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PX4 · Sep 30, 2024 · 5d1c357 · 5d1c357
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diff --git a/...ompanion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.jpg b/...ompanion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.jpg
diff --git a/...ompanion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.png b/...ompanion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.png
diff --git a/...panion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.jpg b/...panion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.jpg
diff --git a/...panion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.png b/...panion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.png
diff --git a/en/advanced_config/parameter_reference.md b/en/advanced_config/parameter_reference.md
diff --git a/en/airframes/airframe_reference.md b/en/airframes/airframe_reference.md
@@ -611,6 +611,10 @@ div.frame_variant td, div.frame_variant th {
  <td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
  <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
 </tr>
+<tr id="rover_rover_generic_rover_mecanum">
+ <td>Generic Rover Mecanum</td>
+ <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 52000</p></td>
+</tr>
 <tr id="rover_rover_generic_ground_vehicle_(deprecated)">
  <td>Generic Ground Vehicle (Deprecated)</td>
  <td><p><code>SYS_AUTOSTART</code> = 59000</p><p><b>Specific Outputs:</b><ul><li><b>Motor1</b>: throttle</li><li><b>Servo1</b>: steering</li></ul></p></td>

diff --git a/en/companion_computer/holybro_pixhawk_jetson_baseboard.md b/en/companion_computer/holybro_pixhawk_jetson_baseboard.md
@@ -643,7 +643,7 @@ Some of the more common wiring configurations are shown below.
 
 This configuration demonstrating how to power both the Pixhawk and Jetson parts using a 3S/4S battery (output below 21V).
 
-![Power wiring - using one 3s or 4s battery](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.png)
+![Power wiring - using one 3s or 4s battery](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/power1_one_battery_3s_4s.jpg)
 
 #### 5S battery and greater (with UBEC)
 
@@ -656,7 +656,7 @@ Depending on your power needs, you might also use this (or another UBEC) for pro
 
 This configuration shows how you can use a separate battery to supply an appropriate voltage to the Jetson instead of regulating the supply from a large battery as shown in above.
 
-![Power wiring - two batteries no Ubec](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.png)
+![Power wiring - two batteries no Ubec](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/power3_two_battery_no_ubec.jpg)
 
 #### Using the Power Adapter
 

diff --git a/en/getting_started/px4_basic_concepts.md b/en/getting_started/px4_basic_concepts.md
@@ -83,7 +83,7 @@ You can download it (for free) from [here](http://qgroundcontrol.com/downloads/)
 
 ![QGC Main Screen](../../assets/concepts/qgc_fly_view.png)
 
-QGroundControl communicates with the drone using a telmetry radio (a bidirectional data link), which allows you to get real-time flight and safety information, and to control the vehicle, camera, and other payloads using a point-and-click interface.
+QGroundControl communicates with the drone using a telemetry radio (a bidirectional data link), which allows you to get real-time flight and safety information, and to control the vehicle, camera, and other payloads using a point-and-click interface.
 On hardware that supports them, you can also manually fly the vehicle using joystick controllers.
 QGC can also be used to visually plan, execute, and monitor autonomous missions, set geofences, and much more.
 
@@ -273,7 +273,7 @@ Flight controllers that do not include an SD Card slot may:
 Payloads are equipment carried by the vehicle to meet user or mission objectives, such as cameras in surveying missions, instruments used in for inspections such as radiation detectors, and cargo that needs to be delivered.
 PX4 supports many cameras and a wide range of payloads.
 
-Payloads are connected to [Fight Controller outputs](#outputs-motors-servos-actuators), and can be triggered automatically in missions, or manually from an RC Controller or Joystick, or from a Ground Station (via MAVLink/MAVSDK commands).
+Payloads are connected to [Flight Controller outputs](#outputs-motors-servos-actuators), and can be triggered automatically in missions, or manually from an RC Controller or Joystick, or from a Ground Station (via MAVLink/MAVSDK commands).
 
 For more information see: [Payloads & Cameras](../payloads/index.md)
 

diff --git a/en/modules/modules_controller.md b/en/modules/modules_controller.md
@@ -270,6 +270,24 @@ rover_differential <command> [arguments...]
 
    status        print status info
 ```
+## rover_mecanum
+Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
+
+
+### Description
+Rover Mecanum controller.
+
+<a id="rover_mecanum_usage"></a>
+### Usage
+```
+rover_mecanum <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
 ## rover_pos_control
 Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
 

diff --git a/en/modules/modules_driver.md b/en/modules/modules_driver.md
@@ -1500,6 +1500,21 @@ uwb <command> [arguments...]
 
    status
 ```
+## vertiq_io
+Source: [drivers/actuators/vertiq_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/actuators/vertiq_io)
+
+<a id="vertiq_io_usage"></a>
+### Usage
+```
+vertiq_io <command> [arguments...]
+ Commands:
+   start
+     <device>    UART device
+
+   stop
+
+   status        print status info
+```
 ## voxl2_io
 Source: [drivers/voxl2_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/voxl2_io)
 

diff --git a/en/msg_docs/FailsafeFlags.md b/en/msg_docs/FailsafeFlags.md
@@ -48,7 +48,7 @@ bool manual_control_signal_lost       # Manual control (RC) signal lost
 bool gcs_connection_lost              # GCS connection lost
 
 # Battery
-uint8 battery_warning                 # Battery warning level
+uint8 battery_warning                 # Battery warning level (see BatteryStatus.msg)
 bool battery_low_remaining_time       # Low battery based on remaining flight time
 bool battery_unhealthy                # Battery unhealthy
 

diff --git a/en/msg_docs/RoverMecanumGuidanceStatus.md b/en/msg_docs/RoverMecanumGuidanceStatus.md
@@ -0,0 +1,16 @@
+# RoverMecanumGuidanceStatus (UORB message)
+
+
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumGuidanceStatus.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error      # [rad] Heading error of the pure pursuit controller
+float32 desired_speed      # [m/s] Desired velocity magnitude (speed)
+
+# TOPICS rover_mecanum_guidance_status
+
+```
diff --git a/en/msg_docs/RoverMecanumSetpoint.md b/en/msg_docs/RoverMecanumSetpoint.md
@@ -0,0 +1,20 @@
+# RoverMecanumSetpoint (UORB message)
+
+
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumSetpoint.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint            # [m/s] Desired forward speed
+float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
+float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
+float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
+float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
+float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
+float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)
+
+# TOPICS rover_mecanum_setpoint
+
+```
diff --git a/en/msg_docs/RoverMecanumStatus.md b/en/msg_docs/RoverMecanumStatus.md
@@ -0,0 +1,22 @@
+# RoverMecanumStatus (UORB message)
+
+
+
+[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumStatus.msg)
+
+```c
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_forward_speed        # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 measured_lateral_speed        # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 adjusted_yaw_rate_setpoint    # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
+float32 measured_yaw_rate  	      # [rad/s] Measured yaw rate
+float32 measured_yaw        	      # [rad] Measured yaw
+float32 pid_yaw_rate_integral  	      # Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_integral       	      # Integral of the PID for the closed loop yaw controller
+float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
+float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
+
+# TOPICS rover_mecanum_status
+
+```
diff --git a/en/msg_docs/VehicleCommand.md b/en/msg_docs/VehicleCommand.md
@@ -90,6 +90,7 @@ uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401      	# Instructs a target system to
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
 uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
 uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
+uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521     # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|  */
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532

diff --git a/en/msg_docs/index.md b/en/msg_docs/index.md
@@ -173,6 +173,9 @@ This are the three next waypoints (or just the next two or one).
 - [RoverDifferentialGuidanceStatus](RoverDifferentialGuidanceStatus.md)
 - [RoverDifferentialSetpoint](RoverDifferentialSetpoint.md)
 - [RoverDifferentialStatus](RoverDifferentialStatus.md)
+- [RoverMecanumGuidanceStatus](RoverMecanumGuidanceStatus.md)
+- [RoverMecanumSetpoint](RoverMecanumSetpoint.md)
+- [RoverMecanumStatus](RoverMecanumStatus.md)
 - [Rpm](Rpm.md)
 - [RtlStatus](RtlStatus.md)
 - [RtlTimeEstimate](RtlTimeEstimate.md)

diff --git a/public/config/failsafe/index.html b/public/config/failsafe/index.html
diff --git a/public/config/failsafe/index.js b/public/config/failsafe/index.js
diff --git a/public/config/failsafe/index.wasm b/public/config/failsafe/index.wasm
diff --git a/public/config/failsafe/parameters.json b/public/config/failsafe/parameters.json
diff --git a/public/middleware/graph_full.json b/public/middleware/graph_full.json
diff --git a/public/middleware/graph_full_no_mavlink.json b/public/middleware/graph_full_no_mavlink.json
diff --git a/public/middleware/graph_px4_fmu-v2.json b/public/middleware/graph_px4_fmu-v2.json
diff --git a/public/middleware/graph_px4_fmu-v4.json b/public/middleware/graph_px4_fmu-v4.json
diff --git a/public/middleware/graph_px4_fmu-v5.json b/public/middleware/graph_px4_fmu-v5.json
diff --git a/public/middleware/graph_px4_sitl.json b/public/middleware/graph_px4_sitl.json