From 8c9d4db6f131f887a42aa9502e23cb14d57ad8ad Mon Sep 17 00:00:00 2001
From: viewpro-caijie <liangcaijie@viewpro.com.cn>
Date: Tue, 14 Apr 2026 11:28:30 +0800
Subject: [PATCH 01/40] AP_Bootloader:Add VUAV-TinyV7 Board ID

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index a4a15d7d71e87..8ed341b213176 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -571,6 +571,7 @@ AP_HW_CUAV-X25-EVO                   7002
 
 # IDs 7100-7109 reserved for V-UAV
 AP_HW_VUAV-V7pro                     7100
+AP_HW_VUAV-TinyV7                    7101
 
 # IDs 7110-7119 reserved for AEROFOX
 AP_HW_AEROFOX_H7                     7110

From 4ec9f5d4da37a150054f623f8769f05b45a77c15 Mon Sep 17 00:00:00 2001
From: viewpro-caijie <liangcaijie@viewpro.com.cn>
Date: Tue, 14 Apr 2026 11:29:02 +0800
Subject: [PATCH 02/40] bootloaders:Add VUAV-TinyV7 bootloader

---
 Tools/bootloaders/VUAV-TinyV7_bl.bin |  Bin 0 -> 38076 bytes
 Tools/bootloaders/VUAV-TinyV7_bl.hex | 2382 ++++++++++++++++++++++++++
 2 files changed, 2382 insertions(+)
 create mode 100755 Tools/bootloaders/VUAV-TinyV7_bl.bin
 create mode 100644 Tools/bootloaders/VUAV-TinyV7_bl.hex

diff --git a/Tools/bootloaders/VUAV-TinyV7_bl.bin b/Tools/bootloaders/VUAV-TinyV7_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..e0665f2ed1d7671a0297f622dc35257003b025c2
GIT binary patch
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diff --git a/Tools/bootloaders/VUAV-TinyV7_bl.hex b/Tools/bootloaders/VUAV-TinyV7_bl.hex
new file mode 100644
index 0000000000000..173aeee05bf56
--- /dev/null
+++ b/Tools/bootloaders/VUAV-TinyV7_bl.hex
@@ -0,0 +1,2382 @@
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From 377409f2c5da0763df3ce355f0db8fe38fd62ac0 Mon Sep 17 00:00:00 2001
From: viewpro-caijie <liangcaijie@viewpro.com.cn>
Date: Tue, 14 Apr 2026 11:31:07 +0800
Subject: [PATCH 03/40] AP_HAL_ChibiOS:add VUAV-TinyV7

---
 .../hwdef/VUAV-TinyV7/README.md               | 209 ++++++++++++++++
 .../VUAV-TinyV7/VUAV-TinyV7-Connectors.png    | Bin 0 -> 98504 bytes
 .../hwdef/VUAV-TinyV7/VUAV-TinyV7-Pinouts.png | Bin 0 -> 145430 bytes
 .../hwdef/VUAV-TinyV7/defaults.parm           |   3 +
 .../hwdef/VUAV-TinyV7/hwdef-bl.dat            |  63 +++++
 .../hwdef/VUAV-TinyV7/hwdef.dat               | 228 ++++++++++++++++++
 6 files changed, 503 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/VUAV-TinyV7-Connectors.png
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/VUAV-TinyV7-Pinouts.png
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/README.md b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/README.md
new file mode 100644
index 0000000000000..4816d7be93213
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/README.md
@@ -0,0 +1,209 @@
+# VUAV-V7Tiny Flight Controller
+
+The VUAV-V7Tiny  flight controller is manufactured and sold by [V-UAV](http://www.v-uav.com/).
+
+## Features
+
+- STM32H743 microcontroller
+- Two IMUs: ICM45686,BMI088
+- Internal IST8310 magnetometer
+- Internal ICP-20100 barometer
+- Internal RGB LED
+- MicroSD card slot port
+- 1 ESC connector power input and current sensor input
+- 5 UARTs and 1 USB ports
+- 12 PWM output ports
+- 1 I2C and 1 CAN ports
+- Safety switch port
+- Buzzer port
+- RC IN port
+
+## Pinout
+
+![VUAV-TinyV7-Connectors](VUAV-TinyV7-Connectors.png)
+
+![VUAV-TinyV7-Pinouts](VUAV-TinyV7-Pinouts.png)
+
+## UART Mapping
+
+- SERIAL0 -> USB
+- SERIAL1 -> UART2 (MAVLink2, Telem1) (DMA enabled)
+- SERIAL2 -> UART5 (MAVLink2, Telem2) (DMA enabled)
+- SERIAL3 -> UART1 (GPS1) (DMA enabled)
+- SERIAL4 -> UART3 (GPS2) (DMA enabled)
+- SERIAL5 -> UART7 (User defined, marked Telem3) (DMA enabled)
+- SERIAL6 -> USB2 (virtual port on same connector)
+
+The Telem1 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
+
+## Connectors
+
+### TELEM1 port
+
+| Pin  |  Signal   | Volt  |
+| :--: | :-------: | :---: |
+|  1   |    VCC    |  +5V  |
+|  2   | TX2 (OUT) | +3.3V |
+|  3   | RX2 (IN)  | +3.3V |
+|  4   |    CTS    | +3.3V |
+|  5   |    RTS    | +3.3V |
+|  6   |    GND    |  GND  |
+
+### TELEM2/ADC port
+
+| Pin  |  Signal   |    Volt     |
+| :--: | :-------: | :---------: |
+|  1   |    VCC    |     +5V     |
+|  2   | TX5 (OUT) |    +3.3V    |
+|  3   | RX5 (IN)  |    +3.3V    |
+|  4   |  ADC_3V3  | up to +3.3V |
+|  5   |  ADC_6V6  | up to +3.3V |
+|  6   |    GND    |     GND     |
+
+### TELEM3/ADC port
+
+NOTE: RX7 is pinned out here and on the ESC connector
+
+| Pin  |  Signal   | Volt  |
+| :--: | :-------: | :---: |
+|  1   |    VCC    |  +5V  |
+|  2   | TX7 (OUT) | +3.3V |
+|  3   | RX7 (IN)  | +3.3V |
+|  4   |    GND    |  GND  |
+
+### GPS1/I2C2 port
+
+| Pin  |    Signal    |      Volt       |
+| :--: | :----------: | :-------------: |
+|  1   |     VCC      |       +5V       |
+|  2   |  TX1 (OUT)   |      +3.3V      |
+|  3   |   RX1 (IN)   |      +3.3V      |
+|  4   |   SCL I2C2   | +3.3V (pullups) |
+|  5   |   SDA I2C2   | +3.3V (pullups) |
+|  6   | SafetyButton |      +3.3V      |
+|  7   |  SafetyLED   |      +3.3V      |
+|  8   |      -       |        -        |
+|  9   |    Buzzer    |      +3.3V      |
+|  10  |     GND      |       GND       |
+
+### GPS2/I2C2 port
+
+| Pin  |  Signal   |      Volt       |
+| :--: | :-------: | :-------------: |
+|  1   |    VCC    |       +5V       |
+|  2   | TX3 (OUT) |      +3.3V      |
+|  3   | RX3 (IN)  |      +3.3V      |
+|  4   | SCL I2C2  | +3.3V (pullups) |
+|  5   | SDA I2C2  | +3.3V (pullups) |
+|  6   |    GND    |       GND       |
+
+### CAN1 port
+
+| Pin  | Signal | Volt |
+| :--: | :----: | :--: |
+|  1   |  VCC   | +5V  |
+|  2   | CAN_H  | +24V |
+|  3   | CAN_L  | +24V |
+|  4   |  GND   | GND  |
+
+### I2C port
+
+| Pin  |  Signal  |      Volt      |
+| :--: | :------: | :------------: |
+|  1   |   VCC    |      +5V       |
+|  2   | SCL I2C4 | +3.3 (pullups) |
+|  3   | SDA I2C4 | +3.3 (pullups) |
+|  4   |   GND    |      GND       |
+
+### POWER
+
+| Pin  | Signal  |    Volt     |
+| :--: | :-----: | :---------: |
+|  1   | VCC IN  |     +5V     |
+|  2   | VCC IN  |    +3.3V    |
+|  3   | CURRENT | up to +3.3V |
+|  4   | VOLTAGE | up to +3.3V |
+|  5   |   GND   |     GND     |
+|  6   |   GND   |     GND     |
+
+### ESC
+
+| Pin  |   Signal   |    Volt     |
+| :--: | :--------: | :---------: |
+|  1   | BAT VCC IN | +6V to 26V  |
+|  2   |  CURRENT   | up to +3.3V |
+|  3   |  UART7_RX  |    +3.3V    |
+|  4   |    PWM9    |    +3.3V    |
+|  5   |   PWM10    |    +3.3V    |
+|  6   |   PWM11    |    +3.3V    |
+|  7   |   PWM12    |    +3.3V    |
+|  8   |    GND     |     GND     |
+
+## RC Input
+
+The RC input is configured on the RCIN pin at one end of the servo rail. This pin supports all unidirectional RC protocols. For bidirectional protocols, such as CRSF/ELRS, any SERIAL port can be set to protocol "23" and the receiver can be connected to its RX and TX pins as described in [RC control systems](https://ardupilot.org/rover/docs/common-rc-systems.html).
+
+## PWM Output
+
+The VUAV-V7Tiny supports up to 12 PWM outputs and all PWM protocols. Outputs 1-8 support bidirectional Dshot protocol. All 8 PWM outputs use a three-row design: the top row is GND, the middle rows are connected together, and the bottom row is the signal line. Outputs 9-12 do not support Dshot and are located at the ESC interface.
+
+The 12 PWM outputs are in 4 groups:
+
+- PWM 1, 2, 3 and 4 in group1
+- PWM 5, 6, 7 and 8 in group2
+- PWM 9, 10 in group3
+- PWM 11, 12 in group4
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## GPIOs
+
+All 12 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
+
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+| PWM Channels | Pin  | PWM Channels | Pin  |
+| :----------: | :--: | :----------: | :--: |
+|     PWM1     |  50  |     PWM7     |  56  |
+|     PWM2     |  51  |     PWM8     |  57  |
+|     PWM3     |  52  |     PWM9     |  58  |
+|     PWM4     |  53  |    PWM10     |  59  |
+|     PWM5     |  54  |    PWM11     |  60  |
+|     PWM6     |  55  |    PWM12     |  61  |
+
+## Analog inputs
+
+The VUAV-V7Tiny  flight controller has 6 Analog inputs
+
+- ADC Pin18-> Battery Current
+- ADC Pin4 -> Battery Voltage
+- ADC Pin19 -> ADC 3V3 Sense
+- ADC Pin5 -> ADC 6V6 Sense
+- ADC Pin10  -> Battery Voltage input on ESC connector
+- ADC Pin8  -> Servo Voltage
+
+## Battery Monitor Configuration
+
+The board has voltage and current inputs sensor on the POWER and ESC connector.
+
+The correct battery setting parameters are:
+
+Enable POWER monitor:
+
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 4
+- BATT_CUR_PIN 8
+- BATT_VOLT_MULT 20
+- BATT_AMP_PERVLT 24
+
+Enable ESC battery monitor (if used) :
+
+- BATT2_MONITOR 3
+- BATT2_VOLT_PIN 10
+- BATT2_VOLT_MULT 10.09
+
+## Loading Firmware
+
+The firmware can be found at [ArduPilot Firmware Server](https://firmware.ardupilot.org). Click on the corresponding type, such as Plane or Copter, then select the version folder, and finally select the folder labeled "VUAV-TinyV7".
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of \*.apj firmware files with any ArduPilot compatible ground station.
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/VUAV-TinyV7-Pinouts.png b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/VUAV-TinyV7-Pinouts.png
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literal 0
HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/defaults.parm
new file mode 100644
index 0000000000000..e86e648b0b161
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/defaults.parm
@@ -0,0 +1,3 @@
+BRD_HEAT_TARG 45
+
+CAN_P1_DRIVER 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef-bl.dat
new file mode 100644
index 0000000000000..31db312ef84f1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef-bl.dat
@@ -0,0 +1,63 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_VUAV-TinyV7
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+FLASH_BOOTLOADER_LOAD_KB 128
+
+PB0 LED_RED OUTPUT OPENDRAIN HIGH # red
+PB4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PA7 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green 
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE    1
+define CH_CFG_USE_HEAP       1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES    1
+define CH_CFG_USE_DYNAMIC    1
+define CH_CFG_USE_WAITEXIT   1
+define CH_CFG_USE_REGISTRY   1
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+define FATFS_HAL_DEVICE SDCD1
+
+DMA_PRIORITY SDMMC*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
+
+# Add CS pins to ensure they are high in bootloader
+PA15  IMU1_G_CS CS 
+PB5  IMU1_A_CS CS 
+PC1  IMU2_CS CS
+PE2  FRAM_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef.dat
new file mode 100644
index 0000000000000..3a5d643a5811c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-TinyV7/hwdef.dat
@@ -0,0 +1,228 @@
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_VUAV-TinyV7
+
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 UART5 USART1 USART3 UART7 OTG2 
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UARTs
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# UART5 is telem2
+PB12 UART5_RX UART5
+PB13 UART5_TX UART5
+
+# USART1 is GPS1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART3 is GPS2
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART7 is telem3
+PE7	UART7_RX UART7
+PE8	UART7_TX UART7
+
+# debug pins
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - sensors1 - baro1
+PB3 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI4 - sensors2 - fram
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+
+# sensor CS
+PA15  IMU1_G_CS CS 
+PB5  IMU1_A_CS CS 
+PC1  IMU2_CS CS
+PE2  FRAM_CS CS
+
+# I2C buses
+
+# I2C1 is on I2C1 port
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C2 on I2C2 port
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# I2C4 is on GPS1 port
+PB6 I2C4_SCL I2C4
+PB7 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2 I2C4
+
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+define HAL_I2C_INTERNAL_MASK 1
+
+# enable pins
+PE6 VDD_3V3_SENSORS_EN OUTPUT LOW
+PE3 VDD_5V_HIPOWER_EN OUTPUT LOW
+
+# PWM AUX channels
+PA0  TIM2_CH1  TIM2  PWM(1) GPIO(50)  BIDIR
+PA1  TIM2_CH2  TIM2  PWM(2) GPIO(51)
+PA2  TIM2_CH3  TIM2  PWM(3) GPIO(52)  BIDIR
+PA3  TIM2_CH4  TIM2  PWM(4) GPIO(53)
+PD12 TIM4_CH1  TIM4  PWM(5) GPIO(54)  BIDIR
+PD13 TIM4_CH2  TIM4  PWM(6) GPIO(55)
+PD14 TIM4_CH3  TIM4  PWM(7) GPIO(56)  BIDIR
+PD15 TIM4_CH4  TIM4  PWM(8) GPIO(57)
+PE9  TIM1_CH1  TIM1  PWM(9) GPIO(58)  
+PE11 TIM1_CH2  TIM1  PWM(10) GPIO(59)
+PB14 TIM12_CH1 TIM12 PWM(11) GPIO(60) NODMA
+PB15 TIM12_CH2 TIM12 PWM(12) GPIO(61) NODMA
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# RC input
+PC7 TIM8_CH2 TIM8 RCININT PULLDOWN LOW
+
+# analog in
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA4 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+
+PA5 SPARE1_ADC1 ADC1 SCALE(1)
+PB1 SPARE2_ADC1 ADC1 SCALE(2)
+
+PC3 VDD_5V_SENS ADC1 SCALE(2)
+
+PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
+
+
+# Pin for PWM Voltage Selection, 0 means 3.3v, 1 means 5v, 3.3v default
+PC6 PWM_VOLT_SEL OUTPUT LOW GPIO(79)
+define HAL_GPIO_PWM_VOLT_PIN 79
+define HAL_GPIO_PWM_VOLT_3v3 0
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# GPIOs
+PA8 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+PE10  VDD_BRICK_nVALID INPUT PULLUP
+PE15  VBUS_nVALID INPUT PULLUP
+
+PE4  VDD_5V_HIPOWER_nOC INPUT PULLUP
+
+# SPI devices
+SPIDEV imu1       SPI4 DEVID1  IMU2_CS       MODE3  2*MHZ  16*MHZ
+SPIDEV bmi088_a   SPI1 DEVID1  IMU1_A_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g   SPI1 DEVID2  IMU1_G_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV ramtron    SPI4 DEVID2  FRAM_CS       MODE3  5*MHZ  5*MHZ
+
+# baro
+BARO ICP201XX I2C:0:0x63
+
+# three IMUs
+IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180 
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# compass
+define AP_COMPASS_PROBING_ENABLED 1
+define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
+
+COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_180
+COMPASS QMC5883L I2C:0:0xD false ROTATION_PITCH_180_YAW_90
+
+# microSD support
+PC8 SDMMC1_D0  SDMMC1
+PC9 SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# red LED marked as B/E
+PB0 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PA7 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
+PB4 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN   0
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN  2
+
+# use pixracer style 3-LED indicators
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+PB2 LED_SAFETY OUTPUT
+PC13 SAFETY_IN INPUT PULLDOWN
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN False
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+DMA_PRIORITY  TIM2* SDMMC* ADC* SPI1* TIM*UP*
+DMA_NOSHARE  SPI1* TIM*UP* 
+
+# Enable Sagetech MXS ADSB transponder
+define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_CURR_PIN 8
+define HAL_BATT_VOLT_PIN 4
+define HAL_BATT_CURR_SCALE 24
+define HAL_BATT_VOLT_SCALE 20
+
+define HAL_BATT2_VOLT_PIN 3
+define HAL_BATT2_VOLT_SCALE 10.09

From d6a915918e9ffe5775646bd4f5931c279662bc07 Mon Sep 17 00:00:00 2001
From: Brown <zebulon-86@outlook.com>
Date: Wed, 25 Mar 2026 21:58:15 +0800
Subject: [PATCH 04/40] AP_InertialSensor: add LSM6DSV driver

Add driver for the ST LSM6DSV16X 6-axis IMU with support for:
- WHOAMI-based chip detection (Invensensev3-style check_whoami)
- HAODR mode-1 for high-accuracy ODR (1000-8000 Hz)
- continuous FIFO burst reads
- fast sampling via INS_FAST_SAMPLE / INS_GYRO_RATE
- accelerometer second-stage LPF2
---
 Tools/scripts/decode_devid.py                 |   1 +
 .../AP_InertialSensor/AP_InertialSensor.cpp   |   1 +
 .../AP_InertialSensor_Backend.h               |   1 +
 .../AP_InertialSensor_LSM6DSV.cpp             | 866 ++++++++++++++++++
 .../AP_InertialSensor_LSM6DSV.h               | 140 +++
 5 files changed, 1009 insertions(+)
 create mode 100644 libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
 create mode 100644 libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h

diff --git a/Tools/scripts/decode_devid.py b/Tools/scripts/decode_devid.py
index 3a432403e4be5..64bf56c7d8c72 100755
--- a/Tools/scripts/decode_devid.py
+++ b/Tools/scripts/decode_devid.py
@@ -110,6 +110,7 @@ def num(s):
     0x3B : "DEVTYPE_INS_ICM45686",
     0x3C : "DEVTYPE_INS_SCHA63T",
     0x3D : "DEVTYPE_INS_IIM42653",
+    0x3E : "DEVTYPE_INS_LSM6DSV",
 }
 
 baro_types = {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 6c962e3b145c1..b2bcc08c98a76 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -26,6 +26,7 @@
 #include "AP_InertialSensor_BMI270.h"
 #include "AP_InertialSensor_Backend.h"
 #include "AP_InertialSensor_L3G4200D.h"
+#include "AP_InertialSensor_LSM6DSV.h"
 #include "AP_InertialSensor_LSM9DS0.h"
 #include "AP_InertialSensor_LSM9DS1.h"
 #include "AP_InertialSensor_Invensense.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 75267f6afa64d..27ba7876df117 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -152,6 +152,7 @@ class AP_InertialSensor_Backend
         DEVTYPE_INS_ICM45686 = 0x3B,
         DEVTYPE_INS_SCHA63T  = 0x3C,
         DEVTYPE_INS_IIM42653 = 0x3D,
+        DEVTYPE_INS_LSM6DSV  = 0x3E,
     };
 
 protected:
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
new file mode 100644
index 0000000000000..c589735512dfe
--- /dev/null
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
@@ -0,0 +1,866 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  driver for ST LSM6DSV16X IMU
+
+  Uses HAODR mode-1 for high-accuracy ODR (1000-8000 Hz) and
+  continuous FIFO for burst reads.  Digital filters auto-adapt to ODR
+  so no per-rate AAF register reconfiguration is needed.
+
+  fast sampling is controlled via INS_FAST_SAMPLE / INS_GYRO_RATE
+  with base rate 1000 Hz.
+ */
+
+#include "AP_InertialSensor_LSM6DSV.h"
+
+#include <stdio.h>
+#include <utility>
+
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_HAL/utility/sparse-endian.h>
+#include <AP_Math/AP_Math.h>
+
+extern const AP_HAL::HAL& hal;
+
+namespace {
+
+#ifndef LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
+#define LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO 1
+#endif
+
+// Enable the second-stage digital low-pass filter (LPF2) on the
+// accelerometer output.  Bandwidth is set by LSM6DSV_ACCEL_LPF2_BW.
+#ifndef LSM6DSV_ACCEL_LPF2_ENABLED
+#define LSM6DSV_ACCEL_LPF2_ENABLED 1
+#endif
+
+// LPF2 bandwidth selection written to CTRL8 HP_LPF2_XL_BW bits [7:5].
+// When CTRL9.LPF2_XL_EN = 1 these select the second-stage cutoff:
+//   0x00 = ODR/4   0x20 = ODR/10   0x40 = ODR/20   0x60 = ODR/45
+//   0x80 = ODR/100 0xA0 = ODR/200  0xC0 = ODR/400  0xE0 = ODR/800
+#ifndef LSM6DSV_ACCEL_LPF2_BW
+#define LSM6DSV_ACCEL_LPF2_BW 0x20  // ODR/10 → 200 Hz @ 2 kHz ODR
+#endif
+
+// ---- FIFO control registers (R/W) ----
+constexpr uint8_t LSM6DSV_REG_FIFO_CTRL1 = 0x07;  // FIFO watermark threshold [7:0]
+constexpr uint8_t LSM6DSV_REG_FIFO_CTRL2 = 0x08;  // FIFO watermark threshold [8], compression
+constexpr uint8_t LSM6DSV_REG_FIFO_CTRL3 = 0x09;  // FIFO gyro/accel batch data rate
+constexpr uint8_t LSM6DSV_REG_FIFO_CTRL4 = 0x0A;  // FIFO mode selection
+
+constexpr uint8_t LSM6DSV_FIFO_CTRL3_BDR_DISABLED     = 0x00;
+constexpr uint8_t LSM6DSV_FIFO_CTRL4_MODE_BYPASS       = 0x00;
+constexpr uint8_t LSM6DSV_FIFO_CTRL4_MODE_CONTINUOUS   = 0x06;
+
+// ---- WHO_AM_I register (R) ----
+constexpr uint8_t LSM6DSV_REG_WHO_AM_I   = 0x0F;
+constexpr uint8_t LSM6DSV_ID_LSM6DSV16X  = 0x70;
+
+// ---- Accelerometer control register 1 (R/W) ----
+// [6:4] OP_MODE_XL: operating mode   [3:0] ODR_XL: output data rate
+constexpr uint8_t LSM6DSV_REG_CTRL1      = 0x10;
+
+// ---- Gyroscope control register 2 (R/W) ----
+// [6:4] OP_MODE_G: operating mode   [3:0] ODR_G: output data rate
+constexpr uint8_t LSM6DSV_REG_CTRL2      = 0x11;
+
+// ---- Control register 3 (R/W) ----
+constexpr uint8_t LSM6DSV_REG_CTRL3      = 0x12;
+constexpr uint8_t LSM6DSV_CTRL3_BDU       = 1U << 6;  // block data update
+constexpr uint8_t LSM6DSV_CTRL3_IF_INC    = 1U << 2;  // auto-increment address
+constexpr uint8_t LSM6DSV_CTRL3_SW_RESET  = 1U << 0;  // software reset
+
+// [4] OP_MODE: 0=high-performance, 1=high-accuracy ODR
+constexpr uint8_t LSM6DSV_CTRL_MODE_HAODR = 0x10;
+
+// ---- Control register 6 — gyro full-scale selection (R/W) ----
+// [3:0] FS_G: gyroscope full-scale
+constexpr uint8_t LSM6DSV_REG_CTRL6      = 0x15;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_125DPS   = 0x00;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_250DPS   = 0x01;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_500DPS   = 0x02;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_1000DPS  = 0x03;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_2000DPS  = 0x04;
+constexpr uint8_t LSM6DSV_CTRL6_FS_G_4000DPS  = 0xC0;
+
+// ---- Control register 8 — accel full-scale & LPF2 BW (R/W) ----
+// [7:5] HP_LPF2_XL_BW   [1:0] FS_XL: accelerometer full-scale
+constexpr uint8_t LSM6DSV_REG_CTRL8      = 0x17;
+constexpr uint8_t LSM6DSV_CTRL8_FS_XL_2G      = 0x00;
+constexpr uint8_t LSM6DSV_CTRL8_FS_XL_4G      = 0x01;
+constexpr uint8_t LSM6DSV_CTRL8_FS_XL_8G      = 0x02;
+constexpr uint8_t LSM6DSV_CTRL8_FS_XL_16G     = 0x03;
+
+// ---- Control register 9 — accel LPF2 enable (R/W) ----
+constexpr uint8_t LSM6DSV_REG_CTRL9      = 0x18;
+constexpr uint8_t LSM6DSV_CTRL9_LPF2_XL_EN = 1U << 3;
+
+// ---- FIFO status registers (R) ----
+constexpr uint8_t LSM6DSV_REG_FIFO_STATUS1 = 0x1B;  // DIFF_FIFO [7:0]
+constexpr uint8_t LSM6DSV_REG_FIFO_STATUS2 = 0x1C;  // flags + DIFF_FIFO [8]
+constexpr uint8_t LSM6DSV_FIFO_STATUS2_DIFF_FIFO_8 = 1U << 0;
+
+// ---- Status register (R) ----
+constexpr uint8_t LSM6DSV_REG_STATUS     = 0x1E;
+constexpr uint8_t LSM6DSV_STATUS_XLDA     = 1U << 0;  // accel data available
+constexpr uint8_t LSM6DSV_STATUS_GDA      = 1U << 1;  // gyro data available
+constexpr uint8_t LSM6DSV_STATUS_TDA      = 1U << 2;  // temperature data available
+
+// ---- Data output registers (R) ----
+constexpr uint8_t LSM6DSV_REG_OUT_TEMP_L = 0x20;  // temperature output (16-bit)
+constexpr uint8_t LSM6DSV_REG_OUTX_L_G   = 0x22;  // gyro XYZ output (6 bytes)
+constexpr uint8_t LSM6DSV_REG_OUTX_L_A   = 0x28;  // accel XYZ output (6 bytes)
+
+// ---- HAODR configuration register (R/W) ----
+// [1:0] HAODR_SEL: high-accuracy ODR mode selection
+constexpr uint8_t LSM6DSV_REG_HAODR_CFG  = 0x62;
+constexpr uint8_t LSM6DSV_HAODR_CFG_MODE1 = 0x01;
+
+// HAODR mode-1 ODR codes (written to CTRL1/CTRL2 ODR_XL/ODR_G [3:0])
+constexpr uint8_t LSM6DSV_MODE1_ODR_125HZ  = 0x06;
+constexpr uint8_t LSM6DSV_MODE1_ODR_250HZ  = 0x07;
+constexpr uint8_t LSM6DSV_MODE1_ODR_500HZ  = 0x08;
+constexpr uint8_t LSM6DSV_MODE1_ODR_1000HZ = 0x09;
+constexpr uint8_t LSM6DSV_MODE1_ODR_2000HZ = 0x0A;
+constexpr uint8_t LSM6DSV_MODE1_ODR_4000HZ = 0x0B;
+constexpr uint8_t LSM6DSV_MODE1_ODR_8000HZ = 0x0C;
+
+// ---- FIFO data output registers (R) ----
+constexpr uint8_t LSM6DSV_REG_FIFO_DATA_OUT_TAG = 0x78;  // FIFO tag byte
+constexpr uint8_t LSM6DSV_REG_FIFO_DATA_OUT_X_L = 0x79;  // FIFO data start
+
+// ---- SPI protocol ----
+constexpr uint8_t LSM6DSV_SPI_READ_FLAG   = 0x80;
+
+// ---- Driver timing constants ----
+constexpr uint16_t LSM6DSV_DEFAULT_BACKEND_RATE_HZ = 1000;
+constexpr uint8_t LSM6DSV_INIT_MAX_TRIES = 5;
+constexpr uint8_t LSM6DSV_RESET_TIMEOUT_MS = 100;
+constexpr uint8_t LSM6DSV_DATA_READY_TIMEOUT_MS = 20;
+constexpr uint8_t LSM6DSV_POWERUP_DELAY_MS = 5;
+constexpr uint8_t LSM6DSV_TEMPERATURE_UPDATE_INTERVAL = 100;
+
+// ---- FIFO sizing ----
+constexpr uint16_t LSM6DSV_PRIMARY_FIFO_WATERMARK_WORDS = 2;
+constexpr uint16_t LSM6DSV_FIFO_MAX_DRAIN_WORDS = 32;
+constexpr uint16_t LSM6DSV_FIFO_BURST_WORDS = 16;
+
+// ---- Temperature conversion ----
+constexpr float LSM6DSV_TEMPERATURE_ZERO_C = 25.0f;
+constexpr float LSM6DSV_TEMPERATURE_SENSITIVITY = 256.0f;  // LSB/°C
+
+// ---- Accelerometer sensitivity (mg/LSB → m/s²) ----
+constexpr float LSM6DSV_ACCEL_SCALE_2G  = GRAVITY_MSS *  2.0f / 32768.0f;
+constexpr float LSM6DSV_ACCEL_SCALE_4G  = GRAVITY_MSS *  4.0f / 32768.0f;
+constexpr float LSM6DSV_ACCEL_SCALE_8G  = GRAVITY_MSS *  8.0f / 32768.0f;
+constexpr float LSM6DSV_ACCEL_SCALE_16G = GRAVITY_MSS * 16.0f / 32768.0f;
+
+// ---- Gyroscope sensitivity per ST datasheet (mdps/LSB → rad/s) ----
+constexpr float LSM6DSV_GYRO_SCALE_125DPS  = radians(4.375f  / 1000.0f);
+constexpr float LSM6DSV_GYRO_SCALE_250DPS  = radians(8.75f   / 1000.0f);
+constexpr float LSM6DSV_GYRO_SCALE_500DPS  = radians(17.50f  / 1000.0f);
+constexpr float LSM6DSV_GYRO_SCALE_1000DPS = radians(35.0f   / 1000.0f);
+constexpr float LSM6DSV_GYRO_SCALE_2000DPS = radians(70.0f   / 1000.0f);
+constexpr float LSM6DSV_GYRO_SCALE_4000DPS = radians(140.0f  / 1000.0f);
+
+struct PACKED RawSample {
+    le16_t gyro[3];
+    le16_t accel[3];
+};
+
+struct PACKED RawSampleWithTemp {
+    le16_t temp;
+    le16_t gyro[3];
+    le16_t accel[3];
+};
+
+struct PACKED RawFifoWord {
+    uint8_t tag;
+    le16_t axis[3];
+};
+
+static_assert(sizeof(RawSample) == 12, "RawSample must be 12 bytes");
+static_assert(sizeof(RawSampleWithTemp) == 14, "RawSampleWithTemp must be 14 bytes");
+static_assert(sizeof(RawFifoWord) == 7, "RawFifoWord must be 7 bytes");
+constexpr uint16_t LSM6DSV_FIFO_BURST_BUFFER_SIZE = LSM6DSV_FIFO_BURST_WORDS * sizeof(RawFifoWord) + 1;
+
+}
+
+AP_InertialSensor_LSM6DSV::AP_InertialSensor_LSM6DSV(AP_InertialSensor &imu,
+                                                     AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                                                     enum Rotation rotation)
+    : AP_InertialSensor_Backend(imu)
+    , _dev(std::move(dev))
+    , _rotation(rotation)
+    , _accel_scale(LSM6DSV_ACCEL_SCALE_16G)
+    , _gyro_scale(LSM6DSV_GYRO_SCALE_2000DPS)
+    , _accel_range_g(16.0f)
+    , _whoami(0)
+    , _temperature_counter(0)
+    , _fifo_buffer(nullptr)
+{
+}
+
+AP_InertialSensor_Backend *AP_InertialSensor_LSM6DSV::probe(AP_InertialSensor &imu,
+                                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
+                                                            enum Rotation rotation)
+{
+    if (!dev) {
+        return nullptr;
+    }
+
+    auto *sensor = NEW_NOTHROW AP_InertialSensor_LSM6DSV(imu, std::move(dev), rotation);
+    if (sensor == nullptr) {
+        return nullptr;
+    }
+
+    if (!sensor->init()) {
+        delete sensor;
+        return nullptr;
+    }
+
+    return sensor;
+}
+
+void AP_InertialSensor_LSM6DSV::start()
+{
+    // pre-fetch instance numbers for checking fast sampling settings
+    if (!_imu.get_gyro_instance(gyro_instance) || !_imu.get_accel_instance(accel_instance)) {
+        return;
+    }
+
+    // determine fast sampling rate (SPI only)
+    _backend_rate_hz = LSM6DSV_DEFAULT_BACKEND_RATE_HZ;
+    if (enable_fast_sampling(accel_instance) && get_fast_sampling_rate() > 1) {
+        _fast_sampling = (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI);
+    }
+    if (_fast_sampling) {
+        _backend_rate_hz = calculate_backend_rate(LSM6DSV_DEFAULT_BACKEND_RATE_HZ);
+    }
+    _backend_period_us = 1000000UL / _backend_rate_hz;
+
+    if (!_imu.register_accel(accel_instance, _backend_rate_hz, _dev->get_bus_id_devtype(DEVTYPE_INS_LSM6DSV)) ||
+        !_imu.register_gyro(gyro_instance, _backend_rate_hz, _dev->get_bus_id_devtype(DEVTYPE_INS_LSM6DSV))) {
+        return;
+    }
+
+    {
+        WITH_SEMAPHORE(_dev->get_semaphore());
+        if (!write_register(LSM6DSV_REG_FIFO_CTRL1, 0x00, true) ||
+            !write_register(LSM6DSV_REG_FIFO_CTRL2, 0x00, true) ||
+            !write_register(LSM6DSV_REG_FIFO_CTRL3, LSM6DSV_FIFO_CTRL3_BDR_DISABLED, true) ||
+            !write_register(LSM6DSV_REG_FIFO_CTRL4, LSM6DSV_FIFO_CTRL4_MODE_BYPASS, true)) {
+            return;
+        }
+        if (!configure_primary_fifo()) {
+            return;
+        }
+    }
+
+    // re-configure ODR registers for the target sampling rate
+    WITH_SEMAPHORE(_dev->get_semaphore());
+    const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
+    write_register(LSM6DSV_REG_CTRL1, LSM6DSV_CTRL_MODE_HAODR | odr, true);
+    write_register(LSM6DSV_REG_CTRL2, LSM6DSV_CTRL_MODE_HAODR | odr, true);
+    if (active_sample_source() == SampleSourceMode::FIFO) {
+        configure_primary_fifo();
+    }
+
+    set_gyro_orientation(gyro_instance, _rotation);
+    set_accel_orientation(accel_instance, _rotation);
+
+    if (active_sample_source() == SampleSourceMode::FIFO) {
+        _fifo_buffer = static_cast<uint8_t *>(hal.util->malloc_type(LSM6DSV_FIFO_BURST_BUFFER_SIZE,
+                                                                     AP_HAL::Util::MEM_DMA_SAFE));
+        if (_fifo_buffer == nullptr) {
+            return;
+        }
+    }
+
+    periodic_handle = _dev->register_periodic_callback(_backend_period_us,
+                                                       FUNCTOR_BIND_MEMBER(&AP_InertialSensor_LSM6DSV::poll_data, void));
+}
+
+bool AP_InertialSensor_LSM6DSV::update()
+{
+    update_accel(accel_instance);
+    update_gyro(gyro_instance);
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::get_output_banner(char* banner, uint8_t banner_len)
+{
+    snprintf(banner, banner_len, "IMU%u: LSM6DSV16X%s sampling %.1fkHz",
+             gyro_instance,
+             _fast_sampling ? " fast" : " normal",
+             _backend_rate_hz * 0.001f);
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::init()
+{
+    _dev->set_read_flag(LSM6DSV_SPI_READ_FLAG);
+    return hardware_init();
+}
+
+bool AP_InertialSensor_LSM6DSV::hardware_init()
+{
+    hal.scheduler->delay(LSM6DSV_POWERUP_DELAY_MS);
+
+    WITH_SEMAPHORE(_dev->get_semaphore());
+    _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+    if (!_dev->setup_checked_registers(14, 20)) {
+        return false;
+    }
+
+    for (uint8_t attempt = 0; attempt < LSM6DSV_INIT_MAX_TRIES; attempt++) {
+        if (!check_whoami()) {
+            continue;
+        }
+
+        switch (_lsm6dsv_type) {
+        case LSM6DSV_Type::LSM6DSV16X:
+            _gyro_scale = LSM6DSV_GYRO_SCALE_2000DPS;
+            _accel_scale = LSM6DSV_ACCEL_SCALE_16G;
+            break;
+        }
+
+        if (!reset_device()) {
+            continue;
+        }
+
+        if (!configure_gyro()) {
+            continue;
+        }
+
+        if (!configure_accel()) {
+            continue;
+        }
+
+        if (!write_register(LSM6DSV_REG_HAODR_CFG, LSM6DSV_HAODR_CFG_MODE1, true)) {
+            continue;
+        }
+
+        if (!write_register(LSM6DSV_REG_CTRL1, LSM6DSV_CTRL_MODE_HAODR | LSM6DSV_MODE1_ODR_1000HZ, true)) {
+            continue;
+        }
+
+        if (!write_register(LSM6DSV_REG_CTRL2, LSM6DSV_CTRL_MODE_HAODR | LSM6DSV_MODE1_ODR_1000HZ, true)) {
+            continue;
+        }
+
+        if (!write_register(LSM6DSV_REG_CTRL3, LSM6DSV_CTRL3_BDU | LSM6DSV_CTRL3_IF_INC, true)) {
+            continue;
+        }
+
+        if (!write_register(LSM6DSV_REG_FIFO_CTRL4, 0x00, true)) {
+            continue;
+        }
+
+        if (!wait_for_data_ready()) {
+            continue;
+        }
+
+        _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+        return true;
+    }
+
+    _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+    return false;
+}
+
+bool AP_InertialSensor_LSM6DSV::check_whoami()
+{
+    if (!read_registers(LSM6DSV_REG_WHO_AM_I, &_whoami, 1)) {
+        return false;
+    }
+
+    switch (_whoami) {
+    case LSM6DSV_ID_LSM6DSV16X:
+        _lsm6dsv_type = LSM6DSV_Type::LSM6DSV16X;
+        return true;
+    }
+
+    return false;
+}
+
+bool AP_InertialSensor_LSM6DSV::reset_device()
+{
+    if (!write_register(LSM6DSV_REG_CTRL3, LSM6DSV_CTRL3_SW_RESET)) {
+        return false;
+    }
+
+    for (uint8_t i = 0; i < LSM6DSV_RESET_TIMEOUT_MS; i++) {
+        uint8_t ctrl3 = 0;
+        hal.scheduler->delay(1);
+        if (!read_registers(LSM6DSV_REG_CTRL3, &ctrl3, 1)) {
+            continue;
+        }
+        if ((ctrl3 & LSM6DSV_CTRL3_SW_RESET) == 0) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool AP_InertialSensor_LSM6DSV::configure_gyro()
+{
+    return write_register(LSM6DSV_REG_CTRL6, LSM6DSV_CTRL6_FS_G_2000DPS, true);
+}
+
+bool AP_InertialSensor_LSM6DSV::configure_accel()
+{
+#if LSM6DSV_ACCEL_LPF2_ENABLED
+    const uint8_t ctrl8 = LSM6DSV_CTRL8_FS_XL_16G | LSM6DSV_ACCEL_LPF2_BW;
+    return write_register(LSM6DSV_REG_CTRL8, ctrl8, true) &&
+           write_register(LSM6DSV_REG_CTRL9, LSM6DSV_CTRL9_LPF2_XL_EN, true);
+#else
+    return write_register(LSM6DSV_REG_CTRL8, LSM6DSV_CTRL8_FS_XL_16G, true);
+#endif
+}
+
+bool AP_InertialSensor_LSM6DSV::configure_primary_fifo()
+{
+#if !LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
+    return true;
+#else
+    const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
+    const uint8_t fifo_ctrl3 = uint8_t((odr << 4) | odr);
+
+    return write_register(LSM6DSV_REG_FIFO_CTRL1,
+                          uint8_t(LSM6DSV_PRIMARY_FIFO_WATERMARK_WORDS & 0xFFU),
+                          true) &&
+           write_register(LSM6DSV_REG_FIFO_CTRL2, 0x00, true) &&
+           write_register(LSM6DSV_REG_FIFO_CTRL3, fifo_ctrl3, true) &&
+           write_register(LSM6DSV_REG_FIFO_CTRL4, LSM6DSV_FIFO_CTRL4_MODE_CONTINUOUS, true);
+#endif
+}
+
+uint8_t AP_InertialSensor_LSM6DSV::odr_code_for_rate(uint16_t rate_hz) const
+{
+    switch (rate_hz) {
+    case 8000: return LSM6DSV_MODE1_ODR_8000HZ;
+    case 4000: return LSM6DSV_MODE1_ODR_4000HZ;
+    case 2000: return LSM6DSV_MODE1_ODR_2000HZ;
+    case 1000:
+    default:   return LSM6DSV_MODE1_ODR_1000HZ;
+    }
+}
+
+// calculate the backend sample rate accounting for fast sampling
+// multiplier and loop rate constraints
+uint16_t AP_InertialSensor_LSM6DSV::calculate_backend_rate(uint16_t base_rate_hz) const
+{
+    // constrain the gyro rate to be at least the loop rate
+    uint8_t min_mult = 1;
+    if (get_loop_rate_hz() > base_rate_hz) {
+        min_mult = 2;
+    }
+    if (get_loop_rate_hz() > base_rate_hz * 2) {
+        min_mult = 4;
+    }
+    const uint8_t mult = constrain_int16(get_fast_sampling_rate(), min_mult, 8);
+    return constrain_int16(base_rate_hz * mult, base_rate_hz, 8000);
+}
+
+
+AP_InertialSensor_LSM6DSV::SampleSourceMode AP_InertialSensor_LSM6DSV::active_sample_source() const
+{
+#if LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
+    return SampleSourceMode::FIFO;
+#else
+    return SampleSourceMode::Polling;
+#endif
+}
+
+bool AP_InertialSensor_LSM6DSV::fifo_tag_supported_for_primary(const FifoTag tag)
+{
+    return tag == FifoTag::GyroNC || tag == FifoTag::AccelNC;
+}
+
+AP_InertialSensor_LSM6DSV::FifoTag AP_InertialSensor_LSM6DSV::decode_fifo_tag(const uint8_t raw_tag)
+{
+    switch ((raw_tag >> 3) & 0x1FU) {
+    case 0x00:
+        return FifoTag::Empty;
+    case 0x01:
+        return FifoTag::GyroNC;
+    case 0x02:
+        return FifoTag::AccelNC;
+    case 0x03:
+        return FifoTag::Temperature;
+    case 0x04:
+        return FifoTag::Timestamp;
+    case 0x05:
+        return FifoTag::CfgChange;
+    case 0x06:
+        return FifoTag::AccelNC_T2;
+    case 0x07:
+        return FifoTag::AccelNC_T1;
+    case 0x08:
+        return FifoTag::Accel2xC;
+    case 0x09:
+        return FifoTag::Accel3xC;
+    case 0x0A:
+        return FifoTag::GyroNC_T2;
+    case 0x0B:
+        return FifoTag::GyroNC_T1;
+    case 0x0C:
+        return FifoTag::Gyro2xC;
+    case 0x0D:
+        return FifoTag::Gyro3xC;
+    case 0x1D:
+        return FifoTag::RouteExt;
+    default:
+        return FifoTag::Unsupported;
+    }
+}
+
+uint8_t AP_InertialSensor_LSM6DSV::decode_fifo_tag_count(const uint8_t raw_tag)
+{
+    return (raw_tag >> 1) & 0x03U;
+}
+
+bool AP_InertialSensor_LSM6DSV::wait_for_data_ready()
+{
+    for (uint8_t i = 0; i < LSM6DSV_DATA_READY_TIMEOUT_MS; i++) {
+        uint8_t status = 0;
+        hal.scheduler->delay(1);
+        if (!read_registers(LSM6DSV_REG_STATUS, &status, 1)) {
+            continue;
+        }
+        if ((status & LSM6DSV_STATUS_GDA) != 0 &&
+            (status & LSM6DSV_STATUS_XLDA) != 0) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool AP_InertialSensor_LSM6DSV::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
+{
+    return _dev->read_registers(reg, data, len);
+}
+
+bool AP_InertialSensor_LSM6DSV::write_register(uint8_t reg, uint8_t value, bool checked)
+{
+    return _dev->write_register(reg, value, checked);
+}
+
+bool AP_InertialSensor_LSM6DSV::fetch_primary_sample(SampleFrame &sample)
+{
+    // Primary mode is the planned first FIFO landing zone, so keep the current
+    // burst-read path isolated from the other route-specific fetch logic.
+    RawSampleWithTemp raw{};
+    if (!read_registers(LSM6DSV_REG_OUT_TEMP_L, reinterpret_cast<uint8_t *>(&raw), sizeof(raw))) {
+        return false;
+    }
+
+    sample.raw_temp = int16_t(le16toh(raw.temp));
+    sample.has_raw_temp = true;
+
+    sample.gyro = Vector3f{
+        float(int16_t(le16toh(raw.gyro[0]))) * _gyro_scale,
+        float(int16_t(le16toh(raw.gyro[1]))) * _gyro_scale,
+        float(int16_t(le16toh(raw.gyro[2]))) * _gyro_scale,
+    };
+
+    sample.accel = Vector3f{
+        float(int16_t(le16toh(raw.accel[0]))) * _accel_scale,
+        float(int16_t(le16toh(raw.accel[1]))) * _accel_scale,
+        float(int16_t(le16toh(raw.accel[2]))) * _accel_scale,
+    };
+
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::read_sample(SampleFrame &sample)
+{
+    return fetch_primary_sample(sample);
+}
+
+bool AP_InertialSensor_LSM6DSV::read_status_registers(uint8_t &gyro_status, uint8_t &accel_status, uint32_t now_us)
+{
+    gyro_status = 0;
+    accel_status = 0;
+
+    if (!read_registers(LSM6DSV_REG_STATUS, &gyro_status, 1)) {
+        _inc_accel_error_count(accel_instance);
+        _inc_gyro_error_count(gyro_instance);
+        return false;
+    }
+
+    accel_status = gyro_status;
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::sample_ready_for_route(uint8_t gyro_status, uint8_t accel_status, uint32_t now_us)
+{
+    const bool gyro_ready = (gyro_status & LSM6DSV_STATUS_GDA) != 0;
+    const bool accel_ready = (accel_status & LSM6DSV_STATUS_XLDA) != 0;
+    return gyro_ready && accel_ready;
+}
+
+bool AP_InertialSensor_LSM6DSV::fetch_current_sample(SampleFrame &sample, uint32_t now_us)
+{
+    if (read_sample(sample)) {
+        return true;
+    }
+
+    _inc_accel_error_count(accel_instance);
+    _inc_gyro_error_count(gyro_instance);
+    return false;
+}
+
+bool AP_InertialSensor_LSM6DSV::fetch_polling_frame(SampleFrame &sample, uint32_t now_us)
+{
+    uint8_t gyro_status = 0;
+    uint8_t accel_status = 0;
+
+    if (!read_status_registers(gyro_status, accel_status, now_us)) {
+        return false;
+    }
+
+    if (!sample_ready_for_route(gyro_status, accel_status, now_us)) {
+        return false;
+    }
+
+    return fetch_current_sample(sample, now_us);
+}
+
+bool AP_InertialSensor_LSM6DSV::fetch_source_frame(SourceFrame &frame, uint32_t now_us)
+{
+    uint8_t gyro_status = 0;
+    uint8_t accel_status = 0;
+
+    if (!read_status_registers(gyro_status, accel_status, now_us)) {
+        return false;
+    }
+
+    if (!sample_ready_for_route(gyro_status, accel_status, now_us)) {
+        return false;
+    }
+
+    if (!fetch_current_sample(frame.sample, now_us)) {
+        return false;
+    }
+
+    frame.gyro_status = gyro_status;
+    frame.accel_status = accel_status;
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::read_fifo_status(FifoFrame &frame, uint32_t now_us)
+{
+    uint8_t fifo_status[2] {};
+    if (!read_registers(LSM6DSV_REG_FIFO_STATUS1, fifo_status, sizeof(fifo_status))) {
+        _inc_accel_error_count(accel_instance);
+        _inc_gyro_error_count(gyro_instance);
+        return false;
+    }
+
+    frame.unread_words = fifo_status[0] |
+                         (((fifo_status[1] & LSM6DSV_FIFO_STATUS2_DIFF_FIFO_8) != 0U) ? 0x100U : 0U);
+
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::read_fifo_words_block(const uint16_t n_words, uint32_t now_us)
+{
+    if (_fifo_buffer == nullptr || n_words == 0 || n_words > LSM6DSV_FIFO_BURST_WORDS) {
+        return false;
+    }
+
+    _fifo_buffer[0] = LSM6DSV_REG_FIFO_DATA_OUT_TAG | LSM6DSV_SPI_READ_FLAG;
+    memset(_fifo_buffer + 1, 0, n_words * sizeof(RawFifoWord));
+    if (!_dev->transfer_fullduplex(_fifo_buffer, n_words * sizeof(RawFifoWord) + 1)) {
+        _inc_accel_error_count(accel_instance);
+        _inc_gyro_error_count(gyro_instance);
+        return false;
+    }
+
+    return true;
+}
+
+bool AP_InertialSensor_LSM6DSV::consume_fifo_word(FifoFrame &frame, SampleFrame &sample, const uint8_t *raw_word)
+{
+    RawFifoWord raw{};
+    memcpy(&raw, raw_word, sizeof(raw));
+
+    frame.tag = decode_fifo_tag(raw.tag);
+    frame.tag_count = decode_fifo_tag_count(raw.tag);
+
+    if (!fifo_tag_supported_for_primary(frame.tag)) {
+        return true;
+    }
+
+    const Vector3f axes{
+        float(int16_t(le16toh(raw.axis[0]))),
+        float(int16_t(le16toh(raw.axis[1]))),
+        float(int16_t(le16toh(raw.axis[2]))),
+    };
+
+    switch (frame.tag) {
+    case FifoTag::GyroNC:
+        sample.gyro = axes * _gyro_scale;
+        break;
+    case FifoTag::AccelNC:
+        sample.accel = axes * _accel_scale;
+        break;
+    default:
+        return false;
+    }
+
+    return true;
+}
+
+uint16_t AP_InertialSensor_LSM6DSV::drain_fifo(uint32_t now_us)
+{
+    FifoFrame frame{};
+    frame.tag = FifoTag::Empty;
+    frame.unread_words = 0;
+    frame.tag_count = 0;
+    frame.source.gyro_status = 0;
+    frame.source.accel_status = 0;
+    frame.source.sample.raw_temp = 0;
+    frame.source.sample.has_raw_temp = false;
+    frame.source.sample.gyro.zero();
+    frame.source.sample.accel.zero();
+
+    if (!read_fifo_status(frame, now_us)) {
+        return 0;
+    }
+
+    if (frame.unread_words == 0) {
+        return 0;
+    }
+
+    uint16_t samples_published = 0;
+    uint16_t drained = 0;
+
+    while (drained < frame.unread_words && drained < LSM6DSV_FIFO_MAX_DRAIN_WORDS) {
+        const uint16_t remaining = MIN(uint16_t(frame.unread_words - drained),
+                                       uint16_t(LSM6DSV_FIFO_MAX_DRAIN_WORDS - drained));
+        const uint16_t block_words = MIN(remaining, LSM6DSV_FIFO_BURST_WORDS);
+
+        if (!read_fifo_words_block(block_words, now_us)) {
+            break;
+        }
+
+        const uint8_t *raw_word = _fifo_buffer + 1;
+        for (uint16_t i = 0; i < block_words; i++, raw_word += sizeof(RawFifoWord)) {
+            if (!consume_fifo_word(frame, frame.source.sample, raw_word)) {
+                return samples_published;
+            }
+            drained++;
+            if (frame.tag == FifoTag::GyroNC) {
+                publish_gyro_sample(frame.source.sample);
+                samples_published++;
+                frame.source.sample.gyro.zero();
+            } else if (frame.tag == FifoTag::AccelNC) {
+                publish_accel_sample(frame.source.sample);
+                frame.source.sample.accel.zero();
+            }
+        }
+    }
+
+    if (samples_published > 0) {
+        _dev->adjust_periodic_callback(periodic_handle, _backend_period_us);
+    }
+
+    return samples_published;
+}
+
+void AP_InertialSensor_LSM6DSV::publish_gyro_sample(SampleFrame &sample)
+{
+    _rotate_and_correct_gyro(gyro_instance, sample.gyro);
+    _notify_new_gyro_raw_sample(gyro_instance, sample.gyro);
+}
+
+void AP_InertialSensor_LSM6DSV::publish_accel_sample(SampleFrame &sample)
+{
+    _rotate_and_correct_accel(accel_instance, sample.accel);
+    _notify_new_accel_raw_sample(accel_instance, sample.accel);
+    update_temperature(LSM6DSV_STATUS_GDA, nullptr);
+}
+
+void AP_InertialSensor_LSM6DSV::publish_current_sample(SampleFrame &sample, uint8_t gyro_status)
+{
+    _rotate_and_correct_accel(accel_instance, sample.accel);
+    _rotate_and_correct_gyro(gyro_instance, sample.gyro);
+    _notify_new_accel_raw_sample(accel_instance, sample.accel);
+    _notify_new_gyro_raw_sample(gyro_instance, sample.gyro);
+    update_temperature(gyro_status, sample.has_raw_temp ? &sample.raw_temp : nullptr);
+}
+
+void AP_InertialSensor_LSM6DSV::check_register_monitor()
+{
+    _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+    AP_HAL::Device::checkreg reg;
+    if (!_dev->check_next_register(reg)) {
+        log_register_change(_dev->get_bus_id(), reg);
+        _inc_accel_error_count(accel_instance);
+        _inc_gyro_error_count(gyro_instance);
+    }
+    _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+}
+
+void AP_InertialSensor_LSM6DSV::update_temperature(const uint8_t status, const int16_t *raw_temp)
+{
+    if (_temperature_counter++ < LSM6DSV_TEMPERATURE_UPDATE_INTERVAL) {
+        return;
+    }
+    _temperature_counter = 0;
+
+    int16_t temperature_raw = 0;
+    if (raw_temp != nullptr) {
+        temperature_raw = *raw_temp;
+    } else {
+        const bool fifo_temp_poll = active_sample_source() == SampleSourceMode::FIFO;
+        if (!fifo_temp_poll && (status & LSM6DSV_STATUS_TDA) == 0) {
+            return;
+        }
+        uint8_t tbuf[2];
+        if (!read_registers(LSM6DSV_REG_OUT_TEMP_L, tbuf, sizeof(tbuf))) {
+            _inc_accel_error_count(accel_instance);
+            return;
+        }
+        temperature_raw = int16_t(uint16_t(tbuf[0] | (tbuf[1] << 8)));
+    }
+
+    const float temp_degc = LSM6DSV_TEMPERATURE_ZERO_C + temperature_raw / LSM6DSV_TEMPERATURE_SENSITIVITY;
+    _publish_temperature(accel_instance, temp_degc);
+}
+
+void AP_InertialSensor_LSM6DSV::poll_data()
+{
+    const uint32_t now_us = AP_HAL::micros();
+
+    if (active_sample_source() == SampleSourceMode::FIFO) {
+        drain_fifo(now_us);
+        check_register_monitor();
+        return;
+    }
+
+    SourceFrame frame{};
+    if (!fetch_source_frame(frame, now_us)) {
+        return;
+    }
+
+    publish_current_sample(frame.sample, frame.gyro_status);
+    check_register_monitor();
+}
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
new file mode 100644
index 0000000000000..8fdad2e1726d0
--- /dev/null
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
@@ -0,0 +1,140 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/SPIDevice.h>
+
+#include "AP_InertialSensor.h"
+#include "AP_InertialSensor_Backend.h"
+
+#ifndef LSM6DSV_DEFAULT_ROTATION
+#define LSM6DSV_DEFAULT_ROTATION ROTATION_NONE
+#endif
+
+class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
+public:
+    enum class LSM6DSV_Type : uint8_t {
+        LSM6DSV16X,
+    };
+
+    static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
+                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
+                                            enum Rotation rotation=LSM6DSV_DEFAULT_ROTATION);
+
+    void start() override;
+    bool update() override;
+    bool get_output_banner(char* banner, uint8_t banner_len) override;
+
+private:
+    enum class SampleSourceMode : uint8_t {
+        Polling,
+        FIFO,
+    };
+
+    enum class FifoTag : uint8_t {
+        Empty = 0x00,
+        GyroNC = 0x01,
+        AccelNC = 0x02,
+        Temperature = 0x03,
+        Timestamp = 0x04,
+        CfgChange = 0x05,
+        AccelNC_T2 = 0x06,
+        AccelNC_T1 = 0x07,
+        Accel2xC = 0x08,
+        Accel3xC = 0x09,
+        GyroNC_T2 = 0x0A,
+        GyroNC_T1 = 0x0B,
+        Gyro2xC = 0x0C,
+        Gyro3xC = 0x0D,
+        RouteExt = 0x1D,
+        Unsupported = 0xFF,
+    };
+
+    struct SampleFrame {
+        Vector3f gyro;
+        Vector3f accel;
+        int16_t raw_temp;
+        bool has_raw_temp;
+    };
+
+    struct SourceFrame {
+        SampleFrame sample;
+        uint8_t gyro_status;
+        uint8_t accel_status;
+    };
+
+    struct FifoFrame {
+        SourceFrame source;
+        FifoTag tag;
+        uint16_t unread_words;
+        uint8_t tag_count;
+    };
+
+    AP_InertialSensor_LSM6DSV(AP_InertialSensor &imu,
+                              AP_HAL::OwnPtr<AP_HAL::Device> dev,
+                              enum Rotation rotation);
+
+    bool init();
+    bool hardware_init();
+    bool check_whoami();
+    bool reset_device();
+    bool configure_gyro();
+    bool configure_accel();
+    bool configure_primary_fifo();
+    bool wait_for_data_ready();
+
+    bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
+    bool write_register(uint8_t reg, uint8_t value, bool checked=false);
+    bool fetch_primary_sample(SampleFrame &sample);
+    bool read_sample(SampleFrame &sample);
+    bool read_status_registers(uint8_t &gyro_status, uint8_t &accel_status, uint32_t now_us);
+    bool sample_ready_for_route(uint8_t gyro_status, uint8_t accel_status, uint32_t now_us);
+    bool fetch_current_sample(SampleFrame &sample, uint32_t now_us);
+    bool fetch_polling_frame(SampleFrame &sample, uint32_t now_us);
+    bool fetch_source_frame(SourceFrame &frame, uint32_t now_us);
+    bool read_fifo_status(FifoFrame &frame, uint32_t now_us);
+    bool read_fifo_words_block(uint16_t n_words, uint32_t now_us);
+    bool consume_fifo_word(FifoFrame &frame, SampleFrame &sample, const uint8_t *raw_word);
+    uint16_t drain_fifo(uint32_t now_us);
+    void publish_gyro_sample(SampleFrame &sample);
+    void publish_accel_sample(SampleFrame &sample);
+    void publish_current_sample(SampleFrame &sample, uint8_t gyro_status);
+    void check_register_monitor();
+    void update_temperature(uint8_t status, const int16_t *raw_temp=nullptr);
+    uint8_t odr_code_for_rate(uint16_t rate_hz) const;
+    uint16_t calculate_backend_rate(uint16_t base_rate_hz) const;
+
+    SampleSourceMode active_sample_source() const;
+    static bool fifo_tag_supported_for_primary(FifoTag tag);
+    static FifoTag decode_fifo_tag(uint8_t raw_tag);
+    static uint8_t decode_fifo_tag_count(uint8_t raw_tag);
+
+    void poll_data();
+
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev;
+    AP_HAL::Device::PeriodicHandle periodic_handle;
+    enum Rotation _rotation;
+    float _accel_scale;
+    float _gyro_scale;
+    float _accel_range_g;
+    uint8_t _whoami;
+    uint8_t _temperature_counter;
+    uint16_t _backend_rate_hz;
+    uint32_t _backend_period_us;
+    bool _fast_sampling = false;
+    LSM6DSV_Type _lsm6dsv_type;
+    uint8_t *_fifo_buffer;
+};

From 55cd6b05021e0c601a2f6aa4ab7ab1a8284d4876 Mon Sep 17 00:00:00 2001
From: Brown <zebulon-86@outlook.com>
Date: Wed, 25 Mar 2026 21:58:29 +0800
Subject: [PATCH 05/40] Pixhawk6C: add LSM6DSV16X IMU support

Add SPI device and IMU probe line for the LSM6DSV16X on Pixhawk6C.
The driver auto-detects the chip via WHOAMI so both ICM42688 and
LSM6DSV16X boards are supported without a board type change.
---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index d3a981edf8005..e75130c9fd2bd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -231,10 +231,13 @@ define AP_COMPASS_IST8310_INTERNAL_BUS_PROBING_ENABLED 0
 SPIDEV bmi055_g SPI1 DEVID1  BMI055_G_CS  MODE3 10*MHZ 10*MHZ
 SPIDEV bmi055_a SPI1 DEVID2  BMI055_A_CS  MODE3 10*MHZ 10*MHZ
 SPIDEV icm42688 SPI1 DEVID3  ICM42688_CS  MODE3  2*MHZ  8*MHZ
+# alternative to icm42688, using the same SPI bus and CS line
+SPIDEV lsm6dsv  SPI1 DEVID4  ICM42688_CS  MODE3  2*MHZ  8*MHZ
 SPIDEV ramtron  SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ
 
 # 2 IMUs
 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
+IMU LSM6DSV      SPI:lsm6dsv  ROTATION_PITCH_180_YAW_90
 IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
 # BMI055 is replaced by BMI088 on the lastest hardware revision
 # They use the same CPU signal pins

From caae22abcf8e69ceb4f6ceff60d40ab9e3a9ad47 Mon Sep 17 00:00:00 2001
From: Brown <zebulon-86@outlook.com>
Date: Fri, 27 Mar 2026 10:52:28 +0800
Subject: [PATCH 06/40] AP_InertialSensor: refactor LSM6DSV register
 definitions

- Replace file-scope constexpr definitions with #define macros for register addresses, bit masks, and scaling factors, matching the style used by other IMU drivers in this library.
- Keep the register and configuration definitions to preserve a clear mapping to the datasheet, even when some are not used in the current code path.
- Avoid unused-const-variable warnings under Clang.
- Rename LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO to LSM6DSV_USE_FIFO for clarity and consistency.
- Remove the unused _accel_range_g member.

No change to the default runtime behavior.
---
 .../AP_InertialSensor_LSM6DSV.cpp             | 155 +++++++++---------
 .../AP_InertialSensor_LSM6DSV.h               |   1 -
 2 files changed, 77 insertions(+), 79 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
index c589735512dfe..e68f9d3c159d3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
@@ -36,8 +36,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace {
 
-#ifndef LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
-#define LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO 1
+#ifndef LSM6DSV_USE_FIFO
+#define LSM6DSV_USE_FIFO 1
 #endif
 
 // Enable the second-stage digital low-pass filter (LPF2) on the
@@ -55,125 +55,125 @@ namespace {
 #endif
 
 // ---- FIFO control registers (R/W) ----
-constexpr uint8_t LSM6DSV_REG_FIFO_CTRL1 = 0x07;  // FIFO watermark threshold [7:0]
-constexpr uint8_t LSM6DSV_REG_FIFO_CTRL2 = 0x08;  // FIFO watermark threshold [8], compression
-constexpr uint8_t LSM6DSV_REG_FIFO_CTRL3 = 0x09;  // FIFO gyro/accel batch data rate
-constexpr uint8_t LSM6DSV_REG_FIFO_CTRL4 = 0x0A;  // FIFO mode selection
+#define LSM6DSV_REG_FIFO_CTRL1              0x07  // FIFO watermark threshold [7:0]
+#define LSM6DSV_REG_FIFO_CTRL2              0x08  // FIFO watermark threshold [8], compression
+#define LSM6DSV_REG_FIFO_CTRL3              0x09  // FIFO gyro/accel batch data rate
+#define LSM6DSV_REG_FIFO_CTRL4              0x0A  // FIFO mode selection
 
-constexpr uint8_t LSM6DSV_FIFO_CTRL3_BDR_DISABLED     = 0x00;
-constexpr uint8_t LSM6DSV_FIFO_CTRL4_MODE_BYPASS       = 0x00;
-constexpr uint8_t LSM6DSV_FIFO_CTRL4_MODE_CONTINUOUS   = 0x06;
+#define LSM6DSV_FIFO_CTRL3_BDR_DISABLED     0x00
+#define LSM6DSV_FIFO_CTRL4_MODE_BYPASS       0x00
+#define LSM6DSV_FIFO_CTRL4_MODE_CONTINUOUS   0x06
 
 // ---- WHO_AM_I register (R) ----
-constexpr uint8_t LSM6DSV_REG_WHO_AM_I   = 0x0F;
-constexpr uint8_t LSM6DSV_ID_LSM6DSV16X  = 0x70;
+#define LSM6DSV_REG_WHO_AM_I                0x0F
+#define LSM6DSV_ID_LSM6DSV16X               0x70
 
 // ---- Accelerometer control register 1 (R/W) ----
 // [6:4] OP_MODE_XL: operating mode   [3:0] ODR_XL: output data rate
-constexpr uint8_t LSM6DSV_REG_CTRL1      = 0x10;
+#define LSM6DSV_REG_CTRL1                   0x10
 
 // ---- Gyroscope control register 2 (R/W) ----
 // [6:4] OP_MODE_G: operating mode   [3:0] ODR_G: output data rate
-constexpr uint8_t LSM6DSV_REG_CTRL2      = 0x11;
+#define LSM6DSV_REG_CTRL2                   0x11
 
 // ---- Control register 3 (R/W) ----
-constexpr uint8_t LSM6DSV_REG_CTRL3      = 0x12;
-constexpr uint8_t LSM6DSV_CTRL3_BDU       = 1U << 6;  // block data update
-constexpr uint8_t LSM6DSV_CTRL3_IF_INC    = 1U << 2;  // auto-increment address
-constexpr uint8_t LSM6DSV_CTRL3_SW_RESET  = 1U << 0;  // software reset
+#define LSM6DSV_REG_CTRL3                   0x12
+#define LSM6DSV_CTRL3_BDU                   (1U << 6)  // block data update
+#define LSM6DSV_CTRL3_IF_INC                (1U << 2)  // auto-increment address
+#define LSM6DSV_CTRL3_SW_RESET              (1U << 0)  // software reset
 
 // [4] OP_MODE: 0=high-performance, 1=high-accuracy ODR
-constexpr uint8_t LSM6DSV_CTRL_MODE_HAODR = 0x10;
+#define LSM6DSV_CTRL_MODE_HAODR             0x10
 
 // ---- Control register 6 — gyro full-scale selection (R/W) ----
 // [3:0] FS_G: gyroscope full-scale
-constexpr uint8_t LSM6DSV_REG_CTRL6      = 0x15;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_125DPS   = 0x00;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_250DPS   = 0x01;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_500DPS   = 0x02;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_1000DPS  = 0x03;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_2000DPS  = 0x04;
-constexpr uint8_t LSM6DSV_CTRL6_FS_G_4000DPS  = 0xC0;
+#define LSM6DSV_REG_CTRL6                   0x15
+#define LSM6DSV_CTRL6_FS_G_125DPS           0x00
+#define LSM6DSV_CTRL6_FS_G_250DPS           0x01
+#define LSM6DSV_CTRL6_FS_G_500DPS           0x02
+#define LSM6DSV_CTRL6_FS_G_1000DPS          0x03
+#define LSM6DSV_CTRL6_FS_G_2000DPS          0x04
+#define LSM6DSV_CTRL6_FS_G_4000DPS          0xC0
 
 // ---- Control register 8 — accel full-scale & LPF2 BW (R/W) ----
 // [7:5] HP_LPF2_XL_BW   [1:0] FS_XL: accelerometer full-scale
-constexpr uint8_t LSM6DSV_REG_CTRL8      = 0x17;
-constexpr uint8_t LSM6DSV_CTRL8_FS_XL_2G      = 0x00;
-constexpr uint8_t LSM6DSV_CTRL8_FS_XL_4G      = 0x01;
-constexpr uint8_t LSM6DSV_CTRL8_FS_XL_8G      = 0x02;
-constexpr uint8_t LSM6DSV_CTRL8_FS_XL_16G     = 0x03;
+#define LSM6DSV_REG_CTRL8                   0x17
+#define LSM6DSV_CTRL8_FS_XL_2G              0x00
+#define LSM6DSV_CTRL8_FS_XL_4G              0x01
+#define LSM6DSV_CTRL8_FS_XL_8G              0x02
+#define LSM6DSV_CTRL8_FS_XL_16G             0x03
 
 // ---- Control register 9 — accel LPF2 enable (R/W) ----
-constexpr uint8_t LSM6DSV_REG_CTRL9      = 0x18;
-constexpr uint8_t LSM6DSV_CTRL9_LPF2_XL_EN = 1U << 3;
+#define LSM6DSV_REG_CTRL9                   0x18
+#define LSM6DSV_CTRL9_LPF2_XL_EN            (1U << 3)
 
 // ---- FIFO status registers (R) ----
-constexpr uint8_t LSM6DSV_REG_FIFO_STATUS1 = 0x1B;  // DIFF_FIFO [7:0]
-constexpr uint8_t LSM6DSV_REG_FIFO_STATUS2 = 0x1C;  // flags + DIFF_FIFO [8]
-constexpr uint8_t LSM6DSV_FIFO_STATUS2_DIFF_FIFO_8 = 1U << 0;
+#define LSM6DSV_REG_FIFO_STATUS1            0x1B  // DIFF_FIFO [7:0]
+#define LSM6DSV_REG_FIFO_STATUS2            0x1C  // flags + DIFF_FIFO [8]
+#define LSM6DSV_FIFO_STATUS2_DIFF_FIFO_8    (1U << 0)
 
 // ---- Status register (R) ----
-constexpr uint8_t LSM6DSV_REG_STATUS     = 0x1E;
-constexpr uint8_t LSM6DSV_STATUS_XLDA     = 1U << 0;  // accel data available
-constexpr uint8_t LSM6DSV_STATUS_GDA      = 1U << 1;  // gyro data available
-constexpr uint8_t LSM6DSV_STATUS_TDA      = 1U << 2;  // temperature data available
+#define LSM6DSV_REG_STATUS                  0x1E
+#define LSM6DSV_STATUS_XLDA                 (1U << 0)  // accel data available
+#define LSM6DSV_STATUS_GDA                  (1U << 1)  // gyro data available
+#define LSM6DSV_STATUS_TDA                  (1U << 2)  // temperature data available
 
 // ---- Data output registers (R) ----
-constexpr uint8_t LSM6DSV_REG_OUT_TEMP_L = 0x20;  // temperature output (16-bit)
-constexpr uint8_t LSM6DSV_REG_OUTX_L_G   = 0x22;  // gyro XYZ output (6 bytes)
-constexpr uint8_t LSM6DSV_REG_OUTX_L_A   = 0x28;  // accel XYZ output (6 bytes)
+#define LSM6DSV_REG_OUT_TEMP_L              0x20  // temperature output (16-bit)
+#define LSM6DSV_REG_OUTX_L_G                0x22  // gyro XYZ output (6 bytes)
+#define LSM6DSV_REG_OUTX_L_A                0x28  // accel XYZ output (6 bytes)
 
 // ---- HAODR configuration register (R/W) ----
 // [1:0] HAODR_SEL: high-accuracy ODR mode selection
-constexpr uint8_t LSM6DSV_REG_HAODR_CFG  = 0x62;
-constexpr uint8_t LSM6DSV_HAODR_CFG_MODE1 = 0x01;
+#define LSM6DSV_REG_HAODR_CFG               0x62
+#define LSM6DSV_HAODR_CFG_MODE1             0x01
 
 // HAODR mode-1 ODR codes (written to CTRL1/CTRL2 ODR_XL/ODR_G [3:0])
-constexpr uint8_t LSM6DSV_MODE1_ODR_125HZ  = 0x06;
-constexpr uint8_t LSM6DSV_MODE1_ODR_250HZ  = 0x07;
-constexpr uint8_t LSM6DSV_MODE1_ODR_500HZ  = 0x08;
-constexpr uint8_t LSM6DSV_MODE1_ODR_1000HZ = 0x09;
-constexpr uint8_t LSM6DSV_MODE1_ODR_2000HZ = 0x0A;
-constexpr uint8_t LSM6DSV_MODE1_ODR_4000HZ = 0x0B;
-constexpr uint8_t LSM6DSV_MODE1_ODR_8000HZ = 0x0C;
+#define LSM6DSV_MODE1_ODR_125HZ             0x06
+#define LSM6DSV_MODE1_ODR_250HZ             0x07
+#define LSM6DSV_MODE1_ODR_500HZ             0x08
+#define LSM6DSV_MODE1_ODR_1000HZ            0x09
+#define LSM6DSV_MODE1_ODR_2000HZ            0x0A
+#define LSM6DSV_MODE1_ODR_4000HZ            0x0B
+#define LSM6DSV_MODE1_ODR_8000HZ            0x0C
 
 // ---- FIFO data output registers (R) ----
-constexpr uint8_t LSM6DSV_REG_FIFO_DATA_OUT_TAG = 0x78;  // FIFO tag byte
-constexpr uint8_t LSM6DSV_REG_FIFO_DATA_OUT_X_L = 0x79;  // FIFO data start
+#define LSM6DSV_REG_FIFO_DATA_OUT_TAG       0x78  // FIFO tag byte
+#define LSM6DSV_REG_FIFO_DATA_OUT_X_L       0x79  // FIFO data start
 
 // ---- SPI protocol ----
-constexpr uint8_t LSM6DSV_SPI_READ_FLAG   = 0x80;
+#define LSM6DSV_SPI_READ_FLAG               0x80
 
 // ---- Driver timing constants ----
-constexpr uint16_t LSM6DSV_DEFAULT_BACKEND_RATE_HZ = 1000;
-constexpr uint8_t LSM6DSV_INIT_MAX_TRIES = 5;
-constexpr uint8_t LSM6DSV_RESET_TIMEOUT_MS = 100;
-constexpr uint8_t LSM6DSV_DATA_READY_TIMEOUT_MS = 20;
-constexpr uint8_t LSM6DSV_POWERUP_DELAY_MS = 5;
-constexpr uint8_t LSM6DSV_TEMPERATURE_UPDATE_INTERVAL = 100;
+#define LSM6DSV_DEFAULT_BACKEND_RATE_HZ     1000
+#define LSM6DSV_INIT_MAX_TRIES              5
+#define LSM6DSV_RESET_TIMEOUT_MS            100
+#define LSM6DSV_DATA_READY_TIMEOUT_MS       20
+#define LSM6DSV_POWERUP_DELAY_MS            5
+#define LSM6DSV_TEMPERATURE_UPDATE_INTERVAL 100
 
 // ---- FIFO sizing ----
-constexpr uint16_t LSM6DSV_PRIMARY_FIFO_WATERMARK_WORDS = 2;
-constexpr uint16_t LSM6DSV_FIFO_MAX_DRAIN_WORDS = 32;
-constexpr uint16_t LSM6DSV_FIFO_BURST_WORDS = 16;
+#define LSM6DSV_PRIMARY_FIFO_WATERMARK_WORDS 2
+#define LSM6DSV_FIFO_MAX_DRAIN_WORDS        32
+#define LSM6DSV_FIFO_BURST_WORDS            16
 
 // ---- Temperature conversion ----
-constexpr float LSM6DSV_TEMPERATURE_ZERO_C = 25.0f;
-constexpr float LSM6DSV_TEMPERATURE_SENSITIVITY = 256.0f;  // LSB/°C
+#define LSM6DSV_TEMPERATURE_ZERO_C          25.0f
+#define LSM6DSV_TEMPERATURE_SENSITIVITY     256.0f  // LSB/°C
 
 // ---- Accelerometer sensitivity (mg/LSB → m/s²) ----
-constexpr float LSM6DSV_ACCEL_SCALE_2G  = GRAVITY_MSS *  2.0f / 32768.0f;
-constexpr float LSM6DSV_ACCEL_SCALE_4G  = GRAVITY_MSS *  4.0f / 32768.0f;
-constexpr float LSM6DSV_ACCEL_SCALE_8G  = GRAVITY_MSS *  8.0f / 32768.0f;
-constexpr float LSM6DSV_ACCEL_SCALE_16G = GRAVITY_MSS * 16.0f / 32768.0f;
+#define LSM6DSV_ACCEL_SCALE_2G              (GRAVITY_MSS *  2.0f / 32768.0f)
+#define LSM6DSV_ACCEL_SCALE_4G              (GRAVITY_MSS *  4.0f / 32768.0f)
+#define LSM6DSV_ACCEL_SCALE_8G              (GRAVITY_MSS *  8.0f / 32768.0f)
+#define LSM6DSV_ACCEL_SCALE_16G             (GRAVITY_MSS * 16.0f / 32768.0f)
 
 // ---- Gyroscope sensitivity per ST datasheet (mdps/LSB → rad/s) ----
-constexpr float LSM6DSV_GYRO_SCALE_125DPS  = radians(4.375f  / 1000.0f);
-constexpr float LSM6DSV_GYRO_SCALE_250DPS  = radians(8.75f   / 1000.0f);
-constexpr float LSM6DSV_GYRO_SCALE_500DPS  = radians(17.50f  / 1000.0f);
-constexpr float LSM6DSV_GYRO_SCALE_1000DPS = radians(35.0f   / 1000.0f);
-constexpr float LSM6DSV_GYRO_SCALE_2000DPS = radians(70.0f   / 1000.0f);
-constexpr float LSM6DSV_GYRO_SCALE_4000DPS = radians(140.0f  / 1000.0f);
+#define LSM6DSV_GYRO_SCALE_125DPS           radians(4.375f  / 1000.0f)
+#define LSM6DSV_GYRO_SCALE_250DPS           radians(8.75f   / 1000.0f)
+#define LSM6DSV_GYRO_SCALE_500DPS           radians(17.50f  / 1000.0f)
+#define LSM6DSV_GYRO_SCALE_1000DPS          radians(35.0f   / 1000.0f)
+#define LSM6DSV_GYRO_SCALE_2000DPS          radians(70.0f   / 1000.0f)
+#define LSM6DSV_GYRO_SCALE_4000DPS          radians(140.0f  / 1000.0f)
 
 struct PACKED RawSample {
     le16_t gyro[3];
@@ -206,7 +206,6 @@ AP_InertialSensor_LSM6DSV::AP_InertialSensor_LSM6DSV(AP_InertialSensor &imu,
     , _rotation(rotation)
     , _accel_scale(LSM6DSV_ACCEL_SCALE_16G)
     , _gyro_scale(LSM6DSV_GYRO_SCALE_2000DPS)
-    , _accel_range_g(16.0f)
     , _whoami(0)
     , _temperature_counter(0)
     , _fifo_buffer(nullptr)
@@ -434,7 +433,7 @@ bool AP_InertialSensor_LSM6DSV::configure_accel()
 
 bool AP_InertialSensor_LSM6DSV::configure_primary_fifo()
 {
-#if !LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
+#if !LSM6DSV_USE_FIFO
     return true;
 #else
     const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
@@ -479,7 +478,7 @@ uint16_t AP_InertialSensor_LSM6DSV::calculate_backend_rate(uint16_t base_rate_hz
 
 AP_InertialSensor_LSM6DSV::SampleSourceMode AP_InertialSensor_LSM6DSV::active_sample_source() const
 {
-#if LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO
+#if LSM6DSV_USE_FIFO
     return SampleSourceMode::FIFO;
 #else
     return SampleSourceMode::Polling;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
index 8fdad2e1726d0..ed8db66bcc6bd 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
@@ -129,7 +129,6 @@ class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
     enum Rotation _rotation;
     float _accel_scale;
     float _gyro_scale;
-    float _accel_range_g;
     uint8_t _whoami;
     uint8_t _temperature_counter;
     uint16_t _backend_rate_hz;

From ca87d668f5ab4e1ab21b11e6b738696a6c372826 Mon Sep 17 00:00:00 2001
From: Brown <zebulon-86@outlook.com>
Date: Sat, 28 Mar 2026 21:15:21 +0800
Subject: [PATCH 07/40] AP_InertialSensor: LSM6DSV driver review fixes

Address review feedback and follow-up self-review findings.

- Remove the unused polling path
- Fix the FS_G_4000DPS register setting
- Switch counter-based timing checks to wall-clock based logic
- Tighten FIFO buffer allocation/lifetime handling
- Clean up related initialization and SPI transfer documentation
---
 .../AP_InertialSensor_LSM6DSV.cpp             | 254 +++---------------
 .../AP_InertialSensor_LSM6DSV.h               |  30 +--
 2 files changed, 47 insertions(+), 237 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
index e68f9d3c159d3..4e16a78af0b70 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.cpp
@@ -36,10 +36,6 @@ extern const AP_HAL::HAL& hal;
 
 namespace {
 
-#ifndef LSM6DSV_USE_FIFO
-#define LSM6DSV_USE_FIFO 1
-#endif
-
 // Enable the second-stage digital low-pass filter (LPF2) on the
 // accelerometer output.  Bandwidth is set by LSM6DSV_ACCEL_LPF2_BW.
 #ifndef LSM6DSV_ACCEL_LPF2_ENABLED
@@ -93,7 +89,7 @@ namespace {
 #define LSM6DSV_CTRL6_FS_G_500DPS           0x02
 #define LSM6DSV_CTRL6_FS_G_1000DPS          0x03
 #define LSM6DSV_CTRL6_FS_G_2000DPS          0x04
-#define LSM6DSV_CTRL6_FS_G_4000DPS          0xC0
+#define LSM6DSV_CTRL6_FS_G_4000DPS          0x0C
 
 // ---- Control register 8 — accel full-scale & LPF2 BW (R/W) ----
 // [7:5] HP_LPF2_XL_BW   [1:0] FS_XL: accelerometer full-scale
@@ -150,13 +146,15 @@ namespace {
 #define LSM6DSV_RESET_TIMEOUT_MS            100
 #define LSM6DSV_DATA_READY_TIMEOUT_MS       20
 #define LSM6DSV_POWERUP_DELAY_MS            5
-#define LSM6DSV_TEMPERATURE_UPDATE_INTERVAL 100
 
 // ---- FIFO sizing ----
 #define LSM6DSV_PRIMARY_FIFO_WATERMARK_WORDS 2
 #define LSM6DSV_FIFO_MAX_DRAIN_WORDS        32
 #define LSM6DSV_FIFO_BURST_WORDS            16
 
+// temperature update interval in milliseconds
+#define LSM6DSV_TEMPERATURE_UPDATE_MS       100
+
 // ---- Temperature conversion ----
 #define LSM6DSV_TEMPERATURE_ZERO_C          25.0f
 #define LSM6DSV_TEMPERATURE_SENSITIVITY     256.0f  // LSB/°C
@@ -175,24 +173,11 @@ namespace {
 #define LSM6DSV_GYRO_SCALE_2000DPS          radians(70.0f   / 1000.0f)
 #define LSM6DSV_GYRO_SCALE_4000DPS          radians(140.0f  / 1000.0f)
 
-struct PACKED RawSample {
-    le16_t gyro[3];
-    le16_t accel[3];
-};
-
-struct PACKED RawSampleWithTemp {
-    le16_t temp;
-    le16_t gyro[3];
-    le16_t accel[3];
-};
-
 struct PACKED RawFifoWord {
     uint8_t tag;
     le16_t axis[3];
 };
 
-static_assert(sizeof(RawSample) == 12, "RawSample must be 12 bytes");
-static_assert(sizeof(RawSampleWithTemp) == 14, "RawSampleWithTemp must be 14 bytes");
 static_assert(sizeof(RawFifoWord) == 7, "RawFifoWord must be 7 bytes");
 constexpr uint16_t LSM6DSV_FIFO_BURST_BUFFER_SIZE = LSM6DSV_FIFO_BURST_WORDS * sizeof(RawFifoWord) + 1;
 
@@ -206,12 +191,17 @@ AP_InertialSensor_LSM6DSV::AP_InertialSensor_LSM6DSV(AP_InertialSensor &imu,
     , _rotation(rotation)
     , _accel_scale(LSM6DSV_ACCEL_SCALE_16G)
     , _gyro_scale(LSM6DSV_GYRO_SCALE_2000DPS)
-    , _whoami(0)
-    , _temperature_counter(0)
-    , _fifo_buffer(nullptr)
 {
 }
 
+AP_InertialSensor_LSM6DSV::~AP_InertialSensor_LSM6DSV()
+{
+    if (_fifo_buffer != nullptr) {
+        hal.util->free_type(_fifo_buffer, LSM6DSV_FIFO_BURST_BUFFER_SIZE,
+                            AP_HAL::Util::MEM_DMA_SAFE);
+    }
+}
+
 AP_InertialSensor_Backend *AP_InertialSensor_LSM6DSV::probe(AP_InertialSensor &imu,
                                                             AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
                                                             enum Rotation rotation)
@@ -266,26 +256,21 @@ void AP_InertialSensor_LSM6DSV::start()
         if (!configure_primary_fifo()) {
             return;
         }
-    }
 
-    // re-configure ODR registers for the target sampling rate
-    WITH_SEMAPHORE(_dev->get_semaphore());
-    const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
-    write_register(LSM6DSV_REG_CTRL1, LSM6DSV_CTRL_MODE_HAODR | odr, true);
-    write_register(LSM6DSV_REG_CTRL2, LSM6DSV_CTRL_MODE_HAODR | odr, true);
-    if (active_sample_source() == SampleSourceMode::FIFO) {
+        // re-configure ODR registers for the target sampling rate
+        const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
+        write_register(LSM6DSV_REG_CTRL1, LSM6DSV_CTRL_MODE_HAODR | odr, true);
+        write_register(LSM6DSV_REG_CTRL2, LSM6DSV_CTRL_MODE_HAODR | odr, true);
         configure_primary_fifo();
     }
 
     set_gyro_orientation(gyro_instance, _rotation);
     set_accel_orientation(accel_instance, _rotation);
 
-    if (active_sample_source() == SampleSourceMode::FIFO) {
-        _fifo_buffer = static_cast<uint8_t *>(hal.util->malloc_type(LSM6DSV_FIFO_BURST_BUFFER_SIZE,
-                                                                     AP_HAL::Util::MEM_DMA_SAFE));
-        if (_fifo_buffer == nullptr) {
-            return;
-        }
+    _fifo_buffer = static_cast<uint8_t *>(hal.util->malloc_type(LSM6DSV_FIFO_BURST_BUFFER_SIZE,
+                                                                 AP_HAL::Util::MEM_DMA_SAFE));
+    if (_fifo_buffer == nullptr) {
+        AP_HAL::panic("LSM6DSV: Unable to allocate FIFO buffer");
     }
 
     periodic_handle = _dev->register_periodic_callback(_backend_period_us,
@@ -301,9 +286,9 @@ bool AP_InertialSensor_LSM6DSV::update()
 
 bool AP_InertialSensor_LSM6DSV::get_output_banner(char* banner, uint8_t banner_len)
 {
-    snprintf(banner, banner_len, "IMU%u: LSM6DSV16X%s sampling %.1fkHz",
+    snprintf(banner, banner_len, "IMU%u: LSM6DSV16X %s sampling %.1fkHz",
              gyro_instance,
-             _fast_sampling ? " fast" : " normal",
+             _fast_sampling ? "fast" : "normal",
              _backend_rate_hz * 0.001f);
     return true;
 }
@@ -401,7 +386,8 @@ bool AP_InertialSensor_LSM6DSV::reset_device()
         return false;
     }
 
-    for (uint8_t i = 0; i < LSM6DSV_RESET_TIMEOUT_MS; i++) {
+    const uint32_t start_ms = AP_HAL::millis();
+    while (AP_HAL::millis() - start_ms < LSM6DSV_RESET_TIMEOUT_MS) {
         uint8_t ctrl3 = 0;
         hal.scheduler->delay(1);
         if (!read_registers(LSM6DSV_REG_CTRL3, &ctrl3, 1)) {
@@ -433,9 +419,6 @@ bool AP_InertialSensor_LSM6DSV::configure_accel()
 
 bool AP_InertialSensor_LSM6DSV::configure_primary_fifo()
 {
-#if !LSM6DSV_USE_FIFO
-    return true;
-#else
     const uint8_t odr = odr_code_for_rate(_backend_rate_hz);
     const uint8_t fifo_ctrl3 = uint8_t((odr << 4) | odr);
 
@@ -445,7 +428,6 @@ bool AP_InertialSensor_LSM6DSV::configure_primary_fifo()
            write_register(LSM6DSV_REG_FIFO_CTRL2, 0x00, true) &&
            write_register(LSM6DSV_REG_FIFO_CTRL3, fifo_ctrl3, true) &&
            write_register(LSM6DSV_REG_FIFO_CTRL4, LSM6DSV_FIFO_CTRL4_MODE_CONTINUOUS, true);
-#endif
 }
 
 uint8_t AP_InertialSensor_LSM6DSV::odr_code_for_rate(uint16_t rate_hz) const
@@ -475,16 +457,6 @@ uint16_t AP_InertialSensor_LSM6DSV::calculate_backend_rate(uint16_t base_rate_hz
     return constrain_int16(base_rate_hz * mult, base_rate_hz, 8000);
 }
 
-
-AP_InertialSensor_LSM6DSV::SampleSourceMode AP_InertialSensor_LSM6DSV::active_sample_source() const
-{
-#if LSM6DSV_USE_FIFO
-    return SampleSourceMode::FIFO;
-#else
-    return SampleSourceMode::Polling;
-#endif
-}
-
 bool AP_InertialSensor_LSM6DSV::fifo_tag_supported_for_primary(const FifoTag tag)
 {
     return tag == FifoTag::GyroNC || tag == FifoTag::AccelNC;
@@ -560,109 +532,6 @@ bool AP_InertialSensor_LSM6DSV::write_register(uint8_t reg, uint8_t value, bool
     return _dev->write_register(reg, value, checked);
 }
 
-bool AP_InertialSensor_LSM6DSV::fetch_primary_sample(SampleFrame &sample)
-{
-    // Primary mode is the planned first FIFO landing zone, so keep the current
-    // burst-read path isolated from the other route-specific fetch logic.
-    RawSampleWithTemp raw{};
-    if (!read_registers(LSM6DSV_REG_OUT_TEMP_L, reinterpret_cast<uint8_t *>(&raw), sizeof(raw))) {
-        return false;
-    }
-
-    sample.raw_temp = int16_t(le16toh(raw.temp));
-    sample.has_raw_temp = true;
-
-    sample.gyro = Vector3f{
-        float(int16_t(le16toh(raw.gyro[0]))) * _gyro_scale,
-        float(int16_t(le16toh(raw.gyro[1]))) * _gyro_scale,
-        float(int16_t(le16toh(raw.gyro[2]))) * _gyro_scale,
-    };
-
-    sample.accel = Vector3f{
-        float(int16_t(le16toh(raw.accel[0]))) * _accel_scale,
-        float(int16_t(le16toh(raw.accel[1]))) * _accel_scale,
-        float(int16_t(le16toh(raw.accel[2]))) * _accel_scale,
-    };
-
-    return true;
-}
-
-bool AP_InertialSensor_LSM6DSV::read_sample(SampleFrame &sample)
-{
-    return fetch_primary_sample(sample);
-}
-
-bool AP_InertialSensor_LSM6DSV::read_status_registers(uint8_t &gyro_status, uint8_t &accel_status, uint32_t now_us)
-{
-    gyro_status = 0;
-    accel_status = 0;
-
-    if (!read_registers(LSM6DSV_REG_STATUS, &gyro_status, 1)) {
-        _inc_accel_error_count(accel_instance);
-        _inc_gyro_error_count(gyro_instance);
-        return false;
-    }
-
-    accel_status = gyro_status;
-    return true;
-}
-
-bool AP_InertialSensor_LSM6DSV::sample_ready_for_route(uint8_t gyro_status, uint8_t accel_status, uint32_t now_us)
-{
-    const bool gyro_ready = (gyro_status & LSM6DSV_STATUS_GDA) != 0;
-    const bool accel_ready = (accel_status & LSM6DSV_STATUS_XLDA) != 0;
-    return gyro_ready && accel_ready;
-}
-
-bool AP_InertialSensor_LSM6DSV::fetch_current_sample(SampleFrame &sample, uint32_t now_us)
-{
-    if (read_sample(sample)) {
-        return true;
-    }
-
-    _inc_accel_error_count(accel_instance);
-    _inc_gyro_error_count(gyro_instance);
-    return false;
-}
-
-bool AP_InertialSensor_LSM6DSV::fetch_polling_frame(SampleFrame &sample, uint32_t now_us)
-{
-    uint8_t gyro_status = 0;
-    uint8_t accel_status = 0;
-
-    if (!read_status_registers(gyro_status, accel_status, now_us)) {
-        return false;
-    }
-
-    if (!sample_ready_for_route(gyro_status, accel_status, now_us)) {
-        return false;
-    }
-
-    return fetch_current_sample(sample, now_us);
-}
-
-bool AP_InertialSensor_LSM6DSV::fetch_source_frame(SourceFrame &frame, uint32_t now_us)
-{
-    uint8_t gyro_status = 0;
-    uint8_t accel_status = 0;
-
-    if (!read_status_registers(gyro_status, accel_status, now_us)) {
-        return false;
-    }
-
-    if (!sample_ready_for_route(gyro_status, accel_status, now_us)) {
-        return false;
-    }
-
-    if (!fetch_current_sample(frame.sample, now_us)) {
-        return false;
-    }
-
-    frame.gyro_status = gyro_status;
-    frame.accel_status = accel_status;
-    return true;
-}
-
 bool AP_InertialSensor_LSM6DSV::read_fifo_status(FifoFrame &frame, uint32_t now_us)
 {
     uint8_t fifo_status[2] {};
@@ -685,6 +554,7 @@ bool AP_InertialSensor_LSM6DSV::read_fifo_words_block(const uint16_t n_words, ui
     }
 
     _fifo_buffer[0] = LSM6DSV_REG_FIFO_DATA_OUT_TAG | LSM6DSV_SPI_READ_FLAG;
+    // zero MOSI payload for SPI full-duplex read
     memset(_fifo_buffer + 1, 0, n_words * sizeof(RawFifoWord));
     if (!_dev->transfer_fullduplex(_fifo_buffer, n_words * sizeof(RawFifoWord) + 1)) {
         _inc_accel_error_count(accel_instance);
@@ -697,7 +567,7 @@ bool AP_InertialSensor_LSM6DSV::read_fifo_words_block(const uint16_t n_words, ui
 
 bool AP_InertialSensor_LSM6DSV::consume_fifo_word(FifoFrame &frame, SampleFrame &sample, const uint8_t *raw_word)
 {
-    RawFifoWord raw{};
+    RawFifoWord raw;
     memcpy(&raw, raw_word, sizeof(raw));
 
     frame.tag = decode_fifo_tag(raw.tag);
@@ -730,15 +600,6 @@ bool AP_InertialSensor_LSM6DSV::consume_fifo_word(FifoFrame &frame, SampleFrame
 uint16_t AP_InertialSensor_LSM6DSV::drain_fifo(uint32_t now_us)
 {
     FifoFrame frame{};
-    frame.tag = FifoTag::Empty;
-    frame.unread_words = 0;
-    frame.tag_count = 0;
-    frame.source.gyro_status = 0;
-    frame.source.accel_status = 0;
-    frame.source.sample.raw_temp = 0;
-    frame.source.sample.has_raw_temp = false;
-    frame.source.sample.gyro.zero();
-    frame.source.sample.accel.zero();
 
     if (!read_fifo_status(frame, now_us)) {
         return 0;
@@ -762,17 +623,17 @@ uint16_t AP_InertialSensor_LSM6DSV::drain_fifo(uint32_t now_us)
 
         const uint8_t *raw_word = _fifo_buffer + 1;
         for (uint16_t i = 0; i < block_words; i++, raw_word += sizeof(RawFifoWord)) {
-            if (!consume_fifo_word(frame, frame.source.sample, raw_word)) {
+            if (!consume_fifo_word(frame, frame.sample, raw_word)) {
                 return samples_published;
             }
             drained++;
             if (frame.tag == FifoTag::GyroNC) {
-                publish_gyro_sample(frame.source.sample);
+                publish_gyro_sample(frame.sample);
                 samples_published++;
-                frame.source.sample.gyro.zero();
+                frame.sample.gyro.zero();
             } else if (frame.tag == FifoTag::AccelNC) {
-                publish_accel_sample(frame.source.sample);
-                frame.source.sample.accel.zero();
+                publish_accel_sample(frame.sample);
+                frame.sample.accel.zero();
             }
         }
     }
@@ -794,16 +655,7 @@ void AP_InertialSensor_LSM6DSV::publish_accel_sample(SampleFrame &sample)
 {
     _rotate_and_correct_accel(accel_instance, sample.accel);
     _notify_new_accel_raw_sample(accel_instance, sample.accel);
-    update_temperature(LSM6DSV_STATUS_GDA, nullptr);
-}
-
-void AP_InertialSensor_LSM6DSV::publish_current_sample(SampleFrame &sample, uint8_t gyro_status)
-{
-    _rotate_and_correct_accel(accel_instance, sample.accel);
-    _rotate_and_correct_gyro(gyro_instance, sample.gyro);
-    _notify_new_accel_raw_sample(accel_instance, sample.accel);
-    _notify_new_gyro_raw_sample(gyro_instance, sample.gyro);
-    update_temperature(gyro_status, sample.has_raw_temp ? &sample.raw_temp : nullptr);
+    update_temperature();
 }
 
 void AP_InertialSensor_LSM6DSV::check_register_monitor()
@@ -818,48 +670,26 @@ void AP_InertialSensor_LSM6DSV::check_register_monitor()
     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 }
 
-void AP_InertialSensor_LSM6DSV::update_temperature(const uint8_t status, const int16_t *raw_temp)
+void AP_InertialSensor_LSM6DSV::update_temperature()
 {
-    if (_temperature_counter++ < LSM6DSV_TEMPERATURE_UPDATE_INTERVAL) {
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - _temperature_last_ms < LSM6DSV_TEMPERATURE_UPDATE_MS) {
         return;
     }
-    _temperature_counter = 0;
+    _temperature_last_ms = now_ms;
 
-    int16_t temperature_raw = 0;
-    if (raw_temp != nullptr) {
-        temperature_raw = *raw_temp;
-    } else {
-        const bool fifo_temp_poll = active_sample_source() == SampleSourceMode::FIFO;
-        if (!fifo_temp_poll && (status & LSM6DSV_STATUS_TDA) == 0) {
-            return;
-        }
-        uint8_t tbuf[2];
-        if (!read_registers(LSM6DSV_REG_OUT_TEMP_L, tbuf, sizeof(tbuf))) {
-            _inc_accel_error_count(accel_instance);
-            return;
-        }
-        temperature_raw = int16_t(uint16_t(tbuf[0] | (tbuf[1] << 8)));
+    uint8_t tbuf[2];
+    if (!read_registers(LSM6DSV_REG_OUT_TEMP_L, tbuf, sizeof(tbuf))) {
+        _inc_accel_error_count(accel_instance);
+        return;
     }
-
+    const int16_t temperature_raw = int16_t(uint16_t(tbuf[0] | (tbuf[1] << 8)));
     const float temp_degc = LSM6DSV_TEMPERATURE_ZERO_C + temperature_raw / LSM6DSV_TEMPERATURE_SENSITIVITY;
     _publish_temperature(accel_instance, temp_degc);
 }
 
 void AP_InertialSensor_LSM6DSV::poll_data()
 {
-    const uint32_t now_us = AP_HAL::micros();
-
-    if (active_sample_source() == SampleSourceMode::FIFO) {
-        drain_fifo(now_us);
-        check_register_monitor();
-        return;
-    }
-
-    SourceFrame frame{};
-    if (!fetch_source_frame(frame, now_us)) {
-        return;
-    }
-
-    publish_current_sample(frame.sample, frame.gyro_status);
+    drain_fifo(AP_HAL::micros());
     check_register_monitor();
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
index ed8db66bcc6bd..e1943cfc97e9e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM6DSV.h
@@ -34,16 +34,13 @@ class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
                                             AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
                                             enum Rotation rotation=LSM6DSV_DEFAULT_ROTATION);
 
+    ~AP_InertialSensor_LSM6DSV() override;
+
     void start() override;
     bool update() override;
     bool get_output_banner(char* banner, uint8_t banner_len) override;
 
 private:
-    enum class SampleSourceMode : uint8_t {
-        Polling,
-        FIFO,
-    };
-
     enum class FifoTag : uint8_t {
         Empty = 0x00,
         GyroNC = 0x01,
@@ -66,18 +63,10 @@ class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
     struct SampleFrame {
         Vector3f gyro;
         Vector3f accel;
-        int16_t raw_temp;
-        bool has_raw_temp;
-    };
-
-    struct SourceFrame {
-        SampleFrame sample;
-        uint8_t gyro_status;
-        uint8_t accel_status;
     };
 
     struct FifoFrame {
-        SourceFrame source;
+        SampleFrame sample;
         FifoTag tag;
         uint16_t unread_words;
         uint8_t tag_count;
@@ -98,26 +87,17 @@ class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
 
     bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
     bool write_register(uint8_t reg, uint8_t value, bool checked=false);
-    bool fetch_primary_sample(SampleFrame &sample);
-    bool read_sample(SampleFrame &sample);
-    bool read_status_registers(uint8_t &gyro_status, uint8_t &accel_status, uint32_t now_us);
-    bool sample_ready_for_route(uint8_t gyro_status, uint8_t accel_status, uint32_t now_us);
-    bool fetch_current_sample(SampleFrame &sample, uint32_t now_us);
-    bool fetch_polling_frame(SampleFrame &sample, uint32_t now_us);
-    bool fetch_source_frame(SourceFrame &frame, uint32_t now_us);
     bool read_fifo_status(FifoFrame &frame, uint32_t now_us);
     bool read_fifo_words_block(uint16_t n_words, uint32_t now_us);
     bool consume_fifo_word(FifoFrame &frame, SampleFrame &sample, const uint8_t *raw_word);
     uint16_t drain_fifo(uint32_t now_us);
     void publish_gyro_sample(SampleFrame &sample);
     void publish_accel_sample(SampleFrame &sample);
-    void publish_current_sample(SampleFrame &sample, uint8_t gyro_status);
     void check_register_monitor();
-    void update_temperature(uint8_t status, const int16_t *raw_temp=nullptr);
+    void update_temperature();
     uint8_t odr_code_for_rate(uint16_t rate_hz) const;
     uint16_t calculate_backend_rate(uint16_t base_rate_hz) const;
 
-    SampleSourceMode active_sample_source() const;
     static bool fifo_tag_supported_for_primary(FifoTag tag);
     static FifoTag decode_fifo_tag(uint8_t raw_tag);
     static uint8_t decode_fifo_tag_count(uint8_t raw_tag);
@@ -130,7 +110,7 @@ class AP_InertialSensor_LSM6DSV : public AP_InertialSensor_Backend {
     float _accel_scale;
     float _gyro_scale;
     uint8_t _whoami;
-    uint8_t _temperature_counter;
+    uint32_t _temperature_last_ms;
     uint16_t _backend_rate_hz;
     uint32_t _backend_period_us;
     bool _fast_sampling = false;

From 6deeaef9d9f472439007b07af0763325e94f802a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 11 Feb 2026 18:30:22 +1100
Subject: [PATCH 08/40] AP_Baro: read data from BMP581 twice, reject if not
 identical

reports of corruption on this device
---
 libraries/AP_Baro/AP_Baro_BMP581.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/libraries/AP_Baro/AP_Baro_BMP581.cpp b/libraries/AP_Baro/AP_Baro_BMP581.cpp
index c8afb69ca6705..fa7e4119c3d36 100644
--- a/libraries/AP_Baro/AP_Baro_BMP581.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP581.cpp
@@ -146,10 +146,20 @@ bool AP_Baro_BMP581::init()
 void AP_Baro_BMP581::timer(void)
 {
     uint8_t buf[6];
+    uint8_t buf2[6];
 
+    // read twice, make sure results are consistent; corruption has
+    // been seen from data on this sensor
     if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) {
         return;
     }
+    if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf2, sizeof(buf2))) {
+        return;
+    }
+    if (memcmp(buf, buf2, ARRAY_SIZE(buf)) != 0) {
+        // we didn't get the same data twice.  Reject.
+        return;
+    }
 
     WITH_SEMAPHORE(_sem);
 

From 096f61dbf90a7dcdd07fad66302bf0e7d28607f7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 6 Mar 2026 15:05:42 +1100
Subject: [PATCH 09/40] hwdef: add BMP581 as Barometer option on Pixhawk6X

---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index 396599565520f..ac9ac3a80823e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -285,6 +285,10 @@ PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
 BARO BMP388 I2C:2:0x76
 BARO BMP388 I2C:0:0x77
 
+# barometers (Holybro 6X more recent versions)
+BARO BMP581 I2C:2:0x46
+BARO BMP581 I2C:0:0x46
+
 # barometers (CUAV 6X)
 BARO ICP201XX I2C:0:0x64
 BARO ICP201XX I2C:2:0x63

From 6bd77df5a80c0ea15f33bc4f548fe1fa71cb3317 Mon Sep 17 00:00:00 2001
From: ES-Alexander <sandman.esalexander@gmail.com>
Date: Mon, 13 Apr 2026 20:30:10 +1000
Subject: [PATCH 10/40] Sub: Parameters.h: fix outdated default lights output
 config

---
 ArduSub/Parameters.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index e37bda26fb09a..ec259666dfc2a 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -461,7 +461,7 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
 #if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      768},
 #endif
-    { "SERVO9_FUNCTION",     59},    // k_rcin9, lights 1
+    { "SERVO9_FUNCTION",     181},   // k_lights1
     { "SERVO10_FUNCTION",    7},     // k_mount_tilt
 #endif
 };

From 840fc2d0d3bfc5c45094ecf2a09e87d7c19c92fa Mon Sep 17 00:00:00 2001
From: Peter Hall <iampete@hotmail.co.uk>
Date: Tue, 7 Apr 2026 22:29:01 +0100
Subject: [PATCH 11/40] AP_Arming: arm_check: always check for estop

---
 libraries/AP_Arming/AP_Arming.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 0ce5f86815ac2..a31ba97036815 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1777,6 +1777,13 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
     }
 #endif
 
+    // Run estop check again, here in the arm checks there is no need
+    // bypass the check if arm emergency stop aux function is setup
+    if (SRV_Channels::get_emergency_stop()) {
+        check_failed(true, "Motors Emergency Stopped");
+        return false;
+    }
+
     // ensure the GPS drivers are ready on any final changes
     if (check_enabled(Check::GPS_CONFIG)) {
         if (!AP::gps().prepare_for_arming()) {

From fd279dce54cb9a9bb616b7f6cbb854111c3686de Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 10 Apr 2026 12:42:27 +0930
Subject: [PATCH 12/40] AP_Math: add comprehensive calculate_path tests
 covering all code paths

---
 libraries/AP_Math/tests/test_scurve.cpp | 93 ++++++++++++++++++++++---
 1 file changed, 84 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Math/tests/test_scurve.cpp b/libraries/AP_Math/tests/test_scurve.cpp
index 22b1a0beda59f..8a6f3e1ec15dd 100644
--- a/libraries/AP_Math/tests/test_scurve.cpp
+++ b/libraries/AP_Math/tests/test_scurve.cpp
@@ -5,18 +5,93 @@
 #include <AP_Math/vector3.h>
 #include <AP_Math/SCurve.h>
 
-TEST(LinesScurve, test_calculate_path)
+// Test inputs and expected outputs for each code path in calculate_path.
+//
+// With Sm=62.8319, Jm=10: tj ≈ 0.25, Jm*tj ≈ 2.5
+// At = MIN(Am, (Vm-V0)/(2*tj), (L - 4*V0*tj)/(4*tj²))
+//    ≈ MIN(Am, (Vm-V0)/0.5, (L-V0)/0.25)
+//
+// Paths exercised:
+//   B: V0 >= Vm
+//   C: At <= 0 (requires L < V0 approx, sign fix path)
+//   D: At<Jm*tj, V0==0, solution=0
+//   E: At<Jm*tj, V0==0, solution=2
+//   F: At<Jm*tj, V0>0, solution=0
+//   G: At<Jm*tj, V0>0, solution=2
+//   H: At>=Jm*tj, solution=5
+//   I: At>=Jm*tj, solution=7
+struct PathTest {
+    const char *name;
+    float Sm, Jm, V0, Am, Vm, L;
+    float exp_Jm, exp_tj, exp_t2, exp_t4, exp_t6;
+};
+
+static const PathTest path_tests[] = {
+
+    // ---- Path B: V0 >= Vm ----
+    {"B1_exact",  62.8319, 10, 10,   5,  10,  100,    0, 0, 0, 0, 0},
+    {"B2_just",   62.8319, 10, 5.1,  5,  5,   100,    0, 0, 0, 0, 0},
+    {"B3_mid",    62.8319, 10, 20,   5,  10,  100,    0, 0, 0, 0, 0},
+    {"B4_low",    62.8319, 10, 3,    5,  2,   100,    0, 0, 0, 0, 0},
+
+    // ---- Path C: At <= 0 (sign fix) ----
+    {"C1_just",   62.8319, 10, 5,    5,  10,  4.9,    0, 0, 0, 0, 0},
+    {"C2_deep",   62.8319, 10, 8,    5,  10,  5,      0, 0, 0, 0, 0},
+    {"C3_v3",     62.8319, 10, 3,    5,  10,  2.9,    0, 0, 0, 0, 0},
+    {"C4_hiV0",   62.8319, 10, 9,    5,  10,  8,      0, 0, 0, 0, 0},
+
+    // ---- Path D: At<Jm*tj, V0==0, solution=0 ----
+    {"D1_tiny",   62.8319, 10, 0,    5,  10,  0.01,   3.55656075f, 0.08891395f, 0, 0, 0},
+    {"D2_short",  62.8319, 10, 0,    5,  10,  0.1,    6.32455873f, 0.15811385f, 0, 0, 0},
+    {"D3_nearE",  62.8319, 10, 0,    5,  10,  0.2,    7.52121019f, 0.18803012f, 0, 0, 0},
+    {"D4_lowAm",  62.8319, 10, 0,    1,  10,  0.005,  2.99069929f, 0.07476743f, 0, 0, 0},
+
+    // ---- Path E: At<Jm*tj, V0==0, solution=2 ----
+    {"E1_deep",   62.8319, 10, 0,    2,    10,  50,    8.94427586f, 0.22360672f, 0, 4.55278635f, 0},
+    {"E2_nearD",  62.8319, 10, 0,    2,    10,  5,     8.94427586f, 0.22360672f, 0, 1.57640016f, 0},
+    {"E3_nearI",  62.8319, 10, 0,    2.4,  10,  50,    9.79796314f, 0.24494889f, 0, 3.67676854f, 0},
+    {"E4_lowAm",  62.8319, 10, 0,    1,    10,  50,    6.32455778f, 0.15811382f, 0, 9.52690887f, 0},
+
+    // ---- Path F: At<Jm*tj, V0>0, solution=0 ----
+    {"F1_nearC",  62.8319, 10, 5,    5,  10,  5.1,    1.60006297f, 0.24999982f, 0, 0, 0},
+    {"F2_mid",    62.8319, 10, 1,    5,  10,  1.5,    8.00002861f, 0.24999982f, 0, 0, 0},
+    {"F3_v2",     62.8319, 10, 2,    5,  10,  2.3,    4.80003214f, 0.24999982f, 0, 0, 0},
+    {"F4_amBind", 62.8319, 10, 0.5,  2,  10,  0.8,    4.80001593f, 0.24999982f, 0, 0, 0},
+
+    // ---- Path G: At<Jm*tj, V0>0, solution=2 ----
+    {"G1_deep",   62.8319, 10, 1,    2,  10,  50,     8.00000572f, 0.24999982f, 0, 4.00000000f, 0},
+    {"G2_mod",    62.8319, 10, 0.5,  2,  10,  10,     8.00000572f, 0.24999982f, 0, 2.16227818f, 0},
+    {"G3_nearF",  62.8319, 10, 2,    2,  10,  10,     8.00000572f, 0.24999982f, 0, 1.50000060f, 0},
+    {"G4_loV0",   62.8319, 10, 0.1,  2,  10,  50,     8.00000572f, 0.24999982f, 0, 4.44999981f, 0},
+
+    // ---- Path H: At>=Jm*tj, solution=5 ----
+    {"H1_nearI",  62.8319, 10, 0,    5,  3.7, 100,    10.0f, 0.24999982f, 0.24598742f, 0, 0.24598742f},
+    {"H2_mid",    62.8319, 10, 0,    5,  3.5, 100,    10.0f, 0.24999982f, 0.22966957f, 0, 0.22966957f},
+    {"H3_shortL", 62.8319, 10, 0,    5,  10,  1.5,    10.0f, 0.24999982f, 0.12905994f, 0, 0.12905994f},
+    {"H4_v0p",    62.8319, 10, 2,    5,  5.5, 100,    10.0f, 0.24999982f, 0.22966957f, 0, 0.22966957f},
+
+    // ---- Path I: At>=Jm*tj, solution=7 ----
+    {"I1_nearH",  62.8319, 10, 0,    5,  3.8, 100,    10.0f, 0.24999982f, 0.25000018f, 0.01000018f, 0.25000018f},
+    {"I2_deep",   62.8319, 10, 0,    5,  10,  100,    10.0f, 0.24999982f, 0.25000018f, 1.25000024f, 0.25000018f},
+    {"I3_v0p",    62.8319, 10, 2,    5,  10,  100,    10.0f, 0.24999982f, 0.25000018f, 0.85000020f, 0.25000018f},
+    {"I4_lowAm",  62.8319, 10, 0,    3,  5,   100,    10.0f, 0.24999982f, 0.05000019f, 1.11666679f, 0.05000019f},
+};
+
+TEST(SCurveCalcPath, coverage_and_outputs)
 {
-    // this test doesn't do much...
     float Jm_out, tj_out, t2_out, t4_out, t6_out;
-    SCurve::calculate_path(62.8319, 10, 0, 5, 10, 100,
-                           Jm_out, tj_out, t2_out, t4_out, t6_out);
-    EXPECT_FLOAT_EQ(Jm_out, 10);
-    EXPECT_FLOAT_EQ(t2_out, 0.25000018);
-    EXPECT_FLOAT_EQ(t4_out, 1.2500002);
-    EXPECT_FLOAT_EQ(t6_out, 0.25000018);
-}
 
+    for (const auto &t : path_tests) {
+        SCurve::calculate_path(t.Sm, t.Jm, t.V0, t.Am, t.Vm, t.L,
+                               Jm_out, tj_out, t2_out, t4_out, t6_out);
+
+        EXPECT_FLOAT_EQ(Jm_out, t.exp_Jm) << "Jm mismatch: " << t.name;
+        EXPECT_FLOAT_EQ(tj_out, t.exp_tj) << "tj mismatch: " << t.name;
+        EXPECT_FLOAT_EQ(t2_out, t.exp_t2) << "t2 mismatch: " << t.name;
+        EXPECT_FLOAT_EQ(t4_out, t.exp_t4) << "t4 mismatch: " << t.name;
+        EXPECT_FLOAT_EQ(t6_out, t.exp_t6) << "t6 mismatch: " << t.name;
+    }
+}
 
 AP_GTEST_MAIN()
 int hal = 0; //weirdly the build will fail without this

From 813018edef01547d5cef3bdb2e0260a1bae718a8 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 10 Apr 2026 12:43:25 +0930
Subject: [PATCH 13/40] SCurve: fix path length sign, integer division, and
 divide-by-zero bugs

---
 libraries/AP_Math/SCurve.cpp | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Math/SCurve.cpp b/libraries/AP_Math/SCurve.cpp
index 35234608aa103..9fe6ed13204c3 100644
--- a/libraries/AP_Math/SCurve.cpp
+++ b/libraries/AP_Math/SCurve.cpp
@@ -294,7 +294,7 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
 
         // add to constant velocity segment to end at the correct position
         const float dP = MAX(0.0f, Pend - segment[SEG_DECEL_END].end_pos);
-        const float t15 = dP / segment[SEG_CONST].end_vel;
+        const float t15 = is_positive(segment[SEG_CONST].end_vel) ? dP / segment[SEG_CONST].end_vel : 0.0f;
         for (uint8_t i = SEG_CONST; i <= SEG_DECEL_END; i++) {
             segment[i].end_time += t15;
             segment[i].end_pos += dP;
@@ -321,7 +321,7 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
         float t2 = 0;
         float t4 = 0;
         float t6 = 0;
-        float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4 * snap_max), 1/3), jerk_max * M_PI / (2 * snap_max));
+        float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4 * snap_max), 1.0f / 3.0f), jerk_max * M_PI / (2 * snap_max));
         if ((vel_max < segment[SEG_ACCEL_END].end_vel) && (jerk_time*12.0f < L/segment[SEG_ACCEL_END].end_vel)) {
             // we have a problem here with small segments.
             calculate_path(snap_max, jerk_max, vel_max, accel_max, segment[SEG_ACCEL_END].end_vel, L * 0.5f, Jm, tj, t6, t4, t2);
@@ -372,7 +372,7 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
 
     // add to constant velocity segment to end at the correct position
     const float dP = MAX(0.0f, Pend - segment[SEG_DECEL_END].end_pos);
-    const float t15 = dP / segment[SEG_CONST].end_vel;
+    const float t15 = is_positive(segment[SEG_CONST].end_vel) ? dP / segment[SEG_CONST].end_vel : 0.0f;
     for (uint8_t i = SEG_CONST; i <= SEG_DECEL_END; i++) {
         segment[i].end_time += t15;
         segment[i].end_pos += dP;
@@ -454,7 +454,7 @@ float SCurve::set_origin_speed_max(float speed)
 
     // add to constant velocity segment to end at the correct position
     const float dP = MAX(0.0f, seg_length - segment[SEG_DECEL_END].end_pos);
-    const float t15 = dP / segment[SEG_CONST].end_vel;
+    const float t15 = is_positive(segment[SEG_CONST].end_vel) ? dP / segment[SEG_CONST].end_vel : 0.0f;
     for (uint8_t i = SEG_CONST; i <= SEG_DECEL_END; i++) {
         segment[i].end_time += t15;
         segment[i].end_pos += dP;
@@ -509,7 +509,7 @@ void SCurve::set_destination_speed_max(float speed)
 
     // add to constant velocity segment to end at the correct position
     const float dP = MAX(0.0f, seg_length - segment[SEG_DECEL_END].end_pos);
-    const float t15 = dP / segment[SEG_CONST].end_vel;
+    const float t15 = is_positive(segment[SEG_CONST].end_vel) ? dP / segment[SEG_CONST].end_vel : 0.0f;
     for (uint8_t i = SEG_CONST; i <= SEG_DECEL_END; i++) {
         segment[i].end_time += t15;
         segment[i].end_pos += dP;
@@ -912,9 +912,12 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
     }
 
     float tj = Jm * M_PI / (2 * Sm);
-    float At = MIN(MIN(Am, 
-        (Vm - V0) / (2.0f * tj) ), 
-        (L + 4.0f * V0 * tj) / (4.0f * sq(tj)) );
+    float At = MIN(MIN(Am,
+        (Vm - V0) / (2.0f * tj) ),
+        (L - 4.0f * V0 * tj) / (4.0f * sq(tj)) );
+    if (!is_positive(At)) {
+        return;
+    }
     if (fabsf(At) < Jm * tj) {
         if (is_zero(V0)) {
             // we do not have a solution for non-zero initial velocity

From 133a4eb02a2e09082248f7fea344e858255dc1eb Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 10 Apr 2026 12:45:51 +0930
Subject: [PATCH 14/40] SCurve: use consistent float literals throughout

---
 libraries/AP_Math/SCurve.cpp | 46 ++++++++++++++++++------------------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_Math/SCurve.cpp b/libraries/AP_Math/SCurve.cpp
index 9fe6ed13204c3..7dfea024854a4 100644
--- a/libraries/AP_Math/SCurve.cpp
+++ b/libraries/AP_Math/SCurve.cpp
@@ -55,7 +55,7 @@ void SCurve::init()
 
     is_arc_segment = false;
     seg_delta.zero();
-    seg_length = 0.0;
+    seg_length = 0.0f;
     arc = {};
 }
 
@@ -84,7 +84,7 @@ void SCurve::calculate_track(const Vector3p &origin, const Vector3p &destination
 
     const Vector2f chord = seg_delta.xy();
     const float chord_length = seg_delta.xy().length();
-    if (!is_positive(chord_length) || fabsf(wrap_PI(arc_ang_rad)) < radians(1.0)) {
+    if (!is_positive(chord_length) || fabsf(wrap_PI(arc_ang_rad)) < radians(1.0f)) {
         // straight segment
         is_arc_segment = false;
         arc.angle_rad = 0.0f;
@@ -321,7 +321,7 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
         float t2 = 0;
         float t4 = 0;
         float t6 = 0;
-        float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4 * snap_max), 1.0f / 3.0f), jerk_max * M_PI / (2 * snap_max));
+        float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4.0f * snap_max), 1.0f / 3.0f), jerk_max * M_PI / (2.0f * snap_max));
         if ((vel_max < segment[SEG_ACCEL_END].end_vel) && (jerk_time*12.0f < L/segment[SEG_ACCEL_END].end_vel)) {
             // we have a problem here with small segments.
             calculate_path(snap_max, jerk_max, vel_max, accel_max, segment[SEG_ACCEL_END].end_vel, L * 0.5f, Jm, tj, t6, t4, t2);
@@ -668,7 +668,7 @@ void SCurve::project_scurve_onto_track(float scurve_A1, float scurve_V1, float s
 float SCurve::time_end() const
 {
     if (num_segs != segments_max) {
-        return 0.0;
+        return 0.0f;
     }
     return segment[SEG_DECEL_END].end_time;
 }
@@ -677,7 +677,7 @@ float SCurve::time_end() const
 float SCurve::get_time_remaining() const
 {
     if (num_segs != segments_max) {
-        return 0.0;
+        return 0.0f;
     }
     return segment[SEG_DECEL_END].end_time - time;
 }
@@ -686,7 +686,7 @@ float SCurve::get_time_remaining() const
 float SCurve::get_accel_finished_time() const
 {
     if (num_segs != segments_max) {
-        return 0.0;
+        return 0.0f;
     }
     return segment[SEG_ACCEL_END].end_time;
 }
@@ -705,7 +705,7 @@ bool SCurve::braking() const
 float SCurve::time_accel_end() const
 {
     if (num_segs != segments_max) {
-        return 0.0;
+        return 0.0f;
     }
     return segment[SEG_ACCEL_END].end_time;
 }
@@ -715,7 +715,7 @@ float SCurve::time_accel_end() const
 float SCurve::time_decel_start() const
 {
     if (num_segs != segments_max) {
-        return 0.0;
+        return 0.0f;
     }
     return segment[SEG_DECEL_START].end_time;
 }
@@ -730,10 +730,10 @@ void SCurve::advance_time(float dt)
 void SCurve::get_jerk_accel_vel_pos_at_time(float time_now, float &Jt_out, float &At_out, float &Vt_out, float &Pt_out) const
 {
     // start with zeros as function is void and we want to guarantee all outputs are initialised
-    Jt_out = 0;
-    At_out = 0;
-    Vt_out = 0;
-    Pt_out = 0;
+    Jt_out = 0.0f;
+    At_out = 0.0f;
+    Vt_out = 0.0f;
+    Pt_out = 0.0f;
     if (num_segs != segments_max) {
         return;
     }
@@ -801,7 +801,7 @@ void SCurve::calc_javp_for_segment_const_jerk(float time_now, float J0, float A0
 void SCurve::calc_javp_for_segment_incr_jerk(float time_now, float tj, float Jm, float A0, float V0, float P0, float &Jt, float &At, float &Vt, float &Pt) const
 {
     if (!is_positive(tj)) {
-        Jt = 0.0;
+        Jt = 0.0f;
         At = A0;
         Vt = V0;
         Pt = P0;
@@ -819,7 +819,7 @@ void SCurve::calc_javp_for_segment_incr_jerk(float time_now, float tj, float Jm,
 void SCurve::calc_javp_for_segment_decr_jerk(float time_now, float tj, float Jm, float A0, float V0, float P0, float &Jt, float &At, float &Vt, float &Pt) const
 {
     if (!is_positive(tj)) {
-        Jt = 0.0;
+        Jt = 0.0f;
         At = A0;
         Vt = V0;
         Pt = P0;
@@ -911,7 +911,7 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
         return;
     }
 
-    float tj = Jm * M_PI / (2 * Sm);
+    float tj = Jm * M_PI / (2.0f * Sm);
     float At = MIN(MIN(Am,
         (Vm - V0) / (2.0f * tj) ),
         (L - 4.0f * V0 * tj) / (4.0f * sq(tj)) );
@@ -922,10 +922,10 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
         if (is_zero(V0)) {
             // we do not have a solution for non-zero initial velocity
             tj = MIN( MIN( MIN( tj,
-                powf((L * M_PI) / (8.0 * Sm), 1.0/4.0) ), 
-                powf((Vm * M_PI) / (4.0 * Sm), 1.0/3.0) ), 
-                safe_sqrt((Am * M_PI) / (2.0 * Sm)) );
-            Jm = 2.0 * Sm * tj / M_PI;
+                powf((L * M_PI) / (8.0f * Sm), 1.0f / 4.0f) ),
+                powf((Vm * M_PI) / (4.0f * Sm), 1.0f / 3.0f) ),
+                safe_sqrt((Am * M_PI) / (2.0f * Sm)) );
+            Jm = 2.0f * Sm * tj / M_PI;
             Am = Jm * tj;
         } else {
             // When doing speed change we use fixed tj and adjust Jm for small changes
@@ -941,7 +941,7 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
             // solution = 2 - t6 t4 t2 = 0 1 0
             t2_out = 0.0f;
             t4_out = MIN(-(V0 - Vm + Am * tj + (Am * Am) / Jm) / Am, MAX(((Am * Am) * (-3.0f / 2.0f) + safe_sqrt((Am * Am * Am * Am) * (1.0f / 4.0f) + (Jm * Jm) * (V0 * V0) + (Am * Am) * (Jm * Jm) * (tj * tj) * (1.0f / 4.0f) + Am * (Jm * Jm) * L * 2.0f - (Am * Am) * Jm * V0 + (Am * Am * Am) * Jm * tj * (1.0f / 2.0f) - Am * (Jm * Jm) * V0 * tj) - Jm * V0 - Am * Jm * tj * (3.0f / 2.0f)) / (Am * Jm), ((Am * Am) * (-3.0f / 2.0f) - safe_sqrt((Am * Am * Am * Am) * (1.0f / 4.0f) + (Jm * Jm) * (V0 * V0) + (Am * Am) * (Jm * Jm) * (tj * tj) * (1.0f / 4.0f) + Am * (Jm * Jm) * L * 2.0f - (Am * Am) * Jm * V0 + (Am * Am * Am) * Jm * tj * (1.0f / 2.0f) - Am * (Jm * Jm) * V0 * tj) - Jm * V0 - Am * Jm * tj * (3.0f / 2.0f)) / (Am * Jm)));
-            t4_out = MAX(t4_out, 0.0);
+            t4_out = MAX(t4_out, 0.0f);
             t6_out = 0.0f;
         }
     } else {
@@ -955,7 +955,7 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
             // solution = 7 - t6 t4 t2 = 1 1 1
             t2_out = Am / Jm - tj;
             t4_out = MIN(-(V0 - Vm + Am * tj + (Am * Am) / Jm) / Am, MAX(((Am * Am) * (-3.0f / 2.0f) + safe_sqrt((Am * Am * Am * Am) * (1.0f / 4.0f) + (Jm * Jm) * (V0 * V0) + (Am * Am) * (Jm * Jm) * (tj * tj) * (1.0f / 4.0f) + Am * (Jm * Jm) * L * 2.0f - (Am * Am) * Jm * V0 + (Am * Am * Am) * Jm * tj * (1.0f / 2.0f) - Am * (Jm * Jm) * V0 * tj) - Jm * V0 - Am * Jm * tj * (3.0f / 2.0f)) / (Am * Jm), ((Am * Am) * (-3.0f / 2.0f) - safe_sqrt((Am * Am * Am * Am) * (1.0f / 4.0f) + (Jm * Jm) * (V0 * V0) + (Am * Am) * (Jm * Jm) * (tj * tj) * (1.0f / 4.0f) + Am * (Jm * Jm) * L * 2.0f - (Am * Am) * Jm * V0 + (Am * Am * Am) * Jm * tj * (1.0f / 2.0f) - Am * (Jm * Jm) * V0 * tj) - Jm * V0 - Am * Jm * tj * (3.0f / 2.0f)) / (Am * Jm)));
-            t4_out = MAX(t4_out, 0.0);
+            t4_out = MAX(t4_out, 0.0f);
             t6_out = t2_out;
         }
     }
@@ -1067,7 +1067,7 @@ void SCurve::add_segment_incr_jerk(uint8_t &index, float tj, float Jm)
     if (!is_positive(tj)) {
         add_segment(index, segment[index - 1].end_time,
                     SegmentType::CONSTANT_JERK,
-                    0.0,
+                    0.0f,
                     segment[index - 1].end_accel,
                     segment[index - 1].end_vel,
                     segment[index - 1].end_pos);
@@ -1096,7 +1096,7 @@ void SCurve::add_segment_decr_jerk(uint8_t &index, float tj, float Jm)
     if (!is_positive(tj)) {
         add_segment(index, segment[index - 1].end_time,
                     SegmentType::CONSTANT_JERK,
-                    0.0,
+                    0.0f,
                     segment[index - 1].end_accel,
                     segment[index - 1].end_vel,
                     segment[index - 1].end_pos);

From 375ed8256f02bca7f8a10959bded075aa5851c8f Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 10 Apr 2026 12:47:22 +0930
Subject: [PATCH 15/40] SCurve: fix comment, whitespace and operator spacing

---
 libraries/AP_Math/SCurve.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Math/SCurve.cpp b/libraries/AP_Math/SCurve.cpp
index 7dfea024854a4..a0cb697073624 100644
--- a/libraries/AP_Math/SCurve.cpp
+++ b/libraries/AP_Math/SCurve.cpp
@@ -98,7 +98,7 @@ void SCurve::calculate_track(const Vector3p &origin, const Vector3p &destination
         arc.radius_ne = fabsf(chord_length / (2.0f * fabsf(sinf(arc.angle_rad * 0.5f))));
         const float center_offset = safe_sqrt(sq(arc.radius_ne) - sq(chord_length * 0.5f)); // perpendicular offset from chord to circle center
         const float turn_dir = is_negative(arc.angle_rad) ? -1.0f : 1.0f; // -1 for CCW, 1 for CW 
-        const float center_side = (is_positive(wrap_PI(fabsf(arc.angle_rad)))) ? 1.0f : -1.0f; // -1 for CCW, 1 for CW
+        const float center_side = (is_positive(wrap_PI(fabsf(arc.angle_rad)))) ? 1.0f : -1.0f; // 1 for |angle| < PI, -1 for |angle| > PI
         if (!is_zero(arc.radius_ne) && !is_zero(chord_length)) {
             arc.center_ne = chord * 0.5f + Vector2f(-chord.y, chord.x) * (center_side * turn_dir * center_offset / chord_length);
             arc.length_ne = arc.radius_ne * fabsf(arc.angle_rad);
@@ -322,13 +322,13 @@ void SCurve::set_speed_max(float speed_xy, float speed_up, float speed_down)
         float t4 = 0;
         float t6 = 0;
         float jerk_time = MIN(powf((fabsf(vel_max - segment[SEG_ACCEL_END].end_vel) * M_PI) / (4.0f * snap_max), 1.0f / 3.0f), jerk_max * M_PI / (2.0f * snap_max));
-        if ((vel_max < segment[SEG_ACCEL_END].end_vel) && (jerk_time*12.0f < L/segment[SEG_ACCEL_END].end_vel)) {
+        if ((vel_max < segment[SEG_ACCEL_END].end_vel) && (jerk_time * 12.0f < L / segment[SEG_ACCEL_END].end_vel)) {
             // we have a problem here with small segments.
             calculate_path(snap_max, jerk_max, vel_max, accel_max, segment[SEG_ACCEL_END].end_vel, L * 0.5f, Jm, tj, t6, t4, t2);
             Jm = -Jm;
 
-        } else if ((vel_max > segment[SEG_ACCEL_END].end_vel) && (L/(jerk_time*12.0f) > segment[SEG_ACCEL_END].end_vel)) {
-            float Vm = MIN(vel_max, L/(jerk_time*12.0f));
+        } else if ((vel_max > segment[SEG_ACCEL_END].end_vel) && (L / (jerk_time * 12.0f) > segment[SEG_ACCEL_END].end_vel)) {
+            float Vm = MIN(vel_max, L / (jerk_time * 12.0f));
             calculate_path(snap_max, jerk_max, segment[SEG_ACCEL_END].end_vel, accel_max, Vm, L * 0.5f, Jm, tj, t2, t4, t6);
         }
 
@@ -723,7 +723,7 @@ float SCurve::time_decel_start() const
 // increment the internal time
 void SCurve::advance_time(float dt)
 {
-    time = MIN(time+dt, time_end());
+    time = MIN(time + dt, time_end());
 }
 
 // calculate the jerk, acceleration, velocity and position at the provided time
@@ -888,7 +888,7 @@ void SCurve::add_segments(float L)
 // Vm - maximum constant velocity
 // L - Length of the path
 // tj_out, t2_out, t4_out, t6_out are the segment durations needed to achieve the kinematic path specified by the input variables
-void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, float L,float &Jm_out, float &tj_out,  float &t2_out, float &t4_out, float &t6_out)
+void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, float L, float &Jm_out, float &tj_out,  float &t2_out, float &t4_out, float &t6_out)
 {
     // init outputs
     Jm_out = 0.0f;

From 835b8b5e78704fe1114867f63dfeb63074fec613 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Fri, 10 Apr 2026 13:35:16 +0930
Subject: [PATCH 16/40] AP_Math: add constraint validation to calculate_path
 tests

---
 libraries/AP_Math/tests/test_scurve.cpp | 151 ++++++++++++++++++++++++
 1 file changed, 151 insertions(+)

diff --git a/libraries/AP_Math/tests/test_scurve.cpp b/libraries/AP_Math/tests/test_scurve.cpp
index 8a6f3e1ec15dd..73f6842f7128f 100644
--- a/libraries/AP_Math/tests/test_scurve.cpp
+++ b/libraries/AP_Math/tests/test_scurve.cpp
@@ -77,6 +77,63 @@ static const PathTest path_tests[] = {
     {"I4_lowAm",  62.8319, 10, 0,    3,  5,   100,    10.0f, 0.24999982f, 0.05000019f, 1.11666679f, 0.05000019f},
 };
 
+// Segment state used to integrate through the profile
+struct SegState {
+    float A, V, P;
+};
+
+// Integrate an increasing-jerk segment (raised cosine from 0 to Jm)
+static SegState seg_incr_jerk(SegState s, float tj, float Jm)
+{
+    if (tj <= 0) return s;
+    const float Alpha = Jm * 0.5f;
+    const float Beta = M_PI / tj;
+    const float AT = Alpha * tj;
+    const float VT = Alpha * (sq(tj) * 0.5f - 2.0f / sq(Beta));
+    const float PT = Alpha * ((-1.0f / sq(Beta)) * tj + (1.0f / 6.0f) * powf(tj, 3.0f));
+    return {s.A + AT,
+            s.V + s.A * tj + VT,
+            s.P + s.V * tj + 0.5f * s.A * sq(tj) + PT};
+}
+
+// Integrate a constant-jerk segment
+static SegState seg_const_jerk(SegState s, float t, float J)
+{
+    if (t <= 0) return s;
+    return {s.A + J * t,
+            s.V + s.A * t + 0.5f * J * sq(t),
+            s.P + s.V * t + 0.5f * s.A * sq(t) + (1.0f / 6.0f) * J * powf(t, 3.0f)};
+}
+
+// Integrate a decreasing-jerk segment (raised cosine from Jm to 0)
+static SegState seg_decr_jerk(SegState s, float tj, float Jm)
+{
+    if (tj <= 0) return s;
+    const float Alpha = Jm * 0.5f;
+    const float Beta = M_PI / tj;
+    const float AT = Alpha * tj;
+    const float VT = Alpha * (sq(tj) * 0.5f - 2.0f / sq(Beta));
+    const float PT = Alpha * ((-1.0f / sq(Beta)) * tj + (1.0f / 6.0f) * powf(tj, 3.0f));
+    const float A2T = Jm * tj;
+    const float V2T = Jm * sq(tj);
+    const float P2T = Alpha * ((-1.0f / sq(Beta)) * 2.0f * tj + (4.0f / 3.0f) * powf(tj, 3.0f));
+    return {(s.A - AT) + A2T,
+            (s.V - VT) + (s.A - AT) * tj + V2T,
+            (s.P - PT) + (s.V - VT) * tj + 0.5f * (s.A - AT) * sq(tj) + P2T};
+}
+
+// Integrate a 3-segment jerk block: incr, const, decr
+static SegState seg_jerk_block(SegState s, float tj, float Jm, float Tcj, float &peak_A)
+{
+    s = seg_incr_jerk(s, tj, Jm);
+    peak_A = MAX(peak_A, fabsf(s.A));
+    s = seg_const_jerk(s, Tcj, Jm);
+    peak_A = MAX(peak_A, fabsf(s.A));
+    s = seg_decr_jerk(s, tj, Jm);
+    peak_A = MAX(peak_A, fabsf(s.A));
+    return s;
+}
+
 TEST(SCurveCalcPath, coverage_and_outputs)
 {
     float Jm_out, tj_out, t2_out, t4_out, t6_out;
@@ -93,5 +150,99 @@ TEST(SCurveCalcPath, coverage_and_outputs)
     }
 }
 
+// Verify that calculate_path outputs, when applied through add_segments logic,
+// produce a full path that:
+// - total distance == 2*L (add_segments calls calculate_path with L*0.5)
+// - peak velocity <= Vm
+// - peak acceleration <= Am
+// - output jerk <= input Jm
+// - final velocity == V0 (returns to initial speed)
+// - final acceleration == 0
+//
+// add_segments builds:
+//   Accel half:  jerk_block(tj, +Jm, t2) + const(t4, 0) + jerk_block(tj, -Jm, t6)
+//   Coast:       const(t_coast, 0) where t_coast fills remaining distance at Vm
+//   Decel half:  jerk_block(tj, -Jm, t6) + const(t4, 0) + jerk_block(tj, +Jm, t2)
+TEST(SCurveCalcPath, constraints)
+{
+    const float tol = 1.0e-3f;
+    float Jm_out, tj_out, t2_out, t4_out, t6_out;
+
+    for (const auto &t : path_tests) {
+        SCurve::calculate_path(t.Sm, t.Jm, t.V0, t.Am, t.Vm, t.L,
+                               Jm_out, tj_out, t2_out, t4_out, t6_out);
+
+        // skip zero-output cases (paths B, C)
+        if (is_zero(Jm_out) && is_zero(tj_out)) {
+            continue;
+        }
+
+        // jerk limit: output Jm must not exceed input Jm
+        EXPECT_LE(Jm_out, t.Jm + tol) << "Jm exceeded: " << t.name;
+
+        // --- Accel half ---
+        float peak_A = 0.0f;
+        SegState s = {0.0f, t.V0, 0.0f};
+
+        // accel up: jerk_block(tj, +Jm, t2)
+        s = seg_jerk_block(s, tj_out, Jm_out, t2_out, peak_A);
+        float peak_V = s.V;
+
+        // coast within accel half: const(t4, 0)
+        s = seg_const_jerk(s, t4_out, 0.0f);
+        peak_V = MAX(peak_V, s.V);
+
+        // accel down: jerk_block(tj, -Jm, t6)
+        s = seg_jerk_block(s, tj_out, -Jm_out, t6_out, peak_A);
+
+        // end of accel half: acceleration should be ~0
+        EXPECT_NEAR(s.A, 0.0f, tol) << "accel half final A non-zero: " << t.name;
+
+        const float accel_half_P = s.P;
+        const float cruise_V = s.V;
+
+        // --- Coast segment (fill remaining distance at cruise velocity) ---
+        const float L_total = 2.0f * t.L;
+        const float coast_dist = MAX(0.0f, L_total - 2.0f * accel_half_P);
+        float t_coast = 0.0f;
+        if (cruise_V > 0.0f) {
+            t_coast = coast_dist / cruise_V;
+        }
+        s = seg_const_jerk(s, t_coast, 0.0f);
+        peak_V = MAX(peak_V, s.V);
+
+        // --- Decel half (mirror of accel) ---
+        // decel down: jerk_block(tj, -Jm, t6)
+        s = seg_jerk_block(s, tj_out, -Jm_out, t6_out, peak_A);
+
+        // coast within decel half: const(t4, 0)
+        s = seg_const_jerk(s, t4_out, 0.0f);
+
+        // decel up: jerk_block(tj, +Jm, t2)
+        s = seg_jerk_block(s, tj_out, Jm_out, t2_out, peak_A);
+
+        // --- Check constraints ---
+
+        // total distance must match 2*L
+        EXPECT_NEAR(s.P, L_total, tol) << "distance mismatch: " << t.name
+            << " P=" << s.P << " expected=" << L_total;
+
+        // final velocity must return to V0
+        EXPECT_NEAR(s.V, t.V0, tol) << "final velocity mismatch: " << t.name
+            << " V=" << s.V << " V0=" << t.V0;
+
+        // final acceleration must be zero
+        EXPECT_NEAR(s.A, 0.0f, tol) << "final accel non-zero: " << t.name;
+
+        // peak velocity must not exceed Vm
+        EXPECT_LE(peak_V, t.Vm + tol) << "velocity exceeded Vm: " << t.name
+            << " peak_V=" << peak_V << " Vm=" << t.Vm;
+
+        // peak acceleration must not exceed Am
+        EXPECT_LE(peak_A, t.Am + tol) << "accel exceeded Am: " << t.name
+            << " peak_A=" << peak_A << " Am=" << t.Am;
+    }
+}
+
 AP_GTEST_MAIN()
 int hal = 0; //weirdly the build will fail without this

From 340b83c00be85113d5706dd58eb9f98e1d54449a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 Mar 2026 15:22:37 +1100
Subject: [PATCH 17/40] autotest: correct validation of subgroupvar pointers

---
 Tools/autotest/helicopter.py         |  6 ++++++
 Tools/autotest/vehicle_test_suite.py | 25 +++++++++++++++++++++++++
 2 files changed, 31 insertions(+)

diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
index 683790ff12422..3d05e315376fd 100644
--- a/Tools/autotest/helicopter.py
+++ b/Tools/autotest/helicopter.py
@@ -39,6 +39,12 @@ def default_speedup(self):
     def is_heli(self):
         return True
 
+    def subgroupvarptr_activation_params(self):
+        ret = super(AutoTestHelicopter, self).subgroupvarptr_activation_params()
+        # AC_CustomControl is disabled on heli (AC_CUSTOMCONTROL_MULTI_ENABLED is false)
+        ret.pop("CC_TYPE", None)
+        return ret
+
     def rc_defaults(self):
         ret = super(AutoTestHelicopter, self).rc_defaults()
         ret[8] = 1000
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 8c4b08eb7fe4f..96bbd949d42f3 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -2597,6 +2597,23 @@ def test_adsb_send_threatening_adsb_message(self, here, offset_ne=None):
             17 # squawk
         )
 
+    def subgroupvarptr_activation_params(self):
+        '''Return parameters to set (before restarting SITL) to activate
+        AP_SUBGROUPVARPTR backends, making their parameters visible in the
+        parameter download.  Only entries whose key appears in the htree will
+        be applied.  Subclasses may call super() and pop entries that are not
+        compiled in for their vehicle type.'''
+        return {
+            "CAM1_TYPE": 8,       # AP_Camera: RunCam backend
+            "PRX1_TYPE": 10,      # AP_Proximity: SITL backend
+            "RNGFND1_TYPE": 100,  # AP_RangeFinder: SIM backend
+            "BATT2_MONITOR": 4,   # AP_BattMonitor: instance 1 (Analog V+I)
+            "FILT1_TYPE": 1,      # AP_Filter: NotchFilter backend
+            "TEMP1_TYPE": 8,      # AP_TemperatureSensor: SHT3X (simulated in SITL)
+            "GEN_TYPE": 1,        # AP_Generator: IE_650_800 backend
+            "CC_TYPE": 2,         # AC_CustomControl: PID backend (ArduCopter)
+        }
+
     def test_parameter_documentation_get_all_parameters(self):
 
         xml_filepath = os.path.join(self.buildlogs_dirpath(), "apm.pdef.xml")
@@ -2620,6 +2637,14 @@ def test_parameter_documentation_get_all_parameters(self):
         target_system = self.sysid_thismav()
         target_component = 1
 
+        # Activate AP_SUBGROUPVARPTR backends whose type params appear in the
+        # documented parameter set, so their params are visible in the download.
+        # customise_SITL_commandline() below restarts SITL without wiping
+        # EEPROM, so these settings persist into the restarted instance.
+        for name, value in self.subgroupvarptr_activation_params().items():
+            if name in htree:
+                self.set_parameter(name, value)
+
         self.customise_SITL_commandline([
             "--unhide-groups"
         ])

From e5992e53569dd11a21e14ab8a03336dfe0b26eb3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 Mar 2026 15:31:56 +1100
Subject: [PATCH 18/40] AC_CustomControl: document the customcontrol paraemters
 for the second controller

---
 libraries/AC_CustomControl/AC_CustomControl.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
index dd4a13611bde4..831a275d85ca9 100644
--- a/libraries/AC_CustomControl/AC_CustomControl.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -31,7 +31,8 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
     // parameters for empty controller. only used as a template, no need for param table 
     // AP_SUBGROUPVARPTR(_backend, "1_", 6, AC_CustomControl, _backend_var_info[0]),
 
-    // parameters for PID controller
+    // @Group: 2_
+    // @Path: AC_CustomControl_PID.cpp
     AP_SUBGROUPVARPTR(_backend, "2_", 7, AC_CustomControl, _backend_var_info[1]),
 
     AP_GROUPEND

From 394050c20e863cea11a8faef0b5332909954c5e6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 30 Mar 2026 15:50:57 +1100
Subject: [PATCH 19/40] autotest: add Parameters check that all SUBGROUPVARPTR
 variables are annotated

---
 Tools/autotest/vehicle_test_suite.py | 38 ++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 96bbd949d42f3..df933e2d58c11 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -12833,10 +12833,48 @@ def test_parameters_mis_total(self):
             raise NotAchievedException("MAVProxy failed to get parameter")
         self.stop_mavproxy(mavproxy)
 
+    def test_subgroupvarptr_annotated(self):
+        '''Check that every AP_SUBGROUPVARPTR entry in the source tree has
+        @Group: and @Path: annotations immediately preceding it.  Without
+        these annotations param_parse.py cannot discover the backend
+        parameters, so documentation mismatches would never be caught.'''
+        failures = []
+        skip_dirs = {'modules', 'build', '.git', 'docs'}
+        for dirpath, dirnames, filenames in os.walk(self.rootdir()):
+            dirnames[:] = [d for d in dirnames if d not in skip_dirs]
+            for filename in filenames:
+                if not filename.endswith('.cpp'):
+                    continue
+                filepath = os.path.join(dirpath, filename)
+                lines = pathlib.Path(filepath).read_text().splitlines()
+                for i, line in enumerate(lines):
+                    if not line.strip().startswith('AP_SUBGROUPVARPTR'):
+                        continue
+                    has_group = False
+                    has_path = False
+                    for j in range(i - 1, max(i - 5, -1), -1):
+                        prev = lines[j].strip()
+                        if not prev:
+                            continue
+                        if '@Group:' in prev:
+                            has_group = True
+                        elif '@Path:' in prev:
+                            has_path = True
+                        if not prev.startswith('//'):
+                            break
+                    if not (has_group and has_path):
+                        failures.append("%s:%d" % (os.path.relpath(filepath, self.rootdir()), i + 1))
+        for f in failures:
+            self.progress("AP_SUBGROUPVARPTR missing @Group:/@Path: at %s" % f)
+        if failures:
+            raise NotAchievedException("AP_SUBGROUPVARPTR entries missing @Group:/@Path: annotations")
+
     def test_parameter_documentation(self):
         '''ensure parameter documentation is valid'''
         self.start_subsubtest("Check all parameters are documented")
         self.test_parameter_documentation_get_all_parameters()
+        self.start_subsubtest("Check AP_SUBGROUPVARPTR entries have documentation annotations")
+        self.test_subgroupvarptr_annotated()
 
     def Parameters(self):
         '''general small tests for parameter system'''

From 58cff8d3bf35ca14675678cef35d4ec8cce84bd8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 14 Apr 2026 15:36:54 +1000
Subject: [PATCH 20/40] RC_Channel: document UDP RC protocol input

---
 libraries/RC_Channel/RC_Channels_VarInfo.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channels_VarInfo.h b/libraries/RC_Channel/RC_Channels_VarInfo.h
index 14390535bf9bf..2345c820fd258 100644
--- a/libraries/RC_Channel/RC_Channels_VarInfo.h
+++ b/libraries/RC_Channel/RC_Channels_VarInfo.h
@@ -101,7 +101,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
     // @DisplayName: RC protocols enabled
     // @Description: Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
     // @User: Advanced
-    // @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio
+    // @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio,18:SITL UDP
     AP_GROUPINFO("_PROTOCOLS", 34, RC_CHANNELS_SUBCLASS, _protocols, 1),
 
     // @Param: _FS_TIMEOUT

From 40e71b46a3670587b24c59da0249cedf9ae836ce Mon Sep 17 00:00:00 2001
From: UAVcihang <39545866+UAVcihang@users.noreply.github.com>
Date: Wed, 1 Apr 2026 10:23:04 +0800
Subject: [PATCH 21/40] AP_GPS: Fix DNU constant values in AP_GPS_SBF.cpp

bug
---
 libraries/AP_GPS/AP_GPS_SBF.cpp | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index da3a9e62dc170..c2c10a6e98fd4 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -590,15 +590,11 @@ AP_GPS_SBF::process_message(void)
 
             check_new_itow(temp.TOW, sbf_msg.length);
 
-            constexpr double floatDNU = -2e-10f;
             constexpr uint8_t errorBits = 0x8F; // Bits 0-1 are aux 1 baseline
                                                 // Bits 2-3 are aux 2 baseline
                                                 // Bit 7 is attitude not requested
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
             if (((temp.Error & errorBits) == 0)
-                && (temp.Cov_HeadHead != floatDNU)) {
-#pragma GCC diagnostic pop
+                && !is_DNU(temp.Cov_HeadHead)) {
                 state.gps_yaw_accuracy = sqrtf(temp.Cov_HeadHead);
                 state.have_gps_yaw_accuracy = true;
             } else {
@@ -628,12 +624,9 @@ AP_GPS_SBF::process_message(void)
     }
     case BaseVectorGeod:
     {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
         const msg4028 &temp = sbf_msg.data.msg4028u;
 
         // just breakout any consts we need for Do Not Use (DNU) reasons
-        constexpr double doubleDNU = -2e-10;
         constexpr uint16_t uint16DNU = 65535;
 
         check_new_itow(temp.TOW, sbf_msg.length);
@@ -652,7 +645,7 @@ AP_GPS_SBF::process_message(void)
         state.rtk_age_ms = (temp.info.CorrAge != 65535) ? ((uint32_t)temp.info.CorrAge) * 10 : 0;
 
         // copy the position as long as the data isn't DNU, we require NED, and heading before accepting any of it
-        if ((temp.info.DeltaEast != doubleDNU) && (temp.info.DeltaNorth != doubleDNU) && (temp.info.DeltaUp != doubleDNU) &&
+        if (!is_DNU(temp.info.DeltaEast) && !is_DNU(temp.info.DeltaNorth) && !is_DNU(temp.info.DeltaUp) &&
             (temp.info.Azimuth != uint16DNU)) {
 
             state.rtk_baseline_y_mm = temp.info.DeltaEast * 1e3;
@@ -675,7 +668,6 @@ AP_GPS_SBF::process_message(void)
             state.have_gps_yaw = false;
         }
 
-#pragma GCC diagnostic pop
         break;
     }
     }

From 0267cd0082b7525111e0a12ef8b2e8fc25349cbb Mon Sep 17 00:00:00 2001
From: ES-Alexander <sandman.esalexander@gmail.com>
Date: Mon, 30 Mar 2026 16:15:31 +0800
Subject: [PATCH 22/40] Sub: fix support for remote leak detection

---
 ArduSub/GCS_MAVLink_Sub.cpp | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/ArduSub/GCS_MAVLink_Sub.cpp b/ArduSub/GCS_MAVLink_Sub.cpp
index 7f747ad7a6bef..09d68cded1221 100644
--- a/ArduSub/GCS_MAVLink_Sub.cpp
+++ b/ArduSub/GCS_MAVLink_Sub.cpp
@@ -736,16 +736,14 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)
         break;
     }
 
-    // This adds support for leak detectors in a separate enclosure
-    // connected to a mavlink enabled subsystem
+    // Remote leak sensor support (e.g. in a separate enclosure), via MAVLink status messages.
     case MAVLINK_MSG_ID_SYS_STATUS: {
-        uint32_t MAV_SENSOR_WATER = 0x20000000;
         mavlink_sys_status_t packet;
         mavlink_msg_sys_status_decode(&msg, &packet);
         if ((msg.sysid == gcs().sysid_this_mav()) &&
-            (packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) &&
-            !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)
-        ) {
+            (packet.onboard_control_sensors_present & MAV_SYS_STATUS_EXTENSION_USED) &&
+            (packet.onboard_control_sensors_enabled_extended & MAV_SYS_STATUS_SENSOR_LEAK) &&
+            !(packet.onboard_control_sensors_health_extended & MAV_SYS_STATUS_SENSOR_LEAK)) {
             sub.leak_detector.set_detect();
         }
         break;

From 0f72108b5a93d4cd11741b600218531d8b8ce927 Mon Sep 17 00:00:00 2001
From: Stephen Dade <stephen_dade@hotmail.com>
Date: Wed, 15 Apr 2026 21:37:54 +1000
Subject: [PATCH 23/40] AR_Motors: Lower BAT_WATT_TC default to 2

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index e6684df81c0a3..bdc146e3e9e15 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -136,7 +136,7 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
     // @Range: 0 10
     // @Units: s
     // @User: Advanced
-    AP_GROUPINFO("BAT_WATT_TC", 16, AP_MotorsUGV, _batt_power_time_constant, 5.0f),
+    AP_GROUPINFO("BAT_WATT_TC", 16, AP_MotorsUGV, _batt_power_time_constant, 2.0f),
 #endif
 
     AP_GROUPEND

From 0181946e6a1934a35db78a3c635c8c102a56937f Mon Sep 17 00:00:00 2001
From: Stephen Dade <stephen_dade@hotmail.com>
Date: Wed, 15 Apr 2026 21:38:18 +1000
Subject: [PATCH 24/40] AR_Motors: Fix power limit bounds checking

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index bdc146e3e9e15..ba8a6c79f7935 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -1024,8 +1024,8 @@ float AP_MotorsUGV::get_power_limit_max_throttle(float dt)
 
     _throttle_limit += (dt / (dt + _batt_power_time_constant)) * (1.0f - power_ratio);
 
-    // throttle limit drops to 5% minimum when over power limit
-    _throttle_limit = constrain_float(_throttle_limit, _throttle_min, _throttle_max);
+    // ensure throttle limit is within min and max throttle limits
+    _throttle_limit = constrain_float(_throttle_limit, _throttle_min * 0.01f, _throttle_max * 0.01f);
 
     return _throttle_limit;
 }

From f113afab2dc84d33217014adca6d56f57d2012dc Mon Sep 17 00:00:00 2001
From: Peter Hall <iampete@hotmail.co.uk>
Date: Thu, 23 Apr 2026 16:46:49 +0100
Subject: [PATCH 25/40] AC_PID: update range on target and error filter indices

---
 libraries/AC_PID/AC_PID.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 5087a42540e80..3ac8e09763ee2 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -84,14 +84,14 @@ const AP_Param::GroupInfo AC_PID::var_info[] = {
     // @Param: NTF
     // @DisplayName: PID Target notch filter index
     // @Description: PID Target notch filter index
-    // @Range: 1 8
+    // @Range: 0 8
     // @User: Advanced
     AP_GROUPINFO("NTF", 15, AC_PID, _notch_T_filter, 0),
 
     // @Param: NEF
     // @DisplayName: PID Error notch filter index
     // @Description: PID Error notch filter index
-    // @Range: 1 8
+    // @Range: 0 8
     // @User: Advanced
     AP_GROUPINFO("NEF", 16, AC_PID, _notch_E_filter, 0),
 #endif

From b800983c1d80392e87546524edc3dac5446da737 Mon Sep 17 00:00:00 2001
From: Hunter McClelland <hunter.mcclelland@gmail.com>
Date: Wed, 22 Apr 2026 20:14:53 -0400
Subject: [PATCH 26/40] AC_WPNav: Fix sign mistake in a sub-part of
 BendyRulerHorizontal

---
 libraries/AC_WPNav/AC_WPNav_OA.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav_OA.cpp b/libraries/AC_WPNav/AC_WPNav_OA.cpp
index 0098eb55ab617..347b00bb1956e 100644
--- a/libraries/AC_WPNav/AC_WPNav_OA.cpp
+++ b/libraries/AC_WPNav/AC_WPNav_OA.cpp
@@ -242,7 +242,7 @@ bool AC_WPNav_OA::update_wpnav()
                     return false;
                 }
 
-                // Convert global destination to NEU vector and pass directly to position controller
+                // Convert global destination to NED vector and pass directly to position controller
                 Vector2f destination_ne_m;
                 if (!_oa_destination.get_vector_xy_from_origin_NE_m(destination_ne_m)) {
                     // this should never happen because we can only get here if we have an EKF origin
@@ -251,7 +251,7 @@ bool AC_WPNav_OA::update_wpnav()
                 }
                 float target_alt_loc_alt_m = 0;
                 UNUSED_RESULT(target_alt_loc.get_alt_m(target_alt_loc.get_alt_frame(), target_alt_loc_alt_m));
-                Vector3p destination_ned_m{destination_ne_m.x, destination_ne_m.y, target_alt_loc_alt_m};
+                Vector3p destination_ned_m{destination_ne_m.x, destination_ne_m.y, -target_alt_loc_alt_m};
 
                 // pass the desired position directly to the position controller
                 _pos_control.input_pos_NED_m(destination_ned_m, terrain_d_m, 10.0);

From cbb521915f9b396063430609845ce4cde34042c9 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 25 Apr 2026 17:44:48 +0100
Subject: [PATCH 27/40] AP_IOMCU: iofirmware: never output throttle if failsafe
 if disarmed

---
 libraries/AP_IOMCU/iofirmware/mixer.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_IOMCU/iofirmware/mixer.cpp b/libraries/AP_IOMCU/iofirmware/mixer.cpp
index 7277c56cdf55d..32f482b146be0 100644
--- a/libraries/AP_IOMCU/iofirmware/mixer.cpp
+++ b/libraries/AP_IOMCU/iofirmware/mixer.cpp
@@ -24,6 +24,8 @@
 #define ANGLE_SCALE ((int32_t)4500)
 #define RANGE_SCALE ((int32_t)1000)
 
+extern const AP_HAL::HAL& hal;
+
 /*
   return a RC input value scaled from -4500 to 4500
  */
@@ -141,6 +143,11 @@ void AP_IOMCU_FW::run_mixer(void)
         }
     }
 
+    // Never output throttle if the vehicle was disarmed when we last heard from the FMU
+    if (!hal.util->get_soft_armed()) {
+        throttle = 0;
+    }
+
     for (uint8_t i=0; i<IOMCU_MAX_RC_CHANNELS; i++) {
         SRV_Channel::Function function = (SRV_Channel::Function)mixing.servo_function[i];
         uint16_t &pwm = reg_direct_pwm.pwm[i];

From f8614e0c384adb98795b9c82d2c53e3e7b754da5 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 25 Apr 2026 17:45:05 +0100
Subject: [PATCH 28/40] Tools: IO Firmware: rebuild

---
 .../iofirmware_cube_dshot_highpolh.bin        | Bin 47908 -> 47876 bytes
 .../iofirmware_cube_dshot_lowpolh.bin         | Bin 47908 -> 47876 bytes
 .../IO_Firmware/iofirmware_cube_highpolh.bin  | Bin 40984 -> 40880 bytes
 Tools/IO_Firmware/iofirmware_cube_lowpolh.bin | Bin 40984 -> 40880 bytes
 Tools/IO_Firmware/iofirmware_cubered.bin      | Bin 98864 -> 98840 bytes
 .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 47652 -> 47628 bytes
 .../IO_Firmware/iofirmware_dshot_lowpolh.bin  | Bin 47652 -> 47628 bytes
 .../iofirmware_f103_8MHz_dshot_highpolh.bin   | Bin 53476 -> 53340 bytes
 .../iofirmware_f103_8MHz_dshot_lowpolh.bin    | Bin 53476 -> 53340 bytes
 .../iofirmware_f103_8MHz_highpolh.bin         | Bin 40736 -> 40632 bytes
 .../iofirmware_f103_8MHz_lowpolh.bin          | Bin 40736 -> 40632 bytes
 .../iofirmware_f103_dshot_highpolh.bin        | Bin 53476 -> 53340 bytes
 .../iofirmware_f103_dshot_lowpolh.bin         | Bin 53476 -> 53340 bytes
 .../IO_Firmware/iofirmware_f103_highpolh.bin  | Bin 40728 -> 40632 bytes
 Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 40728 -> 40632 bytes
 Tools/IO_Firmware/iofirmware_highpolh.bin     | Bin 40736 -> 40632 bytes
 Tools/IO_Firmware/iofirmware_lowpolh.bin      | Bin 40736 -> 40632 bytes
 17 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin
index d9cad7f0ca76bfa64ab3aa6f7a8335e8ab443aa1..a99f6487418970a39cf8ac26bc6fd3332fb2ac8c 100755
GIT binary patch
delta 13587
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diff --git a/Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin
index 2e181269c0e30246cfea51254ca528c2524013f0..6b6553d64e1c1c478df089d2ab140dc3e0039a97 100755
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diff --git a/Tools/IO_Firmware/iofirmware_cube_highpolh.bin b/Tools/IO_Firmware/iofirmware_cube_highpolh.bin
index f23e2095b762941446fcb29629ec5ef7aec8f17b..b44bbbbc8e3b02b0232c735b099a003156868614 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_cube_lowpolh.bin b/Tools/IO_Firmware/iofirmware_cube_lowpolh.bin
index 82aabcbe5728868c638927ffaa26f5d1f02e0ac8..ffb8795a8a3dfcea06856f3310d3dc11f5ae469f 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_cubered.bin b/Tools/IO_Firmware/iofirmware_cubered.bin
index a1419000c16932ec98c115018c01fa69463d6251..6960fb17a01ad8a351d1500d9808eed773e36dcc 100755
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diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
index 65c8298b29da346d94ccae5b3d1aeeee8c38e030..8de7632ee33616d5cd9dd05aae1b26504c22fbf6 100755
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diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
index c52a18b84b63bccf2e8a8d6fa3a3e68f63da9667..429490d225f0a60d11da1a8f713d14d975c1c260 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_highpolh.bin
index 40cd87a955ba27c51fca5ef1eb6e7d69c6932aae..ed341856dfa97136d4f39728761d90b87a6463e3 100644
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
index be59d5439a7c85db2c6edc78367d96b1c0174e50..d4fe6750e7b61fa80dd33b80884c7fa103e03255 100644
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
index c0be42428df2366c26688fb7f5a8dc2349b03a60..2f8bab6e6f54d30d6ed8a934ffdc172eb33837dc 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
index de8758ba4a1aaf8745b8e5df6a8f5633bc8b97ac..3d38f587f65493fc3cbd0e285651d722b908e373 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
index 0a4d24564454a2729bdbde54c80ceb939fa1ec42..42aa706befb397f68822cfbee0ba65e97a980711 100755
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diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
index 1e153bef3d12104f72f03f959406c24dd03e5a85..1cd928c49d17ff6fa1de1aa5f855758e306a34ff 100755
GIT binary patch
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zUj^+2%0LH!?s9Tl<fV&7`gu5G{7UA%E+07GzjP7A+q&$pIlJtafs0*Tb_4pmudDmt
z8+}jD#;Axq{4`|+yGHg~>M7klS8jVLdvjMH{gl=2dXMI_f{F&s-Xx-Zy(Vh6p3eAu
z9RA-0tQ=3Y?*es5*8?8`=K-8+JU?q1{-Fh=Jw&tzLEC|KNbdxF8F(Ft$NRN3_R33x
zOIp&2cCFNn?~%R++yGjC$LIMJfnp614nzS7z-S-^=xLhE^`wI{h;|<G3V?;blUaiF
za$qH}b|NWxP(X(QDFE-#I%GZz{GT1#0^ak$MBx9|p)%yB0hvHghpr)=4NL>_9`H*D
z*^8IgfrG#i;9cMZU<G;#XBz*TUYUd513Q7W_pt=DM|L;TuLCaw^MC?iA<&cGg7h`u
zJaC}|k9Oc5&?C?%7yrRqPqcxc{s09ufDh0k^ZI0H0I)I(vjo%w_kh=d=K-AWw9|kz
zlo@>=I`HFx1Yk6f0+giTF%ifFvVj(08jugn0p<Y(z(QaNupEd-g%g2HAmKhzKzTzw
z9n43%0GI>J1O7x^2NPEwMmPgXhbvV7{BFT^@H&9=Y~IVMB?;h;2GSluRluKAMV>`o
z8L*Sf{dtq5&n&bAY?+Of3;bDq-yyGMHd&<2p9_@){!DN$@?HlH&ckv9{!H!y@|uBX
zpMWgz2RZiaD-%lc77%UlB6JIA0W^!DtVPhvF#L<s41EEbf$xA8z<)mSkiWA4Uxuea
zYk>r$!+{v!d&pe_T7h4IVDR2WeeFo!13CZ~@atkSUHd%>zYKvC(9xh8j-~iQc)w7H
zcp9%9;D4{vfLcL)K>GmxKp^lD<bpxN+3r_2<mIDuE%56yXe(&=3e>(F5<m>J+y}fo
z<jvzeq(4VGkjnx7!0W&@@NNJJkWXXtDu)HGMJ)vYUqtz!dB763w{m|;=4uRSC58r0
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zU?Ol~6%1NF5_157s(Ka!ajn7kLdV*HK%{#zcH(^<-m^h>1NBH-K}T~QFb(NEz#pfO
zaQtz${V5Cv_zt{$U=F8GE`4&v(@&D9)ne4@aV&P<^aA(W_@@*+^uxfrz)7GMI0JkH
zd<uLGe0!hvbf?FvlwqFt0`;&U^`QBnAAx=jtVQ}fYuWc^Z1_&h9FPel0BJxB5C~8p
l4=6OC?&Ivx{uh1j7P(6(Z;6e5EmaeZ+pfx*wXYe4{|&772YLVi


From b37d50999e1a106779143502f2b538bc82918df2 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:53:42 +0200
Subject: [PATCH 29/40] Tracker: 4.7.0-beta4 release notes

---
 AntennaTracker/ReleaseNotes.txt | 36 +++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
index 9c93be93dce76..7253aa75668e1 100644
--- a/AntennaTracker/ReleaseNotes.txt
+++ b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Antenna Tracker Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From 853ad56028a770c72355d170322899e21b1e20b1 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:53:55 +0200
Subject: [PATCH 30/40] Tracker: version to 4.7.0-beta4

---
 AntennaTracker/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
index a8caa9771f72e..79e557bc2c4ed 100644
--- a/AntennaTracker/version.h
+++ b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.7.0-beta3"
+#define THISFIRMWARE "AntennaTracker V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

From eddf692f097c23082f9107f8f881f19a007c9e33 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:54:11 +0200
Subject: [PATCH 31/40] AP_Periph: 4.7.0-beta4 release notes

---
 Tools/AP_Periph/ReleaseNotes.txt | 36 ++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/Tools/AP_Periph/ReleaseNotes.txt b/Tools/AP_Periph/ReleaseNotes.txt
index c74ee3ade8eec..f194276a71b92 100644
--- a/Tools/AP_Periph/ReleaseNotes.txt
+++ b/Tools/AP_Periph/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot AP_Periph Release Notes
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From a831ff4b82e70963f63752ca991e2b332c6b2c72 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:54:29 +0200
Subject: [PATCH 32/40] AP_Periph: version to 4.7.0-beta4

---
 Tools/AP_Periph/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/AP_Periph/version.h b/Tools/AP_Periph/version.h
index 515703b143336..3d12c6026b59d 100644
--- a/Tools/AP_Periph/version.h
+++ b/Tools/AP_Periph/version.h
@@ -7,7 +7,7 @@
 #include "ap_version.h"
 #include <AP_HAL/AP_HAL.h>
 
-#define THISFIRMWARE "AP_Periph 4.7.0-beta3"
+#define THISFIRMWARE "AP_Periph 4.7.0-beta4"
 
 // defines needed due to lack of GCS includes
 #ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
@@ -17,7 +17,7 @@
 #endif
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

From 10f84de2059a05068c6b56edd44241eb74f901cc Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:54:43 +0200
Subject: [PATCH 33/40] Sub: 4.7.0-beta4 release notes

---
 ArduSub/ReleaseNotes.txt | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt
index e2b4688f514f1..4fd599da1a911 100644
--- a/ArduSub/ReleaseNotes.txt
+++ b/ArduSub/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Sub Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From ae2cc746e92af86fc32f2d7093bfdd0a0fe79acb Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:54:52 +0200
Subject: [PATCH 34/40] Sub: version to 4.7.0-beta4

---
 ArduSub/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduSub/version.h b/ArduSub/version.h
index fed32e416307a..20d80c1000879 100644
--- a/ArduSub/version.h
+++ b/ArduSub/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduSub V4.7.0-beta3"
+#define THISFIRMWARE "ArduSub V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

From 20450e261945b794f7b283feed6f230d3e0969b3 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:55:03 +0200
Subject: [PATCH 35/40] Rover: 4.7.0-beta4 release notes

---
 Rover/ReleaseNotes.txt | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
index 2abc17e68b0d8..d9dd29174715b 100644
--- a/Rover/ReleaseNotes.txt
+++ b/Rover/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Rover Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From 4973dfc0d916ff611d25bdb37f1b17fb3eb60727 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:55:33 +0200
Subject: [PATCH 36/40] Rover: version to 4.7.0-beta4

---
 Rover/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Rover/version.h b/Rover/version.h
index 558a92999d3e0..e8366c725fcda 100644
--- a/Rover/version.h
+++ b/Rover/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.7.0-beta3"
+#define THISFIRMWARE "ArduRover V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

From 6ab59f65abd240f84994418323c64c1ebb3e3d0e Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:55:47 +0200
Subject: [PATCH 37/40] Copter: 4.7.0-beta4 release notes

---
 ArduCopter/ReleaseNotes.txt | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 720c0ec97885a..ee2fc69d36a07 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From 6b7fcedea6505307cd4d4f27b836cd467217a2ad Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:56:11 +0200
Subject: [PATCH 38/40] Copter: version to 4.7.0-beta4

---
 ArduCopter/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index b57711e9fa0e0..20047fa63a92b 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.7.0-beta3"
+#define THISFIRMWARE "ArduCopter V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

From 8a0680866008f9a15261c62ebf41b8ff6ffbc6a0 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:56:19 +0200
Subject: [PATCH 39/40] Plane: 4.7.0-beta4 release notes

---
 ArduPlane/ReleaseNotes.txt | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 2c8657e2461ae..57f0f20e6079b 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Plane Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

From 8d5a835c4c964fdc6ed2273c1aafeb830af1a9eb Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Wed, 29 Apr 2026 14:56:28 +0200
Subject: [PATCH 40/40] Plane: version to 4.7.0-beta4

---
 ArduPlane/version.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
index 39d716cf2b4a9..adb5a69305e2a 100644
--- a/ArduPlane/version.h
+++ b/ArduPlane/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.7.0-beta3"
+#define THISFIRMWARE "ArduPlane V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7