Merge branch 'master' into master

2024-12-17 18:15:56 +01:00 · 2024-12-17 18:15:56 +01:00 · b92f06ac68
parent fd254fbbb0 7c084e9955
commit b92f06ac68
221 changed files with 6165 additions and 678 deletions
--- a/.github/workflows/cygwin_build.yml
+++ b/.github/workflows/cygwin_build.yml
@ -187,7 +187,6 @@ jobs:
          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
        run: >-
-          ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
          python3 -m pip install --progress-bar off empy==3.3.4 pexpect &&
          python3 -m pip install --progress-bar off dronecan --upgrade &&
          cp /usr/bin/ccache /usr/local/bin/ &&
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@ -175,9 +175,7 @@ jobs:
        shell: bash
        run: |
          sudo apt-get update
-          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
-          sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
-          update-alternatives --query python
+          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 cmake
          python3 --version
          pip3 install gevent

@ -186,24 +184,10 @@ jobs:
          sudo apt-get update
          sudo apt-get install python3.11 python3.11-venv python3.11-distutils  -y
          sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
-          update-alternatives --query python
          pip3 install gevent
          python3 --version
          python3.11 --version
          which python3.11
-          sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
-          update-alternatives --query python
-
-          rm -rf /usr/local/bin/cmake
-          sudo apt-get remove --purge --auto-remove cmake
-          sudo apt-get update && \
-          sudo apt-get install -y software-properties-common lsb-release && \
-          sudo apt-get clean all
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-          sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-          sudo apt-get update
-          sudo apt-get install cmake
-

          git submodule update --init --recursive --depth=1
          ./Tools/scripts/esp32_get_idf.sh
--- a/.gitignore
+++ b/.gitignore
@ -171,7 +171,3 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
-
-# Ignore ESP-IDF SDK defines
-/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
-/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
--- a/AntennaTracker/ReleaseNotes.txt
+++ b/AntennaTracker/ReleaseNotes.txt
@ -1,6 +1,53 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024

 Changes from 4.5.7

--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@ -161,7 +161,7 @@ const AP_Param::Info Copter::var_info[] = {
    // @Param: FS_GCS_ENABLE
    // @DisplayName: Ground Station Failsafe Enable
    // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
-    // @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START or RTL,7:Brake or Land
+    // @Values: 0:Disabled/NoAction,1:RTL,2:RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS),3:SmartRTL or RTL,4:SmartRTL or Land,5:Land,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Brake or Land
    // @User: Standard
    GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),

@ -225,7 +225,7 @@ const AP_Param::Info Copter::var_info[] = {
    // @Param: FS_THR_ENABLE
    // @DisplayName: Throttle Failsafe Enable
    // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
-    // @Values:  0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START or RTL,7:Enabled always Brake or Land
+    // @Values:  0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START/DO_RETURN_PATH_START or RTL,7:Enabled always Brake or Land
    // @User: Standard
    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_ENABLED_ALWAYS_RTL),

@ -1044,7 +1044,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
    // @Param: FS_DR_ENABLE
    // @DisplayName: DeadReckon Failsafe Action
    // @Description: Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates
-    // @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START or RTL
+    // @Values: 0:Disabled/NoAction,1:Land, 2:RTL, 3:SmartRTL or RTL, 4:SmartRTL or Land, 6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
    // @User: Standard
    AP_GROUPINFO("FS_DR_ENABLE", 52, ParametersG2, failsafe_dr_enable, (uint8_t)Copter::FailsafeAction::RTL),

--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@ -1,6 +1,53 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024

 Changes from 4.5.7

--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@ -789,7 +789,16 @@ float Plane::tecs_hgt_afe(void)
      coming.
    */
    float hgt_afe;
+
    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
+
+        #if AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
+            // if external HAGL is active use that
+            if (get_external_HAGL(hgt_afe)) {
+                return hgt_afe;
+            }
+        #endif
+
        hgt_afe = height_above_target();
 #if AP_RANGEFINDER_ENABLED
        hgt_afe -= rangefinder_correction();
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@ -745,7 +745,7 @@ const AP_Param::Info Plane::var_info[] = {

    // @Param: RTL_AUTOLAND
    // @DisplayName: RTL auto land
-    // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
+    // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).If this is set to 0 and there is a DO_LAND_START or DO_RETURN_PATH_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around (see wiki for aborting autolandings) without it changing RTL behaviour.
    // @Values: 0:Disable,1:Fly HOME then land via DO_LAND_START mission item, 2:Go directly to landing sequence via DO_LAND_START mission item, 3:OnlyForGoAround, 4:Go directly to landing sequence via DO_RETURN_PATH_START mission item
    // @User: Standard
    GSCALAR(rtl_autoland,         "RTL_AUTOLAND",   float(RtlAutoland::RTL_DISABLE)),
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@ -1,6 +1,53 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024

 Changes from 4.5.7

--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@ -83,9 +83,12 @@ void ModeTakeoff::update()
    if (!takeoff_mode_setup) {
        plane.auto_state.takeoff_altitude_rel_cm = alt * 100;
        const uint16_t altitude = plane.relative_ground_altitude(false,true);
-        const float direction = degrees(ahrs.get_yaw());
+        const Vector2f &groundspeed2d = ahrs.groundspeed_vector();
+        const float direction = wrap_360(degrees(groundspeed2d.angle()));
+        const float groundspeed = groundspeed2d.length();
+
        // see if we will skip takeoff as already flying
-        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
+        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && groundspeed > 3) {
            if (altitude >= alt) {
                gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
                plane.next_WP_loc = plane.current_loc;
@ -115,7 +118,15 @@ void ModeTakeoff::update()

            plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);

-            if (!plane.throttle_suppressed) {
+            /*
+              don't lock in the takeoff loiter location until we reach
+              a ground speed of AIRSPEED_MIN*0.3 to cope with aircraft
+              with no compass or poor compass. If flying in a very
+              strong headwind then the is_flying() check above will
+              eventually trigger
+             */
+            if (!plane.throttle_suppressed &&
+                groundspeed > plane.aparm.airspeed_min*0.3) {
                gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm for %.1fm heading %.1f deg",
                                alt, dist, direction);
                plane.takeoff_state.start_time_ms = millis();
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@ -185,6 +185,65 @@ void GCS_MAVLINK_Rover::send_rangefinder() const
        distance,
        voltage);
 }
+
+void GCS_MAVLINK_Rover::send_water_depth() const
+{
+    if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
+        return;
+    }
+
+    // only send for boats:
+    if (!rover.is_boat()) {
+        return;
+    }
+
+    RangeFinder *rangefinder = RangeFinder::get_singleton();
+
+    if (rangefinder == nullptr) {
+        return;
+    }
+
+    // depth can only be measured by a downward-facing rangefinder:
+    if (!rangefinder->has_orientation(ROTATION_PITCH_270)) {
+        return;
+    }
+
+    // get position
+    const AP_AHRS &ahrs = AP::ahrs();
+    Location loc;
+    IGNORE_RETURN(ahrs.get_location(loc));
+
+    for (uint8_t i=0; i<rangefinder->num_sensors(); i++) {
+        const AP_RangeFinder_Backend *s = rangefinder->get_backend(i);
+        
+        if (s == nullptr || s->orientation() != ROTATION_PITCH_270 || !s->has_data()) {
+            continue;
+        }
+
+        // get temperature
+        float temp_C;
+        if (!s->get_temp(temp_C)) {
+            temp_C = 0.0f;
+        }
+
+        const bool sensor_healthy = (s->status() == RangeFinder::Status::Good);
+
+        mavlink_msg_water_depth_send(
+            chan,
+            AP_HAL::millis(),   // time since system boot TODO: take time of measurement
+            i,                  // rangefinder instance
+            sensor_healthy,     // sensor healthy
+            loc.lat,            // latitude of vehicle
+            loc.lng,            // longitude of vehicle
+            loc.alt * 0.01f,    // altitude of vehicle (MSL)
+            ahrs.get_roll(),    // roll in radians
+            ahrs.get_pitch(),   // pitch in radians
+            ahrs.get_yaw(),     // yaw in radians
+            s->distance(),    // distance in meters
+            temp_C);            // temperature in degC
+    }
+
+}
 #endif  // AP_RANGEFINDER_ENABLED

 /*
@ -400,6 +459,13 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
    }
 #endif

+#if AP_RANGEFINDER_ENABLED
+    case MSG_WATER_DEPTH:
+        CHECK_PAYLOAD_SIZE(WATER_DEPTH);
+        send_water_depth();
+        break;
+#endif  // AP_RANGEFINDER_ENABLED
+
    default:
        return GCS_MAVLINK::try_send_message(id);
    }
@ -589,6 +655,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
    MSG_WIND,
 #if AP_RANGEFINDER_ENABLED
    MSG_RANGEFINDER,
+    MSG_WATER_DEPTH,
 #endif
    MSG_DISTANCE_SENSOR,
    MSG_SYSTEM_TIME,
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@ -44,6 +44,9 @@ protected:
    // Index starts at 1
    uint8_t send_available_mode(uint8_t index) const override;

+    // send WATER_DEPTH - metres and temperature
+    void send_water_depth() const;
+
 private:

    void handle_message(const mavlink_message_t &msg) override;
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@ -79,10 +79,6 @@ void Rover::Log_Write_Depth()
                            (double)(s->distance()),
                            temp_C);
    }
-#if AP_RANGEFINDER_ENABLED
-    // send water depth and temp to ground station
-    gcs().send_message(MSG_WATER_DEPTH);
-#endif
 }
 #endif

--- a/Rover/ReleaseNotes.txt
+++ b/Rover/ReleaseNotes.txt
@ -1,6 +1,53 @@
 Rover Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024

 Changes from 4.5.7

--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@ -296,6 +296,8 @@ AP_HW_CrazyF405                      1177
 AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181

+AP_HW_JFB200                         1200
+
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

@ -331,6 +333,7 @@ AP_HW_MountainEagleH743              1444

 AP_HW_StellarF4                      1500
 AP_HW_GEPRCF745BTHD                  1501
+AP_HW_GEPRC_TAKER_H743               1502

 AP_HW_HGLRCF405V4                    1524

@ -430,7 +433,10 @@ AP_HW_CUAV-7-NANO                    7000
 # IDs 7100-7109 reserved for V-UAV
 AP_HW_VUAV-V7pro                     7100

-# please fill gaps in the above ranges rather than adding past ID #7109
+# IDs 7110-7119 reserved for AEROFOX
+AP_HW_AEROFOX_H7                     7110
+
+# please fill gaps in the above ranges rather than adding past ID #7199


 # OpenDroneID enabled boards. Use 10000 + the base board ID
--- a/Tools/AP_Periph/imu.cpp
+++ b/Tools/AP_Periph/imu.cpp
@ -11,8 +11,15 @@ extern const AP_HAL::HAL &hal;
 void AP_Periph_FW::can_imu_update(void)
 {
    while (true) {
+        // we need to delay by a ms value as hal->schedule->delay_microseconds_boost
+        // used in wait_for_sample() takes uint16_t
+        const uint32_t delay_ms = 1000U / g.imu_sample_rate;
+        hal.scheduler->delay(delay_ms);
+
+        if (delay_ms == 0) {
            // sleep for a bit to avoid flooding the CPU
            hal.scheduler->delay_microseconds(100);
+        }

        imu.update();

@ -38,6 +45,11 @@ void AP_Periph_FW::can_imu_update(void)
        pkt.accelerometer_latest[1] = tmp.y;
        pkt.accelerometer_latest[2] = tmp.z;

+        tmp = imu.get_gyro();
+        pkt.rate_gyro_latest[0] = tmp.x;
+        pkt.rate_gyro_latest[1] = tmp.y;
+        pkt.rate_gyro_latest[2] = tmp.z;
+        
        uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_RAWIMU_MAX_SIZE];
        uint16_t total_size = uavcan_equipment_ahrs_RawIMU_encode(&pkt, buffer, !canfdout());
        canard_broadcast(UAVCAN_EQUIPMENT_AHRS_RAWIMU_SIGNATURE,
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@ -212,13 +212,13 @@ static void test_div1000(void)
    for (uint32_t i=0; i<2000000; i++) {
        uint64_t v = 0;
        if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
-            AP_HAL::panic("ERROR: div1000 no random\n");
+            AP_HAL::panic("ERROR: div1000 no random");
            break;
        }
        uint64_t v1 = v / 1000ULL;
        uint64_t v2 = uint64_div1000(v);
        if (v1 != v2) {
-            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
                          (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
            return;
        }
@ -228,7 +228,7 @@ static void test_div1000(void)
    for (uint32_t i=0; i<2000000; i++) {
        uint64_t v = 0;
        if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
-            AP_HAL::panic("ERROR: div1000 no random\n");
+            AP_HAL::panic("ERROR: div1000 no random");
            break;
        }
        chSysLock();
@ -236,7 +236,7 @@ static void test_div1000(void)
        uint64_t v2 = uint64_div1000(v);
        chSysUnlock();
        if (v1 != v2) {
-            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx",
                          (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
            return;
        }
--- a/Tools/Frame_params/ModalAI/SentinelM0065.parm
+++ b/Tools/Frame_params/ModalAI/SentinelM0065.parm
@ -0,0 +1,98 @@
+# parameters for the Sentinel M0065 PWM ESC drone
+
+# flight modes
+FLTMODE1 0
+FLTMODE2 0
+FLTMODE3 0
+FLTMODE4 2
+FLTMODE5 0
+FLTMODE6 0
+FLTMODE_CH       6
+
+# enable PID logging
+LOG_BITMASK      65535
+
+# mag field varies quite a lot between batteries
+ARMING_MAGTHRESH 200
+
+# IMU orientation
+# 8 = ROLL 180
+AHRS_ORIENTATION 8
+
+# Forced external compass
+COMPASS_EXTERNAL 2
+# compass orientation
+# ROTATION_ROLL_180_YAW_135 = 11
+COMPASS_ORIENT 11
+
+# filtering
+INS_GYRO_FILTER  40
+INS_HNTCH_ENABLE 1
+INS_HNTCH_ATT 40.0
+INS_HNTCH_BW 50.0
+INS_HNTCH_FM_RAT 1.0
+INS_HNTCH_FREQ 100.0
+INS_HNTCH_HMNCS 7
+INS_HNTCH_MODE 3
+INS_HNTCH_OPTS 2
+INS_HNTCH_REF 1.0
+
+# run IMU at 2kHz
+INS_GYRO_RATE    1
+
+# a bit more agressive loiter
+PILOT_SPEED_UP   500
+LOIT_BRK_ACCEL   500
+LOIT_BRK_JERK    1000
+LOIT_BRK_DELAY   0.200000
+
+# Tune parameters
+ATC_RAT_PIT_D 0.002
+ATC_RAT_PIT_I 0.08
+ATC_RAT_PIT_P 0.08
+ATC_RAT_RLL_D 0.002
+ATC_RAT_RLL_I 0.08
+ATC_RAT_RLL_P 0.08
+
+# battery setup
+BATT_LOW_VOLT    14.2
+BATT_OPTIONS     64
+BATT_VOLT_PIN    1
+BATT_CURR_PIN    2
+BATT_VOLT_MULT   1
+BATT_AMP_PERVLT  1
+BATT_AMP_OFFSET 0.0
+
+# 4S battery range
+MOT_BAT_VOLT_MAX 16.800000
+MOT_BAT_VOLT_MIN 13.200000
+
+# Learned hover thrust
+# MOT_THST_EXPO 0.550000011920928955
+# MOT_THST_HOVER 0.130549192428588867
+
+# quad-X
+FRAME_CLASS      1
+
+# tweak R/C inputs
+RC1_MIN          1000
+RC1_MAX          2000
+RC1_DZ           40
+RC2_MIN          1000
+RC2_MAX          2000
+RC2_REVERSED     1
+RC3_MIN          1000
+RC3_MAX          2000
+RC4_MIN          1000
+RC4_MAX          2000
+RC4_DZ           40
+
+# add arming on right switch
+RC7_OPTION       153
+
+# Motor mappings
+SERVO1_FUNCTION 33
+SERVO2_FUNCTION 34
+SERVO3_FUNCTION 35
+SERVO4_FUNCTION 36
+
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@ -949,6 +949,7 @@ class sitl_periph_universal(sitl_periph):
            HAL_PERIPH_ENABLE_AIRSPEED = 1,
            HAL_PERIPH_ENABLE_MAG = 1,
            HAL_PERIPH_ENABLE_BARO = 1,
+            HAL_PERIPH_ENABLE_IMU = 1,
            HAL_PERIPH_ENABLE_RANGEFINDER = 1,
            HAL_PERIPH_ENABLE_BATTERY = 1,
            HAL_PERIPH_ENABLE_EFI = 1,
@ -963,6 +964,7 @@ class sitl_periph_universal(sitl_periph):
            HAL_WITH_ESC_TELEM = 1,
            AP_EXTENDED_ESC_TELEM_ENABLED = 1,
            AP_TERRAIN_AVAILABLE = 1,
+            HAL_GYROFFT_ENABLED = 0,
        )

 class sitl_periph_gps(sitl_periph):
--- a/Tools/ardupilotwaf/esp32.py
+++ b/Tools/ardupilotwaf/esp32.py
@ -57,6 +57,24 @@ def configure(cfg):

    #env.append_value('GIT_SUBMODULES', 'esp_idf')

+# delete the output sdkconfig file when the input defaults changes. we take the
+# stamp as the output so we can compute the path to the sdkconfig, yet it
+# doesn't have to exist when we're done.
+class clean_sdkconfig(Task.Task):
+    def keyword(self):
+        return "delete sdkconfig generated from"
+
+    def run(self):
+        prefix = ".clean-stamp-"
+        for out in self.outputs:
+            if not out.name.startswith(prefix):
+                raise ValueError("not a stamp file: "+out)
+            dest = out.parent.abspath()+"/"+out.name[len(prefix):]
+            if os.path.exists(dest):
+                os.unlink(dest)
+
+            # waf needs the output to exist after the task, so touch it
+            open(out.abspath(), "w").close()

 def pre_build(self):
    """Configure esp-idf as lib target"""
@ -74,8 +92,21 @@ def pre_build(self):
            )

    esp_idf_showinc = esp_idf.build('showinc', target='esp-idf_build/includes.list')
+
+    # task to delete the sdkconfig (thereby causing it to be regenerated) when
+    # the .defaults changes. it uses a stamp to find the sdkconfig. changing
+    # the sdkconfig WILL NOT cause it to be deleted as it's not an input. this
+    # is by design so the user can tweak it for testing purposes.
+    clean_sdkconfig_task = esp_idf_showinc.create_task("clean_sdkconfig",
+        src=self.srcnode.find_or_declare(self.env.AP_HAL_ESP32+"/sdkconfig.defaults"),
+        tgt=self.bldnode.find_or_declare("esp-idf_build/.clean-stamp-sdkconfig"))
+
    esp_idf_showinc.post()

+    # ensure the sdkconfig will be deleted before the cmake configure occurs
+    # that regenerates it
+    esp_idf_showinc.cmake_config_task.set_run_after(clean_sdkconfig_task)
+
    from waflib import Task
    class load_generated_includes(Task.Task):
        """After includes.list generated include it in env"""
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@ -1719,8 +1719,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
    # Also check that the vehicle will not try and ascend too fast when trying to backup from a min alt fence due to avoidance
    def MinAltFenceAvoid(self):
        '''Test Min Alt Fence Avoidance'''
-        self.takeoff(30, mode="LOITER")
-        """Hold loiter position."""

        # enable fence, only min altitude
        # No action, rely on avoidance to prevent the breach
@ -1730,6 +1728,10 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
            "FENCE_ALT_MIN": 20,
            "FENCE_ACTION": 0,
        })
+        self.reboot_sitl()
+
+        self.takeoff(30, mode="LOITER")
+        """Hold loiter position."""

        # Try and fly past the fence
        self.set_rc(3, 1120)
@ -8304,6 +8306,57 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):

        self.do_RTL()

+    def TestTetherStuck(self):
+        """Test tethered vehicle stuck because of tether"""
+        # Enable tether simulation
+        self.set_parameters({
+            "SIM_TETH_ENABLE": 1,
+        })
+        self.delay_sim_time(2)
+        self.reboot_sitl()
+
+        # Set tether line length
+        self.set_parameters({
+            "SIM_TETH_LINELEN": 10,
+        })
+        self.delay_sim_time(2)
+
+        # Prepare and take off
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.takeoff(10, mode='LOITER')
+
+        # Simulate vehicle getting stuck by increasing RC throttle
+        self.set_rc(3, 1900)
+        self.delay_sim_time(5, reason='let tether get stuck')
+
+        # Monitor behavior for 10 seconds
+        tstart = self.get_sim_time()
+        initial_alt = self.get_altitude()
+        stuck = True  # Assume it's stuck unless proven otherwise
+
+        while self.get_sim_time() - tstart < 10:
+            # Fetch current altitude
+            current_alt = self.get_altitude()
+            self.progress(f"current_alt={current_alt}")
+
+            # Fetch and log battery status
+            battery_status = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
+            if battery_status:
+                self.progress(f"Battery: {battery_status}")
+
+            # Check if the vehicle is stuck.
+            # We assume the vehicle is stuck if the current is high and the altitude is not changing
+            if battery_status and (battery_status.current_battery < 6500 or abs(current_alt - initial_alt) > 2):
+                stuck = False  # Vehicle moved or current is abnormal
+                break
+
+        if not stuck:
+            raise NotAchievedException("Vehicle did not get stuck as expected")
+
+        # Land and disarm the vehicle to ensure we can go down
+        self.land_and_disarm()
+
    def fly_rangefinder_drivers_fly(self, rangefinders):
        '''ensure rangefinder gives height-above-ground'''
        self.change_mode('GUIDED')
@ -12330,6 +12383,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
            self.MAV_CMD_MISSION_START_p1_p2,
            self.ScriptingAHRSSource,
            self.CommonOrigin,
+            self.TestTetherStuck,
        ])
        return ret

--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@ -3661,7 +3661,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
    def FenceAutoEnableDisableSwitch(self):
        '''Tests autoenablement of regular fences and manual disablement'''
        self.set_parameters({
-            "FENCE_TYPE": 11,     # Set fence type to min alt
+            "FENCE_TYPE": 9,     # Set fence type to min alt, max alt
            "FENCE_ACTION": 1,   # Set action to RTL
            "FENCE_ALT_MIN": 50,
            "FENCE_ALT_MAX": 100,
@ -3672,44 +3672,88 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            "FENCE_RET_ALT" : 0,
            "FENCE_RET_RALLY" : 0,
            "FENCE_TOTAL" : 0,
+            "RTL_ALTITUDE" : 75,
            "TKOFF_ALT" : 75,
            "RC7_OPTION" : 11,   # AC_Fence uses Aux switch functionality
        })
+        self.reboot_sitl()
+        self.context_collect("STATUSTEXT")
+
        fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
        # Grab Home Position
        self.mav.recv_match(type='HOME_POSITION', blocking=True)
-        self.set_rc_from_map({7: 1000}) # Turn fence off with aux function
+        self.set_rc(7, 1000) # Turn fence off with aux function, does not impact later auto-enable

        self.wait_ready_to_arm()
+
+        self.progress("Check fence disabled at boot")
+        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
+        if (m.onboard_control_sensors_enabled & fence_bit):
+            raise NotAchievedException("Fence is enabled at boot")
+
        cruise_alt = 75
        self.takeoff(cruise_alt, mode='TAKEOFF')

-        self.progress("Fly above ceiling and check there is no breach")
+        self.progress("Fly above ceiling and check there is a breach")
+        self.change_mode('FBWA')
        self.set_rc(3, 2000)
-        self.change_altitude(cruise_alt + 80, relative=True)
+        self.set_rc(2, 1000)
+
+        self.wait_statustext("Max Alt fence breached", timeout=10, check_context=True)
+        self.wait_mode('RTL')
+
        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
-        self.progress("Got (%s)" % str(m))
-        if (not (m.onboard_control_sensors_health & fence_bit)):
-            raise NotAchievedException("Fence Ceiling breached")
+        if (m.onboard_control_sensors_health & fence_bit):
+            raise NotAchievedException("Fence ceiling not breached")
+
+        self.set_rc(3, 1500)
+        self.set_rc(2, 1500)
+
+        self.progress("Wait for RTL alt reached")
+        self.wait_altitude(cruise_alt-5, cruise_alt+5, relative=True, timeout=30)

        self.progress("Return to cruise alt")
        self.set_rc(3, 1500)
        self.change_altitude(cruise_alt, relative=True)

-        self.progress("Fly below floor and check for no breach")
-        self.change_altitude(25, relative=True)
+        self.progress("Check fence breach cleared")
        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
-        self.progress("Got (%s)" % str(m))
        if (not (m.onboard_control_sensors_health & fence_bit)):
-            raise NotAchievedException("Fence Ceiling breached")
+            raise NotAchievedException("Fence breach not cleared")

-        self.progress("Fly above floor and check fence is not re-enabled")
+        self.progress("Fly below floor and check for breach")
+        self.set_rc(2, 2000)
+        self.wait_statustext("Min Alt fence breached", timeout=10, check_context=True)
+        self.wait_mode("RTL")
+        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
+        if (m.onboard_control_sensors_health & fence_bit):
+            raise NotAchievedException("Fence floor not breached")
+
+        self.change_mode("FBWA")
+
+        self.progress("Fly above floor and check fence is enabled")
        self.set_rc(3, 2000)
        self.change_altitude(75, relative=True)
        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
-        self.progress("Got (%s)" % str(m))
+        if (not (m.onboard_control_sensors_enabled & fence_bit)):
+            raise NotAchievedException("Fence Floor not enabled")
+
+        self.progress("Toggle fence enable/disable")
+        self.set_rc(7, 2000)
+        self.delay_sim_time(2)
+        self.set_rc(7, 1000)
+        self.delay_sim_time(2)
+
+        self.progress("Check fence is disabled")
+        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
        if (m.onboard_control_sensors_enabled & fence_bit):
-            raise NotAchievedException("Fence Ceiling re-enabled")
+            raise NotAchievedException("Fence disable with switch failed")
+
+        self.progress("Fly below floor and check for no breach")
+        self.change_altitude(40, relative=True)
+        m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
+        if (not (m.onboard_control_sensors_health & fence_bit)):
+            raise NotAchievedException("Fence floor breached")

        self.progress("Return to cruise alt")
        self.set_rc(3, 1500)
@ -4805,6 +4849,41 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):

        self.fly_home_land_and_disarm()

+    def TakeoffTakeoff5(self):
+        '''Test the behaviour of a takeoff with no compass'''
+        self.set_parameters({
+            "COMPASS_USE": 0,
+            "COMPASS_USE2": 0,
+            "COMPASS_USE3": 0,
+        })
+        import copy
+        start_loc = copy.copy(SITL_START_LOCATION)
+        start_loc.heading = 175
+        self.customise_SITL_commandline(["--home=%.9f,%.9f,%.2f,%.1f" % (
+            start_loc.lat, start_loc.lng, start_loc.alt, start_loc.heading)])
+        self.reboot_sitl()
+        self.change_mode("TAKEOFF")
+
+        # waiting for the EKF to be happy won't work
+        self.delay_sim_time(20)
+        self.arm_vehicle()
+
+        target_alt = self.get_parameter("TKOFF_ALT")
+        self.wait_altitude(target_alt-5, target_alt, relative=True)
+
+        # Wait a bit for the Takeoff altitude to settle.
+        self.delay_sim_time(5)
+
+        bearing_margin = 35
+        loc = self.mav.location()
+        bearing_from_home = self.get_bearing(start_loc, loc)
+        if bearing_from_home < 0:
+            bearing_from_home += 360
+        if abs(bearing_from_home - start_loc.heading) > bearing_margin:
+            raise NotAchievedException(f"Did not takeoff in the right direction {bearing_from_home}")
+
+        self.fly_home_land_and_disarm()
+
    def TakeoffGround(self):
        '''Test a rolling TAKEOFF.'''

@ -5326,6 +5405,40 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            else:
                raise NotAchievedException("Missing trick %s" % t)

+    def UniversalAutoLandScript(self):
+        '''Test UniversalAutoLandScript'''
+        applet_script = "UniversalAutoLand.lua"
+        self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
+
+        self.install_applet_script_context(applet_script)
+        self.context_collect('STATUSTEXT')
+        self.set_parameters({
+            "SCR_ENABLE" : 1,
+            "SCR_VM_I_COUNT" : 1000000,
+            "RTL_AUTOLAND" : 2
+            })
+        self.reboot_sitl()
+        self.wait_text("Loaded UniversalAutoLand.lua", check_context=True)
+        self.set_parameters({
+             "AUTOLAND_ENABLE" : 1,
+             "AUTOLAND_WP_ALT" : 55,
+             "AUTOLAND_WP_DIST" : 400
+            })
+        self.scripting_restart()
+        self.wait_text("Scripting: restarted", check_context=True)
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.change_mode("AUTO")
+        self.wait_text("Captured initial takeoff direction", check_context=True)
+
+        self.wait_disarmed(120)
+        self.progress("Check the landed heading matches takeoff")
+        self.wait_heading(173, accuracy=5, timeout=1)
+        loc = mavutil.location(-35.362938, 149.165085, 585, 173)
+        if self.get_distance(loc, self.mav.location()) > 35:
+            raise NotAchievedException("Did not land close to home")
+
    def SDCardWPTest(self):
        '''test BRD_SD_MISSION support'''
        spiral_script = "mission_spiral.lua"
@ -6225,14 +6338,18 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
    def SetHomeAltChange(self):
        '''check modes retain altitude when home alt changed'''
        for mode in 'FBWB', 'CRUISE', 'LOITER':
+            self.set_rc(3, 1000)
            self.wait_ready_to_arm()
            home = self.home_position_as_mav_location()
-            self.takeoff(20)
-            higher_home = home
+            target_alt = 20
+            self.takeoff(target_alt, mode="TAKEOFF")
+            self.delay_sim_time(20)  # Give some time to altitude to stabilize.
+            self.set_rc(3, 1500)
+            self.change_mode(mode)
+            higher_home = copy.copy(home)
            higher_home.alt += 40
            self.set_home(higher_home)
-            self.change_mode(mode)
-            self.wait_altitude(15, 25, relative=True, minimum_duration=10)
+            self.wait_altitude(home.alt+target_alt-5, home.alt+target_alt+5, relative=False, minimum_duration=10, timeout=11)
            self.disarm_vehicle(force=True)
            self.reboot_sitl()

@ -6268,6 +6385,23 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
        self.disarm_vehicle(force=True)
        self.reboot_sitl()

+    def SetHomeAltChange3(self):
+        '''same as SetHomeAltChange, but the home alt change occurs during TECS operation'''
+        self.wait_ready_to_arm()
+        home = self.home_position_as_mav_location()
+        target_alt = 20
+        self.takeoff(target_alt, mode="TAKEOFF")
+        self.change_mode("LOITER")
+        self.delay_sim_time(20) # Let the plane settle.
+
+        higher_home = copy.copy(home)
+        higher_home.alt += 40
+        self.set_home(higher_home)
+        self.wait_altitude(home.alt+target_alt-5, home.alt+target_alt+5, relative=False, minimum_duration=10, timeout=10.1)
+
+        self.disarm_vehicle(force=True)
+        self.reboot_sitl()
+
    def ForceArm(self):
        '''check force-arming functionality'''
        self.set_parameter("SIM_GPS1_ENABLE", 0)
@ -6457,6 +6591,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            self.Soaring,
            self.Terrain,
            self.TerrainMission,
+            self.UniversalAutoLandScript,
        ])
        return ret

@ -6490,6 +6625,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            self.TakeoffTakeoff2,
            self.TakeoffTakeoff3,
            self.TakeoffTakeoff4,
+            self.TakeoffTakeoff5,
            self.TakeoffGround,
            self.TakeoffIdleThrottle,
            self.TakeoffBadLevelOff,
@ -6538,6 +6674,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            self.GPSPreArms,
            self.SetHomeAltChange,
            self.SetHomeAltChange2,
+            self.SetHomeAltChange3,
            self.ForceArm,
            self.MAV_CMD_EXTERNAL_WIND_ESTIMATE,
            self.GliderPullup,
@ -6549,7 +6686,6 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
            "LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
            "InteractTest": "requires user interaction",
            "ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass",
-            "SetHomeAltChange": "https://github.com/ArduPilot/ardupilot/issues/5672",
        }


--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@ -77,7 +77,7 @@ Q_A_RAT_PIT_P 0.103
 Q_A_RAT_PIT_I 0.103
 Q_A_RAT_PIT_D 0.001
 Q_A_RAT_YAW_P 0.2
-Q_A_RAT_YAW_P 0.02
+Q_A_RAT_YAW_I 0.02
 Q_A_ANG_RLL_P 6
 Q_A_ANG_PIT_P 6
 RTL_ALTITUDE 20.00
--- a/Tools/autotest/test_build_options.py
+++ b/Tools/autotest/test_build_options.py
@ -268,6 +268,8 @@ class TestBuildOptions(object):
            'AP_OPTICALFLOW_ONBOARD_ENABLED',  # only instantiated on Linux
            'HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL',  # entirely elided if no user
            'AP_PLANE_BLACKBOX_LOGGING',  # entirely elided if no user
+            'AP_COMPASS_AK8963_ENABLED',  # probed on a board-by-board basis, not on CubeOrange for example
+            'AP_COMPASS_LSM303D_ENABLED',  # probed on a board-by-board basis, not on CubeOrange for example
        ])
        if target.lower() != "copter":
            feature_define_whitelist.add('MODE_ZIGZAG_ENABLED')
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@ -1715,8 +1715,8 @@ class FRSkySPort(FRSky):
            if not self.connect():
                self.progress("Failed to connect")
                return
-        self.check_poll()
        self.do_sport_read()
+        self.check_poll()

    def do_sport_read(self):
        self.buffer += self.do_read()
@ -13738,8 +13738,11 @@ switch value'''

    def FRSkySPort(self):
        '''Test FrSky SPort mode'''
-        self.set_parameter("SERIAL5_PROTOCOL", 4) # serial5 is FRSky sport
-        self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
+        self.set_parameters({
+            "SERIAL5_PROTOCOL": 4, # serial5 is FRSky sport
+            "RPM1_TYPE": 10, # enable SITL RPM sensor
+            "GPS1_TYPE": 100,  # use simulated backend for consistent position
+        })
        port = self.spare_network_port()
        self.customise_SITL_commandline([
            "--serial5=tcp:%u" % port # serial5 spews to localhost port
--- a/Tools/bootloaders/AEROFOX-H7_bl.bin
+++ b/Tools/bootloaders/AEROFOX-H7_bl.bin
--- a/Tools/bootloaders/GEPRC_TAKER_H743_bl.bin
+++ b/Tools/bootloaders/GEPRC_TAKER_H743_bl.bin
--- a/Tools/bootloaders/GEPRC_TAKER_H743_bl.hex
+++ b/Tools/bootloaders/GEPRC_TAKER_H743_bl.hex
--- a/Tools/environment_install/install-prereqs-alpine.sh
+++ b/Tools/environment_install/install-prereqs-alpine.sh
@ -17,7 +17,6 @@ apk update && apk add --no-cache \
        libxml2-dev \
        libxslt-dev \
        git \
-    && ln -sf python3 /usr/bin/python \
    &&  rm -rf /var/cache/apk/*

 python3 -m pip install --user --no-deps --no-cache-dir empy==3.3.4 pexpect ptyprocess --break-system-packages
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@ -120,6 +120,11 @@ elif [ ${RELEASE_CODENAME} == 'noble' ]; then
    SITLCFML_VERSION="2.6"
    PYTHON_V="python3"
    PIP=pip3
+elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
+    SITLFML_VERSION="2.6"
+    SITLCFML_VERSION="2.6"
+    PYTHON_V="python3"
+    PIP=pip3
 elif [ ${RELEASE_CODENAME} == 'groovy' ] ||
         [ ${RELEASE_CODENAME} == 'bullseye' ]; then
    SITLFML_VERSION="2.5"
@ -176,7 +181,8 @@ ARM_LINUX_PKGS="g++-arm-linux-gnueabihf $INSTALL_PKG_CONFIG"
 if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
   [ ${RELEASE_CODENAME} == 'lunar' ] ||
   [ ${RELEASE_CODENAME} == 'mantic' ] ||
-   [ ${RELEASE_CODENAME} == 'noble' ]; then
+   [ ${RELEASE_CODENAME} == 'noble' ] ||
+   [ ${RELEASE_CODENAME} == 'oracular' ]; then
    # on Lunar (and presumably later releases), we install in venv, below
    PYTHON_PKGS+=" numpy pyparsing psutil"
    SITL_PKGS="python3-dev"
@ -189,7 +195,8 @@ if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
    if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
       [ ${RELEASE_CODENAME} == 'lunar' ] ||
       [ ${RELEASE_CODENAME} == 'mantic' ] ||
-       [ ${RELEASE_CODENAME} == 'noble' ]; then
+       [ ${RELEASE_CODENAME} == 'noble' ] ||
+       [ ${RELEASE_CODENAME} == 'oracular' ]; then
        PYTHON_PKGS+=" matplotlib scipy opencv-python pyyaml"
        SITL_PKGS+=" xterm libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION}"
  else
@ -283,7 +290,8 @@ elif [ ${RELEASE_CODENAME} == 'lunar' ]; then
 elif [ ${RELEASE_CODENAME} == 'buster' ]; then
    SITL_PKGS+=" libpython3-stdlib" # for argparse
 elif [ ${RELEASE_CODENAME} != 'mantic' ] &&
-     [ ${RELEASE_CODENAME} != 'noble' ]; then
+     [ ${RELEASE_CODENAME} != 'noble' ] && 
+     [ ${RELEASE_CODENAME} != 'oracular' ]; then
    SITL_PKGS+=" python-argparse"
 fi

@ -305,6 +313,9 @@ if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
  elif [ ${RELEASE_CODENAME} == 'noble' ]; then
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
    # see below
+  elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
+    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
+    # see below
  elif apt-cache search python-wxgtk3.0 | grep wx; then
      SITL_PKGS+=" python-wxgtk3.0"
  elif apt-cache search python3-wxgtk4.0 | grep wx; then
@ -325,7 +336,8 @@ if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
      SITL_PKGS+=" python3-wxgtk4.0"
      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
  elif [ ${RELEASE_CODENAME} == 'mantic' ] ||
-       [ ${RELEASE_CODENAME} == 'noble' ]; then
+       [ ${RELEASE_CODENAME} == 'noble' ] ||
+       [ ${RELEASE_CODENAME} == 'oracular' ]; then
      PYTHON_PKGS+=" wxpython opencv-python"
      SITL_PKGS+=" python3-wxgtk4.0"
      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
@ -380,6 +392,8 @@ if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
    PYTHON_VENV_PACKAGE=python3.11-venv
 elif [ ${RELEASE_CODENAME} == 'noble' ]; then
    PYTHON_VENV_PACKAGE=python3.12-venv
+elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
+    PYTHON_VENV_PACKAGE=python3.12-venv
 fi

 if [ -n "$PYTHON_VENV_PACKAGE" ]; then
@ -416,7 +430,8 @@ fi
 if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
   [ ${RELEASE_CODENAME} == 'lunar' ] ||
   [ ${RELEASE_CODENAME} == 'mantic' ] ||
-   [ ${RELEASE_CODENAME} == 'noble' ]; then
+   [ ${RELEASE_CODENAME} == 'noble' ] ||
+   [ ${RELEASE_CODENAME} == 'oracular' ]; then
    # must do this ahead of wxPython pip3 run :-/
    $PIP install $PIP_USER_ARGUMENT -U attrdict3
 fi
--- a/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1
+++ b/Tools/environment_install/install-prereqs-windows-andAPMSource.ps1
@ -15,8 +15,6 @@ Start-BitsTransfer -Source "https://firmware.ardupilot.org/Tools/STM32-tools/gcc

 Write-Output "Installing Cygwin x64 (4/8)"
 Start-Process -wait -FilePath $PSScriptRoot\setup-x86_64.exe -ArgumentList "--root=C:\cygwin64 --no-startmenu --local-package-dir=$env:USERPROFILE\Downloads --site=http://cygwin.mirror.constant.com --packages autoconf,automake,ccache,cygwin32-gcc-g++,gcc-g++=7.4.0-1,libgcc1=7.4.0.1,gcc-core=7.4.0-1,git,libtool,make,gawk,libexpat-devel,libxml2-devel,python37,python37-future,python37-lxml,python37-pip,libxslt-devel,python37-devel,procps-ng,zip,gdb,ddd --quiet-mode"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/python3.7 /usr/bin/python'"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'"

 Write-Output "Downloading extra Python packages (5/8)"
 Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'python3.7 -m pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'"
--- a/Tools/environment_install/install-prereqs-windows.ps1
+++ b/Tools/environment_install/install-prereqs-windows.ps1
@ -15,8 +15,6 @@ Start-BitsTransfer -Source "https://firmware.ardupilot.org/Tools/STM32-tools/gcc

 Write-Output "Installing Cygwin x64 (4/7)"
 Start-Process -wait -FilePath $PSScriptRoot\setup-x86_64.exe -ArgumentList "--root=C:\cygwin64 --no-startmenu --local-package-dir=$env:USERPROFILE\Downloads --site=http://cygwin.mirror.constant.com --packages autoconf,automake,ccache,cygwin32-gcc-g++,gcc-g++=7.4.0-1,libgcc1=7.4.0.1,gcc-core=7.4.0-1,git,libtool,make,gawk,libexpat-devel,libxml2-devel,python37,python37-future,python37-lxml,python37-pip,libxslt-devel,python37-devel,procps-ng,zip,gdb,ddd,xterm --quiet-mode"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/python3.7 /usr/bin/python'"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'"

 Write-Output "Downloading extra Python packages (5/7)"
 Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'python3.7 -m pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'"
--- a/Tools/scripts/CAN/CAN_playback.py
+++ b/Tools/scripts/CAN/CAN_playback.py
@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 '''
-playback a set of CAN frames from libraries/AP_Scripting/examples/CAN_logger.lua onto a CAN bus
+ playback a set of CAN frames
+ capture frames either using libraries/AP_Scripting/examples/CAN_logger.lua
+ or the CAN_Pn_OPTIONS bit to enable CAN logging
 '''

 import dronecan
@ -9,6 +11,7 @@ import sys
 import threading
 from pymavlink import mavutil
 from dronecan.driver.common import CANFrame
+import struct


 # get command line arguments
@ -16,6 +19,7 @@ from argparse import ArgumentParser
 parser = ArgumentParser(description='CAN playback')
 parser.add_argument("logfile", default=None, type=str, help="logfile")
 parser.add_argument("canport", default=None, type=str, help="CAN port")
+parser.add_argument("--bus", default=0, type=int, help="CAN bus")

 args = parser.parse_args()

@ -28,8 +32,27 @@ mlog = mavutil.mavlink_connection(args.logfile)
 tstart = time.time()
 first_tstamp = None

+def dlc_to_datalength(dlc):
+    # Data Length Code      9  10  11  12  13  14  15
+    # Number of data bytes 12  16  20  24  32  48  64
+    if (dlc <= 8):
+        return dlc
+    elif (dlc == 9):
+        return 12
+    elif (dlc == 10):
+        return 16
+    elif (dlc == 11):
+        return 20
+    elif (dlc == 12):
+        return 24
+    elif (dlc == 13):
+        return 32
+    elif (dlc == 14):
+        return 48
+    return 64
+
 while True:
-    m = mlog.recv_match(type='CANF')
+    m = mlog.recv_match(type=['CANF','CAFD'])

    if m is None:
        print("Rewinding")
@ -38,15 +61,25 @@ while True:
        first_tstamp = None
        continue

+    if getattr(m,'bus',0) != args.bus:
+        continue
+
    if first_tstamp is None:
        first_tstamp = m.TimeUS
    dt = time.time() - tstart
    dt2 = (m.TimeUS - first_tstamp)*1.0e-6
    if dt2 > dt:
        time.sleep(dt2 - dt)
-    data = [m.B0, m.B1, m.B2, m.B3, m.B4, m.B5, m.B6, m.B7]
+
+    canfd = m.get_type() == 'CAFD'
+    if canfd:
+        data = struct.pack("<QQQQQQQQ", m.D0, m.D1, m.D2, m.D3, m.D4, m.D5, m.D6, m.D7)
+        data = data[:dlc_to_datalength(m.DLC)]
+    else:
+        data = struct.pack("<BBBBBBBB", m.B0, m.B1, m.B2, m.B3, m.B4, m.B5, m.B6, m.B7)
        data = data[:m.DLC]
+
    fid = m.Id
    is_extended = (fid & (1<<31)) != 0
-    driver.send(fid, data, extended=is_extended, canfd=False)
+    driver.send(fid, data, extended=is_extended, canfd=canfd)
    print(m)
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@ -146,7 +146,7 @@ BUILD_OPTIONS = [
    Feature('Camera', 'Camera_ThermalRange', 'AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'Enable GCS camera thermal range', 0, 'Camera,MOUNT'),  # noqa: E501
    Feature('Camera', 'Camera_Info_From_Script', 'AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'Enable Camera information messages via Lua script', 0, 'Camera,SCRIPTING'), # noqa

-    Feature('Camera', 'RUNCAM', 'HAL_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
+    Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),

    Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
    Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),
@ -358,6 +358,7 @@ BUILD_OPTIONS = [
    Feature('Other', 'Buttons', 'HAL_BUTTON_ENABLED', 'Enable Buttons', 0, None),
    Feature('Other', 'Logging', 'HAL_LOGGING_ENABLED', 'Enable Logging', 0, None),
    Feature('Other', 'CUSTOM_ROTATIONS', 'AP_CUSTOMROTATIONS_ENABLED', 'Enable Custom  sensor rotations', 0, None),
+    Feature('Other', 'PID_FILTERING', 'AP_FILTER_ENABLED', 'Enable PID filtering', 0, None),

    # MAVLink section for mavlink features and/or message handling,
    # rather than for e.g. mavlink-based sensor drivers
@ -433,7 +434,8 @@ BUILD_OPTIONS = [
    Feature('Networking', 'PPP', 'AP_NETWORKING_BACKEND_PPP', 'Enable PPP networking', 0, None),
    Feature('Networking', 'CAN MCAST', 'AP_NETWORKING_CAN_MCAST_ENABLED', 'Enable CAN multicast bridge', 0, None),

-    Feature('DroneCAN', 'DroneCAN', 'HAL_ENABLE_DRONECAN_DRIVERS', 'Enable DroneCAN support', 0, None),
+    Feature('CAN', 'DroneCAN', 'HAL_ENABLE_DRONECAN_DRIVERS', 'Enable DroneCAN support', 0, None),
+    Feature('CAN', 'CAN Logging', 'AP_CAN_LOGGING_ENABLED', 'Enable CAN logging support', 0, None),
 ]

 BUILD_OPTIONS.sort(key=lambda x: (x.category + x.label))
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@ -138,7 +138,7 @@ class ExtractFeatures(object):
            ('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
            ('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
            ('AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'AP_Camera_Backend::set_camera_information'),
-            ('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
+            ('AP_CAMERA_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),

            ('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
            ('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),
@ -284,6 +284,8 @@ class ExtractFeatures(object):
            ('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', r'GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands'),
            ('AP_SERIALMANAGER_REGISTER_ENABLED', r'AP_SerialManager::register_port'),
            ('AP_QUICKTUNE_ENABLED', r'AP_Quicktune::update'),
+            ('AP_FILTER_ENABLED', r'AP_Filters::update'),
+            ('AP_CAN_LOGGING_ENABLED', r'AP_CANManager::can_logging_callback'),
        ]

    def progress(self, msg):
--- a/Tools/scripts/generate_manifest.py
+++ b/Tools/scripts/generate_manifest.py
@ -107,6 +107,7 @@ brand_map = {
    "MicoAir405v2" : ("MicoAir F405 v2.1", "MicoAir"),
    "MicoAir405Mini" : ("MicoAir F405 Mini", "MicoAir"),
    "GEPRCF745BTHD": ("TAKER F745 BT","GEPRC"),
+    "GEPRC_TAKER_H743": ("TAKER H743 BT","GEPRC"),
 }

 class Firmware():
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@ -644,7 +644,7 @@ void AC_AutoTune_Multi::twitching_test_angle(float angle, float rate, float angl
 }

 // twitching_measure_acceleration - measure rate of change of measurement
-void AC_AutoTune_Multi::twitching_measure_acceleration(float &accel_average, float rate, float rate_max) const
+void AC_AutoTune_Multi::twitching_measure_acceleration(float &accel_average, float rate, float &rate_max) const
 {
    if (rate_max < rate) {
        rate_max = rate;
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
@ -156,7 +156,7 @@ private:
    void twitching_test_angle(float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max);

    // measure acceleration during twitch test
-    void twitching_measure_acceleration(float &accel_average, float rate, float rate_max) const;
+    void twitching_measure_acceleration(float &accel_average, float rate, float &rate_max) const;

    // updating_rate_d_up - increase D and adjust P to optimize the D term for a little bounce back
    // optimize D term while keeping the maximum just below the target by adjusting P
--- a/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
+++ b/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
@ -6,6 +6,7 @@
 #include "AP_OADijkstra.h"
 #include "AP_OABendyRuler.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_AHRS/AP_AHRS.h>

 #if AP_OAPATHPLANNER_BENDYRULER_ENABLED
 void AP_OABendyRuler::Write_OABendyRuler(const uint8_t type, const bool active, const float target_yaw, const float target_pitch, const bool resist_chg, const float margin, const Location &final_dest, const Location &oa_dest) const
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@ -219,7 +219,6 @@ void AC_Fence::update()
    // if someone changes the parameter we want to enable or disable everything
    if (_enabled != _last_enabled || _auto_enabled != _last_auto_enabled) {
        // reset the auto mask since we just reconfigured all of fencing
-        _auto_enable_mask = AC_FENCE_ALL_FENCES;
        _last_enabled = _enabled;
        _last_auto_enabled = _auto_enabled;
        if (_enabled) {
@ -238,9 +237,9 @@ void AC_Fence::update()
 }

 // enable or disable configured fences present in fence_types
-// also updates the bitmask of auto enabled fences if update_auto_mask is true
+// also updates the _min_alt_state enum if update_auto_enable is true
 // returns a bitmask of fences that were changed
-uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask)
+uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_enable)
 {
    uint8_t fences = _configured_fences.get() & fence_types;
    uint8_t enabled_fences = _enabled_fences;
@ -250,9 +249,9 @@ uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask)
        enabled_fences &= ~fences;
    }

-    // fences that were manually changed are no longer eligible for auto-enablement or disablement
-    if (update_auto_mask) {
-        _auto_enable_mask &= ~fences;
+    if (update_auto_enable && (fences & AC_FENCE_TYPE_ALT_MIN) != 0) {
+        // remember that min-alt fence was manually enabled/disabled
+        _min_alt_state = value ? MinAltState::MANUALLY_ENABLED : MinAltState::MANUALLY_DISABLED;
    }

    uint8_t fences_to_change = _enabled_fences ^ enabled_fences;
@ -260,6 +259,7 @@ uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask)
    if (!fences_to_change) {
        return 0;
    }
+
 #if HAL_LOGGING_ENABLED
    AP::logger().Write_Event(value ? LogEvent::FENCE_ENABLE : LogEvent::FENCE_DISABLE);
    if (fences_to_change & AC_FENCE_TYPE_ALT_MAX) {
@ -305,7 +305,11 @@ void AC_Fence::auto_enable_fence_on_arming(void)
        return;
    }

-    const uint8_t fences = enable(true, _auto_enable_mask & ~AC_FENCE_TYPE_ALT_MIN, false);
+    // reset min alt state, after an auto-enable the min alt fence can be auto-enabled on
+    // reaching altitude
+    _min_alt_state = MinAltState::DEFAULT;
+
+    const uint8_t fences = enable(true, AC_FENCE_ARMING_FENCES, false);
    print_fence_message("auto-enabled", fences);
 }

@ -318,7 +322,7 @@ void AC_Fence::auto_disable_fence_on_disarming(void)
        return;
    }

-    const uint8_t fences = enable(false, _auto_enable_mask, false);
+    const uint8_t fences = enable(false, AC_FENCE_ALL_FENCES, false);
    print_fence_message("auto-disabled", fences);
 }

@ -332,7 +336,10 @@ void AC_Fence::auto_enable_fence_after_takeoff(void)
        return;
    }

-    const uint8_t fences = enable(true, _auto_enable_mask, false);
+    // reset min-alt state
+    _min_alt_state = MinAltState::DEFAULT;
+
+    const uint8_t fences = enable(true, AC_FENCE_ALL_FENCES, false);
    print_fence_message("auto-enabled", fences);
 }

@ -342,14 +349,18 @@ uint8_t AC_Fence::get_auto_disable_fences(void) const
    uint8_t auto_disable = 0;
    switch (auto_enabled()) {
        case AC_Fence::AutoEnable::ENABLE_ON_AUTO_TAKEOFF:
-            auto_disable = _auto_enable_mask;
+            auto_disable = AC_FENCE_ALL_FENCES;
            break;
        case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
        case AC_Fence::AutoEnable::ONLY_WHEN_ARMED:
        default: // when auto disable is not set we still need to disable the altmin fence on landing
-            auto_disable = _auto_enable_mask & AC_FENCE_TYPE_ALT_MIN;
+            auto_disable = AC_FENCE_TYPE_ALT_MIN;
            break;
    }
+    if (_min_alt_state == MinAltState::MANUALLY_ENABLED) {
+        // don't auto-disable min alt fence if manually enabled
+        auto_disable &= ~AC_FENCE_TYPE_ALT_MIN;
+    }
    return auto_disable;
 }

@ -469,8 +480,20 @@ bool AC_Fence::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) c
        return false;
    }

+    auto breached_fences = _breached_fences;
+    if (auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
+        Location loc;
+        if (!AP::ahrs().get_location(loc)) {
+            hal.util->snprintf(failure_msg, failure_msg_len, "Fence requires position");
+            return false;
+        }
+        if (_poly_loader.breached(loc)) {
+            breached_fences |= AC_FENCE_TYPE_POLYGON;
+        }
+    }
+
    // check no limits are currently breached
-    if (_breached_fences) {
+    if (breached_fences) {
        char msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
        ExpandingString e(msg, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
        AC_Fence::get_fence_names(_breached_fences, e);
@ -511,7 +534,7 @@ bool AC_Fence::check_fence_alt_max()

    float alt;
    AP::ahrs().get_relative_position_D_home(alt);
-    _curr_alt = -alt; // translate Down to Up
+    const float _curr_alt = -alt; // translate Down to Up

    // check if we are over the altitude fence
    if (_curr_alt >= _alt_max) {
@ -560,7 +583,7 @@ bool AC_Fence::check_fence_alt_min()

    float alt;
    AP::ahrs().get_relative_position_D_home(alt);
-    _curr_alt = -alt; // translate Down to Up
+    const float _curr_alt = -alt; // translate Down to Up

    // check if we are under the altitude fence
    if (_curr_alt <= _alt_min) {
@ -603,7 +626,7 @@ bool AC_Fence::auto_enable_fence_floor()
    // altitude fence check
    if (!(_configured_fences & AC_FENCE_TYPE_ALT_MIN)       // not configured
        || (get_enabled_fences() & AC_FENCE_TYPE_ALT_MIN)   // already enabled
-        || !(_auto_enable_mask & AC_FENCE_TYPE_ALT_MIN)     // has been manually disabled
+        || _min_alt_state == MinAltState::MANUALLY_DISABLED // user has manually disabled the fence
        || (!_enabled && (auto_enabled() == AC_Fence::AutoEnable::ALWAYS_DISABLED
            || auto_enabled() == AutoEnable::ENABLE_ON_AUTO_TAKEOFF))) {
        // not enabled
@ -612,7 +635,7 @@ bool AC_Fence::auto_enable_fence_floor()

    float alt;
    AP::ahrs().get_relative_position_D_home(alt);
-    _curr_alt = -alt; // translate Down to Up
+    const float _curr_alt = -alt; // translate Down to Up

    // check if we are over the altitude fence
    if (!floor_enabled() && _curr_alt >= _alt_min + _margin) {
@ -709,11 +732,36 @@ uint8_t AC_Fence::check(bool disable_auto_fences)
    // clear any breach from disabled fences
    clear_breach(fences_to_disable);

+    if (_min_alt_state == MinAltState::MANUALLY_ENABLED) {
+        // if user has manually enabled the min-alt fence then don't auto-disable
+        fences_to_disable &= ~AC_FENCE_TYPE_ALT_MIN;
+    }
+
    // report on any fences that were auto-disabled
    if (fences_to_disable) {
        print_fence_message("auto-disabled", fences_to_disable);
    }

+#if 0
+    /*
+      this debug log message is very useful both when developing tests
+      and doing manual SITL fence testing
+     */
+    {
+        float alt;
+        AP::ahrs().get_relative_position_D_home(alt);
+
+        AP::logger().WriteStreaming("FENC", "TimeUS,EN,AE,CF,EF,DF,Alt", "QIIIIIf",
+                                    AP_HAL::micros64(),
+                                    enabled(),
+                                    _auto_enabled,
+                                    _configured_fences,
+                                    get_enabled_fences(),
+                                    disabled_fences,
+                                    alt*-1);
+    }
+#endif
+    
    // return immediately if disabled
    if ((!enabled() && !_auto_enabled && !(_configured_fences & AC_FENCE_TYPE_ALT_MIN)) || !_configured_fences) {
        return 0;
--- a/libraries/AC_Fence/AC_Fence.h
+++ b/libraries/AC_Fence/AC_Fence.h
@ -249,10 +249,7 @@ private:
    float           _circle_breach_distance;    // distance beyond the circular fence

    // other internal variables
-    uint8_t         _auto_enable_mask = AC_FENCE_ALL_FENCES;  // fences that can be auto-enabled or auto-disabled
    float           _home_distance;         // distance from home in meters (provided by main code)
-    float           _curr_alt;
-

    // breach information
    uint8_t         _breached_fences;       // bitmask holding the fence type that was breached (i.e. AC_FENCE_TYPE_ALT_MIN, AC_FENCE_TYPE_CIRCLE)
@ -262,6 +259,13 @@ private:

    uint32_t        _manual_recovery_start_ms;  // system time in milliseconds that pilot re-took manual control

+    enum class MinAltState
+    {
+        DEFAULT = 0,
+        MANUALLY_ENABLED,
+        MANUALLY_DISABLED
+    } _min_alt_state;
+    

    AC_PolyFence_loader _poly_loader{_total, _options}; // polygon fence
 };
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@ -172,7 +172,7 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
    // @Param: OPTIONS
    // @DisplayName: ADS-B Options
    // @Description: Options for emergency failsafe codes and device capabilities
-    // @Bitmask: 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config
+    // @Bitmask: 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config,4:Transmit in traditional Mode 3A/C only and inhibit Mode-S and ES (ADSB) transmissions
    // @User: Advanced
    AP_GROUPINFO("OPTIONS",  15, AP_ADSB, _options, 0),

@ -697,7 +697,6 @@ void AP_ADSB::handle_out_control(const mavlink_uavionix_adsb_out_control_t &pack
 {
    out_state.ctrl.baroCrossChecked = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_EXTERNAL_BARO_CROSSCHECKED;
    out_state.ctrl.airGroundState = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_ON_GROUND;
-    out_state.ctrl.identActive = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_IDENT_BUTTON_ACTIVE;
    out_state.ctrl.modeAEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_A_ENABLED;
    out_state.ctrl.modeCEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_C_ENABLED;
    out_state.ctrl.modeSEnabled = packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_S_ENABLED;
@ -707,6 +706,10 @@ void AP_ADSB::handle_out_control(const mavlink_uavionix_adsb_out_control_t &pack
    out_state.ctrl.emergencyState = packet.emergencyStatus;
    memcpy(out_state.ctrl.callsign, packet.flight_id, sizeof(out_state.ctrl.callsign));
    out_state.ctrl.x_bit = packet.x_bit;
+
+    if (packet.state & UAVIONIX_ADSB_OUT_CONTROL_STATE::UAVIONIX_ADSB_OUT_CONTROL_STATE_IDENT_BUTTON_ACTIVE) {
+        IGNORE_RETURN(ident_start());
+    }
 }

 /*
@ -930,6 +933,18 @@ uint32_t AP_ADSB::convert_base_to_decimal(const uint8_t baseIn, uint32_t inputNu
    return outputNumber;
 }

+// Trigger a Mode 3/A transponder IDENT. This should only be done when requested to do so by an Air Traffic Controller.
+// See wikipedia for IDENT explanation https://en.wikipedia.org/wiki/Transponder_(aeronautics)
+bool AP_ADSB::ident_start()
+{
+    if (!healthy()) {
+        return false;
+    }
+    out_state.ctrl.identActive = true;
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO,"ADSB: IDENT!");
+    return true;
+}
+
 // methods for embedded class Location
 bool AP_ADSB::Loc::speed_accuracy(float &sacc) const
 {
@ -958,6 +973,26 @@ bool AP_ADSB::Loc::vertical_accuracy(float &vacc) const
    return true;
 }

+uint8_t AP_ADSB::convert_maxknots_to_enum(const float maxAircraftSpeed_knots)
+{
+    if (maxAircraftSpeed_knots <= 0) {
+        // not set or unknown. no bits set
+        return 0;
+    } else if (maxAircraftSpeed_knots <= 75) {
+        return 1;
+    } else if (maxAircraftSpeed_knots <= 150) {
+        return 2;
+    } else if (maxAircraftSpeed_knots <= 300) {
+        return 3;
+    } else if (maxAircraftSpeed_knots <= 600) {
+        return 4;
+    } else if (maxAircraftSpeed_knots <= 1200) {
+        return 5;
+    } else {
+        return 6;
+    }
+}
+
 AP_ADSB *AP::ADSB()
 {
    return AP_ADSB::get_singleton();
--- a/libraries/AP_ADSB/AP_ADSB.h
+++ b/libraries/AP_ADSB/AP_ADSB.h
@ -78,6 +78,7 @@ public:
        Squawk_7400_FS_RC               = (1<<1),
        Squawk_7400_FS_GCS              = (1<<2),
        SagteTech_MXS_External_Config   = (1<<3),
+        Mode3_Only                      = (1<<4),
    };

    // for holding parameters
@ -207,6 +208,8 @@ public:
    // confirm a value is a valid callsign
    static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;

+    static uint8_t convert_maxknots_to_enum(const float maxAircraftSpeed_knots);
+
    // Convert base 8 or 16 to decimal. Used to convert an octal/hexadecimal value
    // stored on a GCS as a string field in different format, but then transmitted
    // over mavlink as a float which is always a decimal.
@ -214,13 +217,7 @@ public:

    // Trigger a Mode 3/A transponder IDENT. This should only be done when requested to do so by an Air Traffic Controller.
    // See wikipedia for IDENT explanation https://en.wikipedia.org/wiki/Transponder_(aeronautics)
-    bool ident_start() {
-        if (!healthy() || ((out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) == 0)) {
-            return false;
-        }
-        out_state.ctrl.identActive = true;
-        return true;
-    }
+    bool ident_start();

    AP_ADSB::Type get_type(uint8_t instance) const;

--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
@ -120,7 +120,7 @@ void AP_ADSB_Sagetech_MXS::update()
            (mxs_state.inst.icao != (uint32_t)_frontend.out_state.cfg.ICAO_id_param.get() ||
            mxs_state.inst.emitter != convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get()) ||
            mxs_state.inst.size != _frontend.out_state.cfg.lengthWidth.get() ||
-            mxs_state.inst.maxSpeed != convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots)
+            mxs_state.inst.maxSpeed != (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots)
            )) {
        last.packet_initialize_ms = now_ms;
        send_install_msg();
@ -150,7 +150,7 @@ void AP_ADSB_Sagetech_MXS::update()
        last.operating_rf_select = _frontend.out_state.cfg.rfSelect;
        last.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
        last.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
-        last.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
+        last.modeSEnabled = (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Mode3_Only)) ? 0 : _frontend.out_state.ctrl.modeSEnabled;

        last.operating_alt = _frontend._my_loc.alt;
        last.packet_Operating_ms = now_ms;
@ -358,7 +358,7 @@ void AP_ADSB_Sagetech_MXS::auto_config_installation()
    mxs_state.inst.sda = sg_sda_t::sdaUnknown;
    mxs_state.inst.emitter = convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get());
    mxs_state.inst.size = (sg_size_t)_frontend.out_state.cfg.lengthWidth.get();
-    mxs_state.inst.maxSpeed = convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots);
+    mxs_state.inst.maxSpeed = (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);
    mxs_state.inst.altOffset = 0;         // Alt encoder offset is legacy field that should always be 0.
    mxs_state.inst.antenna = sg_antenna_t::antBottom;

@ -511,7 +511,7 @@ void AP_ADSB_Sagetech_MXS::send_install_msg()
    mxs_state.inst.icao = (uint32_t)_frontend.out_state.cfg.ICAO_id_param.get();
    mxs_state.inst.emitter = convert_emitter_type_to_sg(_frontend.out_state.cfg.emitterType.get());
    mxs_state.inst.size = (sg_size_t)_frontend.out_state.cfg.lengthWidth.get();
-    mxs_state.inst.maxSpeed = convert_airspeed_knots_to_sg(_frontend.out_state.cfg.maxAircraftSpeed_knots);
+    mxs_state.inst.maxSpeed = (sg_airspeed_t)AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);
    mxs_state.inst.antenna = sg_antenna_t::antBottom;

    last.msg.type = SG_MSG_TYPE_HOST_INSTALL;
--- a/libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
@ -177,22 +177,7 @@ uint8_t AP_ADSB_uAvionix_MAVLink::get_encoded_callsign_null_char()

    uint8_t encoded_null = 0;

-    if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 0) {
-        // not set or unknown. no bits set
-    } else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 75) {
-        encoded_null |= 0x01;
-    } else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 150) {
-        encoded_null |= 0x02;
-    } else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 300) {
-        encoded_null |= 0x03;
-    } else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 600) {
-        encoded_null |= 0x04;
-    } else if (_frontend.out_state.cfg.maxAircraftSpeed_knots <= 1200) {
-        encoded_null |= 0x05;
-    } else {
-        encoded_null |= 0x06;
-    }
-
+    encoded_null = AP_ADSB::convert_maxknots_to_enum(_frontend.out_state.cfg.maxAircraftSpeed_knots);

    if (_frontend.out_state.cfg.rf_capable & ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN) {
        encoded_null |= 0x10;
--- a/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
@ -411,8 +411,8 @@ void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
    _frontend.out_state.ctrl.identActive = false; // only send identButtonActive once per request
    msg.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
    msg.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
-    msg.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
-    msg.es1090TxEnabled = _frontend.out_state.ctrl.es1090TxEnabled;
+    msg.modeSEnabled = (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Mode3_Only)) ? 0 : _frontend.out_state.ctrl.modeSEnabled;
+    msg.es1090TxEnabled = (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Mode3_Only)) ? 0 : _frontend.out_state.ctrl.es1090TxEnabled;

    // if enabled via param ADSB_OPTIONS, use squawk 7400 while in any Loss-Comms related failsafe
    // https://www.faa.gov/documentLibrary/media/Notice/N_JO_7110.724_5-2-9_UAS_Lost_Link_2.pdf
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@ -346,9 +346,9 @@ void AP_AHRS::update_state(void)
    state.primary_core = _get_primary_core_index();
    state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
    state.EAS2TAS = AP_AHRS_Backend::get_EAS2TAS();
-    state.airspeed_ok = _airspeed_estimate(state.airspeed, state.airspeed_estimate_type);
-    state.airspeed_true_ok = _airspeed_estimate_true(state.airspeed_true);
-    state.airspeed_vec_ok = _airspeed_vector_true(state.airspeed_vec);
+    state.airspeed_ok = _airspeed_EAS(state.airspeed, state.airspeed_estimate_type);
+    state.airspeed_true_ok = _airspeed_TAS(state.airspeed_true);
+    state.airspeed_vec_ok = _airspeed_TAS(state.airspeed_vec);
    state.quat_ok = _get_quaternion(state.quat);
    state.secondary_attitude_ok = _get_secondary_attitude(state.secondary_attitude);
    state.secondary_quat_ok = _get_secondary_quaternion(state.secondary_quat);
@ -931,7 +931,7 @@ bool AP_AHRS::_should_use_airspeed_sensor(uint8_t airspeed_index) const

 // return an airspeed estimate if available. return true
 // if we have an estimate
-bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airspeed_estimate_type) const
+bool AP_AHRS::_airspeed_EAS(float &airspeed_ret, AirspeedEstimateType &airspeed_estimate_type) const
 {
 #if AP_AHRS_DCM_ENABLED || (AP_AIRSPEED_ENABLED && AP_GPS_ENABLED)
    const uint8_t idx = get_active_airspeed_index();
@ -970,20 +970,20 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airs
 #if AP_AHRS_DCM_ENABLED
    case EKFType::DCM:
        airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
-        return dcm.airspeed_estimate(idx, airspeed_ret);
+        return dcm.airspeed_EAS(idx, airspeed_ret);
 #endif

 #if AP_AHRS_SIM_ENABLED
    case EKFType::SIM:
        airspeed_estimate_type = AirspeedEstimateType::SIM;
-        return sim.airspeed_estimate(airspeed_ret);
+        return sim.airspeed_EAS(airspeed_ret);
 #endif

 #if HAL_NAVEKF2_AVAILABLE
    case EKFType::TWO:
 #if AP_AHRS_DCM_ENABLED
        airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
-        return dcm.airspeed_estimate(idx, airspeed_ret);
+        return dcm.airspeed_EAS(idx, airspeed_ret);
 #else
        return false;
 #endif
@ -999,7 +999,7 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airs
    case EKFType::EXTERNAL:
 #if AP_AHRS_DCM_ENABLED
        airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
-        return dcm.airspeed_estimate(idx, airspeed_ret);
+        return dcm.airspeed_EAS(idx, airspeed_ret);
 #else
        return false;
 #endif
@ -1027,18 +1027,18 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airs
 #if AP_AHRS_DCM_ENABLED
    // fallback to DCM
    airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
-    return dcm.airspeed_estimate(idx, airspeed_ret);
+    return dcm.airspeed_EAS(idx, airspeed_ret);
 #endif

    return false;
 }

-bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const
+bool AP_AHRS::_airspeed_TAS(float &airspeed_ret) const
 {
    switch (active_EKF_type()) {
 #if AP_AHRS_DCM_ENABLED
    case EKFType::DCM:
-        return dcm.airspeed_estimate_true(airspeed_ret);
+        return dcm.airspeed_TAS(airspeed_ret);
 #endif
 #if HAL_NAVEKF2_AVAILABLE
    case EKFType::TWO:
@ -1064,7 +1064,7 @@ bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const

 // return estimate of true airspeed vector in body frame in m/s
 // returns false if estimate is unavailable
-bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const
+bool AP_AHRS::_airspeed_TAS(Vector3f &vec) const
 {
    switch (active_EKF_type()) {
 #if AP_AHRS_DCM_ENABLED
@ -1126,14 +1126,14 @@ bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance,
    return false;
 }

-// return a synthetic airspeed estimate (one derived from sensors
+// return a synthetic EAS estimate (one derived from sensors
 // other than an actual airspeed sensor), if available. return
 // true if we have a synthetic airspeed.  ret will not be modified
 // on failure.
 bool AP_AHRS::synthetic_airspeed(float &ret) const
 {
 #if AP_AHRS_DCM_ENABLED
-    return dcm.synthetic_airspeed(ret);
+    return dcm.synthetic_airspeed_EAS(ret);
 #endif
    return false;
 }
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@ -152,7 +152,7 @@ public:
    // get air density / sea level density - decreases as altitude climbs
    float get_air_density_ratio(void) const;
    
-    // return an airspeed estimate if available. return true
+    // return an (equivalent) airspeed estimate if available. return true
    // if we have an estimate
    bool airspeed_estimate(float &airspeed_ret) const;

@ -195,7 +195,7 @@ public:
        return AP_AHRS_Backend::airspeed_sensor_enabled(airspeed_index);
    }

-    // return a synthetic airspeed estimate (one derived from sensors
+    // return a synthetic (equivalent) airspeed estimate (one derived from sensors
    // other than an actual airspeed sensor), if available. return
    // true if we have a synthetic airspeed.  ret will not be modified
    // on failure.
@ -873,7 +873,7 @@ private:

    // return an airspeed estimate if available. return true
    // if we have an estimate
-    bool _airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &status) const;
+    bool _airspeed_EAS(float &airspeed_ret, AirspeedEstimateType &status) const;

    // return secondary attitude solution if available, as eulers in radians
    bool _get_secondary_attitude(Vector3f &eulers) const;
@ -892,11 +892,11 @@ private:

    // return a true airspeed estimate (navigation airspeed) if
    // available. return true if we have an estimate
-    bool _airspeed_estimate_true(float &airspeed_ret) const;
+    bool _airspeed_TAS(float &airspeed_ret) const;

    // return estimate of true airspeed vector in body frame in m/s
    // returns false if estimate is unavailable
-    bool _airspeed_vector_true(Vector3f &vec) const;
+    bool _airspeed_TAS(Vector3f &vec) const;

    // return the quaternion defining the rotation from NED to XYZ (body) axes
    bool _get_quaternion(Quaternion &quat) const WARN_IF_UNUSED;
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@ -135,13 +135,13 @@ public:

    // return an airspeed estimate if available. return true
    // if we have an estimate
-    virtual bool airspeed_estimate(float &airspeed_ret) const WARN_IF_UNUSED { return false; }
-    virtual bool airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const { return false; }
+    virtual bool airspeed_EAS(float &airspeed_ret) const WARN_IF_UNUSED { return false; }
+    virtual bool airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const { return false; }

    // return a true airspeed estimate (navigation airspeed) if
    // available. return true if we have an estimate
-    bool airspeed_estimate_true(float &airspeed_ret) const WARN_IF_UNUSED {
-        if (!airspeed_estimate(airspeed_ret)) {
+    bool airspeed_TAS(float &airspeed_ret) const WARN_IF_UNUSED {
+        if (!airspeed_EAS(airspeed_ret)) {
            return false;
        }
        airspeed_ret *= get_EAS2TAS();
@ -156,6 +156,7 @@ public:

    // get apparent to true airspeed ratio
    static float get_EAS2TAS(void);
+    static float get_TAS2EAS(void) { return 1.0/get_EAS2TAS(); }

    // return true if airspeed comes from an airspeed sensor, as
    // opposed to an IMU estimate
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@ -724,16 +724,16 @@ AP_AHRS_DCM::drift_correction(float deltat)
            return;
        }

-        float airspeed = _last_airspeed;
+        float airspeed_TAS = _last_airspeed_TAS;
 #if AP_AIRSPEED_ENABLED
        if (airspeed_sensor_enabled()) {
-            airspeed = AP::airspeed()->get_airspeed();
+            airspeed_TAS = AP::airspeed()->get_airspeed();
        }
 #endif

        // use airspeed to estimate our ground velocity in
        // earth frame by subtracting the wind
-        velocity = _dcm_matrix.colx() * airspeed;
+        velocity = _dcm_matrix.colx() * airspeed_TAS;

        // add in wind estimate
        velocity += _wind;
@ -762,7 +762,7 @@ AP_AHRS_DCM::drift_correction(float deltat)

        // take positive component in X direction. This mimics a pitot
        // tube
-        _last_airspeed = MAX(airspeed.x, 0);
+        _last_airspeed_TAS = MAX(airspeed.x, 0);
    }

    if (have_gps()) {
@ -1084,31 +1084,31 @@ bool AP_AHRS_DCM::get_location(Location &loc) const
    return _have_position;
 }

-bool AP_AHRS_DCM::airspeed_estimate(float &airspeed_ret) const
+bool AP_AHRS_DCM::airspeed_EAS(float &airspeed_ret) const
 {
 #if AP_AIRSPEED_ENABLED
    const auto *airspeed = AP::airspeed();
    if (airspeed != nullptr) {
-        return airspeed_estimate(airspeed->get_primary(), airspeed_ret);
+        return airspeed_EAS(airspeed->get_primary(), airspeed_ret);
    }
 #endif
    // airspeed_estimate will also make this nullptr check and act
    // appropriately when we call it with a dummy sensor ID.
-    return airspeed_estimate(0, airspeed_ret);
+    return airspeed_EAS(0, airspeed_ret);
 }

-// return an airspeed estimate:
+// return an (equivalent) airspeed estimate:
 //  - from a real sensor if available
 //  - otherwise from a GPS-derived wind-triangle estimate (if GPS available)
 //  - otherwise from a cached wind-triangle estimate value (but returning false)
-bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const
+bool AP_AHRS_DCM::airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const
 {
-    // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
+    // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_EAS which fills in airspeed_ret in this order:
    //               airspeed as filled-in by an enabled airspeed sensor
    //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
    //               Or if none of the above, fills-in using the previous airspeed estimate
    // Return false: if we are using the previous airspeed estimate
-    if (!get_unconstrained_airspeed_estimate(airspeed_index, airspeed_ret)) {
+    if (!get_unconstrained_airspeed_EAS(airspeed_index, airspeed_ret)) {
        return false;
    }

@ -1127,12 +1127,12 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
    return true;
 }

-// airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
+// airspeed_ret: will always be filled-in by get_unconstrained_airspeed_EAS which fills in airspeed_ret in this order:
 //               airspeed as filled-in by an enabled airspeed sensor
 //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
 //               Or if none of the above, fills-in using the previous airspeed estimate
 // Return false: if we are using the previous airspeed estimate
-bool AP_AHRS_DCM::get_unconstrained_airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const
+bool AP_AHRS_DCM::get_unconstrained_airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const
 {
 #if AP_AIRSPEED_ENABLED
    if (airspeed_sensor_enabled(airspeed_index)) {
@ -1143,13 +1143,13 @@ bool AP_AHRS_DCM::get_unconstrained_airspeed_estimate(uint8_t airspeed_index, fl

    if (AP::ahrs().get_wind_estimation_enabled() && have_gps()) {
        // estimated via GPS speed and wind
-        airspeed_ret = _last_airspeed;
+        airspeed_ret = _last_airspeed_TAS;
        return true;
    }

    // Else give the last estimate, but return false.
    // This is used by the dead-reckoning code
-    airspeed_ret = _last_airspeed;
+    airspeed_ret = _last_airspeed_TAS;
    return false;
 }

@ -1182,7 +1182,7 @@ Vector2f AP_AHRS_DCM::groundspeed_vector(void)
    Vector2f gndVelADS;
    Vector2f gndVelGPS;
    float airspeed = 0;
-    const bool gotAirspeed = airspeed_estimate_true(airspeed);
+    const bool gotAirspeed = airspeed_TAS(airspeed);
    const bool gotGPS = (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D);
    if (gotAirspeed) {
        const Vector2f airspeed_vector{_cos_yaw * airspeed, _sin_yaw * airspeed};
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@ -82,18 +82,18 @@ public:

    // return an airspeed estimate if available. return true
    // if we have an estimate
-    bool airspeed_estimate(float &airspeed_ret) const override;
+    bool airspeed_EAS(float &airspeed_ret) const override;

    // return an airspeed estimate if available. return true
    // if we have an estimate from a specific sensor index
-    bool airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const override;
+    bool airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const override;

-    // return a synthetic airspeed estimate (one derived from sensors
+    // return a synthetic EAS estimate (one derived from sensors
    // other than an actual airspeed sensor), if available. return
    // true if we have a synthetic airspeed.  ret will not be modified
    // on failure.
-    bool synthetic_airspeed(float &ret) const WARN_IF_UNUSED {
-        ret = _last_airspeed;
+    bool synthetic_airspeed_EAS(float &ret) const WARN_IF_UNUSED {
+        ret = _last_airspeed_TAS;
        return true;
    }

@ -173,12 +173,12 @@ private:
    // DCM matrix from the eulers.  Called internally we may.
    void            reset(bool recover_eulers);

-    // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
+    // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_EAS which fills in airspeed_ret in this order:
    //               airspeed as filled-in by an enabled airspeed sensor
    //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
    //               Or if none of the above, fills-in using the previous airspeed estimate
    // Return false: if we are using the previous airspeed estimate
-    bool get_unconstrained_airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const;
+    bool get_unconstrained_airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const;

    // primary representation of attitude of board used for all inertial calculations
    Matrix3f _dcm_matrix;
@ -262,7 +262,7 @@ private:
    Vector3f _last_fuse;
    Vector3f _last_vel;
    uint32_t _last_wind_time;
-    float _last_airspeed;
+    float _last_airspeed_TAS;
    uint32_t _last_consistent_heading;

    // estimated wind in m/s
--- a/libraries/AP_AHRS/AP_AHRS_SIM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_SIM.cpp
@ -41,7 +41,7 @@ bool AP_AHRS_SIM::wind_estimate(Vector3f &wind) const
    return true;
 }

-bool AP_AHRS_SIM::airspeed_estimate(float &airspeed_ret) const
+bool AP_AHRS_SIM::airspeed_EAS(float &airspeed_ret) const
 {
    if (_sitl == nullptr) {
        return false;
@ -52,9 +52,9 @@ bool AP_AHRS_SIM::airspeed_estimate(float &airspeed_ret) const
    return true;
 }

-bool AP_AHRS_SIM::airspeed_estimate(uint8_t index, float &airspeed_ret) const
+bool AP_AHRS_SIM::airspeed_EAS(uint8_t index, float &airspeed_ret) const
 {
-    return airspeed_estimate(airspeed_ret);
+    return airspeed_EAS(airspeed_ret);
 }

 bool AP_AHRS_SIM::get_quaternion(Quaternion &quat) const
--- a/libraries/AP_AHRS/AP_AHRS_SIM.h
+++ b/libraries/AP_AHRS/AP_AHRS_SIM.h
@ -68,11 +68,11 @@ public:

    // return an airspeed estimate if available. return true
    // if we have an estimate
-    bool airspeed_estimate(float &airspeed_ret) const override;
+    bool airspeed_EAS(float &airspeed_ret) const override;

    // return an airspeed estimate if available. return true
    // if we have an estimate from a specific sensor index
-    bool airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const override;
+    bool airspeed_EAS(uint8_t airspeed_index, float &airspeed_ret) const override;

    // return a ground vector estimate in meters/second, in North/East order
    Vector2f groundspeed_vector() override;
--- a/libraries/AP_AHRS/AP_AHRS_View.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_View.cpp
@ -36,7 +36,7 @@ AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation, float pitch_
        y_angle =  270;
        break;
    default:
-        AP_HAL::panic("Unsupported AHRS view %u\n", (unsigned)rotation);
+        AP_HAL::panic("Unsupported AHRS view %u", (unsigned)rotation);
    }

    _pitch_trim_deg = pitch_trim_deg;
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
@ -58,7 +58,7 @@ public:
        {
            AP_Param::setup_object_defaults(this, var_info);
            if (_singleton != nullptr) {
-                AP_HAL::panic("AP_Logger must be singleton");
+                AP_HAL::panic("AP_AdvancedFailsafe must be singleton");
            }

            _singleton = this;
--- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp
+++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
@ -164,32 +164,43 @@ void AP_Airspeed::update_calibration(const Vector3f &vground, int16_t max_airspe
    for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
        update_calibration(i, vground, max_airspeed_allowed_during_cal);
    }
+#if HAL_GCS_ENABLED && AP_AIRSPEED_AUTOCAL_ENABLE
    send_airspeed_calibration(vground);
+#endif
 }


-#if HAL_GCS_ENABLED
+#if HAL_GCS_ENABLED && AP_AIRSPEED_AUTOCAL_ENABLE
 void AP_Airspeed::send_airspeed_calibration(const Vector3f &vground)
 {
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+    /*
+      the AIRSPEED_AUTOCAL message doesn't have an instance number
+      so we can only send it for one sensor at a time
+     */
+    for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
+        if (!param[i].autocal && !calibration_enabled) {
+            // auto-calibration not enabled on this sensor
+            continue;
+        }
        const mavlink_airspeed_autocal_t packet{
        vx: vground.x,
        vy: vground.y,
        vz: vground.z,
-        diff_pressure: get_differential_pressure(primary),
+        diff_pressure: get_differential_pressure(i),
        EAS2TAS: AP::ahrs().get_EAS2TAS(),
-        ratio: param[primary].ratio.get(),
-        state_x: state[primary].calibration.state.x,
-        state_y: state[primary].calibration.state.y,
-        state_z: state[primary].calibration.state.z,
-        Pax: state[primary].calibration.P.a.x,
-        Pby: state[primary].calibration.P.b.y,
-        Pcz: state[primary].calibration.P.c.z
+        ratio: param[i].ratio.get(),
+        state_x: state[i].calibration.state.x,
+        state_y: state[i].calibration.state.y,
+        state_z: state[i].calibration.state.z,
+        Pax: state[i].calibration.P.a.x,
+        Pby: state[i].calibration.P.b.y,
+        Pcz: state[i].calibration.P.c.z
        };
        gcs().send_to_active_channels(MAVLINK_MSG_ID_AIRSPEED_AUTOCAL,
                                      (const char *)&packet);
-#endif // AP_AIRSPEED_AUTOCAL_ENABLE
+        break; // we can only send for one sensor
+    }
 }
-#endif  // HAL_GCS_ENABLED
+#endif  // HAL_GCS_ENABLED && AP_AIRSPEED_AUTOCAL_ENABLE

 #endif  // AP_AIRSPEED_ENABLED
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@ -1291,7 +1291,7 @@ bool AP_Arming::fence_checks(bool display_failure)
 }
 #endif  // AP_FENCE_ENABLED

-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
 bool AP_Arming::camera_checks(bool display_failure)
 {
    if (check_enabled(ARMING_CHECK_CAMERA)) {
@ -1309,7 +1309,7 @@ bool AP_Arming::camera_checks(bool display_failure)
    }
    return true;
 }
-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED

 #if OSD_ENABLED
 bool AP_Arming::osd_checks(bool display_failure) const
@ -1603,7 +1603,7 @@ bool AP_Arming::pre_arm_checks(bool report)
 #if HAL_PROXIMITY_ENABLED
        &  proximity_checks(report)
 #endif
-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED
        &  camera_checks(report)
 #endif
 #if OSD_ENABLED
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@ -69,6 +69,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: _
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: _
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: _
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: _
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[0], "_", 41, AP_BattMonitor, backend_var_info[0]),

 #if AP_BATT_MONITOR_MAX_INSTANCES > 1
@ -92,6 +98,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 2_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 2_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 2_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 2_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[1], "2_", 42, AP_BattMonitor, backend_var_info[1]),
 #endif

@ -116,6 +128,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 3_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 3_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 3_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 3_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[2], "3_", 43, AP_BattMonitor, backend_var_info[2]),
 #endif

@ -140,6 +158,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 4_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 4_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 4_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 4_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[3], "4_", 44, AP_BattMonitor, backend_var_info[3]),
 #endif

@ -164,6 +188,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 5_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 5_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 5_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 5_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[4], "5_", 45, AP_BattMonitor, backend_var_info[4]),
 #endif

@ -188,6 +218,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 6_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 6_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 6_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 6_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[5], "6_", 46, AP_BattMonitor, backend_var_info[5]),
 #endif

@ -212,6 +248,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 7_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 7_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 7_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 7_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[6], "7_", 47, AP_BattMonitor, backend_var_info[6]),
 #endif

@ -236,6 +278,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 8_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 8_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 8_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 8_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[7], "8_", 48, AP_BattMonitor, backend_var_info[7]),
 #endif

@ -260,6 +308,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: 9_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: 9_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: 9_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: 9_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[8], "9_", 49, AP_BattMonitor, backend_var_info[8]),
 #endif

@ -284,6 +338,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: A_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: A_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: A_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: A_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[9], "A_", 50, AP_BattMonitor, backend_var_info[9]),
 #endif

@ -308,6 +368,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: B_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: B_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: B_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: B_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[10], "B_", 51, AP_BattMonitor, backend_var_info[10]),
 #endif

@ -332,6 +398,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: C_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: C_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: C_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: C_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[11], "C_", 52, AP_BattMonitor, backend_var_info[11]),
 #endif

@ -356,6 +428,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: D_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: D_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: D_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: D_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[12], "D_", 53, AP_BattMonitor, backend_var_info[12]),
 #endif

@ -380,6 +458,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: E_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: E_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: E_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: E_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[13], "E_", 54, AP_BattMonitor, backend_var_info[13]),
 #endif

@ -404,6 +488,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: F_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: F_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: F_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: F_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[14], "F_", 55, AP_BattMonitor, backend_var_info[14]),
 #endif

@ -428,6 +518,12 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
    // @Path: AP_BattMonitor_INA2xx.cpp
    // @Group: G_
    // @Path: AP_BattMonitor_ESC.cpp
+    // @Group: G_
+    // @Path: AP_BattMonitor_INA239.cpp
+    // @Group: G_
+    // @Path: AP_BattMonitor_INA3221.cpp
+    // @Group: G_
+    // @Path: AP_BattMonitor_AD7091R5.cpp
    AP_SUBGROUPVARPTR(drivers[15], "G_", 56, AP_BattMonitor, backend_var_info[15]),
 #endif

--- a/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.cpp
@ -84,7 +84,7 @@ const AP_Param::GroupInfo AP_BattMonitor_AD7091R5::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("VLT_OFFSET", 61, AP_BattMonitor_AD7091R5, _volt_offset, 0),

-    // Param indexes must be 56 to 61 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Analog::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("VLT_OFFSET", 6, AP_BattMonitor_Analog, _volt_offset, 0),
    
-    // Param indexes must be less than 10 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
@ -26,6 +26,27 @@
 #include "AP_ESC_Telem/AP_ESC_Telem.h"
 #endif

+/*
+  All backends use the same parameter table and set of indices. Therefore, two
+  backends must not use the same index. The list of used indices and
+  corresponding backends is below.
+
+    1-6:    AP_BattMonitor_Analog.cpp
+    10-11:  AP_BattMonitor_SMBus.cpp
+    20:     AP_BattMonitor_Sum.cpp
+    22-24:  AP_BattMonitor_INA3221.cpp
+    25-26:  AP_BattMonitor_INA2xx.cpp
+    27-28:  AP_BattMonitor_INA2xx.cpp, AP_BattMonitor_INA239.cpp (legacy duplication)
+    30:     AP_BattMonitor_DroneCAN.cpp
+    36:     AP_BattMonitor_ESC.cpp
+    40-43:  AP_BattMonitor_FuelLevel_Analog.cpp
+    45-48:  AP_BattMonitor_FuelLevel_Analog.cpp
+    50-51:  AP_BattMonitor_Synthetic_Current.cpp
+    56-61:  AP_BattMonitor_AD7091R5.cpp
+
+  Usage does not need to be contiguous. The maximum possible index is 63.
+*/
+
 /*
  base class constructor.
  This incorporates initialisation as well.
--- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
@ -26,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_DroneCAN::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("CURR_MULT", 30, AP_BattMonitor_DroneCAN, _curr_mult, 1.0),

-    // Param indexes must be between 30 and 35 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
@ -22,8 +22,6 @@

 const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {

-    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
-
    // @Param: ESC_MASK
    // @DisplayName: ESC mask
    // @Description: If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
@ -31,7 +29,7 @@ const AP_Param::GroupInfo AP_BattMonitor_ESC::var_info[] = {
    // @User: Standard
    AP_GROUPINFO("ESC_MASK", 36, AP_BattMonitor_ESC, _mask, 0),

-    // Param indexes must be between 36 and 39 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp
@ -58,8 +58,6 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = {
     // @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
    AP_GROUPINFO("FL_PIN", 43, AP_BattMonitor_FuelLevel_Analog, _pin, -1),

- // index 44 unused and available
-
    // @Param: FL_FF
    // @DisplayName: First order term
    // @Description: First order polynomial fit term
@ -88,7 +86,7 @@ const AP_Param::GroupInfo AP_BattMonitor_FuelLevel_Analog::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("FL_OFF", 48, AP_BattMonitor_FuelLevel_Analog, _fuel_fit_offset, 0),    

-    // Param indexes must be between 40 and 49 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
@ -48,6 +48,8 @@ const AP_Param::GroupInfo AP_BattMonitor_INA239::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA239, rShunt, HAL_BATTMON_INA239_SHUNT_RESISTANCE),

+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
+
    AP_GROUPEND
 };

--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
@ -109,6 +109,8 @@ const AP_Param::GroupInfo AP_BattMonitor_INA2XX::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("SHUNT", 28, AP_BattMonitor_INA2XX, rShunt, DEFAULT_BATTMON_INA2XX_SHUNT),

+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS
+
    AP_GROUPEND
 };

--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp
@ -67,15 +67,13 @@ uint8_t AP_BattMonitor_INA3221::address_driver_count;

 const AP_Param::GroupInfo AP_BattMonitor_INA3221::var_info[] = {

-    // Param indexes must be between 56 and 61 to avoid conflict with other battery monitor param tables loaded by pointer
-
    // @Param: I2C_BUS
    // @DisplayName: Battery monitor I2C bus number
    // @Description: Battery monitor I2C bus number
    // @Range: 0 3
    // @User: Advanced
    // @RebootRequired: True
-    AP_GROUPINFO("I2C_BUS", 56, AP_BattMonitor_INA3221, i2c_bus, HAL_BATTMON_INA3221_BUS),
+    AP_GROUPINFO("I2C_BUS", 22, AP_BattMonitor_INA3221, i2c_bus, HAL_BATTMON_INA3221_BUS),

    // @Param: I2C_ADDR
    // @DisplayName: Battery monitor I2C address
@ -83,7 +81,7 @@ const AP_Param::GroupInfo AP_BattMonitor_INA3221::var_info[] = {
    // @Range: 0 127
    // @User: Advanced
    // @RebootRequired: True
-    AP_GROUPINFO("I2C_ADDR", 57, AP_BattMonitor_INA3221, i2c_address, HAL_BATTMON_INA3221_ADDR),
+    AP_GROUPINFO("I2C_ADDR", 23, AP_BattMonitor_INA3221, i2c_address, HAL_BATTMON_INA3221_ADDR),

    // @Param: CHANNEL
    // @DisplayName: INA3221 channel
@ -91,7 +89,9 @@ const AP_Param::GroupInfo AP_BattMonitor_INA3221::var_info[] = {
    // @Range: 1 3
    // @User: Advanced
    // @RebootRequired: True
-    AP_GROUPINFO("CHANNEL", 58, AP_BattMonitor_INA3221, channel, 1),
+    AP_GROUPINFO("CHANNEL", 24, AP_BattMonitor_INA3221, channel, 1),
+
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
@ -113,7 +113,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
    // @DisplayName: Low battery failsafe action
    // @Description: What action the vehicle should perform if it hits a low battery failsafe
    // @Values{Plane}: 0:None,1:RTL,2:Land,3:Terminate,4:QLand,6:Loiter to QLand
-    // @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START or RTL
+    // @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
    // @Values{Sub}: 0:None,2:Disarm,3:Enter surface mode
    // @Values{Rover}: 0:None,1:RTL,2:Hold,3:SmartRTL,4:SmartRTL or Hold,5:Terminate
    // @Values{Tracker}: 0:None
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
    // @DisplayName: Critical battery failsafe action
    // @Description: What action the vehicle should perform if it hits a critical battery failsafe
    // @Values{Plane}: 0:None,1:RTL,2:Land,3:Terminate,4:QLand,5:Parachute,6:Loiter to QLand
-    // @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START or RTL
+    // @Values{Copter}: 0:None,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land,5:Terminate,6:Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
    // @Values{Sub}: 0:None,2:Disarm,3:Enter surface mode
    // @Values{Rover}: 0:None,1:RTL,2:Hold,3:SmartRTL,4:SmartRTL or Hold,5:Terminate
    // @Values{Tracker}: 0:None
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp
@ -10,8 +10,6 @@ extern const AP_HAL::HAL& hal;

 const AP_Param::GroupInfo AP_BattMonitor_SMBus::var_info[] = {

-    // Param indexes must be between 10 and 19 to avoid conflict with other battery monitor param tables loaded by pointer
-
    // @Param: I2C_BUS
    // @DisplayName: Battery monitor I2C bus number
    // @Description: Battery monitor I2C bus number
@ -28,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_SMBus::var_info[] = {
    // @RebootRequired: True
    AP_GROUPINFO("I2C_ADDR", 11, AP_BattMonitor_SMBus, _address, AP_BATTMONITOR_SMBUS_I2C_ADDR),

-    // Param indexes must be between 10 and 19 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
@ -19,8 +19,6 @@ extern const AP_HAL::HAL& hal;

 const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {

-    // Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
-
    // @Param: SUM_MASK
    // @DisplayName: Battery Sum mask
    // @Description: 0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
@ -28,7 +26,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Sum::var_info[] = {
    // @User: Standard
    AP_GROUPINFO("SUM_MASK", 20, AP_BattMonitor_Sum, _sum_mask, 0),

-    // Param indexes must be between 20 and 29 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Synthetic_Current::var_info[] = {
    // also inherit analog backend parameters
    AP_SUBGROUPEXTENSION("", 51, AP_BattMonitor_Synthetic_Current, AP_BattMonitor_Analog::var_info),

-    // Param indexes must be between 50 and 55 to avoid conflict with other battery monitor param tables loaded by pointer
+    // CHECK/UPDATE INDEX TABLE IN AP_BattMonitor_Backend.cpp WHEN CHANGING OR ADDING PARAMETERS

    AP_GROUPEND
 };
--- a/libraries/AP_CANManager/AP_CANIfaceParams.cpp
+++ b/libraries/AP_CANManager/AP_CANIfaceParams.cpp
@ -43,6 +43,14 @@ const AP_Param::GroupInfo AP_CANManager::CANIface_Params::var_info[] = {
    // @User: Advanced
    AP_GROUPINFO("FDBITRATE", 3, AP_CANManager::CANIface_Params, _fdbitrate, HAL_CANFD_SUPPORTED),
 #endif
+
+    // @Param: OPTIONS
+    // @DisplayName: CAN per-interface options
+    // @Description: CAN per-interface options
+    // @Bitmask: 0:LogAllFrames
+    // @User: Advanced
+    AP_GROUPINFO("OPTIONS", 4, AP_CANManager::CANIface_Params, _options, 0),
+
    // Index 3 occupied by Param: DEBUG
    AP_GROUPEND
 };
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@ -41,6 +41,15 @@

 #include <AP_Common/ExpandingString.h>
 #include <AP_Common/sorting.h>
+#include <AP_Logger/AP_Logger.h>
+
+/*
+  avoid a recursion issue with config defines
+ */
+#if AP_CAN_LOGGING_ENABLED && !HAL_LOGGING_ENABLED
+#undef AP_CAN_LOGGING_ENABLED
+#define AP_CAN_LOGGING_ENABLED 0
+#endif

 #define LOG_TAG "CANMGR"
 #define LOG_BUFFER_SIZE 1024
@ -260,6 +269,10 @@ void AP_CANManager::init()

        _drivers[drv_num]->init(drv_num, enable_filter);
    }
+
+#if AP_CAN_LOGGING_ENABLED
+    hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_CANManager::check_logging_enable, void));
+#endif
 }
 #else
 void AP_CANManager::init()
@ -372,6 +385,7 @@ void AP_CANManager::log_text(AP_CANManager::LogLevel loglevel, const char *tag,
    if (loglevel > _loglevel) {
        return;
    }
+    WITH_SEMAPHORE(_sem);

    if ((LOG_BUFFER_SIZE - _log_pos) < (10 + strlen(tag) + strlen(fmt))) {
        // reset log pos
@ -509,6 +523,7 @@ void AP_CANManager::handle_can_frame(const mavlink_message_t &msg)
        frame_buffer->push(frame);
        break;
    }
+#if HAL_CANFD_SUPPORTED
    case MAVLINK_MSG_ID_CANFD_FRAME: {
        mavlink_canfd_frame_t p;
        mavlink_msg_canfd_frame_decode(&msg, &p);
@ -523,6 +538,7 @@ void AP_CANManager::handle_can_frame(const mavlink_message_t &msg)
        frame_buffer->push(frame);
        break;
    }
+#endif
    }
    process_frame_buffer();
 }
@ -684,12 +700,15 @@ void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
        }
    }
    const uint8_t data_len = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
+#if HAL_CANFD_SUPPORTED
    if (frame.isCanFDFrame()) {
        if (HAVE_PAYLOAD_SPACE(can_forward.chan, CANFD_FRAME)) {
            mavlink_msg_canfd_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
                                         bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
        }
-    } else {
+    } else
+#endif
+    {
        if (HAVE_PAYLOAD_SPACE(can_forward.chan, CAN_FRAME)) {
            mavlink_msg_can_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
                                       bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
@ -698,6 +717,61 @@ void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
 }
 #endif // HAL_GCS_ENABLED

+#if AP_CAN_LOGGING_ENABLED
+/*
+  handler for CAN frames for frame logging
+ */
+void AP_CANManager::can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
+{
+#if HAL_CANFD_SUPPORTED
+    if (frame.canfd) {
+        struct log_CAFD pkt {
+            LOG_PACKET_HEADER_INIT(LOG_CAFD_MSG),
+            time_us : AP_HAL::micros64(),
+            bus     : bus,
+            id      : frame.id,
+            dlc     : frame.dlc
+        };
+        memcpy(pkt.data, frame.data, frame.dlcToDataLength(frame.dlc));
+        AP::logger().WriteBlock(&pkt, sizeof(pkt));
+        return;
+    }
+#endif
+    struct log_CANF pkt {
+        LOG_PACKET_HEADER_INIT(LOG_CANF_MSG),
+        time_us : AP_HAL::micros64(),
+        bus     : bus,
+        id      : frame.id,
+        dlc     : frame.dlc
+    };
+    memcpy(pkt.data, frame.data, frame.dlc);
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+
+/*
+  see if we need to enable/disable the CAN logging callback
+ */
+void AP_CANManager::check_logging_enable(void)
+{
+    for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
+        const bool enabled = _interfaces[i].option_is_set(CANIface_Params::Options::LOG_ALL_FRAMES);
+        uint8_t &logging_id = _interfaces[i].logging_id;
+        auto *can = hal.can[i];
+        if (can == nullptr) {
+            continue;
+        }
+        if (enabled && logging_id == 0) {
+            can->register_frame_callback(
+                FUNCTOR_BIND_MEMBER(&AP_CANManager::can_logging_callback, void, uint8_t, const AP_HAL::CANFrame &),
+                logging_id);
+        } else if (!enabled && logging_id != 0) {
+            can->unregister_frame_callback(logging_id);
+        }
+    }
+}
+
+#endif // AP_CAN_LOGGING_ENABLED
+
 AP_CANManager& AP::can()
 {
    return *AP_CANManager::get_singleton();
--- a/libraries/AP_CANManager/AP_CANManager.h
+++ b/libraries/AP_CANManager/AP_CANManager.h
@ -126,10 +126,23 @@ private:

        static const struct AP_Param::GroupInfo var_info[];

+        enum class Options : uint32_t {
+            LOG_ALL_FRAMES = (1U<<0),
+        };
+
+        bool option_is_set(Options option) const {
+            return (_options & uint32_t(option)) != 0;
+        }
+
    private:
        AP_Int8 _driver_number;
        AP_Int32 _bitrate;
        AP_Int32 _fdbitrate;
+        AP_Int32 _options;
+
+#if AP_CAN_LOGGING_ENABLED && HAL_LOGGING_ENABLED
+        uint8_t logging_id;
+#endif
    };

    //Parameter Interface for CANDrivers
@ -198,6 +211,14 @@ private:

    void process_frame_buffer(void);
 #endif // HAL_GCS_ENABLED
+
+#if AP_CAN_LOGGING_ENABLED && HAL_LOGGING_ENABLED
+    /*
+      handler for CAN frames for logging
+    */
+    void can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
+    void check_logging_enable(void);
+#endif
 };

 namespace AP
--- a/libraries/AP_CANManager/AP_CANManager_config.h
+++ b/libraries/AP_CANManager/AP_CANManager_config.h
@ -5,3 +5,8 @@
 #ifndef AP_CAN_SLCAN_ENABLED
 #define AP_CAN_SLCAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
 #endif
+
+#ifndef AP_CAN_LOGGING_ENABLED
+#define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
--- a/libraries/AP_CANManager/LogStructure.h
+++ b/libraries/AP_CANManager/LogStructure.h
@ -0,0 +1,79 @@
+#pragma once
+/*
+  log structures for AP_CANManager
+ */
+
+#include <AP_Logger/LogStructure.h>
+#include "AP_CANManager_config.h"
+
+#define LOG_IDS_FROM_CANMANAGER \
+    LOG_CANF_MSG,               \
+    LOG_CAFD_MSG
+
+// @LoggerMessage: CANF
+// @Description: CAN Frame
+// @Field: TimeUS: Time since system startup
+// @Field: Bus: bus number
+// @Field: Id: frame identifier
+// @Field: DLC: data length code
+// @Field: B0: byte 0
+// @Field: B1: byte 1
+// @Field: B2: byte 2
+// @Field: B3: byte 3
+// @Field: B4: byte 4
+// @Field: B5: byte 5
+// @Field: B6: byte 6
+// @Field: B7: byte 7
+struct PACKED log_CANF {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t bus;
+    uint32_t id;
+    uint8_t dlc;
+    uint8_t data[8];
+};
+
+// @LoggerMessage: CAFD
+// @Description: CANFD Frame
+// @Field: TimeUS: Time since system startup
+// @Field: Bus: bus number
+// @Field: Id: frame identifier
+// @Field: DLC: data length code
+// @Field: D0: data 0
+// @Field: D1: data 1
+// @Field: D2: data 2
+// @Field: D3: data 3
+// @Field: D4: data 4
+// @Field: D5: data 5
+// @Field: D6: data 6
+// @Field: D7: data 7
+struct PACKED log_CAFD {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t bus;
+    uint32_t id;
+    uint8_t dlc;
+    uint64_t data[8];
+};
+
+#if !AP_CAN_LOGGING_ENABLED
+#define LOG_STRUCTURE_FROM_CANMANAGER
+#else
+#define LOG_STRUCTURE_FROM_CANMANAGER \
+    { LOG_CANF_MSG, sizeof(log_CANF), \
+            "CANF", \
+            "Q"       "B"    "I"    "B"    "B"    "B"    "B"    "B"    "B"    "B"    "B"    "B", \
+            "TimeUS," "Bus," "Id,"  "DLC," "B0,"  "B1,"  "B2,"  "B3,"  "B4,"  "B5,"  "B6,"  "B7", \
+            "s"       "#"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \
+            "F"       "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \
+            false \
+            }, \
+    { LOG_CAFD_MSG, sizeof(log_CAFD), \
+            "CAFD", \
+            "Q"       "B"    "I"    "B"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q"    "Q", \
+            "TimeUS," "Bus," "Id,"  "DLC," "D0,"  "D1,"  "D2,"  "D3,"  "D4,"  "D5,"  "D6,"  "D7", \
+            "s"       "#"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \
+            "F"       "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-"    "-", \
+            false \
+            },
+#endif // AP_CAN_LOGGING_ENABLED
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@ -6,6 +6,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 #include "AP_Camera_Backend.h"
 #include "AP_Camera_Servo.h"
 #include "AP_Camera_Relay.h"
@ -14,6 +15,7 @@
 #include "AP_Camera_MAVLink.h"
 #include "AP_Camera_MAVLinkCamV2.h"
 #include "AP_Camera_Scripting.h"
+#include "AP_RunCam.h"

 const AP_Param::GroupInfo AP_Camera::var_info[] = {

@ -41,10 +43,24 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
    // @Path: AP_Camera_Params.cpp
    AP_SUBGROUPINFO(_params[1], "2", 13, AP_Camera, AP_Camera_Params),
 #endif
+#if AP_CAMERA_RUNCAM_ENABLED
+    // @Group: 1_RC_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[0], "1_RC_", 14, AP_Camera, _backend_var_info[0]),

+#if AP_CAMERA_MAX_INSTANCES > 1
+    // @Group: 2_RC_
+    // @Path: AP_RunCam.cpp
+    AP_SUBGROUPVARPTR(_backends[1], "2_RC_", 15, AP_Camera, _backend_var_info[1]),
+#endif
+#endif
    AP_GROUPEND
 };

+#if AP_CAMERA_RUNCAM_ENABLED
+const AP_Param::GroupInfo *AP_Camera::_backend_var_info[AP_CAMERA_MAX_INSTANCES];
+#endif
+
 extern const AP_HAL::HAL& hal;

 AP_Camera::AP_Camera(uint32_t _log_camera_bit) :
@ -238,6 +254,17 @@ void AP_Camera::init()
        case CameraType::SCRIPTING:
            _backends[instance] = NEW_NOTHROW AP_Camera_Scripting(*this, _params[instance], instance);
            break;
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        // check for RunCam driver
+        case CameraType::RUNCAM:
+            if (_backends[instance] == nullptr) { // may have already been created by the conversion code
+                _backends[instance] = NEW_NOTHROW AP_RunCam(*this, _params[instance], instance, _runcam_instances);
+                _backend_var_info[instance] = AP_RunCam::var_info;
+                AP_Param::load_object_from_eeprom(_backends[instance], _backend_var_info[instance]);
+                _runcam_instances++;
+            }
+            break;
 #endif
        case CameraType::NONE:
            break;
@ -899,7 +926,11 @@ AP_Camera_Backend *AP_Camera::get_instance(uint8_t instance) const
 void AP_Camera::convert_params()
 {
    // exit immediately if CAM1_TYPE has already been configured
-    if (_params[0].type.configured()) {
+    if (_params[0].type.configured()
+#if AP_CAMERA_RUNCAM_ENABLED
+        && _params[1].type.configured()
+#endif
+       ) {
        return;
    }

@ -919,6 +950,42 @@ void AP_Camera::convert_params()
    }
    _params[0].type.set_and_save(cam1_type);

+#if AP_CAMERA_RUNCAM_ENABLED
+    // RunCam PARAMETER_CONVERSION - Added: Nov-2024 ahead of 4.7 release
+
+    // Since slot 1 is essentially used by the trigger type, we will use slot 2 for runcam
+    int8_t rc_type = 0;
+    // find vehicle's top level key
+    uint16_t k_param_vehicle_key;
+    if (!AP_Param::find_top_level_key_by_pointer(AP::vehicle(), k_param_vehicle_key)) {
+        return;
+    }
+
+    // RunCam protocol configured so set cam type to RunCam
+    bool rc_protocol_configured = false;
+    AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
+    if (serial_manager && serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0)) {
+        rc_protocol_configured = true;
+    }
+
+    const AP_Param::ConversionInfo rc_type_info = {
+        k_param_vehicle_key, AP_GROUP_ELEM_IDX(1, 1), AP_PARAM_INT8, "CAM_RC_TYPE"
+    };
+    AP_Int8 rc_type_old;
+    const bool found_rc_type = AP_Param::find_old_parameter(&rc_type_info, &rc_type_old);
+
+    if (rc_protocol_configured || (found_rc_type && rc_type_old.get() > 0)) {
+        rc_type = int8_t(CameraType::RUNCAM);
+        _backends[1] = NEW_NOTHROW AP_RunCam(*this, _params[1], 1, _runcam_instances);
+        _backend_var_info[1] = AP_RunCam::var_info;
+        AP_Param::convert_class(k_param_vehicle_key, &_backends[1], _backend_var_info[1], 1, false);
+        AP_Param::invalidate_count();
+        _runcam_instances++;
+    }
+
+    _params[1].type.set_and_save(rc_type);
+#endif // AP_CAMERA_RUNCAM_ENABLED
+
    // convert CAM_DURATION (in deci-seconds) to CAM1_DURATION (in seconds)
    int8_t cam_duration = 0;
    if (AP_Param::get_param_by_index(this, 1, AP_PARAM_INT8, &cam_duration) && (cam_duration > 0)) {
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@ -23,6 +23,7 @@ class AP_Camera_Mount;
 class AP_Camera_MAVLink;
 class AP_Camera_MAVLinkCamV2;
 class AP_Camera_Scripting;
+class AP_RunCam;

 /// @class	Camera
 /// @brief	Object managing a Photo or video camera
@ -37,6 +38,7 @@ class AP_Camera {
    friend class AP_Camera_MAVLink;
    friend class AP_Camera_MAVLinkCamV2;
    friend class AP_Camera_Scripting;
+    friend class AP_RunCam;

 public:

@ -72,6 +74,9 @@ public:
 #endif
 #if AP_CAMERA_SCRIPTING_ENABLED
        SCRIPTING = 7,  // Scripting backend
+#endif
+#if AP_CAMERA_RUNCAM_ENABLED
+        RUNCAM = 8,  // RunCam backend
 #endif
    };

@ -216,6 +221,11 @@ protected:

    // parameters for backends
    AP_Camera_Params _params[AP_CAMERA_MAX_INSTANCES];
+#if AP_CAMERA_RUNCAM_ENABLED
+    // var info pointer for RunCam
+    static const struct AP_Param::GroupInfo *_backend_var_info[AP_CAMERA_MAX_INSTANCES];
+    uint8_t _runcam_instances;
+#endif

 private:

--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@ -274,7 +274,6 @@ void AP_Camera_Backend::send_video_stream_information(mavlink_channel_t chan) co
 #if AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
 void AP_Camera_Backend::set_stream_information(mavlink_video_stream_information_t stream_info)
 {
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Camera %u VIDEO_STREAM_INFORMATION (%s) set from script", _instance, stream_info.name);
    _stream_info = stream_info;
 };
 #endif // AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
@ -296,32 +295,46 @@ void AP_Camera_Backend::send_camera_settings(mavlink_channel_t chan) const
 void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
 {
    // getting corresponding mount instance for camera
-    const AP_Mount* mount = AP::mount();
+    AP_Mount* mount = AP::mount();
    if (mount == nullptr) {
        return;
    }
+
+    // get latest POI from mount
    Quaternion quat;
-    Location loc;
+    Location camera_loc;
    Location poi_loc;
-    if (!mount->get_poi(get_mount_instance(), quat, loc, poi_loc)) {
-        return;
+    const bool have_poi_loc = mount->get_poi(get_mount_instance(), quat, camera_loc, poi_loc);
+
+    // if failed to get POI, get camera location directly from AHRS
+    // and attitude directly from mount
+    bool have_camera_loc = have_poi_loc;
+    if (!have_camera_loc) {
+        have_camera_loc = AP::ahrs().get_location(camera_loc);
+        mount->get_attitude_quaternion(get_mount_instance(), quat);
    }
+
+    // calculate attitude quaternion in earth frame using AHRS yaw
+    Quaternion quat_ef;
+    quat_ef.from_euler(0, 0, AP::ahrs().get_yaw());
+    quat_ef *= quat;
+
    // send camera fov status message only if the last calculated values aren't stale
    const float quat_array[4] = {
-        quat.q1,
-        quat.q2,
-        quat.q3,
-        quat.q4
+        quat_ef.q1,
+        quat_ef.q2,
+        quat_ef.q3,
+        quat_ef.q4
    };
    mavlink_msg_camera_fov_status_send(
        chan,
        AP_HAL::millis(),
-        loc.lat,
-        loc.lng,
-        loc.alt * 10,
-        poi_loc.lat,
-        poi_loc.lng,
-        poi_loc.alt * 10,
+        have_camera_loc ? camera_loc.lat : INT32_MAX,
+        have_camera_loc ? camera_loc.lng : INT32_MAX,
+        have_camera_loc ? camera_loc.alt * 10 : INT32_MAX,
+        have_poi_loc ? poi_loc.lat : INT32_MAX,
+        have_poi_loc ? poi_loc.lng : INT32_MAX,
+        have_poi_loc ? poi_loc.alt * 10 : INT32_MAX,
        quat_array,
        horizontal_fov() > 0 ? horizontal_fov() : NaNf,
        vertical_fov() > 0 ? vertical_fov() : NaNf
--- a/libraries/AP_Camera/AP_Camera_Params.cpp
+++ b/libraries/AP_Camera/AP_Camera_Params.cpp
@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
    // @Param: _TYPE
    // @DisplayName: Camera shutter (trigger) type
    // @Description: how to trigger the camera to take a picture
-    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting
+    // @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2, 7:Scripting, 8:RunCam
    // @User: Standard
    AP_GROUPINFO_FLAGS("_TYPE",  1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),

--- a/libraries/AP_Camera/AP_Camera_config.h
+++ b/libraries/AP_Camera/AP_Camera_config.h
@ -62,3 +62,7 @@
 #ifndef AP_CAMERA_INFO_FROM_SCRIPT_ENABLED
 #define AP_CAMERA_INFO_FROM_SCRIPT_ENABLED AP_CAMERA_SCRIPTING_ENABLED
 #endif
+
+#ifndef AP_CAMERA_RUNCAM_ENABLED
+#define AP_CAMERA_RUNCAM_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_RUNCAM_ENABLED
+#endif
--- a/libraries/AP_Camera/AP_RunCam.cpp
+++ b/libraries/AP_Camera/AP_RunCam.cpp
@ -23,7 +23,7 @@
 */
 #include "AP_RunCam.h"

-#if HAL_RUNCAM_ENABLED
+#if AP_CAMERA_RUNCAM_ENABLED

 #include <AP_Math/AP_Math.h>
 #include <AP_Math/crc.h>
@ -36,7 +36,7 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
    // @DisplayName: RunCam device type
    // @Description: RunCam device type used to determine OSD menu structure and shutter options.
    // @Values: 0:Disabled, 1:RunCam Split Micro/RunCam with UART, 2:RunCam Split, 3:RunCam Split4 4k, 4:RunCam Hybrid/RunCam Thumb Pro, 5:Runcam 2 4k
-    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceType::Disabled), AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("TYPE", 1, AP_RunCam, _cam_type, int(DeviceModel::SplitMicro), AP_PARAM_FLAG_ENABLE),

    // @Param: FEATURES
    // @DisplayName: RunCam features available
@ -55,13 +55,13 @@ const AP_Param::GroupInfo AP_RunCam::var_info[] = {
    // @DisplayName: RunCam button delay before allowing further button presses
    // @Description: Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
    // @User: Advanced
-    AP_GROUPINFO("BTN_DELAY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),
+    AP_GROUPINFO("BTN_DELY", 4, AP_RunCam, _button_delay_ms, RUNCAM_DEFAULT_BUTTON_PRESS_DELAY),

    // @Param: MDE_DELAY
    // @DisplayName: RunCam mode delay before allowing further button presses
    // @Description: Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
    // @User: Advanced
-    AP_GROUPINFO("MDE_DELAY", 5, AP_RunCam, _mode_delay_ms, 800),
+    AP_GROUPINFO("MDE_DELY", 5, AP_RunCam, _mode_delay_ms, 800),

    // @Param: CONTROL
    // @DisplayName: RunCam control option
@ -118,13 +118,24 @@ AP_RunCam::Menu AP_RunCam::_menus[RUNCAM_MAX_DEVICE_TYPES] = {
 	{ 6, { 3, 10, 2, 2, 8 }}, // Runcam 2 4K
 };

-AP_RunCam::AP_RunCam()
+const char* AP_RunCam::_models[RUNCAM_MAX_DEVICE_TYPES] = {
+    "SplitMicro",
+    "Split",
+    "Split4k",
+    "Hybrid",
+    "Run24k"
+};
+
+AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance)
+    : AP_Camera_Backend(frontend, params, instance), _runcam_instance(runcam_instance)
 {
    AP_Param::setup_object_defaults(this, var_info);
-    if (_singleton != nullptr) {
-        AP_HAL::panic("AP_RunCam must be singleton");
+    if (_singleton != nullptr && _singleton->_instance == instance) {
+        AP_HAL::panic("AP_RunCam instance must be a singleton %u", instance);
    }
+    if (_singleton == nullptr) {
        _singleton = this;
+    }
    _cam_type.set(constrain_int16(_cam_type, 0, RUNCAM_MAX_DEVICE_TYPES));
    _video_recording = VideoOption(_cam_control_option & uint8_t(ControlOption::VIDEO_RECORDING_AT_BOOT));
 }
@ -134,19 +145,19 @@ void AP_RunCam::init()
 {
    AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
    if (serial_manager) {
-        uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, 0);
+        uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_RunCam, _runcam_instance);
    }
    if (uart != nullptr) {
        /*
          if the user has setup a serial port as a runcam then default
          type to the split micro (Andy's development platform!). This makes setup a bit easier for most
          users while still enabling parameters to be hidden for users
-          without a runcam
+          without a RunCam
         */
-        _cam_type.set_default(int8_t(DeviceType::SplitMicro));
+        _cam_type.set_default(int8_t(DeviceModel::SplitMicro));
        AP_Param::invalidate_count();
    }
-    if (_cam_type.get() == int8_t(DeviceType::Disabled)) {
+    if (_cam_type.get() == int8_t(DeviceModel::Disabled)) {
        uart = nullptr;
        return;
    }
@ -156,7 +167,7 @@ void AP_RunCam::init()
    }

    // Split and Runcam 2 4k requires two mode presses to get into the menu
-    if (_cam_type.get() == int8_t(DeviceType::Split) || _cam_type.get() == int8_t(DeviceType::Run24k)) {
+    if (_cam_type.get() == int8_t(DeviceModel::Split) || _cam_type.get() == int8_t(DeviceModel::Run24k)) {
        _menu_enter_level = -1;
        _in_menu = -1;
    }
@ -221,7 +232,7 @@ void AP_RunCam::osd_option() {
 // input update loop
 void AP_RunCam::update()
 {
-    if (uart == nullptr || _cam_type.get() == int8_t(DeviceType::Disabled)) {
+    if (uart == nullptr || _cam_type.get() == int8_t(DeviceModel::Disabled)) {
        return;
    }

@ -551,12 +562,12 @@ void AP_RunCam::handle_2_key_simulation_process(Event ev)

    case Event::IN_MENU_ENTER:
        // in a sub-menu and save-and-exit was selected
-        if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
+        if (_in_menu > 1 && get_top_menu_length() > 0 && _sub_menu_pos == (get_sub_menu_length(_top_menu_pos) - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
            simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _button_delay_ms);
            _sub_menu_pos = 0;
            _in_menu--;
        // in the top-menu and save-and-exit was selected
-        } else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceType(_cam_type.get()) != DeviceType::Run24k) {
+        } else if (_in_menu == 1 && get_top_menu_length() > 0 && _top_menu_pos == (get_top_menu_length() - 1) && DeviceModel(_cam_type.get()) != DeviceModel::Run24k) {
            simulate_camera_button(ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_WIFI_BTN, _mode_delay_ms);
            _in_menu--;
            _state = State::EXITING_MENU;
@ -712,7 +723,7 @@ void AP_RunCam::handle_5_key_simulation_response(const Request& request)

 // command to start recording
 AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {
-    if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
+    if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
        return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
    } else {
        return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_START_RECORDING;
@ -721,7 +732,7 @@ AP_RunCam::ControlOperation AP_RunCam::start_recording_command() const {

 // command to stop recording
 AP_RunCam::ControlOperation AP_RunCam::stop_recording_command() const {
-    if (DeviceType(_cam_type.get()) == DeviceType::Split4k || DeviceType(_cam_type.get()) == DeviceType::Hybrid || DeviceType(_cam_type.get()) == DeviceType::Run24k) {
+    if (DeviceModel(_cam_type.get()) == DeviceModel::Split4k || DeviceModel(_cam_type.get()) == DeviceModel::Hybrid || DeviceModel(_cam_type.get()) == DeviceModel::Run24k) {
        return ControlOperation::RCDEVICE_PROTOCOL_SIMULATE_POWER_BTN;
    } else {
        return ControlOperation::RCDEVICE_PROTOCOL_CHANGE_STOP_RECORDING;
@ -1058,8 +1069,88 @@ uint8_t AP_RunCam::Request::get_expected_response_length(const Command command)
    return 0;
 }

+// AP_Camera API
+
+// return true if healthy
+bool AP_RunCam::healthy() const
+{
+    return camera_ready();
+}
+
+// momentary switch to change camera between picture and video modes
+void AP_RunCam::cam_mode_toggle()
+{
+
+}
+
+// entry point to actually take a picture.  returns true on success
+bool AP_RunCam::trigger_pic()
+{
+    return false;
+}
+
+// send camera information message to GCS
+void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
+{
+    // exit immediately if not initialised
+    if (!camera_ready() || _cam_type.get() <= 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) {
+        return;
+    }
+
+    static const uint8_t vendor_name[32] = "RunCam";
+    uint8_t model_name[32] {};
+    strncpy((char *)model_name, _models[_cam_type.get()-1], MIN(sizeof(model_name), sizeof(_models[_cam_type.get()-1])));
+    const char cam_definition_uri[140] {};
+
+    // capability flags
+    uint32_t flags = 0;
+
+    if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_START_RECORDING)) {
+        flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO;
+    }
+
+    if (has_feature(Feature::RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
+        flags |= CAMERA_CAP_FLAGS_CAPTURE_IMAGE;
+    }
+
+    // send CAMERA_INFORMATION message
+    mavlink_msg_camera_information_send(
+        chan,
+        AP_HAL::millis(),       // time_boot_ms
+        vendor_name,            // vendor_name uint8_t[32]
+        model_name,             // model_name uint8_t[32]
+        0,                      // firmware version uint32_t
+        NaNf,                   // focal_length float (mm)
+        NaNf,                   // sensor_size_h float (mm)
+        NaNf,                   // sensor_size_v float (mm)
+        0,                      // resolution_h uint16_t (pix)
+        0,                      // resolution_v uint16_t (pix)
+        0,                      // lens_id uint8_t
+        flags,                  // flags uint32_t (CAMERA_CAP_FLAGS)
+        0,                      // cam_definition_version uint16_t
+        cam_definition_uri,     // cam_definition_uri char[140]
+        _instance + 1);         // gimbal_device_id uint8_t
+}
+
+// send camera settings message to GCS
+void AP_RunCam::send_camera_settings(mavlink_channel_t chan) const
+{
+    // exit immediately if not initialised
+    if (!camera_ready()) {
+        return;
+    }
+
+    // send CAMERA_SETTINGS message
+    mavlink_msg_camera_settings_send(
+        chan,
+        AP_HAL::millis(),   // time_boot_ms
+        _video_recording == VideoOption::RECORDING ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
+        NaNf,         // zoomLevel float, percentage from 0 to 100, NaN if unknown
+        NaNf);              // focusLevel float, percentage from 0 to 100, NaN if unknown
+}
+
 AP_RunCam *AP::runcam() {
    return AP_RunCam::get_singleton();
 }

-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED
--- a/libraries/AP_Camera/AP_RunCam.h
+++ b/libraries/AP_Camera/AP_RunCam.h
@ -23,7 +23,9 @@

 #include "AP_Camera_config.h"

-#if HAL_RUNCAM_ENABLED
+#include "AP_Camera_Backend.h"
+
+#if AP_CAMERA_RUNCAM_ENABLED

 #include <AP_Param/AP_Param.h>
 #include <RC_Channel/RC_Channel.h>
@ -38,10 +40,10 @@

 /// @class	AP_RunCam
 /// @brief	Object managing a RunCam device
-class AP_RunCam
+class AP_RunCam : public AP_Camera_Backend
 {
 public:
-    AP_RunCam();
+    AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t instance, uint8_t runcam_instance);

    // do not allow copies
    CLASS_NO_COPY(AP_RunCam);
@ -51,7 +53,7 @@ public:
        return _singleton;
    }

-    enum class DeviceType {
+    enum class DeviceModel {
        Disabled = 0,
        SplitMicro = 1, // video support only
        Split = 2, // camera and video support
@ -79,22 +81,49 @@ public:
        VIDEO_RECORDING_AT_BOOT = (1 << 4)
    };

+
+    // return true if healthy
+    bool healthy() const override;
+
+    // momentary switch to change camera between picture and video modes
+    void cam_mode_toggle() override;
+
+    // entry point to actually take a picture.  returns true on success
+    bool trigger_pic() override;
+
+    // send camera information message to GCS
+    void send_camera_information(mavlink_channel_t chan) const override;
+
+    // send camera settings message to GCS
+    void send_camera_settings(mavlink_channel_t chan) const override;
+
    // initialize the RunCam driver
-    void init();
+    void init() override;
    // camera button simulation
    bool simulate_camera_button(const ControlOperation operation, const uint32_t transition_timeout = RUNCAM_DEFAULT_BUTTON_PRESS_DELAY);
    // start the video
    void start_recording();
    // stop the video
    void stop_recording();
+    // start or stop video recording.  returns true on success
+    // set start_recording = true to start record, false to stop recording
+    bool record_video(bool _start_recording) override {
+        if (_start_recording) {
+            start_recording();
+        } else {
+            stop_recording();
+        }
+        return true;
+    }
+
    // enter the OSD menu
    void enter_osd();
    // exit the OSD menu
    void exit_osd();
    // OSD control determined by camera options
    void osd_option();
-    // update loop
-    void update();
+    // update - should be called at 50hz
+    void update() override;
    // Check whether arming is allowed
    bool pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const;

@ -265,6 +294,10 @@ private:
    static uint8_t _sub_menu_lengths[RUNCAM_NUM_SUB_MENUS];
    // shared inbound scratch space
    uint8_t _recv_buf[RUNCAM_MAX_PACKET_SIZE]; // all the response contexts use same recv buffer
+    // the runcam instance
+    uint8_t _runcam_instance;
+
+    static const char* _models[RUNCAM_MAX_DEVICE_TYPES];

    class Request;

@ -435,4 +468,4 @@ namespace AP
 AP_RunCam *runcam();
 };

-#endif  // HAL_RUNCAM_ENABLED
+#endif  // AP_CAMERA_RUNCAM_ENABLED
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@ -1452,7 +1452,7 @@ void AP_DDS_Client::write_time_topic()
        const bool success = builtin_interfaces_msg_Time_serialize_topic(&ub, &time_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: XRCE_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: XRCE_Client failed to serialize");
        }
    }
 }
@ -1468,7 +1468,7 @@ void AP_DDS_Client::write_nav_sat_fix_topic()
        const bool success = sensor_msgs_msg_NavSatFix_serialize_topic(&ub, &nav_sat_fix_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1485,7 +1485,7 @@ void AP_DDS_Client::write_static_transforms()
        const bool success = tf2_msgs_msg_TFMessage_serialize_topic(&ub, &tx_static_transforms_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1502,7 +1502,7 @@ void AP_DDS_Client::write_battery_state_topic()
        const bool success = sensor_msgs_msg_BatteryState_serialize_topic(&ub, &battery_state_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1519,7 +1519,7 @@ void AP_DDS_Client::write_local_pose_topic()
        const bool success = geometry_msgs_msg_PoseStamped_serialize_topic(&ub, &local_pose_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1536,7 +1536,7 @@ void AP_DDS_Client::write_tx_local_velocity_topic()
        const bool success = geometry_msgs_msg_TwistStamped_serialize_topic(&ub, &tx_local_velocity_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1552,7 +1552,7 @@ void AP_DDS_Client::write_tx_local_airspeed_topic()
        const bool success = geometry_msgs_msg_Vector3Stamped_serialize_topic(&ub, &tx_local_airspeed_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1568,7 +1568,7 @@ void AP_DDS_Client::write_imu_topic()
        const bool success = sensor_msgs_msg_Imu_serialize_topic(&ub, &imu_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1585,7 +1585,7 @@ void AP_DDS_Client::write_geo_pose_topic()
        const bool success = geographic_msgs_msg_GeoPoseStamped_serialize_topic(&ub, &geo_pose_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1602,7 +1602,7 @@ void AP_DDS_Client::write_clock_topic()
        const bool success = rosgraph_msgs_msg_Clock_serialize_topic(&ub, &clock_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1618,7 +1618,7 @@ void AP_DDS_Client::write_gps_global_origin_topic()
        uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GPS_GLOBAL_ORIGIN_PUB)].dw_id, &ub, topic_size);
        const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &gps_global_origin_topic);
        if (!success) {
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1634,7 +1634,7 @@ void AP_DDS_Client::write_goal_topic()
        uxr_prepare_output_stream(&session, reliable_out, topics[to_underlying(TopicIndex::GOAL_PUB)].dw_id, &ub, topic_size);
        const bool success = geographic_msgs_msg_GeoPointStamped_serialize_topic(&ub, &goal_topic);
        if (!success) {
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
@ -1651,7 +1651,7 @@ void AP_DDS_Client::write_status_topic()
        const bool success = ardupilot_msgs_msg_Status_serialize_topic(&ub, &status_topic);
        if (!success) {
            // TODO sometimes serialization fails on bootup. Determine why.
-            // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
+            // AP_HAL::panic("FATAL: DDS_Client failed to serialize");
        }
    }
 }
--- a/libraries/AP_DDS/AP_DDS_config.h
+++ b/libraries/AP_DDS/AP_DDS_config.h
@ -161,7 +161,7 @@

 #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"
+#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.144.2"
 #else
 #define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"
 #endif
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@ -1953,6 +1953,24 @@ void AP_DroneCAN::logging(void)
        return;
    }
    const auto &s = *stats;
+
+// @LoggerMessage: CANS
+// @Description: CAN Bus Statistics
+// @Field: TimeUS: Time since system startup
+// @Field: I: driver index
+// @Field: T: transmit success count
+// @Field: Trq: transmit request count
+// @Field: Trej: transmit reject count
+// @Field: Tov: transmit overflow count
+// @Field: Tto: transmit timeout count
+// @Field: Tab: transmit abort count
+// @Field: R: receive count
+// @Field: Rov: receive overflow count
+// @Field: Rer: receive error count
+// @Field: Bo: bus offset error count
+// @Field: Etx: ESC successful send count
+// @Field: Stx: Servo successful send count
+// @Field: Ftx: ESC/Servo failed-to-send count
    AP::logger().WriteStreaming("CANS",
                                "TimeUS,I,T,Trq,Trej,Tov,Tto,Tab,R,Rov,Rer,Bo,Etx,Stx,Ftx",
                                "s#-------------",
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@ -758,7 +758,6 @@ void AP_ESC_Telem::update()
                                                telemdata.power_percentage);
                }
 #endif //AP_EXTENDED_ESC_TELEM_ENABLED
-            }

 #if AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
                // Write an EDTv2 message, if there is any update
@ -806,6 +805,7 @@ void AP_ESC_Telem::update()
 #endif // AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
            }
        }
+    }
 #endif  // HAL_LOGGING_ENABLED

    const uint32_t now_us = AP_HAL::micros();
--- a/libraries/AP_Filesystem/README.md
+++ b/libraries/AP_Filesystem/README.md
@ -70,11 +70,12 @@ parameter. The format is:

 ```
    uint8_t type:4;         // AP_Param type NONE=0, INT8=1, INT16=2, INT32=3, FLOAT=4
-    uint8_t flags:4;        // for future use
+    uint8_t flags:4;        // bit 0: default value included, bits 1-3: for future use
    uint8_t common_len:4;   // number of name bytes in common with previous entry, 0..15
    uint8_t name_len:4;     // non-common length of param name -1 (0..15)
    uint8_t name[name_len]; // name
    uint8_t data[];         // value, length given by variable type
+    uint8_t default[];      // optional default value, included if flags bit 0 is set
 ```

 There may be any number of leading zero pad bytes before the start of
@ -91,6 +92,10 @@ file.

 The name_len field is the number of non-common characters, minus one.

+The default value is included only if requested by the withdefaults
+query string and if different from the set value. Otherwise, flags
+bit 0 will not be set, and default will be of zero length.
+
 ### Query Strings

 The file name @PARAM/param.pck can optionally be extended with query
@ -101,6 +106,11 @@ string elements to change the result. For example:
 that means to download 10 parameters starting with parameter number
 50.

+ - @PARAM/param.pck?withdefaults=1
+
+that means to include the default values in the returned data, where
+it is different from the parameter's set value.
+
 ### Parameter Client Examples

 The script Tools/scripts/param_unpack.py can be used to unpack a
--- a/libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp
+++ b/libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp
@ -46,17 +46,17 @@ private:
 bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
    if (sector > 1) {
-        AP_HAL::panic("FATAL: write to sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: write to sector %u", (unsigned)sector);
    }
    if (offset + length > flash_sector_size) {
-        AP_HAL::panic("FATAL: write to sector %u at offset %u length %u\n",
+        AP_HAL::panic("FATAL: write to sector %u at offset %u length %u",
                      (unsigned)sector,
                      (unsigned)offset,
                      (unsigned)length);
    }
    uint8_t *b = &flash[sector][offset];
    if ((offset & 1) || (length & 1)) {
-        AP_HAL::panic("FATAL: invalid write at %u:%u len=%u\n",
+        AP_HAL::panic("FATAL: invalid write at %u:%u len=%u",
                      (unsigned)sector,
                      (unsigned)offset,
                      (unsigned)length);
@ -66,7 +66,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
        const uint16_t v = le16toh_ptr(&data[i*2]);
        uint16_t v2 = le16toh_ptr(&b[i*2]);
        if (v & !v2) {
-            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
+            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
                          (unsigned)sector,
                          unsigned(offset+i),
                          b[i],
@ -74,7 +74,7 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
        }
 #ifndef AP_FLASHSTORAGE_MULTI_WRITE
        if (v != v2 && v != 0xFFFF && v2 != 0xFFFF) {
-            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
+            AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x",
                          (unsigned)sector,
                          unsigned(offset+i),
                          b[i],
@ -90,10 +90,10 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
 bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
 {
    if (sector > 1) {
-        AP_HAL::panic("FATAL: read from sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: read from sector %u", (unsigned)sector);
    }
    if (offset + length > flash_sector_size) {
-        AP_HAL::panic("FATAL: read from sector %u at offset %u length %u\n",
+        AP_HAL::panic("FATAL: read from sector %u at offset %u length %u",
                      (unsigned)sector,
                      (unsigned)offset,
                      (unsigned)length);
@ -105,7 +105,7 @@ bool FlashTest::flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint1
 bool FlashTest::flash_erase(uint8_t sector)
 {
    if (sector > 1) {
-        AP_HAL::panic("FATAL: erase sector %u\n", (unsigned)sector);
+        AP_HAL::panic("FATAL: erase sector %u", (unsigned)sector);
    }
    memset(&flash[sector][0], 0xFF, flash_sector_size);
    return true;
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@ -1619,7 +1619,7 @@ void AP_GPS::handle_gps_rtcm_data(mavlink_channel_t chan, const mavlink_message_
 */
 bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm_data_t &pkt)
 {
-    if (chan >= MAVLINK_COMM_NUM_BUFFERS) {
+    if (static_cast<int>(chan) >= MAVLINK_COMM_NUM_BUFFERS) {
        return false;
    }
    if (rtcm.parsers[chan] == nullptr) {
--- a/libraries/AP_Generator/AP_Generator.cpp
+++ b/libraries/AP_Generator/AP_Generator.cpp
@ -13,6 +13,8 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#pragma GCC optimize("Os")
+
 #include "AP_Generator.h"

 #if HAL_GENERATOR_ENABLED
--- a/libraries/AP_Generator/AP_Generator_Backend.cpp
+++ b/libraries/AP_Generator/AP_Generator_Backend.cpp
@ -12,6 +12,8 @@
   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
+#pragma GCC optimize("Os")
+
 #include "AP_Generator_Backend.h"

 #if HAL_GENERATOR_ENABLED
--- a/libraries/AP_Generator/AP_Generator_IE_2400.cpp
+++ b/libraries/AP_Generator/AP_Generator_IE_2400.cpp
@ -13,6 +13,8 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#pragma GCC optimize("Os")
+
 #include "AP_Generator_IE_2400.h"

 #if AP_GENERATOR_IE_2400_ENABLED
--- a/libraries/AP_Generator/AP_Generator_IE_650_800.cpp
+++ b/libraries/AP_Generator/AP_Generator_IE_650_800.cpp
@ -13,6 +13,8 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#pragma GCC optimize("Os")
+
 #include "AP_Generator_IE_650_800.h"

 #if AP_GENERATOR_IE_650_800_ENABLED
--- a/libraries/AP_Generator/AP_Generator_IE_FuelCell.cpp
+++ b/libraries/AP_Generator/AP_Generator_IE_FuelCell.cpp
@ -13,6 +13,8 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#pragma GCC optimize("Os")
+
 #include "AP_Generator_IE_FuelCell.h"

 #if AP_GENERATOR_IE_ENABLED
--- a/libraries/AP_Generator/AP_Generator_RichenPower.cpp
+++ b/libraries/AP_Generator/AP_Generator_RichenPower.cpp
@ -13,6 +13,8 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

+#pragma GCC optimize("Os")
+
 #include "AP_Generator_config.h"

 #if AP_GENERATOR_RICHENPOWER_ENABLED
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@ -273,8 +273,8 @@ protected:
 #ifndef HAL_BOOTLOADER_BUILD
        HAL_Semaphore sem;
 #endif
-        // allow up to 2 callbacks per interface
-        FrameCb cb[2];
+        // allow up to 3 callbacks per interface
+        FrameCb cb[3];
    } callbacks;

    uint32_t bitrate_;
--- a/libraries/AP_HAL/DSP.cpp
+++ b/libraries/AP_HAL/DSP.cpp
@ -286,6 +286,11 @@ float DSP::calculate_jains_estimator(const FFTWindowState* fft, const float* rea
    float y1 = real_fft[k_max-1];
    float y2 = real_fft[k_max];
    float y3 = real_fft[k_max+1];
+
+    if (is_zero(y2) || is_zero(y1)) {
+        return 0.0f;
+    }
+
    float d = 0.0f;

    if (y1 > y3) {
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@ -1329,9 +1329,6 @@ bool RCOutput::get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len)
 */
 void RCOutput::cork(void)
 {
-    if (corked) {
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-    }
    corked = true;
 #if HAL_WITH_IO_MCU
    if (iomcu_enabled) {
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@ -191,7 +191,7 @@ void UARTDriver::thread_rx_init(void)
                                              uart_rx_thread,
                                              nullptr);
        if (uart_rx_thread_ctx == nullptr) {
-            AP_HAL::panic("Could not create UART RX thread\n");
+            AP_HAL::panic("Could not create UART RX thread");
        }
    }
 }
@ -209,7 +209,7 @@ void UARTDriver::thread_init(void)
                                              uart_thread_trampoline,
                                              this);
        if (uart_thread_ctx == nullptr) {
-            AP_HAL::panic("Could not create UART TX thread\n");
+            AP_HAL::panic("Could not create UART TX thread");
        }
    }
 }
--- a/Show More
+++ b/Show More