metadata - _sidebar and only display front page warning on main (#25761)

* _sidebar and only display front page warning on main

* Update metadata and fix internal flaws

docs/en/SUMMARY.md

@@ -681,6 +681,7 @@
         - [SensorCombined](msg_docs/SensorCombined.md)
         - [SensorCorrection](msg_docs/SensorCorrection.md)
         - [SensorGnssRelative](msg_docs/SensorGnssRelative.md)
+        - [SensorGnssStatus](msg_docs/SensorGnssStatus.md)
         - [SensorGps](msg_docs/SensorGps.md)
         - [SensorGyro](msg_docs/SensorGyro.md)
         - [SensorGyroFft](msg_docs/SensorGyroFft.md)

docs/en/_sidebar.md

@@ -1,5 +1,4 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
-
 - [Introduction](/index.md)
   - [Basic Concepts](/getting_started/px4_basic_concepts.md)
 
@@ -9,6 +8,7 @@
       - [Position Mode (MC)](/flight_modes_mc/position.md)
       - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md)
       - [Altitude Mode (MC)](/flight_modes_mc/altitude.md)
+      - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md)
       - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
       - [Acro Mode (MC)](/flight_modes_mc/acro.md)
       - [Orbit Mode (MC)](/flight_modes_mc/orbit.md)
@@ -185,6 +185,7 @@
         - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
       - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
       - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](/flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -284,6 +285,7 @@
       - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
       - [InertialLabs](/sensor/inertiallabs.md)
+      - [sbgECom](/sensor/sbgecom.md)
       - [VectorNav](/sensor/vectornav.md)
     - [Optical Flow](/sensor/optical_flow.md)
       - [ARK Flow](/dronecan/ark_flow.md)
@@ -415,6 +417,7 @@
       - [Attitude Tuning](/config_rover/attitude_tuning.md)
       - [Velocity Tuning](/config_rover/velocity_tuning.md)
       - [Position Tuning](/config_rover/position_tuning.md)
+    - [Apps & API](/flight_modes_rover/api.md)
     - [Complete Vehicles](/complete_vehicles_rover/index.md)
       - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](/frames_sub/index.md)
@@ -852,6 +855,7 @@
     - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md)
       - [Control Interface](/ros2/px4_ros2_control_interface.md)
       - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](/ros/ros1.md)
     - [ROS/MAVROS Installation Guide](/ros/mavros_installation.md)

docs/en/airframes/airframe_reference.md

@@ -615,6 +615,10 @@ div.frame_variant td, div.frame_variant th {
  <td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
  <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
 </tr>
+<tr id="rover_rover_nxp_b3rb_rover_ackermann">
+ <td>NXP B3RB Rover Ackermann</td>
+ <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51002</p></td>
+</tr>
 <tr id="rover_rover_generic_rover_mecanum">
  <td>Generic Rover Mecanum</td>
  <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 52000</p></td>

docs/en/index.md

@@ -1,3 +1,8 @@
+<script setup>
+import { useData } from 'vitepress'
+const { site } = useData();
+</script>
+
 <div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>
 
 # PX4 Autopilot User Guide
@@ -8,17 +13,22 @@ PX4 is the _Professional Autopilot_.
 Developed by world-class developers from industry and academia, and supported by an active world wide community, it powers all kinds of vehicles from racing and cargo drones through to ground vehicles and submersibles.
 
 :::tip
-This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. Interested in contributing? Check out the [Development](development/development.md) section.
+This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle.
-
+Interested in contributing? Check out the [Development](development/development.md) section.
 :::
 
+<div v-if="site.title == 'PX4 Guide (main)'">
+
 :::warning
+
 This guide is for the _development_ version of PX4 (`main` branch).
 Use the **Version** selector to find the current _stable_ version.
 
 Documented changes since the stable release are captured in the evolving [release note](releases/main.md).
 :::
 
+</div>
+
 ## How Do I Get Started?
 
 [Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users!

docs/en/modules/modules_driver_distance_sensor.md

@@ -104,7 +104,7 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4
 
 ### Description
 
-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
+I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
 

docs/en/msg_docs/AirspeedValidated.md

@@ -1,31 +1,39 @@
 # AirspeedValidated (UORB message)
 
+Validated airspeed
 
+Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+Used by controllers, estimators and for airspeed reporting to operator.
 
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
 
 ```c
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+
 uint32 MESSAGE_VERSION = 1
 
-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp  # [us] Time since system start
 
-float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
+float32 indicated_airspeed_m_s   # [m/s] [@invalid NaN] Indicated airspeed (IAS)
-float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
+float32 calibrated_airspeed_m_s  # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
-float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid
+float32 true_airspeed_m_s        # [m/s] [@invalid NaN] True airspeed (TAS)
 
-int8 airspeed_source				# Source of currently published airspeed values
+int8 airspeed_source               # [@enum SOURCE] Source of currently published airspeed values
-int8 DISABLED = -1
+int8 SOURCE_DISABLED = -1          # Disabled
-int8 GROUND_MINUS_WIND = 0
+int8 SOURCE_GROUND_MINUS_WIND = 0  # Ground speed minus wind
-int8 SENSOR_1 = 1
+int8 SOURCE_SENSOR_1 = 1           # Sensor 1
-int8 SENSOR_2 = 2
+int8 SOURCE_SENSOR_2 = 2           # Sensor 2
-int8 SENSOR_3 = 3
+int8 SOURCE_SENSOR_3 = 3           # Sensor 3
-int8 SYNTHETIC = 4
+int8 SOURCE_SYNTHETIC = 4          # Synthetic airspeed
 
-# debug states
+float32 calibrated_ground_minus_wind_m_s  # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
-float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
+float32 calibraded_airspeed_synth_m_s     # [m/s] [@invalid NaN] Synthetic airspeed
-float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
+float32 airspeed_derivative_filtered      # [m/s^2] Filtered indicated airspeed derivative
-float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
+float32 throttle_filtered                 # [-] Filtered fixed-wing throttle
-float32 throttle_filtered			# filtered fixed-wing throttle [-]
+float32 pitch_filtered                    # [rad] Filtered pitch
-float32 pitch_filtered				# filtered pitch [rad]
 
 ```

docs/en/msg_docs/AutotuneAttitudeControlStatus.md

@@ -1,44 +1,59 @@
 # AutotuneAttitudeControlStatus (UORB message)
 
+Autotune attitude control status
 
+This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+and is subscribed to by the respective attitude controllers to command rate setpoints.
+
+The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
 
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
 
 ```c
-uint64 timestamp                # time since system start (microseconds)
+# Autotune attitude control status
+#
+# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+# and is subscribed to by the respective attitude controllers to command rate setpoints.
+#
+# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
 
-float32[5] coeff                # coefficients of the identified discrete-time model
+uint64 timestamp  # [us] Time since system start
-float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
-float32 fitness                 # fitness of the parameter estimate
-float32 innov
-float32 dt_model
 
-float32 kc
+float32[5] coeff      # [-] Coefficients of the identified discrete-time model
-float32 ki
+float32[5] coeff_var  # [-] Coefficients' variance of the identified discrete-time model
-float32 kd
+float32 fitness       # [-] Fitness of the parameter estimate
-float32 kff
+float32 innov         # [rad/s] Innovation (residual error between model and measured output)
-float32 att_p
+float32 dt_model      # [s] Model sample time used for identification
 
-float32[3] rate_sp
 
-float32 u_filt
+float32 kc    # [-] Proportional rate-loop gain (ideal form)
-float32 y_filt
+float32 ki    # [-] Integral rate-loop gain (ideal form)
+float32 kd    # [-] Derivative rate-loop gain (ideal form)
+float32 kff   # [-] Feedforward rate-loop gain
+float32 att_p # [-] Proportional attitude gain
 
-uint8 STATE_IDLE = 0
+float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
-uint8 STATE_INIT = 1
-uint8 STATE_ROLL = 2
-uint8 STATE_ROLL_PAUSE = 3
-uint8 STATE_PITCH = 4
-uint8 STATE_PITCH_PAUSE = 5
-uint8 STATE_YAW = 6
-uint8 STATE_YAW_PAUSE = 7
-uint8 STATE_VERIFICATION = 8
-uint8 STATE_APPLY = 9
-uint8 STATE_TEST = 10
-uint8 STATE_COMPLETE = 11
-uint8 STATE_FAIL = 12
-uint8 STATE_WAIT_FOR_DISARM = 13
 
-uint8 state
+float32 u_filt  # [-] Filtered input signal (normalized torque setpoint) used in system identification.
+float32 y_filt  # [rad/s] Filtered output signal (angular velocity) used in system identification.
+
+uint8 state  # [@enum STATE] Current state of the autotune procedure.
+uint8 STATE_IDLE = 0                      # Idle (not running)
+uint8 STATE_INIT = 1                      # Initialize filters and setup
+uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2  # FW only: determine required excitation amplitude (roll)
+uint8 STATE_ROLL = 3                      # Roll-axis excitation and model identification
+uint8 STATE_ROLL_PAUSE = 4                # Pause to return to level flight
+uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
+uint8 STATE_PITCH = 6                     # Pitch-axis excitation and model identification
+uint8 STATE_PITCH_PAUSE = 7               # Pause to return to level flight
+uint8 STATE_YAW_AMPLITUDE_DETECTION = 8   # FW only: determine required excitation amplitude (yaw)
+uint8 STATE_YAW = 9                       # Yaw-axis excitation and model identification
+uint8 STATE_YAW_PAUSE = 10                # Pause to return to level flight
+uint8 STATE_VERIFICATION = 11             # Verify model and candidate gains
+uint8 STATE_APPLY = 12                    # Apply gains
+uint8 STATE_TEST = 13                     # Test gains in closed-loop
+uint8 STATE_COMPLETE = 14                 # Tuning completed successfully
+uint8 STATE_FAIL = 15                     # Tuning failed (model invalid or controller unstable)
+uint8 STATE_WAIT_FOR_DISARM = 16          # Waiting for disarm before finalizing
 
 ```

docs/en/msg_docs/ControlAllocatorStatus.md

@@ -1,7 +1,5 @@
 # ControlAllocatorStatus (UORB message)
 
-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
 
 ```c
@@ -26,5 +24,6 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                         # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
 
 uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection
 
 ```

docs/en/msg_docs/EstimatorStatusFlags.md

@@ -54,8 +54,9 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
-bool cs_gnss_fault              # 45 - true if GNSS measurements have been declared faulty and are no longer used
+bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
 bool cs_yaw_manual              # 46 - true if yaw has been set manually
+bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

docs/en/msg_docs/FailureDetectorStatus.md

@@ -1,7 +1,5 @@
 # FailureDetectorStatus (UORB message)
 
-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
 
 ```c
@@ -19,5 +17,6 @@ bool fd_motor
 
 float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
 uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
+uint16 motor_stop_mask              # Bitmaks of motors stopped by failure injection
 
 ```

docs/en/msg_docs/GimbalDeviceAttitudeStatus.md

@@ -1,7 +1,5 @@
 # GimbalDeviceAttitudeStatus (UORB message)
 
-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
 
 ```c
@@ -16,6 +14,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
 uint16 DEVICE_FLAGS_ROLL_LOCK = 4
 uint16 DEVICE_FLAGS_PITCH_LOCK = 8
 uint16 DEVICE_FLAGS_YAW_LOCK = 16
+uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
+uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
+
 
 float32[4] q
 float32 angular_velocity_x

docs/en/msg_docs/SensorGnssStatus.md

@@ -0,0 +1,19 @@
+# SensorGnssStatus (UORB message)
+
+Gnss quality indicators
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg)
+
+```c
+# Gnss quality indicators
+
+uint64 timestamp		# time since system start (microseconds)
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+bool  quality_available         # Set to true if quality indicators are available
+uint8 quality_corrections       # Corrections quality from 0 to 10, or 255 if not available
+uint8 quality_receiver          # Overall receiver operating status from 0 to 10, or 255 if not available
+uint8 quality_gnss_signals      # Quality of GNSS signals from 0 to 10, or 255 if not available
+uint8 quality_post_processing   # Expected post processing quality from 0 to 10, or 255 if not available
+
+```

docs/en/msg_docs/SensorGps.md

@@ -38,18 +38,26 @@ float32 vdop			# Vertical dilution of precision
 int32 noise_per_ms		# GPS noise per millisecond
 uint16 automatic_gain_control   # Automatic gain control monitor
 
-uint8 JAMMING_STATE_UNKNOWN  = 0
+uint8 JAMMING_STATE_UNKNOWN   = 0 #default
-uint8 JAMMING_STATE_OK       = 1
+uint8 JAMMING_STATE_OK        = 1
-uint8 JAMMING_STATE_WARNING  = 2
+uint8 JAMMING_STATE_MITIGATED = 2
-uint8 JAMMING_STATE_CRITICAL = 3
+uint8 JAMMING_STATE_DETECTED  = 3
-uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+uint8 jamming_state	      # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
-int32 jamming_indicator		# indicates jamming is occurring
+int32 jamming_indicator	      # indicates jamming is occurring
 
-uint8 SPOOFING_STATE_UNKNOWN   = 0
+uint8 SPOOFING_STATE_UNKNOWN   = 0 #default
-uint8 SPOOFING_STATE_NONE      = 1
+uint8 SPOOFING_STATE_OK        = 1
-uint8 SPOOFING_STATE_INDICATED = 2
+uint8 SPOOFING_STATE_MITIGATED = 2
-uint8 SPOOFING_STATE_MULTIPLE  = 3
+uint8 SPOOFING_STATE_DETECTED  = 3
-uint8 spoofing_state		# indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+uint8 spoofing_state	       # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
+
+# Combined authentication state (e.g. Galileo OSNMA)
+uint8 AUTHENTICATION_STATE_UNKNOWN      = 0 #default
+uint8 AUTHENTICATION_STATE_INITIALIZING = 1
+uint8 AUTHENTICATION_STATE_ERROR        = 2
+uint8 AUTHENTICATION_STATE_OK           = 3
+uint8 AUTHENTICATION_STATE_DISABLED     = 4
+uint8 authentication_state              # GPS signal authentication state
 
 float32 vel_m_s			# GPS ground speed, (metres/sec)
 float32 vel_n_m_s		# GPS North velocity, (metres/sec)
@@ -63,6 +71,16 @@ uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp whi
 
 uint8 satellites_used		# Number of satellites used
 
+uint32 SYSTEM_ERROR_OK                   = 0 #default
+uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
+uint32 SYSTEM_ERROR_CONFIGURATION        = 2
+uint32 SYSTEM_ERROR_SOFTWARE             = 4
+uint32 SYSTEM_ERROR_ANTENNA              = 8
+uint32 SYSTEM_ERROR_EVENT_CONGESTION     = 16
+uint32 SYSTEM_ERROR_CPU_OVERLOAD         = 32
+uint32 SYSTEM_ERROR_OUTPUT_CONGESTION    = 64
+uint32 system_error                      # General errors with the connected GPS receiver
+
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])

docs/en/msg_docs/VehicleOdometry.md

@@ -1,41 +1,44 @@
 # VehicleOdometry (UORB message)
 
-Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+Vehicle odometry data
+
+Fits ROS REP 147 for aerial vehicles
 
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
 
 ```c
-# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+# Vehicle odometry data
+#
+# Fits ROS REP 147 for aerial vehicles
 
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp         # [us] Time since system start
-uint64 timestamp_sample
+uint64 timestamp_sample  # [us] Timestamp sample
 
-uint8 POSE_FRAME_UNKNOWN = 0
+uint8 pose_frame              # [@enum POSE_FRAME] Position and orientation frame of reference
-uint8 POSE_FRAME_NED     = 1 # NED earth-fixed frame
+uint8 POSE_FRAME_UNKNOWN = 0  # Unknown frame
-uint8 POSE_FRAME_FRD     = 2 # FRD world-fixed frame, arbitrary heading reference
+uint8 POSE_FRAME_NED     = 1  # North-East-Down (NED) navigation frame. Aligned with True North.
-uint8 pose_frame            # Position and orientation frame of reference
+uint8 POSE_FRAME_FRD     = 2  # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
 
-float32[3] position         # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
+float32[3] position  # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
-float32[4] q                # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
+float32[4] q         # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)
 
-uint8 VELOCITY_FRAME_UNKNOWN  = 0
+uint8 velocity_frame               # [@enum VELOCITY_FRAME] Reference frame of the velocity data
-uint8 VELOCITY_FRAME_NED      = 1 # NED earth-fixed frame
+uint8 VELOCITY_FRAME_UNKNOWN  = 0  # Unknown frame
-uint8 VELOCITY_FRAME_FRD      = 2 # FRD world-fixed frame, arbitrary heading reference
+uint8 VELOCITY_FRAME_NED      = 1  # NED navigation frame at current position.
-uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
+uint8 VELOCITY_FRAME_FRD      = 2  # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
-uint8 velocity_frame        # Reference frame of the velocity data
+uint8 VELOCITY_FRAME_BODY_FRD = 3  # FRD body-fixed frame
 
-float32[3] velocity         # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
+float32[3] velocity          # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
+float32[3] angular_velocity  # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
 
-float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
+float32[3] position_variance     # [m^2] Variance of position error
+float32[3] orientation_variance  # [rad^2] Variance of orientation/attitude error (expressed in body frame)
+float32[3] velocity_variance     # [m^2/s^2] Variance of velocity error
 
-float32[3] position_variance
+uint8 reset_counter  # [-] Reset counter. Counts reset events on attitude, velocity and position.
-float32[3] orientation_variance
+int8 quality         # [-] [@invalid 0] Quality. Unused.
-float32[3] velocity_variance
-
-uint8 reset_counter
-int8 quality
 
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry

docs/en/msg_docs/index.md

@@ -15,7 +15,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
-- [AirspeedValidated](AirspeedValidated.md)
+- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
 - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
 - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
 - [BatteryStatus](BatteryStatus.md) — Battery status
@@ -70,7 +70,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [VehicleLandDetected](VehicleLandDetected.md)
 - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
   The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
-- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
 - [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
 - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
 - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
@@ -87,7 +87,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [AdcReport](AdcReport.md)
 - [Airspeed](Airspeed.md) — Airspeed data from sensors
 - [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
-- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
+- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
 - [BatteryInfo](BatteryInfo.md) — Battery information
 - [ButtonEvent](ButtonEvent.md)
 - [CameraCapture](CameraCapture.md)
@@ -246,6 +246,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
   change with board revisions and sensor updates.
 - [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
 - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
+- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
 - [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
   the field 'timestamp' is for the position & velocity (microseconds)
 - [SensorGyro](SensorGyro.md)

docs/en/ros2/px4_ros2_waypoint_missions.md

@@ -36,7 +36,7 @@ There are some benefits and drawbacks to using ROS-based missions, which are pro
 
 - QGroundControl currently does not display the mission or progress during execution, and cannot upload or download a mission.
   Therefore you will need another mechanism to provide a mission, such as from a web server, a custom GCS, or by generating it directly inside the application.
-- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-gotosetpointtype), which only works for multicopters, and VTOL in MC mode).
+- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-multicoptergotosetpointtype), which only works for multicopters, and VTOL in MC mode).
   It is designed to be extendable to any other vehicle type.
 
 ## Overview

docs/ko/_sidebar.md

@@ -8,6 +8,7 @@
       - [위치 모드 (멀티콥터)](/flight_modes_mc/position.md)
       - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md)
       - [고도 모드 (멀티콥터)](/flight_modes_mc/altitude.md)
+      - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md)
       - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
       - [아크로 모드 (멀티콥터)](/flight_modes_mc/acro.md)
       - [궤도 모드 (멀티콥터)](/flight_modes_mc/orbit.md)
@@ -158,6 +159,7 @@
         - [mRo (3DR) Pixhawk 배선 퀵 스타트](/assembly/quick_start_pixhawk.md)
       - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md)
     - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
       - [AirMind MindPX](/flight_controller/mindpx.md)
       - [AirMind MindRacer](/flight_controller/mindracer.md)
       - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
@@ -183,6 +185,7 @@
         - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
       - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
       - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](/flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -284,6 +287,7 @@
       - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
       - [InertialLabs](/sensor/inertiallabs.md)
+      - [sbgECom](/sensor/sbgecom.md)
       - [VectorNav](/sensor/vectornav.md)
     - [광류 센서](/sensor/optical_flow.md)
       - [ARK Flow](/dronecan/ark_flow.md)
@@ -433,6 +437,7 @@
       - [Attitude Tuning](/config_rover/attitude_tuning.md)
       - [Velocity Tuning](/config_rover/velocity_tuning.md)
       - [Position Tuning](/config_rover/position_tuning.md)
+    - [Apps & API](/flight_modes_rover/api.md)
     - [Complete Vehicles](/complete_vehicles_rover/index.md)
       - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](/frames_sub/index.md)
@@ -680,6 +685,8 @@
         - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
         - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -740,6 +747,7 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
         - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
         - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
         - [EventV0](/msg_docs/EventV0.md)
         - [HomePositionV0](/msg_docs/HomePositionV0.md)
@@ -844,8 +852,10 @@
       - [시험 MC_04 - 안전 장치 시험](/test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md)
     - [단위 테스트](/test_and_ci/unit_tests.md)
       - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
     - [지속 통합](/test_and_ci/continous_integration.md)
@@ -866,6 +876,7 @@
     - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md)
       - [Control Interface](/ros2/px4_ros2_control_interface.md)
       - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](/ros/ros1.md)
     - [ROS/MAVROS 설치 가이드](/ros/mavros_installation.md)

docs/uk/_sidebar.md

@@ -8,6 +8,7 @@
       - [Position Mode (MC)](/flight_modes_mc/position.md)
       - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md)
       - [Altitude Mode (MC)](/flight_modes_mc/altitude.md)
+      - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md)
       - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
       - [Acro Mode (MC)](/flight_modes_mc/acro.md)
       - [Orbit Mode (MC)](/flight_modes_mc/orbit.md)
@@ -158,6 +159,7 @@
         - [Швидке підключення mRo (3DR) Pixhawk](/assembly/quick_start_pixhawk.md)
       - [Holybro Pixhawk Mini (FMUv3) - Припинено](/flight_controller/pixhawk_mini.md)
     - [Автопілоти, що підтримуються виробником](/flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
       - [AirMind MindPX](/flight_controller/mindpx.md)
       - [AirMind MindRacer](/flight_controller/mindracer.md)
       - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
@@ -183,6 +185,7 @@
         - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
       - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
       - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](/flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -284,6 +287,7 @@
       - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Інерціальна навігація/GNSS)](/sensor/inertial_navigation_systems.md)
       - [InertialLabs](/sensor/inertiallabs.md)
+      - [sbgECom](/sensor/sbgecom.md)
       - [VectorNav](/sensor/vectornav.md)
     - [Optical Flow](/sensor/optical_flow.md)
       - [ARK Flow](/dronecan/ark_flow.md)
@@ -433,6 +437,7 @@
       - [Attitude Tuning](/config_rover/attitude_tuning.md)
       - [Velocity Tuning](/config_rover/velocity_tuning.md)
       - [Position Tuning](/config_rover/position_tuning.md)
+    - [Apps & API](/flight_modes_rover/api.md)
     - [Complete Vehicles](/complete_vehicles_rover/index.md)
       - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](/frames_sub/index.md)
@@ -680,6 +685,8 @@
         - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
         - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -740,6 +747,7 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
         - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
         - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
         - [EventV0](/msg_docs/EventV0.md)
         - [HomePositionV0](/msg_docs/HomePositionV0.md)
@@ -844,8 +852,10 @@
       - [Тест MC_04 - Тестування відмовостійкості](/test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md)
     - [Модульні Тести](/test_and_ci/unit_tests.md)
       - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
     - [Безперервна інтеграція](/test_and_ci/continous_integration.md)
@@ -866,6 +876,7 @@
     - [Інтерфейсна бібліотека PX4 ROS 2](/ros2/px4_ros2_interface_lib.md)
       - [Керування інтерфейсом](/ros2/px4_ros2_control_interface.md)
       - [Навігаційний інтерфейс](/ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](/ros/ros1.md)
     - [Посібник із встановлення ROS/MAVROS](/ros/mavros_installation.md)

docs/zh/_sidebar.md

@@ -8,6 +8,7 @@
       - [位置模式（多旋翼）](/flight_modes_mc/position.md)
       - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md)
       - [高度模式（多旋翼）](/flight_modes_mc/altitude.md)
+      - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md)
       - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
       - [特技模式（多旋翼）](/flight_modes_mc/acro.md)
       - [环绕模式（多旋翼）](/flight_modes_mc/orbit.md)
@@ -158,6 +159,7 @@
         - [mRo (3DR) Pixhawk Wiring Quickstart](/assembly/quick_start_pixhawk.md)
       - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md)
     - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md)
+      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
       - [AirMind MindPX](/flight_controller/mindpx.md)
       - [AirMind MindRacer](/flight_controller/mindracer.md)
       - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
@@ -183,6 +185,7 @@
         - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
       - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md)
       - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [Radiolink PIX6](/flight_controller/radiolink_pix6.md)
       - [Sky-Drones AIRLink](/flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md)
@@ -284,6 +287,7 @@
       - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
       - [InertialLabs](/sensor/inertiallabs.md)
+      - [sbgECom](/sensor/sbgecom.md)
       - [VectorNav](/sensor/vectornav.md)
     - [光流](/sensor/optical_flow.md)
       - [ARK 光流](/dronecan/ark_flow.md)
@@ -433,6 +437,7 @@
       - [Attitude Tuning](/config_rover/attitude_tuning.md)
       - [Velocity Tuning](/config_rover/velocity_tuning.md)
       - [Position Tuning](/config_rover/position_tuning.md)
+    - [Apps & API](/flight_modes_rover/api.md)
     - [Complete Vehicles](/complete_vehicles_rover/index.md)
       - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](/frames_sub/index.md)
@@ -680,6 +685,8 @@
         - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
         - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
         - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
+        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
+        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
         - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
         - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
         - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -740,6 +747,7 @@
         - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
         - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
         - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
+        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
         - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
         - [EventV0](/msg_docs/EventV0.md)
         - [HomePositionV0](/msg_docs/HomePositionV0.md)
@@ -844,8 +852,10 @@
       - [测试 MC_04 -故障安全测试](/test_cards/mc_04_failsafe_testing.md)
       - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
       - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
+      - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md)
       - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md)
+      - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md)
     - [单元测试](/test_and_ci/unit_tests.md)
       - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
     - [持续集成](/test_and_ci/continous_integration.md)
@@ -866,6 +876,7 @@
     - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md)
       - [Control Interface](/ros2/px4_ros2_control_interface.md)
       - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](/ros/ros1.md)
     - [ROS/MAVROS安装指南](/ros/mavros_installation.md)