Update

.github/workflows/checks.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/clang-tidy.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 jobs:
   build:
     runs-on: ubuntu-latest

.github/workflows/compile_macos.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/compile_ubuntu.yml

@@ -9,13 +9,11 @@ on:
       - 'release/**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 env:
   RUNS_IN_DOCKER: true

.github/workflows/ekf_functional_change_indicator.yml

@@ -6,7 +6,6 @@ on:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/ekf_update_change_indicator.yml

@@ -4,7 +4,6 @@ on:
   push:
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   unit_tests:

.github/workflows/failsafe_sim.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -27,7 +25,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0

.github/workflows/flash_analysis.yml

@@ -11,13 +11,11 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 env:
   MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -28,7 +26,7 @@ jobs:
     name: Analyzing ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]

.github/workflows/itcm_check.yml

@@ -9,20 +9,18 @@ on:
       - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
       - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
       fail-fast: false
       matrix:

.github/workflows/mavros_mission_tests.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/mavros_offboard_tests.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/nuttx_env_config.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -31,7 +29,7 @@ jobs:
     - name: Build PX4 and Run Test [${{ matrix.config }}]
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/python_checks.yml

@@ -6,13 +6,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.github/workflows/ros_integration_tests.yml

@@ -11,13 +11,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -33,6 +31,12 @@ jobs:
     - name: Git Ownership Workaround
       run: git config --system --add safe.directory '*'
 
+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
     - name: Install gazebo
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

.github/workflows/ros_translation_node.yml

@@ -5,13 +5,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 defaults:
   run:
     shell: bash

.github/workflows/sitl_tests.yml

@@ -11,13 +11,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
     - '*'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -301,6 +306,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
     holybro_kakuteh7dualimu_default:
       short: holybro_kakuteh7dualimu
       buildType: MinSizeRel

MAINTAINERS.md

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

ROMFS/CMakeLists.txt

@@ -216,12 +216,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
+
+			# Generate the file using configure_file at configure time to a temporary location
+			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
+
+			# Then copy it at build time with proper dependencies
+			add_custom_command(
+				OUTPUT
+					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+					rc.board_bootloader_upgrade.stamp
+				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
+				DEPENDS
+					${bootloader_upgrade_tmp}
+					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
+					romfs_copy.stamp
+				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
+			)
+
+			list(APPEND extras_dependencies
+				rc.board_bootloader_upgrade.stamp
+			)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
-
 	endif()
 endforeach()
 

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -31,14 +30,16 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.43
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-defatul RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1