From 17c68499d285370542cd5c40344ee3ef19fc1f6f Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Mon, 1 Sep 2025 14:11:13 +0000
Subject: [PATCH 01/42] resilience feature added for auth and jamm/spoofing
 states monitoring

---
 libraries/AP_GPS/AP_GPS.cpp                   |  56 +++++++++
 libraries/AP_GPS/AP_GPS.h                     |  87 ++++++++++++++
 libraries/AP_GPS/AP_GPS_SBF.cpp               | 111 +++++++++++++++++-
 libraries/AP_GPS/AP_GPS_SBF.h                 |  45 +++++++
 libraries/GCS_MAVLink/GCS_Common.cpp          |   6 +-
 .../GCS_MAVLink/GCS_MAVLink_Parameters.cpp    |   1 +
 libraries/GCS_MAVLink/ap_message.h            |   1 +
 7 files changed, 304 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 899877147be80..e9f0ce939212d 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -111,8 +111,35 @@ static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D == (uint32_t)GPS_FIX_T
 static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS == (uint32_t)GPS_FIX_TYPE_DGPS, "FIX_DGPS incorrect");
 static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT == (uint32_t)GPS_FIX_TYPE_RTK_FLOAT, "FIX_RTK_FLOAT incorrect");
 static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED == (uint32_t)GPS_FIX_TYPE_RTK_FIXED, "FIX_RTK_FIXED incorrect");
+
+static_assert((uint32_t)AP_GPS::GPS_Errors::GPS_SYSTEM_ERROR_NONE == (uint32_t)0x00, "GPS_SYSTEM_ERROR_NONE incorrect"); //not ideal but state doesn't exist in mavlink
+static_assert((uint32_t)AP_GPS::GPS_Errors::INCOMING_CORRECTIONS == (uint32_t)GPS_SYSTEM_ERROR_INCOMING_CORRECTIONS, "INCOMING_CORRECTIONS incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::CONFIGURATION == (uint32_t)GPS_SYSTEM_ERROR_CONFIGURATION, "CONFIGURATION incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::SOFTWARE == (uint32_t)GPS_SYSTEM_ERROR_SOFTWARE, "SOFTWARE incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::ANTENNA == (uint32_t)GPS_SYSTEM_ERROR_ANTENNA, "ANTENNA incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::EVENT_CONGESTION == (uint32_t)GPS_SYSTEM_ERROR_EVENT_CONGESTION, "EVENT_CONGESTION incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::CPU_OVERLOAD == (uint32_t)GPS_SYSTEM_ERROR_CPU_OVERLOAD, "CPU_OVERLOAD incorrect");
+static_assert((uint32_t)AP_GPS::GPS_Errors::OUTPUT_CONGESTION == (uint32_t)GPS_SYSTEM_ERROR_OUTPUT_CONGESTION, "OUTPUT_CONGESTION inccorect");
+
+static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_UNKNOWN == (uint8_t)GPS_AUTHENTICATION_STATE_UNKNOWN, "AUTHENTICATION_UNKNOWN incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_INITIALIZING == (uint8_t)GPS_AUTHENTICATION_STATE_INITIALIZING, "AUTHENTICATION_INITIALIZING incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_ERROR == (uint8_t)GPS_AUTHENTICATION_STATE_ERROR, "AUTHENTICATION_ERROR incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_OK == (uint8_t)GPS_AUTHENTICATION_STATE_OK, "GPS_AUTHENTICATION_STATE_OK incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_DISABLED == (uint8_t)GPS_AUTHENTICATION_STATE_DISABLED, "AUTHENTICATION_DISABLED incorrect");
+
+static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_UNKNOWN == (uint8_t)GPS_JAMMING_STATE_UNKNOWN, "JAMMING_UNKNOWN incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_OK == (uint8_t)GPS_JAMMING_STATE_OK, "JAMMING_OK incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_DETECTED == (uint8_t)GPS_JAMMING_STATE_DETECTED, "JAMMING_DETECTED incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_MITIGATED == (uint8_t)GPS_JAMMING_STATE_MITIGATED, "JAMMING_MITIGATED incorrect");
+
+static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_UNKNOWN == (uint8_t)GPS_SPOOFING_STATE_UNKNOWN, "SPOOFING_UNKNOWN incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_OK == (uint8_t)GPS_SPOOFING_STATE_OK, "SPOOFING_OK incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_DETECTED == (uint8_t)GPS_SPOOFING_STATE_DETECTED, "SPOOFING_DETECTED incorrect");
+static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_MITIGATED == (uint8_t)GPS_SPOOFING_STATE_MITIGATED, "SPOOFING_MITIGATED incorrect");
+
 #endif
 
+
 // ensure that our own enum-class status is equivalent to the
 // ArduPilot-scoped AP_GPS_FixType enumeration:
 static_assert((uint32_t)AP_GPS::GPS_Status::NO_GPS == (uint8_t)AP_GPS_FixType::NO_GPS, "NO_GPS incorrect");
@@ -1460,6 +1487,35 @@ void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 }
 #endif
 
+void AP_GPS::send_mavlink_gnss_integrity(mavlink_channel_t chan, uint8_t instance) {
+    uint8_t id = instance; 
+    uint32_t system_error  = get_system_errors(instance);
+    uint8_t authentication = get_authentication_state(instance);
+    uint8_t jamming        = get_jamming_state(instance);
+    uint8_t spoofing       = get_spoofing_state(instance);
+    uint8_t raim_state     = UINT8_MAX; //not implemented yet 
+    uint16_t raim_hfom     = UINT16_MAX; //not implemented yet
+    uint16_t raim_vfom     = UINT16_MAX; //not implemented yet
+    uint8_t corrections_quality     = UINT8_MAX; //not implemented yet
+    uint8_t systems_status_summary  = UINT8_MAX; //not implemented yet
+    uint8_t gnss_signal_quality     = UINT8_MAX; //not implemented yet
+    uint8_t post_processing_quality = UINT8_MAX; //not implemented yet
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "gps %u with auth %u and spooof %u", id, authentication, spoofing);
+    mavlink_msg_gnss_integrity_send(chan, 
+        id,
+        system_error,
+        authentication,
+        jamming,
+        spoofing,
+        raim_state,
+        raim_hfom,
+        raim_vfom,
+        corrections_quality,
+        systems_status_summary,
+        gnss_signal_quality,
+        post_processing_quality);
+}
+
 bool AP_GPS::first_unconfigured_gps(uint8_t &instance) const
 {
     for (int i = 0; i < GPS_MAX_RECEIVERS; i++) {
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 929ac4394b06d..b4e3ab967bfc9 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -156,6 +156,47 @@ class AP_GPS
         GPS_OK_FIX_3D_RTK_FIXED = 6, ///< Receiving valid messages and 3D RTK Fixed
     };
 
+    /// GPS error bits. These are kept aligned with MAVLink by 
+    /// static_assert in AP_GPS.cpp
+    enum GPS_Errors {
+        GPS_SYSTEM_ERROR_NONE =      0, 
+        INCOMING_CORRECTIONS =  1 << 0, ///< There are problems with incoming correction streams
+        CONFIGURATION =         1 << 1, ///< There are problems with the configuration
+        SOFTWARE =              1 << 2, ///< There are problems with the software on the GPS receiver
+        ANTENNA =               1 << 3, ///< There are problems with an antenna connected to the GPS receiver
+        EVENT_CONGESTION =      1 << 4, ///< There are problems handling all incoming events
+        CPU_OVERLOAD =          1 << 5, ///< The GPS receiver CPU is overloaded
+        OUTPUT_CONGESTION =     1 << 6, ///< The GPS receiver is experiencing output congestion
+    };
+
+    /// GPS authentication status. These are kept aligned with MAVLink by 
+    /// static_assert in AP_GPS.cpp
+    enum GPS_Authentication {
+        AUTHENTICATION_UNKNOWN =       0, ///< The GPS receiver does not provide GPS signal authentication info
+        AUTHENTICATION_INITIALIZING =  1, ///< The GPS receiver is initializing signal authentication
+        AUTHENTICATION_ERROR =         2, ///< The GPS receiver encountered an error while initializing signal authentication
+        AUTHENTICATION_OK =            3, ///< The GPS receiver has correctly authenticated all signals
+        AUTHENTICATION_DISABLED =      4, ///< GPS signal authentication is disabled on the receiver
+    };
+
+    /// GPS jamming status. These are kept aligned with MAVLink by 
+    /// static_assert in AP_GPS.cpp
+    enum GPS_Jamming {
+        JAMMING_UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal jamming info
+        JAMMING_OK =        1, ///< The GPS receiver detected no signal jamming
+        JAMMING_MITIGATED = 2, ///< The GPS receiver detected and mitigated signal jamming
+        JAMMING_DETECTED =  3, ///< The GPS receiver detected signal jamming
+    };
+
+    /// GPS spoofing status. These are kept aligned with MAVLink by 
+    /// static_assert in AP_GPS.cpp
+    enum GPS_Spoofing {
+        SPOOFING_UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal spoofing info
+        SPOOFING_OK =        1, ///< The GPS receiver detected no signal spoofing
+        SPOOFING_MITIGATED = 2, ///< The GPS receiver detected and mitigated signal spoofing
+        SPOOFING_DETECTED =  3, ///< The GPS receiver detected signal spoofing but still has a fix
+    };
+
     // GPS navigation engine settings. Not all GPS receivers support
     // this
     enum GPS_Engine_Setting {
@@ -242,6 +283,14 @@ class AP_GPS
         float relPosD;                     ///< Reported Vertical distance in meters
         float accHeading;                  ///< Reported Heading Accuracy in degrees
         uint32_t relposheading_ts;        ///< True if new data has been received since last time it was false
+
+        // Integrity message information 
+        // all the following fields must only all be filled by backend drivers
+        uint32_t system_errors;            ///< System errors
+        uint8_t authentication_state;      ///< Authentication state of GNSS signals
+        uint8_t jamming_state;             ///< Jamming state of GNSS signals
+        uint8_t spoofing_state;            ///< Spoofing state of GNSS signals
+
     };
 
     /// Startup initialisation.
@@ -486,6 +535,42 @@ class AP_GPS
     bool have_gps_yaw_configured(uint8_t instance) const {
         return state[instance].gps_yaw_configured;
     }
+
+     // general errors in the GNSS system
+    uint32_t get_system_errors(uint8_t instance) const {
+        return state[instance].system_errors;
+    }
+
+    uint32_t get_system_errors() const {
+        return get_system_errors(primary_instance);
+    }
+
+    // authentication state of GNSS signals
+    uint8_t get_authentication_state(uint8_t instance) const {
+        return state[instance].authentication_state;
+    }
+
+    uint8_t get_authentication_state() const {
+        return get_authentication_state(primary_instance);
+    }
+
+    // jamming state of GNSS signals
+    uint8_t get_jamming_state(uint8_t instance) const {
+        return state[instance].jamming_state;
+    }
+
+    uint8_t get_jamming_state() const {
+        return get_jamming_state(primary_instance);
+    }
+
+    // spoofing state of GNSS signals
+    uint8_t get_spoofing_state(uint8_t instance) const {
+        return state[instance].spoofing_state;
+    }
+
+    uint8_t get_spoofing_state() const {
+        return get_spoofing_state(primary_instance);
+    }
     
     // the expected lag (in seconds) in the position and velocity readings from the gps
     // return true if the GPS hardware configuration is known or the lag parameter has been set manually
@@ -506,6 +591,8 @@ class AP_GPS
 
     void send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst);
 
+    void send_mavlink_gnss_integrity(mavlink_channel_t chan, uint8_t inst);
+
     // Returns true if there is an unconfigured GPS, and provides the instance number of the first non configured GPS
     bool first_unconfigured_gps(uint8_t &instance) const WARN_IF_UNUSED;
     void broadcast_first_configuration_failure_reason(void) const;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 55d23b33cfe05..3ee5a30287fdd 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -46,6 +46,10 @@ do {                                            \
   #define GPS_SBF_STREAM_NUMBER 1
 #endif
 
+#ifndef GPS_SBF_STATUS_STREAM_NUMBER
+  #define GPS_SBF_STATUS_STREAM_NUMBER 3
+#endif
+
 #define SBF_EXCESS_COMMAND_BYTES 5 // 2 start bytes + validity byte + space byte + endline byte
 
 #define RX_ERROR_MASK (CONGESTION    | \
@@ -54,6 +58,11 @@ do {                                            \
                        INVALIDCONFIG | \
                        OUTOFGEOFENCE)
 
+#define EXT_ERROR_MASK  (SISERROR        | \
+                         DIFFCORRERROR   | \
+                         EXTSENSORERROR  | \
+                         SETUPERROR)
+
 constexpr const char *AP_GPS_SBF::portIdentifiers[];
 constexpr const char* AP_GPS_SBF::_initialisation_blob[];
 constexpr const char* AP_GPS_SBF::sbas_on_blob[];
@@ -138,6 +147,13 @@ AP_GPS_SBF::read(void)
                                     config_string = nullptr;
                                 }
                                 break;
+                            case Config_State::SSO_Status:
+                                if (asprintf(&config_string, "sso,Stream%d,COM%d,GalAuthStatus+RFStatus+QualityInd+ReceiverStatus,sec1\n",
+                                            (int)GPS_SBF_STATUS_STREAM_NUMBER,
+                                            (int)params.com_port) == -1) {
+                                                config_string = nullptr;
+                                }
+                                break;
                             case Config_State::Constellation:
                                 if ((params.gnss_mode&0x6F)!=0) {
                                     //IMES not taken into account by Septentrio receivers
@@ -387,8 +403,11 @@ AP_GPS_SBF::parse(uint8_t temp)
                                     config_step = Config_State::SSO;
                                     break;
                                 case Config_State::SSO:
-                                    config_step = Config_State::Constellation;
+                                    config_step = Config_State::SSO_Status;
                                     break;
+                                case Config_State::SSO_Status:
+                                    config_step = Config_State::Constellation;
+                                    break;    
                                 case Config_State::Constellation:
                                     // we can also move to
                                     // Config_State::Blob if we choose
@@ -559,12 +578,100 @@ AP_GPS_SBF::process_message(void)
         check_new_itow(temp.TOW, sbf_msg.length);
         RxState = temp.RxState;
         if ((RxError & RX_ERROR_MASK) != (temp.RxError & RX_ERROR_MASK)) {
-            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF internal error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
                             (unsigned int)(RxError & RX_ERROR_MASK), (unsigned int)(temp.RxError & RX_ERROR_MASK));
         }
         RxError = temp.RxError;
+        if ((ExtError & EXT_ERROR_MASK) != (temp.ExtError & EXT_ERROR_MASK)) {
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF external error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
+                            (unsigned int)(ExtError & EXT_ERROR_MASK), (unsigned int)(temp.ExtError & EXT_ERROR_MASK));
+        }
+        ExtError = temp.ExtError;
+
+        state.system_errors = AP_GPS::GPS_Errors::GPS_SYSTEM_ERROR_NONE;
+        if (ExtError & DIFFCORRERROR) {
+            state.system_errors |= AP_GPS::GPS_Errors::INCOMING_CORRECTIONS;
+        }
+        if (RxError & INVALIDCONFIG) {
+            state.system_errors |= AP_GPS::GPS_Errors::CONFIGURATION;
+        }
+        if (RxError & SOFTWARE) {
+            state.system_errors |= AP_GPS::GPS_Errors::SOFTWARE;
+        }
+        if (RxError & ANTENNA) {
+            state.system_errors |= AP_GPS::GPS_Errors::ANTENNA;
+        }
+        if (RxError & MISSEDEVENT) {
+            state.system_errors |= AP_GPS::GPS_Errors::EVENT_CONGESTION;
+        }
+        if (RxError & CPUOVERLOAD) {
+            state.system_errors |= AP_GPS::GPS_Errors::CPU_OVERLOAD;
+        }
+        if (RxError & CONGESTION) {
+            state.system_errors |= AP_GPS::GPS_Errors::OUTPUT_CONGESTION;
+        }
+
+        break;
+    }
+
+    case RFStatus:
+    {
+        const msg4092 &temp = sbf_msg.data.msg4092u;
+        check_new_itow(temp.TOW, sbf_msg.length);
+        #if HAL_GCS_ENABLED
+        if (temp.Flags==0) {
+            state.spoofing_state = AP_GPS::GPS_Spoofing::SPOOFING_OK;
+        }
+        else {
+            state.spoofing_state = AP_GPS::GPS_Spoofing::SPOOFING_DETECTED;
+        }
+        state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_OK;
+        for (int i = 0; i < temp.N; i++) {
+            RFStatusRFBandSubBlock* rf_band_data = (RFStatusRFBandSubBlock*)(&temp.RFBand + i * temp.SBLength);
+            switch (rf_band_data->Info & (uint8_t)0b111) {
+            case 1:
+            case 2:
+                // As long as there is indicated but unmitigated spoofing in one band, don't report the overall state as mitigated
+                if (state.jamming_state == AP_GPS::GPS_Jamming::JAMMING_OK) {
+                    state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_MITIGATED;
+                }
+                break;
+            case 8:
+                state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_DETECTED;
+                break;
+            }
+        }
+        break;
+        #endif
+    }
+
+    case GALAuthStatus:
+    {
+        const msg4245 &temp = sbf_msg.data.msg4245u;
+        check_new_itow(temp.TOW, sbf_msg.length);
+        switch (temp.OSNMAStatus & (uint16_t)0b111) {
+        case 0:
+            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_DISABLED;
+            break;
+        case 1:
+        case 2:
+            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_INITIALIZING;
+            break;
+        case 3:
+        case 4:
+        case 5:
+            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_ERROR;
+            break;
+        case 6:
+            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_OK;
+            break;
+        default:
+            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_UNKNOWN;
+            break;
+        }
         break;
     }
+
     case VelCovGeodetic:
     {
         const msg5908 &temp = sbf_msg.data.msg5908u;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.h b/libraries/AP_GPS/AP_GPS_SBF.h
index b4e1bb28c62b1..c0687030dd090 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.h
+++ b/libraries/AP_GPS/AP_GPS_SBF.h
@@ -73,6 +73,7 @@ class AP_GPS_SBF : public AP_GPS_Backend
     enum class Config_State {
         Baud_Rate,
         SSO,
+        SSO_Status,
         Blob,
         SBAS,
         SGA,
@@ -103,6 +104,7 @@ class AP_GPS_SBF : public AP_GPS_Backend
     uint32_t crc_error_counter = 0;
     uint32_t RxState;
     uint32_t RxError;
+    uint8_t ExtError;
 
     void mount_disk(void) const;
     void unmount_disk(void) const;
@@ -113,6 +115,8 @@ class AP_GPS_SBF : public AP_GPS_Backend
         PVTGeodetic = 4007,
         ReceiverStatus = 4014,
         BaseVectorGeod = 4028,
+        RFStatus = 4092,
+        GALAuthStatus = 4245,
         VelCovGeodetic = 5908,
         AttEulerCov = 5939,
         AuxAntPositions = 5942,
@@ -205,6 +209,36 @@ class AP_GPS_SBF : public AP_GPS_Backend
         VectorInfoGeod info; // there can be multiple baselines here, but we will only consume the first one, so don't worry about anything after
     };
 
+    struct PACKED RFStatusRFBandSubBlock // RFBand sub-blocks of RFStatus message
+    {
+        uint32_t Frequency;
+        uint16_t Bandwidth;
+        uint8_t Info;
+    };
+
+    struct PACKED msg4092 // RFStatus
+    {
+        uint32_t TOW;
+        uint16_t WNc;
+        uint8_t N;
+        uint8_t SBLength;
+        uint8_t Flags;
+        uint8_t Reserved[3];
+        uint8_t RFBand;      // So we can use address and parse sub-blocks manually
+    };
+
+    struct PACKED msg4245 // GALAuthStatus
+    {
+        uint32_t TOW;
+        uint16_t WNc;
+        uint16_t OSNMAStatus;
+        float TrustedTimeDelta;
+        uint64_t GalActiveMask;
+        uint64_t GalAuthenticMask;
+        uint64_t GpsActiveMask;
+        uint64_t GpsAuthenticMask;
+    };
+
     struct PACKED msg5908 // VelCovGeodetic
     {
         uint32_t TOW;
@@ -265,6 +299,8 @@ class AP_GPS_SBF : public AP_GPS_Backend
         msg4001 msg4001u;
         msg4014 msg4014u;
         msg4028 msg4028u;
+        msg4092 msg4092u;
+        msg4245 msg4245u;
         msg5908 msg5908u;
         msg5939 msg5939u;
         msg5942 msg5942u;
@@ -297,6 +333,7 @@ class AP_GPS_SBF : public AP_GPS_Backend
     enum {
         SOFTWARE      = (1 << 3),   // set upon detection of a software warning or  error. This bit is reset by the command lif, error
         WATCHDOG      = (1 << 4),   // set when the watch-dog expired at least once since the last power-on.
+        ANTENNA       = (1 << 5),  // set when antenna overcurrent condition is detected
         CONGESTION    = (1 << 6),   // set when an output data congestion has been detected on at least one of the communication ports of the receiver during the last second.
         MISSEDEVENT   = (1 << 8),   // set when an external event congestion has been detected during the last second. It indicates that the receiver is receiving too many events on its EVENTx pins.
         CPUOVERLOAD   = (1 << 9),   // set when the CPU load is larger than 90%. If this bit is set, receiver operation may be unreliable and the user must decrease the processing load by following the recommendations in the User Manual.
@@ -304,6 +341,14 @@ class AP_GPS_SBF : public AP_GPS_Backend
         OUTOFGEOFENCE = (1 << 11),  // set if the receiver is currently out of its permitted region of operation (geo-fencing).
     };
 
+    enum {
+        SISERROR        = (1 << 0),   //  set if a violation of the signal-in-space ICD has been detected
+        DIFFCORRERROR   = (1 << 1),   //  set when an anomaly has been detected in an incoming differential correction stream
+        EXTSENSORERROR  = (1 << 2),   //  set when a malfunction has been detected on at least one of the external sensors connected to the receiver
+        SETUPERROR      = (1 << 3),   //  set when a configuration/setup error has been detected
+    };
+
+
     static constexpr const char *portIdentifiers[] = { "COM", "USB", "IP1", "NTR", "IPS", "IPR" };
     char portIdentifier[5];
     uint8_t portLength;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e7ef93ed20b27..5f9e383fb5475 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1051,6 +1051,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_MISSION_CURRENT,       MSG_CURRENT_WAYPOINT},
         { MAVLINK_MSG_ID_SERVO_OUTPUT_RAW,      MSG_SERVO_OUTPUT_RAW},
         { MAVLINK_MSG_ID_RC_CHANNELS,           MSG_RC_CHANNELS},
+        { MAVLINK_MSG_ID_GNSS_INTEGRITY,        MSG_GNSS_INTEGRITY},
 #if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
         { MAVLINK_MSG_ID_RC_CHANNELS_RAW,       MSG_RC_CHANNELS_RAW},
 #endif
@@ -6483,7 +6484,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         AP::gps().send_mavlink_gps_rtk(chan, 1);
         break;
 #endif  // AP_GPS_GPS2_RTK_SENDING_ENABLED
-
+    case MSG_GNSS_INTEGRITY:
+        CHECK_PAYLOAD_SIZE(GNSS_INTEGRITY);
+        AP::gps().send_mavlink_gnss_integrity(chan, 0);
+        break;
 #if AP_AHRS_ENABLED
     case MSG_LOCAL_POSITION:
         CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
index dd259cb90b534..3238baf78c6d3 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
@@ -239,6 +239,7 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+    MSG_GNSS_INTEGRITY,
 #if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
 #endif
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index aeba8593979e7..e9b9fac5bae1d 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -113,5 +113,6 @@ enum ap_message : uint8_t {
 #if AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
     MSG_FLIGHT_INFORMATION             = 100,
 #endif
+    MSG_GNSS_INTEGRITY                  = 101,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };

From 10ba229412471bde106fb21158f3b660dc4b1099 Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Wed, 3 Sep 2025 12:08:04 +0000
Subject: [PATCH 02/42] bitmask fix applied

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

diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 3ee5a30287fdd..293b9b2a14400 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -628,7 +628,7 @@ AP_GPS_SBF::process_message(void)
         state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_OK;
         for (int i = 0; i < temp.N; i++) {
             RFStatusRFBandSubBlock* rf_band_data = (RFStatusRFBandSubBlock*)(&temp.RFBand + i * temp.SBLength);
-            switch (rf_band_data->Info & (uint8_t)0b111) {
+            switch (rf_band_data->Info & (uint8_t)0b1111) {
             case 1:
             case 2:
                 // As long as there is indicated but unmitigated spoofing in one band, don't report the overall state as mitigated

From a0ef72cc190bc72fc506ee1bbfbf738dc1416e1b Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Mon, 1 Sep 2025 09:02:22 +0200
Subject: [PATCH 03/42] pre-commit: Discover typos in Python files using
 codespell

---
 .pre-commit-config.yaml | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e0116c0fbb6c0..d7082e893631e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@ exclude: |
 
 repos:
   -   repo: https://github.com/pre-commit/pre-commit-hooks
-      rev: v5.0.0
+      rev: v6.0.0
       hooks:
         #-   id: trailing-whitespace
         #-   id: end-of-file-fixer
@@ -56,6 +56,16 @@ repos:
       hooks:
       -   id: flake8
 
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell # See pyproject.toml for args
+        types_or: [python]
+        args:
+          - --ignore-words-list=afile,bodgy,chek,commitish,edn,empy,finis,fram,mot,ned,parm,releas,parms,rin,ser,sitl,siz
+        additional_dependencies:
+          - tomli
+
 # # Use to sort python imports by name and put system import first.
 #   -   repo: https://github.com/pycqa/isort
 #       rev: 5.12.0

From 72ae585287ccd9f525e08d986eaab594638b849a Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Mon, 1 Sep 2025 18:58:31 +0200
Subject: [PATCH 04/42] waf: Fix typos discovered by codespell

---
 Tools/ardupilotwaf/boards.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 09758436f2363..d64ed15fa5416 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -98,7 +98,7 @@ def srcpath(path):
             # need to check the hwdef.h file for the board to see if dds is enabled
             # the issue here is that we need to configure the env properly to include
             # the DDS library, but the definition is the the hwdef file
-            # and can be overriden by the commandline options
+            # and can be overridden by the commandline options
             with open(env.BUILDROOT + "/hwdef.h", 'r', encoding="utf8") as file:
                 if "#define AP_DDS_ENABLED 1" in file.read():
                     # Enable DDS if the hwdef file has it enabled

From 3a5e300d536757d93f28e60795518ca739a5b73a Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Mon, 1 Sep 2025 19:00:03 +0200
Subject: [PATCH 05/42] AP_Generator: Fix typos discovered by codespell

---
 libraries/AP_Generator/scripts/test-loweheiser.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Generator/scripts/test-loweheiser.py b/libraries/AP_Generator/scripts/test-loweheiser.py
index 4f2531fce33df..8bfc46e52a695 100755
--- a/libraries/AP_Generator/scripts/test-loweheiser.py
+++ b/libraries/AP_Generator/scripts/test-loweheiser.py
@@ -219,7 +219,7 @@ def send_heartbeats(self):
             return
         self.last_heartbeat_sent = now
 
-        # self.progress("Sending heatbeat")
+        # self.progress("Sending heartbeat")
         self.conn.mav.heartbeat_send(
             mavutil.mavlink.MAV_TYPE_GCS,
             mavutil.mavlink.MAV_AUTOPILOT_GENERIC,

From 306aa6328b64cdefb4efce0fb0486fd134a67f71 Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Mon, 1 Sep 2025 19:02:06 +0200
Subject: [PATCH 06/42] autotest: Fix typos discovered by codespell

---
 Tools/autotest/arducopter.py | 2 +-
 Tools/autotest/quadplane.py  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 74a81d6c04489..8d88199880958 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -13999,7 +13999,7 @@ def RudderDisarmMidair(self):
         self.wait_ready_to_arm()
         self.change_mode('STABILIZE')
 
-        # Set home current location, this gives a large home vs orgin difference
+        # Set home current location, this gives a large home vs origin difference
         self.set_home(self.mav.location())
 
         self.set_rc(4, 2000)
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index a7f351e0dffa5..303860499f873 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -2835,8 +2835,8 @@ def TerrainAvoidApplet(self):
             "SIM_SONAR_SCALE": 10,
         })
 
-        # This mission triggers an intersting selection of "Pitching", "Quading" and "CMTC" events
-        # it's not always consistent, perhaps due to wind, so the tests try to accomodate variances.
+        # This mission triggers an interesting selection of "Pitching", "Quading" and "CMTC" events
+        # it's not always consistent, perhaps due to wind, so the tests try to accommodate variances.
         filename = "TopOfTheWorldShort.waypoints"
         self.progress("Flying mission %s" % filename)
         num_wp = self.load_mission(filename)

From b65fe267ace2fe2f7c93d765dccf20e86df76868 Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Mon, 1 Sep 2025 19:03:40 +0200
Subject: [PATCH 07/42] Tools: Fix typos discovered by codespell

---
 Tools/scripts/build_options.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 036d360f8851a..bd2b84c43dd14 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -140,7 +140,7 @@ def config_option(self):
     Feature('AP_Periph', 'LONG_TEXT', 'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF', 'Enable extended length text strings', 0, None),
     Feature('AP_Periph', 'PERIPH_DEVICE_TEMPERATURE', 'AP_PERIPH_DEVICE_TEMPERATURE_ENABLED', 'Emit DroneCAN Temperature Messages for AP_Temperature sensors', 0, 'TEMP'), # noqa
     Feature('AP_Periph', 'PERIPH_MSP', 'AP_PERIPH_MSP_ENABLED', 'Emit MSP protocol messages from AP_Periph', 0, 'MSP'),
-    Feature('AP_Periph', 'PERIPH_NOTIFY', 'AP_PERIPH_NOTIFY_ENABLED', 'Handle DroneCAN messages for notification equipments (e.g. buzzers, lights etc.)', 0, None), # noqa
+    Feature('AP_Periph', 'PERIPH_NOTIFY', 'AP_PERIPH_NOTIFY_ENABLED', 'Handle DroneCAN messages for notification equipment (e.g. buzzers, lights etc.)', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_SERIAL_OPTIONS', 'AP_PERIPH_SERIAL_OPTIONS_ENABLED', 'Enable Serial Options on AP_Periph', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_BATTERY', 'AP_PERIPH_BATTERY_ENABLED', 'Emit DroneCAN battery info messages using AP_BattMonitor', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_RELAY', 'AP_PERIPH_RELAY_ENABLED', 'Handle DroneCAN hardpoint command', 0, 'RELAY'),

From ce6dc895fbf46eec045fd34c0d3a383e0bafc45f Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Tue, 24 Jun 2025 08:21:28 +0200
Subject: [PATCH 08/42] pre-commit: Add a job that runs ament_pep257 Tools/ros2
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

[`Tools/ros2/ardupilot_dds_tests/test/test_pep257.py`](https://github.com/ArduPilot/ardupilot/blob/master/Tools/ros2/ardupilot_dds_tests/test/test_pep257.py) ensures [PEP 257 – Docstring Conventions](https://peps.python.org/pep-0257) compliance for all Python files in Tools/ros2.

Partially addresses the concern at
* https://github.com/ArduPilot/ardupilot/pull/30426#issuecomment-2994329025

Here are two solutions (we should pick just one) that replicate this functionality in pre-commit.
1. Use `flake8` plus `flake8-docstring` to run the 'ament-style` rules on Tools/ros2.
2. Run [`ament_pep257`](https://pypi.org/project/ament-lint-pep257) on Tools/ros2.

Quick equivalent commands:
```
uv tool run --with=flake8-docstrings flake8 --select=D \
    --ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404 Tools/ros2

uv tool run --from=ament-lint-pep257 ament_pep257 Tools/ros2  > /dev/null
```
How was this tested?
1. Run both equivalent commands to ensure no errors.
2. `pre-commit run flake8 --all-files` to ensure no errors.
3. `pre-commit run ament-pep257 --all-files` to ensure no errors.

Edit `Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/utilities.py` and add a leading or trailing space inside the docstring, and save the file.

Rerun the four commands to ensure that each raises a `D210: No whitespaces allowed surrounding docstring text` error.
---
 .github/workflows/pre-commit.yml |  2 ++
 .pre-commit-config.yaml          | 12 ++++++++++++
 2 files changed, 14 insertions(+)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index b45a55dd6386b..94eaa3a319770 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -9,4 +9,6 @@ jobs:
     steps:
     - uses: actions/checkout@v5
     - uses: actions/setup-python@v5
+      with:
+        python-version: 3.x
     - uses: pre-commit/action@v3.0.1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d7082e893631e..2a9d63d8f987a 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -55,6 +55,18 @@ repos:
       rev: 7.3.0
       hooks:
       -   id: flake8
+  
+  -   repo: local
+      hooks:
+      -   id: ament-pep257
+          name: Run ament_pep257 on Tools/ros2
+          entry: bash -c 'ament_pep257 Tools/ros2 > /dev/null'
+          language: python
+          additional_dependencies:
+          -   ament-lint-pep257
+          -   tomli;python_version<'3.11'
+          pass_filenames: false
+          files: ^Tools/ros2/
 
   - repo: https://github.com/codespell-project/codespell
     rev: v2.4.1

From 128e46aa48ab4a82c6734f17a00350c49bc385cc Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Tue, 2 Sep 2025 11:09:49 +0200
Subject: [PATCH 09/42] precommit: Add pre-commit hook to check copyright in
 ros2 files

---
 .github/workflows/pre-commit.yml |  3 +++
 .pre-commit-config.yaml          | 16 ++++++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 94eaa3a319770..bee3f93112f48 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -12,3 +12,6 @@ jobs:
       with:
         python-version: 3.x
     - uses: pre-commit/action@v3.0.1
+    - run: python3 -m pip install --upgrade pip
+    - run: python3 -m pip install pytest
+    - run: PYTHONPATH="." pytest tests/test_pre_commit_copyright.py
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 2a9d63d8f987a..e9d0001879d8f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -78,6 +78,22 @@ repos:
         additional_dependencies:
           - tomli
 
+  - repo: local
+    hooks:
+    -   id: check-copyright
+        name: check copyright notice in files
+        entry: Tools/gittools/pre_commit_copyright.py
+        language: python
+        files: |
+            (?x)^(
+              Tools/ros2/.*\.py
+            )$
+        args: [
+            --ignore=Tools/ros2/ardupilot_dds_tests/setup.py,
+            --ignore=Tools/ros2/ardupilot_dds_tests/test/test_pep257.py,
+            --ignore=Tools/ros2/ardupilot_dds_tests/test/test_copyright.py,
+        ]
+
 # # Use to sort python imports by name and put system import first.
 #   -   repo: https://github.com/pycqa/isort
 #       rev: 5.12.0

From 497965dab2e60fa0850efeeba06c9e990d404ae7 Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Tue, 2 Sep 2025 11:09:50 +0200
Subject: [PATCH 10/42] Tools: Add pre-commit hook to check copyright in ros2
 files

---
 Tools/gittools/pre_commit_copyright.py | 109 +++++++++++++++++++++++++
 1 file changed, 109 insertions(+)
 create mode 100755 Tools/gittools/pre_commit_copyright.py

diff --git a/Tools/gittools/pre_commit_copyright.py b/Tools/gittools/pre_commit_copyright.py
new file mode 100755
index 0000000000000..a64bcf2ac98e5
--- /dev/null
+++ b/Tools/gittools/pre_commit_copyright.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+
+# CAUTION: The first docstring in this file will be the copyright notice that will be
+# looked for in all file paths that the pre-commit hook passes in.  If all files
+# contain the __doc__ text below, the commit will be allowed to proceed.
+
+"""ArduPilot.org.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+
+# --- Do not merges these two docstrings.  See CAUTION above. ---
+
+from argparse import ArgumentParser
+from pathlib import Path
+
+r"""
+A pre-commit hook that will use the content of __doc__ and then ensure all files
+processed contain that same copyright information.  This is useful to ensure that all
+those files consistent copyright notices, which is important for legal and compliance
+reasons.  If any files does not contain the expected copyright information, the commit
+will be aborted and an error message will be displayed with the file paths of all files
+that do not match.
+
+Place an entry into the local `.pre-commit-config.yaml` file to run this job.
+```yaml
+  - repo: local
+    hooks:
+    -   id: check-copyright
+        name: check copyright notice in files
+        entry: Tools/gittools/pre_commit_copyright.py
+        language: python
+        files: |
+            (?x)^(
+              Tools/ros2/.*\.py
+            )$
+        args: [
+            --ignore=excluded_file.py,
+            --ignore=another_excluded.py,
+        ]
+```
+
+Usage:
+1. Place this script in the `Tools/gittools/pre_commit_copyright.py` file.
+2. Ensure the docstring of this file is set to the expected copyright notice.
+3. Add the entry to your `.pre-commit-config.yaml` file as shown above.
+4. Run `pre-commit install` to set up the pre-commit hooks.
+5. Now, when you try to commit changes, this hook will check for the copyright notice.
+6. If any files do not contain the expected copyright notice, the commit will be aborted.
+7. The error message will list all files that do not match the expected copyright notice.
+8. Use --ignore=file_path to exclude specific files from copyright checking.
+
+Command line usage:
+python pre_commit_copyright.py file1.py file2.py --ignore=excluded_file.py \
+    --ignore=another_excluded.py
+"""
+
+
+def get_file_paths() -> list[str]:
+    """Parse command line arguments and return a sorted list of file paths excluding
+    ignored files."""
+    parser = ArgumentParser(description="Check copyright notice in files")
+    parser.add_argument("files", nargs="+", help="File paths to check")
+    parser.add_argument(
+        "--ignore",
+        action="append",
+        default=[],
+        help="File paths to ignore (can be used multiple times)",
+    )
+    args = parser.parse_args()
+    return sorted(set(args.files) - set(args.ignore))
+
+
+def check_copyright(file_path: Path) -> bool:
+    """Check if the file contains the expected copyright notice."""
+    try:
+        return __doc__ in file_path.read_text()
+    except Exception as e:  # noqa: BLE001 Path.read_text() can raise many exceptions
+        print(f"Error reading {file_path}: {e}")
+        return False
+
+
+def main():
+    """Main function to check all file paths from command line arguments.
+
+    pre-commit will repeatedly call this function and each time it will pass ~four file
+    paths to be checked.
+
+    Supports --ignore flags to exclude specific files from copyright checking.
+    """
+    if failed_files := [
+        path for path in get_file_paths() if not check_copyright(Path(path))
+    ]:
+        raise SystemExit(f"Copyright not found in: {', '.join(failed_files)}")
+
+
+if __name__ == "__main__":
+    main()

From e41558a2bd084918a68443295d5355a39047c3d6 Mon Sep 17 00:00:00 2001
From: Christian Clauss <cclauss@me.com>
Date: Tue, 2 Sep 2025 11:09:51 +0200
Subject: [PATCH 11/42] tests: Add pre-commit hook to check copyright in ros2
 files

---
 tests/test_pre_commit_copyright.py | 42 ++++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)
 create mode 100644 tests/test_pre_commit_copyright.py

diff --git a/tests/test_pre_commit_copyright.py b/tests/test_pre_commit_copyright.py
new file mode 100644
index 0000000000000..fe9bf55a31dd7
--- /dev/null
+++ b/tests/test_pre_commit_copyright.py
@@ -0,0 +1,42 @@
+import pytest
+from unittest.mock import patch
+
+from Tools.gittools.pre_commit_copyright import get_file_paths
+
+
+def test_get_file_paths_no_args():
+    """Test get_file_paths with no command line arguments."""
+    with patch('sys.argv', ["pre_commit_copyright.py"]):
+        with pytest.raises(SystemExit, match="2"):
+            _ = get_file_paths()
+
+
+@pytest.mark.parametrize(
+    "argv, expected",
+    [
+        (
+            ["pre_commit_copyright.py", "file1.py", "file2.py", "file3.py"],
+            ["file1.py", "file2.py", "file3.py"]
+        ),
+        (
+            ["pre_commit_copyright.py", "file1.py", "file2.py", "--ignore=file2.py"],
+            ["file1.py"]
+        ),
+        (
+            ["pre_commit_copyright.py", "file1.py", "file2.py", "file3.py", "--ignore=file1.py", "--ignore=file3.py"],
+            ["file2.py"]
+        ),
+        (
+            ["pre_commit_copyright.py", "file1.py", "file2.py", "--ignore=excluded_file.py", "--ignore=another_excluded.py"],
+            ["file1.py", "file2.py"]
+        ),
+        (
+            ["pre_commit_copyright.py", "file1.py", "--ignore=file1.py"],
+            []
+        ),
+    ]
+)
+def test_get_file_paths_parametrized(argv, expected):
+    """Test get_file_paths with various command line argument combinations."""
+    with patch('sys.argv', argv):
+        assert get_file_paths() == expected

From bff699e8db9a79093474ed9fb4c11d60f3ad0b60 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Aug 2025 08:01:21 +1000
Subject: [PATCH 12/42] AP_HAL: added is_pending() method for sockets

needed for non-blocking TCP connections
---
 libraries/AP_HAL/utility/Socket.cpp | 14 ++++++++++++++
 libraries/AP_HAL/utility/Socket.hpp |  6 ++++++
 2 files changed, 20 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 46f71ab9aa167..6935d4154b76c 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -159,6 +159,9 @@ bool SOCKET_CLASS_NAME::connect(const char *address, uint16_t port)
 
     ret = CALL_PREFIX(connect)(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
     if (ret != 0) {
+        if (errno == EINPROGRESS) {
+            pending_connect = true;
+        }
         return false;
     }
     connected = true;
@@ -479,6 +482,17 @@ bool SOCKET_CLASS_NAME::pollout(uint32_t timeout_ms)
     if (CALL_PREFIX(select)(fd+1, nullptr, &fds, nullptr, &tv) != 1) {
         return false;
     }
+
+    if (pending_connect) {
+        int sock_error = 0;
+        socklen_t len = sizeof(sock_error);
+        if (CALL_PREFIX(getsockopt)(fd, SOL_SOCKET, SO_ERROR, (void*)&sock_error, &len) == 0 &&
+            sock_error == 0) {
+            connected = true;
+        }
+        pending_connect = false;
+    }
+
     return true;
 }
 
diff --git a/libraries/AP_HAL/utility/Socket.hpp b/libraries/AP_HAL/utility/Socket.hpp
index 480ef365cb4c3..4c513b5f0cab0 100644
--- a/libraries/AP_HAL/utility/Socket.hpp
+++ b/libraries/AP_HAL/utility/Socket.hpp
@@ -84,6 +84,10 @@ class SOCKET_CLASS_NAME {
         return connected;
     }
 
+    bool is_pending(void) const {
+        return pending_connect;
+    }
+    
     // access to inet_ntop
     static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
 
@@ -104,6 +108,8 @@ class SOCKET_CLASS_NAME {
 
     bool connected;
 
+    bool pending_connect;
+
     void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
 };
 

From 3393fa2ed95106187d78937da07e9ade1847c6d6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Aug 2025 08:03:07 +1000
Subject: [PATCH 13/42] AP_Scripting: added is_pending() method on sockets

allows for non-blocking TCP connections
---
 libraries/AP_Scripting/docs/docs.lua                       | 5 +++++
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 5c61d2529bd61..ece6aae7f8f93 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -569,6 +569,11 @@ function SocketAPM_ud:send(str, len) end
 ---@return integer
 function SocketAPM_ud:sendto(str, len, ipaddr, port) end
 
+-- return true if a socket is in a pending connect state
+-- used for non-blocking TCP connections
+---@return boolean
+function SocketAPM_ud:is_pending() end
+
 -- bind to an address. Use "0.0.0.0" for wildcard bind
 ---@param IP_address string
 ---@param port integer
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 81ba4bdb63ecc..e99bd8bbf1b3b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -647,6 +647,7 @@ ap_object SocketAPM method sendto int32_t string uint32_t'skip_check uint32_t'sk
 ap_object SocketAPM method listen boolean uint8_t'skip_check
 ap_object SocketAPM method set_blocking boolean boolean
 ap_object SocketAPM method is_connected boolean
+ap_object SocketAPM method is_pending boolean
 ap_object SocketAPM method pollout boolean uint32_t'skip_check
 ap_object SocketAPM method pollin boolean uint32_t'skip_check
 ap_object SocketAPM method reuseaddress boolean

From 98ba8375c9eb3202a235729adafb32c073ddc4f0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Aug 2025 14:11:53 +1000
Subject: [PATCH 14/42] AP_Networking: 3s timeout on TCP connect

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

diff --git a/libraries/AP_Networking/AP_Networking_port.cpp b/libraries/AP_Networking/AP_Networking_port.cpp
index fd56d86a1f178..18bc64592b607 100644
--- a/libraries/AP_Networking/AP_Networking_port.cpp
+++ b/libraries/AP_Networking/AP_Networking_port.cpp
@@ -296,7 +296,7 @@ void AP_Networking::Port::tcp_client_loop(void)
         }
         if (!connected) {
             const char *dest = ip.get_str();
-            connected = sock->connect(dest, port.get());
+            connected = sock->connect_timeout(dest, port.get(), 3000);
             if (connected) {
                 GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP[%u]: connected to %s:%u", unsigned(state.idx), dest, unsigned(port.get()));
                 sock->set_blocking(false);

From 241ca7c7778547769a8209d8c069c8c5695e64e1 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Wed, 3 Sep 2025 16:59:21 +0100
Subject: [PATCH 15/42] GCS_MAVLink: fix MAVn_OPTIONS doc

Bit 0's description accidentally got deleted
---
 libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
index dd259cb90b534..e0c61659906e5 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
@@ -212,7 +212,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Description: Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
     // @RebootRequired: True
     // @User: Standard
-    // @Bitmask: 1:Don't forward mavlink to/from, 2:Ignore Streamrate
+    // @Bitmask: 0:Accept unsigned MAVLink2 messages, 1:Don't forward mavlink to/from, 2:Ignore Streamrate
     AP_GROUPINFO("_OPTIONS",   20, GCS_MAVLINK, options, 0),
 
     // PARAMETER_CONVERSION - Added: May-2025 for ArduPilot-4.7

From 44d58b5dcb5094ac0202be06ec77d67c58e86fb6 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Wed, 3 Sep 2025 10:30:18 -0400
Subject: [PATCH 16/42] autotest: relax TetherStuck test constraints

---
 Tools/autotest/arducopter.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8d88199880958..3f27e5214fa15 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9537,11 +9537,12 @@ def TestTetherStuck(self):
 
         # Simulate vehicle getting stuck by increasing RC throttle
         self.set_rc(3, 1900)
-        self.delay_sim_time(5, reason='let tether get stuck')
+        self.delay_sim_time(10, reason='let tether get stuck')
 
         # Monitor behavior for 10 seconds
         tstart = self.get_sim_time()
         initial_alt = self.get_altitude()
+        self.progress(f"initial_alt={initial_alt}")
         stuck = True  # Assume it's stuck unless proven otherwise
 
         while self.get_sim_time() - tstart < 10:
@@ -9556,7 +9557,7 @@ def TestTetherStuck(self):
 
             # 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):
+            if battery_status and (battery_status.current_battery < 6500 or abs(current_alt - initial_alt) > 3):
                 stuck = False  # Vehicle moved or current is abnormal
                 break
 

From 6a8c9b91f2abf3038d2bcbda8ecfcb1c578efbef Mon Sep 17 00:00:00 2001
From: Charlie-Burge <charlieburge@yahoo.com>
Date: Wed, 3 Sep 2025 13:45:20 +0100
Subject: [PATCH 17/42] AP_RangeFinder: correct the reported types for CAN
 range finders

---
 libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h   | 4 ----
 libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h  | 6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h     | 6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h | 6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h      | 6 ++++++
 5 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
index 5f915094198e4..ef049d6da9557 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
@@ -36,10 +36,6 @@ class AP_RangeFinder_Backend_CAN : public AP_RangeFinder_Backend
     // maximum time between readings before we change state to NoData:
     virtual uint32_t read_timeout_ms() const { return 200; }
 
-    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
-        return MAV_DISTANCE_SENSOR_RADAR;
-    }
-
     // return true if the CAN ID is correct
     bool is_correct_id(uint32_t can_id) const;
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
index a5c6441258e58..e2f5eabbd26ba 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
@@ -15,6 +15,12 @@ class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend_CAN {
     // handler for incoming frames. Return true if consumed
     bool handle_frame(AP_HAL::CANFrame &frame) override;
     bool handle_frame_H30(AP_HAL::CANFrame &frame);
+
+protected:
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_LASER;
+    }
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
index c587759706199..2fe8fc722f0ad 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
@@ -18,6 +18,12 @@ class AP_RangeFinder_NRA24_CAN : public AP_RangeFinder_Backend_CAN {
 
     static const struct AP_Param::GroupInfo var_info[];
 
+protected:
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_RADAR;
+    }
+
 private:
 
     uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
index ff88245ef54cd..6a5aae3857b3a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
@@ -16,6 +16,12 @@ class AP_RangeFinder_TOFSenseP_CAN : public AP_RangeFinder_Backend_CAN {
     bool handle_frame(AP_HAL::CANFrame &frame) override;
 
     static const struct AP_Param::GroupInfo var_info[];
+    
+protected:
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_LASER;
+    }
 };
 
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
index 445f7d3f50789..09ff767f383c5 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
@@ -16,6 +16,12 @@ class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend_CAN {
     bool handle_frame(AP_HAL::CANFrame &frame) override;
 
     static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+
+    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
+        return MAV_DISTANCE_SENSOR_RADAR;
+    }
 };
 
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED

From 2cac019f0859e6ef78dfb7e3fc6cd55c12e4d73f Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Thu, 4 Sep 2025 14:41:03 +0000
Subject: [PATCH 18/42] fallthrough fixed

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

diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 293b9b2a14400..db4f7f49aca8f 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -641,8 +641,8 @@ AP_GPS_SBF::process_message(void)
                 break;
             }
         }
-        break;
         #endif
+        break;
     }
 
     case GALAuthStatus:

From a7e623e474d14176d3b484f0786fa77c70c7e076 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Date: Thu, 4 Sep 2025 15:53:15 +0100
Subject: [PATCH 19/42] .github: pin/bump MicroXRCEDDSGen

* https://github.com/ArduPilot/Micro-XRCE-DDS-Gen/releases/tag/v4.7.1
* Fixes race in generator that causes often CI failures

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
---
 .github/workflows/colcon.yml   | 2 +-
 .github/workflows/test_dds.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
index 4cd2df25af2f6..052726313c003 100644
--- a/.github/workflows/colcon.yml
+++ b/.github/workflows/colcon.yml
@@ -191,7 +191,7 @@ jobs:
       - name: install Micro-XRCE-DDS-Gen from source
         run: |
           cd /tmp
-          git clone --depth 1 --recurse-submodules --branch v4.7.0 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
+          git clone --depth 1 --recurse-submodules --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
           cd Micro-XRCE-DDS-Gen
           ./gradlew assemble
       - name: Build with colcon
diff --git a/.github/workflows/test_dds.yml b/.github/workflows/test_dds.yml
index a64b956abf6de..1307214daa0ab 100644
--- a/.github/workflows/test_dds.yml
+++ b/.github/workflows/test_dds.yml
@@ -173,7 +173,7 @@ jobs:
       - name: install Micro-XRCE-DDS-Gen from source
         run: |
           cd /tmp
-          git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
+          git clone --depth 1 --recurse-submodules --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
           cd Micro-XRCE-DDS-Gen
           ./gradlew assemble
       - name: test ${{matrix.config}}

From 629c6783d267dee67d996ce2ba20bc3f87eb5912 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Date: Thu, 4 Sep 2025 15:53:48 +0100
Subject: [PATCH 20/42] Dockerfile: Pin uxrceddsgen to 4.7.1

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
---
 Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Dockerfile b/Dockerfile
index c1545dd54aa01..22c0d317e7604 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -48,7 +48,7 @@ RUN git config --global --add safe.directory $PWD
 RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env
 
 # Clone & install Micro-XRCE-DDS-Gen dependency
-RUN git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
+RUN git clone --recurse-submodules --depth 1 --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
     && cd /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
     && ./gradlew assemble \
     && export AP_ENV_LOC="/home/${USER_NAME}/.ardupilot_env" \

From d11a4356d35287d89b3fbb7cf73c8e46473e9ce2 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Wed, 3 Sep 2025 16:39:03 +0100
Subject: [PATCH 21/42] AP_Common: effectively wrap malloc to zero memory in
 SITL under Cygwin

This currently does not work, in particular resulting in scripting
raising an internal error on stop because it doesn't think all the
memory is freed because the allocated counter doesn't start out at zero
because the zero on allocation behavior is broken.

Cygwin has some support for overriding `malloc`
(https://cygwin.com/faq/faq.html#faq.programming.own-malloc), but when
this is attempted some logic in the runtime detects this case then
forwards all allocator calls (`free`/`calloc`/etc.) to the user provided
allocation functions. If only `malloc` is overridden, the other
functions just call themselves recursively until the stack overflows.
There is no supported way to use the original Cygwin allocator while
overriding `malloc`, but we do not want to include our own allocator
just for Cygwin.

Fortunately, in some sense, there is an unsupported way, and our goal
can be achieved by overwriting an internal pointer with our `malloc`
implementation after the Cygwin runtime logic checks and believes that
no overwrite has occurred, thereby never enabling the redirection and
allowing non-`malloc` functions to still work. Our version then calls
`calloc` to do the allocation and zeroing. Note that the old wrap of
`_malloc_r` was faulty as that symbol is no longer used by newlib; it's
just `#define`d to `malloc` these days.

Tested that at least the scripting issue is fixed by failing to
replicate it, plus tracing execution with `gdb` to confirm that our
wrapper function is executed and does its job.

The correct solution is to not make ArduPilot call `malloc` at all. We
still cannot safely change the semantics to make it returned zeroed
memory. This is quite the hack!
---
 libraries/AP_Common/c++.cpp | 63 ++++++++++++++++++++++++-------------
 1 file changed, 41 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_Common/c++.cpp b/libraries/AP_Common/c++.cpp
index 2490005cfe99a..d00e9d46977bd 100644
--- a/libraries/AP_Common/c++.cpp
+++ b/libraries/AP_Common/c++.cpp
@@ -85,31 +85,50 @@ void operator delete[](void * ptr)
 }
 
 #if defined(CYGWIN_BUILD) && CONFIG_HAL_BOARD == HAL_BOARD_SITL
-/*
-  wrapper around malloc to ensure all memory is initialised as zero
-  cygwin needs to wrap _malloc_r
- */
-#undef _malloc_r
-extern "C" {
-    void *__wrap__malloc_r(_reent *r, size_t size);
-    void *__real__malloc_r(_reent *r, size_t size);
-    void *_malloc_r(_reent *r, size_t size);
+
+// intercept malloc to ensure memory so allocated is zeroed. this is rather
+// nasty hack that hopefully does not live long! if it breaks again, that's it!
+// this is completely unsupported!
+
+// __imp_malloc is a pointer to a function that will be called to actually
+// do the malloc work. we can't replace it (or malloc itself) at build time as
+// that will cause cygwin to disable its own malloc. we therefore use a
+// constructor function that runs before main but after cygwin's disable check
+// to set the pointer to our own malloc which calls back into cygwin's allocator
+// through calloc to actually do the work and the zeroing.
+
+#include <stdio.h> // perror
+#include <sys/mman.h> // mprotect and constants
+
+extern "C" void *__imp_malloc; // the pointer of our affection
+
+static void *do_the_malloc(size_t size) { // replacement for malloc
+    // allocate zeroed using calloc (malloc would of course recurse infinitely)
+    return calloc(1, size);
 }
-void *__wrap__malloc_r(_reent *r, size_t size)
-{
-    void *ret = __real__malloc_r(r, size);
-    if (ret != nullptr) {
-        memset(ret, 0, size);
+
+// called before main to set __imp_malloc. priority of 101 guarantees execution
+// before C++ constructors.
+__attribute__((constructor(101))) static void hack_in_malloc() {
+    // __imp_malloc is in .text which is read-only so make it read-write first
+
+    // compute address of its memory page as mprotect mandates page alignment
+    size_t page_size = (size_t)sysconf(_SC_PAGESIZE);
+    void *page_base = (void *)((size_t)&__imp_malloc & (~(page_size-1)));
+
+    // make it writable and executable as we (unlikely) may be executing near it
+    int res = mprotect(page_base, page_size, PROT_READ|PROT_WRITE|PROT_EXEC);
+    if (res) {
+        perror("hack_in_malloc() mprotect writable");
     }
-    return ret;
-}
-void *_malloc_r(_reent *x, size_t size)
-{
-    void *ret = __real__malloc_r(x, size);
-    if (ret != nullptr) {
-        memset(ret, 0, size);
+
+    *(void **)&__imp_malloc = (void *)&do_the_malloc; // set the pointer now
+
+    // put the page back to read-only (and let execution keep happening)
+    res = mprotect(page_base, page_size, PROT_READ|PROT_EXEC);
+    if (res) {
+        perror("hack_in_malloc() mprotect readable");
     }
-    return ret;
 }
 
 #elif CONFIG_HAL_BOARD != HAL_BOARD_CHIBIOS && CONFIG_HAL_BOARD != HAL_BOARD_QURT

From a6308cb0ddaae565b67a30477d55d2e4f5c17a75 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Wed, 3 Sep 2025 16:39:39 +0100
Subject: [PATCH 22/42] Tools/ardupilotwaf: remove Cygwin malloc wrap

This is now accomplished at runtime, and the wrap of `_malloc_r` never
worked properly anyway.
---
 Tools/ardupilotwaf/boards.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index d64ed15fa5416..809e8640ec232 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -833,8 +833,7 @@ def configure_env(self, cfg, env):
 
         # wrap malloc to ensure memory is zeroed
         if cfg.env.DEST_OS == 'cygwin':
-            # on cygwin we need to wrap _malloc_r instead
-            env.LINKFLAGS += ['-Wl,--wrap,_malloc_r']
+            pass # handled at runtime in libraries/AP_Common/c++.cpp
         elif platform.system() != 'Darwin':
             env.LINKFLAGS += ['-Wl,--wrap,malloc']
         

From 4b8be6e4db000c571675bc1be581be7fe2147160 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 1 Sep 2025 09:01:32 +0100
Subject: [PATCH 23/42] Tools: correct running of elf-diff tool

was getting "None" in the argument list
---
 Tools/scripts/size_compare_branches.py | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index b27430e445166..4a02a7cad0084 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -98,9 +98,6 @@ def __init__(self,
         self.jobs = jobs
         self.features = features
 
-        if self.bin_dir is None:
-            self.bin_dir = self.find_bin_dir()
-
         self.boards_by_name = {}
         for board in board_list.BoardList().boards:
             self.boards_by_name[board.name] = board
@@ -247,9 +244,9 @@ def esp32_board_names(self):
             'esp32diy',
         ]
 
-    def find_bin_dir(self):
+    def find_bin_dir(self, toolchain_prefix="arm-none-eabi-"):
         '''attempt to find where the arm-none-eabi tools are'''
-        binary = shutil.which("arm-none-eabi-g++")
+        binary = shutil.which(toolchain_prefix + "g++")
         if binary is None:
             return None
         return os.path.dirname(binary)
@@ -629,6 +626,13 @@ def elf_diff_results(self, result_master, result_branch):
                 toolchain = ""
             else:
                 toolchain += "-"
+
+            if self.bin_dir is None:
+                self.bin_dir = self.find_bin_dir(toolchain_prefix=toolchain)
+            if self.bin_dir is None:
+                self.progress(f"Gtoolchain: {self.toolchain}")
+                raise ValueError("Crap")
+
             elf_diff_commandline = [
                 "time",
                 "python3",

From c0ccb83adbf489f9ee2f9cf8e05c8b3ff73dd7e3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 31 Aug 2025 10:00:00 +0100
Subject: [PATCH 24/42] AP_HAL_ESP32: define stampfly IMU in hwdef.dat

---
 libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h        | 7 -------
 libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat | 5 +++++
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
index dbad5639a39fd..c341b4ebff63f 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
@@ -34,17 +34,12 @@
 // 4 (toward front): GND
 
 // make sensor selection clearer
-#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
-#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
-#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
-
 #define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
 #define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
 
 #define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
 #define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
 #define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
-#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
 //------------------------------------
 
 
@@ -60,8 +55,6 @@
 
 #define HAL_ESP32_BOARD_NAME "esp32s3m5stampfly"
 
-#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI270, "bmi270", ROTATION_ROLL_180_YAW_90)
-
 #define HAL_BARO_PROBE_LIST         PROBE_BARO_I2C(BMP280, 0, 0x76)
 
 #define AP_COMPASS_ENABLE_DEFAULT 0
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index 4c9bf77972729..1ede6bf2c20d9 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -12,6 +12,11 @@ ESP32_SPIBUS SPI2_HOST SPI_DMA_CH_AUTO GPIO_NUM_14 GPIO_NUM_43 GPIO_NUM_44
 ESP32_SPIDEV bmi270              0     0       GPIO_NUM_46  3    10*MHZ  10*MHZ
 ESP32_SPIDEV pixartflow_disabled 0     1       GPIO_NUM_12  3     2*MHZ   2*MHZ
 
+# one IMU:
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_90
+
+define INS_MAX_INSTANCES 3
+
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 

From b2606801ae3b1387e4d281faf71bc7cd91db5c23 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Sep 2025 13:58:30 +0100
Subject: [PATCH 25/42] Tools: put elf diff output in current directory

may not be able to write into the previous directory (eg. on Vagrant VMs which have the checkout at /vagrant)
---
 Tools/scripts/size_compare_branches.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 4a02a7cad0084..6f9eacd3758d4 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -13,7 +13,7 @@
 Starting in the ardupilot directory.
 ~/ardupilot $ python Tools/scripts/size_compare_branches.py --branch=[PR_BRANCH_NAME] --vehicle=copter
 
-Output is placed into ../ELF_DIFF_[VEHICLE_NAME]
+Output is placed into ELF_DIFF_[VEHICLE_NAME]
 '''
 
 import copy
@@ -641,7 +641,7 @@ def elf_diff_results(self, result_master, result_branch):
                 f'--bin_prefix={toolchain}',
                 "--old_alias", "%s %s" % (master_branch, elf_filename),
                 "--new_alias", "%s %s" % (branch, elf_filename),
-                "--html_dir", "../ELF_DIFF_%s_%s" % (board, vehicle_name),
+                "--html_dir", "ELF_DIFF_%s_%s" % (board, vehicle_name),
             ]
 
             try:

From 6b577f1fa7e7c00bf5cc6885688fb9e0ccc79391 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 31 Aug 2025 11:20:47 +0100
Subject: [PATCH 26/42] AP_HAL_ESP32: add support for i2c buses and devices

---
 .../AP_HAL_ESP32/boards/esp32s3m5stampfly.h   | 11 -------
 .../hwdef/esp32s3m5stampfly/hwdef.dat         |  8 +++++
 .../AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py | 31 +++++++++++++++++--
 3 files changed, 37 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
index c341b4ebff63f..c7cdfd24203ff 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
@@ -33,10 +33,6 @@
 // 3               : +V (+5V if plugged into USB, else +Vbat)
 // 4 (toward front): GND
 
-// make sensor selection clearer
-#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
-#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
-
 #define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
 #define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
 #define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
@@ -55,8 +51,6 @@
 
 #define HAL_ESP32_BOARD_NAME "esp32s3m5stampfly"
 
-#define HAL_BARO_PROBE_LIST         PROBE_BARO_I2C(BMP280, 0, 0x76)
-
 #define AP_COMPASS_ENABLE_DEFAULT 0
 #define ALLOW_ARM_NO_COMPASS
 
@@ -83,11 +77,6 @@
 // SPI BUS setup, including gpio, dma, etc is in the hwdef.dat
 // SPI per-device setup, including speeds, etc. is in the hwdef.dat
 
-//I2C bus list. bus 0 is internal, bus 1 is the red grove connector
-#define HAL_ESP32_I2C_BUSES \
-  {.port=I2C_NUM_0, .sda=GPIO_NUM_3, .scl=GPIO_NUM_4, .speed=400*KHZ, .internal=true}, \
-  {.port=I2C_NUM_1, .sda=GPIO_NUM_13, .scl=GPIO_NUM_15, .speed=400*KHZ, .internal=false}
-
 // rcin on what pin? enable AP_RCPROTOCOL_ENABLED below if using
 // currently on another unmapped pin
 //#define HAL_ESP32_RCIN GPIO_NUM_16
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index 1ede6bf2c20d9..e44b65ad74f64 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -12,11 +12,19 @@ ESP32_SPIBUS SPI2_HOST SPI_DMA_CH_AUTO GPIO_NUM_14 GPIO_NUM_43 GPIO_NUM_44
 ESP32_SPIDEV bmi270              0     0       GPIO_NUM_46  3    10*MHZ  10*MHZ
 ESP32_SPIDEV pixartflow_disabled 0     1       GPIO_NUM_12  3     2*MHZ   2*MHZ
 
+# i2c Buses
+#             Port       SDA         SCL         SPEED    INTERNAL
+ESP32_I2CBUS  I2C_NUM_0  GPIO_NUM_3  GPIO_NUM_4  400*KHZ  true
+ESP32_I2CBUS  I2C_NUM_1  GPIO_NUM_13 GPIO_NUM_15 400*KHZ  false
+
 # one IMU:
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_90
 
 define INS_MAX_INSTANCES 3
 
+# one Baro:
+BARO BMP280 I2C:0:0x76
+
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 
diff --git a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
index a179c636f93ab..035230fa67256 100755
--- a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
+++ b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
@@ -20,16 +20,20 @@ class ESP32HWDef(hwdef.HWDef):
 
     def __init__(self, quiet=False, outdir=None, hwdef=[]):
         super(ESP32HWDef, self).__init__(quiet=quiet, outdir=outdir, hwdef=hwdef)
-        # lists of ESP32_SPIDEV buses and devices
+        # lists of ESP32_SPIBUS buses and ESP32_SPIDEV devices
         self.esp32_spibus = []
         self.esp32_spidev = []
 
+        # lists of ESP32_I2CBUS buses
+        self.esp32_i2cbus = []
+
     def write_hwdef_header_content(self, f):
         for d in self.alllines:
             if d.startswith('define '):
                 f.write('#define %s\n' % d[7:])
 
         self.write_SPI_config(f)
+        self.write_I2C_config(f)
         self.write_IMU_config(f)
         self.write_MAG_config(f)
         self.write_BARO_config(f)
@@ -43,6 +47,9 @@ def process_line(self, line, depth):
         self.alllines.append(line)
 
         a = shlex.split(line, posix=False)
+        if a[0] == 'ESP32_I2CBUS':
+            self.process_line_esp32_i2cbus(line, depth, a)
+
         if a[0] == 'ESP32_SPIBUS':
             self.process_line_esp32_spibus(line, depth, a)
         if a[0] == 'ESP32_SPIDEV':
@@ -50,7 +57,22 @@ def process_line(self, line, depth):
 
         super(ESP32HWDef, self).process_line(line, depth)
 
-    # SPI_BUS support:
+    # ESP32_I2CBUS support:
+    def process_line_esp32_i2cbus(self, line, depth, a):
+        self.esp32_i2cbus.append(a[1:])
+
+    def write_I2C_bus_table(self, f):
+        '''write I2C bus table'''
+        buslist = []
+        for bus in self.esp32_i2cbus:
+            if len(bus) != 5:
+                self.error(f"Badly formed ESP32_I2CBUS line {bus} {len(bus)=}")
+            (port, sda, scl, speed, internal) = bus
+            buslist.append(f"{{ .port={port}, .sda={sda}, .scl={scl}, .speed={speed}, .internal={internal} }}")
+
+        self.write_device_table(f, "i2c buses", "HAL_ESP32_I2C_BUSES", buslist)
+
+    # ESP32_SPI_BUS support:
     def process_line_esp32_spibus(self, line, depth, a):
         self.esp32_spibus.append(a[1:])
 
@@ -97,6 +119,11 @@ def write_SPI_device_table(self, f):
 
         self.write_device_table(f, 'SPI devices', 'HAL_ESP32_SPI_DEVICES', devlist)
 
+    def write_I2C_config(self, f):
+        '''write I2C config defines'''
+
+        self.write_I2C_bus_table(f)
+
     def write_SPI_config(self, f):
         '''write SPI config defines'''
 

From 4d89cb019eb6459b46224d4bac474a1b39fb62cb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 31 Aug 2025 12:58:13 +0100
Subject: [PATCH 27/42] AP_HAL_ESP32: support definition of serial devices into
 hwdef.dat

---
 .../AP_HAL_ESP32/boards/esp32s3m5stampfly.h   |  7 ------
 .../hwdef/esp32s3m5stampfly/hwdef.dat         |  7 ++++++
 .../AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py | 22 +++++++++++++++++++
 3 files changed, 29 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
index c7cdfd24203ff..731269cf23f46 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
@@ -83,13 +83,6 @@
 #define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_16
 
 
-// HARDWARE UARTS. UART 0 apparently goes over USB? so we assign it to pins we
-// don't have mapped to anything. might be fixable in the HAL...
-// UART 1 (SERIAL3) is the black grove connector
-#define HAL_ESP32_UART_DEVICES \
-  {.port=UART_NUM_0, .rx=GPIO_NUM_18, .tx=GPIO_NUM_17 }, \
-  {.port=UART_NUM_1, .rx=GPIO_NUM_1, .tx=GPIO_NUM_2 }
-
 // log over MAVLink by default
 #define HAL_LOGGING_FILESYSTEM_ENABLED 0
 #define HAL_LOGGING_DATAFLASH_ENABLED 0
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index e44b65ad74f64..2d132490efda1 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -25,6 +25,13 @@ define INS_MAX_INSTANCES 3
 # one Baro:
 BARO BMP280 I2C:0:0x76
 
+# HARDWARE UARTS. UART 0 apparently goes over USB? so we assign it to pins we
+# don't have mapped to anything. might be fixable in the HAL...
+# UART 1 (SERIAL3) is the black grove connector
+#             PORT        RXPIN        TXPIN
+ESP32_SERIAL  UART_NUM_0  GPIO_NUM_18  GPIO_NUM_17
+ESP32_SERIAL  UART_NUM_1  GPIO_NUM_1   GPIO_NUM_2
+
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 
diff --git a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
index 035230fa67256..3e123d1b3c6ba 100755
--- a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
+++ b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
@@ -27,6 +27,9 @@ def __init__(self, quiet=False, outdir=None, hwdef=[]):
         # lists of ESP32_I2CBUS buses
         self.esp32_i2cbus = []
 
+        # list of ESP32_SERIAL devices
+        self.esp32_serials = []
+
     def write_hwdef_header_content(self, f):
         for d in self.alllines:
             if d.startswith('define '):
@@ -37,6 +40,7 @@ def write_hwdef_header_content(self, f):
         self.write_IMU_config(f)
         self.write_MAG_config(f)
         self.write_BARO_config(f)
+        self.write_SERIAL_config(f)
 
         self.write_env_py(os.path.join(self.outdir, "env.py"))
 
@@ -55,6 +59,9 @@ def process_line(self, line, depth):
         if a[0] == 'ESP32_SPIDEV':
             self.process_line_esp32_spidev(line, depth, a)
 
+        if a[0] == 'ESP32_SERIAL':
+            self.process_line_esp32_serial(line, depth, a)
+
         super(ESP32HWDef, self).process_line(line, depth)
 
     # ESP32_I2CBUS support:
@@ -95,6 +102,9 @@ def write_SPI_bus_table(self, f):
     def process_line_esp32_spidev(self, line, depth, a):
         self.esp32_spidev.append(a[1:])
 
+    def process_line_esp32_serial(self, line, depth, a):
+        self.esp32_serials.append(a[1:])
+
     def write_SPI_device_table(self, f):
         '''write SPI device table'''
         devlist = []
@@ -133,6 +143,18 @@ def write_SPI_config(self, f):
         if len(self.esp32_spidev):
             self.write_SPI_device_table(f)
 
+    def write_SERIAL_config(self, f):
+        '''write serial config defines'''
+
+        seriallist = []
+        for serial in self.esp32_serials:
+            if len(serial) != 3:
+                self.error(f"Badly formed ESP32_SERIALS line {serial} {len(serial)=}")
+            (port, rxpin, txpin) = serial
+            seriallist.append(f"{{ .port={port}, .rx={rxpin}, .tx={txpin} }}")
+
+        self.write_device_table(f, 'serial devices', 'HAL_ESP32_UART_DEVICES', seriallist)
+
 
 if __name__ == '__main__':
 

From 7a4ad19f02de80e1e68a6d0e41a4279aaeead5ba Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 31 Aug 2025 22:51:16 +0100
Subject: [PATCH 28/42] AP_HAL_ESP32: allow rc outputs to be defined in
 hwdef.dat

---
 .../AP_HAL_ESP32/boards/esp32s3m5stampfly.h   |  4 ---
 .../hwdef/esp32s3m5stampfly/hwdef.dat         |  6 +++++
 .../AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py | 25 +++++++++++++++++++
 3 files changed, 31 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
index 731269cf23f46..eb1317ffe6fee 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
@@ -70,10 +70,6 @@
 #define WIFI_SSID "ardupilot123"
 #define WIFI_PWD "ardupilot123"
 
-//RCOUT which pins are used?
-// r-up, l-down, l-up, r-down (quad X order)
-#define HAL_ESP32_RCOUT { GPIO_NUM_42, GPIO_NUM_10, GPIO_NUM_5, GPIO_NUM_41 }
-
 // SPI BUS setup, including gpio, dma, etc is in the hwdef.dat
 // SPI per-device setup, including speeds, etc. is in the hwdef.dat
 
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index 2d132490efda1..fede026103cc0 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -32,6 +32,12 @@ BARO BMP280 I2C:0:0x76
 ESP32_SERIAL  UART_NUM_0  GPIO_NUM_18  GPIO_NUM_17
 ESP32_SERIAL  UART_NUM_1  GPIO_NUM_1   GPIO_NUM_2
 
+# RC Output (r-up, l-down, l-up, r-down (quad X order))
+ESP32_RCOUT GPIO_NUM_42
+ESP32_RCOUT GPIO_NUM_10
+ESP32_RCOUT GPIO_NUM_5
+ESP32_RCOUT GPIO_NUM_41
+
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 
diff --git a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
index 3e123d1b3c6ba..f92f6c80f10df 100755
--- a/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
+++ b/libraries/AP_HAL_ESP32/hwdef/scripts/esp32_hwdef.py
@@ -30,6 +30,9 @@ def __init__(self, quiet=False, outdir=None, hwdef=[]):
         # list of ESP32_SERIAL devices
         self.esp32_serials = []
 
+        # list of ESP32_RCOUT declarations
+        self.esp32_rcout = []
+
     def write_hwdef_header_content(self, f):
         for d in self.alllines:
             if d.startswith('define '):
@@ -41,6 +44,7 @@ def write_hwdef_header_content(self, f):
         self.write_MAG_config(f)
         self.write_BARO_config(f)
         self.write_SERIAL_config(f)
+        self.write_RCOUT_config(f)
 
         self.write_env_py(os.path.join(self.outdir, "env.py"))
 
@@ -62,6 +66,9 @@ def process_line(self, line, depth):
         if a[0] == 'ESP32_SERIAL':
             self.process_line_esp32_serial(line, depth, a)
 
+        if a[0] == 'ESP32_RCOUT':
+            self.process_line_esp32_rcout(line, depth, a)
+
         super(ESP32HWDef, self).process_line(line, depth)
 
     # ESP32_I2CBUS support:
@@ -105,6 +112,10 @@ def process_line_esp32_spidev(self, line, depth, a):
     def process_line_esp32_serial(self, line, depth, a):
         self.esp32_serials.append(a[1:])
 
+    # ESP32_RCOUT support:
+    def process_line_esp32_rcout(self, line, depth, a):
+        self.esp32_rcout.append(a[1:])
+
     def write_SPI_device_table(self, f):
         '''write SPI device table'''
         devlist = []
@@ -155,6 +166,20 @@ def write_SERIAL_config(self, f):
 
         self.write_device_table(f, 'serial devices', 'HAL_ESP32_UART_DEVICES', seriallist)
 
+    def write_RCOUT_config(self, f):
+        '''write rc output defines'''
+        rcout_list = []
+        for rcout in self.esp32_rcout:
+            if len(rcout) != 1:
+                self.error(f"Badly formed ESP32_RCOUT line {rcout} {len(rcout)=}")
+            (gpio_num, ) = rcout
+            rcout_list.append(gpio_num)
+
+        if len(rcout_list) == 0:
+            f.write("// No rc outputs\n")
+            return
+        f.write(f"#define HAL_ESP32_RCOUT {{ {', '.join(rcout_list)} }}")
+
 
 if __name__ == '__main__':
 

From 6a0db3d5bd5f6cf9e47c68b1d894b0e5231c471c Mon Sep 17 00:00:00 2001
From: vagrant <pbarker@barker.dropbear.id.au>
Date: Sun, 31 Aug 2025 21:55:21 +0000
Subject: [PATCH 29/42] AP_HAL_ESP32: move remainder of StampFly stuff into
 hwdef.dat

---
 libraries/AP_HAL/board/esp32.h                |  2 +-
 .../AP_HAL_ESP32/boards/esp32s3m5stampfly.h   | 91 -------------------
 .../hwdef/esp32s3m5stampfly/hwdef.dat         | 65 +++++++++++++
 3 files changed, 66 insertions(+), 92 deletions(-)
 delete mode 100644 libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h

diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 60d6d83308247..0c42061463943 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -19,7 +19,7 @@
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3EMPTY
 #include "esp32s3empty.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3M5STAMPFLY
-#include "esp32s3m5stampfly.h" // https://shop.m5stack.com/products/m5stamp-fly-with-m5stamps3
+// no include required for stampfly; it is all in hwdef.dat
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_IMU_MODULE_V11
 #include "esp32imu_module_v11.h" //makerfabs esp32 imu module v1.1
 #else
diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h b/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
deleted file mode 100644
index eb1317ffe6fee..0000000000000
--- a/libraries/AP_HAL_ESP32/boards/esp32s3m5stampfly.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * This file is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by the
- * Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This file is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-// GROVE EXPANSION
-//
-// The Stampfly has two Seeed Studio Grove connectors to attach peripherals. By
-// default, the left (red) connector is I2C (with no other devices on the bus)
-// and the right (black) connector is SERIAL3. However, the two signal pins in
-// each can be reassigned by editing this file.
-//
-// Grove Red (I2C)
-// 1 (toward front): GPIO_NUM_15, SCL (has 4.7kΩ pullup to 3.3V)
-// 2               : GPIO_NUM_13, SDA (has 4.7kΩ pullup to 3.3V)
-// 3               : +V (+5V if plugged into USB, else +Vbat)
-// 4 (toward rear) : GND
-//
-// Grove Black (SERIAL3)
-// 1 (toward rear) : GPIO_NUM_1, RX
-// 2               : GPIO_NUM_3, TX
-// 3               : +V (+5V if plugged into USB, else +Vbat)
-// 4 (toward front): GND
-
-#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
-#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
-#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
-//------------------------------------
-
-
-#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_S3M5STAMPFLY
-// make sensor selection clearer
-
-//- these are missing from esp-idf......will not be needed later
-#define RTC_WDT_STG_SEL_OFF             0
-#define RTC_WDT_STG_SEL_INT             1
-#define RTC_WDT_STG_SEL_RESET_CPU       2
-#define RTC_WDT_STG_SEL_RESET_SYSTEM    3
-#define RTC_WDT_STG_SEL_RESET_RTC       4
-
-#define HAL_ESP32_BOARD_NAME "esp32s3m5stampfly"
-
-#define AP_COMPASS_ENABLE_DEFAULT 0
-#define ALLOW_ARM_NO_COMPASS
-
-// no ADC
-#define HAL_DISABLE_ADC_DRIVER 1
-#define HAL_USE_ADC 0
-
-#define AP_BATTERY_INA3221_ENABLED 1
-#define HAL_BATTMON_INA3221_SHUNT_OHMS 0.01
-#define HAL_BATTMON_INA3221_SHUNT_CONV_TIME_SEL HAL_BATTMON_INA3221_CONV_TIME_4156US
-#define HAL_BATTMON_INA3221_BUS_CONV_TIME_SEL HAL_BATTMON_INA3221_CONV_TIME_4156US
-#define HAL_BATTMON_INA3221_AVG_MODE_SEL HAL_BATTMON_INA3221_AVG_MODE_16
-
-// 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
-#define HAL_ESP32_WIFI 2
-
-#define WIFI_SSID "ardupilot123"
-#define WIFI_PWD "ardupilot123"
-
-// SPI BUS setup, including gpio, dma, etc is in the hwdef.dat
-// SPI per-device setup, including speeds, etc. is in the hwdef.dat
-
-// rcin on what pin? enable AP_RCPROTOCOL_ENABLED below if using
-// currently on another unmapped pin
-//#define HAL_ESP32_RCIN GPIO_NUM_16
-#define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_16
-
-
-// log over MAVLink by default
-#define HAL_LOGGING_FILESYSTEM_ENABLED 0
-#define HAL_LOGGING_DATAFLASH_ENABLED 0
-#define HAL_LOGGING_MAVLINK_ENABLED 1
-#define HAL_LOGGING_BACKENDS_DEFAULT 2
-
-#define AP_RCPROTOCOL_ENABLED 0
-
-#define AP_FILESYSTEM_ESP32_ENABLED 0
-#define AP_SCRIPTING_ENABLED 0
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index fede026103cc0..4c3399fa65c13 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -1,3 +1,23 @@
+# https://shop.m5stack.com/products/m5stamp-fly-with-m5stamps3
+
+# GROVE EXPANSION
+#
+# The Stampfly has two Seeed Studio Grove connectors to attach peripherals. By
+# default, the left (red) connector is I2C (with no other devices on the bus)
+# and the right (black) connector is SERIAL3. However, the two signal pins in
+# each can be reassigned by editing this file.
+#
+# Grove Red (I2C)
+# 1 (toward front): GPIO_NUM_15, SCL (has 4.7kΩ pullup to 3.3V)
+# 2               : GPIO_NUM_13, SDA (has 4.7kΩ pullup to 3.3V)
+# 3               : +V (+5V if plugged into USB, else +Vbat)
+# 4 (toward rear) : GND
+#
+# Grove Black (SERIAL3)
+# 1 (toward rear) : GPIO_NUM_1, RX
+# 2               : GPIO_NUM_3, TX
+# 3               : +V (+5V if plugged into USB, else +Vbat)
+# 4 (toward front): GND
 
 # SPI Buses; https://docs.espressif.com/projects/esp-idf/en/v5.3.4/esp32/api-reference/peripherals/spi_master.html
 #            Host      DMA Channel     MOSI        MISO        SCLK
@@ -41,5 +61,50 @@ ESP32_RCOUT GPIO_NUM_41
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 
+# these are missing from esp-idf......will not be needed later
+define RTC_WDT_STG_SEL_OFF             0
+define RTC_WDT_STG_SEL_INT             1
+define RTC_WDT_STG_SEL_RESET_CPU       2
+define RTC_WDT_STG_SEL_RESET_SYSTEM    3
+define RTC_WDT_STG_SEL_RESET_RTC       4
+
+define HAL_ESP32_BOARD_NAME "esp32s3m5stampfly"
+
+define AP_COMPASS_ENABLE_DEFAULT 0
+define ALLOW_ARM_NO_COMPASS
+
+# no ADC
+define HAL_DISABLE_ADC_DRIVER 1
+define HAL_USE_ADC 0
+
+define AP_BATTERY_INA3221_ENABLED 1
+define HAL_BATTMON_INA3221_SHUNT_OHMS 0.01
+define HAL_BATTMON_INA3221_SHUNT_CONV_TIME_SEL HAL_BATTMON_INA3221_CONV_TIME_4156US
+define HAL_BATTMON_INA3221_BUS_CONV_TIME_SEL HAL_BATTMON_INA3221_CONV_TIME_4156US
+define HAL_BATTMON_INA3221_AVG_MODE_SEL HAL_BATTMON_INA3221_AVG_MODE_16
+
+# 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
+define HAL_ESP32_WIFI 2
+
+define WIFI_SSID "ardupilot123"
+define WIFI_PWD "ardupilot123"
+
+# rcin on what pin? enable AP_RCPROTOCOL_ENABLED below if using
+# currently on another unmapped pin
+# define HAL_ESP32_RCIN GPIO_NUM_16
+define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_16
+
+
+# log over MAVLink by default
+define HAL_LOGGING_FILESYSTEM_ENABLED 0
+define HAL_LOGGING_DATAFLASH_ENABLED 0
+define HAL_LOGGING_MAVLINK_ENABLED 1
+define HAL_LOGGING_BACKENDS_DEFAULT 2
+
+define AP_RCPROTOCOL_ENABLED 0
+
+define AP_FILESYSTEM_ESP32_ENABLED 0
+define AP_SCRIPTING_ENABLED 0
+
 # This is a board that's not really intended for anything other than copter
 AUTOBUILD_TARGETS Copter

From 89808ffdba7996dfd659b465faae25b11863118a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 1 Sep 2025 07:56:02 +0100
Subject: [PATCH 30/42] Tools: don't catch elf_diff exceptions

---
 Tools/scripts/size_compare_branches.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 6f9eacd3758d4..ec85b4b6e7f5d 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -707,10 +707,7 @@ def compare_task_results_elf_diff(self, pairs):
             if "master" not in pair or "branch" not in pair:
                 # probably incomplete:
                 continue
-            try:
-                self.elf_diff_results(pair["master"], pair["branch"])
-            except Exception as e:
-                print(f"Exception calling elf_diff: {e}")
+            self.elf_diff_results(pair["master"], pair["branch"])
 
     def emit_csv_for_results(self, results):
         '''emit dictionary of dictionaries as a CSV'''

From 5a270e4235f7d53d534faf3183393778959d84bf Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Sep 2025 15:25:12 +0100
Subject: [PATCH 31/42] AP_HAL_ESP32: remove forced triple-IMU support for
 stampfly

the device only actually has a single IMU.  Three was forced to ensure that the move to being entirely hwdef.dat-based was binary-output-identical
---
 libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index 4c3399fa65c13..d749d2b127541 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -40,8 +40,6 @@ ESP32_I2CBUS  I2C_NUM_1  GPIO_NUM_13 GPIO_NUM_15 400*KHZ  false
 # one IMU:
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_90
 
-define INS_MAX_INSTANCES 3
-
 # one Baro:
 BARO BMP280 I2C:0:0x76
 

From caaa6c1a0e895875830122e15c4c3d5e063f7ee6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 5 Sep 2025 09:07:57 +0100
Subject: [PATCH 32/42] AP_HAL_ESP32: esp32s3m5stampfly: remove
 no-longer-required defines

---
 libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
index d749d2b127541..47e26fa2047ea 100644
--- a/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
+++ b/libraries/AP_HAL_ESP32/hwdef/esp32s3m5stampfly/hwdef.dat
@@ -59,13 +59,6 @@ ESP32_RCOUT GPIO_NUM_41
 # the stampfly does not have an Airspeed sensor:
 define AP_AIRSPEED_ENABLED 0
 
-# these are missing from esp-idf......will not be needed later
-define RTC_WDT_STG_SEL_OFF             0
-define RTC_WDT_STG_SEL_INT             1
-define RTC_WDT_STG_SEL_RESET_CPU       2
-define RTC_WDT_STG_SEL_RESET_SYSTEM    3
-define RTC_WDT_STG_SEL_RESET_RTC       4
-
 define HAL_ESP32_BOARD_NAME "esp32s3m5stampfly"
 
 define AP_COMPASS_ENABLE_DEFAULT 0

From 07cd29fce8f22bc1a667e5434f3860e40c177452 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Wed, 16 Jul 2025 17:46:30 +0200
Subject: [PATCH 33/42] Tools: improve venv install and add wxpython wheel for
 ubuntu

---
 .../install-prereqs-ubuntu.sh                 | 55 ++++++++++++++++---
 1 file changed, 48 insertions(+), 7 deletions(-)

diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 91f748182a362..2dfcd34ec4653 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -415,6 +415,9 @@ if $IS_DOCKER; then
     echo "# ArduPilot env file. Need to be loaded by your Shell." > ~/$SHELL_LOGIN
 fi
 
+SCRIPT_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+
 PIP_USER_ARGUMENT="--user"
 
 # create a Python venv on more recent releases:
@@ -433,14 +436,31 @@ fi
 
 if [ -n "$PYTHON_VENV_PACKAGE" ]; then
     $APT_GET install $PYTHON_VENV_PACKAGE
-    python3 -m venv --system-site-packages $HOME/venv-ardupilot
+
+    # Check if venv already exists in ARDUPILOT_ROOT (check both venv-ardupilot and venv)
+    VENV_PATH=""
+    if [ -d "$ARDUPILOT_ROOT/venv-ardupilot" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/venv-ardupilot"
+        echo "Found existing venv at $VENV_PATH"
+    elif [ -d "$ARDUPILOT_ROOT/venv" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/venv"
+        echo "Found existing venv at $VENV_PATH"
+    elif [ -d "$ARDUPILOT_ROOT/.venv" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/.venv"
+        echo "Found existing venv at $VENV_PATH"
+    else
+        VENV_PATH="$HOME/venv-ardupilot"
+        echo "Creating new venv at $VENV_PATH"
+        python3 -m venv --system-site-packages "$VENV_PATH"
+    fi
+
+    SOURCE_LINE="source $VENV_PATH/bin/activate"
 
     # activate it:
-    SOURCE_LINE="source $HOME/venv-ardupilot/bin/activate"
     $SOURCE_LINE
     PIP_USER_ARGUMENT=""
 
-    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
+    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?\nThis means that any terminal will open and load ArduPilot venv" ; then
         DO_PYTHON_VENV_ENV=1
     fi
 
@@ -478,8 +498,32 @@ fi
 for PACKAGE in $PYTHON_PKGS; do
     if [ "$PACKAGE" == "wxpython" ]; then
         echo "##### $PACKAGE takes a *VERY* long time to install (~30 minutes).  Be patient."
+
+        # Use wheel repository for specific supported Ubuntu releases only
+        case ${RELEASE_CODENAME} in
+            focal)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-20.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            jammy)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-22.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            noble)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-24.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            *)
+                echo "##### Installing wxpython from PyPI (no specific wheel repository for this release)"
+                time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
+                ;;
+        esac
+    else
+        time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
     fi
-    time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
 done
 
 # somehow Plucky really wants Pillow reinstalled or MAVProxy's map
@@ -509,9 +553,6 @@ fi
 
 heading "Adding ArduPilot Tools to environment"
 
-SCRIPT_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
-ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
-
 if [[ $DO_AP_STM_ENV -eq 1 ]]; then
 exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
 grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {

From 907f9b4b923ff7f452beb915082411c691897d74 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sat, 6 Sep 2025 09:09:54 +0100
Subject: [PATCH 34/42] CI: fail fast on rover PPP install

Ensure that ppp install succeeded and the binary executes directly after
install, instead of failing deep in the test suite.
---
 .github/workflows/test_sitl_rover.yml | 1 +
 Tools/scripts/build_ci.sh             | 1 +
 2 files changed, 2 insertions(+)

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 55c3a3250209a..affdc87f325e0 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -195,6 +195,7 @@ jobs:
         run: |
           sudo apt-get update || true
           sudo apt-get -y install ppp || true
+          pppd --help # fail with `command not found` if ppp install failed
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index aedfbb72ddc89..376005fdccbe1 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -188,6 +188,7 @@ for t in $CI_BUILD_TARGET; do
     if [ "$t" == "sitltest-rover" ]; then
         sudo apt-get update || /bin/true
         sudo apt-get install -y ppp || /bin/true
+        pppd --help # fail with `command not found` if ppp install failed
         run_autotest "Rover" "build.Rover" "test.Rover"
         continue
     fi

From ca3b9cc66f7d0408d768300c2952eef4bf607bc1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 31 Jul 2025 15:25:38 +1000
Subject: [PATCH 35/42] AP_CANManager: make a stand-alone singleton for
 mavlink-to-CAN

---
 libraries/AP_CANManager/AP_CANManager.h       | 26 ----------
 .../AP_CANManager/AP_CANManager_config.h      |  4 ++
 libraries/AP_CANManager/AP_MAVLinkCAN.cpp     | 48 +++++++++++++++++--
 libraries/AP_CANManager/AP_MAVLinkCAN.h       | 29 +++++++----
 4 files changed, 67 insertions(+), 40 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CANManager.h b/libraries/AP_CANManager/AP_CANManager.h
index 367e357e0e198..34d70791d0e1b 100644
--- a/libraries/AP_CANManager/AP_CANManager.h
+++ b/libraries/AP_CANManager/AP_CANManager.h
@@ -26,10 +26,6 @@
 #include <AP_Param/AP_Param.h>
 #include "AP_SLCANIface.h"
 #include "AP_CANDriver.h"
-#include <GCS_MAVLink/GCS_config.h>
-#if HAL_GCS_ENABLED
-#include "AP_MAVLinkCAN.h"
-#endif
 
 #include "AP_CAN.h"
 
@@ -104,23 +100,6 @@ class AP_CANManager
 
     static const struct AP_Param::GroupInfo var_info[];
 
-#if HAL_GCS_ENABLED
-    inline bool handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg)
-    {
-        return mavlink_can.handle_can_forward(chan, packet, msg);
-    }
-
-    inline void handle_can_frame(const mavlink_message_t &msg)
-    {
-        mavlink_can.handle_can_frame(msg);
-    }
-
-    inline void handle_can_filter_modify(const mavlink_message_t &msg)
-    {
-        mavlink_can.handle_can_filter_modify(msg);
-    }
-#endif
-
 private:
 
     // Parameter interface for CANIfaces
@@ -192,11 +171,6 @@ class AP_CANManager
 
     HAL_Semaphore _sem;
 
-#if HAL_GCS_ENABLED
-    // Class for handling MAVLink CAN frames
-    AP_MAVLinkCAN mavlink_can;
-#endif // HAL_GCS_ENABLED
-
 #if AP_CAN_LOGGING_ENABLED && HAL_LOGGING_ENABLED
     /*
       handler for CAN frames for logging
diff --git a/libraries/AP_CANManager/AP_CANManager_config.h b/libraries/AP_CANManager/AP_CANManager_config.h
index a33ff66888a0d..06805aea20161 100644
--- a/libraries/AP_CANManager/AP_CANManager_config.h
+++ b/libraries/AP_CANManager/AP_CANManager_config.h
@@ -10,3 +10,7 @@
 #ifndef AP_CAN_LOGGING_ENABLED
 #define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_LOGGING_ENABLED
 #endif
+
+#ifndef AP_MAVLINKCAN_ENABLED
+#define AP_MAVLINKCAN_ENABLED (HAL_CANMANAGER_ENABLED && HAL_GCS_ENABLED)
+#endif  // AP_MAVLINKCAN_ENABLED
diff --git a/libraries/AP_CANManager/AP_MAVLinkCAN.cpp b/libraries/AP_CANManager/AP_MAVLinkCAN.cpp
index 358cd0c7b21cc..5940157968aa0 100644
--- a/libraries/AP_CANManager/AP_MAVLinkCAN.cpp
+++ b/libraries/AP_CANManager/AP_MAVLinkCAN.cpp
@@ -17,14 +17,52 @@
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_Common/sorting.h>
 
-#if HAL_CANMANAGER_ENABLED && HAL_GCS_ENABLED
+#if AP_MAVLINKCAN_ENABLED
 
 extern const AP_HAL::HAL& hal;
 
+static AP_MAVLinkCAN *singleton;
+
+AP_MAVLinkCAN *AP_MAVLinkCAN::ensure_singleton()
+{
+    if (singleton == nullptr) {
+        singleton = NEW_NOTHROW AP_MAVLinkCAN();
+    }
+    return singleton;
+}
+
+bool AP_MAVLinkCAN::handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg)
+{
+    auto *s = ensure_singleton();
+    if (s == nullptr) {
+        return false;
+    }
+    return singleton->_handle_can_forward(chan, packet, msg);
+}
+
+void AP_MAVLinkCAN::handle_can_frame(const mavlink_message_t &msg)
+{
+    auto *s = ensure_singleton();
+    if (s == nullptr) {
+        return;
+    }
+    singleton->_handle_can_frame(msg);
+}
+
+void AP_MAVLinkCAN::handle_can_filter_modify(const mavlink_message_t &msg)
+{
+    auto *s = ensure_singleton();
+    if (s == nullptr) {
+        return;
+    }
+    singleton->_handle_can_filter_modify(msg);
+}
+
+
 /*
   handle MAV_CMD_CAN_FORWARD mavlink long command
  */
-bool AP_MAVLinkCAN::handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg)
+bool AP_MAVLinkCAN::_handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     WITH_SEMAPHORE(can_forward.sem);
     const int8_t bus = int8_t(packet.param1)-1;
@@ -71,7 +109,7 @@ bool AP_MAVLinkCAN::handle_can_forward(mavlink_channel_t chan, const mavlink_com
 /*
   handle a CAN_FRAME packet
  */
-void AP_MAVLinkCAN::handle_can_frame(const mavlink_message_t &msg)
+void AP_MAVLinkCAN::_handle_can_frame(const mavlink_message_t &msg)
 {
     if (frame_buffer == nullptr) {
         // allocate frame buffer
@@ -164,7 +202,7 @@ void AP_MAVLinkCAN::process_frame_buffer()
 /*
   handle a CAN_FILTER_MODIFY packet
  */
-void AP_MAVLinkCAN::handle_can_filter_modify(const mavlink_message_t &msg)
+void AP_MAVLinkCAN::_handle_can_filter_modify(const mavlink_message_t &msg)
 {
     mavlink_can_filter_modify_t p;
     mavlink_msg_can_filter_modify_decode(&msg, &p);
@@ -319,4 +357,4 @@ void AP_MAVLinkCAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
     }
 }
 
-#endif // HAL_CANMANAGER_ENABLED && HAL_GCS_ENABLED
+#endif  // AP_MAVLINKCAN_ENABLED
diff --git a/libraries/AP_CANManager/AP_MAVLinkCAN.h b/libraries/AP_CANManager/AP_MAVLinkCAN.h
index 2ce59958af84b..803ae7faa18c7 100644
--- a/libraries/AP_CANManager/AP_MAVLinkCAN.h
+++ b/libraries/AP_CANManager/AP_MAVLinkCAN.h
@@ -15,12 +15,12 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
-#include <AP_HAL/utility/RingBuffer.h>
 #include "AP_CANManager_config.h"
 
-#if HAL_CANMANAGER_ENABLED && HAL_GCS_ENABLED
+#if AP_MAVLINKCAN_ENABLED
 
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/utility/RingBuffer.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_HAL/CANIface.h>
 #include <AP_HAL/utility/OwnPtr.h>
@@ -34,13 +34,13 @@ class AP_MAVLinkCAN {
     void process_frame_buffer();
 
     // Handle commands to forward CAN frames to GCS
-    bool handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
-    
+    static bool handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
+
     // Handle received MAVLink CAN frames
-    void handle_can_frame(const mavlink_message_t &msg);
-    
+    static void handle_can_frame(const mavlink_message_t &msg);
+
     // Handle CAN filter modification
-    void handle_can_filter_modify(const mavlink_message_t &msg);
+    static void handle_can_filter_modify(const mavlink_message_t &msg);
 
 private:
     // Callback for receiving CAN frames from CAN bus and sending to GCS
@@ -71,6 +71,17 @@ class AP_MAVLinkCAN {
     // Frame buffer for queuing frames
     HAL_Semaphore frame_buffer_sem;
     ObjectBuffer<BufferFrame> *frame_buffer;
+
+    static AP_MAVLinkCAN *ensure_singleton();
+
+    // Handle commands to forward CAN frames to GCS
+    bool _handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
+
+    // Handle received MAVLink CAN frames
+    void _handle_can_frame(const mavlink_message_t &msg);
+
+    // Handle CAN filter modification
+    void _handle_can_filter_modify(const mavlink_message_t &msg);
 };
 
-#endif // HAL_CANMANAGER_ENABLED && HAL_GCS_ENABLED
+#endif // AP_MAVLINKCAN_ENABLED

From 875534bf9f569d734aa2a706f504246b1ea8692d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 31 Jul 2025 15:34:34 +1000
Subject: [PATCH 36/42] GCS_MAVLink: use new CANMAVLink object

---
 libraries/GCS_MAVLink/GCS.h          |  4 ++--
 libraries/GCS_MAVLink/GCS_Common.cpp | 20 +++++++++++---------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 1471fe7aa2459..cf538e94cdf72 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -711,10 +711,10 @@ class GCS_MAVLINK
       handle MAV_CMD_CAN_FORWARD and CAN_FRAME messages for CAN over MAVLink
      */
     void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &);
-#if HAL_CANMANAGER_ENABLED
+#if AP_MAVLINKCAN_ENABLED
     MAV_RESULT handle_can_forward(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
-#endif
     void handle_can_frame(const mavlink_message_t &msg) const;
+#endif  // AP_MAVLINKCAN_ENABLED
 
     void handle_optical_flow(const mavlink_message_t &msg);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index b7d43d6a30a8e..eaec1a2de99d3 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -73,6 +73,8 @@
 #include "MissionItemProtocol_Rally.h"
 #include "MissionItemProtocol_Fence.h"
 
+#include <AP_CANManager/AP_MAVLinkCAN.h>
+
 #include <AP_Notify/AP_Notify.h>
 #include <AP_Vehicle/AP_Vehicle_config.h>
 
@@ -4198,13 +4200,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_int_t &pack
 }
 #endif  // COMPASS_CAL_ENABLED
 
-#if HAL_CANMANAGER_ENABLED
+#if AP_MAVLINKCAN_ENABLED
 /*
   handle MAV_CMD_CAN_FORWARD
  */
 MAV_RESULT GCS_MAVLINK::handle_can_forward(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
-    return AP::can().handle_can_forward(chan, packet, msg) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
+    return AP_MAVLinkCAN::handle_can_forward(chan, packet, msg) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
 }
 
 /*
@@ -4212,9 +4214,9 @@ MAV_RESULT GCS_MAVLINK::handle_can_forward(const mavlink_command_int_t &packet,
  */
 void GCS_MAVLINK::handle_can_frame(const mavlink_message_t &msg) const
 {
-    AP::can().handle_can_frame(msg);
+    AP_MAVLinkCAN::handle_can_frame(msg);
 }
-#endif  // HAL_CANMANAGER_ENABLED
+#endif  // AP_MAVLINKCAN_ENABLED
 
 void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
 {
@@ -4571,11 +4573,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
-#if HAL_CANMANAGER_ENABLED
+#if AP_MAVLINKCAN_ENABLED
     case MAVLINK_MSG_ID_CAN_FILTER_MODIFY:
-        AP::can().handle_can_filter_modify(msg);
+        AP_MAVLinkCAN::handle_can_filter_modify(msg);
         break;
-#endif
+#endif  // AP_MAVLINKCAN_ENABLED
 
 #if AP_OPENDRONEID_ENABLED
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS:
@@ -5587,10 +5589,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_battery_reset(packet);
 #endif
 
-#if HAL_CANMANAGER_ENABLED
+#if AP_MAVLINKCAN_ENABLED
     case MAV_CMD_CAN_FORWARD:
         return handle_can_forward(packet, msg);
-#endif
+#endif  // AP_MAVLINKCAN_ENABLED
 
 #if HAL_HIGH_LATENCY2_ENABLED
     case MAV_CMD_CONTROL_HIGH_LATENCY:

From 4677151589d355a86d6f4b2025f034757c95dee8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 31 Jul 2025 20:18:52 +1000
Subject: [PATCH 37/42] GCS_MAVLink: adjust streamrates in messages to avoid
 cruft on AP_Periph

AP_Periph has a lot of trouble sending various messages... so guard more of them.
Past this we don't get the "sending unknown message ID messages over MAVLink
---
 libraries/GCS_MAVLink/GCS_Common.cpp             | 6 ++++++
 libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp | 9 ++++++++-
 libraries/GCS_MAVLink/GCS_config.h               | 4 ++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index eaec1a2de99d3..dfa532993d225 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1098,11 +1098,15 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_ATTITUDE,              MSG_ATTITUDE},
         { MAVLINK_MSG_ID_ATTITUDE_QUATERNION,   MSG_ATTITUDE_QUATERNION},
         { MAVLINK_MSG_ID_GLOBAL_POSITION_INT,   MSG_LOCATION},
+#if AP_AHRS_ENABLED
         { MAVLINK_MSG_ID_LOCAL_POSITION_NED,    MSG_LOCAL_POSITION},
+#endif  // AP_AHRS_ENABLED
         { MAVLINK_MSG_ID_VFR_HUD,               MSG_VFR_HUD},
 #endif
         { MAVLINK_MSG_ID_HWSTATUS,              MSG_HWSTATUS},
+#if AP_MAVLINK_MSG_WIND_ENABLED
         { MAVLINK_MSG_ID_WIND,                  MSG_WIND},
+#endif  // AP_MAVLINK_MSG_WIND_ENABLED
 #if AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
         { MAVLINK_MSG_ID_RANGEFINDER,           MSG_RANGEFINDER},
 #endif  // AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
@@ -1139,7 +1143,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_MAG_CAL_PROGRESS,      MSG_MAG_CAL_PROGRESS},
         { MAVLINK_MSG_ID_MAG_CAL_REPORT,        MSG_MAG_CAL_REPORT},
 #endif
+#if AP_AHRS_ENABLED
         { MAVLINK_MSG_ID_EKF_STATUS_REPORT,     MSG_EKF_STATUS_REPORT},
+#endif  // AP_AHRS_ENABLED
         { MAVLINK_MSG_ID_PID_TUNING,            MSG_PID_TUNING},
         { MAVLINK_MSG_ID_VIBRATION,             MSG_VIBRATION},
 #if AP_RPM_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
index e0c61659906e5..9476d6540cd83 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
@@ -17,6 +17,7 @@
 #include <AP_RangeFinder/AP_RangeFinder_config.h>
 #include <AP_RPM/AP_RPM_config.h>
 #include <AP_Terrain/AP_Terrain_config.h>
+#include <RC_Channel/RC_Channel_config.h>
 
 const struct AP_Param::GroupInfo *GCS::_chan_var_info[MAVLINK_COMM_NUM_BUFFERS];
 
@@ -271,8 +272,8 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 static const ap_message STREAM_POSITION_msgs[] = {
 #if AP_AHRS_ENABLED
     MSG_LOCATION,
-#endif  // AP_AHRS_ENABLED
     MSG_LOCAL_POSITION
+#endif  // AP_AHRS_ENABLED
 };
 
 static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
@@ -283,10 +284,12 @@ static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
 
 static const ap_message STREAM_RC_CHANNELS_msgs[] = {
     MSG_SERVO_OUTPUT_RAW,
+#if AP_RC_CHANNEL_ENABLED
     MSG_RC_CHANNELS,
 #if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
     MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
 #endif
+#endif  // AP_RC_CHANNEL_ENABLED
 };
 
 static const ap_message STREAM_EXTRA1_msgs[] = {
@@ -340,7 +343,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_AHRS_ENABLED
     MSG_AHRS,
 #endif  // AP_AHRS_ENABLED
+#if AP_MAVLINK_MSG_WIND_ENABLED
     MSG_WIND,
+#endif  // AP_MAVLINK_MSG_WIND_ENABLED
 #if AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
     MSG_RANGEFINDER,
 #endif  // AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
@@ -366,7 +371,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
 #endif
+#if AP_AHRS_ENABLED
     MSG_EKF_STATUS_REPORT,
+#endif  // AP_AHRS_ENABLED
 #if !APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
     MSG_VIBRATION,
 #endif
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index e16a36b22c38c..2f220c4a3a12f 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -56,6 +56,10 @@
 #define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED HAL_GCS_ENABLED && AP_RELAY_ENABLED
 #endif
 
+#ifndef AP_MAVLINK_MSG_WIND_ENABLED
+#define AP_MAVLINK_MSG_WIND_ENABLED AP_AHRS_ENABLED
+#endif
+
 // allow removal of developer-centric mavlink commands
 #ifndef AP_MAVLINK_FAILURE_CREATION_ENABLED
 #define AP_MAVLINK_FAILURE_CREATION_ENABLED 1

From 607b9dfdef1ed2040f455f20dc3240407c074c03 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 6 Aug 2025 18:34:01 +1000
Subject: [PATCH 38/42] AP_CANManager: make process_frame_buffer private in
 AP_MAVLinkCAN

---
 libraries/AP_CANManager/AP_MAVLinkCAN.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_CANManager/AP_MAVLinkCAN.h b/libraries/AP_CANManager/AP_MAVLinkCAN.h
index 803ae7faa18c7..d238d9c889f09 100644
--- a/libraries/AP_CANManager/AP_MAVLinkCAN.h
+++ b/libraries/AP_CANManager/AP_MAVLinkCAN.h
@@ -29,9 +29,6 @@
 class AP_MAVLinkCAN {
 public:
     AP_MAVLinkCAN() {}
-    
-    // Process CAN frame forwarding
-    void process_frame_buffer();
 
     // Handle commands to forward CAN frames to GCS
     static bool handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
@@ -74,6 +71,9 @@ class AP_MAVLinkCAN {
 
     static AP_MAVLinkCAN *ensure_singleton();
 
+    // Process CAN frame forwarding
+    void process_frame_buffer();
+
     // Handle commands to forward CAN frames to GCS
     bool _handle_can_forward(mavlink_channel_t chan, const mavlink_command_int_t &packet, const mavlink_message_t &msg);
 

From 5e8fd134d9f4121e385de3fbc87da0ce52dbab60 Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Mon, 8 Sep 2025 14:44:49 +0000
Subject: [PATCH 39/42] suggestions from peterbarker applied

---
 libraries/AP_GPS/AP_GPS.cpp      | 88 +++++++++++++----------------
 libraries/AP_GPS/AP_GPS.h        | 95 ++++++++++++++------------------
 libraries/AP_GPS/AP_GPS_SBF.cpp  | 82 +++++++++++++++------------
 libraries/AP_GPS/AP_GPS_SBF.h    |  6 ++
 libraries/AP_GPS/AP_GPS_config.h |  4 ++
 5 files changed, 138 insertions(+), 137 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index e9f0ce939212d..d8e8fd36c41bc 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -112,30 +112,30 @@ static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS == (uint32_t)GPS_
 static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT == (uint32_t)GPS_FIX_TYPE_RTK_FLOAT, "FIX_RTK_FLOAT incorrect");
 static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED == (uint32_t)GPS_FIX_TYPE_RTK_FIXED, "FIX_RTK_FIXED incorrect");
 
-static_assert((uint32_t)AP_GPS::GPS_Errors::GPS_SYSTEM_ERROR_NONE == (uint32_t)0x00, "GPS_SYSTEM_ERROR_NONE incorrect"); //not ideal but state doesn't exist in mavlink
-static_assert((uint32_t)AP_GPS::GPS_Errors::INCOMING_CORRECTIONS == (uint32_t)GPS_SYSTEM_ERROR_INCOMING_CORRECTIONS, "INCOMING_CORRECTIONS incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::CONFIGURATION == (uint32_t)GPS_SYSTEM_ERROR_CONFIGURATION, "CONFIGURATION incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::SOFTWARE == (uint32_t)GPS_SYSTEM_ERROR_SOFTWARE, "SOFTWARE incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::ANTENNA == (uint32_t)GPS_SYSTEM_ERROR_ANTENNA, "ANTENNA incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::EVENT_CONGESTION == (uint32_t)GPS_SYSTEM_ERROR_EVENT_CONGESTION, "EVENT_CONGESTION incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::CPU_OVERLOAD == (uint32_t)GPS_SYSTEM_ERROR_CPU_OVERLOAD, "CPU_OVERLOAD incorrect");
-static_assert((uint32_t)AP_GPS::GPS_Errors::OUTPUT_CONGESTION == (uint32_t)GPS_SYSTEM_ERROR_OUTPUT_CONGESTION, "OUTPUT_CONGESTION inccorect");
-
-static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_UNKNOWN == (uint8_t)GPS_AUTHENTICATION_STATE_UNKNOWN, "AUTHENTICATION_UNKNOWN incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_INITIALIZING == (uint8_t)GPS_AUTHENTICATION_STATE_INITIALIZING, "AUTHENTICATION_INITIALIZING incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_ERROR == (uint8_t)GPS_AUTHENTICATION_STATE_ERROR, "AUTHENTICATION_ERROR incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_OK == (uint8_t)GPS_AUTHENTICATION_STATE_OK, "GPS_AUTHENTICATION_STATE_OK incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Authentication::AUTHENTICATION_DISABLED == (uint8_t)GPS_AUTHENTICATION_STATE_DISABLED, "AUTHENTICATION_DISABLED incorrect");
-
-static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_UNKNOWN == (uint8_t)GPS_JAMMING_STATE_UNKNOWN, "JAMMING_UNKNOWN incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_OK == (uint8_t)GPS_JAMMING_STATE_OK, "JAMMING_OK incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_DETECTED == (uint8_t)GPS_JAMMING_STATE_DETECTED, "JAMMING_DETECTED incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Jamming::JAMMING_MITIGATED == (uint8_t)GPS_JAMMING_STATE_MITIGATED, "JAMMING_MITIGATED incorrect");
-
-static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_UNKNOWN == (uint8_t)GPS_SPOOFING_STATE_UNKNOWN, "SPOOFING_UNKNOWN incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_OK == (uint8_t)GPS_SPOOFING_STATE_OK, "SPOOFING_OK incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_DETECTED == (uint8_t)GPS_SPOOFING_STATE_DETECTED, "SPOOFING_DETECTED incorrect");
-static_assert((uint8_t)AP_GPS::GPS_Spoofing::SPOOFING_MITIGATED == (uint8_t)GPS_SPOOFING_STATE_MITIGATED, "SPOOFING_MITIGATED incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::GPS_SYSTEM_ERROR_NONE) == (uint32_t)0x00, "GPS_SYSTEM_ERROR_NONE incorrect"); //not ideal but state doesn't exist in mavlink
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::INCOMING_CORRECTIONS) == (uint32_t)GPS_SYSTEM_ERROR_INCOMING_CORRECTIONS, "INCOMING_CORRECTIONS incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::CONFIGURATION) == (uint32_t)GPS_SYSTEM_ERROR_CONFIGURATION, "CONFIGURATION incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::SOFTWARE) == (uint32_t)GPS_SYSTEM_ERROR_SOFTWARE, "SOFTWARE incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::ANTENNA) == (uint32_t)GPS_SYSTEM_ERROR_ANTENNA, "ANTENNA incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::EVENT_CONGESTION) == (uint32_t)GPS_SYSTEM_ERROR_EVENT_CONGESTION, "EVENT_CONGESTION incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::CPU_OVERLOAD) == (uint32_t)GPS_SYSTEM_ERROR_CPU_OVERLOAD, "CPU_OVERLOAD incorrect");
+static_assert(static_cast<uint32_t>(AP_GPS::Errors::OUTPUT_CONGESTION) == (uint32_t)GPS_SYSTEM_ERROR_OUTPUT_CONGESTION, "OUTPUT_CONGESTION inccorect");
+
+static_assert(static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN) == (uint8_t)GPS_AUTHENTICATION_STATE_UNKNOWN, "UNKNOWN incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Authentication::INITIALIZING) == (uint8_t)GPS_AUTHENTICATION_STATE_INITIALIZING, "INITIALIZING incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Authentication::ERROR) == (uint8_t)GPS_AUTHENTICATION_STATE_ERROR, "ERROR incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Authentication::OK) == (uint8_t)GPS_AUTHENTICATION_STATE_OK, "GPS_AUTHENTICATION_STATE_OK incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Authentication::DISABLED) == (uint8_t)GPS_AUTHENTICATION_STATE_DISABLED, "DISABLED incorrect");
+
+static_assert(static_cast<uint8_t>(AP_GPS::Jamming::UNKNOWN) == (uint8_t)GPS_JAMMING_STATE_UNKNOWN, "UNKNOWN incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Jamming::OK) == (uint8_t)GPS_JAMMING_STATE_OK, "OK incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Jamming::DETECTED) == (uint8_t)GPS_JAMMING_STATE_DETECTED, "DETECTED incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Jamming::MITIGATED) == (uint8_t)GPS_JAMMING_STATE_MITIGATED, "MITIGATED incorrect");
+
+static_assert(static_cast<uint8_t>(AP_GPS::Spoofing::UNKNOWN) == (uint8_t)GPS_SPOOFING_STATE_UNKNOWN, "UNKNOWN incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Spoofing::OK) == (uint8_t)GPS_SPOOFING_STATE_OK, "OK incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Spoofing::DETECTED) == (uint8_t)GPS_SPOOFING_STATE_DETECTED, "DETECTED incorrect");
+static_assert(static_cast<uint8_t>(AP_GPS::Spoofing::MITIGATED) == (uint8_t)GPS_SPOOFING_STATE_MITIGATED, "MITIGATED incorrect");
 
 #endif
 
@@ -1487,34 +1487,24 @@ void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 }
 #endif
 
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 void AP_GPS::send_mavlink_gnss_integrity(mavlink_channel_t chan, uint8_t instance) {
-    uint8_t id = instance; 
-    uint32_t system_error  = get_system_errors(instance);
-    uint8_t authentication = get_authentication_state(instance);
-    uint8_t jamming        = get_jamming_state(instance);
-    uint8_t spoofing       = get_spoofing_state(instance);
-    uint8_t raim_state     = UINT8_MAX; //not implemented yet 
-    uint16_t raim_hfom     = UINT16_MAX; //not implemented yet
-    uint16_t raim_vfom     = UINT16_MAX; //not implemented yet
-    uint8_t corrections_quality     = UINT8_MAX; //not implemented yet
-    uint8_t systems_status_summary  = UINT8_MAX; //not implemented yet
-    uint8_t gnss_signal_quality     = UINT8_MAX; //not implemented yet
-    uint8_t post_processing_quality = UINT8_MAX; //not implemented yet
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "gps %u with auth %u and spooof %u", id, authentication, spoofing);
+
     mavlink_msg_gnss_integrity_send(chan, 
-        id,
-        system_error,
-        authentication,
-        jamming,
-        spoofing,
-        raim_state,
-        raim_hfom,
-        raim_vfom,
-        corrections_quality,
-        systems_status_summary,
-        gnss_signal_quality,
-        post_processing_quality);
+        instance,
+        get_system_errors(instance),
+        get_authentication_state(instance),
+        get_jamming_state(instance),
+        get_spoofing_state(instance),
+        UINT8_MAX,  //raim_state not implemented yet
+        UINT16_MAX, //raim_hfom not implemented yet
+        UINT16_MAX, //raim_vfom not implemented yet
+        UINT8_MAX,  //corrections_quality not implemented yet
+        UINT8_MAX,  //systems_status_summary not implemented yet
+        UINT8_MAX,  //gnss_signal_quality not implemented yet
+        UINT8_MAX); //post_processing_quality not implemented yet
 }
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 
 bool AP_GPS::first_unconfigured_gps(uint8_t &instance) const
 {
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index b4e3ab967bfc9..913c0ca0350f0 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -158,7 +158,7 @@ class AP_GPS
 
     /// GPS error bits. These are kept aligned with MAVLink by 
     /// static_assert in AP_GPS.cpp
-    enum GPS_Errors {
+    enum class Errors {
         GPS_SYSTEM_ERROR_NONE =      0, 
         INCOMING_CORRECTIONS =  1 << 0, ///< There are problems with incoming correction streams
         CONFIGURATION =         1 << 1, ///< There are problems with the configuration
@@ -171,30 +171,30 @@ class AP_GPS
 
     /// GPS authentication status. These are kept aligned with MAVLink by 
     /// static_assert in AP_GPS.cpp
-    enum GPS_Authentication {
-        AUTHENTICATION_UNKNOWN =       0, ///< The GPS receiver does not provide GPS signal authentication info
-        AUTHENTICATION_INITIALIZING =  1, ///< The GPS receiver is initializing signal authentication
-        AUTHENTICATION_ERROR =         2, ///< The GPS receiver encountered an error while initializing signal authentication
-        AUTHENTICATION_OK =            3, ///< The GPS receiver has correctly authenticated all signals
-        AUTHENTICATION_DISABLED =      4, ///< GPS signal authentication is disabled on the receiver
+    enum class Authentication {
+        UNKNOWN =       0, ///< The GPS receiver does not provide GPS signal authentication info
+        INITIALIZING =  1, ///< The GPS receiver is initializing signal authentication
+        ERROR =         2, ///< The GPS receiver encountered an error while initializing signal authentication
+        OK =            3, ///< The GPS receiver has correctly authenticated all signals
+        DISABLED =      4, ///< GPS signal authentication is disabled on the receiver
     };
 
     /// GPS jamming status. These are kept aligned with MAVLink by 
     /// static_assert in AP_GPS.cpp
-    enum GPS_Jamming {
-        JAMMING_UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal jamming info
-        JAMMING_OK =        1, ///< The GPS receiver detected no signal jamming
-        JAMMING_MITIGATED = 2, ///< The GPS receiver detected and mitigated signal jamming
-        JAMMING_DETECTED =  3, ///< The GPS receiver detected signal jamming
+    enum class Jamming {
+        UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal jamming info
+        OK =        1, ///< The GPS receiver detected no signal jamming
+        MITIGATED = 2, ///< The GPS receiver detected and mitigated signal jamming
+        DETECTED =  3, ///< The GPS receiver detected signal jamming
     };
 
     /// GPS spoofing status. These are kept aligned with MAVLink by 
     /// static_assert in AP_GPS.cpp
-    enum GPS_Spoofing {
-        SPOOFING_UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal spoofing info
-        SPOOFING_OK =        1, ///< The GPS receiver detected no signal spoofing
-        SPOOFING_MITIGATED = 2, ///< The GPS receiver detected and mitigated signal spoofing
-        SPOOFING_DETECTED =  3, ///< The GPS receiver detected signal spoofing but still has a fix
+    enum class Spoofing {
+        UNKNOWN =   0, ///< The GPS receiver does not provide GPS signal spoofing info
+        OK =        1, ///< The GPS receiver detected no signal spoofing
+        MITIGATED = 2, ///< The GPS receiver detected and mitigated signal spoofing
+        DETECTED =  3, ///< The GPS receiver detected signal spoofing but still has a fix
     };
 
     // GPS navigation engine settings. Not all GPS receivers support
@@ -284,13 +284,14 @@ class AP_GPS
         float accHeading;                  ///< Reported Heading Accuracy in degrees
         uint32_t relposheading_ts;        ///< True if new data has been received since last time it was false
 
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         // Integrity message information 
         // all the following fields must only all be filled by backend drivers
         uint32_t system_errors;            ///< System errors
         uint8_t authentication_state;      ///< Authentication state of GNSS signals
         uint8_t jamming_state;             ///< Jamming state of GNSS signals
         uint8_t spoofing_state;            ///< Spoofing state of GNSS signals
-
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
     };
 
     /// Startup initialisation.
@@ -536,41 +537,6 @@ class AP_GPS
         return state[instance].gps_yaw_configured;
     }
 
-     // general errors in the GNSS system
-    uint32_t get_system_errors(uint8_t instance) const {
-        return state[instance].system_errors;
-    }
-
-    uint32_t get_system_errors() const {
-        return get_system_errors(primary_instance);
-    }
-
-    // authentication state of GNSS signals
-    uint8_t get_authentication_state(uint8_t instance) const {
-        return state[instance].authentication_state;
-    }
-
-    uint8_t get_authentication_state() const {
-        return get_authentication_state(primary_instance);
-    }
-
-    // jamming state of GNSS signals
-    uint8_t get_jamming_state(uint8_t instance) const {
-        return state[instance].jamming_state;
-    }
-
-    uint8_t get_jamming_state() const {
-        return get_jamming_state(primary_instance);
-    }
-
-    // spoofing state of GNSS signals
-    uint8_t get_spoofing_state(uint8_t instance) const {
-        return state[instance].spoofing_state;
-    }
-
-    uint8_t get_spoofing_state() const {
-        return get_spoofing_state(primary_instance);
-    }
     
     // the expected lag (in seconds) in the position and velocity readings from the gps
     // return true if the GPS hardware configuration is known or the lag parameter has been set manually
@@ -738,6 +704,29 @@ class AP_GPS
     // they should be configuring the GPS to run at
     uint16_t get_rate_ms(uint8_t instance) const;
 
+    // general errors in the GNSS system
+    uint32_t get_system_errors(uint8_t instance) const {
+        return state[instance].system_errors;
+    }
+
+
+    // authentication state of GNSS signals
+    uint8_t get_authentication_state(uint8_t instance) const {
+        return state[instance].authentication_state;
+    }
+
+
+    // jamming state of GNSS signals
+    uint8_t get_jamming_state(uint8_t instance) const {
+        return state[instance].jamming_state;
+    }
+
+
+    // spoofing state of GNSS signals
+    uint8_t get_spoofing_state(uint8_t instance) const {
+        return state[instance].spoofing_state;
+    }
+
     struct GPS_timing {
         // the time we got our last fix in system milliseconds
         uint32_t last_fix_time_ms;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index db4f7f49aca8f..570fa2156a5a4 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -67,6 +67,15 @@ constexpr const char *AP_GPS_SBF::portIdentifiers[];
 constexpr const char* AP_GPS_SBF::_initialisation_blob[];
 constexpr const char* AP_GPS_SBF::sbas_on_blob[];
 
+const AP_GPS_SBF::SBF_Error_Map AP_GPS_SBF::sbf_error_map[] = {
+    { AP_GPS_SBF::INVALIDCONFIG, AP_GPS::Errors::CONFIGURATION },
+    { AP_GPS_SBF::SOFTWARE,      AP_GPS::Errors::SOFTWARE },
+    { AP_GPS_SBF::ANTENNA,       AP_GPS::Errors::ANTENNA },
+    { AP_GPS_SBF::MISSEDEVENT,   AP_GPS::Errors::EVENT_CONGESTION },
+    { AP_GPS_SBF::CPUOVERLOAD,   AP_GPS::Errors::CPU_OVERLOAD },
+    { AP_GPS_SBF::CONGESTION,    AP_GPS::Errors::OUTPUT_CONGESTION },
+};
+
 AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
                        AP_GPS::Params &_params,
                        AP_GPS::GPS_State &_state,
@@ -588,27 +597,16 @@ AP_GPS_SBF::process_message(void)
         }
         ExtError = temp.ExtError;
 
-        state.system_errors = AP_GPS::GPS_Errors::GPS_SYSTEM_ERROR_NONE;
+        state.system_errors = static_cast<uint32_t>(AP_GPS::Errors::GPS_SYSTEM_ERROR_NONE);
+
         if (ExtError & DIFFCORRERROR) {
-            state.system_errors |= AP_GPS::GPS_Errors::INCOMING_CORRECTIONS;
-        }
-        if (RxError & INVALIDCONFIG) {
-            state.system_errors |= AP_GPS::GPS_Errors::CONFIGURATION;
-        }
-        if (RxError & SOFTWARE) {
-            state.system_errors |= AP_GPS::GPS_Errors::SOFTWARE;
-        }
-        if (RxError & ANTENNA) {
-            state.system_errors |= AP_GPS::GPS_Errors::ANTENNA;
+            state.system_errors |= static_cast<uint32_t>(AP_GPS::Errors::INCOMING_CORRECTIONS);
         }
-        if (RxError & MISSEDEVENT) {
-            state.system_errors |= AP_GPS::GPS_Errors::EVENT_CONGESTION;
-        }
-        if (RxError & CPUOVERLOAD) {
-            state.system_errors |= AP_GPS::GPS_Errors::CPU_OVERLOAD;
-        }
-        if (RxError & CONGESTION) {
-            state.system_errors |= AP_GPS::GPS_Errors::OUTPUT_CONGESTION;
+
+        for (const auto &map_entry : sbf_error_map) {
+            if (RxError & map_entry.sbf_error_bit) {
+                state.system_errors |= static_cast<uint32_t>(map_entry.ap_error_enum);
+            }
         }
 
         break;
@@ -618,30 +616,44 @@ AP_GPS_SBF::process_message(void)
     {
         const msg4092 &temp = sbf_msg.data.msg4092u;
         check_new_itow(temp.TOW, sbf_msg.length);
-        #if HAL_GCS_ENABLED
+#if HAL_GCS_ENABLED
         if (temp.Flags==0) {
-            state.spoofing_state = AP_GPS::GPS_Spoofing::SPOOFING_OK;
+            state.spoofing_state = static_cast<uint8_t>(AP_GPS::Spoofing::OK);
         }
         else {
-            state.spoofing_state = AP_GPS::GPS_Spoofing::SPOOFING_DETECTED;
+            state.spoofing_state = static_cast<uint8_t>(AP_GPS::Spoofing::DETECTED);
         }
-        state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_OK;
-        for (int i = 0; i < temp.N; i++) {
-            RFStatusRFBandSubBlock* rf_band_data = (RFStatusRFBandSubBlock*)(&temp.RFBand + i * temp.SBLength);
-            switch (rf_band_data->Info & (uint8_t)0b1111) {
+        state.jamming_state = static_cast<uint8_t>(AP_GPS::Jamming::OK);
+
+        if (temp.SBLength < sizeof(RFStatusRFBandSubBlock)) {
+            break;
+        }
+
+        const uint8_t *p = (const uint8_t *)&temp.RFBand;
+        const uint8_t *packet_end = (const uint8_t *)&temp + (sbf_msg.length - 8);
+
+        for (uint8_t i = 0; i < temp.N; i++) {
+            if (p + temp.SBLength > packet_end) {
+                break;
+            }
+
+            const RFStatusRFBandSubBlock &rf_band_data = *(const RFStatusRFBandSubBlock *)p;
+
+            switch (rf_band_data.Info & (uint8_t)0b1111) {
             case 1:
             case 2:
                 // As long as there is indicated but unmitigated spoofing in one band, don't report the overall state as mitigated
-                if (state.jamming_state == AP_GPS::GPS_Jamming::JAMMING_OK) {
-                    state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_MITIGATED;
+                if (state.jamming_state == static_cast<uint8_t>(AP_GPS::Jamming::OK)) {
+                    state.jamming_state = static_cast<uint8_t>(AP_GPS::Jamming::MITIGATED);
                 }
                 break;
             case 8:
-                state.jamming_state = AP_GPS::GPS_Jamming::JAMMING_DETECTED;
+                state.jamming_state = static_cast<uint8_t>(AP_GPS::Jamming::DETECTED);
                 break;
             }
+            p += temp.SBLength;
         }
-        #endif
+#endif
         break;
     }
 
@@ -651,22 +663,22 @@ AP_GPS_SBF::process_message(void)
         check_new_itow(temp.TOW, sbf_msg.length);
         switch (temp.OSNMAStatus & (uint16_t)0b111) {
         case 0:
-            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_DISABLED;
+            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::DISABLED);
             break;
         case 1:
         case 2:
-            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_INITIALIZING;
+            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::INITIALIZING);
             break;
         case 3:
         case 4:
         case 5:
-            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_ERROR;
+            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::ERROR);
             break;
         case 6:
-            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_OK;
+            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::OK);
             break;
         default:
-            state.authentication_state = AP_GPS::GPS_Authentication::AUTHENTICATION_UNKNOWN;
+            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN);
             break;
         }
         break;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.h b/libraries/AP_GPS/AP_GPS_SBF.h
index c0687030dd090..f22a3b892aedf 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.h
+++ b/libraries/AP_GPS/AP_GPS_SBF.h
@@ -348,6 +348,12 @@ class AP_GPS_SBF : public AP_GPS_Backend
         SETUPERROR      = (1 << 3),   //  set when a configuration/setup error has been detected
     };
 
+    struct SBF_Error_Map {
+            const uint32_t sbf_error_bit;
+            const AP_GPS::Errors ap_error_enum;
+    };
+
+    static const SBF_Error_Map sbf_error_map[];
 
     static constexpr const char *portIdentifiers[] = { "COM", "USB", "IP1", "NTR", "IPS", "IPR" };
     char portIdentifier[5];
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index ad6b5364a29df..d8cfdad407c5c 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -121,3 +121,7 @@
 #ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
 #define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
 #endif
+
+#ifndef AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
+#define AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED AP_GPS_SBF_ENABLED && HAL_GCS_ENABLED
+#endif

From c89ee9e25410e6629a0c009386ca83a0fe8bfbf0 Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Tue, 9 Sep 2025 08:46:10 +0000
Subject: [PATCH 40/42] missing guard checks introduced

---
 libraries/AP_GPS/AP_GPS.h            |  2 ++
 libraries/AP_GPS/AP_GPS_SBF.cpp      | 10 ++++++----
 libraries/GCS_MAVLink/GCS_Common.cpp |  4 ++++
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 913c0ca0350f0..3884092a68d90 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -704,6 +704,7 @@ class AP_GPS
     // they should be configuring the GPS to run at
     uint16_t get_rate_ms(uint8_t instance) const;
 
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
     // general errors in the GNSS system
     uint32_t get_system_errors(uint8_t instance) const {
         return state[instance].system_errors;
@@ -726,6 +727,7 @@ class AP_GPS
     uint8_t get_spoofing_state(uint8_t instance) const {
         return state[instance].spoofing_state;
     }
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 
     struct GPS_timing {
         // the time we got our last fix in system milliseconds
diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 570fa2156a5a4..6604da0005135 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -596,7 +596,7 @@ AP_GPS_SBF::process_message(void)
                             (unsigned int)(ExtError & EXT_ERROR_MASK), (unsigned int)(temp.ExtError & EXT_ERROR_MASK));
         }
         ExtError = temp.ExtError;
-
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         state.system_errors = static_cast<uint32_t>(AP_GPS::Errors::GPS_SYSTEM_ERROR_NONE);
 
         if (ExtError & DIFFCORRERROR) {
@@ -608,7 +608,7 @@ AP_GPS_SBF::process_message(void)
                 state.system_errors |= static_cast<uint32_t>(map_entry.ap_error_enum);
             }
         }
-
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 
@@ -616,7 +616,7 @@ AP_GPS_SBF::process_message(void)
     {
         const msg4092 &temp = sbf_msg.data.msg4092u;
         check_new_itow(temp.TOW, sbf_msg.length);
-#if HAL_GCS_ENABLED
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         if (temp.Flags==0) {
             state.spoofing_state = static_cast<uint8_t>(AP_GPS::Spoofing::OK);
         }
@@ -653,7 +653,7 @@ AP_GPS_SBF::process_message(void)
             }
             p += temp.SBLength;
         }
-#endif
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 
@@ -661,6 +661,7 @@ AP_GPS_SBF::process_message(void)
     {
         const msg4245 &temp = sbf_msg.data.msg4245u;
         check_new_itow(temp.TOW, sbf_msg.length);
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         switch (temp.OSNMAStatus & (uint16_t)0b111) {
         case 0:
             state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::DISABLED);
@@ -681,6 +682,7 @@ AP_GPS_SBF::process_message(void)
             state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN);
             break;
         }
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
     }
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 91b6bbce781ad..5822406d14ca5 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1055,7 +1055,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_MISSION_CURRENT,       MSG_CURRENT_WAYPOINT},
         { MAVLINK_MSG_ID_SERVO_OUTPUT_RAW,      MSG_SERVO_OUTPUT_RAW},
         { MAVLINK_MSG_ID_RC_CHANNELS,           MSG_RC_CHANNELS},
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         { MAVLINK_MSG_ID_GNSS_INTEGRITY,        MSG_GNSS_INTEGRITY},
+#endif
 #if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
         { MAVLINK_MSG_ID_RC_CHANNELS_RAW,       MSG_RC_CHANNELS_RAW},
 #endif
@@ -6498,10 +6500,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         AP::gps().send_mavlink_gps_rtk(chan, 1);
         break;
 #endif  // AP_GPS_GPS2_RTK_SENDING_ENABLED
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
     case MSG_GNSS_INTEGRITY:
         CHECK_PAYLOAD_SIZE(GNSS_INTEGRITY);
         AP::gps().send_mavlink_gnss_integrity(chan, 0);
         break;
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 #if AP_AHRS_ENABLED
     case MSG_LOCAL_POSITION:
         CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);

From 2edb4e844c4d7bf5ab08cc9eb415c93ecace5b23 Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Tue, 16 Sep 2025 15:13:26 +0200
Subject: [PATCH 41/42] map added for authintification status mapping and
 MSG_GNSS_INTEGRITY moved to STREAM_EXTRA3

---
 libraries/AP_GPS/AP_GPS_SBF.cpp               | 38 +++++++++----------
 libraries/AP_GPS/AP_GPS_SBF.h                 | 11 +++++-
 libraries/AP_GPS/AP_GPS_config.h              |  3 --
 .../GCS_MAVLink/GCS_MAVLink_Parameters.cpp    |  4 +-
 libraries/GCS_MAVLink/GCS_config.h            |  4 ++
 5 files changed, 35 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 6604da0005135..51fe48095d44a 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -76,6 +76,16 @@ const AP_GPS_SBF::SBF_Error_Map AP_GPS_SBF::sbf_error_map[] = {
     { AP_GPS_SBF::CONGESTION,    AP_GPS::Errors::OUTPUT_CONGESTION },
 };
 
+const AP_GPS_SBF::Auth_State_Map AP_GPS_SBF::auth_state_map[] = {
+    {0, AP_GPS::Authentication::DISABLED},
+    {1, AP_GPS::Authentication::INITIALIZING},
+    {2, AP_GPS::Authentication::INITIALIZING},
+    {3, AP_GPS::Authentication::ERROR},
+    {4, AP_GPS::Authentication::ERROR},
+    {5, AP_GPS::Authentication::ERROR},
+    {6, AP_GPS::Authentication::OK},
+};
+
 AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
                        AP_GPS::Params &_params,
                        AP_GPS::GPS_State &_state,
@@ -662,25 +672,15 @@ AP_GPS_SBF::process_message(void)
         const msg4245 &temp = sbf_msg.data.msg4245u;
         check_new_itow(temp.TOW, sbf_msg.length);
 #if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
-        switch (temp.OSNMAStatus & (uint16_t)0b111) {
-        case 0:
-            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::DISABLED);
-            break;
-        case 1:
-        case 2:
-            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::INITIALIZING);
-            break;
-        case 3:
-        case 4:
-        case 5:
-            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::ERROR);
-            break;
-        case 6:
-            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::OK);
-            break;
-        default:
-            state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN);
-            break;
+        state.authentication_state = static_cast<uint8_t>(AP_GPS::Authentication::UNKNOWN);
+
+        const uint16_t osnma_status = temp.OSNMAStatus & (uint16_t)0b111;
+
+        for (const auto &map_entry : auth_state_map) {
+            if (osnma_status == map_entry.osnma_status_code) {
+                state.authentication_state = static_cast<uint8_t>(map_entry.auth_state);
+                break; 
+            }
         }
 #endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         break;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.h b/libraries/AP_GPS/AP_GPS_SBF.h
index f22a3b892aedf..052c827f1de62 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.h
+++ b/libraries/AP_GPS/AP_GPS_SBF.h
@@ -349,12 +349,19 @@ class AP_GPS_SBF : public AP_GPS_Backend
     };
 
     struct SBF_Error_Map {
-            const uint32_t sbf_error_bit;
-            const AP_GPS::Errors ap_error_enum;
+        const uint32_t sbf_error_bit;
+        const AP_GPS::Errors ap_error_enum;
     };
 
     static const SBF_Error_Map sbf_error_map[];
 
+    struct Auth_State_Map {
+        const uint16_t osnma_status_code;
+        const AP_GPS::Authentication auth_state;
+    };
+
+    static const Auth_State_Map auth_state_map[];
+
     static constexpr const char *portIdentifiers[] = { "COM", "USB", "IP1", "NTR", "IPS", "IPR" };
     char portIdentifier[5];
     uint8_t portLength;
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index d8cfdad407c5c..6c428e1526b6e 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -122,6 +122,3 @@
 #define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
 #endif
 
-#ifndef AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
-#define AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED AP_GPS_SBF_ENABLED && HAL_GCS_ENABLED
-#endif
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
index 63397355d0350..0d816402f13ec 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
@@ -240,7 +240,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
-    MSG_GNSS_INTEGRITY,
 #if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
 #endif
@@ -378,6 +377,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if !APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
     MSG_VIBRATION,
 #endif
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
+    MSG_GNSS_INTEGRITY,
+#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 };
 
 static const ap_message STREAM_PARAMS_msgs[] = {
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 2f220c4a3a12f..b7b3dc980b26e 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -144,3 +144,7 @@
 #ifndef AP_MAVLINK_SET_GPS_GLOBAL_ORIGIN_MESSAGE_ENABLED
 #define AP_MAVLINK_SET_GPS_GLOBAL_ORIGIN_MESSAGE_ENABLED (HAL_GCS_ENABLED && AP_AHRS_ENABLED)
 #endif  // AP_MAVLINK_SET_GPS_GLOBAL_ORIGIN_MESSAGE_ENABLED
+
+#ifndef AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
+#define AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED AP_GPS_SBF_ENABLED && HAL_GCS_ENABLED
+#endif
\ No newline at end of file

From 531e2c64f4890d6b246e5afbf03cf1ece47ba4ab Mon Sep 17 00:00:00 2001
From: Tory9 <vvpost05@gmail.com>
Date: Thu, 18 Sep 2025 20:31:42 +0200
Subject: [PATCH 42/42] getters removed, has_gnss_integrity state variable
 added and send_mavlink_gnss_integrity changed accordingly

---
 libraries/AP_GPS/AP_GPS.cpp      | 14 ++++++++------
 libraries/AP_GPS/AP_GPS.h        | 26 +-------------------------
 libraries/AP_GPS/AP_GPS_SBF.cpp  |  5 +++++
 libraries/AP_GPS/AP_GPS_config.h |  3 +--
 4 files changed, 15 insertions(+), 33 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index d8e8fd36c41bc..63ac60c93adb0 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1489,13 +1489,14 @@ void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 
 #if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 void AP_GPS::send_mavlink_gnss_integrity(mavlink_channel_t chan, uint8_t instance) {
-
-    mavlink_msg_gnss_integrity_send(chan, 
+    if(state[instance].has_gnss_integrity) {
+        
+        mavlink_msg_gnss_integrity_send(chan, 
         instance,
-        get_system_errors(instance),
-        get_authentication_state(instance),
-        get_jamming_state(instance),
-        get_spoofing_state(instance),
+        state[instance].system_errors,
+        state[instance].authentication_state,
+        state[instance].jamming_state,
+        state[instance].spoofing_state,
         UINT8_MAX,  //raim_state not implemented yet
         UINT16_MAX, //raim_hfom not implemented yet
         UINT16_MAX, //raim_vfom not implemented yet
@@ -1503,6 +1504,7 @@ void AP_GPS::send_mavlink_gnss_integrity(mavlink_channel_t chan, uint8_t instanc
         UINT8_MAX,  //systems_status_summary not implemented yet
         UINT8_MAX,  //gnss_signal_quality not implemented yet
         UINT8_MAX); //post_processing_quality not implemented yet
+    } 
 }
 #endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
 
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 3884092a68d90..0e3c9cee4f128 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -287,6 +287,7 @@ class AP_GPS
 #if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
         // Integrity message information 
         // all the following fields must only all be filled by backend drivers
+        bool has_gnss_integrity;          ///< True if the receiver supports GNSS integrity msg
         uint32_t system_errors;            ///< System errors
         uint8_t authentication_state;      ///< Authentication state of GNSS signals
         uint8_t jamming_state;             ///< Jamming state of GNSS signals
@@ -704,31 +705,6 @@ class AP_GPS
     // they should be configuring the GPS to run at
     uint16_t get_rate_ms(uint8_t instance) const;
 
-#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
-    // general errors in the GNSS system
-    uint32_t get_system_errors(uint8_t instance) const {
-        return state[instance].system_errors;
-    }
-
-
-    // authentication state of GNSS signals
-    uint8_t get_authentication_state(uint8_t instance) const {
-        return state[instance].authentication_state;
-    }
-
-
-    // jamming state of GNSS signals
-    uint8_t get_jamming_state(uint8_t instance) const {
-        return state[instance].jamming_state;
-    }
-
-
-    // spoofing state of GNSS signals
-    uint8_t get_spoofing_state(uint8_t instance) const {
-        return state[instance].spoofing_state;
-    }
-#endif  // AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
-
     struct GPS_timing {
         // the time we got our last fix in system milliseconds
         uint32_t last_fix_time_ms;
diff --git a/libraries/AP_GPS/AP_GPS_SBF.cpp b/libraries/AP_GPS/AP_GPS_SBF.cpp
index 51fe48095d44a..9fafb1a83fd22 100644
--- a/libraries/AP_GPS/AP_GPS_SBF.cpp
+++ b/libraries/AP_GPS/AP_GPS_SBF.cpp
@@ -99,6 +99,11 @@ AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
     // if we ever parse RTK observations it will always be of type NED, so set it once
     state.rtk_baseline_coords_type = RTK_BASELINE_COORDINATE_SYSTEM_NED;
 
+#if AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
+    //all septentrio receivers support GNSS integrity msg
+    state.has_gnss_integrity = true;
+#endif //AP_MAVLINK_MSG_GNSS_INTEGRITY_ENABLED
+
     // yaw available when option bit set or using dual antenna
     if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw) ||
         (get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA)) {
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 6c428e1526b6e..4a5a75e12881e 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -120,5 +120,4 @@
 
 #ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
 #define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
-#endif
-
+#endif
\ No newline at end of file