EventType &event)
+void send(event_s &event)
 {
 	event.timestamp = hrt_absolute_time();

@@ -47,5 +47,5 @@

 #define EVENTSIOCSEND _EVENTSIOC(1)
 typedef struct eventiocsend {
-	events::EventType &event;
+	event_s &event;
 } eventiocsend_t;
@@ -44,7 +44,7 @@
 namespace events
 {

-void send(EventType &event)
+void send(event_s &event)
 {
 	eventiocsend_t data = {event};
 	boardctl(EVENTSIOCSEND, reinterpret_cast<unsigned long>(&data));
@@ -231,6 +231,8 @@ void TECSControl::initialize(const Setpoint &setpoint, const Input &input, Param

 	AltitudePitchControl control_setpoint;

+	control_setpoint.tas_setpoint = setpoint.tas_setpoint;
+
 	control_setpoint.tas_rate_setpoint = _calcAirspeedControlOutput(setpoint, input, param, flag);

 	control_setpoint.altitude_rate_setpoint = _calcAltitudeControlOutput(setpoint, input, param);
@@ -274,6 +276,7 @@ void TECSControl::update(const float dt, const Setpoint &setpoint, const Input &

 	AltitudePitchControl control_setpoint;

+	control_setpoint.tas_setpoint = setpoint.tas_setpoint;
 	control_setpoint.tas_rate_setpoint = _calcAirspeedControlOutput(setpoint, input, param, flag);

 	if (PX4_ISFINITE(setpoint.altitude_rate_setpoint_direct)) {
@@ -320,9 +323,11 @@ float TECSControl::_calcAirspeedControlOutput(const Setpoint &setpoint, const In
 	// if airspeed measurement is not enabled then always set the rate setpoint to zero in order to avoid constant rate setpoints
 	if (flag.airspeed_enabled) {
 		// Calculate limits for the demanded rate of change of speed based on physical performance limits
-		// with a 50% margin to allow the total energy controller to correct for errors.
-		const float max_tas_rate_sp = 0.5f * limit.STE_rate_max / math::max(input.tas, FLT_EPSILON);
-		const float min_tas_rate_sp = 0.5f * limit.STE_rate_min / math::max(input.tas, FLT_EPSILON);
+		// with a 50% margin to allow the total energy controller to correct for errors. Increase it in case of fast descend
+		const float max_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_max / math::max(input.tas,
+					      FLT_EPSILON);
+		const float min_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_min / math::max(input.tas,
+					      FLT_EPSILON);
 		airspeed_rate_output = constrain((setpoint.tas_setpoint - input.tas) * param.airspeed_error_gain, min_tas_rate_sp,
 						 max_tas_rate_sp);
 	}
@@ -348,7 +353,7 @@ TECSControl::SpecificEnergyRates TECSControl::_calcSpecificEnergyRates(const Alt
 	// Calculate specific energy rate demands in units of (m**2/sec**3)
 	specific_energy_rates.spe_rate.setpoint = control_setpoint.altitude_rate_setpoint *
 			CONSTANTS_ONE_G; // potential energy rate of change
-	specific_energy_rates.ske_rate.setpoint = input.tas *
+	specific_energy_rates.ske_rate.setpoint = control_setpoint.tas_setpoint *
 			control_setpoint.tas_rate_setpoint; // kinetic energy rate of change

 	// Calculate specific energy rates in units of (m**2/sec**3)
@@ -394,19 +399,20 @@ TECSControl::SpecificEnergyWeighting TECSControl::_updateSpeedAltitudeWeights(co
 	} else if (!flag.airspeed_enabled) {
 		pitch_speed_weight = 0.0f;

+	} else if (param.fast_descend > FLT_EPSILON) {
+		// pitch loop controls the airspeed to max
+		pitch_speed_weight = 1.f + param.fast_descend;
+
 	}

-	// don't allow any weight to be larger than one, as it has the same effect as reducing the control
-	// loop time constant and therefore can lead to a destabilization of that control loop
-	weight.spe_weighting = constrain(2.0f - pitch_speed_weight, 0.f, 1.f);
-	weight.ske_weighting = constrain(pitch_speed_weight, 0.f, 1.f);
+	weight.spe_weighting = constrain(2.0f - pitch_speed_weight, 0.f, 2.f);
+	weight.ske_weighting = constrain(pitch_speed_weight, 0.f, 2.f);

 	return weight;
 }

 void TECSControl::_calcPitchControl(float dt, const Input &input, const SpecificEnergyRates &specific_energy_rates,
-				    const Param &param,
-				    const Flag &flag)
+				    const Param &param, const Flag &flag)
 {
 	const SpecificEnergyWeighting weight{_updateSpeedAltitudeWeights(param, flag)};
 	ControlValues seb_rate{_calcPitchControlSebRate(weight, specific_energy_rates)};
@@ -514,10 +520,17 @@ void TECSControl::_calcThrottleControl(float dt, const SpecificEnergyRates &spec
 	const float STE_rate_estimate_raw = specific_energy_rates.spe_rate.estimate + specific_energy_rates.ske_rate.estimate;
 	_ste_rate_estimate_filter.setParameters(dt, param.ste_rate_time_const);
 	_ste_rate_estimate_filter.update(STE_rate_estimate_raw);
-
 	ControlValues ste_rate{_calcThrottleControlSteRate(limit, specific_energy_rates, param)};
-	_calcThrottleControlUpdate(dt, limit, ste_rate, param, flag);
-	float throttle_setpoint{_calcThrottleControlOutput(limit, ste_rate, param, flag)};
+	float throttle_setpoint{param.throttle_min};
+
+	if (1.f - param.fast_descend < FLT_EPSILON) {
+		// During fast descend, we control airspeed over the pitch control loop and give minimal thrust.
+		throttle_setpoint = param.throttle_min;
+
+	} else {
+		_calcThrottleControlUpdate(dt, limit, ste_rate, param, flag);
+		throttle_setpoint = _calcThrottleControlOutput(limit, ste_rate, param, flag);
+	}

 	// Rate limit the throttle demand
 	if (fabsf(param.throttle_slewrate) > FLT_EPSILON) {
@@ -651,6 +664,7 @@ void TECS::initControlParams(float target_climbrate, float target_sinkrate, floa
 	_reference_param.target_sinkrate = target_sinkrate;
 	// Control
 	_control_param.tas_min = eas_to_tas * _equivalent_airspeed_min;
+	_control_param.tas_max = eas_to_tas * _equivalent_airspeed_max;
 	_control_param.pitch_max = pitch_limit_max;
 	_control_param.pitch_min = pitch_limit_min;
 	_control_param.throttle_trim = throttle_trim;
@@ -705,6 +719,11 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
 		initialize(altitude, hgt_rate, equivalent_airspeed, eas_to_tas);

 	} else {
+		/* Check if we want to fast descend. On fast descend, we set the throttle to min, and use the altitude control
+		loop to control the speed to the maximum airspeed. */
+		_setFastDescend(hgt_setpoint, altitude);
+		_control_param.fast_descend = _fast_descend;
+
 		// Update airspeedfilter submodule
 		const TECSAirspeedFilter::Input airspeed_input{ .equivalent_airspeed = equivalent_airspeed,
 				.equivalent_airspeed_rate = speed_deriv_forward / eas_to_tas};
@@ -712,15 +731,25 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
 		_airspeed_filter.update(dt, airspeed_input, _airspeed_filter_param, _control_flag.airspeed_enabled);

 		// Update Reference model submodule
-		const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint,
-				.alt_rate = hgt_rate_sp};
+		if (1.f - _fast_descend < FLT_EPSILON) {
+			// Reset the altitude reference model, while we are in fast descend.
+			const TECSAltitudeReferenceModel::AltitudeReferenceState init_state{
+				.alt = altitude,
+				.alt_rate = hgt_rate};
+			_altitude_reference_model.initialize(init_state);

-		_altitude_reference_model.update(dt, setpoint, altitude, hgt_rate, _reference_param);
+		} else {
+			const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint,
+					.alt_rate = hgt_rate_sp};
+
+			_altitude_reference_model.update(dt, setpoint, altitude, hgt_rate, _reference_param);
+		}

 		TECSControl::Setpoint control_setpoint;
 		control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference();
 		control_setpoint.altitude_rate_setpoint_direct = _altitude_reference_model.getHeightRateSetpointDirect();
-		control_setpoint.tas_setpoint = eas_to_tas * EAS_setpoint;
+		control_setpoint.tas_setpoint = _control_param.tas_max * _fast_descend + (1 - _fast_descend) * eas_to_tas *
+						EAS_setpoint;

 		const TECSControl::Input control_input{ .altitude = altitude,
 							.altitude_rate = hgt_rate,
@@ -740,3 +769,17 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
 	_update_timestamp = now;
 }

+void TECS::_setFastDescend(const float alt_setpoint, const float alt)
+{
+	if (_control_flag.airspeed_enabled && (_fast_descend_alt_err > FLT_EPSILON)
+	    && ((alt_setpoint + _fast_descend_alt_err) < alt)) {
+		_fast_descend = 1.f;
+
+	} else if ((_fast_descend > FLT_EPSILON) && (_fast_descend_alt_err > FLT_EPSILON)) {
+		// Were in fast descend, scale it down. up until 5m above target altitude
+		_fast_descend = constrain((alt - alt_setpoint - 5.f) / _fast_descend_alt_err, 0.f, 1.f);
+
+	} else {
+		_fast_descend = 0.f;
+	}
+}
@@ -202,6 +202,7 @@ public:
 		float vert_accel_limit;			///< Magnitude of the maximum vertical acceleration allowed [m/s²].
 		float equivalent_airspeed_trim;		///< Equivalent cruise airspeed for airspeed less mode [m/s].
 		float tas_min;				///< True airspeed demand lower limit [m/s].
+		float tas_max;				///< True airspeed demand upper limit [m/s].
 		float pitch_max;			///< Maximum pitch angle allowed in [rad].
 		float pitch_min;			///< Minimal pitch angle allowed in [rad].
 		float throttle_trim;		///< Normalized throttle required to fly level at calibrated airspeed setpoint [0,1]
@@ -233,6 +234,8 @@ public:

 		float load_factor_correction;				///< Gain from normal load factor increase to total energy rate demand [m²/s³].
 		float load_factor;					///< Additional normal load factor.
+
+		float fast_descend;
 	};

 	/**
@@ -363,6 +366,7 @@ private:
 	struct AltitudePitchControl {
 		float altitude_rate_setpoint;	///< Controlled altitude rate setpoint [m/s].
 		float tas_rate_setpoint;	///< Controlled true airspeed rate setpoint [m/s²].
+		float tas_setpoint; 		///< Controller true airspeed setpoint [m/s]
 	};

 	/**
@@ -393,7 +397,7 @@ private:
 	 * @brief calculate airspeed control proportional output.
 	 *
 	 * @param setpoint is the control setpoints.
-	 * @param input	is the current input measurment of the UAS.
+	 * @param input	is the current input measurement of the UAS.
 	 * @param param	is the control parameters.
 	 * @param flag	is the control flags.
 	 * @return controlled airspeed rate setpoint in [m/s²].
@@ -404,7 +408,7 @@ private:
 	 * @brief calculate altitude control proportional output.
 	 *
 	 * @param setpoint is the control setpoints.
-	 * @param input is the current input measurment of the UAS.
+	 * @param input is the current input measurement of the UAS.
 	 * @param param is the control parameters.
 	 * @return controlled altitude rate setpoint in [m/s].
 	 */
@@ -413,14 +417,14 @@ private:
 	 * @brief Calculate specific energy rates.
 	 *
 	 * @param control_setpoint is the controlles altitude and airspeed rate setpoints.
-	 * @param input is the current input measurment of the UAS.
+	 * @param input is the current input measurement of the UAS.
 	 * @return Specific energy rates in [m²/s³].
 	 */
 	SpecificEnergyRates _calcSpecificEnergyRates(const AltitudePitchControl &control_setpoint, const Input &input) const;
 	/**
 	 * @brief Detect underspeed.
 	 *
-	 * @param input is the current input measurment of the UAS.
+	 * @param input is the current input measurement of the UAS.
 	 * @param param is the control parameters.
 	 * @param flag is the control flags.
 	 */
@@ -602,9 +606,11 @@ public:
 	void set_max_climb_rate(float climb_rate) { _control_param.max_climb_rate = climb_rate; _reference_param.max_climb_rate = climb_rate; };

 	void set_altitude_rate_ff(float altitude_rate_ff) { _control_param.altitude_setpoint_gain_ff = altitude_rate_ff; };
-	void set_altitude_error_time_constant(float time_const) { _control_param.altitude_error_gain = 1.0f / math::max(time_const, 0.1f);; };
+	void set_altitude_error_time_constant(float time_const) { _control_param.altitude_error_gain = 1.0f / math::max(time_const, 0.1f); };
+	void set_fast_descend_altitude_error(float altitude_error) { _fast_descend_alt_err = altitude_error; };

 	void set_equivalent_airspeed_min(float airspeed) { _equivalent_airspeed_min = airspeed; }
+	void set_equivalent_airspeed_max(float airspeed) { _equivalent_airspeed_max = airspeed; }
 	void set_equivalent_airspeed_trim(float airspeed) { _control_param.equivalent_airspeed_trim = airspeed; _airspeed_filter_param.equivalent_airspeed_trim = airspeed; }

 	void set_pitch_damping(float damping) { _control_param.pitch_damping_gain = damping; }
@@ -665,7 +671,10 @@ private:

 	hrt_abstime _update_timestamp{0};				///< last timestamp of the update function call.

-	float _equivalent_airspeed_min{3.0f};				///< equivalent airspeed demand lower limit (m/sec)
+	float _equivalent_airspeed_min{10.0f};				///< equivalent airspeed demand lower limit (m/sec)
+	float _equivalent_airspeed_max{20.0f};				///< equivalent airspeed demand upper limit (m/sec)
+	float _fast_descend_alt_err{-1.f};	 				///< Altitude difference between current altitude to altitude setpoint needed to descend with higher airspeed [m].
+	float _fast_descend{0.f};					///< Value for fast descend in [0,1]. continuous value used to flatten the high speed value out when close to target altitude.

 	static constexpr float DT_MIN = 0.001f;				///< minimum allowed value of _dt (sec)
 	static constexpr float DT_MAX = 1.0f;				///< max value of _dt allowed before a filter state reset is performed (sec)
@@ -697,6 +706,7 @@ private:
 		.vert_accel_limit = 0.0f,
 		.equivalent_airspeed_trim = 15.0f,
 		.tas_min = 10.0f,
+		.tas_max = 20.0f,
 		.pitch_max = 0.5f,
 		.pitch_min = -0.5f,
 		.throttle_trim = 0.0f,
@@ -716,11 +726,20 @@ private:
 		.throttle_slewrate = 0.0f,
 		.load_factor_correction = 0.0f,
 		.load_factor = 1.0f,
+		.fast_descend = 0.f
 	};

 	TECSControl::Flag _control_flag{
 		.airspeed_enabled = false,
 		.detect_underspeed_enabled = false,
 	};
+
+	/**
+	 * @brief Set fast descend value
+	 *
+	 * @param alt_setpoint is the altitude setpoint
+	 * @param alt is the current altitude
+	 */
+	void _setFastDescend(float alt_setpoint, float alt);
 };

@@ -54,7 +54,7 @@ def getData(log, topic_name, variable_name, instance=0):
 def us2s(time_ms):
    return time_ms * 1e-6

-def run(logfile, use_gnss):
+def run(logfile, use_gnss, scale_init):
    log = ULog(logfile)

    if use_gnss:
@@ -75,7 +75,10 @@ def run(logfile, use_gnss):
    dist_bottom = getData(log, 'vehicle_local_position', 'dist_bottom')
    t_dist_bottom = us2s(getData(log, 'vehicle_local_position', 'timestamp'))

-    state = np.array([0.0, 0.0, 1.0])
+    if scale_init is None:
+        scale_init = 1.0
+
+    state = np.array([0.0, 0.0, scale_init])
    P = np.diag([1.0, 1.0, 1e-4])
    wind_nsd = 1e-2
    scale_nsd = 1e-4
@@ -103,12 +106,12 @@ def run(logfile, use_gnss):

            P += Q * dt

-            if t_true_airspeed[i_airspeed] < t_now:
+            if i_airspeed < len(t_true_airspeed) and t_true_airspeed[i_airspeed] < t_now:
                while i_airspeed < len(t_true_airspeed) and t_true_airspeed[i_airspeed] < t_now:
                    i_airspeed += 1
                i_airspeed -= 1

-                (H, K, innov_var, innov) = fuse_airspeed(np.asarray(v_local[:,i]), state, P.flatten(), true_airspeed[i_airspeed], R, epsilon)
+                (H, K, innov_var, innov) = fuse_airspeed(np.asarray(v_local[:,i]), state, P, true_airspeed[i_airspeed], R, epsilon)
                state += np.array(K) * innov
                P -= K * H * P
                i_airspeed += 1
@@ -145,8 +148,9 @@ if __name__ == '__main__':
    parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
    parser.add_argument('--gnss', help='Use GNSS velocity instead of local velocity estimate',
                        action='store_true')
+    parser.add_argument('--scale_init', help='Initial airsped scale factor (1.0 if not specified)', type=float)
    args = parser.parse_args()

    logfile = os.path.abspath(args.logfile) # Convert to absolute path

-    run(logfile, args.gnss)
+    run(logfile, args.gnss, args.scale_init)
@@ -0,0 +1,189 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 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 "Boat.hpp"
+
+Boat::Boat() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
+{
+	updateParams();
+}
+
+bool Boat::init()
+{
+	ScheduleOnInterval(10_ms); // 100 Hz
+	return true;
+}
+
+void Boat::updateParams()
+{
+	ModuleParams::updateParams();
+
+	_max_speed = _param_bt_spd_max.get();
+	_boat_guidance.setMaxSpeed(_max_speed);
+	_boat_kinematics.setMaxSpeed(_max_speed);
+
+	_max_angular_velocity = _param_bt_ang_max.get();
+	_boat_guidance.setMaxAngularVelocity(_max_angular_velocity);
+	_boat_kinematics.setMaxAngularVelocity(_max_angular_velocity);
+}
+
+void Boat::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+	const float dt = math::min((now - _time_stamp_last), 5000_ms) / 1e6f;
+	_time_stamp_last = now;
+
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s parameter_update;
+		_parameter_update_sub.copy(&parameter_update);
+		updateParams();
+	}
+
+	if (_vehicle_control_mode_sub.updated()) {
+		vehicle_control_mode_s vehicle_control_mode{};
+
+		if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
+			_manual_driving = vehicle_control_mode.flag_control_manual_enabled;
+			_mission_driving = vehicle_control_mode.flag_control_auto_enabled;
+		}
+	}
+
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status{};
+
+		if (_vehicle_status_sub.copy(&vehicle_status)) {
+			const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			const bool spooled_up = armed && (hrt_elapsed_time(&vehicle_status.armed_time) > _param_com_spoolup_time.get() * 1_s);
+			_boat_kinematics.setArmed(spooled_up);
+			_acro_driving = (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO);
+		}
+	}
+
+	if (_manual_driving) {
+		// Manual mode
+		// Directly produce setpoints from the manual control setpoint (joystick)
+		if (_manual_control_setpoint_sub.updated()) {
+			manual_control_setpoint_s manual_control_setpoint{};
+
+			if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
+				boat_setpoint_s setpoint{};
+				setpoint.speed = ((manual_control_setpoint.throttle + 1.f) * 0.5f) * math::max(0.f, _param_bt_spd_scale.get());
+				setpoint.yaw_rate = manual_control_setpoint.roll * _param_bt_ang_vel_scale.get();
+
+				// if acro mode, we activate the yaw rate control
+				if (_acro_driving) {
+					setpoint.closed_loop_speed_control = false;
+					setpoint.closed_loop_yaw_rate_control = true;
+
+				} else {
+					setpoint.closed_loop_speed_control = false;
+					setpoint.closed_loop_yaw_rate_control = false;
+				}
+
+
+				setpoint.timestamp = now;
+				_boat_setpoint_pub.publish(setpoint);
+			}
+		}
+
+	} else if (_mission_driving) {
+		// Mission mode
+		// Directly receive setpoints from the guidance library
+		_boat_guidance.computeGuidance(
+			_boat_control.getVehicleYaw(),
+			_boat_control.getLocalPosition(),
+			dt
+		);
+	}
+
+	_boat_control.control(dt);
+	_boat_kinematics.allocate();
+}
+
+int Boat::task_spawn(int argc, char *argv[])
+{
+	Boat *instance = new Boat();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int Boat::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int Boat::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Boat Drive controller.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("boat", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return 0;
+}
+
+extern "C" __EXPORT int boat_main(int argc, char *argv[])
+{
+	return Boat::main(argc, argv);
+}
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/actuator_motors.h>
+#include <uORB/topics/actuator_servos.h>
+#include <uORB/topics/boat_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
+
+#include "BoatControl/BoatControl.hpp"
+#include "BoatGuidance/BoatGuidance.hpp"
+#include "BoatKinematics/BoatKinematics.hpp"
+
+using namespace time_literals;
+
+class Boat : public ModuleBase<Boat>, public ModuleParams,
+	public px4::ScheduledWorkItem
+{
+public:
+	Boat();
+	~Boat() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+protected:
+	void updateParams() override;
+
+private:
+	void Run() override;
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+
+	uORB::Publication<boat_setpoint_s> _boat_setpoint_pub{ORB_ID(boat_setpoint)};
+
+	bool _manual_driving = false;
+	bool _mission_driving = false;
+	bool _acro_driving = false;
+
+
+	BoatGuidance _boat_guidance{this};
+	BoatControl _boat_control{this};
+	BoatKinematics _boat_kinematics{this};
+
+	float _max_speed{0.f};
+	float _max_angular_velocity{0.f};
+
+	hrt_abstime _time_stamp_last{0};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
+		(ParamFloat<px4::params::BT_ANG_VEL_SCALE>) _param_bt_ang_vel_scale,
+		(ParamFloat<px4::params::BT_SPD_SCALE>) _param_bt_spd_scale,
+		(ParamFloat<px4::params::BT_ANG_MAX>) _param_bt_ang_max,
+		(ParamFloat<px4::params::BT_SPD_MAX>) _param_bt_spd_max
+	)
+};
@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 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 "BoatControl.hpp"
+
+using namespace matrix;
+
+BoatControl::BoatControl(ModuleParams *parent) : ModuleParams(parent)
+{
+	pid_init(&_pid_angular_velocity, PID_MODE_DERIVATIV_NONE, 0.001f);
+	pid_init(&_pid_speed, PID_MODE_DERIVATIV_NONE, 0.001f);
+}
+
+void BoatControl::updateParams()
+{
+	ModuleParams::updateParams();
+
+	pid_set_parameters(&_pid_angular_velocity,
+			   _param_bt_ang_p.get(),
+			   _param_bt_ang_i.get(),
+			   0,
+			   _param_bt_ang_imax.get(),
+			   _param_bt_ang_outlim.get());
+
+	pid_set_parameters(&_pid_speed,
+			   _param_bt_spd_p.get(),
+			   _param_bt_spd_i.get(),
+			   0,
+			   _param_bt_spd_imax.get(),
+			   _param_bt_spd_outlim.get());
+}
+
+void BoatControl::control(float dt)
+{
+	if (_vehicle_angular_velocity_sub.updated()) {
+		vehicle_angular_velocity_s vehicle_angular_velocity{};
+
+		if (_vehicle_angular_velocity_sub.copy(&vehicle_angular_velocity)) {
+			_vehicle_body_yaw_rate = vehicle_angular_velocity.xyz[2];
+		}
+	}
+
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude{};
+
+		if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
+			_vehicle_attitude_quaternion = Quatf(vehicle_attitude.q);
+			_vehicle_yaw = matrix::Eulerf(_vehicle_attitude_quaternion).psi();
+		}
+	}
+
+	if (_vehicle_local_position_sub.updated()) {
+		vehicle_local_position_s vehicle_local_position{};
+
+		if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
+			_vehicle_local_position = vehicle_local_position;
+			Vector3f velocity_in_local_frame(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
+			Vector3f velocity_in_body_frame = _vehicle_attitude_quaternion.rotateVectorInverse(velocity_in_local_frame);
+			_vehicle_forward_speed = velocity_in_body_frame(0);
+		}
+	}
+
+	_boat_setpoint_sub.update(&_boat_setpoint);
+
+	// PID to reach setpoint using control_output
+	boat_setpoint_s boat_control_output = _boat_setpoint;
+
+	if (_boat_setpoint.closed_loop_speed_control) {
+		boat_control_output.speed +=
+			pid_calculate(&_pid_speed, _boat_setpoint.speed, _vehicle_forward_speed, 0, dt);
+	}
+
+	if (_boat_setpoint.closed_loop_yaw_rate_control) {
+		boat_control_output.yaw_rate +=
+			pid_calculate(&_pid_angular_velocity, _boat_setpoint.yaw_rate, _vehicle_body_yaw_rate, 0, dt);
+	}
+
+	boat_control_output.timestamp = hrt_absolute_time();
+	_boat_control_output_pub.publish(boat_control_output);
+}
@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file BoatControl.hpp
+ *
+ * Controller for heading rate and forward speed.
+ */
+
+#pragma once
+
+#include <lib/pid/pid.h>
+#include <matrix/matrix/math.hpp>
+#include <px4_platform_common/module_params.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/boat_setpoint.h>
+#include <uORB/topics/vehicle_angular_velocity.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+using namespace matrix;
+
+class BoatControl : public ModuleParams
+{
+public:
+	BoatControl(ModuleParams *parent);
+	~BoatControl() = default;
+
+	void control(float dt);
+	float getVehicleBodyYawRate() const { return _vehicle_body_yaw_rate; }
+	float getVehicleYaw() const { return _vehicle_yaw; }
+	vehicle_local_position_s getLocalPosition() const { return _vehicle_local_position; }
+
+protected:
+	void updateParams() override;
+
+private:
+	uORB::Subscription _boat_setpoint_sub{ORB_ID(boat_setpoint)};
+	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
+
+	uORB::Publication<boat_setpoint_s> _boat_control_output_pub{ORB_ID(boat_control_output)};
+
+	boat_setpoint_s _boat_setpoint{};
+
+	matrix::Quatf _vehicle_attitude_quaternion{};
+	float _vehicle_yaw{0.f};
+
+
+	// States
+	float _vehicle_body_yaw_rate{0.f};
+	float _vehicle_forward_speed{0.f};
+	Vector2f _vehicle_speed{0.f, 0.f};
+	vehicle_local_position_s _vehicle_local_position{};
+
+	PID_t _pid_angular_velocity;
+	PID_t _pid_speed;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::BT_SPD_P>) _param_bt_spd_p,
+		(ParamFloat<px4::params::BT_SPD_I>) _param_bt_spd_i,
+		(ParamFloat<px4::params::BT_SPD_IMAX>) _param_bt_spd_imax,
+		(ParamFloat<px4::params::BT_SPD_OUTLIM>) _param_bt_spd_outlim,
+		(ParamFloat<px4::params::BT_ANG_P>) _param_bt_ang_p,
+		(ParamFloat<px4::params::BT_ANG_I>) _param_bt_ang_i,
+		(ParamFloat<px4::params::BT_ANG_IMAX>) _param_bt_ang_imax,
+		(ParamFloat<px4::params::BT_ANG_OUTLIM>) _param_bt_ang_outlim
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatControl
+	BoatControl.cpp
+)
+
+target_link_libraries(BoatControl PUBLIC pid)
+target_include_directories(BoatControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,264 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 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 "BoatGuidance.hpp"
+
+#include <mathlib/math/Limits.hpp>
+
+using namespace matrix;
+
+BoatGuidance::BoatGuidance(ModuleParams *parent) : ModuleParams(parent)
+{
+	updateParams();
+
+	_currentState = GuidanceState::kDriving;
+}
+
+void BoatGuidance::computeGuidance(float yaw, vehicle_local_position_s vehicle_local_position,
+				   float dt)
+{
+	if (_position_setpoint_triplet_sub.updated()) {
+		_position_setpoint_triplet_sub.copy(&_position_setpoint_triplet);
+	}
+
+	if (_vehicle_global_position_sub.updated()) {
+		_vehicle_global_position_sub.copy(&_vehicle_global_position);
+	}
+
+	const matrix::Vector2d global_position(_vehicle_global_position.lat, _vehicle_global_position.lon);
+	const matrix::Vector2d current_waypoint(_position_setpoint_triplet.current.lat, _position_setpoint_triplet.current.lon);
+	const matrix::Vector2d next_waypoint(_position_setpoint_triplet.next.lat, _position_setpoint_triplet.next.lon);
+	const matrix::Vector2d previous_waypoint(_position_setpoint_triplet.previous.lat,
+			_position_setpoint_triplet.previous.lon);
+
+	if (!_global_local_proj_ref.isInitialized()
+	    || (_global_local_proj_ref.getProjectionReferenceTimestamp() != vehicle_local_position.timestamp)) {
+		_global_local_proj_ref.initReference(vehicle_local_position.ref_lat, vehicle_local_position.ref_lon,
+						     vehicle_local_position.timestamp);
+	}
+
+	const Vector2f current_waypoint_local_frame = _global_local_proj_ref.project(
+				current_waypoint(0),
+				current_waypoint(1));
+	const Vector2f previous_waypoint_local_frame = _global_local_proj_ref.project(
+				previous_waypoint(0),
+				previous_waypoint(1));
+	const Vector2f local_frame_position = Vector2f(vehicle_local_position.x, vehicle_local_position.y);
+
+	const float distance_to_next_wp = get_distance_to_next_waypoint(
+			global_position(0),
+			global_position(1),
+			current_waypoint(0),
+			current_waypoint(1));
+
+	float heading_error = 0.f;
+	float speed_interpolation = 0.f;
+	float heading_to_next_waypoint = 0.f;
+	float heading_error_to_next_waypoint = 0.f;
+	float desired_speed = _param_bt_spd_cruise.get();
+
+	// Go back to driving, when the waypoint has been reached
+	if (_current_waypoint != current_waypoint) {
+		_currentState = GuidanceState::kDriving;
+	}
+
+	// Make boat stop when it arrives at the last waypoint
+	if ((current_waypoint == next_waypoint) && distance_to_next_wp <= _param_nav_acc_rad.get()) {
+		_currentState = GuidanceState::kGoalReached;
+	}
+
+	switch (_currentState) {
+	case GuidanceState::kDriving: {
+			if (PX4_ISFINITE(previous_waypoint(0)) && PX4_ISFINITE(previous_waypoint(1))) {
+
+				float look_ahead_distance = getLookAheadDistance(
+								    current_waypoint_local_frame,
+								    previous_waypoint_local_frame,
+								    local_frame_position
+							    );
+
+				float desired_heading = calcDesiredHeading(
+								current_waypoint_local_frame,
+								previous_waypoint_local_frame,
+								local_frame_position,
+								look_ahead_distance
+							);
+
+				heading_error = matrix::wrap_pi(desired_heading - yaw);
+				_desired_angular_velocity = heading_error;
+
+				heading_to_next_waypoint = get_bearing_to_next_waypoint(
+								   previous_waypoint(0),
+								   previous_waypoint(1),
+								   current_waypoint(0),
+								   current_waypoint(1)
+							   );
+
+			} else {
+				_previous_local_position = local_frame_position;
+				_previous_position = global_position;
+				_currentState = GuidanceState::kDrivingToAPoint;
+			}
+
+			break;
+		}
+
+	// Control logic if there is no previous waypoint
+	case GuidanceState::kDrivingToAPoint: {
+			float look_ahead_distance = getLookAheadDistance(
+							    current_waypoint_local_frame,
+							    _previous_local_position,
+							    local_frame_position
+						    );
+
+			float desired_heading = calcDesiredHeading(
+							current_waypoint_local_frame,
+							_previous_local_position,
+							local_frame_position,
+							look_ahead_distance
+						);
+
+			heading_error = matrix::wrap_pi(desired_heading - yaw);
+			_desired_angular_velocity = heading_error;
+
+			heading_to_next_waypoint = get_bearing_to_next_waypoint(
+							   _previous_position(0),
+							   _previous_position(1),
+							   current_waypoint(0),
+							   current_waypoint(1)
+						   );
+			break;
+		}
+
+	case GuidanceState::kGoalReached:
+		desired_speed = 0.f;
+		heading_error = 0.f;
+		_desired_angular_velocity = 0.f;
+		break;
+	}
+
+	heading_error_to_next_waypoint = matrix::wrap_pi(heading_to_next_waypoint - yaw);
+
+	// Interpolate the speed based on the heading error
+	if (PX4_ISFINITE(heading_error_to_next_waypoint) && desired_speed > 0.1f) {
+
+		speed_interpolation = math::interpolate<float>(abs(heading_error_to_next_waypoint),
+				      _param_bt_min_heading_error.get() * M_PI_F / 180.f,
+				      _param_bt_max_heading_error.get() * M_PI_F / 180.f,
+				      _param_bt_spd_cruise.get(),
+				      _param_bt_spd_min.get());
+		desired_speed = math::constrain(speed_interpolation, _param_bt_spd_min.get(), _max_speed);
+
+	}
+
+	boat_setpoint_s output{};
+	output.speed = math::constrain(desired_speed, -_max_speed, _max_speed);
+	output.yaw_rate = math::constrain(_desired_angular_velocity, -_max_angular_velocity, _max_angular_velocity);
+	output.closed_loop_speed_control = true;
+	output.closed_loop_yaw_rate_control = true;
+	output.timestamp = hrt_absolute_time();
+
+	_boat_setpoint_pub.publish(output);
+
+	_current_waypoint = current_waypoint;
+}
+
+float BoatGuidance::getLookAheadDistance(const Vector2f &curr_wp_local, const Vector2f &prev_wp_local,
+		const Vector2f &curr_pos_local)
+{
+	// Calculate crosstrack error
+	const Vector2f prev_wp_to_curr_wp_local = curr_wp_local - prev_wp_local;
+
+	if (prev_wp_to_curr_wp_local.norm() < FLT_EPSILON) { // Avoid division by 0 (this case should not happen)
+		return 0.f;
+	}
+
+	const Vector2f prev_wp_to_curr_pos_local = curr_pos_local - prev_wp_local;
+	const Vector2f distance_on_line_segment = ((prev_wp_to_curr_pos_local * prev_wp_to_curr_wp_local) /
+			prev_wp_to_curr_wp_local.norm()) * prev_wp_to_curr_wp_local.normalized();
+	const Vector2f crosstrack_error = (prev_wp_local + distance_on_line_segment) - curr_pos_local;
+
+	if (crosstrack_error.length() < _param_look_ahead_distance.get()) {
+		return _param_look_ahead_distance.get();
+
+	} else {
+		return crosstrack_error.length();
+	}
+}
+
+float BoatGuidance::calcDesiredHeading(const Vector2f &curr_wp_local, const Vector2f &prev_wp_local,
+				       Vector2f const &curr_pos_local, float const &lookahead_distance)
+{
+	// Setup variables
+	const float line_segment_slope = (curr_wp_local(1) - prev_wp_local(1)) / (curr_wp_local(0) - prev_wp_local(0));
+	const float line_segment_rover_offset = prev_wp_local(1) - curr_pos_local(1) + line_segment_slope * (curr_pos_local(
+			0) - prev_wp_local(0));
+	const float a = -line_segment_slope;
+	const float c = -line_segment_rover_offset;
+	const float r = lookahead_distance;
+	const float x0 = -a * c / (a * a + 1.0f);
+	const float y0 = -c / (a * a + 1.0f);
+
+	// Calculate intersection points
+	if (c * c > r * r * (a * a + 1.0f) + FLT_EPSILON) { // No intersection points exist
+		return 0.f;
+
+	} else if (abs(c * c - r * r * (a * a + 1.0f)) < FLT_EPSILON) { // One intersection point exists
+		return atan2f(y0, x0);
+
+	} else { // Two intersetion points exist
+		const float d = r * r - c * c / (a * a + 1.0f);
+		const float mult = sqrt(d / (a * a + 1.0f));
+		const float ax = x0 + mult;
+		const float bx = x0 - mult;
+		const float ay = y0 - a * mult;
+		const float by = y0 + a * mult;
+		const Vector2f point1(ax, ay);
+		const Vector2f point2(bx, by);
+		const Vector2f distance1 = (curr_wp_local - curr_pos_local) - point1;
+		const Vector2f distance2 = (curr_wp_local - curr_pos_local) - point2;
+
+		// Return intersection point closer to current waypoint
+		if (distance1.norm_squared() < distance2.norm_squared()) {
+			return atan2f(ay, ax);
+
+		} else {
+			return atan2f(by, bx);
+		}
+	}
+}
+
+void BoatGuidance::updateParams()
+{
+	ModuleParams::updateParams();
+}
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module_params.h>
+
+#include <matrix/matrix/math.hpp>
+#include <matrix/math.hpp>
+#include <mathlib/mathlib.h>
+#include <lib/geo/geo.h>
+#include <math.h>
+
+#include <lib/motion_planning/PositionSmoothing.hpp>
+#include <lib/motion_planning/VelocitySmoothing.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/boat_setpoint.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+#include <lib/pid/pid.h>
+#include <lib/l1/ECL_L1_Pos_Controller.hpp>
+
+using namespace matrix;
+/**
+ * @brief Enum class for the different states of guidance.
+ */
+enum class GuidanceState {
+	kDriving, ///< The vehicle is currently driving straight.
+	kDrivingToAPoint, ///< The vehicle is currently driving to the next waypoint.
+	kGoalReached ///< The vehicle has reached its goal.
+};
+
+/**
+ * @brief Class for boat drive guidance.
+ */
+class BoatGuidance : public ModuleParams
+{
+public:
+	/**
+	 * @brief Constructor for BoatGuidance.
+	 * @param parent The parent ModuleParams object.
+	 */
+	BoatGuidance(ModuleParams *parent);
+	~BoatGuidance() = default;
+
+	/**
+	 * @brief Compute guidance for the vehicle.
+	 * @param global_pos The global position of the vehicle in degrees.
+	 * @param current_waypoint The current waypoint the vehicle is heading towards in degrees.
+	 * @param next_waypoint The next waypoint the vehicle will head towards after reaching the current waypoint in degrees.
+	 * @param vehicle_yaw The yaw orientation of the vehicle in radians.
+	 * @param body_velocity The velocity of the vehicle in m/s.
+	 * @param angular_velocity The angular velocity of the vehicle in rad/s.
+	 * @param dt The time step in seconds.
+	 */
+	void computeGuidance(float yaw, vehicle_local_position_s vehicle_local_position, float dt);
+
+	/**
+	 * @brief Calculate the lookahead distance based on the current and previous waypoints and the current position.
+	 * @param curr_wp_local The current waypoint in local coordinates.
+	 * @param prev_wp_local The previous waypoint in local coordinates.
+	 * @param curr_pos_local The current position in local coordinates.
+	 * @return The calculated lookahead distance.
+	 */
+	float getLookAheadDistance(const Vector2f &curr_wp_local, const Vector2f &prev_wp_local,
+				   const Vector2f &curr_pos_local);
+
+	/**
+	 * @brief Calculate the desired heading based on the current and previous waypoints, current position, and lookahead distance.
+	 * @param curr_wp_local The current waypoint in local coordinates.
+	 * @param prev_wp_local The previous waypoint in local coordinates.
+	 * @param curr_pos_local The current position in local coordinates.
+	 * @param lookahead_distance The lookahead distance.
+	 * @return The calculated desired heading.
+	 */
+	float calcDesiredHeading(const Vector2f &curr_wp_local, const Vector2f &prev_wp_local, const Vector2f &curr_pos_local,
+				 const float &lookahead_distance);
+
+	/**
+	 * @brief Set the maximum speed for the vehicle.
+	 * @param max_speed The maximum speed in m/s.
+	 * @return The set maximum speed in m/s.
+	 */
+	float setMaxSpeed(float max_speed) { return _max_speed = max_speed; }
+
+
+	/**
+	 * @brief Set the maximum angular velocity for the boat.
+	 * @param max_angular_velocity The maximum angular velocity in rad/s.
+	 * @return The set maximum angular velocity in rad/s.
+	 */
+	float setMaxAngularVelocity(float max_angular_velocity) { return _max_angular_velocity = max_angular_velocity; }
+
+
+
+protected:
+	/**
+	 * @brief Update the parameters of the module.
+	 */
+	void updateParams() override;
+
+private:
+	uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
+	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
+
+	uORB::Publication<boat_setpoint_s> _boat_setpoint_pub{ORB_ID(boat_setpoint)};
+
+	position_setpoint_triplet_s _position_setpoint_triplet{};
+	vehicle_global_position_s _vehicle_global_position{};
+
+	GuidanceState _currentState;
+
+	float _desired_angular_velocity{};
+	float _max_angular_velocity{};
+	float _look_ahead_distance{};
+	float _max_speed{};
+
+	VelocitySmoothing _forwards_velocity_smoothing{};
+	PositionSmoothing _position_smoothing{};
+	MapProjection _global_local_proj_ref{};
+	matrix::Vector2d _current_waypoint{};
+	ECL_L1_Pos_Controller _l1_guidance{};
+	Vector2f _previous_local_position{};
+	Vector2d _previous_position{};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::BT_MAX_HERR>) _param_bt_max_heading_error,
+		(ParamFloat<px4::params::BT_MIN_HERR>) _param_bt_min_heading_error,
+		(ParamFloat<px4::params::BT_LOOKAHEAD>) _param_look_ahead_distance,
+		(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad,
+		(ParamFloat<px4::params::BT_SPD_CRUISE>) _param_bt_spd_cruise,
+		(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad,
+		(ParamFloat<px4::params::BT_SPD_MAX>) _param_bt_spd_max,
+		(ParamFloat<px4::params::BT_SPD_MIN>) _param_bt_spd_min
+	)
+};
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatGuidance
+	BoatGuidance.cpp
+	BoatGuidance.hpp
+)
+
+target_include_directories(BoatGuidance PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023-2024 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 "BoatKinematics.hpp"
+
+#include <mathlib/mathlib.h>
+
+using namespace matrix;
+using namespace time_literals;
+
+BoatKinematics::BoatKinematics(ModuleParams *parent) : ModuleParams(parent)
+{}
+
+void BoatKinematics::allocate()
+{
+	hrt_abstime now = hrt_absolute_time();
+
+	if (_boat_control_output_sub.updated()) {
+		_boat_control_output_sub.copy(&_boat_control_output);
+	}
+
+	const bool setpoint_timeout = (_boat_control_output.timestamp + 100_ms) < now;
+
+	Vector2f boat_output =
+		computeInverseKinematics(_boat_control_output.speed, _boat_control_output.yaw_rate);
+
+	if (!_armed || setpoint_timeout) {
+		boat_output = {}; // stop
+	}
+
+	boat_output = matrix::constrain(boat_output, -1.f, 1.f);
+
+	actuator_motors_s actuator_motors{};
+	actuator_motors.control[0] = boat_output(0);
+	actuator_motors.control[1] = boat_output(0);
+	actuator_motors.timestamp = now;
+	_actuator_motors_pub.publish(actuator_motors);
+
+	actuator_servos_s actuator_servos{};
+	actuator_servos.control[0] = boat_output(1);
+	actuator_servos.control[1] = boat_output(1);
+	actuator_servos.timestamp = now;
+	_actuator_servos_pub.publish(actuator_servos);
+}
+
+matrix::Vector2f BoatKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate) const
+{
+	if (_max_speed < FLT_EPSILON) {
+		return Vector2f();
+	}
+
+	// Room for more advanced dynamics, if required
+
+	linear_velocity_x = math::constrain(linear_velocity_x, -_max_speed, _max_speed);
+	yaw_rate = math::constrain(yaw_rate, -_max_angular_velocity, _max_angular_velocity);
+
+	float throttle = linear_velocity_x / _max_speed;
+	float rudder_angle = yaw_rate / _max_angular_velocity;
+
+	return Vector2f(throttle, rudder_angle);
+}
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <matrix/matrix/math.hpp>
+#include <px4_platform_common/module_params.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_motors.h>
+#include <uORB/topics/actuator_servos.h>
+#include <uORB/topics/boat_setpoint.h>
+
+
+/**
+ * @brief Boat Drive Kinematics class for computing the kinematics of a boat drive robot.
+ *
+ * This class provides functions to set the wheel base and radius, and to compute the inverse kinematics
+ * given linear velocity and yaw rate.
+ */
+class BoatKinematics : public ModuleParams
+{
+public:
+	BoatKinematics(ModuleParams *parent);
+	~BoatKinematics() = default;
+
+	/**
+	 * @brief Sets the wheel base of the robot.
+	 *
+	 * @param wheel_base The distance between the centers of the wheels.
+	 */
+	void setWheelBase(const float wheel_base) { _wheel_base = wheel_base; };
+
+	/**
+	 * @brief Sets the maximum speed of the robot.
+	 *
+	 * @param max_speed The maximum speed of the robot.
+	 */
+	void setMaxSpeed(const float max_speed) { _max_speed = max_speed; };
+
+	/**
+	 * @brief Sets the maximum angular speed of the robot.
+	 *
+	 * @param max_angular_speed The maximum angular speed of the robot.
+	 */
+	void setMaxAngularVelocity(const float max_angular_velocity) { _max_angular_velocity = max_angular_velocity; };
+
+	void setArmed(const bool armed) { _armed = armed; };
+
+	void allocate();
+
+	/**
+	 * @brief Computes the inverse kinematics for boat drive.
+	 *
+	 * @param linear_velocity_x Linear velocity along the x-axis.
+	 * @param yaw_rate Yaw rate of the robot.
+	 * @return matrix::Vector2f Motor velocities for the right and left motors.
+	 */
+	matrix::Vector2f computeInverseKinematics(float linear_velocity_x, float yaw_rate) const;
+
+private:
+	uORB::Subscription _boat_control_output_sub{ORB_ID(boat_control_output)};
+	uORB::PublicationMulti<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
+	uORB::PublicationMulti<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
+
+	boat_setpoint_s _boat_control_output{};
+
+	bool _armed = false;
+
+	float _wheel_base{0.f};
+	float _max_speed{0.f};
+	float _max_angular_velocity{0.f};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::CA_R_REV>) _param_r_rev
+	)
+};
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2023-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(BoatKinematics
+	BoatKinematics.cpp
+)
+
+target_include_directories(BoatKinematics PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+px4_add_functional_gtest(SRC BoatKinematicsTest.cpp LINKLIBS BoatKinematics)
@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2023-2024 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.
+#
+############################################################################
+
+add_subdirectory(BoatControl)
+add_subdirectory(BoatGuidance)
+add_subdirectory(BoatKinematics)
+
+px4_add_module(
+	MODULE modules__boat
+	MAIN boat
+	SRCS
+		Boat.cpp
+		Boat.hpp
+	DEPENDS
+		BoatControl
+		BoatGuidance
+		BoatKinematics
+		px4_work_queue
+		l1
+		# modules__control_allocator # for parameter CA_R_REV
+	MODULE_CONFIG
+		module.yaml
+)
@@ -0,0 +1,6 @@
+menuconfig MODULES_BOAT
+	bool "boat"
+	default n
+	depends on MODULES_CONTROL_ALLOCATOR
+	---help---
+		Enable support for control of boats
@@ -0,0 +1,149 @@
+module_name: Boat Drive
+
+parameters:
+  - group: Boat Drive
+    definitions:
+      BT_SPD_SCALE:
+        description:
+          short: Manual speed scale
+        type: float
+        min: 0
+        max: 1
+        increment: 0.01
+        decimal: 2
+        default: 1
+      BT_ANG_VEL_SCALE:
+        description:
+          short: Manual angular velocity scale
+        type: float
+        min: 0
+        max: 1
+        increment: 0.01
+        decimal: 2
+        default: 1
+      BT_SPD_CRUISE:
+        description:
+          short: Default cruise speed
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 50.0
+        decimal: 1
+        default: 7.0
+      BT_SPD_MAX:
+        description:
+          short: Maximum speed
+        type: float
+        unit: m/s
+        min: 1.0
+        max: 50.0
+        decimal: 1
+        default: 17.0
+      BT_SPD_MIN:
+        description:
+          short: Minimum speed
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 50.0
+        decimal: 1
+        default: 2.0
+      BT_SPD_P:
+        description:
+          short: Speed controller proportional gain
+        type: float
+        min: 0.0
+        max: 2.0
+        decimal: 2
+        default: 2.0
+      BT_SPD_I:
+        description:
+          short: Speed controller integral gain
+        type: float
+        min: 0.0
+        max: 20.0
+        decimal: 2
+        default: 1.0
+      BT_SPD_IMAX:
+        description:
+          short: Speed integral maximum value
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 20.0
+        decimal: 1
+        default: 20.0
+      BT_SPD_OUTLIM:
+        description:
+          short: Speed PI controller output limit
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 200.0
+        decimal: 1
+        default: 50.0
+      BT_ANG_MAX:
+        description:
+          short: Maximum angular velocity
+        type: float
+        unit: rad/s
+        min: 0.0
+        max: 20.0
+        decimal: 1
+        default: 1.0
+      BT_ANG_P:
+        description:
+          short: Angular velocity controller proportional gain
+        type: float
+        min: 0.0
+        max: 2.0
+        decimal: 2
+        default: 0.2
+      BT_ANG_I:
+        description:
+          short: Angular velocity controller integral gain
+        type: float
+        min: 0.0
+        max: 20.0
+        decimal: 2
+        default: 0.0
+      BT_ANG_IMAX:
+        description:
+          short: Angular velocity controller integral maximum value
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 20.0
+        decimal: 1
+        default: 20.0
+      BT_ANG_OUTLIM:
+        description:
+          short: Angular velocity controller PI controller output limit
+        type: float
+        unit: m/s
+        min: 0.0
+        max: 200.0
+        decimal: 1
+        default: 50.0
+      BT_MAX_HERR:
+        description:
+          short: Max heading error for slowdown
+        type: float
+        min: 0.0
+        decimal: 2
+        default: 90.0
+      BT_MIN_HERR:
+        description:
+          short: Min heading error for full speed
+        type: float
+        min: 0.0
+        decimal: 2
+        default: 30.0
+      BT_LOOKAHEAD:
+        description:
+          short: Lookahead distance for heading error
+        type: float
+        unit: m
+        min: 0.0
+        decimal: 2
+        default: 10.0
@@ -1109,7 +1109,7 @@ Commander::handle_command(const vehicle_command_s &cmd)

 	case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
 			// if no high latency telemetry exists send a failed acknowledge
-			if (_high_latency_datalink_heartbeat > _boot_timestamp) {
+			if (_high_latency_datalink_timestamp < _boot_timestamp) {
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
 				mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t");
 				events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info},
@@ -2634,7 +2634,7 @@ int Commander::task_spawn(int argc, char *argv[])
 	_task_id = px4_task_spawn_cmd("commander",
 				      SCHED_DEFAULT,
 				      SCHED_PRIORITY_DEFAULT + 40,
-				      3250,
+				      PX4_STACK_ADJUSTED(3250),
 				      (px4_main_t)&run_trampoline,
 				      (char *const *)argv);

@@ -2672,6 +2672,28 @@ void Commander::enable_hil()

 void Commander::dataLinkCheck()
 {
+	// high latency data link
+	iridiumsbd_status_s iridium_status;
+
+	if (_iridiumsbd_status_sub.update(&iridium_status)) {
+		_high_latency_datalink_timestamp = iridium_status.last_at_ok_timestamp;
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_timestamp > _high_latency_datalink_lost) &&
+		    (_high_latency_datalink_regained == 0)
+		   ) {
+			_high_latency_datalink_regained = _high_latency_datalink_timestamp;
+		}
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_regained != 0) &&
+		    (hrt_elapsed_time(&_high_latency_datalink_regained) > (_param_com_hldl_reg_t.get() * 1_s))
+		   ) {
+			_vehicle_status.high_latency_data_link_lost = false;
+			_status_changed = true;
+		}
+	}
+
 	for (auto &telemetry_status :  _telemetry_status_subs) {
 		telemetry_status_s telemetry;

@@ -2685,16 +2707,18 @@ void Commander::dataLinkCheck()
 				break;

 			case telemetry_status_s::LINK_TYPE_IRIDIUM: {
-					iridiumsbd_status_s iridium_status;

-					if (_iridiumsbd_status_sub.update(&iridium_status)) {
-						_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
+					if ((_high_latency_datalink_timestamp > 0) &&
+					    (hrt_elapsed_time(&_high_latency_datalink_timestamp) > (_param_com_hldl_loss_t.get() * 1_s))) {

-						if (_vehicle_status.high_latency_data_link_lost) {
-							if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) {
-								_vehicle_status.high_latency_data_link_lost = false;
-								_status_changed = true;
-							}
+						_high_latency_datalink_lost = _high_latency_datalink_timestamp;
+						_high_latency_datalink_regained = 0;
+
+						if (!_vehicle_status.high_latency_data_link_lost) {
+							_vehicle_status.high_latency_data_link_lost = true;
+							mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
+							events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
+							_status_changed = true;
 						}
 					}

@@ -2836,19 +2860,6 @@ void Commander::dataLinkCheck()
 			_vehicle_status.avoidance_system_valid = false;
 		}
 	}
-
-	// high latency data link loss failsafe
-	if (_high_latency_datalink_heartbeat > 0
-	    && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
-		_high_latency_datalink_lost = hrt_absolute_time();
-
-		if (!_vehicle_status.high_latency_data_link_lost) {
-			_vehicle_status.high_latency_data_link_lost = true;
-			mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
-			events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
-			_status_changed = true;
-		}
-	}
 }

 void Commander::battery_status_check()
@@ -246,8 +246,9 @@ private:

 	hrt_abstime _last_print_mode_reject_time{0};	///< To remember when last notification was sent

-	hrt_abstime _high_latency_datalink_heartbeat{0};
+	hrt_abstime _high_latency_datalink_timestamp{0};
 	hrt_abstime _high_latency_datalink_lost{0};
+	hrt_abstime _high_latency_datalink_regained{0};

 	hrt_abstime _boot_timestamp{0};
 	hrt_abstime _last_disarmed_timestamp{0};
@@ -284,7 +284,7 @@ bool Report::report(bool is_armed, bool force)

 	// send all events
 	int offset = 0;
-	events::EventType event;
+	event_s event;

 	for (int i = 0; i < max_num_events && offset < _next_buffer_idx; ++i) {
 		EventBufferHeader *header = (EventBufferHeader *)(_event_buffer + offset);
@@ -376,7 +376,7 @@ bool Report::addEvent(uint32_t event_id, const events::LogLevels &log_levels, co
 		      Args... args)
 {
 	constexpr unsigned args_size = events::util::sizeofArguments(modes, args...);
-	static_assert(args_size <= sizeof(events::EventType::arguments), "Too many arguments");
+	static_assert(args_size <= sizeof(event_s::arguments), "Too many arguments");
 	unsigned total_size = sizeof(EventBufferHeader) + args_size;

 	if (total_size > sizeof(_event_buffer) - _next_buffer_idx) {
@@ -99,8 +99,12 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}

+	param_t param_ekf2_en_handle = param_find_no_notification("EKF2_EN");
 	int32_t param_ekf2_en = 0;
-	param_get(param_find_no_notification("EKF2_EN"), &param_ekf2_en);
+
+	if (param_ekf2_en_handle != PARAM_INVALID) {
+		param_get(param_ekf2_en_handle, &param_ekf2_en);
+	}

 	if (missing_data && (param_ekf2_en == 1)) {
 		/* EVENT
@@ -48,13 +48,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report

 			const float accel_inconsistency_m_s_s = imu.accel_inconsistency_m_s_s[i];

-			NavModes required_groups = NavModes::None;
-
 			if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get()) {
-				required_groups = NavModes::All;
-			}
-
-			if (accel_inconsistency_m_s_s > _param_com_arm_imu_acc.get() * 0.8f) {
 				/* EVENT
 				 * @description
 				 * Check the calibration.
@@ -66,7 +60,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
 				 * This check can be configured via <param>COM_ARM_IMU_ACC</param> parameter.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::accel,
+				reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::accel,
 						events::ID("check_imu_accel_inconsistent"),
 						events::Log::Warning, "Accel {1} inconsistent", i, accel_inconsistency_m_s_s, _param_com_arm_imu_acc.get());

@@ -85,13 +79,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report

 			const float gyro_inconsistency_rad_s = imu.gyro_inconsistency_rad_s[i];

-			NavModes required_groups = NavModes::None;
-
 			if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get()) {
-				required_groups = NavModes::All;
-			}
-
-			if (gyro_inconsistency_rad_s > _param_com_arm_imu_gyr.get() * 0.5f) {
 				/* EVENT
 				 * @description
 				 * Check the calibration.
@@ -103,7 +91,7 @@ void ImuConsistencyChecks::checkAndReport(const Context &context, Report &report
 				 * This check can be configured via <param>COM_ARM_IMU_GYR</param> parameter.
 				 * </profile>
 				 */
-				reporter.armingCheckFailure<uint8_t, float, float>(required_groups, health_component_t::gyro,
+				reporter.armingCheckFailure<uint8_t, float, float>(NavModes::All, health_component_t::gyro,
 						events::ID("check_imu_gyro_inconsistent"),
 						events::Log::Warning, "Gyro {1} inconsistent", i, gyro_inconsistency_rad_s, _param_com_arm_imu_gyr.get());

@@ -58,7 +58,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		 * @description
 		 * Wait until the estimator initialized
 		 */
-		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::system,
+		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_attitude, health_component_t::attitude_estimate,
 					    events::ID("check_modes_attitude"),
 					    events::Log::Critical, "No valid attitude estimate");
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_attitude);
@@ -78,7 +78,7 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 	if (local_position_modes != NavModes::None) {
 		/* EVENT
 		 */
-		reporter.armingCheckFailure(local_position_modes, health_component_t::system,
+		reporter.armingCheckFailure(local_position_modes, health_component_t::local_position_estimate,
 					    events::ID("check_modes_local_pos"),
 					    events::Log::Error, "No valid local position estimate");
 		reporter.clearCanRunBits(local_position_modes);
@@ -87,7 +87,8 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 	if (reporter.failsafeFlags().global_position_invalid && reporter.failsafeFlags().mode_req_global_position != 0) {
 		/* EVENT
 		 */
-		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position, health_component_t::system,
+		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_global_position,
+					    health_component_t::global_position_estimate,
 					    events::ID("check_modes_global_pos"),
 					    events::Log::Error, "No valid global position estimate");
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_global_position);
@@ -72,7 +72,7 @@ void DifferentialDriveGuidance::computeGuidance(float yaw, float angular_velocit

 	// Make rover stop when it arrives at the last waypoint instead of loitering and driving around weirdly.
 	if ((current_waypoint == next_waypoint) && distance_to_next_wp <= _param_nav_acc_rad.get()) {
-		_currentState = GuidanceState::GOAL_REACHED;
+		_currentState = GuidanceState::kGoalReached;
 	}

 	float desired_speed = 0.f;
@@ -82,12 +82,12 @@ void DifferentialDriveGuidance::computeGuidance(float yaw, float angular_velocit
 		desired_speed = 0.f;

 		if (fabsf(heading_error) < 0.05f) {
-			_currentState = GuidanceState::DRIVING;
+			_currentState = GuidanceState::kDriving;
 		}

 		break;

-	case GuidanceState::DRIVING: {
+	case GuidanceState::kDriving: {
 			const float max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_rdd_max_jerk.get(),
 						   _param_rdd_max_accel.get(), distance_to_next_wp, 0.0f);
 			_forwards_velocity_smoothing.updateDurations(max_velocity);
@@ -97,7 +97,7 @@ void DifferentialDriveGuidance::computeGuidance(float yaw, float angular_velocit
 			break;
 		}

-	case GuidanceState::GOAL_REACHED:
+	case GuidanceState::kGoalReached:
 		// temporary till I find a better way to stop the vehicle
 		desired_speed = 0.f;
 		heading_error = 0.f;
@@ -58,8 +58,8 @@
 */
 enum class GuidanceState {
 	TURNING, ///< The vehicle is currently turning.
-	DRIVING, ///< The vehicle is currently driving straight.
-	GOAL_REACHED ///< The vehicle has reached its goal.
+	kDriving, ///< The vehicle is currently driving straight.
+	kGoalReached ///< The vehicle has reached its goal.
 };

 /**
@@ -116,111 +116,107 @@ endif()
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	EKF/bias_estimator.cpp
 	EKF/control.cpp
 	EKF/covariance.cpp
 	EKF/ekf.cpp
 	EKF/ekf_helper.cpp
 	EKF/estimator_interface.cpp
-	EKF/fake_height_control.cpp
-	EKF/fake_pos_control.cpp
 	EKF/height_control.cpp
-	EKF/imu_down_sampler.cpp
-	EKF/output_predictor.cpp
 	EKF/velocity_fusion.cpp
 	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
-	EKF/zero_innovation_heading_update.cpp

+	EKF/imu_down_sampler/imu_down_sampler.cpp
+
+	EKF/aid_sources/fake_height_control.cpp
+	EKF/aid_sources/fake_pos_control.cpp
 	EKF/aid_sources/ZeroGyroUpdate.cpp
 	EKF/aid_sources/ZeroVelocityUpdate.cpp
+	EKF/aid_sources/zero_innovation_heading_update.cpp
 )

 if(CONFIG_EKF2_AIRSPEED)
-	list(APPEND EKF_SRCS EKF/airspeed_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/airspeed/airspeed_fusion.cpp)
 endif()

 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS EKF/aux_global_position.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/aux_global_position/aux_global_position.cpp)
 endif()

 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS EKF/auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/auxvel/auxvel_fusion.cpp)
 endif()

 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		EKF/baro_height_control.cpp
+		EKF/aid_sources/barometer/baro_height_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_DRAG_FUSION)
-	list(APPEND EKF_SRCS EKF/drag_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/drag/drag_fusion.cpp)
 endif()

 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		EKF/ev_control.cpp
-		EKF/ev_height_control.cpp
-		EKF/ev_pos_control.cpp
-		EKF/ev_vel_control.cpp
-		EKF/ev_yaw_control.cpp
+		EKF/aid_sources/external_vision/ev_control.cpp
+		EKF/aid_sources/external_vision/ev_height_control.cpp
+		EKF/aid_sources/external_vision/ev_pos_control.cpp
+		EKF/aid_sources/external_vision/ev_vel_control.cpp
+		EKF/aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		EKF/gnss_height_control.cpp
-		EKF/gps_checks.cpp
-		EKF/gps_control.cpp
+		EKF/aid_sources/gnss/gnss_height_control.cpp
+		EKF/aid_sources/gnss/gps_checks.cpp
+		EKF/aid_sources/gnss/gps_control.cpp
 	)

+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS EKF/aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
+
 	list(APPEND EKF_LIBS yaw_estimator)
 endif()

-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS EKF/gps_yaw_fusion.cpp)
-endif()
-
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS EKF/gravity_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/gravity/gravity_fusion.cpp)
 endif()

 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		EKF/mag_3d_control.cpp
-		EKF/mag_control.cpp
-		EKF/mag_fusion.cpp
+		EKF/aid_sources/magnetometer/mag_control.cpp
+		EKF/aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_OPTICAL_FLOW)
 	list(APPEND EKF_SRCS
-		EKF/optical_flow_control.cpp
-		EKF/optflow_fusion.cpp
+		EKF/aid_sources/optical_flow/optical_flow_control.cpp
+		EKF/aid_sources/optical_flow/optical_flow_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_RANGE_FINDER)
 	list(APPEND EKF_SRCS
-		EKF/range_finder_consistency_check.cpp
-		EKF/range_height_control.cpp
-		EKF/sensor_range_finder.cpp
+		EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+		EKF/aid_sources/range_finder/range_height_control.cpp
+		EKF/aid_sources/range_finder/sensor_range_finder.cpp
 	)
 endif()

 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS EKF/sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/sideslip/sideslip_fusion.cpp)
 endif()

 if(CONFIG_EKF2_TERRAIN)
-	list(APPEND EKF_SRCS EKF/terrain_estimator.cpp)
+	list(APPEND EKF_SRCS EKF/terrain_estimator/terrain_estimator.cpp)
 endif()

 add_subdirectory(EKF)

-
-
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
@@ -260,7 +256,10 @@ px4_add_module(
 		EKF2Utility
 		px4_work_queue
 		world_magnetic_model
+
 		${EKF_LIBS}
+		bias_estimator
+		output_predictor
 	UNITY_BUILD
 	)

@@ -31,109 +31,110 @@
 #
 ############################################################################

+add_subdirectory(bias_estimator)
+add_subdirectory(output_predictor)
+
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	bias_estimator.cpp
 	control.cpp
 	covariance.cpp
 	ekf.cpp
 	ekf_helper.cpp
 	estimator_interface.cpp
-	fake_height_control.cpp
-	fake_pos_control.cpp
 	height_control.cpp
-	imu_down_sampler.cpp
-	output_predictor.cpp
 	velocity_fusion.cpp
 	position_fusion.cpp
 	yaw_fusion.cpp
-	zero_innovation_heading_update.cpp

+	imu_down_sampler/imu_down_sampler.cpp
+
+	aid_sources/fake_height_control.cpp
+	aid_sources/fake_pos_control.cpp
 	aid_sources/ZeroGyroUpdate.cpp
 	aid_sources/ZeroVelocityUpdate.cpp
+	aid_sources/zero_innovation_heading_update.cpp
 )

 if(CONFIG_EKF2_AIRSPEED)
-	list(APPEND EKF_SRCS airspeed_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/airspeed/airspeed_fusion.cpp)
 endif()

 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS aux_global_position.cpp)
+	list(APPEND EKF_SRCS aid_sources/aux_global_position/aux_global_position.cpp)
 endif()

 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/auxvel/auxvel_fusion.cpp)
 endif()

 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		baro_height_control.cpp
+		aid_sources/barometer/baro_height_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_DRAG_FUSION)
-	list(APPEND EKF_SRCS drag_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/drag/drag_fusion.cpp)
 endif()

 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		ev_control.cpp
-		ev_height_control.cpp
-		ev_pos_control.cpp
-		ev_vel_control.cpp
-		ev_yaw_control.cpp
+		aid_sources/external_vision/ev_control.cpp
+		aid_sources/external_vision/ev_height_control.cpp
+		aid_sources/external_vision/ev_pos_control.cpp
+		aid_sources/external_vision/ev_vel_control.cpp
+		aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()

 if(CONFIG_EKF2_GNSS)
 	list(APPEND EKF_SRCS
-		gnss_height_control.cpp
-		gps_checks.cpp
-		gps_control.cpp
+		aid_sources/gnss/gnss_height_control.cpp
+		aid_sources/gnss/gps_checks.cpp
+		aid_sources/gnss/gps_control.cpp
 	)

+	if(CONFIG_EKF2_GNSS_YAW)
+		list(APPEND EKF_SRCS aid_sources/gnss/gps_yaw_fusion.cpp)
+	endif()
+
 	add_subdirectory(yaw_estimator)
 	list(APPEND EKF_LIBS yaw_estimator)
 endif()

-if(CONFIG_EKF2_GNSS_YAW)
-	list(APPEND EKF_SRCS gps_yaw_fusion.cpp)
-endif()
-
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS gravity_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/gravity/gravity_fusion.cpp)
 endif()

 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		mag_3d_control.cpp
-		mag_control.cpp
-		mag_fusion.cpp
+		aid_sources/magnetometer/mag_control.cpp
+		aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_OPTICAL_FLOW)
 	list(APPEND EKF_SRCS
-		optical_flow_control.cpp
-		optflow_fusion.cpp
+		aid_sources/optical_flow/optical_flow_control.cpp
+		aid_sources/optical_flow/optical_flow_fusion.cpp
 	)
 endif()

 if(CONFIG_EKF2_RANGE_FINDER)
 	list(APPEND EKF_SRCS
-		range_finder_consistency_check.cpp
-		range_height_control.cpp
-		sensor_range_finder.cpp
+		aid_sources/range_finder/range_finder_consistency_check.cpp
+		aid_sources/range_finder/range_height_control.cpp
+		aid_sources/range_finder/sensor_range_finder.cpp
 	)
 endif()

 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/sideslip/sideslip_fusion.cpp)
 endif()

 if(CONFIG_EKF2_TERRAIN)
-	list(APPEND EKF_SRCS terrain_estimator.cpp)
+	list(APPEND EKF_SRCS terrain_estimator/terrain_estimator.cpp)
 endif()

 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
@@ -146,7 +147,9 @@ target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PAT

 target_link_libraries(ecl_EKF
 	PRIVATE
+		bias_estimator
 		geo
+		output_predictor
 		world_magnetic_model
 		${EKF_LIBS}
 )
@@ -33,7 +33,7 @@

 #include "ekf.h"

-#include "aux_global_position.hpp"
+#include "aid_sources/aux_global_position/aux_global_position.hpp"

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)

@@ -42,8 +42,8 @@
 //  WelfordMean for init?
 //  WelfordMean for rate

-#include "common.h"
-#include "RingBuffer.h"
+#include "../../common.h"
+#include "../../RingBuffer.h"

 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)

@@ -196,3 +196,39 @@ void Ekf::stopBaroHgtFusion()
 		_control_status.flags.baro_hgt = false;
 	}
 }
+
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
+float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
+{
+	if (_control_status.flags.wind && local_position_is_valid()) {
+		// calculate static pressure error = Pmeas - Ptruth
+		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
+		// negative X and Y directions. Used to correct baro data for positional errors
+
+		// Calculate airspeed in body frame
+		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
+		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;
+
+		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
+
+		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
+
+		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);
+
+		const Vector3f K_pstatic_coef(
+			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
+			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
+			_params.static_pressure_coef_z);
+
+		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
+
+		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
+
+		// correct baro measurement using pressure error estimate and assuming sea level gravity
+		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
+	}
+
+	// otherwise return the uncorrected baro measurement
+	return baro_alt_uncompensated;
+}
+#endif // CONFIG_EKF2_BARO_COMPENSATION
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
PerFrivik	7a77c05b65	make boat setpoint msg less pedantic	2024-06-12 16:46:41 +02:00
PerFrivik	bb4648130f	formatting	2024-06-12 14:07:51 +02:00
PerFrivik	9f74849f3f	pure pursuit updated pure pursuit temp forgot to wrap heading error working guidance, with every case covered removed unwanted files	2024-06-12 11:41:11 +02:00
PerFrivik	611bb6e980	airframe fixes	2024-05-21 09:55:22 +02:00
PerFrivik	cae77467ca	Boat Module	2024-05-17 13:57:00 +02:00
Daniel Agar	d359f6236e	ekf2: symforce zero more efficiently (#23133 ) - increase symforce CppConfig zero_initialization_sparsity_threshold so that a Matrix setZero() call is performed instead of individually zeroing Co-authored-by: bresch <brescianimathieu@gmail.com>	2024-05-17 11:20:30 +02:00
bresch	ea39032b45	mag_ctrl: combine common conditions for mag_hdg and mag_3d	2024-05-17 11:19:04 +02:00
bresch	d796009302	mag_ctrl: do not fuse synthetic mag but do not zero the innovation	2024-05-17 11:19:04 +02:00
Daniel Agar	bb5dfc7d51	integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong)	2024-05-17 11:19:04 +02:00
Daniel Agar	5173830718	ekf2: mag fusion don't update all states or tilt by default - cleanup some of the legacy mag flags	2024-05-17 11:19:04 +02:00
Daniel Agar	bfc39cf341	ekf2: mag control always populate estimator aid src	2024-05-17 11:19:04 +02:00
Daniel Agar	95ae5a657d	ekf2: merge mag_3d_control + mag_control	2024-05-17 11:19:04 +02:00
bresch	b42799fac2	wind_est_replay: allow setting the initial scale factor	2024-05-17 09:17:08 +02:00
bresch	440465702e	wind_est_replay: fix cov matrix format and data indexing	2024-05-17 09:17:08 +02:00
fury1895	6a966ab065	px4/fmu-v6x: set mavlink dialect to development	2024-05-17 07:51:14 +02:00
Alexis Guijarro	5fe955c243	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-16 09:45:33 -07:00
alexklimaj	ecf4af7cf7	boards: ark cannode add ADIS16507 driver	2024-05-16 09:56:25 -04:00
Thomas Frans	9fd1c54570	style(editorconfig): update newline setting The setting wasn't consistent with the one used in the Visual Studio Code settings, which caused different newline formatting depending on whether the user uses Visual Studio Code or another editor that uses EditorConfig.	2024-05-15 11:40:11 -04:00
dirksavage88	ee2a8c9bda	increase lp default stack to 2000 Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-05-15 11:08:48 -04:00
Hamish Willee	2e7a99ac41	VectorNav.cpp - fix docs link to usage guide	2024-05-15 11:07:50 -04:00
Konrad	17916b7fdc	uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream	2024-05-15 11:07:01 -04:00
Eric Katzfey	293389abf3	Minor updates to the VOXL 2 board README file	2024-05-14 12:25:22 -04:00
Eric Katzfey	839f5bbb12	Removed obsolete voxl 2 board default parameter setting	2024-05-14 11:08:43 -04:00
Peter van der Perk	253208fdd4	fmu-v6xrt: Add I2C driver launcher	2024-05-08 11:34:13 -04:00
Peter van der Perk	5789803665	fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-05-08 06:14:24 -04:00
Julian Oes	b1b9c8fd99	gps: add note to param This notes the reference yaw angle for the Septentrio Mosaic-H. It's unfortunately a bit tricky in that Unicore has the main antenna in front by default while Septentrio decided to put the aux antenna in front. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-07 21:15:44 -04:00
Benjamin Philipp Ketterer	5d025e6d3d	increased uxrce-dds stack size to prevent overflow	2024-05-07 21:13:58 -04:00
alexklimaj	b9a696d025	boards: ark septentrio gps add iis2mdc	2024-05-07 21:12:15 -04:00
RomanBapst	ca9cb2214f	quadchute: fixed sign for handling altitude resets Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-05-07 16:01:09 +02:00
muramura	b5467d88f7	gps: Change the IF statement to a SWITCH statement	2024-05-07 15:58:15 +02:00
Konrad	6984e6da7f	TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation	2024-05-07 14:20:07 +02:00
Konrad	f56f4c7033	TECS: enable specific energy weights to have a value up to 2	2024-05-07 14:20:07 +02:00
Konrad	f8a20e1964	TECS: increase airspeed control limit for fast descend	2024-05-07 14:20:07 +02:00
Konrad	6a789b54c6	TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle.	2024-05-07 14:20:07 +02:00
Beat Küng	e17faece3d	mavlink_ftp: do not store reply on kErrNoSessionsAvailable This would interfere with an existing ongoing session	2024-05-07 07:26:12 +02:00
Beat Küng	f002b08e6a	mavlink_ftp: ensure there's enough space for the 2. path in _workRename Prevents accessing invalid memory when reading ptr + oldpath_sz + 1 and oldpath_sz fills out the whole or N-1 bytes of the payload.	2024-05-07 07:26:12 +02:00
Beat Küng	f16115d8be	mavlink_ftp: handle relative paths correctly by ensuring there's a '/' in between when concatenating the path with _root_dir.	2024-05-07 07:26:12 +02:00
Julian Oes	f04d17d160	Tools: skip submodule check in CLion Same as what's required for VSCode. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-05 11:33:24 +12:00
Beat Küng	9e6dcb1f60	fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset Regression from https://github.com/PX4/PX4-Autopilot/pull/23043 Also avoids a race condition by making sure the command ack is handled before sending out the mavlink message (in case an external component reacts immediately to the mavlink message).	2024-05-03 06:59:55 +02:00
Alex Klimaj	36ea872e72	drivers: adis16507 reschedule reset after failed self test	2024-05-02 17:52:26 -04:00
Daniel Agar	224d6f2fa7	ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)	2024-05-02 17:40:58 -04:00
Daniel Agar	c1fc893cca	ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	63c2ea33c1	ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	1ca4056b6a	ekf2: delete unused Ekf::resetImuBias()	2024-05-02 17:40:58 -04:00
Daniel Agar	6b3b66619b	ekf2: move baro dynamic pressure compensation to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	4f0eb72fc9	ekf2: move IMU down sampler to imu_down_sampler/	2024-05-02 17:40:58 -04:00
Daniel Agar	58637d3825	ekf2: move terrain estimator and derivation to terrain_estimator/	2024-05-02 17:40:58 -04:00
Daniel Agar	58de8cbb77	ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/	2024-05-02 17:40:58 -04:00
Daniel Agar	49c782bad9	ekf2: move bias estimators to bias_estimtor/	2024-05-02 17:40:58 -04:00
Daniel Agar	e262fde4dc	ekf2: move aux global position fusion to aid_sources/aux_global_position	2024-05-02 17:40:58 -04:00
Daniel Agar	b8d46e60a5	ekf2: move mag fusion to aid_sources/magnetometer	2024-05-02 17:40:58 -04:00
Daniel Agar	3f6c3e0649	ekf2: move output predictor to output_predictor/	2024-05-02 17:40:58 -04:00
Daniel Agar	24fdd696cb	ekf2: move range finder files to aid_sources/range_finder	2024-05-02 17:40:58 -04:00
Daniel Agar	3dbd3f8a1a	ekf2: move airspeed fusion file to aid_sources/airspeed	2024-05-02 17:40:58 -04:00
Daniel Agar	789b2b3d8a	ekf2: move sideslip fusion file to aid_sources/sideslip	2024-05-02 17:40:58 -04:00
Daniel Agar	eb8ee74066	ekf2: move baro height file to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	de178b1435	ekf2: move gravity fusion file to aid_sources/gravity	2024-05-02 17:40:58 -04:00
Daniel Agar	78f2ccbb60	ekf2: move optical flow files to aid_sources/optical_flow	2024-05-02 17:40:58 -04:00
Daniel Agar	fcf94e7670	ekf2: move GNSS files to aid_sources/gnss	2024-05-02 17:40:58 -04:00
Daniel Agar	31ae5b77fe	ekf2: move drag_fusion file to aid_sources/drag	2024-05-02 17:40:58 -04:00
Daniel Agar	c3fb0b1090	ekf2: move auxvel file to aid_sources/auxvel	2024-05-02 17:40:58 -04:00
Daniel Agar	b5d1e87368	ekf2: move EV files to aid_sources/external_vision	2024-05-02 17:40:58 -04:00
Peter van der Perk	f382e585e8	sd_bench: Add U option for forcing byte aligned Co-authored-by: David Sidrane <david.sidrane@nscdg.com>	2024-05-02 12:33:25 -04:00
Daniel Agar	c64104e9f1	sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) - this warning was to catch any potential errors in sensor selection relative to what's actually available, we don't need to complain about initial selection before the EKF selector is available	2024-05-02 11:53:31 -04:00
David Sidrane	c13e3bae12	px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-05-01 20:45:42 -04:00
David Sidrane	a3e1dcce4b	NuttX with imxrt_sd-preflight backport	2024-05-01 20:45:42 -04:00
Daniel Agar	33234f4dc0	drivers/ins/vectornav: add missing sensor_gps velocity magnitude	2024-05-01 20:40:28 -04:00
Julian Oes	e79993a316	gps: split enum after rebase Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-01 14:42:58 -04:00
alexklimaj	b308c4fbcc	boards: ark rtk gps safety led open drain	2024-05-01 14:42:58 -04:00
alexklimaj	c90ccabbe0	gps: add ZED-F9P-15B	2024-05-01 14:42:58 -04:00
alexklimaj	2498ce6a5c	boards: add iis2mdc mag to ark pi6x	2024-04-30 21:26:42 -04:00
alexklimaj	67b39314bf	boards: update ark_pi6x EKF delays	2024-04-30 21:26:42 -04:00
Daniel Agar	b6da0b141d	ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure	2024-04-29 21:04:21 -04:00
Beat Küng	547209e1dc	libevents: update submodule And remove obsolete libevents_definitions.h	2024-04-29 07:22:40 -07:00
bresch	9dc7719d4a	ekf2: Only reset to GNSS heading if necessary When North-East (e.g.: GNSS pos/vel) aiding is active, the heading estimate is constrained and consistent with the vel/pos aiding. Reset to GNSS heading should only occur if no N-E aiding is active or if the filter is not yes aligned. Otherwise, just wait for the consistency check to pass again (will pass at some point if the heading uncertainty of the filter is getting too high).	2024-04-29 07:22:01 -07:00
Jukka Laitinen	6435e25929	commander: Use PX4_STACK_ADJUSTED to increase stack for 64-bit targets Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2024-04-29 08:11:54 +02:00
Hamish Willee	902712b97f	LogMessage.msg - expand out descriptive string (#23054 )	2024-04-29 14:02:09 +12:00
Peter van der Perk	500332e424	imxrt: flexpwm remove 1:1 mapping requirement	2024-04-27 07:57:32 -04:00
Silvan Fuhrer	34cb69898e	FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-26 10:44:40 +02:00
oravla5	f91103af6e	boards: removed CONFIG_SYSTEMCMDS_REFLECT from Sky-Drones AIRLink board support	2024-04-26 09:42:06 +02:00
oravla5	9d6ac0b87a	mavlink: Added MAV_{i}_HL_FREQ parameter	2024-04-26 09:42:06 +02:00
oravla5	2b2e1c9521	mavlink: Added parsing of CLI option to configure HL frequency	2024-04-26 09:42:06 +02:00
oravla5	e7b4c5903f	px4_cli: Added px4_get_parameter_value function overload for float type	2024-04-26 09:42:06 +02:00
bresch	7cefc3172a	estimatorCheck: get param only if handle is valid	2024-04-25 14:48:23 -04:00
murata,katsutoshi	ba448fb549	MC Auto: add fixed yaw mode	2024-04-25 13:53:05 +02:00
oravla5	98b23e41f7	mavlink: fixed compilation error after var renaming	2024-04-25 08:23:32 +02:00
oravla5	283ae60a15	telemetry: removed iridium driver	2024-04-25 08:23:32 +02:00
oravla5	3cb48feb61	high_latency_stream: minor PR fix	2024-04-25 08:23:32 +02:00
oravla5	bf1266af11	mavlink: added back gimbal v1 protocol command	2024-04-25 08:23:32 +02:00
oravla5	03652beef8	commander: fixed format	2024-04-25 08:23:32 +02:00
oravla5	d0e7f2c368	high_latency_stream: heading taken from vehicle_attitude topic	2024-04-25 08:23:32 +02:00
Igor Mišić	d0532f45b2	telemetry: enable iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	61ca65d863	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	4f8de500af	iridiumsbd: update logic for detecting if the modem is not responsive	2024-04-25 08:23:32 +02:00
Igor Mišić	5be0adc779	mavlink: don't send command ACK for internal commands over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	29af189cd0	mavlink: don't send events over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	208909d471	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	de23c10b68	commander: improve handling high latency link lost/regain	2024-04-25 08:23:32 +02:00
Igor Mišić	d3b853a7f9	mavlink: fix handling of transmission enable/disable Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	760bcdec2f	high_latency_stream: fixed bug where fields were not updating - topic update was checked twice in the same loop and thus the second time the topic would never indicate to have updated Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	df2cc4af05	commander: fix check for availability of high latency link Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Beat Küng	f543951e10	commander: set correct health component when reporting errors	2024-04-24 16:06:32 -04:00
Jacob Dahl	69e082c83d	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-04-24 13:01:18 -07:00
dirksavage88	6a3e57d428	Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
dirksavage88	0f6f4c5b07	fix to orientation offsets for scaled yaw, removed unused param Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
Thomas Frans	65c7e034dc	VSCode: add EditorConfig extension to recommended and devcontainer.json	2024-04-24 15:52:23 -04:00
Daniel Agar	eb59bb9de9	simulation/gz_bridge: eliminate implicit float conversion	2024-04-24 15:51:30 -04:00
bresch	b508df39a2	imu consistency: don't scale param threshold	2024-04-24 15:51:07 -04:00
bresch	8bf1cf0b15	ekf2_params: reduce "short" description	2024-04-24 15:09:57 -04:00
Silvan Fuhrer	97191bd60f	autopilot_tester: for mission end timeout check take speed factor into account And increase the (simulation time) timeouts. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	818e318334	autopilot_tester: reduce mission distance for wind world Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	59232c27ae	autopilot_tester: use normal VTOL mission for airspeed blockage test Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
fury1895	2683128205	PM Selector Auterion: remove INA226_SHUNT value reset (skynode only)	2024-04-23 16:02:35 +02:00