drivers/gps: warn if gps_inject_data publications have been missed

This aligns setActiveMissionItems() in rtl_direct_mission_land.cpp and in rtl_mission_fast.cpp with what was already in mission.cpp. It probably was on oversight when the RTL restructure happened. The FW landing requires the previous waypoint to be correctly set, that's why it was only noticeable there.

* Fix position setpoint update logic in Mission RTL

Currently, when proceeding to the landing point the previous setpoint is not updated, which results in an unexpected and off course landing pattern in fixed wing. (see #25436)

* Change to work more like `mission.cpp`

* Fix rtl_direct_misssion_land formatting for style guide

* rtl_mission_fast: fix FW landing by setting previous wp in landing

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>

.github/workflows/compile_macos.yml

@@ -16,7 +16,7 @@ on:
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: macos-14
     strategy:
       matrix:
         config: [
@@ -32,7 +32,8 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: |
+        ./Tools/setup/macos.sh
 
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
@@ -40,12 +41,14 @@ jobs:
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
+
     - name: ccache cache files
       uses: actions/cache@v4
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
         restore-keys: macos_${{matrix.config}}-ccache-
+
     - name: setup ccache
       run: |
           mkdir -p ~/.ccache

.github/workflows/docs_deploy.yml

@@ -1,18 +1,6 @@
 name: Docs - Deploy PX4 User Guide
 
 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 

.github/workflows/docs_deploy_aws.yml

@@ -0,0 +1,114 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/failsafe_sim.yml

@@ -43,6 +43,7 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
+          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/ros_integration_tests.yml

@@ -11,13 +11,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -33,6 +31,12 @@ jobs:
     - name: Git Ownership Workaround
       run: git config --system --add safe.directory '*'
 
+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
     - name: Install gazebo
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -81,7 +85,7 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        git clone --recursive --branch release/1.16 https://github.com/Auterion/px4-ros2-interface-lib.git
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

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

@@ -28,11 +28,15 @@ else
     exit 1
 fi
 
+# Look for an already running world
+get_gz_world() {
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+}
+
 # If not standalone
 if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
-	# Look for an already running world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	get_gz_world
 
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -66,6 +70,13 @@ fi
 
 # Wait for Gazebo world to be ready before proceeding
 check_scene_info() {
+
+	get_gz_world
+
+	if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
 	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
 	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
 		return 0

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -190,6 +190,9 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3
 
+# set default IP to localhost
+param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
+
 
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -314,7 +317,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi
 
-uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
 
 if param greater -s MNT_MODE_IN -1
 then
@@ -337,11 +340,7 @@ then
 	gyro_calibration start
 fi
 
-# Payload deliverer module if gripper is enabled
-if param compare -s PD_GRIPPER_EN 1
-then
-	payload_deliverer start
-fi
+payload_deliverer start
 
 if param compare -s ICE_EN 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -560,11 +560,7 @@ else
 		px4flow start -X &
 	fi
 
-	# Payload deliverer module if gripper is enabled
-	if param compare -s PD_GRIPPER_EN 1
-	then
-		payload_deliverer start
-	fi
+	payload_deliverer start
 
 	if param compare -s ICE_EN 1
 	then

Tools/setup/macos.sh

@@ -42,6 +42,8 @@ else
 		echo "Installing PX4 general dependencies (homebrew px4-dev)"
 		brew tap PX4/px4
 		brew install px4-dev
+		# lock down gcc to v9 for v1.16 branch
+		brew install gcc-arm-none-eabi
 		brew install ncurses
 		brew install python-tk
 	fi

boards/ark/fmu-v6x/default.px4board

@@ -76,6 +76,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y

boards/ark/fmu-v6x/encrypted_logs.px4board

@@ -6,3 +6,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+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_VTOL_ATT_CONTROL=n

boards/ark/fpv/default.px4board

@@ -56,9 +56,12 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y

boards/ark/fpv/encrypted_logs.px4board

@@ -5,3 +5,8 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
+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_VTOL_ATT_CONTROL=n

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

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

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

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

boards/cuav/7-nano/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/cuav/7-nano/init/rc.board_sensors

@@ -12,10 +12,17 @@ else
 fi
 
 iim42652 -s -R 22 start
-bmi088 -A -R 29 -s start
-bmi088 -G -R 29 -s start
 
-ist8310 -I -R 18 start
+bmi088 -A -R 29 -s start
+if ! bmi088 -G -R 29 -s start
+then
+	iim42653 -s -b 2 -R 22 start
+fi
+
+if ! ist8310 -I -R 18 start
+then
+	iis2mdc -I -R 37 start
+fi
 
 bmp581 -s start
 icp201xx -I start

boards/cuav/7-nano/src/spi.cpp

@@ -42,6 +42,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices

boards/modalai/voxl2/target/voxl-px4-start

@@ -59,12 +59,19 @@ fi
 
 param select /data/px4/param/parameters
 
-# Load in all of the parameters that have been saved in the file
-param load
+# Change defaults before loading in updated parameters from the file
 
 # This was the default pre-v1.16.0 and for folks relying on that
 # we set it up here
 param set-default EKF2_EV_CTRL 15
+# Shouldn't need to do it separately with qshell but set-default
+# implementation needs to be updated to set it on DSP as well. Until
+# then need to do it as a separate step.
+qshell param set-default EKF2_EV_CTRL 15
+
+# Load in all of the parameters that have been saved in the file
+# after updating any default values
+param load
 
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then

boards/px4/fmu-v6xrt/default.px4board

@@ -32,6 +32,8 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y

boards/px4/fmu-v6xrt/init/rc.board_sensors

@@ -85,19 +85,43 @@ else
 	fi
 fi
 
-# Internal SPI bus ICM42686p (hard-mounted)
-icm42688p -6 -R 12 -b 1 -s start
+if ver hwtypecmp V6XRT000 V6XRT001
+then
+	# Internal SPI bus ICM42686p (hard-mounted)
+	icm42688p -6 -R 12 -b 1 -s start
 
-# Internal on IMU SPI BMI088
-bmi088 -A -R 4 -s start
-bmi088 -G -R 4 -s start
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
 
-# Internal on IMU SPI bus ICM42688p
-icm42688p -R 6 -b 2 -s start
+	# Internal on IMU SPI bus ICM42688p
+	icm42688p -R 6 -b 2 -s start
+fi
 
-# Internal magnetometer on I2c
-bmm150 -I start
+if ver hwtypecmp V6XRT002
+then
+	# Internal SPI bus icm45686 (hard-mounted)
+	icm45686 -R 12 -b 1 -s start
 
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
+
+	# Internal on IMU SPI bus icm45686
+	icm45686 -R 6 -b 2 -s start
+fi
+
+if ver hwtypecmp V6XRT000
+then
+	# Internal magnetometer on I2c
+	bmm150 -I start
+fi
+
+if ver hwtypecmp V6XRT001 V6XRT002
+then
+	# Internal magnetometer on I2c
+	bmm350 -I start
+fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

boards/px4/fmu-v6xrt/src/board_config.h

@@ -297,9 +297,10 @@
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 1 & 2
 #define V6XRT_0             HW_FMUM_ID(0x0)  // First Release
 #define V6XRT_1             HW_FMUM_ID(0x1)  // Next Release
+#define V6XRT_2             HW_FMUM_ID(0x2)  // Next Release
 
 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
 

boards/px4/fmu-v6xrt/src/spi.cpp

@@ -81,6 +81,26 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
 		}),
 	}),
+
+	initSPIFmumID(V6XRT_2, {
+		initSPIBus(SPI::Bus::LPSPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
+
+		initSPIBus(SPI::Bus::LPSPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
+		}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
+
+		initSPIBus(SPI::Bus::LPSPI3, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
+		}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
+
+		initSPIBusExternal(SPI::Bus::LPSPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
+		}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

docs/.vitepress/config.mjs

@@ -8,7 +8,7 @@ import tabsPlugin from "@red-asuka/vitepress-plugin-tabs";
 
 // https://vitepress.dev/reference/site-config
 export default defineConfig({
-  title: "PX4 Guide (main)",
+  title: "PX4 Guide (v1.16)",
   description: "PX4 User and Developer Guide",
   base: process.env.BRANCH_NAME
     ? "/" + process.env.BRANCH_NAME + "/"
@@ -31,6 +31,7 @@ export default defineConfig({
       tabsPlugin(md); //https://github.com/Red-Asuka/vitepress-plugin-tabs
     },
   },
+  cleanUrls: true,
 
   vite: {
     plugins: [
@@ -197,11 +198,14 @@ export default defineConfig({
         text: "Version",
         items: [
           { text: "main", link: "https://docs.px4.io/main/en/" },
-          { text: "v1.15 (stable)", link: "https://docs.px4.io/v1.15/en/" },
+          {
+            text: "v1.16 (stable)",
+            link: "https://docs.px4.io/v1.16/en/",
+          },
+          { text: "v1.15", link: "https://docs.px4.io/v1.15/en/" },
           { text: "v1.14", link: "https://docs.px4.io/v1.14/en/" },
           { text: "v1.13", link: "https://docs.px4.io/v1.13/en/" },
           { text: "v1.12", link: "https://docs.px4.io/v1.12/en/" },
-          { text: "v1.11", link: "https://docs.px4.io/v1.11/en/" },
         ],
       },
     ],

docs/en/SUMMARY.md

@@ -1,9 +1,7 @@
 - [Introduction](index.md)
-
   - [Basic Concepts](getting_started/px4_basic_concepts.md)
 
 - [Multicopters](frames_multicopter/index.md)
-
   - [Features](features_mc/index.md)
     - [Flight Modes](flight_modes_mc/index.md)
       - [Position Mode (MC)](flight_modes_mc/position.md)
@@ -56,7 +54,6 @@
     - [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)
 
 - [Planes (Fixed-Wing)](frames_plane/index.md)
-
   - [Assembly](assembly/assembly_fw.md)
   - [Config/Tuning](config_fw/index.md)
     - [Auto-tune](config/autotune_fw.md)
@@ -84,7 +81,6 @@
     - [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md)
 
 - [VTOL](frames_vtol/index.md)
-
   - [Assembly](assembly/assembly_vtol.md)
   - [VTOL Config/Tuning](config_vtol/index.md)
     - [Auto-tune](config/autotune_vtol.md)
@@ -109,7 +105,6 @@
   - [Complete Vehicles](complete_vehicles_vtol/index.md)
 
 - [Operations](config/operations.md)
-
   - [Safety](config/safety_intro.md)
     - [Safety Configuration (Failsafes)](config/safety.md)
     - [Failsafe Simulation](config/safety_simulation.md)
@@ -130,7 +125,6 @@
     - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
 
 - [Hardware Selection & Setup](hardware/drone_parts.md)
-
   - [Flight Controllers (Autopilots)](flight_controller/index.md)
     - [Flight Controller Selection](getting_started/flight_controller_selection.md)
     - [Pixhawk Series](flight_controller/pixhawk_series.md)
@@ -333,6 +327,7 @@
     - [FrSky Telemetry](peripherals/frsky_telemetry.md)
     - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
     - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
+
   - [Power Systems](power_systems/index.md)
     - [Battery Estimation Tuning](config/battery.md)
     - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
@@ -399,7 +394,6 @@
     - [Full Parameter Reference](advanced_config/parameter_reference.md)
 
 - [Other Vehicles](airframes/index.md)
-
   - [Airships (experimental)](frames_airship/index.md)
   - [Autogyros (experimental)](frames_autogyro/index.md)
     - [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md)
@@ -841,8 +835,9 @@
   - [Terminology/Notation](contribute/notation.md)
   - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
-  - [main (alpha)](releases/main.md)
-  - [1.15 (stable)](releases/1.15.md)
+  - [main (alpha)](https://docs.px4.io/main/en/releases/main.html)
+  - [1.16 (stable)](releases/1.15.md)
+  - [1.15](releases/1.15.md)
   - [1.14](releases/1.14.md)
   - [1.13](releases/1.13.md)
   - [1.12](releases/1.12.md)

docs/en/_sidebar.md

@@ -1,10 +1,8 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
 - [Introduction](/index.md)
-
   - [Basic Concepts](/getting_started/px4_basic_concepts.md)
 
 - [Multicopters](/frames_multicopter/index.md)
-
   - [Features](/features_mc/index.md)
     - [Flight Modes](/flight_modes_mc/index.md)
       - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -57,7 +55,6 @@
     - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)
 
 - [Planes (Fixed-Wing)](/frames_plane/index.md)
-
   - [Assembly](/assembly/assembly_fw.md)
   - [Config/Tuning](/config_fw/index.md)
     - [Auto-tune](/config/autotune_fw.md)
@@ -85,7 +82,6 @@
     - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)
 
 - [VTOL](/frames_vtol/index.md)
-
   - [Assembly](/assembly/assembly_vtol.md)
   - [VTOL Config/Tuning](/config_vtol/index.md)
     - [Auto-tune](/config/autotune_vtol.md)
@@ -110,7 +106,6 @@
   - [Complete Vehicles](/complete_vehicles_vtol/index.md)
 
 - [Operations](/config/operations.md)
-
   - [Safety](/config/safety_intro.md)
     - [Safety Configuration (Failsafes)](/config/safety.md)
     - [Failsafe Simulation](/config/safety_simulation.md)
@@ -131,7 +126,6 @@
     - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)
 
 - [Hardware Selection & Setup](/hardware/drone_parts.md)
-
   - [Flight Controllers (Autopilots)](/flight_controller/index.md)
     - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
     - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -166,7 +160,7 @@
       - [AirMind MindPX](/flight_controller/mindpx.md)
       - [AirMind MindRacer](/flight_controller/mindracer.md)
       - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
-      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md) 
+      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
       - [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
       - [CUAV X7](/flight_controller/cuav_x7.md)
       - [CUAV Nora](/flight_controller/cuav_nora.md)
@@ -182,7 +176,7 @@
       - [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
       - [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
       - [Holybro Kakute H7](/flight_controller/kakuteh7.md)
-      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
+      - [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
       - [Holybro Durandal](/flight_controller/durandal.md)
         - [Wiring Quickstart](/assembly/quick_start_durandal.md)
       - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
@@ -255,7 +249,7 @@
     - [GNSS (GPS)](/gps_compass/index.md)
       - [ARK GPS (CAN)](/dronecan/ark_gps.md)
       - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
-      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md) 
+      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
       - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
       - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
       - [CUAV NEO 3X GPS (CAN)](/gps_compass/gps_cuav_neo_3x.md)
@@ -328,10 +322,13 @@
         - [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
         - [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
       - [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
+      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
       - [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
+
     - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
     - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
     - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
+
   - [Power Systems](/power_systems/index.md)
     - [Battery Estimation Tuning](/config/battery.md)
     - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
@@ -398,7 +395,6 @@
     - [Full Parameter Reference](/advanced_config/parameter_reference.md)
 
 - [Other Vehicles](/airframes/index.md)
-
   - [Airships (experimental)](/frames_airship/index.md)
   - [Autogyros (experimental)](/frames_autogyro/index.md)
     - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -713,6 +709,10 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
     - [MAVLink Messaging](/middleware/mavlink.md)
+      - [Adding Messages](/mavlink/adding_messages.md)
+      - [Streaming Messages](/mavlink/streaming_messages.md)
+      - [Receiving Messages](/mavlink/receiving_messages.md)
+      - [Custom MAVLink Messages](/mavlink/custom_messages.md)
       - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [Modules & Commands](/modules/modules_main.md)
@@ -836,8 +836,9 @@
   - [Terminology/Notation](/contribute/notation.md)
   - [Licenses](/contribute/licenses.md)
 - [Releases](/releases/index.md)
-  - [main (alpha)](/releases/main.md)
-  - [1.15 (stable)](/releases/1.15.md)
+  - [main (alpha)](/https://docs.px4.io/main/en/releases/main.html)
+  - [1.16 (stable)](/releases/1.15.md)
+  - [1.15](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)

docs/en/actuators/index.md

@@ -3,10 +3,9 @@
 This section contains topics about the core actuators used for flight control (ESC/motors, and servos), and how they are assigned to the flight controller outputs, configured, and calibrated.
 
 - [Actuator Allocation](../config/actuators.md) — Configure flight controller outputs for specific functions and ESC/servo types.
-
 - [ESCs & Motors](../peripherals/esc_motors.md) — ESCs such as [DShot](../peripherals/dshot.md) (recommended) and DroneCAN.
 - [ESC Calibration](../advanced_config/esc_calibration.md) — Calibration for PWM ESC (not required for DShot/CAN ESC/servos).
 
 ## See Also
 
-- [Peripherals](../peripherals/index.md) - includes non-core actuators such as grippers, parachutes, etc. 
+- [Peripherals](../peripherals/index.md) - includes non-core actuators such as grippers, parachutes, etc.

docs/en/index.md

@@ -9,14 +9,6 @@ Developed by world-class developers from industry and academia, and supported by
 
 :::tip
 This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. Interested in contributing? Check out the [Development](development/development.md) section.
-
-:::
-
-:::warning
-This guide is for the _development_ version of PX4 (`main` branch).
-Use the **Version** selector to find the current _stable_ version.
-
-Documented changes since the stable release are captured in the evolving [release note](releases/main.md).
 :::
 
 ## How Do I Get Started?
@@ -97,7 +89,7 @@ You can access these from the Languages menu (top right):
 
 ![Language Selector](../assets/vuepress/language_selector.png)
 
-<!--@include: _contributors.md-->
+<!--@include: _contributors.md -->
 
 ## License
 
@@ -116,7 +108,6 @@ Select the links below to display the calendar in your timezone (and to add it t
 
 :::tip
 The calendar default timezone is Central European Time (CET).
-
 :::
 
 <iframe src="https://calendar.google.com/calendar/embed?title=Dronecode%20Calendar&amp;mode=WEEK&amp;height=600&amp;wkst=1&amp;bgcolor=%23FFFFFF&amp;src=linuxfoundation.org_g21tvam24m7pm7jhev01bvlqh8%40group.calendar.google.com&amp;color=%23691426&amp;ctz=Europe%2FZurich" style="border-width:0" width="800" height="600" frameborder="0" scrolling="no"></iframe>

docs/en/peripherals/gripper.md

@@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin
 
 PX4 gripper support is tied to the package delivery feature, which must be enabled and configured in order to be able to use a gripper.
 
-1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change).
+1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER.
 1. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper.
    For example, set to `Servo` for a [Servo Gripper](gripper_servo.md).
 

docs/en/releases/1.15.md

@@ -1,7 +1,5 @@
 # PX4-Autopilot v1.15 Release Notes
 
-<Badge type="tip" text="Stable"/>
-
 The v1.15 release brings lots of new upgrades and fixes, thanks in part to the tremendous community response to the 1.14 release.
 In particular, PX4 v1.15 brings significant improvements for developers and integrators using PX4 as a target through [ROS 2](../ros2/index.md) and the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
 In addition to networking and middleware updates, the new [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) allows flight modes written as ROS 2 applications to be peers of PX4 flight modes.

docs/en/releases/1.16.md

@@ -0,0 +1,193 @@
+# PX4-Autopilot v1.16.0 Release Notes
+
+<Badge type="info" text="Stable" />
+
+PX4 v1.16 builds on the momentum of v1.15 with significant new features and expanded hardware support thanks to our community contributions.
+This release introduces bidirectional DShot support sponsored by ARK, a full rover rework with dedicated firmware builds and modular control modes for Ackermann, differential and mecanum rovers, and a switch to Gazebo Harmonic LTS for more reliable simulation.
+Developers will benefit from the new ROS 2 Message Translation Node for dynamic message versioning and integrated log encryption that embeds decryption keys directly in logs.
+We also added fresh sensor drivers and board support across our partner ecosystem alongside dozens of improvements in control, estimation and safety.
+PX4 v1.16 raises the bar for performance and usability. Upgrade today and let us know your feedback on GitHub.
+
+## Read Before Upgrading
+
+Please continue reading for [upgrade instructions](#upgrade-guide).
+
+## Major Changes
+
+- [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) - [Sponsored by ARK] ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
+- **[Rover](../frames_rover/index.md) support rework**
+  - New dedicated firmware build for rovers (airframe IDs 50000–52000)
+  - Separate modules for Ackermann, differential and mecanum rovers, each with manual, acro, stabilized, position and auto modes
+  - Shared pure-pursuit guidance library for all rover modules
+  - Legacy rover position control module deprecated in favor of the new modules
+- Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+- [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically. ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+
+## Upgrade Guide
+
+- VOXL 2 boards now explicitly set EKF2_EV_CTRL=15 (it had fallen back to 0 globally), so event-based optical flow keeps running ([PX4-Autopilot#24648](https://github.com/PX4/PX4-Autopilot/pull/24648))
+- Ethernet static IP changed from 192.168.0.3 to 10.41.10.2 to avoid common network conflicts ([PX4-Autopilot#22517](https://github.com/PX4/PX4-Autopilot/pull/22517))
+- SF45 lidar no longer auto-starts on TELEM2—add serial_port: TELEM2 (or your preferred port) in its module config if you still want it there ([PX4-Autopilot#24602](https://github.com/PX4/PX4-Autopilot/pull/24602))
+
+## Other changes
+
+### Hardware Support
+
+- **[New Hardware]** Boards: ARK FPV FC ([PX4-Autopilot#23830](https://github.com/PX4/PX4-Autopilot/pull/23830))
+- **[New Hardware]** board: add cuav 7-nano ([PX4-Autopilot#23414](https://github.com/PX4/PX4-Autopilot/pull/23414))
+- **[New Hardware]** add new board corvon743v1 ([PX4-Autopilot#24769](https://github.com/PX4/PX4-Autopilot/pull/24769))
+- **[New Hardware]** boards: bluerobotics: navigator: Add initial support ([PX4-Autopilot#24018](https://github.com/PX4/PX4-Autopilot/pull/24018))
+- **[New Hardware]** boards: add new board micoair743-v2 ([PX4-Autopilot#24147](https://github.com/PX4/PX4-Autopilot/pull/24147))
+- **[New Hardware]** boards: add new board micoair h743 ([PX4-Autopilot#23218](https://github.com/PX4/PX4-Autopilot/pull/23218))
+- **[New Hardware]** boards: Add FMUv6s target ([PX4-Autopilot#24512](https://github.com/PX4/PX4-Autopilot/pull/24512))
+- **[New Hardware]** manifest: Add Skynode S baseboard ([PX4-Autopilot#23927](https://github.com/PX4/PX4-Autopilot/pull/23927))
+- **[New Hardware]** Add Tropic VMU board support (Baseboard for Teensy 4.1) ([PX4-Autopilot#23257](https://github.com/PX4/PX4-Autopilot/pull/23257))
+- **[New Hardware]** boards: add new board X-MAV AP-H743v2 ([PX4-Autopilot#23697](https://github.com/PX4/PX4-Autopilot/pull/23697))
+- **[New Hardware]** 3DR boards: Support for 3DR Control Zero H7 OEM Rev G ([PX4-Autopilot#23551](https://github.com/PX4/PX4-Autopilot/pull/23551))
+- **[New Hardware]** new board support ZeroOne x6 ([PX4-Autopilot#23623](https://github.com/PX4/PX4-Autopilot/pull/23623))
+
+### Common
+
+- [Optical flow scaling factor - SENS_FLOW_SCALE](../sensor/optical_flow.md#scale-factor). ([PX4-Autopilot#23936](https://github.com/PX4/PX4-Autopilot/pull/23936)).
+- Reintroduce optional parameter versioning mechanism for airframe maintainers ([PX4-Autopilot#22813](https://github.com/PX4/PX4-Autopilot/pull/22813))
+
+- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
+  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
+  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
+- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
+  This makes log decryption much easier, as there is no need to download or identify a separate key file.
+  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
+- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
+  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
+  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
+  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
+- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
+- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
+  This typically reduces false warnings due to magnetometer inconsistencies.
+  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
+
+### Control
+
+- [Sponsored by ARK] [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry) ([PX4-Autopilot#23863](https://github.com/PX4/PX4-Autopilot/pull/23863))
+- Make control allocation and actuator effectiveness a non-module-specific library ([PX4-Autopilot#24196](https://github.com/PX4/PX4-Autopilot/pull/24196))
+- Spacecraft Build and Bare Control Allocator ([PX4-Autopilot#24221](https://github.com/PX4/PX4-Autopilot/pull/24221))
+
+- Configurable multicopter orbit-mode yaw via `MC_ORBIT_YAW_MOD` ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+- Collision prevention now works in manual (acceleration-based) flight mode (`MPC_POS_MODE`) ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
+
+### Estimation
+
+- EKF2: ellipsoidal earth navigation ([PX4-Autopilot#23854](https://github.com/PX4/PX4-Autopilot/pull/23854))
+- EKF2: Terrain state ([PX4-Autopilot#23263](https://github.com/PX4/PX4-Autopilot/pull/23263))
+- ekf2: add mag type init ([PX4-Autopilot#23185](https://github.com/PX4/PX4-Autopilot/pull/23185))
+- ekf2: Optical flow enabled by default ([PX4-Autopilot#23436](https://github.com/PX4/PX4-Autopilot/pull/23436))
+
+- Position-loss failsafe delay removed; triggers 1 s after loss (see Common)
+
+### Sensors
+
+- Implemented AUAV absolute/differential pressure sensor support ([PX4-Autopilot#23656](https://github.com/PX4/PX4-Autopilot/pull/23656))
+- Implemented temperature sensor support for INA228 / INA238 ([PX4-Autopilot#23639](https://github.com/PX4/PX4-Autopilot/pull/23639))
+- Add Ublox ZED-F9P-15B ([PX4-Autopilot#22744](https://github.com/PX4/PX4-Autopilot/pull/22744))
+- Mag cal: automatically disable internal mags if external ones are available ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
+- BMP581: Add Bosch BMP581 barometer ([PX4-Autopilot#23064](https://github.com/PX4/PX4-Autopilot/pull/23064))
+- Murata SCH16T IMU driver ([PX4-Autopilot#22914](https://github.com/PX4/PX4-Autopilot/pull/22914))
+- ST IIS2MDC Magnetometer driver ([PX4-Autopilot#23023](https://github.com/PX4/PX4-Autopilot/pull/23023))
+- Include distance sensor in dds topics ([PX4-Autopilot#24121](https://github.com/PX4/PX4-Autopilot/pull/24121))
+- drivers: magnetometer: mmc5983ma: Add SPI support ([PX4-Autopilot#23925](https://github.com/PX4/PX4-Autopilot/pull/23925))
+- drivers/magnetometer/ak09916: Add support to AK09915 ([PX4-Autopilot#23909](https://github.com/PX4/PX4-Autopilot/pull/23909))
+- Add Bosch BMM350 magnetometer ([PX4-Autopilot#23362](https://github.com/PX4/PX4-Autopilot/pull/23362))
+
+- Compass calibration now disables internal compass when external unit present, reducing false warnings ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316))
+
+### Simulation
+
+- **SIH**:
+  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
+    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+  - SIH now supports the standard VTOL airframe
+    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
+- **Gazebo**:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
+    The default installer scripts (used for CI) and documentation have been updated.
+    This is required because Garden end-of-life is Nov 2024.
+    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
+  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
+  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
+  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
+  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
+  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
+  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform
+
+### uXRCE-DDS / ROS2
+
+- [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
+- dds_topics: add vtol_vehicle_status ([PX4-Autopilot#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
+- dds_topics: add home_position ([PX4-Autopilot#24583](https://github.com/PX4/PX4-Autopilot/pull/24583))
+
+### MAVLink
+
+- mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980))
+- Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
+- Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
+- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
+
+### Multi-Rotor
+
+- [Multirotor] add yaw torque low pass filter ([PX4-Autopilot#24173](https://github.com/PX4/PX4-Autopilot/pull/24173))
+- Add gz model for quadtailsitter ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943))
+
+- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
+- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507))
+
+### VTOL
+
+- vtol_type: Added position feedback to VTOL backward transition. ([PX4-Autopilo#23731](https://github.com/PX4/PX4-Autopilot/pull/23731))
+- dds_topics: add vtol_vehicle_status. ([PX4-Autopilo#24582](https://github.com/PX4/PX4-Autopilot/pull/24582))
+- vtol: reduce schedule frequency, which causes DSHOT150 problems. ([PX4-Autopilo#24727](https://github.com/PX4/PX4-Autopilot/pull/24727))
+
+### Fixed-wing
+
+- Fixedwing: fix wheel controller ([PX4-Autopilot#24167](https://github.com/PX4/PX4-Autopilot/pull/24167))
+- FixedWing: allow position control without valid global position ([PX4-Autopilot#23520](https://github.com/PX4/PX4-Autopilot/pull/23520))
+- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
+
+### Rover
+
+This release contains a major rework for the rover support in PX4:
+
+- Complete restructure of the [rover related documentation](../frames_rover/index.md).
+- New firmware build specifically for [rovers](../config_rover/index.md#flashing-the-rover-build).
+- New module dedicated to [Ackermann rovers](../frames_rover/index.md#ackermann):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
+- New module dedicated to [differential rovers](../frames_rover/index.md#differential):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
+- New module dedicated to [mecanum rovers](../frames_rover/index.md#mecanum):
+  - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md).
+- Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers
+- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
+  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
+  - Generic Differential Rover `50000`.
+  - Generic Ackermann Rover `51000`.
+  - Axial SCX10 2 Trail Honcho `51001`.
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/position_tuning.md#pure-pursuit-guidance-logic-info-only) that is shared by all the rover modules.
+- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
+- Deprecation of the `rover position control` module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
+
+### Infrastructure
+
+- standard_modes: add vehicle-type specific standard modes. ([PX4-Autopilot#24011](https://github.com/PX4/PX4-Autopilot/pull/24011))
+- ci: build all upload to releases. ([PX4-Autopilot#24020](https://github.com/PX4/PX4-Autopilot/pull/24020))
+- ci: px4-dev container. ([PX4-Autopilot#24002](https://github.com/PX4/PX4-Autopilot/pull/24002))
+- ci: workflow for ubuntu 24.04. ([PX4-Autopilot#23937](https://github.com/PX4/PX4-Autopilot/pull/23937))
+- ci: add test for Ubuntu 22.04. ([PX4-Autopilot#23869](https://github.com/PX4/PX4-Autopilot/pull/23869))
+- ci: try runs-on Dronecode Infra (AWS). ([PX4-Autopilot#23574](https://github.com/PX4/PX4-Autopilot/pull/23574))
+- ci: replace build workflows. ([PX4-Autopilot#23550](https://github.com/PX4/PX4-Autopilot/pull/23550))

docs/en/releases/index.md

@@ -2,7 +2,8 @@
 
 A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail.
 
-- [main](../releases/main.md) (changes since v1.15)
+- [main](https://docs.px4.io/main/en/releases/main.html) (changes since v1.16)
+- [v1.16](../releases/1.16.md)
 - [v1.15](../releases/1.15.md)
 - [v1.14](../releases/1.14.md)
 - [v1.13](../releases/1.13.md)

docs/en/releases/main.md

@@ -1,132 +1,4 @@
 # PX4-Autopilot Main Release Notes
 
-<Badge type="danger" text="Alpha" />
-
-This contains changes to PX4 `main` branch since the last major release ([PX v1.15](../releases/1.15.md)).
-
-::: warning
-The PX4 v1.15 release is in beta testing, pending release.
-Update these notes with features that are going to be in `main` but not the PX4 v1.15 release.
-:::
-
-## Read Before Upgrading
-
-TBD …
-
-Please continue reading for [upgrade instructions](#upgrade-guide).
-
-## Major Changes
-
-- TBD
-
-## Upgrade Guide
-
-## Other changes
-
-### Hardware Support
-
-- TBD
-
-### Common
-
-- [Battery level estimation improvements](../config/battery.md). ([PX4-Autopilot#23205](https://github.com/PX4/PX4-Autopilot/pull/23205)).
-  - [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
-  - Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
-  The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
-- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
-  This makes log decryption much easier, as there is no need to download or identify a separate key file.
-  ([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).
-- The generic mission command timeout [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter replaces the delivery-specific `MIS_PD_TO` parameter.
-  Mission commands that may take some time to complete, such as those for controlling gimbals, winches, and grippers, will progress to the next item when either feedback is received or the timeout expires.
-  This is often used to provide a minimum delay for hardware that does not provide completion feedback, so that it can reach the commanded state before the mission progresses.
-  ([PX4-Autopilot#23960](https://github.com/PX4/PX4-Autopilot/pull/23960)).
-- **[uORB]** Introduce a [version field](../middleware/uorb.md#message-versioning) for a subset of uORB messages ([PX4-Autopilot#23850](https://github.com/PX4/PX4-Autopilot/pull/23850))
-- [Compass calibration](../config/compass.md) disables internal compasses if an external compass is available.
-  This typically reduces false warnings due to magnetometer inconsistencies.
-  ([PX4-Autopilot#24316](https://github.com/PX4/PX4-Autopilot/pull/24316)).
-
-### Control
-
-- TBD
-
-### Estimation
-
-- TBD
-
-### Sensors
-
-- TBD
-
-### Simulation
-
-- [SIH]:
-  - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
-    ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
-  - SIH now supports the standard VTOL airframe
-    ([PX4-Autopilot#24175](https://github.com/PX4/PX4-Autopilot/pull/24175)).
-- [Gazebo]:
-  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4.
-    The default installer scripts (used for CI) and documentation have been updated.
-    This is required because Garden end-of-life is Nov 2024.
-    ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
-  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
-  - New vehicle model `x500_lidar_front` — [X500 Quadrotor with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
-  - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
-  - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
-  - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).
-  - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)).
-  - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)).
-  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
-
-### Ethernet
-
-- TBD
-
-### uXRCE-DDS / ROS2
-
-- **[Feature]** <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically ([PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113))
-
-### MAVLink
-
-- TBD
-
-### Multi-Rotor
-
-- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
-- Adapted the [Collision Prevention](../computer_vision/collision_prevention.md) implementation to work in the default manual flight mode (Acceleration Based) [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE). ([PX4-Autopilot#23507](https://github.com/PX4/PX4-Autopilot/pull/23507)
-
-### VTOL
-
-- TBD
-
-### Fixed-wing
-
-- Improvement: Fixed-wing auto takeoff: enable setting takeoff flaps for hand/catapult launch. [PX4-Autopilot#23460](https://github.com/PX4/PX4-Autopilot/pull/23460)
-
-### Rover
-
-This release contains a major rework for the rover support in PX4:
-
-- Complete restructure of the [rover related documentation](../frames_rover/index.md).
-- New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build).
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md):
-  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode), [acro mode](../flight_modes_rover/ackermann.md#acro-mode), [position mode](../flight_modes_rover/ackermann.md#position-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
-- New module dedicated to [differential rovers](../frames_rover/differential.md):
-  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
-- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md):
-  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
-- Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).
-  This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
-  - Generic Differential Rover `50000`.
-  - Generic Ackermann Rover `51000`.
-  - Axial SCX10 2 Trail Honcho `51001`.
-  - Generic Mecanum Rover `52000`.
-- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules.
-- [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
-- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
-
-### ROS 2
-
-- TBD
+This page is on a release branch.
+<a href="https://docs.px4.io/main/en/releases/main.html">See the latest version here.</a>

docs/ko/_sidebar.md

@@ -253,6 +253,7 @@
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
     - [GNSS (GPS)](/gps_compass/index.md)
       - [ARK GPS (CAN)](/dronecan/ark_gps.md)
+      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
       - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
       - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
       - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
@@ -314,6 +315,7 @@
   - [Joysticks](/config/joystick.md)
   - [Data Links](/data_links/index.md)
     - [MAVLink 텔레메트리(OSD/GCS) ](/peripherals/mavlink_peripherals.md)
+
     - [텔레메트리 무선통신](/telemetry/index.md)
       - [SiK 무선통신](/telemetry/sik_radio.md)
         - [RFD900 (SiK) 텔레메트리](/telemetry/rfd900_telemetry.md)
@@ -326,9 +328,13 @@
         - [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
         - [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
       - [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
+      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
       - [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
+
     - [FrSky 텔레메트리](/peripherals/frsky_telemetry.md)
+
     - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
+
     - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
   - [Power Systems](/power_systems/index.md)
     - [Battery Estimation Tuning](/config/battery.md)
@@ -637,6 +643,7 @@
         - [PowerButtonState](/msg_docs/PowerButtonState.md)
         - [PowerMonitor](/msg_docs/PowerMonitor.md)
         - [PpsCapture](/msg_docs/PpsCapture.md)
+        - [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
         - [PwmInput](/msg_docs/PwmInput.md)
         - [Px4ioStatus](/msg_docs/Px4ioStatus.md)
         - [QshellReq](/msg_docs/QshellReq.md)
@@ -710,6 +717,10 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
     - [MAVLink Messaging](/middleware/mavlink.md)
+      - [Adding Messages](/mavlink/adding_messages.md)
+      - [Streaming Messages](/mavlink/streaming_messages.md)
+      - [Receiving Messages](/mavlink/receiving_messages.md)
+      - [Custom MAVLink Messages](/mavlink/custom_messages.md)
       - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [모듈과 명령어](/modules/modules_main.md)
@@ -840,4 +851,4 @@
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)

docs/uk/_sidebar.md

@@ -253,6 +253,7 @@
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
     - [GNSS (GPS)](/gps_compass/index.md)
       - [ARK GPS (CAN)](/dronecan/ark_gps.md)
+      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
       - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
       - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
       - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
@@ -314,6 +315,7 @@
   - [Джойстики](/config/joystick.md)
   - [Посилання даних](/data_links/index.md)
     - [MAVLink Telemetry (OSD/GCS)](/peripherals/mavlink_peripherals.md)
+
     - [Телеметричні радіостанції](/telemetry/index.md)
       - [SiK Radio](/telemetry/sik_radio.md)
         - [Телеметричне радіо RFD900 (SiK)](/telemetry/rfd900_telemetry.md)
@@ -326,9 +328,13 @@
         - [ARK Electron Microhard Серійне Телеметрійне Радіо](/telemetry/ark_microhard_serial.md)
         - [Holybro Microhard P900 Телеметрійне Радіо](/telemetry/holybro_microhard_p900_radio.md)
       - [CUAV P8 Телеметрійне радіо](/telemetry/cuav_p8_radio.md)
+      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
       - [Holybro XBP9X - Припинено](/telemetry/holybro_xbp9x_radio.md)
+
     - [FrSky телеметрія](/peripherals/frsky_telemetry.md)
+
     - [TBS Crossfire (CRSF) телеметрія](/telemetry/crsf_telemetry.md)
+
     - [Супутниковий зв'язок (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
   - [Енергетичні системи](/power_systems/index.md)
     - [Налаштування оцінки батареї](/config/battery.md)
@@ -637,6 +643,7 @@
         - [PowerButtonState](/msg_docs/PowerButtonState.md)
         - [PowerMonitor](/msg_docs/PowerMonitor.md)
         - [PpsCapture](/msg_docs/PpsCapture.md)
+        - [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
         - [PwmInput](/msg_docs/PwmInput.md)
         - [Px4ioStatus](/msg_docs/Px4ioStatus.md)
         - [QshellReq](/msg_docs/QshellReq.md)
@@ -840,4 +847,4 @@
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)

docs/zh/_sidebar.md

@@ -253,6 +253,7 @@
       - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
     - [GNSS (GPS)](/gps_compass/index.md)
       - [ARK GPS (CAN)](/dronecan/ark_gps.md)
+      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
       - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
       - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
       - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
@@ -314,6 +315,7 @@
   - [Joysticks](/config/joystick.md)
   - [Data Links](/data_links/index.md)
     - [MAVLink 回传（OSD/GCS）](/peripherals/mavlink_peripherals.md)
+
     - [数传电台](/telemetry/index.md)
       - [SiK 电台](/telemetry/sik_radio.md)
         - [RFD900 (SiK) 数传电台](/telemetry/rfd900_telemetry.md)
@@ -326,9 +328,13 @@
         - [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
         - [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
       - [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
+      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
       - [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
+
     - [睿思凯数传](/peripherals/frsky_telemetry.md)
+
     - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
+
     - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
   - [Power Systems](/power_systems/index.md)
     - [Battery Estimation Tuning](/config/battery.md)
@@ -637,6 +643,7 @@
         - [PowerButtonState](/msg_docs/PowerButtonState.md)
         - [PowerMonitor](/msg_docs/PowerMonitor.md)
         - [PpsCapture](/msg_docs/PpsCapture.md)
+        - [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
         - [PwmInput](/msg_docs/PwmInput.md)
         - [Px4ioStatus](/msg_docs/Px4ioStatus.md)
         - [QshellReq](/msg_docs/QshellReq.md)
@@ -710,6 +717,10 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
     - [MAVLink通讯](/middleware/mavlink.md)
+      - [Adding Messages](/mavlink/adding_messages.md)
+      - [Streaming Messages](/mavlink/streaming_messages.md)
+      - [Receiving Messages](/mavlink/receiving_messages.md)
+      - [Custom MAVLink Messages](/mavlink/custom_messages.md)
       - [Standard Modes Protocol](/mavlink/standard_modes.md)
     - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
   - [模块 & 命令](/modules/modules_main.md)
@@ -840,4 +851,4 @@
   - [1.15 (stable)](/releases/1.15.md)
   - [1.14](/releases/1.14.md)
   - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)

platforms/common/Serial.cpp

@@ -69,6 +69,11 @@ bool Serial::close()
 	return _impl.close();
 }
 
+ssize_t Serial::bytesAvailable()
+{
+	return _impl.bytesAvailable();
+}
+
 ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
 {
 	return _impl.read(buffer, buffer_size);

platforms/common/include/px4_platform_common/Serial.hpp

@@ -61,6 +61,7 @@ public:
 
 	bool close();
 
+	ssize_t bytesAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0);
 

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -259,6 +259,18 @@ bool SerialImpl::close()
 	return true;
 }
 
+ssize_t SerialImpl::bytesAvailable()
+{
+	if (!_open) {
+		PX4_ERR("Device not open!");
+		return -1;
+	}
+
+	ssize_t bytes_available = 0;
+	int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
+	return ret >= 0 ? bytes_available : 0;
+}
+
 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 {
 	if (!_open) {
@@ -339,12 +351,15 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
 	}
 
 	int written = ::write(_serial_fd, buffer, buffer_size);
-	tcdrain(_serial_fd); // Wait until all output is transmitted
 
 	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
+		if (errno != EAGAIN) {
+			PX4_ERR("%s write error %d", _port, written);
+		}
 	}
 
+	::fsync(_serial_fd);
+
 	return written;
 }
 

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -59,6 +59,7 @@ public:
 
 	bool close();
 
+	ssize_t bytesAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
 

platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c

@@ -48,6 +48,8 @@
 #include <stdio.h>
 #include <drivers/drv_input_capture.h>
 
+#include <lib/perf/perf_counter.h>
+
 // This can be overriden for a specific board.
 #ifndef BOARD_DMA_NUM_DSHOT_CHANNELS
 #define BOARD_DMA_NUM_DSHOT_CHANNELS 1
@@ -137,6 +139,8 @@ static uint32_t read_fail_nibble[MAX_NUM_CHANNELS_PER_TIMER] = {};
 static uint32_t read_fail_crc[MAX_NUM_CHANNELS_PER_TIMER] = {};
 static uint32_t read_fail_zero[MAX_NUM_CHANNELS_PER_TIMER] = {};
 
+static perf_counter_t hrt_callback_perf = NULL;
+
 static void init_timer_config(uint32_t channel_mask)
 {
 	// Mark timers in use, channels in use, and timers for bidir dshot
@@ -202,20 +206,24 @@ static void init_timers_dma_up(void)
 		timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);
 
 		if (timer_configs[timer_index].dma_handle == NULL) {
-			PX4_DEBUG("Failed to allocate Timer %u DMA UP", timer_index);
+			PX4_WARN("Failed to allocate Timer %u DMA UP", timer_index);
 			continue;
 		}
 
-		PX4_DEBUG("Allocated DMA UP Timer Index %u", timer_index);
+		PX4_INFO("Allocated DMA UP Timer Index %u", timer_index);
 		timer_configs[timer_index].initialized = true;
 	}
 
-	// Free the allocated DMA channels
-	for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
-		if (timer_configs[timer_index].dma_handle != NULL) {
-			stm32_dmafree(timer_configs[timer_index].dma_handle);
-			timer_configs[timer_index].dma_handle = NULL;
-			PX4_DEBUG("Freed DMA UP Timer Index %u", timer_index);
+	// Bidirectional DShot will free/allocate DMA stream on every update event. This is required
+	// in order to reconfigure the DMA stream between Timer Burst and CaptureCompare.
+	if (_bidirectional) {
+		// Free the allocated DMA channels
+		for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
+			if (timer_configs[timer_index].dma_handle != NULL) {
+				stm32_dmafree(timer_configs[timer_index].dma_handle);
+				timer_configs[timer_index].dma_handle = NULL;
+				PX4_INFO("Freed DMA UP Timer Index %u", timer_index);
+			}
 		}
 	}
 }
@@ -275,6 +283,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
 
 	if (_bidirectional) {
 		PX4_INFO("Bidirectional DShot enabled, only one timer will be used");
+		hrt_callback_perf = perf_alloc(PC_ELAPSED, "dshot: callback perf");
 	}
 
 	// NOTE: if bidirectional is enabled only 1 timer can be used. This is because Burst mode uses 1 DMA channel per timer
@@ -336,8 +345,15 @@ void up_dshot_trigger()
 
 			io_timer_set_dshot_burst_mode(timer_index, _dshot_frequency, channel_count);
 
-			// Allocate DMA
-			if (timer_configs[timer_index].dma_handle == NULL) {
+			if (_bidirectional) {
+				// Deallocate DMA from previous transaction
+				if (timer_configs[timer_index].dma_handle != NULL) {
+					stm32_dmastop(timer_configs[timer_index].dma_handle);
+					stm32_dmafree(timer_configs[timer_index].dma_handle);
+					timer_configs[timer_index].dma_handle = NULL;
+				}
+
+				// Allocate DMA
 				timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);
 
 				if (timer_configs[timer_index].dma_handle == NULL) {
@@ -485,6 +501,8 @@ void dma_burst_finished_callback(DMA_HANDLE handle, uint8_t status, void *arg)
 
 static void capture_complete_callback(void *arg)
 {
+	perf_begin(hrt_callback_perf);
+
 	uint8_t timer_index = *((uint8_t *)arg);
 
 	// Unallocate the timer as CaptureDMA
@@ -495,11 +513,8 @@ static void capture_complete_callback(void *arg)
 	// Disable capture DMA
 	io_timer_capture_dma_req(timer_index, capture_channel, false);
 
-	if (timer_configs[timer_index].dma_handle != NULL) {
-		stm32_dmastop(timer_configs[timer_index].dma_handle);
-		stm32_dmafree(timer_configs[timer_index].dma_handle);
-		timer_configs[timer_index].dma_handle = NULL;
-	}
+	// Stop DMA (should already be finished)
+	stm32_dmastop(timer_configs[timer_index].dma_handle);
 
 	// Re-initialize all output channels on this timer
 	for (uint8_t output_channel = 0; output_channel < MAX_TIMER_IO_CHANNELS; output_channel++) {
@@ -525,6 +540,8 @@ static void capture_complete_callback(void *arg)
 
 	// Enable all channels configured as DShotInverted
 	io_timer_set_enable(true, IOTimerChanMode_DshotInverted, IO_TIMER_ALL_MODES_CHANNELS);
+
+	perf_end(hrt_callback_perf);
 }
 
 void process_capture_results(uint8_t timer_index, uint8_t channel_index)
@@ -544,7 +561,7 @@ void process_capture_results(uint8_t timer_index, uint8_t channel_index)
 
 	} else {
 		// Convert the period to eRPM
-		_erpms[output_channel] = (1000000 * 60) / period;
+		_erpms[output_channel] = (1000000 * 60 / 100 + period / 2) / period;
 	}
 
 	// We set it ready anyway, not to hold up other channels when used in round robin.

platforms/posix/include/SerialImpl.hpp

@@ -59,6 +59,7 @@ public:
 
 	bool close();
 
+	ssize_t bytesAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
 

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -251,6 +251,18 @@ bool SerialImpl::close()
 	return true;
 }
 
+ssize_t SerialImpl::bytesAvailable()
+{
+	if (!_open) {
+		PX4_ERR("Device not open!");
+		return -1;
+	}
+
+	ssize_t bytes_available = 0;
+	int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
+	return ret >= 0 ? bytes_available : 0;
+}
+
 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 {
 	if (!_open) {
@@ -325,13 +337,15 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
 	}
 
 	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
 
 	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
+		if (errno != EAGAIN) {
+			PX4_ERR("%s write error %d", _port, written);
+		}
 	}
 
+	::fsync(_serial_fd);
+
 	return written;
 }
 

platforms/posix/src/px4/common/px4_daemon/pxh.cpp

@@ -101,7 +101,7 @@ int Pxh::process_line(const std::string &line, bool silently_fail)
 
 		// Note that argv[argc] always needs to be a nullptr.
 		// Therefore add one more entry.
-		const char *arg[words.size() + 1];
+		char **arg = new char *[words.size() + 1];
 
 		for (unsigned i = 0; i < words.size(); ++i) {
 			arg[i] = (char *)words[i].c_str();
@@ -110,7 +110,7 @@ int Pxh::process_line(const std::string &line, bool silently_fail)
 		// Explicitly set this nullptr.
 		arg[words.size()] = nullptr;
 
-		int retval = _apps[command](words.size(), (char **)arg);
+		int retval = _apps[command](words.size(), arg);
 
 		if (retval) {
 			if (!silently_fail) {
@@ -118,6 +118,8 @@ int Pxh::process_line(const std::string &line, bool silently_fail)
 			}
 		}
 
+		delete[] arg;
+
 		return retval;
 
 	} else if (command == "help") {

platforms/qurt/include/SerialImpl.hpp

@@ -58,6 +58,7 @@ public:
 
 	bool close();
 
+	ssize_t bytesAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
 

platforms/qurt/src/px4/SerialImpl.cpp

@@ -158,6 +158,13 @@ bool SerialImpl::close()
 	return true;
 }
 
+ssize_t SerialImpl::bytesAvailable()
+{
+	// TODO:
+	PX4_WARN("bytesAvailable not implemented!");
+	return 0;
+}
+
 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 {
 	if (!_open) {

src/drivers/gps/gps.cpp

@@ -472,10 +472,16 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 	const int max_timeout = 50;
 	int timeout_adjusted = math::min(max_timeout, timeout);
 
-	handleInjectDataTopic();
-
 	if (_interface == GPSHelper::Interface::UART) {
-		ret = _uart.readAtLeast(buf, buf_length, math::min(character_count, buf_length), timeout_adjusted);
+
+		const ssize_t read_at_least = math::min(character_count, buf_length);
+
+		// handle injection data before read if caught up
+		if (_uart.bytesAvailable() < read_at_least) {
+			handleInjectDataTopic();
+		}
+
+		ret = _uart.readAtLeast(buf, buf_length, read_at_least, timeout_adjusted);
 
 		if (ret > 0) {
 			_num_bytes_read += ret;
@@ -486,6 +492,8 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 
 	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
 
+		handleInjectDataTopic();
+
 		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
 		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
 		//two pollings use different underlying mechanisms (at least under posix), which makes this
@@ -593,7 +601,17 @@ void GPS::handleInjectDataTopic()
 			}
 		}
 
-		updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg);
+		auto &gps_inject_data_sub = _orb_inject_data_sub[_selected_rtcm_instance];
+
+		const unsigned last_generation = gps_inject_data_sub.get_last_generation();
+
+		updated = gps_inject_data_sub.update(&msg);
+
+		if (updated) {
+			if (gps_inject_data_sub.get_last_generation() != last_generation + 1) {
+				PX4_WARN("gps_inject_data lost, generation %u -> %u", last_generation, gps_inject_data_sub.get_last_generation());
+			}
+		}
 
 	} while (updated && num_injections < max_num_injections);
 }

src/drivers/uavcan/actuators/esc.cpp

@@ -84,11 +84,7 @@ UavcanEscController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUA
 
 	_prev_cmd_pub = timestamp;
 
-	/*
-	 * Fill the command message
-	 * If unarmed, we publish an empty message anyway
-	 */
-	uavcan::equipment::esc::RawCommand msg;
+	uavcan::equipment::esc::RawCommand msg = {};
 
 	for (unsigned i = 0; i < num_outputs; i++) {
 		if (stop_motors || outputs[i] == DISARMED_OUTPUT_VALUE) {

src/modules/commander/accelerometer_calibration.cpp

@@ -366,17 +366,24 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 				const Matrix3f accel_T = mat_A.I() * CONSTANTS_ONE_G;
 
 				// update calibration
-				worker_data.calibration[i].set_offset(offset);
-				worker_data.calibration[i].set_scale(accel_T.diag());
+				const Dcmf &R = worker_data.calibration[i].rotation();
+
+				const Vector3f sensor_frame_offsets{R.transpose() *offset};
+				const Matrix3f sensor_frame_scale{R.transpose() *accel_T * R};
+
+				worker_data.calibration[i].set_offset(sensor_frame_offsets);
+				worker_data.calibration[i].set_scale(sensor_frame_scale.diag());
 
 #if defined(DEBUD_BUILD)
 				PX4_INFO("accel %d: offset", i);
-				offset.print();
+				sensor_frame_offsets.print();
 
 				PX4_INFO("accel %d: mat_A", i);
 				mat_A.print();
 				PX4_INFO("accel %d: accel_T", i);
 				accel_T.print();
+				PX4_INFO("accel %d: scale matrix", i);
+				sensor_frame_scale.print();
 #endif // DEBUD_BUILD
 				worker_data.calibration[i].PrintStatus();
 

src/modules/commander/failsafe/failsafe_test.cpp

@@ -392,3 +392,28 @@ TEST_F(FailsafeTest, skip_failsafe)
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
 }
+
+TEST_F(FailsafeTest, user_termination)
+{
+	FailsafeTester failsafe(nullptr);
+
+	failsafe_flags_s failsafe_flags{};
+	FailsafeBase::State state{};
+	state.armed = true;
+	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
+	state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	hrt_abstime time = 5_s;
+
+	// User intended termination -> failsafe termination
+	uint8_t updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
+
+	// Links lost during termination -> stay in termination
+	failsafe_flags.gcs_connection_lost = true;
+	failsafe_flags.manual_control_signal_lost = true;
+
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	EXPECT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	EXPECT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
+}

src/modules/commander/failsafe/framework.cpp

@@ -437,7 +437,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 	returned_state.updated_user_intended_mode = state.user_intended_mode;
 	returned_state.cause = Cause::Generic;
 
-	if (_selected_action == Action::Terminate) { // Terminate never clears
+	if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_TERMINATION
+	    || _selected_action == Action::Terminate) { // Terminate never clears
 		returned_state.action = Action::Terminate;
 		return;
 	}

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -618,6 +618,7 @@ State FlightTaskAuto::_getCurrentState()
 	const Vector3f u_prev_to_target = (_triplet_target - _triplet_prev_wp).unit_or_zero();
 	const Vector3f prev_to_pos = _position - _triplet_prev_wp;
 	const Vector3f pos_to_target = _triplet_target - _position;
+
 	// Calculate the closest point to the vehicle position on the line prev_wp - target
 	_closest_pt = _triplet_prev_wp + u_prev_to_target * (prev_to_pos * u_prev_to_target);
 
@@ -635,10 +636,9 @@ State FlightTaskAuto::_getCurrentState()
 		// Previous is in front
 		return_state = State::previous_infront;
 
-	} else if ((_position - _closest_pt).longerThan(_target_acceptance_radius)) {
+	} else if (_type != WaypointType::land && (_position - _closest_pt).longerThan(_target_acceptance_radius)) {
 		// Vehicle too far from the track
 		return_state = State::offtrack;
-
 	}
 
 	return return_state;

src/modules/mavlink/mavlink_parameters.cpp

@@ -80,6 +80,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 #if defined(CONFIG_MAVLINK_UAVCAN_PARAMETERS)
 
 			if (req_list.target_system == mavlink_system.sysid && req_list.target_component < 127 &&
+			    !(req_list.target_component >= MAV_COMP_ID_CAMERA && req_list.target_component <= MAV_COMP_ID_CAMERA6) &&
 			    (req_list.target_component != mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
 				// publish list request to UAVCAN driver via uORB.
 				uavcan_parameter_request_s req{};
@@ -139,6 +140,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 #if defined(CONFIG_MAVLINK_UAVCAN_PARAMETERS)
 
 			if (set.target_system == mavlink_system.sysid && set.target_component < 127 &&
+			    !(set.target_component >= MAV_COMP_ID_CAMERA && set.target_component <= MAV_COMP_ID_CAMERA6) &&
 			    (set.target_component != mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
 				// publish set request to UAVCAN driver via uORB.
 				uavcan_parameter_request_s req{};
@@ -217,6 +219,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 #if defined(CONFIG_MAVLINK_UAVCAN_PARAMETERS)
 
 			if (req_read.target_system == mavlink_system.sysid && req_read.target_component < 127 &&
+			    !(req_read.target_component >= MAV_COMP_ID_CAMERA && req_read.target_component <= MAV_COMP_ID_CAMERA6) &&
 			    (req_read.target_component != mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
 				// publish set request to UAVCAN driver via uORB.
 				uavcan_parameter_request_s req{};

src/modules/mavlink/mavlink_receiver.cpp

@@ -606,6 +606,9 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 			send_ack = true;
 		}
 
+	} else if (cmd_mavlink.command == MAV_CMD_DO_SET_MODE) {
+		_cmd_pub.publish(vehicle_command);
+
 	} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {
 
 		bool has_module = true;

src/modules/mavlink/streams/AVAILABLE_MODES.hpp

@@ -58,6 +58,10 @@ public:
 	}
 
 private:
+	/* Max 2.5 seconds delay for all possible modes to avoid ACK timeout in ground station */
+	static constexpr uint32_t MAX_DELAY_US = 2500000 / vehicle_status_s::NAVIGATION_STATE_MAX;
+	/* Only delay if the transmit of one mode takes at least 1ms, this avoids a lot of fast delay calls */
+	static constexpr uint32_t MIN_DELAY_THRESHOLD = 1000;
 	static constexpr int MAX_NUM_EXTERNAL_MODES = vehicle_status_s::NAVIGATION_STATE_EXTERNAL8 -
 			vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + 1;
 
@@ -76,8 +80,13 @@ private:
 	uint32_t _last_valid_nav_states_mask{0};
 	uint32_t _last_can_set_nav_states_mask{0};
 
-	void send_single_mode(const vehicle_status_s &vehicle_status, int mode_index, int total_num_modes, uint8_t nav_state)
+	void send_single_mode(const vehicle_status_s &vehicle_status, int mode_index, int total_num_modes, uint8_t nav_state,
+			      uint32_t delay_us = 0)
 	{
+		if (delay_us > 0) {
+			px4_usleep(delay_us);
+		}
+
 		mavlink_available_modes_t available_modes{};
 		available_modes.mode_index = mode_index;
 		available_modes.number_modes = total_num_modes;
@@ -139,12 +148,18 @@ private:
 
 		int total_num_modes = math::countSetBits(vehicle_status.valid_nav_states_mask);
 
+		float mode_transmit_time = (float)(MAVLINK_MSG_ID_AVAILABLE_MODES_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) /
+					   _mavlink->get_data_rate();
+		uint32_t delay_us = (uint32_t)(mode_transmit_time * 1e6f);
+		delay_us = delay_us >= MIN_DELAY_THRESHOLD ? delay_us : 0;
+		delay_us = delay_us > MAX_DELAY_US ? MAX_DELAY_US : delay_us;
+
 		if (mode_index == 0) { // All
 			int cur_mode_index = 1;
 
 			for (uint8_t nav_state = 0; nav_state < vehicle_status_s::NAVIGATION_STATE_MAX; ++nav_state) {
 				if ((1u << nav_state) & vehicle_status.valid_nav_states_mask) {
-					send_single_mode(vehicle_status, cur_mode_index, total_num_modes, nav_state);
+					send_single_mode(vehicle_status, cur_mode_index, total_num_modes, nav_state, delay_us);
 					++cur_mode_index;
 				}
 			}

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -565,14 +565,33 @@ void MulticopterPositionControl::Run()
 
 			_control.setState(states);
 
-			// Run position control
-			if (!_control.update(dt)) {
-				// Failsafe
-				_vehicle_constraints = {0, NAN, NAN, false, {}}; // reset constraints
+			const hrt_abstime now = hrt_absolute_time();
 
-				_control.setInputSetpoint(generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states, true));
-				_control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get());
-				_control.update(dt);
+			// Run position control
+			if (_control.update(dt)) {
+
+				// Valid control update - store for fallback
+				_last_valid_setpoint = _setpoint;
+
+			} else {
+
+				// Initial update failed - Try fallback if within timeout
+				if (now < _last_valid_setpoint.timestamp + 200_ms) {
+					// Use last valid setpoint
+					adjustSetpointForEKFResets(vehicle_local_position, _last_valid_setpoint);
+					_control.setInputSetpoint(_last_valid_setpoint);
+				}
+
+				// Still failing / not within timeout - Go to failsafe
+				if (!_control.update(dt)) {
+
+					_vehicle_constraints = {0, NAN, NAN, false, {}}; // reset constraints
+
+					_control.setInputSetpoint(generateFailsafeSetpoint(vehicle_local_position.timestamp_sample, states, true));
+					_control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get());
+
+					_control.update(dt);
+				}
 			}
 
 			// Publish internal position control setpoints

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -113,6 +113,7 @@ private:
 	hrt_abstime _time_position_control_enabled{0};
 
 	trajectory_setpoint_s _setpoint{PositionControl::empty_trajectory_setpoint};
+	trajectory_setpoint_s _last_valid_setpoint{PositionControl::empty_trajectory_setpoint};
 	vehicle_control_mode_s _vehicle_control_mode{};
 
 	vehicle_constraints_s _vehicle_constraints {

src/modules/navigator/mission.cpp

@@ -263,6 +263,10 @@ void Mission::setActiveMissionItems()
 			pos_sp_triplet->next.valid = false;
 		}
 
+	} else if (_mission_item.nav_cmd == NAV_CMD_DELAY) {
+		// Invalidate next waypoint to ensure vehicle holds position and doesn't try to track ahead
+		pos_sp_triplet->next.valid = false;
+
 	} else {
 		handleVtolTransition(new_work_item_type, next_mission_items, num_found_items);
 	}

src/modules/navigator/mission_base.cpp

@@ -553,7 +553,9 @@ void MissionBase::setEndOfMissionItems()
 		_mission_item.nav_cmd = NAV_CMD_IDLE;
 
 	} else {
-		if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
+		if (pos_sp_triplet->current.valid &&
+		    (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER ||
+		     pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)) {
 			setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
 
 		} else {

src/modules/navigator/rtl_direct_mission_land.cpp

@@ -122,6 +122,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
 {
 	WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;
 
 	// Climb to altitude
 	if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
@@ -203,8 +204,6 @@ void RtlDirectMissionLand::setActiveMissionItems()
 
 			_mission_item.autocontinue = true;
 			_mission_item.time_inside = 0.0f;
-
-			pos_sp_triplet->previous = pos_sp_triplet->current;
 		}
 
 		if (num_found_items > 0) {
@@ -213,6 +212,12 @@ void RtlDirectMissionLand::setActiveMissionItems()
 
 		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 
+		// Only set the previous position item if the current one really changed
+		if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
+		    !position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
+			pos_sp_triplet->previous = current_setpoint_copy;
+		}
+
 		// prevent lateral guidance from loitering at a waypoint as part of a mission landing if the altitude
 		// is not achieved.
 		const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING

src/modules/navigator/rtl_mission_fast.cpp

@@ -91,6 +91,7 @@ void RtlMissionFast::setActiveMissionItems()
 {
 	WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;
 
 	/* Skip VTOL/FW Takeoff item if in air, fixed-wing and didn't start the takeoff already*/
 	if ((_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) &&
@@ -158,17 +159,20 @@ void RtlMissionFast::setActiveMissionItems()
 			_mission_item.autocontinue = true;
 			_mission_item.time_inside = 0.0f;
 
-			pos_sp_triplet->previous = pos_sp_triplet->current;
 		}
 
-
-
 		if (num_found_items > 0) {
 			mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
 		}
 
 		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 
+		// Only set the previous position item if the current one really changed
+		if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
+		    !position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
+			pos_sp_triplet->previous = current_setpoint_copy;
+		}
+
 		if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && isLanding() &&
 		    _mission_item.nav_cmd == NAV_CMD_WAYPOINT) {
 			pos_sp_triplet->current.alt_acceptance_radius = FLT_MAX;

src/modules/payload_deliverer/module.yaml

@@ -5,13 +5,6 @@ parameters:
       definitions:
 
         # Gripper configuration
-        PD_GRIPPER_EN:
-            description:
-                short: Enable Gripper actuation in Payload Deliverer
-            type: boolean
-            default: 0
-            reboot_required: true
-
         PD_GRIPPER_TYPE:
             description:
                 short: Type of Gripper (Servo, etc.)
@@ -34,4 +27,4 @@ parameters:
             type: float
             unit: s
             min: 0
-            default: 3
+            default: 1

src/modules/payload_deliverer/payload_deliverer.cpp

@@ -54,7 +54,7 @@ bool PayloadDeliverer::init()
 void PayloadDeliverer::configure_gripper()
 {
 	// If gripper instance is invalid, and user enabled the gripper, try initializing it
-	if (!_gripper.is_valid() && _param_gripper_enable.get()) {
+	if (!_gripper.is_valid()) {
 		GripperConfig config{};
 		config.type = (GripperConfig::GripperType)_param_gripper_type.get();
 		config.sensor = GripperConfig::GripperSensorType::NONE; // Feedback sensor isn't supported for now

src/modules/payload_deliverer/payload_deliverer.h

@@ -104,7 +104,7 @@ private:
 	/**
 	 * @brief Initialize or deinitialize gripper instance based on parameter settings
 	 *
-	 * Depending on `PD_GRIPPER_EN` and the state of `_gripper` instance, this function will
+	 * Depending on the state of `_gripper` instance, this function will
 	 * either try to initialize or de-initialize the gripper appropriately.
 	 */
 	void configure_gripper();
@@ -159,7 +159,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::PD_GRIPPER_TO>)	_param_gripper_timeout_s,
-		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type,
-		(ParamBool<px4::params::PD_GRIPPER_EN>)		_param_gripper_enable
+		(ParamInt<px4::params::PD_GRIPPER_TYPE>)	_param_gripper_type
 	)
 };