docs(i18n): PX4 guide translations (Crowdin) - zh-CN (#28461)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-09-26 16:16:33 +08:00 · 2026-09-02 17:25:14 +10:00
parent 65f19bcfec
commit 8a87a93035
63 changed files with 1227 additions and 473 deletions
@@ -172,6 +172,7 @@
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [Amovlab Flycore](flight_controller/amovlab_flycore.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
+      - [ARK Electronics ARKV6X-RT](flight_controller/ark_v6xrt.md)
      - [ARK Electronics ARKV6S](flight_controller/ark_v6s.md)
      - [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
@@ -253,6 +254,7 @@
      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
        - [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
+      - [Smartmicro Drone Altimeter (CAN)](dronecan/smartmicro_t132.md)
      - [Sony AS-DT1 LiDAR](sensor/sony_asdt1.md)
      - [✘ TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
@@ -961,7 +963,7 @@
    - [持续集成](test_and_ci/continous_integration.md)
    - [Integration Testing](test_and_ci/integration_testing.md)
      - [MAVSDK集成测试](test_and_ci/integration_testing_mavsdk.md)
-      - [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
+      - [PX4 ROS 2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
    - [Docker 容器](test_and_ci/docker.md)
    - [维护](test_and_ci/maintenance.md)

@@ -26,6 +26,7 @@ PX4 supports Ethernet connectivity on [Pixhawk 5X-standard](https://github.com/p
 支持的飞行控制器包括:

 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
+- [ARK Electronics ARKV6X-RT](../flight_controller/ark_v6xrt.md)
 - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md)
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
@@ -249,7 +250,7 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
   MicroXRCEAgent udp4 -p 8888
   ```

-4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:
+4. Run a [listener node](../ros2/user_guide.md#running-an-example-optional) in a new terminal to confirm the connection is established:

   ```sh
   source ~/ws_sensor_combined/install/setup.bash
@@ -1175,7 +1175,7 @@ INFO  [uxrce_dds_client] init serial /dev/ttyS4 @ 921600 baud

 ### XRCE-DDS Agent & ROS 2 Setup

-Follow the instruction in the ROS2 User guide to [Install ROS 2](../ros2/user_guide.md#install-ros-2) on the Jetson.
+Follow the instruction in the ROS 2 User guide to [Install ROS 2](../ros2/user_guide.md#install-ros-2) on the Jetson.
 You don't have to install PX4 on the Jetson because we're not using the simulator, but you may wish to install the full desktop so you can use additional ROS 2 packages for further development:

 ```sh
@@ -1296,11 +1296,11 @@ Jul 30 01:37:52 ubuntu MicroXRCEAgent[1616]: [1722317872.098168] info    | Proxy
 Jul 30 01:37:52 ubuntu MicroXRCEAgent[1616]: [1722317872.098486] info    | ProxyClient.cpp   | create_datawriter       | datawriter created   | client_key: 0x00000001, datawriter_id: 0x10A(5), publisher_id: 0x10A(3)
 ```

-You can now start your ROS2 nodes and continue the development.
+You can now start your ROS 2 nodes and continue the development.

 ### ROS 2 Sensor Combined Tests

-You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide).
+You can test the Client and agent by using the `sensor_combined` example in [Running an example (optional)](../ros2/user_guide.md#running-an-example-optional) (ROS 2 User Guide).

 :::tip
 [VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code!
@@ -238,7 +238,7 @@ MAVProxy on RPi should now connect to the Pixhawk, via RX/TX pins.
 You should be able to see this in the RPi terminal.

 We have now verified that our connection is wired up properly.
-In the next section we'll set up the both Pixhawk and RPi to use uXRCE-DDS and ROS2 instead of MAVLink.
+In the next section we'll set up the both Pixhawk and RPi to use uXRCE-DDS and ROS 2 instead of MAVLink.

 ## ROS 2 and uXRCE-DDS

@@ -264,7 +264,7 @@ The configuration steps are:
   ```

   [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
-   The `SER_TEL2_BAUD` rate sets the comms link data rate.  
+   The `SER_TEL2_BAUD` rate sets the comms link data rate.
   You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.

   ::: info
@@ -323,7 +323,7 @@ the quaternion `q` is only used if the `orientation` is set to `ROTATION_CUSTOM`

 #### 机载电脑

-Companion computers update the `obstacle_distance` topic using ROS2 or the [OBSTACLE_DISTANCE](https://mavlink.io/en/messages/common.html#OBSTACLE_DISTANCE) MAVLink message.
+Companion computers update the `obstacle_distance` topic using ROS 2 or the [OBSTACLE_DISTANCE](https://mavlink.io/en/messages/common.html#OBSTACLE_DISTANCE) MAVLink message.

 <!-- to edit the image, open it in inkscape -->

@@ -4,7 +4,7 @@ Modes ("flight modes", "drive modes", and so on) are special operational states
 They are loosely grouped into _manual_, _assisted_ and _auto_ modes, based on the level/type of control provided by the autopilot.
 飞手使用遥控器上的开关或者 ground control station 在飞行模式之间进行切换。

-Modes can be implemented as [PX4 internal modes](#px4-internal-modes) running on the flight controller, or as [PX4 external (ROS2) modes](#px4-external-modes) running on a companion computer.
+Modes can be implemented as [PX4 internal modes](#px4-internal-modes) running on the flight controller, or as [PX4 external (ROS 2) modes](#px4-external-modes) running on a companion computer.
 From the perspective of a ground station (MAVLink), the origin of a mode is indistinguishable.

 This topic links to documentation for the supported modes, compares PX4 internal and external modes, provides implementation hints, and provides links to how PX4 modes can be used with MAVLink.
@@ -108,7 +108,7 @@ The requirements for all modes are set in `getModeRequirements()` in [src/module
 When adding a new mode you will need to add appropriate requirements in that method.

 :::tip
-Readers may note that this image is from [PX4 ROS2 Control Interface > Failsafes and mode requirements](../ros2/px4_ros2_control_interface.md#failsafes-and-mode-requirements).
+Readers may note that this image is from [PX4 ROS 2 Control Interface > Failsafes and mode requirements](../ros2/px4_ros2_control_interface.md#failsafes-and-mode-requirements).
 The requirements and concepts are the same (though defined in different places).
 The main difference is that ROS 2 modes _infer_ the correct requirements to use, while modes in PX4 source code must explicitly specify them.
 :::
@@ -282,10 +282,10 @@ Triggers on either of:
 At least a warning is emitted, additional failsafe actions can be configured using [COM_GNSSLOSS_ACT](#COM_GNSSLOSS_ACT).
 Loss of a single GPS when none are required is handled by other GPS health checks.

-| Parameter                                                                                                                                                                  | 描述                                                                                                                                                        |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="SYS_HAS_NUM_GNSS"></a>[SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming and flight. If two are required then they also need to be consistent. |
-| <a id="COM_GNSSLOSS_ACT"></a>[COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT)                      | Failsafe action when a GNSS failure is detected. Actions other than a warning also lead to arming being blocked.          |
+| Parameter                                                                                                                                                                  | 描述                                                                                                                                             |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="SYS_HAS_NUM_GNSS"></a>[SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) | Number of usable GNSS receivers required for arming. If two are required then they also need to be consistent. |
+| <a id="COM_GNSSLOSS_ACT"></a>[COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT)                      | Failsafe action when a GNSS failure is detected in flight.                                                                     |

 ## Offboard 中断故障保护

@@ -142,7 +142,7 @@ Tuning is the final step, carried out only after most other setup and configurat

 - [Multicopter Racer Setup](../config_mc/racer_setup.md)

- [Genius Tools](https://www.altitude-rd.com/genius-tools) — a commercial web app for interactive multicopter tuning from a flight log.
+- [PID-Wise](https://www.altitude-rd.com/pid-wise) — a commercial web app for interactive multicopter tuning from a flight log.
  Bugs and questions should be addressed to the maintainer: [Altitude R&D](https://www.altitude-rd.com/home) (not the PX4 forums).

 ![Genius Tools](../../assets/config/mc/genius_tools.webp)
@@ -299,6 +299,7 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
     PNG files are preferred over JPG for screenshots.

 3. Content:
+   - Follow British English (UK) conventions for spelling and grammar, with the exception of industry-standard software terminology (e.g., dialog, program, disk).
   - Use "style" (**bold**, _emphasis_, etc.) consistently and sparingly (as little as possible).
     - **Bold** for button presses and menu definitions.
     - _Emphasis_ for tool names such as _QGroundControl_ or _prettier_.
@@ -308,8 +309,8 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
     All other headings should be h2 (`##`) or lower.
   - Don't add any style to headings.
   - Don't translate the text indicating the name of an `info`, `tip` or `warning` declaration (e.g. `::: tip`) as this precise text is required to render the aside properly.
-   - Break lines on sentences by preference.
-     Don't break lines based on some arbitrary line length.
+   - Don't break lines based on some arbitrary line length.
+     Break line breaks on sentences (or paragraphs).
   - Format using _prettier_ (_VSCode_ is a has extensions can be used for this).

 4. Videos:
@@ -21,27 +21,28 @@ A `—` means the module still accepts the command, but no consumer applies it i
 | `mag`             | `off`, `stuck`          | `off`, `stuck`          | `off`, `stuck`                                                  | `off`, `stuck`          |
 | `baro`            | `off`, `stuck`          | `off`, `stuck`          | `off`, `stuck`                                                  | `off`, `stuck`          |
 | `distance_sensor` | `off`, `stuck`          | `off`, `stuck`          | `off`, `stuck`                                                  | `off`, `stuck`          |
-| `gps`             | —                       | `off`, `stuck`, `wrong` | `off`, `stuck`, `wrong`                                         | `off`, `stuck`, `wrong` |
+| `gps`             | `off`, `stuck`, `wrong` | `off`, `stuck`, `wrong` | `off`, `stuck`, `wrong`                                         | `off`, `stuck`, `wrong` |
 | `airspeed`        | `off`, `stuck`, `wrong` | —                       | `off`, `wrong`                                                  | —                       |
 | `vio`             | —                       | —                       | `off`                                                           | —                       |
 | `battery`         | `off`, `wrong`          | `off`, `wrong`          | `off`, `wrong`                                                  | `off`, `wrong`          |
 | `traffic`         | `off`                   | `off`                   | `off`                                                           | `off`                   |
 | `motor`           | `off`                   | `off`                   | `off`                                                           | `off`                   |
 | `esc`             | `off`, `wrong`          | `off`, `wrong`          | `off`, `wrong`                                                  | `off`, `wrong`          |
+| `can`             | —                       | —                       | —                                                               | `off`                   |

 [SIH]: ../sim_sih/index.md
 [Gazebo]: ../sim_gazebo_gz/index.md

 ::: info

- `gps off | stuck | wrong` on Gazebo (Gz): only available if [SIM_GZ_EN_GPS](../advanced_config/parameter_reference.md#SIM_GZ_EN_GPS) is set to `0` to use the injectable simulated-GPS module.
-  By default Gazebo publishes GPS from the simulator's own GNSS sensor (`SIM_GZ_EN_GPS` = 1), which is not injectable.
+- `gps off | stuck | wrong` on Gazebo (Gz): applied to the GNSS data from the simulator's own sensor as well as to the simulated-GPS module ([SIM_GZ_EN_GPS](../advanced_config/parameter_reference.md#SIM_GZ_EN_GPS) `0`).
 - `airspeed off | stuck | wrong` on Gazebo (Gz): only injectable when airspeed is provided by the simulated-airspeed module ([SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM)); worlds that model an airspeed sensor directly are not injected.
 - `battery wrong` reports the remaining charge just below the [SYS_FAIL_BAT_LVL](../advanced_config/parameter_reference.md#SYS_FAIL_BAT_LVL) warning threshold to trigger the battery failsafe; `off` stops publishing the battery status entirely.
 - `traffic off` suppresses incoming reports and marks the ADS-B/FLARM link unhealthy.
 - `motor off` also requires [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
 - `esc off` reports the addressed ESC as offline and blanks its telemetry; `esc wrong` keeps it online but reports implausible telemetry (voltage and current at 10% of the real value, RPM 10x). ESCs are addressed by motor instance (the ESC's actuator function), so `-i 1` targets the ESC driving motor 1.
 - On hardware, ESC injection is applied only by the UAVCAN (DroneCAN) ESC driver; the other ESC drivers (DShot, Cyphal, VOXL, TAP ESC) publish their telemetry unmodified.
+- `can off` takes the addressed CAN bus offline entirely, so every node on it stops responding; the instance selects the bus. Only applied on fmu-v6x-class hardware.

 :::

@@ -91,6 +92,7 @@ where:
    - `traffic`: Traffic avoidance (ADS-B/transponder)
    - `rc_signal`: RC Signal
    - `mavlink_signal`: MAVLink data telemetry connection
+    - `can`: CAN bus. The instance selects the bus. Supported on fmu-v6x-class hardware.
 - _failure_type_:
  - `ok`: Publish as normal (Disable failure injection)
  - `off`: Stop publishing
@@ -2,7 +2,7 @@

 This topic shows how you can graph the "live" values of [uORB topics](../msg_docs/index.md) (in real time) using [PlotJuggler](../log/flight_log_analysis.md#plotjuggler) and the _uXRCE-DDS Agent_.

-This technique uses PX4 [uXRCE-DDS](../middleware/uxrce_dds.md) middleware to export uORB topics as ROS2 topics, which can then be read and plotted by PlotJuggler as they change (PlotJuggler cannot directly read uORB topics, but the values of the corresponding ROS 2 topics are the same).
+This technique uses PX4 [uXRCE-DDS](../middleware/uxrce_dds.md) middleware to export uORB topics as ROS 2 topics, which can then be read and plotted by PlotJuggler as they change (PlotJuggler cannot directly read uORB topics, but the values of the corresponding ROS 2 topics are the same).

 The video below demonstrates this for a simulated vehicle — the approach works equally well on real hardware.

@@ -14,7 +14,7 @@ Follow the [ROS 2 Installation & Setup](../ros2/user_guide.md#installation-setup

 - ROS 2
 - [Micro XRCE-DDS Agent](../ros2/user_guide.md#setup-the-agent)
- [PX4/px4_msgs](https://github.com/PX4/px4_msgs): PX4/ROS2 shared message definitions.
+- [PX4/px4_msgs](https://github.com/PX4/px4_msgs): PX4/ROS 2 shared message definitions.
 - PX4 source code and build the simulator.

  ::: tip
@@ -24,7 +24,7 @@ Follow the [ROS 2 Installation & Setup](../ros2/user_guide.md#installation-setup

 You will also need to install:

- [PlotJuggler for ROS2](https://github.com/PlotJuggler/PlotJuggler)
+- [PlotJuggler for ROS 2](https://github.com/PlotJuggler/PlotJuggler)

  ::: tip
  Use the Debian packages (the snap files are not supported).
@@ -38,7 +38,7 @@ This allows ROS 2 and PlotJuggler to interpret the messages.
 If you're using unmodified PX4, the definitions from [PX4/px4_msgs](https://github.com/PX4/px4_msgs) can be used.

 :::info
-This is the same process as covered in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) in _ROS 2 Installation & Setup_.
+This is the same process as covered in [Running an example (optional)](../ros2/user_guide.md#running-an-example-optional) in _ROS 2 Installation & Setup_.
 :::

 Assuming your ROS 2 workspace is named `~/ros2_ws/`, fetch and build the `px4_msgs` package in a terminal as shown:
@@ -108,11 +108,11 @@ If working with real hardware you will need to build and [install](../config/fir

 ### Modified Messages

-If you have modified any uORB messages you must update the ROS2 messages used by PlotJuggler.
+If you have modified any uORB messages you must update the ROS 2 messages used by PlotJuggler.

 You will need to rebuild PX4 with your new messages, and replace the `px4_msgs` (from the repository) in your workspace with the new ones.

-Assuming that you have already built PX4 in the directory `~/PX4-Autopilot/`, and that `~/ros2_ws` is your ROS2 workspace, enter the following commands to copy the messages across and rebuild your workspace:
+Assuming that you have already built PX4 in the directory `~/PX4-Autopilot/`, and that `~/ros2_ws` is your ROS 2 workspace, enter the following commands to copy the messages across and rebuild your workspace:

 ```sh
 rm -f ~/ros2_ws/src/px4_msgs/msg/*.msg
@@ -147,7 +147,7 @@ You should now test your debug probe to ensure you do not have any electrical sh

 1. Plug the probe into your target via the Pixhawk Debug Port.
 2. Test the serial port with a program of your choice.
-3. Test the SWD and RST connection via [OpenOCD][https://openocd.org] or [STLink](https://www.st.com/en/development-tools/stsw-link004.html) software.
+3. Test the SWD and RST connection via [OpenOCD][https://openocd.org] or [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html).
 4. Test the SWO connection via [Orbuculum][https://github.com/orbcode/orbuculum].

 See the [Embedded Debug Tools][emdbg] for more information about software support for the PX4 FMUv5 and FMUv6 flight controllers.
@@ -70,5 +70,3 @@ Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](..
 ## 更多信息

 [CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf)
-
-[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](https://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
@@ -32,6 +32,9 @@ In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
 - Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 - Configure the [motor order and servo outputs](../config/actuators.md).

+When ESC output is enabled, PX4 publishes [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) (`STATUS_FULLY_ARMED` while armed or during QGC actuator tests).
+ESCs that require that message work for both flight and the Actuators page without setting [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM).
+
 ## Reversible Motors {#reversible-motors}

 <Badge type="tip" text="main (PX4 v2.0)" />
@@ -75,6 +75,7 @@ Supported hardware includes (this is not an exhaustive list):
  - [Ark Flow MR](ark_flow_mr.md)
  - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
  - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/)
+  - [Smartmicro Drone Altimeter](smartmicro_t132.md)

 - Grippers
  - [DroneCAN Electro-Permanent Magnet (EPM)](../peripherals/gripper_epm.md)
@@ -153,6 +154,7 @@ For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_F

 For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
 If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
+ArmingStatus is published automatically when [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) is `3` (ESC output).

 The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
 The remainder of the name indicates the specific message/feature being set.
@@ -167,7 +169,7 @@ The following sections provide additional detail on the PX4 and DroneCAN periphe

 #### 传感器

-The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.14):
+The DroneCAN sensor parameters/subscriptions that you can enable are (from PX4 v1.14):

 - [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD): Airspeed
 - [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO): Barometer
@@ -282,6 +284,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you
 PX4 DroneCAN parameters:

 - [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
+  Not required for DroneCAN ESCs: ArmingStatus is published automatically when [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) is `3`.

 #### Grippers

@@ -20,6 +20,15 @@ make ark_can-flow_default

 This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.

+## Pre-built Firmware
+
+PX4 releases attach two images per CAN node:
+
+- `<target>.uavcan.bin` — application, flashed over DroneCAN
+- `<target>_canbootloader.bin` — bootloader, SWD-flashed (STM32: `0x08000000`)
+
+The `.px4` envelope is not used on these targets.
+
 ## 配置

 ### Static Node ID
@@ -0,0 +1,97 @@
+# Smartmicro Drone Altimeter (T132)
+
+The Drone Altimeter by Smartmicro is radar based [distance sensor](../sensor/rangefinders.md) with a [DroneCAN](index.md) interface.
+
+![T132](../../assets/hardware/sensors/smartmicro/drone_altimeter_type132_front.png)
+
+- Altitude up to 175 m possible
+- Unbreakable, lightweight design (274 g, IP67)
+- For small drones in GNSS-denied environments
+- Plug-and-play integration with PX4 systems (DroneCAN compatible, 1 Mbit/s, 29-bit identifiers)
+- Automatic dual mode operation (medium/long range mode)
+- Highest accuracy, Altitude tracking
+- High electromagnetic susceptibility robustness: difficult to jam
+- Low observability (narrow beam, short dwell time)
+- Operates in 76-77 GHz band approved for altimeter operation in Europe
+- Made in Germany, specially designed for European drone manufactures
+- ITAR free, not dual-use classified
+- Mature hardware, in full production, available in high volume
+- Update rate of 55 ms
+
+## 购买渠道
+
+Order this radar sensor from:
+
+- [Smartmicro](https://www.smartmicro.com/airborne/drone-altimeter/)
+
+SmartMicro do not provide a cable that connects to Pixhawk-standard CAN bus connectors out of the box.
+You may however choose to purchase a "Plug and Play" cable, and replace its D-Sub-9 connector with the connector for your flight controller.
+
+## Hardware Specifications
+
+- Dimensions: 94.7 x 84.4 x 26.4 mm (plus connector)
+- Weight: 274 g
+- Connector: Hirose LF10 series
+- Operating Temperature: -40…+85°C
+- Shock/Vibration 100 g<sub>rms</sub>/14 g<sub>rms</sub>
+- Voltage: DC 8 - 32 V.
+- Power: 3.75 to 5 W.
+
+## 硬件安装
+
+### Sensor Setup
+
+For optimal performance, the antenna of the radar should be parallel to the surface of the earth during normal flight.
+The antenna is located directly behind the black plastic radome, so the black plastic surface should always be facing down.
+
+The word "TOP" on the sensor label and the accompanying arrow should either point in the direction of flight or directly opposite the direction of flight.
+Please ensure, that the arrow never points perpendicular to the flight direction.
+
+The sensor may be mounted behind flat plastics surfaces, e.g. inside the fuselage, if this surface is radar transparent.
+
+### 布线
+
+The sensor connector is a 12-pin male bayonet type connector (waterproof IP67, series LF10WBRB-12PD, manufacturer Hirose, Japan).
+
+To operate, connect CAN and GND with the controller.
+
+Provide a DC voltage between 8 and 32 V.
+Power consumption is between 3.75 and 5 Watts.
+
+The T132 has an internal CAN-Termination.
+
+![T132_wiring](../../assets/hardware/sensors/smartmicro/t132_wiring.png)
+
+### Firmware Setup
+
+The sensor is shipped with the firmware.
+No setup is required.
+Future firmware update is possible with proprietary Smartmicro software via CAN bus.
+
+## PX4 配置
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation.
+- Confirm that [UAVCAN_BITRATE](../advanced_config/parameter_reference.md#UAVCAN_BITRATE) is set to 1000000 (1 Mbit/s).
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `175`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `1`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `175`.
+- Reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect Altimeter CAN to the Flight Controller CAN.
+
+See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
+
+Once enabled, the module will be detected on boot.
+Distance sensor data arrives at 18.2 Hz.
+
+## Sensor Operation
+
+The measured altitude is perpendicular to the radome of the sensor.
+When the vehicle rolls or pitches, the measured altitude is too high and must be compensated by roll and pitch angles.
+
+If the sensor is unable to determine the current altitude (too high, too low or occluded radome) this is signaled as (DroneCAN) `reading_type=undefined`.
+
+The screenshot of the MAVLink Inspector shows a situation where the radome is intentionally occluded.
+
+![MAVLink Inspector](../../assets/hardware/sensors/smartmicro/inspector.png)
@@ -0,0 +1,170 @@
+# ARK Electronics ARKV6X-RT
+
+<Badge type="tip" text="main (PX4 v2.0)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
+:::
+
+The USA-built ARKV6X-RT flight controller is an NXP i.MX RT1176 variant of the [ARKV6X](../flight_controller/ark_v6x.md), derived from the [FMUv6X-RT and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
+
+With triple synced IMUs, data averaging, voting, and filtering is possible.
+
+![ARKV6X-RT Top](../../assets/flight_controller/arkv6xrt/ark_v6xrt_top.jpg)
+
+![ARKV6X-RT Bottom](../../assets/flight_controller/arkv6xrt/ark_v6xrt_bottom.jpg)
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+:::tip
+This flight controller is a module and requires a carrier board to work.
+The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X-RT to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).
+Which ports and outputs are physically broken out depends on the carrier.
+:::
+
+## Where to Buy {#store}
+
+Order from [ARK Electronics](https://arkelectron.com/product/arkv6xrt) (US).
+
+## Specifications {#specifications}
+
+- **Processor**
+  - **Main FMU processor:** [NXP i.MX RT1176](https://www.nxp.com/products/i.MX-RT1170) (Arm® Cortex®-M7 at 996 MHz, 2 MB RAM). The second Cortex-M4 core is unused by PX4.
+  - **Code store:** no internal flash. Code executes in place from a 64 MB external octal NOR on FlexSPI1, of which PX4 uses the first 4 MB.
+  - **IO processor:** PX4IO v2, on carriers that fit one.
+- **Sensors**
+  - **IMU:** [InvenSense ICM-45686](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-45686/) (SPI1), [InvenSense IIM-20670](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-20670/) (SPI2), [ST LSM6DSV80X](https://www.st.com/en/mems-and-sensors/lsm6dsv80x.html) (SPI3)
+  - **Barometer:** [Bosch BMP390](https://www.bosch-sensortec.com/en/products/environmental-sensors/pressure-sensors/bmp390/) (I2C2)
+  - **Magnetometer:** [ST IIS2MDC](https://www.st.com/en/mems-and-sensors/iis2mdc.html) (I2C3)
+  - **Heater:** closed loop on the ICM-45686 die temperature
+- **Interfaces**
+  - **PWM outputs:** 12 FMU outputs, plus 8 more from PX4IO on carriers that fit one
+  - **Serial ports:** 8 (`GPS1`, `GPS2`, `TELEM1`, `TELEM2`, `TELEM3`, `TELEM4`, PX4IO/`RC`, Debug Console)
+  - **I2C buses:** 4 (I2C3 internal, the rest external)
+  - **SPI buses:** 4, of which SPI6 is external with 2 chip selects and 2 data-ready lines
+  - **CAN buses:** 2 enabled by default. PAB pins out a third; no ARK carrier breaks it out.
+  - **Ethernet:** 100BASE-T (ENET2)
+  - **USB:** Yes
+  - **RC input:** Yes
+  - **Parameter storage:** FRAM (FM25V02A) on FlexSPI2
+  - **SD card:** MicroSD slot
+- **Electrical data**
+  - **Input voltage:** 5 V
+  - **Current draw:** 500 mA (300 mA main system, 200 mA heater)
+  - **Power monitoring:** 2 digital power bricks, INA226 by default
+- **Mechanical data**
+  - **Dimensions:** 3.6 x 2.9 x 0.5 cm
+  - **Weight:** 5.0 g
+  - **Form factor:** [Pixhawk Autopilot Bus (PAB)](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
+
+## IMUs {#imus}
+
+Each IMU sits on its own SPI bus with an independent power rail and data-ready line:
+
+| IMU        | Bus  | Full scale                          | Publish rate |
+| ---------- | ---- | ----------------------------------- | ------------ |
+| ICM-45686  | SPI1 | ±32 g / ±4000 dps                   | 800 Hz       |
+| IIM-20670  | SPI2 | ±65.5 g / ±1966 dps | 1000 Hz      |
+| LSM6DSV80X | SPI3 | ±16 g / ±4000 dps                   | 768 Hz       |
+
+The ICM-45686 is the primary.
+The IIM-20670 is started last deliberately: its on-chip gyro low-pass cannot be set above 60 Hz, which is too much group delay for the rate loop, so it serves as a navigation and fallback IMU.
+
+The LSM6DSV80X publishes its ±16 g accelerometer; the part's ±80 g high-g element is unused.
+
+[HEATER1_SENS_ID](../advanced_config/parameter_reference.md#HEATER1_SENS_ID) defaults to the ICM-45686.
+Run the [accelerometer calibration](../config/accelerometer.md) only after `heater status` reports the setpoint has been reached.
+
+## 针脚定义
+
+For the pinout of the ARKV6X-RT see the [DS-010 Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf).
+
+## 串口映射
+
+| UART     | 设备         | Port            | Flow Control |
+| -------- | ---------- | --------------- | :----------: |
+| LPUART1  | /dev/ttyS0 | `Debug Console` |      No      |
+| LPUART3  | /dev/ttyS1 | `GPS1`          |      No      |
+| LPUART4  | /dev/ttyS2 | `TELEM1`        |      Yes     |
+| LPUART5  | /dev/ttyS3 | `GPS2`          |      No      |
+| LPUART6  | /dev/ttyS4 | PX4IO / `RC`    |      No      |
+| LPUART8  | /dev/ttyS5 | `TELEM2`        |      Yes     |
+| LPUART10 | /dev/ttyS6 | `TELEM3`        |      Yes     |
+| LPUART11 | /dev/ttyS7 | `TELEM4`        |      No      |
+
+:::info
+The mapping above applies to the running PX4 firmware.
+The ARKV6X-RT bootloader enables only `LPUART8` (`TELEM2`), so when flashing firmware over UART with [`px4_uploader.py`](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4_uploader.py) you must connect to the `TELEM2` port — no other UART will respond in bootloader mode.
+:::
+
+## PWM Outputs {#pwm_outputs}
+
+The module provides 12 FMU PWM outputs, and 8 more from PX4IO on carriers that fit one.
+How many reach a connector depends on the carrier board.
+
+FMU outputs 1-8 support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry); outputs 9-12 are PWM only.
+
+Each FMU output has its own FlexPWM submodule, so unlike an STM32 target there are no output groups: protocol and rate can be set per output.
+
+## Radio Control {#radio_control}
+
+A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+RC shares LPUART6 with PX4IO.
+On a carrier fitted with PX4IO, the IO processor decodes SBUS, PPM, and DSM/DSMX.
+CRSF is decoded on the FMU instead and is enabled by default ([RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) is set to the `RC` port); [RC_SBUS_PRT_CFG](../advanced_config/parameter_reference.md#RC_SBUS_PRT_CFG) is off so that the FMU driver does not contend with PX4IO.
+
+## GPS & Compass {#gps_compass}
+
+PX4 supports GPS modules connected to the GPS ports listed below.
+The module should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker pointing towards the front of the vehicle.
+
+The GPS ports are:
+
+- `GPS1` (LPUART3): safety switch, buzzer, LED, and compass I2C on a PAB carrier
+- `GPS2` (LPUART5): basic GPS port
+
+The onboard IIS2MDC is on an internal bus and is intended as a backup.
+An external compass in a GPS/compass module is normally used for yaw.
+
+## Power {#power}
+
+The module is powered from the carrier board over the PAB connector, so the power connector type and its ratings are properties of the carrier.
+The voltage the module itself accepts is under [Specifications](#specifications).
+
+Two digital power bricks are supported.
+[SENS_EN_INA226](../advanced_config/parameter_reference.md#SENS_EN_INA226) is enabled by default; the INA228 and INA238 drivers are also built in for carriers that fit those parts.
+An ADS1115 external ADC can be enabled with [ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN) for analog monitoring instead.
+
+For battery and power module configuration see [Battery and Power Module Setup](../config/battery.md).
+
+## Debug Port {#debug_port}
+
+The [PX4 System Console](../debug/system_console.md) runs on LPUART1, and the [SWD interface](../debug/swd_debug.md) is brought out alongside it, both on the carrier's FMU Debug connector.
+
+## 编译固件
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make ark_fmu-v6xrt_default
+```
+
+Uploading over USB works as it does on any other board once a bootloader is present:
+
+```sh
+make ark_fmu-v6xrt_default upload
+```
+
+A board with no bootloader — or a wiped NOR — has to be recovered over SWD.
+Because the RT1176 has no internal flash, this needs NXP's device family pack for the flash algorithm and a FlexSPI preconditioning step; see the [board README](https://github.com/PX4/PX4-Autopilot/blob/main/boards/ark/fmu-v6xrt/README.md) for the procedure.
+
+## 另见
+
+- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
+- [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)
@@ -23,6 +23,7 @@ The boards in this category are:
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [Amovlab Flycore](../flight_controller/amovlab_flycore.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
+- [ARK Electronics ARKV6X-RT](../flight_controller/ark_v6xrt.md)
 - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md)
 - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
 - [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
@@ -120,7 +120,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
         cd /opt/bbblue_toolchain/gcc-arm-linux-gnueabihf
         ```

-         The ARM Cross Compiler for _BeagleBone Blue_ can be found at the [Arm GNU Toolchain Downloads](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) site (the official successor to the Linaro toolchain releases previously used here).
+         The ARM Cross Compiler for _BeagleBone Blue_ can be found at the [Arm GNU Toolchain Downloads](https://gitlab.arm.com/tooling/gnu-toolchains-for-arm) site (the official successor to the Linaro toolchain releases previously used here).

         ::: tip
         GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
@@ -130,7 +130,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

         Download and unpack [arm-gnu-toolchain-15.2.rel1-x86_64-arm-none-linux-gnueabihf.tar.xz](https://developer.arm.com/-/media/Files/downloads/gnu/15.2.rel1/binrel/arm-gnu-toolchain-15.2.rel1-x86_64-arm-none-linux-gnueabihf.tar.xz) to the bbblue_toolchain folder.

-         Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at the [Arm GNU Toolchain Downloads](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) site.
+         Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at the [Arm GNU Toolchain Downloads](https://gitlab.arm.com/tooling/gnu-toolchains-for-arm) site.

         ```sh
         wget https://developer.arm.com/-/media/Files/downloads/gnu/15.2.rel1/binrel/arm-gnu-toolchain-15.2.rel1-x86_64-arm-none-linux-gnueabihf.tar.xz
@@ -22,6 +22,7 @@ The flight controllers and baseports listed here are expected to be compliant wi
 ## PAB Compatible Flight Controllers

 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
+- [ARK Electronics ARKV6X-RT](../flight_controller/ark_v6xrt.md)
 - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md)
 - [Holybro Pixhawk 5X (FMUv5X)](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X (FMUv6X)](../flight_controller/pixhawk6x.md)
@@ -341,6 +341,44 @@ The parameters that affect flaring are listed below.
 | <a id="RWTO_PSP"></a>[RWTO_PSP](../advanced_config/parameter_reference.md#RWTO_PSP)                                                             | Pitch setpoint while on the runway. For tricycle gear, typically near zero. For tail draggers, positive.                                               |
 | <a id="FW_THR_IDLE"></a>[FW_THR_IDLE](../advanced_config/parameter_reference.md#FW_THR_IDLE)                               | Idle throttle setting. The vehicle will retain this setting throughout the flare and roll out.                                                                         |

+### Parachute Landing
+
+A mission landing can end in a parachute descent, releasing the parachute such that the vehicle touches down on the land waypoint ([MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND)).
+This allows recovery in areas where a rollout or belly landing is not possible.
+
+The feature is enabled with [FW_LND_PARA_EN](#FW_LND_PARA_EN) and requires a [parachute](../peripherals/parachute.md), either on a flight controller output (_Parachute_ output function) or as an external MAVLink parachute system ([COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE)).
+
+The vehicle follows the normal landing approach down to the release altitude ([FW_LND_PARA_ALT](#FW_LND_PARA_ALT)), then continues level towards the land waypoint.
+The parachute is released by triggering [flight termination](../advanced_config/flight_termination.md) once the predicted touchdown point under canopy lies on the land waypoint.
+The prediction accounts for the forward carry while the parachute deploys, and the drift with the estimated wind while the vehicle sinks at [FW_LND_PARA_SINK](#FW_LND_PARA_SINK).
+Crosswind is compensated by aiming upwind of the land waypoint.
+
+:::warning
+The release triggers flight termination: the landing cannot be aborted after the release, and the vehicle must be rebooted before the next flight.
+[Operator abort](#operator-abort) works normally at any time before the release.
+:::
+
+Notes:
+
+- The touchdown point drifts with the wind, and the horizontal touchdown speed matches the wind speed.
+  Accuracy and touchdown quality degrade as the wind approaches the landing airspeed ([COM_WIND_MAX](../advanced_config/parameter_reference.md#COM_WIND_MAX) can enforce a wind limit).
+- Lowering the release altitude reduces the wind drift.
+  For safety reasons, the release altitude is clamped to a minimum of 3 seconds of descent at [FW_LND_PARA_SINK](#FW_LND_PARA_SINK), so that the canopy has room to open before touchdown.
+- [FW_LND_PARA_ALT](#FW_LND_PARA_ALT) is the altitude the vehicle holds while waiting for the release point.
+  The release prediction always uses the actual altitude:
+  - A vehicle that holds the altitude releases at the configured altitude, or above it if the release point is reached while still on the approach slope.
+  - A vehicle that cannot hold the altitude (for example a motor-less glider) keeps sinking while the prediction adapts, and still releases such that it touches down on the land waypoint.
+    Only if it sinks to the minimum release altitude before reaching the release point does it release there, and touch down short of the waypoint.
+- Not supported on VTOL.
+
+#### Parachute Landing Parameters
+
+| Parameter                                                                                                                                                                  | 描述                                                                                                      |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------- |
+| <a id="FW_LND_PARA_EN"></a>[FW_LND_PARA_EN](../advanced_config/parameter_reference.md#FW_LND_PARA_EN)       | Enable parachute landing on the mission landing approach.                               |
+| <a id="FW_LND_PARA_ALT"></a>[FW_LND_PARA_ALT](../advanced_config/parameter_reference.md#FW_LND_PARA_ALT)    | Release altitude above the land waypoint.                                               |
+| <a id="FW_LND_PARA_SINK"></a>[FW_LND_PARA_SINK](../advanced_config/parameter_reference.md#FW_LND_PARA_SINK) | Expected sink rate under canopy, used to predict the wind drift of the touchdown point. |
+
 ### Abort

 #### Operator Abort
@@ -41,6 +41,10 @@ Irrespective of the modality, a flight path (starting point and takeoff course)
 By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
 Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).

+[FW_TKO_CLMB_T](#FW_TKO_CLMB_T) ends the climbout after a fixed time instead.
+The vehicle holds at whatever altitude it has reached by then, or climbs to the clearance altitude if it is still below it.
+Use it where altitude is a poor measure of when the climbout is done, such as a rocket-assisted launch.
+
 If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).

 :::tip
@@ -77,6 +81,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
 | <a id="FW_TKO_AIRSPD"></a>[FW\_TKO\_AIRSPD][FW_TKO_AIRSPD]           | Takeoff airspeed (is set to [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN] if not defined by operator)                                                                                  |
 | <a id="FW_TKO_PITCH_MIN"></a>[FW\_TKO\_PITCH\_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase                                                                                                        |
 | <a id="FW_T_CLMB_MAX"></a>[FW\_T\_CLMB\_MAX][FW_T_CLMB_MAX]          | Climb rate setpoint during climbout to takeoff altitude.                                                                                                  |
+| <a id="FW_TKO_CLMB_T"></a>[FW\_TKO\_CLMB\_T][FW_TKO_CLMB_T]          | Duration of the climbout. If > 0 the climbout ends after this time instead of at the takeoff altitude.                                    |
 | <a id="FW_FLAPS_TO_SCL"></a>[FW\_FLAPS\_TO\_SCL][FW_FLAPS_TO_SCL]    | Flaps setpoint during takeoff                                                                                                                                             |
 | <a id="FW_AIRSPD_FLP_SC"></a>[FW\_AIRSPD\_FLP\_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW\_TKO\_AIRSPD](#FW_TKO_AIRSPD) is below [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN].              |

@@ -87,6 +92,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
 [MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
 [FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
 [FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
+[FW_TKO_CLMB_T]: ../advanced_config/parameter_reference.md#FW_TKO_CLMB_T

 :::info
 The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
@@ -98,7 +98,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
 :::

 :::tab Skypull
-[Skypull](https://www.skypull.technology/)
+Skypull

 ![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg)
 :::
@@ -165,6 +165,7 @@ See messages
 - [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
 - [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
 - [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [FixedWingTakeoffStatus](../msg_docs/FixedWingTakeoffStatus.md)
 - [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
 - [FollowTarget](../msg_docs/FollowTarget.md)
 - [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
@@ -337,13 +337,27 @@ sudo MicroXRCEAgent serial --dev /dev/AMA0 -b 921600
 For more information about setting up communications channels see [Pixhawk + Companion Setup > Serial Port setup](../companion_computer/pixhawk_companion.md#serial-port-setup), and sub-documents.
 :::

+### PX4 Firmware
+
+The uXRCE-DDS client module [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) is included by default in most firmware and simulator targets.
+
+You can check if the module is present on your board by searching for the key `CONFIG_MODULES_UXRCE_DDS_CLIENT=y` in your board's `default.px4board` [KConfig file](../hardware/porting_guide_config.md).
+For example, you can see that the module is present in `px4_fmu-v6x` build targets from [/boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board#L81).
+
+If `CONFIG_MODULES_UXRCE_DDS_CLIENT=y` is not preset you can add this key to your board configuration and rebuild.
+Note that due to flash constraints you may need to remove other components in order to include the module.
+
+:::tip
+You can check if uXRCE-DDS is present at runtime by using QGroundControl to [find the parameter](../advanced_config/parameters.md#finding-a-parameter) [UXRCE_DDS_CFG](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG).
+If present, the module is installed.
+:::
+
 ### Starting the Client

-The uXRCE-DDS client module ([uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client)) is included by default in all firmware and the simulator.
-This must be started with appropriate settings for the communication channel that you wish to use to communicate with the agent.
+`uxrce_dds_client` must be started with appropriate settings for the communication channel that you wish to use to communicate with the agent.

 :::info
-The simulator automatically starts the client on localhost UDP port `8888` using the default uxrce-dds namespace.
+The simulator automatically starts the client on localhost UDP port `8888` using the default uxrce-dds namespace unless the `zenoh` target (`px4_sitl_zenoh`) is used.
 :::

 The configuration can be done using the [UXRCE-DDS parameters](../advanced_config/parameter_reference.md#uxrce-dds-client):
@@ -135,8 +135,8 @@ The PX4 Zenoh-pico node stores its configuration on the **SD card** under the `z
 This folder contains three key files:

 - **`net.txt`** – Defines the **Zenoh network configuration**.
- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
+- **`pub.csv`** – Maps **uORB topics to ROS 2 topics** (used for publishing).
+- **`sub.csv`** – Maps **ROS 2 topics to uORB topics** (used for subscribing).

 #### Publisher Options

@@ -155,7 +155,7 @@ Individual publisher options can be overridden through the mapping configuration

 ### 4. Modifying Topic Mappings

-Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
+Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS 2 topics via Zenoh.
 These mappings are stored in `pub.csv` and `sub.csv` on the SD card, and can be modified at runtime using the `zenoh config` CLI tool.

 :::warning
@@ -31,8 +31,9 @@ It can be enabled with the OSD_ATXXXX_CFG parameter.
 atxxxx <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -88,8 +89,10 @@ batmon start -X -a 11 -b 4
 batmon <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -130,8 +133,10 @@ batt_smbus -X write_flash 19069 2 27 0
 batt_smbus <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -171,8 +176,10 @@ Source: [drivers/telemetry/bst](https://github.com/PX4/PX4-Autopilot/tree/main/s
 bst <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -485,8 +492,10 @@ this flag set, the battery must be plugged in before starting the driver.
 ina220 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -523,8 +532,10 @@ will retry initialization every 500 ms so the battery can be plugged in later.
 ina226 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -563,8 +574,10 @@ this flag set, the battery must be plugged in before starting the driver.
 ina228 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -599,8 +612,10 @@ will retry initialization every 500 ms so the battery can be plugged in later.
 ina238 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -654,8 +669,10 @@ Source: [drivers/irlock](https://github.com/PX4/PX4-Autopilot/tree/main/src/driv
 irlock <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -698,8 +715,9 @@ Source: [drivers/magnetometer/lsm303agr](https://github.com/PX4/PX4-Autopilot/tr
 lsm303agr <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -724,8 +742,10 @@ Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/
 mcp230xx <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -758,8 +778,10 @@ Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilo
 mcp9808 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -842,8 +864,9 @@ Source: [drivers/optical_flow/paa3905](https://github.com/PX4/PX4-Autopilot/tree
 paa3905 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -868,8 +891,9 @@ Source: [drivers/optical_flow/paw3902](https://github.com/PX4/PX4-Autopilot/tree
 paw3902 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -932,8 +956,9 @@ Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree
 pmw3901 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -1028,8 +1053,10 @@ Source: [drivers/optical_flow/px4flow](https://github.com/PX4/PX4-Autopilot/tree
 px4flow <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1094,8 +1121,10 @@ Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tr
 rgbled <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1120,8 +1149,9 @@ Source: [drivers/lights/rgbled_apa102](https://github.com/PX4/PX4-Autopilot/tree
 rgbled_apa102 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -1144,8 +1174,10 @@ Source: [drivers/lights/rgbled_aw2023](https://github.com/PX4/PX4-Autopilot/tree
 rgbled_aw2023 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1168,8 +1200,10 @@ Source: [drivers/lights/rgbled_is31fl3195](https://github.com/PX4/PX4-Autopilot/
 rgbled_is31fl3195 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1204,8 +1238,10 @@ The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED
 rgbled_lp5562 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1420,8 +1456,10 @@ Reinitialize senzor, reset flags
 sht3x <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1483,8 +1521,10 @@ Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot
 tmp102 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -1669,8 +1709,10 @@ Source: [drivers/power_monitor/voxlpm](https://github.com/PX4/PX4-Autopilot/tree
 ```
 voxlpm [arguments...]
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -10,8 +10,10 @@ Source: [drivers/adc/ads7128](https://github.com/PX4/PX4-Autopilot/tree/main/src
 ADS7128 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -34,8 +36,10 @@ Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src
 TLA2528 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -92,8 +96,10 @@ If enabled, internal ADCs are not used.
 ads1115 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -116,8 +122,9 @@ Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src
 ads7953 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -19,8 +19,10 @@ It can be enabled with the "SENS_EN_ASP5033" parameter set to 1.
 asp5033 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -45,8 +47,10 @@ auav <command> [arguments...]
   start
     [-D]        Differential pressure sensing
     [-A]        Absolute pressure sensing
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -76,8 +80,10 @@ The driver is enabled for specific sensor-variants using the parameter "SENS_EN_
 dlvr <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -100,8 +106,10 @@ Source: [drivers/differential_pressure/ets](https://github.com/PX4/PX4-Autopilot
 ets_airspeed <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -124,8 +132,10 @@ Source: [drivers/differential_pressure/ms4515](https://github.com/PX4/PX4-Autopi
 ms4515 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -148,8 +158,10 @@ Source: [drivers/differential_pressure/ms4525do](https://github.com/PX4/PX4-Auto
 ms4525do <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -172,8 +184,10 @@ Source: [drivers/differential_pressure/ms5525dso](https://github.com/PX4/PX4-Aut
 ms5525dso <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -196,8 +210,10 @@ Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/PX4-Autopil
 sdp3x <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -10,10 +10,13 @@ Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/mai
 bmp280 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -22,8 +25,9 @@ bmp280 <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 118
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -46,14 +50,12 @@ Source: [drivers/barometer/bmp388](https://github.com/PX4/PX4-Autopilot/tree/mai
 bmp388 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
-     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
-     [-m <val>]  SPI mode
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
@@ -74,10 +76,13 @@ Source: [drivers/barometer/bmp581](https://github.com/PX4/PX4-Autopilot/tree/mai
 bmp581 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -102,10 +107,13 @@ Source: [drivers/barometer/dps310](https://github.com/PX4/PX4-Autopilot/tree/mai
 dps310 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -114,8 +122,9 @@ dps310 <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 119
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -139,8 +148,10 @@ Source: [drivers/barometer/invensense/icp101xx](https://github.com/PX4/PX4-Autop
 icp101xx <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -163,8 +174,10 @@ Source: [drivers/barometer/invensense/icp201xx](https://github.com/PX4/PX4-Autop
 icp201xx <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -187,10 +200,13 @@ Source: [drivers/barometer/lps22hb](https://github.com/PX4/PX4-Autopilot/tree/ma
 lps22hb <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -213,10 +229,13 @@ Source: [drivers/barometer/lps25h](https://github.com/PX4/PX4-Autopilot/tree/mai
 lps25h <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -239,10 +258,13 @@ Source: [drivers/barometer/lps33hw](https://github.com/PX4/PX4-Autopilot/tree/ma
 lps33hw <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -268,8 +290,10 @@ Source: [drivers/barometer/maiertek/mpc2520](https://github.com/PX4/PX4-Autopilo
 mpc2520 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -292,8 +316,10 @@ Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/PX4-Autopilot/tree/
 mpl3115a2 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -316,18 +342,22 @@ Source: [drivers/barometer/ms5611](https://github.com/PX4/PX4-Autopilot/tree/mai
 ms5611 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
     [-m <val>]  SPI mode
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -352,8 +382,10 @@ Source: [drivers/barometer/ms5837](https://github.com/PX4/PX4-Autopilot/tree/mai
 ms5837 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -374,10 +406,13 @@ Source: [drivers/barometer/goertek/spa06](https://github.com/PX4/PX4-Autopilot/t
 spa06 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -386,8 +421,9 @@ spa06 <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 118
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -410,10 +446,13 @@ Source: [drivers/barometer/goertek/spl06](https://github.com/PX4/PX4-Autopilot/t
 spl06 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -422,8 +461,9 @@ spl06 <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
                 default: 118
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -43,8 +43,10 @@ Source: [drivers/distance_sensor/gy_us42](https://github.com/PX4/PX4-Autopilot/t
 gy_us42 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -155,8 +157,10 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
 lightware_laser_i2c <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -259,8 +263,10 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
 ll40ls <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -313,8 +319,10 @@ Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/
 mappydot <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -335,8 +343,10 @@ Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/PX4-Autopilot/tr
 mb12xx <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -424,8 +434,10 @@ Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tre
 srf02 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -486,8 +498,10 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#te
 teraranger <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -512,8 +526,10 @@ Source: [drivers/distance_sensor/tf02pro](https://github.com/PX4/PX4-Autopilot/t
 tf02pro <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -619,8 +635,10 @@ Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/PX4-Autopilot/t
 vl53l0x <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -645,8 +663,10 @@ Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/PX4-Autopilot/t
 vl53l1x <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -10,8 +10,9 @@ Source: [drivers/imu/analog_devices/adis16448](https://github.com/PX4/PX4-Autopi
 adis16448 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -36,8 +37,9 @@ Source: [drivers/imu/analog_devices/adis16470](https://github.com/PX4/PX4-Autopi
 adis16470 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -62,8 +64,9 @@ Source: [drivers/imu/analog_devices/adis16477](https://github.com/PX4/PX4-Autopi
 adis16477 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -88,8 +91,9 @@ Source: [drivers/imu/analog_devices/adis16497](https://github.com/PX4/PX4-Autopi
 adis16497 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -114,8 +118,9 @@ Source: [drivers/imu/analog_devices/adis16507](https://github.com/PX4/PX4-Autopi
 adis16507 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -140,8 +145,9 @@ Source: [drivers/imu/analog_devices/adis1650x](https://github.com/PX4/PX4-Autopi
 adis1650x <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -172,8 +178,9 @@ Source: [drivers/imu/analog_devices/adis1657x](https://github.com/PX4/PX4-Autopi
 adis1657x <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -204,8 +211,9 @@ Source: [drivers/imu/analog_devices/adis16607](https://github.com/PX4/PX4-Autopi
 adis16607 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -232,8 +240,9 @@ bmi055 <command> [arguments...]
   start
     [-A]        Accel
     [-G]        Gyro
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -260,8 +269,9 @@ bmi085 <command> [arguments...]
   start
     [-A]        Accel
     [-G]        Gyro
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -288,8 +298,9 @@ bmi088 <command> [arguments...]
   start
     [-A]        Accel
     [-G]        Gyro
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -316,8 +327,10 @@ bmi088_i2c <command> [arguments...]
   start
     [-A]        Accel
     [-G]        Gyro
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -342,8 +355,9 @@ Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/mai
 bmi270 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -368,10 +382,13 @@ Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/m
 fxas21002c <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -402,10 +419,13 @@ Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/m
 fxos8701cq <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -436,8 +456,9 @@ Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot
 iam20680hp <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -462,8 +483,9 @@ Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/t
 icm20602 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -488,8 +510,9 @@ Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/
 icm20608g <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -514,8 +537,9 @@ Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/t
 icm20649 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -540,8 +564,9 @@ Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/t
 icm20689 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -566,8 +591,9 @@ Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/t
 icm20948 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -593,8 +619,10 @@ Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/t
 icm20948_i2c_passthrough <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -617,8 +645,9 @@ Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/
 icm40609d <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -643,8 +672,9 @@ Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/t
 icm42605 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -669,8 +699,9 @@ Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/
 icm42670p <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -695,8 +726,9 @@ Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/
 icm42688p <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -724,8 +756,9 @@ Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/t
 icm45686 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -742,6 +775,33 @@ icm45686 <command> [arguments...]
   status        print status info
 ```

+## iim20670
+
+Source: [drivers/imu/invensense/iim20670](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim20670)
+
+### Usage {#iim20670_usage}
+
+```
+iim20670 <command> [arguments...]
+ Commands:
+   start
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
+     [-m <val>]  SPI mode
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-R <val>]  Rotation
+                 default: 0
+
+   stop
+
+   status        print status info
+```
+
 ## iim42652

 Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)
@@ -752,8 +812,9 @@ Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/t
 iim42652 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -780,8 +841,9 @@ Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/t
 iim42653 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -808,8 +870,9 @@ Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/s
 l3gd20 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -838,8 +901,9 @@ Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/
 lsm303d <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -864,8 +928,9 @@ Source: [drivers/imu/st/lsm6dsv](https://github.com/PX4/PX4-Autopilot/tree/main/
 lsm6dsv <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -874,6 +939,9 @@ lsm6dsv <command> [arguments...]
     [-q]        quiet startup (no message if no device found)
     [-R <val>]  Rotation
                 default: 0
+     [-T <val>]  High-g variant for WHO_AM_I 0x73 (80 = LSM6DSV80X, 320 =
+                 LSM6DSV320X)
+                 default: 0

   stop

@@ -890,8 +958,9 @@ Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/
 lsm9ds1 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -916,8 +985,9 @@ Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tr
 mpu6000 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -942,8 +1012,9 @@ Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tr
 mpu9250 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -969,8 +1040,10 @@ Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tr
 mpu9250_i2c <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -995,8 +1068,9 @@ Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tr
 mpu9520 <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -1021,8 +1095,9 @@ Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/ma
 sch16t <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -10,8 +10,10 @@ Source: [drivers/magnetometer/voltafield/af9838](https://github.com/PX4/PX4-Auto
 af9838 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -36,8 +38,10 @@ Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/
 ak09916 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -62,8 +66,10 @@ Source: [drivers/magnetometer/akm/ak09940a](https://github.com/PX4/PX4-Autopilot
 ak09940a <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -88,8 +94,10 @@ Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/PX4-Autopilot/t
 ak8963 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -114,8 +122,10 @@ Source: [drivers/magnetometer/bosch/bmm150](https://github.com/PX4/PX4-Autopilot
 bmm150 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -140,8 +150,10 @@ Source: [drivers/magnetometer/bosch/bmm350](https://github.com/PX4/PX4-Autopilot
 bmm350 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -166,10 +178,13 @@ Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/PX4-Autopilot/tree
 hmc5883 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -195,8 +210,10 @@ Source: [drivers/magnetometer/st/iis2mdc](https://github.com/PX4/PX4-Autopilot/t
 iis2mdc <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -219,8 +236,10 @@ Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/PX4-Autopi
 ist8308 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -245,8 +264,10 @@ Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/PX4-Autopi
 ist8310 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -271,10 +292,13 @@ Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree
 lis3mdl <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -303,8 +327,9 @@ Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/PX4-Autopilot/
 lsm9ds1_mag <command> [arguments...]
 Commands:
   start
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -329,10 +354,13 @@ Source: [drivers/magnetometer/memsic/mmc5983ma](https://github.com/PX4/PX4-Autop
 mmc5983ma <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -361,8 +389,10 @@ Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/PX4-Autopilot/tre
 qmc5883l <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -387,8 +417,10 @@ Source: [drivers/magnetometer/qmc5883p](https://github.com/PX4/PX4-Autopilot/tre
 qmc5883p <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -413,10 +445,13 @@ Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/
 rm3100 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
-     [-s]        Internal SPI bus(es)
-     [-S]        External SPI bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
+     [-s]        Internal SPI bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-S]        External SPI bus (connector sensors, including shared buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-c <val>]  chip-select pin (for internal SPI) or index (for external SPI)
@@ -441,8 +476,10 @@ Source: [drivers/magnetometer/vtrantech/vcm1193l](https://github.com/PX4/PX4-Aut
 vcm1193l <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -10,8 +10,10 @@ Source: [drivers/rpm/pcf8583](https://github.com/PX4/PX4-Autopilot/tree/main/src
 pcf8583 <command> [arguments...]
 Commands:
   start
-     [-I]        Internal I2C bus(es)
-     [-X]        External I2C bus(es)
+     [-I]        Internal I2C bus(es) (onboard sensors; shared bus only if -b is
+                 given)
+     [-X]        External I2C bus(es) (connector sensors, including shared
+                 buses)
     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
                 (default=1))
     [-f <val>]  bus frequency in kHz
@@ -397,7 +397,8 @@ i2c_launcher <command> [arguments...]
 Commands:
   start
     -b <val>    Bus number
-     -t <val>    battery index for calibration values (1 or 3)
+     [-t <val>]  battery index for calibration values (1-3)
+                 default: 1

   stop

@@ -48,6 +48,11 @@ Used in field(s): [unit](#fld_unit)
 | <a id="#FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL"></a> FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL       | `uint8` | 105 |    |
 | <a id="#FAILURE_UNIT_SYSTEM_ESC"></a> FAILURE_UNIT_SYSTEM_ESC                                                  | `uint8` | 106 |    |
 | <a id="#FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE"></a> FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE | `uint8` | 107 |    |
+| <a id="#FAILURE_UNIT_DATALINK_LTE"></a> FAILURE_UNIT_DATALINK_LTE                                              | `uint8` | 150 |    |
+| <a id="#FAILURE_UNIT_DATALINK_WIFI"></a> FAILURE_UNIT_DATALINK_WIFI                                            | `uint8` | 151 |    |
+| <a id="#FAILURE_UNIT_DATALINK_TELEM_RADIO"></a> FAILURE_UNIT_DATALINK_TELEM_RADIO         | `uint8` | 152 |    |
+| <a id="#FAILURE_UNIT_BUS_CAN"></a> FAILURE_UNIT_BUS_CAN                                                        | `uint8` | 200 |    |
+| <a id="#FAILURE_UNIT_BUS_I2C"></a> FAILURE_UNIT_BUS_I2C                                                        | `uint8` | 201 |    |

 ### FAILURE_TYPE {#FAILURE_TYPE}

@@ -112,6 +117,11 @@ uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
 uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
 uint8 FAILURE_UNIT_SYSTEM_ESC = 106
 uint8 FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE = 107
+uint8 FAILURE_UNIT_DATALINK_LTE = 150
+uint8 FAILURE_UNIT_DATALINK_WIFI = 151
+uint8 FAILURE_UNIT_DATALINK_TELEM_RADIO = 152
+uint8 FAILURE_UNIT_BUS_CAN = 200
+uint8 FAILURE_UNIT_BUS_I2C = 201

 uint16[4] instance_mask # Bit i targets instance (i+1); 0xFFFF = all instances

@@ -0,0 +1,34 @@
+---
+pageClass: is-wide-page
+---
+
+# FixedWingTakeoffStatus (UORB message)
+
+Status of a fixed-wing takeoff. Passes information from the FixedWingModeManager to the Navigator.
+
+**TOPICS:** fixed_wing_takeoff_status
+
+## Fields
+
+| 参数名                                                                        | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                                                                                     |
+| -------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="fld_timestamp"></a>timestamp                                        | `uint64` | us                                                               |            | time since system start                                                                                                                                                |
+| <a id="fld_climbout_completed"></a>climbout_completed | `bool`   |                                                                  |            | Whether the takeoff climbout is finished (altitude, or time if FW_TKO_CLMB_T is set) |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingTakeoffStatus.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Status of a fixed-wing takeoff
+# Passes information from the FixedWingModeManager to the Navigator.
+
+uint64 timestamp # [us] time since system start
+
+bool climbout_completed  # Whether the takeoff climbout is finished (altitude, or time if FW_TKO_CLMB_T is set)
+```
+
+:::
@@ -13,6 +13,7 @@ pageClass: is-wide-page
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`   |                                                                  |            | time since system start (microseconds)                 |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`   |                                                                  |            |                                                                           |
 | <a id="fld_device_id"></a>device_id               | `uint32`   |                                                                  |            | unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`     |                                                                  |            | true if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_x"></a>x                                                    | `float32`  |                                                                  |            | acceleration in the FRD board frame X-axis in m/s^2                       |
 | <a id="fld_y"></a>y                                                    | `float32`  |                                                                  |            | acceleration in the FRD board frame Y-axis in m/s^2                       |
 | <a id="fld_z"></a>z                                                    | `float32`  |                                                                  |            | acceleration in the FRD board frame Z-axis in m/s^2                       |
@@ -39,6 +40,7 @@ uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+bool is_external          # true if the sensor is not mounted on the flight controller board itself

 float32 x                 # acceleration in the FRD board frame X-axis in m/s^2
 float32 y                 # acceleration in the FRD board frame Y-axis in m/s^2
@@ -13,12 +13,13 @@ pageClass: is-wide-page
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`    |                                                                  |            | time since system start (microseconds)                 |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`    |                                                                  |            |                                                                           |
 | <a id="fld_device_id"></a>device_id               | `uint32`    |                                                                  |            | unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`      |                                                                  |            | true if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_dt"></a>dt                                                  | `float32`   |                                                                  |            | delta time between samples (microseconds)              |
-| <a id="fld_scale"></a>scale                                            | `float32`   |                                                                  |            |                                                                           |
+| <a id="fld_scale"></a>scale                                            | `float32`   |                                                                  |            | m/s^2 per count                                                           |
 | <a id="fld_samples"></a>samples                                        | `uint8`     |                                                                  |            | number of valid samples                                                   |
-| <a id="fld_x"></a>x                                                    | `int16[32]` |                                                                  |            | acceleration in the FRD board frame X-axis in m/s^2                       |
-| <a id="fld_y"></a>y                                                    | `int16[32]` |                                                                  |            | acceleration in the FRD board frame Y-axis in m/s^2                       |
-| <a id="fld_z"></a>z                                                    | `int16[32]` |                                                                  |            | acceleration in the FRD board frame Z-axis in m/s^2                       |
+| <a id="fld_x"></a>x                                                    | `int16[32]` |                                                                  |            | FRD board frame X-axis raw counts (m/s^2 = x \* scale) |
+| <a id="fld_y"></a>y                                                    | `int16[32]` |                                                                  |            | FRD board frame Y-axis raw counts (m/s^2 = y \* scale) |
+| <a id="fld_z"></a>z                                                    | `int16[32]` |                                                                  |            | FRD board frame Z-axis raw counts (m/s^2 = z \* scale) |

 ## Source Message

@@ -32,15 +33,16 @@ uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+bool is_external          # true if the sensor is not mounted on the flight controller board itself

 float32 dt                # delta time between samples (microseconds)
-float32 scale
+float32 scale             # m/s^2 per count

 uint8 samples             # number of valid samples

-int16[32] x               # acceleration in the FRD board frame X-axis in m/s^2
-int16[32] y               # acceleration in the FRD board frame Y-axis in m/s^2
-int16[32] z               # acceleration in the FRD board frame Z-axis in m/s^2
+int16[32] x               # FRD board frame X-axis raw counts (m/s^2 = x * scale)
+int16[32] y               # FRD board frame Y-axis raw counts (m/s^2 = y * scale)
+int16[32] z               # FRD board frame Z-axis raw counts (m/s^2 = z * scale)
 ```

 :::
@@ -18,6 +18,7 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`  | us                                                               |            | Time of publication (since system start)               |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`  | us                                                               |            | Time of raw data capture                                                  |
 | <a id="fld_device_id"></a>device_id               | `uint32`  |                                                                  |            | Unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`    |                                                                  |            | True if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_pressure"></a>pressure                                      | `float32` | Pa                                                               |            | Static pressure measurement                                               |
 | <a id="fld_temperature"></a>temperature                                | `float32` | °C                                                               |            | Temperature.                                              |
 | <a id="fld_error_count"></a>error_count           | `uint32`  |                                                                  |            | Number of errors detected by driver.                      |
@@ -45,6 +46,7 @@ uint64 timestamp         # [us] Time of publication (since system start)
 uint64 timestamp_sample  # [us] Time of raw data capture

 uint32 device_id     # [-] Unique device ID for the sensor that does not change between power cycles
+bool is_external     # [-] True if the sensor is not mounted on the flight controller board itself
 float32 pressure     # [Pa] Static pressure measurement
 float32 temperature  # [°C] Temperature.
 uint32 error_count   # [-] Number of errors detected by driver.
@@ -47,8 +47,9 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
 | <a id="fld_heading_accuracy"></a>heading_accuracy                                       | `float32` |                                                                        |            | heading accuracy (rad, [0, 2PI])                                                                                                                                     |
 | <a id="fld_rtcm_injection_rate"></a>rtcm_injection_rate            | `float32` |                                                                        |            | RTCM message injection rate Hz                                                                                                                                                                                                              |
 | <a id="fld_selected_rtcm_instance"></a>selected_rtcm_instance      | `uint8`   |                                                                        |            | uorb instance that is being used for RTCM corrections                                                                                                                                                                                       |
-| <a id="fld_rtcm_crc_failed"></a>rtcm_crc_failed                    | `bool`    |                                                                        |            | RTCM message CRC failure detected                                                                                                                                                                                                           |
-| <a id="fld_rtcm_msg_used"></a>rtcm_msg_used                        | `uint8`   |                                                                        |            | Indicates if the RTCM message was used successfully by the receiver                                                                                                                                                                         |
+| <a id="fld_corrections_protocol"></a>corrections_protocol                               | `uint8`   |                                                                        |            | Protocol of the last correction message the receiver parsed                                                                                                                                                                                 |
+| <a id="fld_corrections_crc_failed"></a>corrections_crc_failed      | `bool`    |                                                                        |            | Last correction message failed its CRC or content check                                                                                                                                                                                     |
+| <a id="fld_corrections_msg_used"></a>corrections_msg_used          | `uint8`   |                                                                        |            | Whether the receiver used the last correction message                                                                                                                                                                                       |
 | <a id="fld_antenna_offset_x"></a>antenna_offset_x                  | `float32` | m [body frame FRD] |            | X Position of GNSS antenna                                                                                                                                                                                                                  |
 | <a id="fld_antenna_offset_y"></a>antenna_offset_y                  | `float32` | m [body frame FRD] |            | Y Position of GNSS antenna                                                                                                                                                                                                                  |
 | <a id="fld_antenna_offset_z"></a>antenna_offset_z                  | `float32` | m [body frame FRD] |            | Z Position of GNSS antenna                                                                                                                                                                                                                  |
@@ -85,9 +86,15 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
 | <a id="#SYSTEM_ERROR_EVENT_CONGESTION"></a> SYSTEM_ERROR_EVENT_CONGESTION                          | `uint32` | 16 |                                                            |
 | <a id="#SYSTEM_ERROR_CPU_OVERLOAD"></a> SYSTEM_ERROR_CPU_OVERLOAD                                  | `uint32` | 32 |                                                            |
 | <a id="#SYSTEM_ERROR_OUTPUT_CONGESTION"></a> SYSTEM_ERROR_OUTPUT_CONGESTION                        | `uint32` | 64 |                                                            |
-| <a id="#RTCM_MSG_USED_UNKNOWN"></a> RTCM_MSG_USED_UNKNOWN                                          | `uint8`  | 0  |                                                            |
-| <a id="#RTCM_MSG_USED_NOT_USED"></a> RTCM_MSG_USED_NOT_USED                   | `uint8`  | 1  |                                                            |
-| <a id="#RTCM_MSG_USED_USED"></a> RTCM_MSG_USED_USED                                                | `uint8`  | 2  |                                                            |
+| <a id="#CORRECTIONS_PROTOCOL_UNKNOWN"></a> CORRECTIONS_PROTOCOL_UNKNOWN                                                 | `uint8`  | 0  |                                                            |
+| <a id="#CORRECTIONS_PROTOCOL_RTCM3"></a> CORRECTIONS_PROTOCOL_RTCM3                                                     | `uint8`  | 1  |                                                            |
+| <a id="#CORRECTIONS_PROTOCOL_SPARTN"></a> CORRECTIONS_PROTOCOL_SPARTN                                                   | `uint8`  | 2  |                                                            |
+| <a id="#CORRECTIONS_PROTOCOL_HAS"></a> CORRECTIONS_PROTOCOL_HAS                                                         | `uint8`  | 3  | Galileo High Accuracy Service, received on E6              |
+| <a id="#CORRECTIONS_PROTOCOL_PMP"></a> CORRECTIONS_PROTOCOL_PMP                                                         | `uint8`  | 4  | SPARTN over L-band (u-blox NEO-D9S)     |
+| <a id="#CORRECTIONS_PROTOCOL_QZSS_L6"></a> CORRECTIONS_PROTOCOL_QZSS_L6                            | `uint8`  | 5  | QZSS CLAS                                                  |
+| <a id="#CORRECTIONS_MSG_USED_UNKNOWN"></a> CORRECTIONS_MSG_USED_UNKNOWN                            | `uint8`  | 0  |                                                            |
+| <a id="#CORRECTIONS_MSG_USED_NOT_USED"></a> CORRECTIONS_MSG_USED_NOT_USED     | `uint8`  | 1  |                                                            |
+| <a id="#CORRECTIONS_MSG_USED_USED"></a> CORRECTIONS_MSG_USED_USED                                  | `uint8`  | 2  |                                                            |

 ## Source Message

@@ -179,12 +186,20 @@ float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
 float32 rtcm_injection_rate	# RTCM message injection rate Hz
 uint8 selected_rtcm_instance	# uorb instance that is being used for RTCM corrections

-bool rtcm_crc_failed		# RTCM message CRC failure detected
+uint8 CORRECTIONS_PROTOCOL_UNKNOWN = 0
+uint8 CORRECTIONS_PROTOCOL_RTCM3 = 1
+uint8 CORRECTIONS_PROTOCOL_SPARTN = 2
+uint8 CORRECTIONS_PROTOCOL_HAS = 3	# Galileo High Accuracy Service, received on E6
+uint8 CORRECTIONS_PROTOCOL_PMP = 4	# SPARTN over L-band (u-blox NEO-D9S)
+uint8 CORRECTIONS_PROTOCOL_QZSS_L6 = 5	# QZSS CLAS
+uint8 corrections_protocol	# Protocol of the last correction message the receiver parsed

-uint8 RTCM_MSG_USED_UNKNOWN = 0
-uint8 RTCM_MSG_USED_NOT_USED = 1
-uint8 RTCM_MSG_USED_USED = 2
-uint8 rtcm_msg_used		# Indicates if the RTCM message was used successfully by the receiver
+bool corrections_crc_failed	# Last correction message failed its CRC or content check
+
+uint8 CORRECTIONS_MSG_USED_UNKNOWN = 0
+uint8 CORRECTIONS_MSG_USED_NOT_USED = 1
+uint8 CORRECTIONS_MSG_USED_USED = 2
+uint8 corrections_msg_used	# Whether the receiver used the last correction message

 float32 antenna_offset_x	# [m] [@frame body frame FRD] X Position of GNSS antenna
 float32 antenna_offset_y	# [m] [@frame body frame FRD] Y Position of GNSS antenna
@@ -13,6 +13,7 @@ pageClass: is-wide-page
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`   |                                                                  |            | time since system start (microseconds)                 |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`   |                                                                  |            |                                                                           |
 | <a id="fld_device_id"></a>device_id               | `uint32`   |                                                                  |            | unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`     |                                                                  |            | true if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_x"></a>x                                                    | `float32`  |                                                                  |            | angular velocity in the FRD board frame X-axis in rad/s                   |
 | <a id="fld_y"></a>y                                                    | `float32`  |                                                                  |            | angular velocity in the FRD board frame Y-axis in rad/s                   |
 | <a id="fld_z"></a>z                                                    | `float32`  |                                                                  |            | angular velocity in the FRD board frame Z-axis in rad/s                   |
@@ -39,6 +40,7 @@ uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+bool is_external          # true if the sensor is not mounted on the flight controller board itself

 float32 x                 # angular velocity in the FRD board frame X-axis in rad/s
 float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
@@ -13,12 +13,13 @@ pageClass: is-wide-page
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`    |                                                                  |            | time since system start (microseconds)                 |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`    |                                                                  |            |                                                                           |
 | <a id="fld_device_id"></a>device_id               | `uint32`    |                                                                  |            | unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`      |                                                                  |            | true if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_dt"></a>dt                                                  | `float32`   |                                                                  |            | delta time between samples (microseconds)              |
-| <a id="fld_scale"></a>scale                                            | `float32`   |                                                                  |            |                                                                           |
+| <a id="fld_scale"></a>scale                                            | `float32`   |                                                                  |            | rad/s per count                                                           |
 | <a id="fld_samples"></a>samples                                        | `uint8`     |                                                                  |            | number of valid samples                                                   |
-| <a id="fld_x"></a>x                                                    | `int16[32]` |                                                                  |            | angular velocity in the FRD board frame X-axis in rad/s                   |
-| <a id="fld_y"></a>y                                                    | `int16[32]` |                                                                  |            | angular velocity in the FRD board frame Y-axis in rad/s                   |
-| <a id="fld_z"></a>z                                                    | `int16[32]` |                                                                  |            | angular velocity in the FRD board frame Z-axis in rad/s                   |
+| <a id="fld_x"></a>x                                                    | `int16[32]` |                                                                  |            | FRD board frame X-axis raw counts (rad/s = x \* scale) |
+| <a id="fld_y"></a>y                                                    | `int16[32]` |                                                                  |            | FRD board frame Y-axis raw counts (rad/s = y \* scale) |
+| <a id="fld_z"></a>z                                                    | `int16[32]` |                                                                  |            | FRD board frame Z-axis raw counts (rad/s = z \* scale) |

 ## Constants

@@ -38,15 +39,16 @@ uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+bool is_external          # true if the sensor is not mounted on the flight controller board itself

 float32 dt                # delta time between samples (microseconds)
-float32 scale
+float32 scale             # rad/s per count

 uint8 samples             # number of valid samples

-int16[32] x               # angular velocity in the FRD board frame X-axis in rad/s
-int16[32] y               # angular velocity in the FRD board frame Y-axis in rad/s
-int16[32] z               # angular velocity in the FRD board frame Z-axis in rad/s
+int16[32] x               # FRD board frame X-axis raw counts (rad/s = x * scale)
+int16[32] y               # FRD board frame Y-axis raw counts (rad/s = y * scale)
+int16[32] z               # FRD board frame Z-axis raw counts (rad/s = z * scale)

 uint8 ORB_QUEUE_LENGTH = 4
 ```
@@ -13,6 +13,7 @@ pageClass: is-wide-page
 | <a id="fld_timestamp"></a>timestamp                                    | `uint64`  |                                                                  |            | time since system start (microseconds)                 |
 | <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64`  |                                                                  |            |                                                                           |
 | <a id="fld_device_id"></a>device_id               | `uint32`  |                                                                  |            | unique device ID for the sensor that does not change between power cycles |
+| <a id="fld_is_external"></a>is_external           | `bool`    |                                                                  |            | true if the sensor is not mounted on the flight controller board itself   |
 | <a id="fld_x"></a>x                                                    | `float32` | Gauss                                                            |            | magnetic field in the FRD board frame X-axis                              |
 | <a id="fld_y"></a>y                                                    | `float32` | Gauss                                                            |            | magnetic field in the FRD board frame Y-axis                              |
 | <a id="fld_z"></a>z                                                    | `float32` | Gauss                                                            |            | magnetic field in the FRD board frame Z-axis                              |
@@ -37,6 +38,7 @@ uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+bool is_external          # true if the sensor is not mounted on the flight controller board itself

 float32 x                 # [Gauss] magnetic field in the FRD board frame X-axis
 float32 y                 # [Gauss] magnetic field in the FRD board frame Y-axis
@@ -1667,6 +1667,11 @@ Change heading/course. param1: heading type (0=course-over-ground, 1=heading). p
 | <a id="#FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL"></a> FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL       | `uint8`  | 105  |                                                                                                                                                                    |
 | <a id="#FAILURE_UNIT_SYSTEM_ESC"></a> FAILURE_UNIT_SYSTEM_ESC                                                  | `uint8`  | 106  |                                                                                                                                                                    |
 | <a id="#FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE"></a> FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE | `uint8`  | 107  |                                                                                                                                                                    |
+| <a id="#FAILURE_UNIT_DATALINK_LTE"></a> FAILURE_UNIT_DATALINK_LTE                                              | `uint8`  | 150  |                                                                                                                                                                    |
+| <a id="#FAILURE_UNIT_DATALINK_WIFI"></a> FAILURE_UNIT_DATALINK_WIFI                                            | `uint8`  | 151  |                                                                                                                                                                    |
+| <a id="#FAILURE_UNIT_DATALINK_TELEM_RADIO"></a> FAILURE_UNIT_DATALINK_TELEM_RADIO         | `uint8`  | 152  |                                                                                                                                                                    |
+| <a id="#FAILURE_UNIT_BUS_CAN"></a> FAILURE_UNIT_BUS_CAN                                                        | `uint8`  | 200  |                                                                                                                                                                    |
+| <a id="#FAILURE_UNIT_BUS_I2C"></a> FAILURE_UNIT_BUS_I2C                                                        | `uint8`  | 201  |                                                                                                                                                                    |
 | <a id="#FAILURE_TYPE_OK"></a> FAILURE_TYPE_OK                                                                                       | `uint8`  | 0    |                                                                                                                                                                    |
 | <a id="#FAILURE_TYPE_OFF"></a> FAILURE_TYPE_OFF                                                                                     | `uint8`  | 1    |                                                                                                                                                                    |
 | <a id="#FAILURE_TYPE_STUCK"></a> FAILURE_TYPE_STUCK                                                                                 | `uint8`  | 2    |                                                                                                                                                                    |
@@ -1873,6 +1878,11 @@ uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
 uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
 uint8 FAILURE_UNIT_SYSTEM_ESC = 106
 uint8 FAILURE_UNIT_SYSTEM_TRAFFIC_AVOIDANCE = 107
+uint8 FAILURE_UNIT_DATALINK_LTE = 150
+uint8 FAILURE_UNIT_DATALINK_WIFI = 151
+uint8 FAILURE_UNIT_DATALINK_TELEM_RADIO = 152
+uint8 FAILURE_UNIT_BUS_CAN = 200
+uint8 FAILURE_UNIT_BUS_I2C = 201

 uint8 FAILURE_TYPE_OK = 0
 uint8 FAILURE_TYPE_OFF = 1
@@ -140,6 +140,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
 - [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
 - [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing.
+- [FixedWingTakeoffStatus](FixedWingTakeoffStatus.md) — Status of a fixed-wing takeoff. Passes information from the FixedWingModeManager to the Navigator.
 - [FlightPhaseEstimation](FlightPhaseEstimation.md)
 - [FollowTarget](FollowTarget.md)
 - [FollowTargetEstimator](FollowTargetEstimator.md)
@@ -159,7 +159,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 - **[[uXRCE-DDS](../middleware/uxrce_dds.md)]** [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) now allows the use of `subscription_multi` to specify that indicated ROS 2 topics are sent to a separate uORB topic instance reserved for ROS 2 ([PX4-Autopilot#22266](https://github.com/PX4/PX4-Autopilot/pull/22266))
  - This allows PX4 to differentiate between updates from ROS and those from PX4 uORB publishers
-  - With this change ROS2 users can now decide if the messages that they are sending to PX4 will overlap with the existing uORB ones or be kept in separate instances.
+  - With this change ROS 2 users can now decide if the messages that they are sending to PX4 will overlap with the existing uORB ones or be kept in separate instances.
 - Move VOXL from microdds client to UXRCE-DDS client ([PX4-Autopilot#22997](https://github.com/PX4/PX4-Autopilot/pull/22997))
 - Add parameter to disable time synchronization between Agent and Client ([PX4-Autopilot#21757](https://github.com/PX4/PX4-Autopilot/pull/21757))
  - **[New Parameter]** `UXRCE_DDS_SYNCT`
@@ -158,7 +158,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
  - [Faster than Real-time Simulation](../simulation/index.md#simulation_speed) ([PX4-Autopilot#24421](https://github.com/PX4/PX4-Autopilot/pull/24421), [PX4-Autopilot#23783](https://github.com/PX4/PX4-Autopilot/pull/23783))
  - [PX4-Autopilot#24471](https://github.com/PX4/PX4-Autopilot/pull/24471): Gazebo: Moving platform

-### uXRCE-DDS / ROS2
+### uXRCE-DDS / ROS 2

 - [PX4-Autopilot#24113](https://github.com/PX4/PX4-Autopilot/pull/24113): <Badge type="warning" text="Experimental"/> [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to translate PX4 messages from one definition version to another dynamically
 - <Badge type="warning" text="Experimental"/>[PX4 ROS 2 Interface Library](../ros2/px4_ros2_control_interface.md) support for [ROS-based waypoint missions](../ros2/px4_ros2_waypoint_missions.md).
@@ -296,13 +296,41 @@ For users upgrading from v1.17, please take a moment to review the following bef

 ### uXRCE-DDS

- uXRCE-DDS, add support for DDS `v3`, ROS 2 Lyrical and Rolling ([PX4-Autopilot#27597](https://github.com/PX4/PX4-Autopilot/pull/27597))
- uXRCE-DDS topic bridging gained per-topic drain and unlimited-rate options, letting a topic be published as fast as it updates instead of at a fixed interval. ([PX4-Autopilot#27688](https://github.com/PX4/PX4-Autopilot/pull/27688))
+- [DDS version selection](../middleware/uxrce_dds.md#version-selection).
+  Added support for DDS v3, ROS 2 Lyrical Luth and Rolling Ridley ([PX4-Autopilot#27597](https://github.com/PX4/PX4-Autopilot/pull/27597))
+
+- Topic bridging gained per-topic drain and unlimited-rate options, letting a topic be published as fast as it updates instead of at a fixed interval.
+  ([PX4-Autopilot#27688](https://github.com/PX4/PX4-Autopilot/pull/27688))
+
+- Added rate limiter to [`vehicle_attitude`](../msg_docs/VehicleAttitude.md) and [`vehicle_odometry`](../msg_docs/VehicleOdometry.md) topic publishers.
+  ([PX4-Autopilot#25792](https://github.com/PX4/PX4-Autopilot/pull/25792))
+
+- New uORB topics bridged.
+  ([PX4-Autopilot#27681](https://github.com/PX4/PX4-Autopilot/pull/27681))
+
+  | uORB       | ROS 2               | 方向           | Instance | Max Rate [Hz] |
+  | ---------- | ------------------- | ------------ | -------- | ----------------------------------------------------------------- |
+  | `vtx`      | `/fmu/out/vtx`      | PX4 to ROS 2 | `0`      | 1                                                                 |
+  | `input_rc` | `/fmu/out/input_rc` | PX4 to ROS 2 | `0`      | 10                                                                |
+
+- [Multi instance publication](../middleware/uxrce_dds.md#dds-topics-yaml).
+  Added `instance` field to the `publications` section of `dds_topics.yaml` to control which uORB instance is published to ROS 2.
+  Defaults to instance zero.
+  ([PX4-Autopilot#22350](https://github.com/PX4/PX4-Autopilot/pull/22350))
+
+- Added support for hardware flow control when using serial communication.
+  **Note:** [Custom Micro XRCE DDS Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) build is required.
+  ([PX4-Autopilot#26209](https://github.com/PX4/PX4-Autopilot/pull/26209))
+
+- ROS 2 subscriptions can be demuxed into different uORB topic instances.
+  ([PX4-Autopilot#26305](https://github.com/PX4/PX4-Autopilot/pull/26305))

 ### Zenoh

 - Zenoh publisher options (reliability, priority, congestion control, express) are now configurable, both as common defaults and per-publisher overrides gated by the `ZENOH_PUB_OPTION_OVERRIDE` build option. ([PX4-Autopilot#27157](https://github.com/PX4/PX4-Autopilot/pull/27157))
 - Added a Zenoh build variant (`zenoh.px4board`) for the ARKV6X flight controller. ([PX4-Autopilot#25887](https://github.com/PX4/PX4-Autopilot/pull/25887))
+- Added support for ROS 2 Humble and earlier.
+  ([PX4-Autopilot#26619](https://github.com/PX4/PX4-Autopilot/pull/26619))

 ## 仿真

--- a/Show More
+++ b/Show More