diff --git a/.clang-format b/.clang-format
index 658337b50c55..82bec87eac12 100644
--- a/.clang-format
+++ b/.clang-format
@@ -56,11 +56,11 @@ SpacesInSquareBrackets: false
 SortIncludes: CaseSensitive
 IncludeBlocks: Regroup
 IncludeCategories:
-  - Regex: '^<Q.*>'  # Qt headers
+  - Regex: '^<[a-z].*>'  # System/STL headers
     Priority: 1
-  - Regex: '^<.*>'   # System/STL headers
+  - Regex: '^<Q.*>'      # Qt headers
     Priority: 2
-  - Regex: '.*'      # Project headers
+  - Regex: '.*'           # Project headers
     Priority: 3
 
 # Alignment
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index fe988a0c97ec..cb99286f0fda 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -11,5 +11,8 @@
 # *.qml @DonLakeFlyer
 
 # Build system
-# CMakeLists.txt @HTRamsey
-# /cmake/ @HTRamsey
+CMakeLists.txt @HTRamsey
+/cmake/ @HTRamsey
+
+# CI/CD
+/.github/ @HTRamsey
diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md
index fd7ae9286829..58932ef48a3f 100644
--- a/.github/CONTRIBUTING.md
+++ b/.github/CONTRIBUTING.md
@@ -89,7 +89,7 @@ QGroundControl uses [Crowdin](https://crowdin.com/project/qgroundcontrol) for co
 
    ```bash
    git add .
-   git commit -m "Add feature: brief description"
+   git commit -m "feat: brief description"
    ```
 
 6. **Push to your fork**
@@ -104,62 +104,7 @@ QGroundControl uses [Crowdin](https://crowdin.com/project/qgroundcontrol) for co
 
 ## Coding Standards
 
-For the complete coding style guide with examples, see [CODING_STYLE.md](../CODING_STYLE.md).
-
-### C++ Guidelines
-
-- **Standard**: C++20
-- **Framework**: Qt 6 guidelines
-- **Naming Conventions**:
-  - Classes: `PascalCase`
-  - Methods/functions: `camelCase`
-  - Private members: `_leadingUnderscore`
-  - Constants: `ALL_CAPS` or `kPascalCase`
-
-- **Always use braces** for if/else/for/while statements
-
-  ```cpp
-  // Good
-  if (condition) {
-      doSomething();
-  }
-
-  // Bad
-  if (condition) doSomething();
-  ```
-
-- **Defensive coding**:
-  - Always null-check pointers before use
-  - Validate all inputs
-  - Use Q_ASSERT for debug-build development checks only (compiled out in release builds)
-  - Always use defensive error handling in production code paths (never rely on Q_ASSERT)
-  - Handle errors gracefully in production code
-
-- **Code formatting**:
-  - Run `clang-format` before committing
-  - Follow `.clang-format`, `.clang-tidy`, `.editorconfig` in repo root
-  - See `CodingStyle.h`, `CodingStyle.cc`, `CodingStyle.qml` for examples
-  - 4 spaces for indentation (no tabs)
-
-### QML Guidelines
-
-- Follow Qt QML coding conventions
-- Use type annotations
-- Prefer declarative over imperative code
-- See `src/QmlControls/QGCButton.qml` for examples
-
-### Logging
-
-Use Qt logging categories:
-
-```cpp
-Q_DECLARE_LOGGING_CATEGORY(MyComponentLog)
-QGC_LOGGING_CATEGORY(MyComponentLog, "qgc.component.name")
-
-qCDebug(MyComponentLog) << "Debug message:" << value;
-qCWarning(MyComponentLog) << "Warning message";
-qCCritical(MyComponentLog) << "Critical error";
-```
+Follow [CODING_STYLE.md](../CODING_STYLE.md) for naming, formatting, C++20 features, QML style, and logging conventions. Run `clang-format` and `pre-commit run` before committing.
 
 ### Architecture Patterns
 
diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
index a81ac38a42a5..4f9d9b726a9a 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -79,7 +79,7 @@ body:
       label: System Information
       description: |
         Please include the following information:
-        - QGC Version: [e.g. 4.4.0]
+        - QGC Version: [e.g. 5.0.0]
         - QGC build: [e.g. daily, stable, self-built from source, etc...]
         - Operating System: [e.g. Windows 11, Ubuntu 22.04, macOS 15, iOS 17 ]
         - Flight Controller: [e.g. CubePilot Cube Orange, Pixhawk 6X, etc.]
diff --git a/.github/actions/attest-and-upload/action.yml b/.github/actions/attest-and-upload/action.yml
new file mode 100644
index 000000000000..1a86600caccc
--- /dev/null
+++ b/.github/actions/attest-and-upload/action.yml
@@ -0,0 +1,59 @@
+name: Attest and Upload
+description: Generate SBOM attestation and upload build artifact
+
+inputs:
+  artifact-name:
+    description: 'Artifact filename (e.g. QGroundControl.AppImage)'
+    required: true
+  package-name:
+    description: 'Package name for GitHub artifact'
+    required: true
+  scan-path:
+    description: 'Path to scan for SBOM (defaults to build dir)'
+    required: false
+    default: ''
+  subject-name:
+    description: 'SBOM subject name (defaults to package-name)'
+    required: false
+    default: ''
+  aws-role-arn:
+    description: 'AWS IAM role ARN for OIDC authentication'
+    required: false
+    default: ''
+  aws-key-id:
+    description: 'AWS access key ID'
+    required: false
+    default: ''
+  aws-secret-access-key:
+    description: 'AWS secret access key'
+    required: false
+    default: ''
+  aws-distribution-id:
+    description: 'AWS CloudFront distribution ID'
+    required: false
+    default: ''
+  upload-aws:
+    description: 'Upload artifact to AWS'
+    required: false
+    default: 'true'
+
+runs:
+  using: composite
+  steps:
+    - name: Attest Build with SBOM
+      uses: ./.github/actions/attest-sbom
+      with:
+        subject-path: ${{ runner.temp }}/build/${{ inputs.artifact-name }}
+        subject-name: ${{ inputs.subject-name || inputs.package-name }}
+        scan-path: ${{ inputs.scan-path || format('{0}/build', runner.temp) }}
+
+    - name: Upload Build File
+      uses: ./.github/actions/upload
+      with:
+        artifact-name: ${{ inputs.artifact-name }}
+        package-name: ${{ inputs.package-name }}
+        aws-role-arn: ${{ inputs.aws-role-arn }}
+        aws-key-id: ${{ inputs.aws-key-id }}
+        aws-secret-access-key: ${{ inputs.aws-secret-access-key }}
+        aws-distribution-id: ${{ inputs.aws-distribution-id }}
+        upload-aws: ${{ inputs.upload-aws }}
diff --git a/.github/actions/attest-condition/action.yml b/.github/actions/attest-condition/action.yml
deleted file mode 100644
index 50e34f613198..000000000000
--- a/.github/actions/attest-condition/action.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-name: Attestation Condition Check
-description: Check if attestation should be performed (shared logic for attest actions)
-
-inputs:
-  subject-path:
-    description: "Path to the artifact to attest"
-    required: true
-  condition:
-    description: "Additional condition (for example matrix.build_type == Release)"
-    required: false
-    default: "true"
-
-outputs:
-  skip:
-    description: "Whether to skip attestation (true/false)"
-    value: ${{ steps.check.outputs.skip }}
-
-runs:
-  using: composite
-  steps:
-    - name: Check attestation conditions
-      id: check
-      shell: bash
-      env:
-        EVENT_NAME: ${{ github.event_name }}
-        PR_REPO: ${{ github.event.pull_request.head.repo.full_name }}
-        THIS_REPO: ${{ github.repository }}
-        CONDITION: ${{ inputs.condition }}
-        SUBJECT_PATH: ${{ inputs.subject-path }}
-      run: |
-        set -euo pipefail
-
-        # Skip for external PRs (no repo permissions for attestations).
-        if [[ "${EVENT_NAME}" == "pull_request" ]]; then
-          if [[ "${PR_REPO}" != "${THIS_REPO}" ]]; then
-            echo "skip=true" >> "${GITHUB_OUTPUT}"
-            echo "Skipping attestation for external PR"
-            exit 0
-          fi
-        fi
-
-        if [[ "${CONDITION}" != "true" ]]; then
-          echo "skip=true" >> "${GITHUB_OUTPUT}"
-          echo "Skipping attestation: condition not met"
-          exit 0
-        fi
-
-        if [[ ! -e "${SUBJECT_PATH}" ]]; then
-          echo "skip=true" >> "${GITHUB_OUTPUT}"
-          echo "::warning::Artifact not found: ${SUBJECT_PATH}"
-          exit 0
-        fi
-
-        echo "skip=false" >> "${GITHUB_OUTPUT}"
-        echo "Will attest: ${SUBJECT_PATH}"
diff --git a/.github/actions/attest-sbom/action.yml b/.github/actions/attest-sbom/action.yml
index 28d16c03689b..4c480ef32bb6 100644
--- a/.github/actions/attest-sbom/action.yml
+++ b/.github/actions/attest-sbom/action.yml
@@ -25,52 +25,29 @@ outputs:
 runs:
   using: composite
   steps:
-    - name: Check attestation conditions
+    - name: Check attestation conditions and resolve paths
       id: check
-      uses: ./.github/actions/attest-condition
-      with:
-        subject-path: ${{ inputs.subject-path }}
-
-    - name: Determine scan path
-      id: paths
-      if: steps.check.outputs.skip != 'true'
       shell: bash
       env:
-        SUBJECT_PATH: ${{ inputs.subject-path }}
-        SCAN_PATH: ${{ inputs.scan-path }}
-        SBOM_FORMAT: ${{ inputs.sbom-format }}
-        RUNNER_TEMP_DIR: ${{ runner.temp }}
-        SUBJECT_NAME: ${{ inputs.subject-name }}
+        EVENT_NAME: ${{ github.event_name }}
+        PR_REPO: ${{ github.event.pull_request.head.repo.full_name }}
+        THIS_REPO: ${{ github.repository }}
       run: |
-        set -euo pipefail
-
-        subject_path="${SUBJECT_PATH}"
-        scan_path="${SCAN_PATH}"
-
-        if [[ -z "${scan_path}" ]]; then
-          scan_path="$(dirname "${subject_path}")"
-        fi
-
-        if [[ "${SBOM_FORMAT}" == "cyclonedx-json" ]]; then
-          suffix="cdx.json"
-        else
-          suffix="spdx.json"
-        fi
-        sbom_path="${RUNNER_TEMP_DIR}/${SUBJECT_NAME}.sbom.${suffix}"
-
-        echo "scan-path=${scan_path}" >> "${GITHUB_OUTPUT}"
-        echo "sbom-path=${sbom_path}" >> "${GITHUB_OUTPUT}"
-        echo "Scan path: ${scan_path}"
-        echo "SBOM path: ${sbom_path}"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/attest_helper.py" \
+          --subject-path "${{ inputs.subject-path }}" \
+          --subject-name "${{ inputs.subject-name }}" \
+          --scan-path "${{ inputs.scan-path }}" \
+          --sbom-format "${{ inputs.sbom-format }}" \
+          --runner-temp "${{ runner.temp }}"
 
     - name: Generate SBOM
       id: sbom
       if: steps.check.outputs.skip != 'true'
       uses: anchore/sbom-action@v0
       with:
-        path: ${{ steps.paths.outputs.scan-path }}
+        path: ${{ steps.check.outputs.scan-path }}
         format: ${{ inputs.sbom-format }}
-        output-file: ${{ steps.paths.outputs.sbom-path }}
+        output-file: ${{ steps.check.outputs.sbom-path }}
         upload-artifact: true
         upload-artifact-retention: 30
         artifact-name: sbom-${{ inputs.subject-name }}
@@ -86,4 +63,4 @@ runs:
       uses: actions/attest-sbom@v3
       with:
         subject-path: ${{ inputs.subject-path }}
-        sbom-path: ${{ steps.paths.outputs.sbom-path }}
+        sbom-path: ${{ steps.check.outputs.sbom-path }}
diff --git a/.github/actions/aws-upload/action.yml b/.github/actions/aws-upload/action.yml
index 6aa7fa8de200..a6d2c33b6aa0 100644
--- a/.github/actions/aws-upload/action.yml
+++ b/.github/actions/aws-upload/action.yml
@@ -2,29 +2,29 @@ name: AWS Upload
 description: Upload release artifacts to AWS S3 and invalidate CloudFront cache
 
 inputs:
-  artifact_name:
+  artifact-name:
     description: Artifact filename to upload
     required: true
-  artifact_path:
+  artifact-path:
     description: Path to artifact file
     required: true
-  aws_key_id:
+  aws-key-id:
     description: AWS access key ID
     required: false
-  aws_secret_access_key:
+  aws-secret-access-key:
     description: AWS secret access key
     required: false
-  aws_role_arn:
+  aws-role-arn:
     description: AWS IAM role ARN for OIDC authentication (preferred over static credentials)
     required: false
-  aws_distribution_id:
+  aws-distribution-id:
     description: AWS CloudFront distribution ID (optional, for cache invalidation)
     required: false
-  aws_region:
+  aws-region:
     description: AWS region
     required: false
     default: 'us-west-2'
-  s3_bucket:
+  s3-bucket:
     description: S3 bucket name
     required: false
     default: 'qgroundcontrol'
@@ -32,78 +32,62 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Validate credentials
+    - name: Validate credentials and artifact
       shell: bash
       env:
-        AWS_ROLE_ARN: ${{ inputs.aws_role_arn }}
-        AWS_KEY_ID: ${{ inputs.aws_key_id }}
-        AWS_SECRET_KEY: ${{ inputs.aws_secret_access_key }}
+        AWS_ROLE_ARN: ${{ inputs.aws-role-arn }}
+        AWS_KEY_ID: ${{ inputs.aws-key-id }}
+        AWS_SECRET_KEY: ${{ inputs.aws-secret-access-key }}
       run: |
-        if [[ -z "$AWS_ROLE_ARN" && ( -z "$AWS_KEY_ID" || -z "$AWS_SECRET_KEY" ) ]]; then
-          echo "::error::Either aws_role_arn (OIDC) or both aws_key_id and aws_secret_access_key (static credentials) must be provided"
-          exit 1
-        fi
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/aws_upload.py" validate \
+          --role-arn "${AWS_ROLE_ARN:-}" \
+          --key-id "${AWS_KEY_ID:-}" \
+          --secret-key "${AWS_SECRET_KEY:-}" \
+          --artifact-path "${{ inputs.artifact-path }}" \
+          --artifact-name "${{ inputs.artifact-name }}"
 
     - name: Configure AWS Credentials (OIDC)
-      if: inputs.aws_role_arn != ''
-      uses: aws-actions/configure-aws-credentials@v4
+      if: inputs.aws-role-arn != ''
+      uses: aws-actions/configure-aws-credentials@v6
       with:
-        role-to-assume: ${{ inputs.aws_role_arn }}
-        aws-region: ${{ inputs.aws_region }}
+        role-to-assume: ${{ inputs.aws-role-arn }}
+        aws-region: ${{ inputs.aws-region }}
 
     - name: Configure AWS Credentials (Static)
-      if: inputs.aws_role_arn == '' && inputs.aws_key_id != ''
-      uses: aws-actions/configure-aws-credentials@v4
+      if: inputs.aws-role-arn == '' && inputs.aws-key-id != ''
+      uses: aws-actions/configure-aws-credentials@v6
       with:
-        aws-access-key-id: ${{ inputs.aws_key_id }}
-        aws-secret-access-key: ${{ inputs.aws_secret_access_key }}
-        aws-region: ${{ inputs.aws_region }}
+        aws-access-key-id: ${{ inputs.aws-key-id }}
+        aws-secret-access-key: ${{ inputs.aws-secret-access-key }}
+        aws-region: ${{ inputs.aws-region }}
 
     - name: Upload to S3 builds folder
       shell: bash
-      env:
-        ARTIFACT_PATH: ${{ inputs.artifact_path }}
-        S3_BUCKET: ${{ inputs.s3_bucket }}
-        REF_NAME: ${{ github.ref_name }}
-        ARTIFACT_NAME: ${{ inputs.artifact_name }}
       run: |
-        # Validate artifact path exists and is a file
-        if [[ ! -f "$ARTIFACT_PATH" ]]; then
-          echo "Error: Artifact not found: $ARTIFACT_PATH" >&2
-          exit 1
-        fi
-
-        # Validate artifact name contains only safe characters (no path separators)
-        if [[ "$ARTIFACT_NAME" =~ [/\\] ]] || [[ "$ARTIFACT_NAME" =~ \.\. ]]; then
-          echo "Error: Invalid artifact name (contains path separators): $ARTIFACT_NAME" >&2
-          exit 1
-        fi
-
-        # Sanitize ref name - remove path traversal attempts and special chars
-        SAFE_REF_NAME=$(echo "$REF_NAME" | sed 's/\.\.//g' | sed 's/[^a-zA-Z0-9._-]/_/g')
-        # Intentional: public-read for distributing release builds to users.
-        aws s3 cp "$ARTIFACT_PATH" \
-          "s3://${S3_BUCKET}/builds/${SAFE_REF_NAME}/${ARTIFACT_NAME}" \
-          --acl public-read
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/aws_upload.py" upload \
+          --artifact-path "${{ inputs.artifact-path }}" \
+          --artifact-name "${{ inputs.artifact-name }}" \
+          --ref-name "${{ github.ref_name }}" \
+          --s3-bucket "${{ inputs.s3-bucket }}"
 
     - name: Upload to S3 latest folder
       if: github.ref_type == 'tag'
       shell: bash
       env:
-        ARTIFACT_PATH: ${{ inputs.artifact_path }}
-        S3_BUCKET: ${{ inputs.s3_bucket }}
-        ARTIFACT_NAME: ${{ inputs.artifact_name }}
+        ARTIFACT_PATH: ${{ inputs.artifact-path }}
+        S3_BUCKET: ${{ inputs.s3-bucket }}
+        ARTIFACT_NAME: ${{ inputs.artifact-name }}
       run: |
         aws s3 cp "$ARTIFACT_PATH" \
           "s3://${S3_BUCKET}/latest/${ARTIFACT_NAME}" \
           --acl public-read
 
     - name: Invalidate CloudFront cache
-      if: github.ref_type == 'tag' && inputs.aws_distribution_id != ''
+      if: github.ref_type == 'tag' && inputs.aws-distribution-id != ''
       shell: bash
       env:
-        DISTRIBUTION_ID: ${{ inputs.aws_distribution_id }}
-        ARTIFACT_NAME: ${{ inputs.artifact_name }}
+        DISTRIBUTION_ID: ${{ inputs.aws-distribution-id }}
+        ARTIFACT_NAME: ${{ inputs.artifact-name }}
       run: |
         aws cloudfront create-invalidation \
           --distribution-id "$DISTRIBUTION_ID" \
diff --git a/.github/actions/benchmark-runner/action.yml b/.github/actions/benchmark-runner/action.yml
index 195659e38903..3afa6b55d995 100644
--- a/.github/actions/benchmark-runner/action.yml
+++ b/.github/actions/benchmark-runner/action.yml
@@ -26,16 +26,7 @@ runs:
         INPUT_OUTPUT_FILE: ${{ inputs.output-file }}
         INPUT_QT_PLATFORM: ${{ inputs.qt-platform }}
       run: |
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd="python3"
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd="python"
-        else
-          echo "Error: Python interpreter not found in PATH" >&2
-          exit 1
-        fi
-
-        "${py_cmd}" "${GITHUB_WORKSPACE}/.github/scripts/benchmark_runner.py" \
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/benchmark_runner.py" \
           --binary "$INPUT_BINARY_PATH" \
           --filter "$INPUT_TEST_FILTER" \
           --output "$INPUT_OUTPUT_FILE" \
diff --git a/.github/actions/build-config/action.yml b/.github/actions/build-config/action.yml
index ecba81a47b8d..4fc098481acb 100644
--- a/.github/actions/build-config/action.yml
+++ b/.github/actions/build-config/action.yml
@@ -23,6 +23,9 @@ outputs:
   gstreamer_windows_version:
     description: GStreamer version (Windows)
     value: ${{ steps.read.outputs.gstreamer_windows_version }}
+  ndk_version:
+    description: Android NDK version (short form)
+    value: ${{ steps.read.outputs.ndk_version }}
   ndk_full_version:
     description: Android NDK version (full form for sdkmanager)
     value: ${{ steps.read.outputs.ndk_full_version }}
@@ -50,6 +53,9 @@ outputs:
   ios_deployment_target:
     description: iOS deployment target version
     value: ${{ steps.read.outputs.ios_deployment_target }}
+  platform_workflows:
+    description: Comma-separated platform workflow names
+    value: ${{ steps.read.outputs.platform_workflows }}
 
 runs:
   using: composite
diff --git a/.github/actions/build-setup/action.yml b/.github/actions/build-setup/action.yml
index 70b310a61ecf..2d5299b2175d 100644
--- a/.github/actions/build-setup/action.yml
+++ b/.github/actions/build-setup/action.yml
@@ -25,14 +25,23 @@ inputs:
     required: false
     default: "Release"
   save-cache:
-    description: Whether to save cache (typically false for PRs)
+    description: "Whether to save cache (auto = save for pushes and same-repo PRs, skip for fork PRs)"
     required: false
-    default: "false"
+    default: "auto"
 
 outputs:
   gstreamer_windows_version:
     description: GStreamer version for Windows
     value: ${{ steps.config.outputs.gstreamer_windows_version }}
+  qt_modules:
+    description: Qt modules used for this build
+    value: ${{ inputs.qt-modules || steps.config.outputs.qt_modules }}
+  qt_root_dir:
+    description: Installed Qt root directory
+    value: ${{ steps.qt.outputs.qt_root_dir }}
+  qt_version:
+    description: Resolved Qt version for this build
+    value: ${{ inputs.qt-version || steps.config.outputs.qt_version }}
   xcode_version:
     description: Xcode version for macOS
     value: ${{ steps.config.outputs.xcode_version }}
@@ -61,6 +70,7 @@ runs:
         save-cache: ${{ inputs.save-cache }}
 
     - name: Install Qt
+      id: qt
       uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.qt-version || steps.config.outputs.qt_version }}
diff --git a/.github/actions/cache/action.yml b/.github/actions/cache/action.yml
index 2bc911cf30a3..7fbd95ce13f2 100644
--- a/.github/actions/cache/action.yml
+++ b/.github/actions/cache/action.yml
@@ -14,12 +14,28 @@ inputs:
     description: Path to CPM Modules
     required: false
   save-cache:
-    description: Save cache (set to false for PR builds to save storage)
+    description: "Whether to save cache (auto = save for pushes and same-repo PRs, skip for fork PRs)"
     required: false
-    default: 'true'
+    default: 'auto'
 runs:
   using: composite
   steps:
+    - name: Resolve save-cache
+      id: cache-policy
+      shell: bash
+      env:
+        EVENT_NAME: ${{ github.event_name }}
+        PR_REPO: ${{ github.event.pull_request.head.repo.full_name }}
+        THIS_REPO: ${{ github.repository }}
+      run: |
+        save="$(python3 -c "
+        import os, sys
+        sys.path.insert(0, os.path.join(os.environ['GITHUB_WORKSPACE'], 'tools'))
+        from common.gh_actions import resolve_cache_policy
+        print(resolve_cache_policy('${{ inputs.save-cache }}'))
+        ")"
+        echo "save=${save}" >> "$GITHUB_OUTPUT"
+
     - name: Determine cache scope
       id: cache-scope
       shell: bash
@@ -27,65 +43,15 @@ runs:
         EVENT_NAME: ${{ github.event_name }}
         REF_NAME: ${{ github.ref_name }}
         PR_NUMBER: ${{ github.event.pull_request.number }}
-      run: |
-        scope="shared"
-        case "${EVENT_NAME}" in
-          pull_request)
-            scope="pr-${PR_NUMBER:-unknown}"
-            ;;
-          workflow_dispatch)
-            scope="manual-${REF_NAME}"
-            ;;
-          push)
-            if [[ "${REF_NAME}" != "master" ]]; then
-              scope="branch-${REF_NAME}"
-            fi
-            ;;
-          *)
-            scope="${EVENT_NAME}-${REF_NAME}"
-            ;;
-        esac
-        scope="${scope//\//-}"
-        echo "scope=${scope}" >> "$GITHUB_OUTPUT"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" scope --event-name "${EVENT_NAME}" --ref-name "${REF_NAME}" --pr-number "${PR_NUMBER:-}"
 
     - name: Get ccache config
       id: ccache-config
       shell: bash
-      env:
-        INPUT_TARGET: ${{ inputs.target }}
-        WORKSPACE: ${{ github.workspace }}
       run: |
-        # Requires setup-python from common/action.yml
-        if command -v python3 >/dev/null 2>&1; then
-          PY_CMD="python3"
-        elif command -v python >/dev/null 2>&1; then
-          PY_CMD="python"
-        else
-          echo "Error: Python not found in PATH" >&2
-          exit 1
-        fi
-
-        # Pin ccache version for reproducibility and to avoid API calls
-        # Update periodically via Dependabot or manually
-        CCACHE_VERSION="4.12.3"
-
-        # Validate version format (defense in depth)
-        if [[ ! "$CCACHE_VERSION" =~ ^[0-9]+\.[0-9]+(\.[0-9]+)?$ ]]; then
-          echo "Error: Invalid ccache version format: $CCACHE_VERSION" >&2
-          exit 1
-        fi
-
-        if [[ "${INPUT_TARGET}" == "linux_gcc_arm64" ]]; then
-          arch="aarch64"
-        else
-          arch="x86_64"
-        fi
-
-        "${PY_CMD}" "${WORKSPACE}/.github/scripts/install_ccache.py" \
-          --version "${CCACHE_VERSION}" \
-          --arch "${arch}" \
-          --config "${WORKSPACE}/tools/configs/ccache.conf" \
-          --output-only
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" config \
+          --target "${{ inputs.target }}" \
+          --conf "${GITHUB_WORKSPACE}/tools/configs/ccache.conf"
 
     - name: Cache ccache binary (Linux)
       if: runner.os == 'Linux'
@@ -98,84 +64,59 @@ runs:
     - name: Install ccache (Linux)
       if: runner.os == 'Linux' && steps.ccache-binary.outputs.cache-hit != 'true'
       shell: bash
-      env:
-        WORKSPACE: ${{ github.workspace }}
-        CCACHE_VER: ${{ steps.ccache-config.outputs.version }}
-        CCACHE_ARCH: ${{ steps.ccache-config.outputs.arch }}
       run: |
-        if command -v python3 >/dev/null 2>&1; then
-          PY_CMD="python3"
-        elif command -v python >/dev/null 2>&1; then
-          PY_CMD="python"
-        else
-          echo "Error: Python not found in PATH" >&2
-          exit 1
-        fi
-        "${PY_CMD}" "${WORKSPACE}/.github/scripts/install_ccache.py" \
-          --version "${CCACHE_VER}" \
-          --arch "${CCACHE_ARCH}" \
-          --install
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" install \
+          --version "${{ steps.ccache-config.outputs.version }}" \
+          --arch "${{ steps.ccache-config.outputs.arch }}"
 
-    - name: Setup sccache (Windows x64)
-      if: runner.os == 'Windows' && inputs.target != 'android' && inputs.host != 'windows_arm64'
-      uses: mozilla-actions/sccache-action@v0.0.9
+    - name: Install ccache (macOS)
+      if: runner.os == 'macOS'
+      shell: bash
+      run: |
+        if ! command -v ccache >/dev/null 2>&1; then
+          brew install ccache
+        fi
+        ccache --version
 
-    - name: Enable sccache GHA cache backend
-      if: runner.os == 'Windows' && inputs.target != 'android' && inputs.host != 'windows_arm64'
+    - name: Determine Windows ccache arch
+      if: runner.os == 'Windows'
+      id: win-ccache
       shell: bash
-      run: echo "SCCACHE_GHA_ENABLED=true" >> "$GITHUB_ENV"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" windows-config --host "${{ inputs.host }}" --target "${{ inputs.target }}"
 
-    - name: Cache ccache binary (Windows ARM64)
-      if: runner.os == 'Windows' && inputs.host == 'windows_arm64'
-      id: ccache-binary-win-arm64
+    - name: Cache ccache binary (Windows)
+      if: runner.os == 'Windows'
+      id: ccache-binary-win
       uses: actions/cache@v5
       with:
-        path: ${{ runner.temp }}/ccache-${{ steps.ccache-config.outputs.version }}-windows-aarch64/ccache.exe
-        key: ccache-binary-${{ steps.ccache-config.outputs.version }}-windows-aarch64
+        path: ${{ runner.temp }}/ccache-${{ steps.ccache-config.outputs.version }}-windows-${{ steps.win-ccache.outputs.arch }}/ccache.exe
+        key: ccache-binary-${{ steps.ccache-config.outputs.version }}-windows-${{ steps.win-ccache.outputs.arch }}
 
-    - name: Install ccache (Windows ARM64)
-      if: runner.os == 'Windows' && inputs.host == 'windows_arm64' && steps.ccache-binary-win-arm64.outputs.cache-hit != 'true'
+    - name: Install ccache (Windows)
+      if: runner.os == 'Windows' && steps.ccache-binary-win.outputs.cache-hit != 'true'
       shell: bash
       env:
         CCACHE_VERSION: ${{ steps.ccache-config.outputs.version }}
+        CCACHE_ARCH: ${{ steps.win-ccache.outputs.arch }}
+        CCACHE_WIN_SHA256: ${{ steps.win-ccache.outputs.sha256 }}
       run: |
-        set -euo pipefail
-        ccache_url="https://github.com/ccache/ccache/releases/download/v${CCACHE_VERSION}/ccache-${CCACHE_VERSION}-windows-aarch64.zip"
-        temp_dir="$(mktemp -d)"
-        temp_root="${RUNNER_TEMP//\\//}"
-        install_dir="${temp_root}/ccache-${CCACHE_VERSION}-windows-aarch64"
-
-        curl --fail --location --silent --show-error "$ccache_url" -o "${temp_dir}/ccache.zip"
-        unzip -q "${temp_dir}/ccache.zip" -d "$temp_dir"
-        mkdir -p "$install_dir"
-        cp "${temp_dir}/ccache-${CCACHE_VERSION}-windows-aarch64/ccache.exe" "${install_dir}/ccache.exe"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" install-windows \
+          --version "${CCACHE_VERSION}" \
+          --arch "${CCACHE_ARCH}" \
+          --sha256 "${CCACHE_WIN_SHA256}" \
+          --runner-temp "${RUNNER_TEMP//\\//}"
 
-    - name: Add ccache to PATH (Windows ARM64)
-      if: runner.os == 'Windows' && inputs.host == 'windows_arm64'
+    - name: Add ccache to PATH (Windows)
+      if: runner.os == 'Windows'
       shell: bash
       env:
         CCACHE_VERSION: ${{ steps.ccache-config.outputs.version }}
-      run: |
-        set -euo pipefail
-        temp_root="${RUNNER_TEMP//\\//}"
-        install_dir="${temp_root}/ccache-${CCACHE_VERSION}-windows-aarch64"
-        if [ ! -f "${install_dir}/ccache.exe" ]; then
-          echo "Error: ccache.exe not found at ${install_dir}/ccache.exe" >&2
-          exit 1
-        fi
-
-        echo "$install_dir" >> "$GITHUB_PATH"
-        "${install_dir}/ccache.exe" --version
+        CCACHE_ARCH: ${{ steps.win-ccache.outputs.arch }}
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" add-windows-path --version "${CCACHE_VERSION}" --arch "${CCACHE_ARCH}" --runner-temp "${RUNNER_TEMP//\\//}"
 
-    - name: Configure ccache environment (non-Windows)
-      if: runner.os != 'Windows'
+    - name: Configure ccache environment
       shell: bash
-      run: |
-        workspace_path="${GITHUB_WORKSPACE//\\//}"
-        echo "CCACHE_DIR=${workspace_path}/.ccache" >> "$GITHUB_ENV"
-        echo "CCACHE_BASEDIR=${workspace_path}" >> "$GITHUB_ENV"
-        echo "CCACHE_CONFIGPATH=${workspace_path}/tools/configs/ccache.conf" >> "$GITHUB_ENV"
-        mkdir -p "${workspace_path}/.ccache"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" configure-env --workspace "${GITHUB_WORKSPACE//\\//}"
 
     - name: Configure CPM source cache
       if: inputs.cpm-modules != ''
@@ -183,96 +124,42 @@ runs:
       shell: bash
       env:
         CPM_MODULES_INPUT: ${{ inputs.cpm-modules }}
-      run: |
-        cpm_cache_path="${CPM_MODULES_INPUT//\\//}"
-        mkdir -p "${cpm_cache_path}"
-        echo "CPM_SOURCE_CACHE=${cpm_cache_path}" >> "$GITHUB_ENV"
-        echo "path=${cpm_cache_path}" >> "$GITHUB_OUTPUT"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" configure-cpm-cache --path "${CPM_MODULES_INPUT}"
 
     - name: Compute CPM dependency fingerprint
       if: inputs.cpm-modules != ''
       id: cpm-key
       shell: bash
-      run: |
-        set -euo pipefail
-        if command -v python3 >/dev/null 2>&1; then
-          PY_CMD="python3"
-        elif command -v python >/dev/null 2>&1; then
-          PY_CMD="python"
-        else
-          echo "Error: Python not found in PATH" >&2
-          exit 1
-        fi
-        fingerprint="$("${PY_CMD}" - <<'PY'
-        import hashlib
-        import re
-        from pathlib import Path
-
-        root = Path(".")
-        declaration_re = re.compile(r"CPM(Add|Find)Package|FetchContent_Declare")
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" fingerprint --root "${GITHUB_WORKSPACE}"
 
-        candidates: list[Path] = []
-        for exact in [Path("CMakeLists.txt"), Path("cmake/modules/CPM.cmake"), Path(".github/build-config.json")]:
-            if exact.exists():
-                candidates.append(exact)
-
-        if (root / "cmake").exists():
-            candidates.extend((root / "cmake").rglob("*.cmake"))
-        if (root / "src").exists():
-            candidates.extend((root / "src").rglob("CMakeLists.txt"))
-        if (root / "test").exists():
-            candidates.extend((root / "test").rglob("CMakeLists.txt"))
-
-        dep_files: list[Path] = []
-        for path in candidates:
-            if not path.is_file():
-                continue
-            if path.name == "build-config.json":
-                dep_files.append(path)
-                continue
-            try:
-                text = path.read_text(encoding="utf-8", errors="ignore")
-            except OSError:
-                continue
-            if declaration_re.search(text):
-                dep_files.append(path)
-
-        paths = sorted({str(path.as_posix()) for path in dep_files})
-        h = hashlib.sha256()
-        for rel in paths:
-            path = Path(rel)
-            try:
-                content = path.read_bytes()
-            except OSError:
-                continue
-            h.update(rel.encode("utf-8"))
-            h.update(b"\0")
-            h.update(content)
-            h.update(b"\0")
-
-        print(h.hexdigest())
-        PY
-        )"
-        echo "fingerprint=${fingerprint}" >> "$GITHUB_OUTPUT"
+    - name: Restore Build Cache (ccache, save)
+      if: steps.cache-policy.outputs.save == 'true'
+      uses: actions/cache@v5
+      with:
+        path: ${{ github.workspace }}/.ccache
+        key: ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-${{ hashFiles('.github/build-config.json', 'tools/configs/ccache.conf') }}-${{ github.run_id }}
+        restore-keys: |
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-shared-
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-
 
-    - name: Setup Build Cache (ccache)
-      if: "!(runner.os == 'Windows' && inputs.target != 'android' && inputs.host != 'windows_arm64')"
-      uses: hendrikmuhs/ccache-action@v1.2
+    - name: Restore Build Cache (ccache, read-only)
+      if: steps.cache-policy.outputs.save != 'true'
+      uses: actions/cache/restore@v5
       with:
-        key: ${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-${{ hashFiles('.github/build-config.json', 'tools/configs/ccache.conf') }}
+        path: ${{ github.workspace }}/.ccache
+        key: ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-${{ hashFiles('.github/build-config.json', 'tools/configs/ccache.conf') }}-${{ github.run_id }}
         restore-keys: |
-          ${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-
-          ${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-shared-
-          ${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-
-          ${{ inputs.host }}-${{ inputs.target }}-
-          ${{ inputs.host }}-
-        max-size: ${{ steps.ccache-config.outputs.max_size }}
-        verbose: 2
-        evict-old-files: job
-        save: ${{ inputs.save-cache == 'true' }}
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-${{ steps.cache-scope.outputs.scope }}-
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-shared-
+          ccache-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.build-type }}-
+
+    - name: Initialize ccache stats
+      shell: bash
+      run: ccache -z
 
     - name: Cache CPM Modules (restore and save)
-      if: inputs.cpm-modules != '' && inputs.save-cache == 'true'
+      if: inputs.cpm-modules != '' && steps.cache-policy.outputs.save == 'true'
       uses: actions/cache@v5
       with:
         path: ${{ steps.cpm-cache.outputs.path }}
@@ -283,7 +170,7 @@ runs:
           cpm-modules-
 
     - name: Cache CPM Modules (restore only)
-      if: inputs.cpm-modules != '' && inputs.save-cache != 'true'
+      if: inputs.cpm-modules != '' && steps.cache-policy.outputs.save != 'true'
       uses: actions/cache/restore@v5
       with:
         path: ${{ steps.cpm-cache.outputs.path }}
diff --git a/.github/actions/cmake-build/action.yml b/.github/actions/cmake-build/action.yml
index cdd66d14f3a5..5f05d3490aac 100644
--- a/.github/actions/cmake-build/action.yml
+++ b/.github/actions/cmake-build/action.yml
@@ -54,60 +54,15 @@ runs:
         CONTINUE: ${{ inputs.continue-on-error }}
         REVIEWDOG: ${{ inputs.reviewdog }}
       run: |
-        set -euo pipefail
-
-        # Build command
-        cmd=(cmake --build .)
-
-        # Add target
-        [[ -n "$TARGET" ]] && cmd+=(--target "$TARGET")
-
-        # Add config for multi-config generators
-        [[ -n "$BUILD_TYPE" ]] && cmd+=(--config "$BUILD_TYPE")
-
-        # Add parallel flag
-        if [[ "$PARALLEL" == "true" ]]; then
-          if [[ -n "$PARALLEL_JOBS" ]]; then
-            if [[ ! "$PARALLEL_JOBS" =~ ^[1-9][0-9]*$ ]]; then
-              echo "::error::parallel-jobs must be a positive integer, got '$PARALLEL_JOBS'"
-              exit 1
-            fi
-            cmd+=(--parallel "$PARALLEL_JOBS")
-          else
-            cmd+=(--parallel)
-          fi
-        fi
-
-        # When reviewdog is enabled, force output capture for warning analysis
-        if [[ "$REVIEWDOG" == "true" && -z "$OUTPUT_FILE" ]]; then
-          OUTPUT_FILE="${RUNNER_TEMP:-.}/build-output.log"
-          echo "REVIEWDOG_LOG=${OUTPUT_FILE}" >> "$GITHUB_ENV"
-        elif [[ "$REVIEWDOG" == "true" ]]; then
-          echo "REVIEWDOG_LOG=${OUTPUT_FILE}" >> "$GITHUB_ENV"
-        fi
-
-        echo "Running: ${cmd[*]}"
-        start_time=$(date +%s)
-
-        set +e
-        if [[ -n "$OUTPUT_FILE" ]]; then
-          "${cmd[@]}" 2>&1 | tee "$OUTPUT_FILE"
-          exit_code=${PIPESTATUS[0]}
-        else
-          "${cmd[@]}"
-          exit_code=$?
-        fi
-        set -e
-
-        end_time=$(date +%s)
-        duration=$((end_time - start_time))
-
-        if [[ $exit_code -eq 0 ]]; then
-          echo "✓ Build completed in ${duration}s"
-        else
-          echo "::error::Build failed after ${duration}s"
-          [[ "$CONTINUE" != "true" ]] && exit $exit_code
-        fi
+        ARGS=(build)
+        [[ -n "$TARGET" ]] && ARGS+=(--target "$TARGET")
+        [[ -n "$BUILD_TYPE" ]] && ARGS+=(--build-type "$BUILD_TYPE")
+        [[ "$PARALLEL" == "true" ]] && ARGS+=(--parallel)
+        [[ -n "$PARALLEL_JOBS" ]] && ARGS+=(--parallel-jobs "$PARALLEL_JOBS")
+        [[ -n "$OUTPUT_FILE" ]] && ARGS+=(--output-file "$OUTPUT_FILE")
+        [[ "$CONTINUE" == "true" ]] && ARGS+=(--continue-on-error)
+        [[ "$REVIEWDOG" == "true" ]] && ARGS+=(--reviewdog)
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/cmake_helper.py" "${ARGS[@]}"
 
     - name: Setup reviewdog
       if: inputs.reviewdog == 'true' && env.REVIEWDOG_LOG != ''
@@ -132,11 +87,6 @@ runs:
       shell: bash
       run: |
         if command -v ccache >/dev/null 2>&1; then
-          echo "::group::ccache statistics"
-          ccache -s
-          echo "::endgroup::"
-        elif command -v sccache >/dev/null 2>&1; then
-          echo "::group::sccache statistics"
-          sccache --show-stats
-          echo "::endgroup::"
+          ccache -c
+          python3 "${GITHUB_WORKSPACE}/.github/scripts/ccache_helper.py" summary
         fi
diff --git a/.github/actions/cmake-configure/action.yml b/.github/actions/cmake-configure/action.yml
index 7aaa9b156dbd..27daf1755063 100644
--- a/.github/actions/cmake-configure/action.yml
+++ b/.github/actions/cmake-configure/action.yml
@@ -58,49 +58,19 @@ runs:
 
     - name: Configure
       shell: bash
-      env:
-        INPUT_SOURCE_DIR: ${{ inputs.source-dir }}
-        INPUT_BUILD_DIR: ${{ inputs.build-dir }}
-        INPUT_GENERATOR: ${{ inputs.generator }}
-        INPUT_BUILD_TYPE: ${{ inputs.build-type }}
-        INPUT_TESTING: ${{ inputs.testing }}
-        INPUT_COVERAGE: ${{ inputs.coverage }}
-        INPUT_STABLE: ${{ inputs.stable }}
-        INPUT_USE_QT_CMAKE: ${{ inputs.use-qt-cmake }}
-        INPUT_UNITY_BUILD: ${{ inputs.unity-build }}
-        INPUT_UNITY_BATCH_SIZE: ${{ inputs.unity-batch-size }}
-        INPUT_EXTRA_ARGS: ${{ inputs.extra-args }}
-        WORKSPACE: ${{ github.workspace }}
       run: |
-        args=(
-          -S "${INPUT_SOURCE_DIR}"
-          -B "${INPUT_BUILD_DIR}"
-          -G "${INPUT_GENERATOR}"
-          -t "${INPUT_BUILD_TYPE}"
+        ARGS=(configure
+          --source-dir "${{ inputs.source-dir }}"
+          --build-dir "${{ inputs.build-dir }}"
+          --generator "${{ inputs.generator }}"
+          --build-type "${{ inputs.build-type }}"
         )
-
-        [[ "${INPUT_TESTING}" == "true" ]] && args+=(--testing)
-        [[ "${INPUT_COVERAGE}" == "true" ]] && args+=(--coverage)
-        [[ "${INPUT_STABLE}" == "true" ]] && args+=(--stable)
-        [[ "${INPUT_USE_QT_CMAKE}" != "true" ]] && args+=(--no-qt-cmake)
-
-        if [[ "${INPUT_UNITY_BUILD}" == "true" ]]; then
-          args+=(--unity --unity-batch "${INPUT_UNITY_BATCH_SIZE}")
-        fi
-
-        # Add extra args if provided (after -- so argparse treats -D flags as positional)
-        if [[ -n "$INPUT_EXTRA_ARGS" ]]; then
-          read -ra extra <<< "$INPUT_EXTRA_ARGS"
-          args+=(--)
-          args+=("${extra[@]}")
-        fi
-
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd="python3"
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd="python"
-        else
-          echo "Error: Python interpreter not found in PATH" >&2
-          exit 1
+        [[ "${{ inputs.testing }}" == "true" ]] && ARGS+=(--testing)
+        [[ "${{ inputs.coverage }}" == "true" ]] && ARGS+=(--coverage)
+        [[ "${{ inputs.stable }}" == "true" ]] && ARGS+=(--stable)
+        [[ "${{ inputs.use-qt-cmake }}" != "true" ]] && ARGS+=(--no-qt-cmake)
+        if [[ "${{ inputs.unity-build }}" == "true" ]]; then
+          ARGS+=(--unity-build --unity-batch-size "${{ inputs.unity-batch-size }}")
         fi
-        "${py_cmd}" "${WORKSPACE}/tools/configure.py" "${args[@]}"
+        [[ -n "${{ inputs.extra-args }}" ]] && ARGS+=("--extra-args=${{ inputs.extra-args }}")
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/cmake_helper.py" "${ARGS[@]}"
diff --git a/.github/actions/collect-artifact-sizes/action.yml b/.github/actions/collect-artifact-sizes/action.yml
index 6f0e6882247f..761e977432b9 100644
--- a/.github/actions/collect-artifact-sizes/action.yml
+++ b/.github/actions/collect-artifact-sizes/action.yml
@@ -9,6 +9,10 @@ inputs:
     description: Comma-separated workflow names to collect artifact sizes for
     required: false
     default: Linux,Windows,MacOS,Android
+  event:
+    description: Optional workflow event name to filter runs by
+    required: false
+    default: ''
   output-file:
     description: Output JSON file path
     required: true
@@ -34,15 +38,26 @@ runs:
         REPO: ${{ github.repository }}
         HEAD_SHA: ${{ inputs.head-sha }}
         WORKFLOWS: ${{ inputs.workflows }}
+        EVENT: ${{ inputs.event }}
         OUTPUT_FILE: ${{ inputs.output-file }}
         RUNS_FILE: ${{ inputs.runs-file }}
         ARTIFACTS_FILE: ${{ inputs.artifacts-file }}
       run: |
-        ARGS=(--repo "${REPO}" --head-sha "${HEAD_SHA}" --platform-workflows "${WORKFLOWS}" --output-file "${OUTPUT_FILE}")
-        if [[ -n "${RUNS_FILE}" && -f "${RUNS_FILE}" ]]; then
-          ARGS+=(--runs-file "${RUNS_FILE}")
-        fi
-        if [[ -n "${ARTIFACTS_FILE}" && -f "${ARTIFACTS_FILE}" ]]; then
-          ARGS+=(--artifacts-file "${ARTIFACTS_FILE}")
-        fi
-        python3 "${GITHUB_WORKSPACE}/.github/scripts/collect_artifact_sizes.py" "${ARGS[@]}"
+        python3 -c "
+        import os, subprocess, sys
+        args = ['${GITHUB_WORKSPACE}/.github/scripts/collect_artifact_sizes.py',
+                '--repo', os.environ['REPO'],
+                '--head-sha', os.environ['HEAD_SHA'],
+                '--platform-workflows', os.environ['WORKFLOWS'],
+                '--output-file', os.environ['OUTPUT_FILE']]
+        event = os.environ.get('EVENT', '')
+        if event:
+            args += ['--event', event]
+        runs = os.environ.get('RUNS_FILE', '')
+        if runs and os.path.isfile(runs):
+            args += ['--runs-file', runs]
+        artifacts = os.environ.get('ARTIFACTS_FILE', '')
+        if artifacts and os.path.isfile(artifacts):
+            args += ['--artifacts-file', artifacts]
+        sys.exit(subprocess.run([sys.executable] + args).returncode)
+        "
diff --git a/.github/actions/common/action.yml b/.github/actions/common/action.yml
index 9b2e08a62774..b08732e7b106 100644
--- a/.github/actions/common/action.yml
+++ b/.github/actions/common/action.yml
@@ -15,11 +15,12 @@ runs:
         remove_packages_one_command: true
         rm_cmd: rmz
 
-    - uses: lukka/get-cmake@v4.2.1
+    - uses: lukka/get-cmake@v4.2.3
 
-    - uses: actions/setup-python@v6
+    - uses: ./.github/actions/setup-python
       with:
         python-version: '3.12'
+        groups: scripts
 
     - name: Create build directory
       shell: bash
diff --git a/.github/actions/coverage/action.yml b/.github/actions/coverage/action.yml
index 20ab363c377b..098a69572a97 100644
--- a/.github/actions/coverage/action.yml
+++ b/.github/actions/coverage/action.yml
@@ -42,41 +42,13 @@ runs:
   using: composite
   steps:
     - name: Generate Coverage Report
-      working-directory: ${{ inputs.build-dir }}
       shell: bash
-      env:
-        INPUT_MODE: ${{ inputs.mode }}
       run: |
-        case "${INPUT_MODE}" in
-          full) target="coverage" ;;
-          report-only) target="coverage-report" ;;
-          *)
-            echo "::error::Invalid coverage mode '${INPUT_MODE}'. Use 'full' or 'report-only'."
-            exit 1
-            ;;
-        esac
-
-        cmake --build . --target "${target}" 2>&1 | tee coverage-output.txt
-
-        # Extract coverage summary for GitHub Step Summary
-        {
-          echo "## 📊 Code Coverage"
-          echo ""
-          echo "Mode: \`${INPUT_MODE}\`"
-          echo ""
-          if grep -q "lines:" coverage-output.txt; then
-            LINE_COV=$(grep "lines:" coverage-output.txt | tail -1)
-            BRANCH_COV=$(grep "branches:" coverage-output.txt | tail -1 || echo "branches: N/A")
-            echo "| Metric | Coverage |"
-            echo "|--------|----------|"
-            echo "| Lines | ${LINE_COV#*: } |"
-            echo "| Branches | ${BRANCH_COV#*: } |"
-          else
-            echo "Coverage data not available"
-          fi
-          echo ""
-          echo "[View detailed report](coverage.html)"
-        } >> "$GITHUB_STEP_SUMMARY"
+        python3 "${GITHUB_WORKSPACE}/tools/coverage.py" \
+          --mode "${{ inputs.mode }}" \
+          --build-dir "${{ inputs.build-dir }}" \
+          --log-file "${{ inputs.build-dir }}/coverage-output.txt" \
+          --step-summary
 
     - name: Upload to Codecov
       uses: codecov/codecov-action@v5
diff --git a/.github/actions/deploy-docs/action.yml b/.github/actions/deploy-docs/action.yml
new file mode 100644
index 000000000000..4611228167e6
--- /dev/null
+++ b/.github/actions/deploy-docs/action.yml
@@ -0,0 +1,50 @@
+name: Deploy Docs
+description: Deploy built documentation to an external GitHub Pages repository
+
+inputs:
+  artifact-name:
+    description: Name of the uploaded artifact to download
+    required: true
+  target-repo:
+    description: 'Target repository in owner/repo format'
+    required: true
+  target-branch:
+    description: 'Branch to push to in target repo'
+    required: false
+    default: main
+  deploy-token:
+    description: 'GitHub token with push access to target repo'
+    required: true
+  source-branch:
+    description: 'Source branch name (used as subdirectory in target repo)'
+    required: true
+  commit-message:
+    description: 'Commit message prefix'
+    required: false
+    default: 'Docs update'
+
+runs:
+  using: composite
+  steps:
+    - name: Download artifact
+      uses: actions/download-artifact@v8
+      with:
+        name: ${{ inputs.artifact-name }}
+        path: ~/_docs_build
+
+    - name: Checkout target repo
+      uses: actions/checkout@v6
+      with:
+        repository: ${{ inputs.target-repo }}
+        token: ${{ inputs.deploy-token }}
+        path: _deploy_target
+
+    - name: Deploy docs
+      shell: bash
+      run: |
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/deploy_docs.py" \
+          --source-dir ~/_docs_build \
+          --target-dir _deploy_target \
+          --branch "${{ inputs.source-branch }}" \
+          --target-branch "${{ inputs.target-branch }}" \
+          --commit-message "${{ inputs.commit-message }}"
diff --git a/.github/actions/detect-changes/action.yml b/.github/actions/detect-changes/action.yml
index 11a67d8994c1..a88ba8788d47 100644
--- a/.github/actions/detect-changes/action.yml
+++ b/.github/actions/detect-changes/action.yml
@@ -3,7 +3,7 @@ description: Detect source, test, and CI changes for a platform
 
 inputs:
   platform:
-    description: "Platform (linux, windows, macos, android, ios)"
+    description: "Platform (linux, windows, macos, android, ios, docker-linux, docker-android)"
     required: true
 
 outputs:
@@ -24,99 +24,4 @@ runs:
         PUSH_BEFORE_SHA: ${{ github.event.before || '' }}
         MERGE_BASE_SHA: ${{ github.event.merge_group.base_sha || '' }}
         CURRENT_SHA: ${{ github.sha }}
-        INPUT_PLATFORM: ${{ inputs.platform }}
-      run: |
-        set -euo pipefail
-
-        platform="${INPUT_PLATFORM}"
-        changed=""
-
-        # Ensure a specific commit object exists locally. With shallow checkouts
-        # we fetch only the SHAs needed for diff calculation.
-        ensure_commit() {
-          local sha="$1"
-          [[ -z "${sha}" ]] && return 0
-          if ! git cat-file -e "${sha}^{commit}" 2>/dev/null; then
-            git fetch --no-tags --depth=1 origin "${sha}" >/dev/null 2>&1 || true
-          fi
-          git cat-file -e "${sha}^{commit}" 2>/dev/null
-        }
-
-        force_all_true() {
-          echo "::warning::Unable to compute changed files reliably; forcing build for safety."
-          echo "any=true" >> "${GITHUB_OUTPUT}"
-          exit 0
-        }
-
-        if [[ "${EVENT_NAME}" == "pull_request" ]]; then
-          base_sha="${PR_BASE_SHA}"
-          head_sha="${PR_HEAD_SHA}"
-
-          ensure_commit "${base_sha}" || force_all_true
-          ensure_commit "${head_sha}" || force_all_true
-
-          changed="$(git diff --name-only "${base_sha}" "${head_sha}" 2>/dev/null)" || force_all_true
-        elif [[ "${EVENT_NAME}" == "push" ]]; then
-          before_sha="${PUSH_BEFORE_SHA}"
-          if [[ -n "${before_sha}" && "${before_sha}" != "0000000000000000000000000000000000000000" ]]; then
-            ensure_commit "${before_sha}" || force_all_true
-            ensure_commit "${CURRENT_SHA}" || force_all_true
-            changed="$(git diff --name-only "${before_sha}" "${CURRENT_SHA}" 2>/dev/null)" || force_all_true
-          else
-            changed="$(git diff-tree --no-commit-id --name-only -r "${CURRENT_SHA}")"
-          fi
-        elif [[ "${EVENT_NAME}" == "merge_group" && -n "${MERGE_BASE_SHA}" ]]; then
-          ensure_commit "${MERGE_BASE_SHA}" || force_all_true
-          ensure_commit "${CURRENT_SHA}" || force_all_true
-          changed="$(git diff --name-only "${MERGE_BASE_SHA}" "${CURRENT_SHA}" 2>/dev/null)" || force_all_true
-        else
-          changed="$(git diff-tree --no-commit-id --name-only -r "${CURRENT_SHA}")"
-        fi
-
-        echo "Changed files:"
-        echo "${changed}"
-
-        relevant_patterns=(
-          "^src/"
-          "^CMakeLists.txt$"
-          "^cmake/"
-          "^libs/"
-          "^translations/"
-          "^deploy/${platform}/"
-          "^test/"
-          "^\\.github/workflows/${platform}\\.yml$"
-          "^\\.github/actions/"
-          "^\\.github/scripts/"
-          "^\\.github/build-config\\.json$"
-        )
-
-        case "${platform}" in
-          android) relevant_patterns+=("^android/") ;;
-        esac
-
-        case "${platform}" in
-          linux)   relevant_patterns+=("^tools/setup/.*debian" "^tools/setup/install_dependencies\\.py$") ;;
-          windows) relevant_patterns+=("^tools/setup/.*windows") ;;
-          macos)   relevant_patterns+=("^tools/setup/.*macos") ;;
-          android) relevant_patterns+=("^tools/setup/") ;;
-          ios)     relevant_patterns+=("^tools/setup/.*ios" "^tools/setup/.*macos") ;;
-        esac
-
-        any_changed="false"
-
-        while IFS= read -r file; do
-          [[ -z "${file}" ]] && continue
-
-          for pattern in "${relevant_patterns[@]}"; do
-            if [[ "${file}" =~ ${pattern} ]]; then
-              any_changed="true"
-              break
-            fi
-          done
-
-          [[ "${any_changed}" == "true" ]] && break
-        done <<< "${changed}"
-
-        echo "any=${any_changed}" >> "${GITHUB_OUTPUT}"
-
-        echo "Results: any=${any_changed}"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/detect_changes.py" --platform "${{ inputs.platform }}"
diff --git a/.github/actions/docker/action.yml b/.github/actions/docker/action.yml
index 85afb4b3bdb0..17fdb7ebbda5 100644
--- a/.github/actions/docker/action.yml
+++ b/.github/actions/docker/action.yml
@@ -41,33 +41,10 @@ runs:
 
     - name: Validate inputs
       shell: bash
-      env:
-        DOCKERFILE: ${{ inputs.dockerfile }}
-        BUILD_TYPE: ${{ inputs.build-type }}
       run: |
-        # Validate dockerfile
-        case "$DOCKERFILE" in
-          Dockerfile-build-ubuntu|Dockerfile-build-android)
-            echo "Using dockerfile: $DOCKERFILE"
-            ;;
-          *)
-            echo "Error: Invalid dockerfile '$DOCKERFILE'" >&2
-            echo "Allowed values: Dockerfile-build-ubuntu, Dockerfile-build-android" >&2
-            exit 1
-            ;;
-        esac
-
-        # Validate build-type
-        case "$BUILD_TYPE" in
-          Release|Debug)
-            echo "Build type: $BUILD_TYPE"
-            ;;
-          *)
-            echo "Error: Invalid build-type '$BUILD_TYPE'" >&2
-            echo "Allowed values: Release, Debug" >&2
-            exit 1
-            ;;
-        esac
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/docker_helper.py" validate \
+          --dockerfile "${{ inputs.dockerfile }}" \
+          --build-type "${{ inputs.build-type }}"
 
     - name: Build Docker image
       if: contains(fromJSON('["Dockerfile-build-ubuntu", "Dockerfile-build-android"]'), inputs.dockerfile)
@@ -84,24 +61,9 @@ runs:
       if: contains(fromJSON('["Release", "Debug"]'), inputs.build-type)
       shell: bash
       env:
-        SOURCE_DIR: ${{ github.workspace }}
-        BUILD_DIR: ${{ github.workspace }}/build
-        BUILD_TYPE: ${{ inputs.build-type }}
         ENABLE_FUSE: ${{ inputs.fuse }}
       run: |
         chmod +x ./deploy/docker/docker-run.sh
-        FUSE_FLAG=""
-        if [[ "$ENABLE_FUSE" == "true" ]]; then
-          FUSE_FLAG="--fuse"
-        fi
-        max_attempts=2
-        attempt=1
-        until ./deploy/docker/docker-run.sh ${FUSE_FLAG:+"$FUSE_FLAG"} qgc-builder:latest "$BUILD_TYPE"; do
-          if (( attempt >= max_attempts )); then
-            echo "Docker build failed after ${attempt} attempt(s)." >&2
-            exit 1
-          fi
-          echo "Docker build failed on attempt ${attempt}. Retrying in 30 seconds..."
-          sleep 30
-          attempt=$((attempt + 1))
-        done
+        ARGS=(run --build-type "${{ inputs.build-type }}")
+        [[ "$ENABLE_FUSE" == "true" ]] && ARGS+=(--fuse)
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/docker_helper.py" "${ARGS[@]}"
diff --git a/.github/actions/download-all-artifacts/action.yml b/.github/actions/download-all-artifacts/action.yml
index 9a45306d2141..49303008326e 100644
--- a/.github/actions/download-all-artifacts/action.yml
+++ b/.github/actions/download-all-artifacts/action.yml
@@ -13,6 +13,10 @@ inputs:
     description: Comma-separated workflow names to download artifacts from
     required: false
     default: Linux,Windows,MacOS,Android
+  event:
+    description: Optional workflow event name to filter runs by
+    required: false
+    default: ''
   output-dir:
     description: Output directory for downloaded artifacts
     required: false
@@ -43,17 +47,28 @@ runs:
         INPUT_HEAD_SHA: ${{ inputs.head-sha }}
         INPUT_OUTPUT_DIR: ${{ inputs.output-dir }}
         INPUT_WORKFLOWS: ${{ inputs.workflows }}
+        INPUT_EVENT: ${{ inputs.event }}
         INPUT_ARTIFACT_PREFIXES: ${{ inputs.artifact-prefixes }}
         INPUT_ARTIFACT_METADATA_FILE: ${{ inputs.artifact-metadata-file }}
       run: |
-        ARGS=(--repo "$INPUT_REPO" --head-sha "$INPUT_HEAD_SHA" --output-dir "$INPUT_OUTPUT_DIR" --workflows "$INPUT_WORKFLOWS")
-        if [[ -n "$RUNS_FILE" && -f "$RUNS_FILE" ]]; then
-          ARGS+=(--runs-file "$RUNS_FILE")
-        fi
-        if [[ -n "$INPUT_ARTIFACT_PREFIXES" ]]; then
-          ARGS+=(--artifact-prefixes "$INPUT_ARTIFACT_PREFIXES")
-        fi
-        if [[ -n "$INPUT_ARTIFACT_METADATA_FILE" ]]; then
-          ARGS+=(--artifact-metadata-out "$INPUT_ARTIFACT_METADATA_FILE")
-        fi
-        python3 "${GITHUB_WORKSPACE}/tools/setup/download_artifacts.py" "${ARGS[@]}"
+        python3 -c "
+        import os, subprocess, sys
+        args = ['${GITHUB_WORKSPACE}/.github/scripts/download_artifacts.py',
+                '--repo', os.environ['INPUT_REPO'],
+                '--head-sha', os.environ['INPUT_HEAD_SHA'],
+                '--output-dir', os.environ['INPUT_OUTPUT_DIR'],
+                '--workflows', os.environ['INPUT_WORKFLOWS']]
+        event = os.environ.get('INPUT_EVENT', '')
+        if event:
+            args += ['--event', event]
+        runs = os.environ.get('RUNS_FILE', '')
+        if runs and os.path.isfile(runs):
+            args += ['--runs-file', runs]
+        prefixes = os.environ.get('INPUT_ARTIFACT_PREFIXES', '')
+        if prefixes:
+            args += ['--artifact-prefixes', prefixes]
+        meta = os.environ.get('INPUT_ARTIFACT_METADATA_FILE', '')
+        if meta:
+            args += ['--artifact-metadata-out', meta]
+        sys.exit(subprocess.run([sys.executable] + args).returncode)
+        "
diff --git a/.github/actions/gstreamer/action.yml b/.github/actions/gstreamer/action.yml
index b5a13e44cc2b..cb4eaba5a23d 100644
--- a/.github/actions/gstreamer/action.yml
+++ b/.github/actions/gstreamer/action.yml
@@ -24,11 +24,14 @@ inputs:
     description: 'Upload to S3'
     required: false
     default: 'true'
+  aws-role-arn:
+    description: 'AWS IAM role ARN for OIDC authentication (preferred over static credentials)'
+    required: false
   aws-access-key-id:
-    description: 'AWS access key ID'
+    description: 'AWS access key ID (fallback if OIDC not available)'
     required: false
   aws-secret-access-key:
-    description: 'AWS secret access key'
+    description: 'AWS secret access key (fallback if OIDC not available)'
     required: false
 
 outputs:
@@ -42,35 +45,7 @@ runs:
     - name: Read build config
       id: config
       shell: bash
-      env:
-        INPUT_VERSION: ${{ inputs.version }}
-        INPUT_PLATFORM: ${{ inputs.platform }}
-        INPUT_ARCH: ${{ inputs.arch }}
-      run: |
-        set -euo pipefail
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd="python3"
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd="python"
-        else
-          echo "Error: Python interpreter not found in PATH" >&2
-          exit 1
-        fi
-        echo "py_cmd=$py_cmd" >> "$GITHUB_OUTPUT"
-
-        version="${INPUT_VERSION}"
-        if [[ -z "$version" ]]; then
-          case "${INPUT_PLATFORM}" in
-            macos)   version_key="gstreamer_macos_version" ;;
-            windows) version_key="gstreamer_windows_version" ;;
-            android) version_key="gstreamer_android_version" ;;
-            *)       version_key="gstreamer_version" ;;
-          esac
-          version=$("${py_cmd}" ./tools/setup/read_config.py --get "${version_key}")
-        fi
-        echo "version=$version" >> "$GITHUB_OUTPUT"
-        echo "qt_version=$("${py_cmd}" ./tools/setup/read_config.py --get qt_version)" >> "$GITHUB_OUTPUT"
-        echo "Building GStreamer $version for ${INPUT_PLATFORM} (${INPUT_ARCH})"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/resolve_gstreamer_config.py" --platform "${{ inputs.platform }}" --version "${{ inputs.version }}"
 
     # ===== DEPENDENCIES =====
 
@@ -282,9 +257,27 @@ runs:
         Get-ChildItem (Join-Path $prefix 'bin') -Filter '*.exe' | Select-Object Name, Length | Format-Table
         $libCount = (Get-ChildItem (Join-Path $prefix 'lib') -Filter '*.lib' | Measure-Object).Count
         Write-Host "$libCount library files found"
+        $env:PATH = (Join-Path $prefix 'bin') + ";" + $env:PATH
+        $env:GST_PLUGIN_PATH = Join-Path $prefix 'lib' 'gstreamer-1.0'
+        & (Join-Path $prefix 'bin' 'gst-launch-1.0.exe') --version
 
     # ===== ARCHIVE & UPLOAD =====
 
+    - name: Configure AWS Credentials (OIDC)
+      if: inputs.upload-s3 == 'true' && inputs.aws-role-arn != ''
+      uses: aws-actions/configure-aws-credentials@v6
+      with:
+        role-to-assume: ${{ inputs.aws-role-arn }}
+        aws-region: us-west-2
+
+    - name: Configure AWS Credentials (Static)
+      if: inputs.upload-s3 == 'true' && inputs.aws-role-arn == '' && inputs.aws-access-key-id != ''
+      uses: aws-actions/configure-aws-credentials@v6
+      with:
+        aws-access-key-id: ${{ inputs.aws-access-key-id }}
+        aws-secret-access-key: ${{ inputs.aws-secret-access-key }}
+        aws-region: us-west-2
+
     - name: Create archive
       id: archive
       shell: bash
@@ -297,8 +290,6 @@ runs:
         SIMULATOR: ${{ inputs.simulator }}
         UPLOAD_S3: ${{ inputs.upload-s3 }}
         WORKSPACE: ${{ github.workspace }}
-        AWS_ACCESS_KEY_ID: ${{ inputs.aws-access-key-id }}
-        AWS_SECRET_ACCESS_KEY: ${{ inputs.aws-secret-access-key }}
         AWS_DEFAULT_REGION: us-west-2
       run: |
         set -euo pipefail
@@ -309,12 +300,12 @@ runs:
           --output-dir "$OUTPUT_DIR"
         )
         [[ "$SIMULATOR" == "true" ]] && args+=(--simulator)
-        [[ "$UPLOAD_S3" == "true" && -n "$AWS_ACCESS_KEY_ID" ]] && args+=(--upload-s3)
+        [[ "$UPLOAD_S3" == "true" ]] && args+=(--upload-s3)
 
         "${PY_CMD}" "${WORKSPACE}/.github/scripts/gstreamer_archive.py" "${args[@]}"
 
     - name: Upload artifact
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       with:
         name: ${{ steps.archive.outputs.name }}
         path: ${{ steps.archive.outputs.path }}
diff --git a/.github/actions/install-dependencies/action.yml b/.github/actions/install-dependencies/action.yml
index cb49199176a7..b50415b04bbd 100644
--- a/.github/actions/install-dependencies/action.yml
+++ b/.github/actions/install-dependencies/action.yml
@@ -55,12 +55,7 @@ runs:
     - name: Enable universe repository (Linux)
       if: runner.os == 'Linux'
       shell: bash
-      run: |
-        if ! grep -rEq --include='*.list' --include='*.sources' '^(deb|Components:).*universe' /etc/apt/sources.list /etc/apt/sources.list.d/ 2>/dev/null; then
-          sudo apt-get -o DPkg::Lock::Timeout=300 -o Acquire::Retries=3 install -y -qq software-properties-common
-          sudo add-apt-repository -y universe
-        fi
-        sudo apt-get -o DPkg::Lock::Timeout=300 -o Acquire::Retries=3 update -y -qq
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/install_dependencies_helper.py" enable-universe
 
     - name: Cache and install apt packages (Linux)
       if: runner.os == 'Linux'
@@ -72,71 +67,18 @@ runs:
     - name: Fix apt alternatives after cache restore (Linux)
       if: runner.os == 'Linux'
       shell: bash
-      run: |
-        # cache-apt-pkgs-action restores .deb tarballs but may not re-run
-        # postinst scripts that register update-alternatives entries.
-        # This leaves symlinks like libblas.so.3 missing even though the
-        # backing library (e.g. libopenblas) is installed.
-        if ! sudo dpkg --configure -a; then
-          echo "::warning::dpkg --configure -a failed; package state may be inconsistent"
-        fi
-
-        multiarch="$(dpkg-architecture -qDEB_HOST_MULTIARCH 2>/dev/null || true)"
-        blas_link=""
-        if [[ -n "${multiarch}" ]]; then
-          blas_link="/usr/lib/${multiarch}/libblas.so.3"
-        fi
-
-        # Ensure BLAS SONAME is resolvable before AppImage dependency bundling.
-        if ! ldconfig -p | grep -qE '\blibblas\.so\.3\b'; then
-          echo "::warning::libblas.so.3 missing from linker cache; attempting repair"
-          sudo apt-get -o DPkg::Lock::Timeout=300 -o Acquire::Retries=3 install -y -qq --reinstall libblas3 libopenblas0 || true
-          if [[ -n "${multiarch}" ]]; then
-            sudo update-alternatives --auto "libblas.so.3-${multiarch}" || true
-          fi
-
-          if [[ -n "${blas_link}" && ! -e "${blas_link}" ]]; then
-            candidate="$(find /usr/lib -type f -name 'libblas.so.3' 2>/dev/null | head -n1 || true)"
-            if [[ -n "${candidate}" ]]; then
-              echo "::warning::Creating compatibility symlink ${blas_link} -> ${candidate}"
-              sudo ln -sf "${candidate}" "${blas_link}"
-            fi
-          fi
-          sudo ldconfig
-        fi
-
-        if ! ldconfig -p | grep -qE '\blibblas\.so\.3\b'; then
-          echo "::error::libblas.so.3 is still missing after repair attempt"
-          exit 1
-        fi
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/install_dependencies_helper.py" fix-apt-alternatives
 
     - name: Install optional apt packages (Linux)
       if: runner.os == 'Linux'
       shell: bash
-      run: |
-        optional=$(python3 tools/setup/install_dependencies.py --platform debian --category gstreamer_optional --print-packages)
-        if [ -n "$optional" ]; then
-          available=()
-          for pkg in $optional; do
-            if apt-cache show "$pkg" >/dev/null 2>&1; then
-              available+=("$pkg")
-            else
-              echo "Skipping unavailable optional package: $pkg"
-            fi
-          done
-          if [ ${#available[@]} -gt 0 ]; then
-            echo "Installing optional packages: ${available[*]}"
-            sudo apt-get -o DPkg::Lock::Timeout=300 install -y -qq "${available[@]}" || true
-          fi
-        fi
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/install_dependencies_helper.py" install-optional
 
     - name: Detect Python version for pipx cache (Linux)
       if: runner.os == 'Linux'
       id: python-version
       shell: bash
-      run: |
-        py_minor="$(python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}")')"
-        echo "minor=${py_minor}" >> "$GITHUB_OUTPUT"
+      run: python3 "${GITHUB_WORKSPACE}/.github/scripts/install_dependencies_helper.py" detect-python-version
 
     - name: Cache pipx and pip downloads (Linux)
       if: runner.os == 'Linux'
@@ -164,14 +106,9 @@ runs:
         timeout_minutes: 5
         max_attempts: 3
         command: |
-          for pkg in $EXTRA_PACKAGES; do
-            if [[ ! "$pkg" =~ ^[a-zA-Z0-9][a-zA-Z0-9.+-]*$ ]]; then
-              echo "Error: Invalid package name '$pkg'" >&2
-              exit 1
-            fi
-          done
+          validated="$(python3 tools/setup/install_dependencies.py --validate-extra-packages $EXTRA_PACKAGES)"
           # shellcheck disable=SC2086
-          sudo apt-get install -y $EXTRA_PACKAGES
+          sudo apt-get install -y $validated
 
     - name: Install dependencies (macOS)
       if: runner.os == 'macOS'
diff --git a/.github/actions/qt-android/action.yml b/.github/actions/qt-android/action.yml
index a310d6206da5..04ca94010431 100644
--- a/.github/actions/qt-android/action.yml
+++ b/.github/actions/qt-android/action.yml
@@ -1,5 +1,12 @@
 name: Android Qt
 description: Install Qt for Android
+outputs:
+  host_qt_root_dir:
+    description: Desktop Qt root used for host tools
+    value: ${{ steps.qt-host.outputs.qt_root_dir }}
+  target_qt_root_dir:
+    description: Android Qt root used for target packages
+    value: ${{ steps.qt-target.outputs.qt_root_dir }}
 inputs:
   host:
     description: Host
@@ -45,9 +52,9 @@ inputs:
     required: false
     default: '35.0.0'
   save-cache:
-    description: Save cache (set to false for PR builds)
+    description: "Whether to save cache (auto = save for pushes and same-repo PRs, skip for fork PRs)"
     required: false
-    default: 'true'
+    default: 'auto'
 runs:
   using: composite
   steps:
@@ -71,22 +78,9 @@ runs:
     - name: Update Android SDK / NDK / Tools
       shell: bash
       run: |
-        ANDROID_SDK_ROOT_UNIX="${ANDROID_SDK_ROOT//\\//}"
-        NDK_PATH="${ANDROID_SDK_ROOT_UNIX}/ndk/${{ inputs.ndk-full-version }}"
-        if [[ ! -d "$NDK_PATH" ]]; then
-          echo "::error::NDK path not found: $NDK_PATH"
-          exit 1
-        fi
-        echo "ANDROID_NDK_ROOT=${NDK_PATH}" >> "$GITHUB_ENV"
-        echo "ANDROID_NDK_HOME=${NDK_PATH}" >> "$GITHUB_ENV"
-        echo "ANDROID_NDK=${NDK_PATH}" >> "$GITHUB_ENV"
-        if [[ "$RUNNER_OS" == "Windows" ]]; then
-          "${ANDROID_SDK_ROOT}"/cmdline-tools/latest/bin/sdkmanager.bat --update
-          "${GITHUB_WORKSPACE}"/android/gradlew.bat --version
-        else
-          sdkmanager --update
-          "${GITHUB_WORKSPACE}"/android/gradlew --version
-        fi
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/android_sdk_helper.py" \
+          --ndk-version "${{ inputs.ndk-full-version }}" \
+          --workspace "${GITHUB_WORKSPACE}"
 
     - name: Setup Caching
       uses: ./.github/actions/cache
@@ -98,7 +92,8 @@ runs:
         save-cache: ${{ inputs.save-cache }}
 
     - name: Install Qt for ${{ runner.os }}
-      uses: jurplel/install-qt-action@v4
+      id: qt-host
+      uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.version }}
         host: ${{ inputs.host }}
@@ -106,12 +101,11 @@ runs:
         arch: ${{ inputs.arch }}
         dir: ${{ runner.temp }}
         modules: ${{ inputs.modules }}
-        setup-python: false
-        cache: true
 
     - name: Install Qt for Android (arm64_v8a)
       if: contains(format(';{0};', inputs.abis), ';arm64-v8a;')
-      uses: jurplel/install-qt-action@v4
+      id: qt-android-arm64
+      uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.version }}
         host: ${{ inputs.host }}
@@ -119,12 +113,12 @@ runs:
         arch: android_arm64_v8a
         dir: ${{ runner.temp }}
         modules: ${{ inputs.modules }}
-        setup-python: false
-        cache: true
+        export-env: 'false'
 
     - name: Install Qt for Android (armv7)
       if: contains(format(';{0};', inputs.abis), ';armeabi-v7a;')
-      uses: jurplel/install-qt-action@v4
+      id: qt-android-armv7
+      uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.version }}
         host: ${{ inputs.host }}
@@ -132,12 +126,12 @@ runs:
         arch: android_armv7
         dir: ${{ runner.temp }}
         modules: ${{ inputs.modules }}
-        setup-python: false
-        cache: true
+        export-env: 'false'
 
     - name: Install Qt for Android (x86_64)
       if: contains(format(';{0};', inputs.abis), ';x86_64;')
-      uses: jurplel/install-qt-action@v4
+      id: qt-android-x86_64
+      uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.version }}
         host: ${{ inputs.host }}
@@ -145,12 +139,12 @@ runs:
         arch: android_x86_64
         dir: ${{ runner.temp }}
         modules: ${{ inputs.modules }}
-        setup-python: false
-        cache: true
+        export-env: 'false'
 
     - name: Install Qt for Android (x86)
       if: contains(format(';{0};', inputs.abis), ';x86;')
-      uses: jurplel/install-qt-action@v4
+      id: qt-android-x86
+      uses: ./.github/actions/qt-install
       with:
         version: ${{ inputs.version }}
         host: ${{ inputs.host }}
@@ -158,5 +152,15 @@ runs:
         arch: android_x86
         dir: ${{ runner.temp }}
         modules: ${{ inputs.modules }}
-        setup-python: false
-        cache: true
+        export-env: 'false'
+
+    - name: Resolve primary Android Qt root
+      id: qt-target
+      shell: bash
+      run: |
+        python3 "${GITHUB_WORKSPACE}/tools/setup/install_qt.py" resolve-android-root \
+          --abis "${{ inputs.abis }}" \
+          --arm64 "${{ steps.qt-android-arm64.outputs.qt_root_dir }}" \
+          --armv7 "${{ steps.qt-android-armv7.outputs.qt_root_dir }}" \
+          --x86-64 "${{ steps.qt-android-x86_64.outputs.qt_root_dir }}" \
+          --x86 "${{ steps.qt-android-x86.outputs.qt_root_dir }}"
diff --git a/.github/actions/qt-install/action.yml b/.github/actions/qt-install/action.yml
index c74b755ade4e..853cc08b29c4 100644
--- a/.github/actions/qt-install/action.yml
+++ b/.github/actions/qt-install/action.yml
@@ -1,5 +1,15 @@
 name: Install Qt
-description: Install Qt with standard QGroundControl modules
+description: Install Qt using aqtinstall with caching
+outputs:
+  arch_dir:
+    description: Resolved Qt architecture directory name
+    value: ${{ steps.qt-meta.outputs.arch_dir }}
+  qt_root_dir:
+    description: Absolute Qt root directory
+    value: ${{ steps.qt-install.outputs.qt_root_dir || steps.qt-cached.outputs.qt_root_dir }}
+  qt_bin_dir:
+    description: Qt bin directory
+    value: ${{ steps.qt-install.outputs.qt_bin_dir || steps.qt-cached.outputs.qt_bin_dir }}
 inputs:
   version:
     description: Qt version to install
@@ -26,43 +36,69 @@ inputs:
     description: Optional Qt archives subset to install (space-separated)
     required: false
     default: ''
+  export-env:
+    description: Export QT_ROOT_DIR and prepend the Qt bin directory to PATH
+    required: false
+    default: 'true'
 runs:
   using: composite
   steps:
-    - name: Compute Qt cache fingerprint
-      id: qt-cache-key
+    - name: Resolve arch directory and cache key
+      id: qt-meta
       shell: bash
       env:
+        QT_ARCH: ${{ inputs.arch }}
         QT_MODULES: ${{ inputs.modules }}
         QT_ARCHIVES: ${{ inputs.archives }}
-      run: |
-        set -euo pipefail
-        cache_input="${QT_MODULES}"$'\n'"${QT_ARCHIVES}"
-        if command -v sha256sum >/dev/null 2>&1; then
-          digest="$(printf '%s' "$cache_input" | sha256sum | cut -d' ' -f1)"
-        else
-          digest="$(printf '%s' "$cache_input" | shasum -a 256 | awk '{print $1}')"
-        fi
-        echo "digest=${digest}" >> "$GITHUB_OUTPUT"
+      run: python3 "${GITHUB_WORKSPACE}/tools/setup/install_qt.py" cache-key --arch "${QT_ARCH}" --modules "${QT_MODULES}" --archives "${QT_ARCHIVES}"
 
     - name: Restore extracted Qt cache
+      id: qt-cache
       uses: actions/cache@v5
       with:
         path: ${{ inputs.dir }}/Qt/${{ inputs.version }}
-        key: qt-extracted-${{ runner.os }}-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.arch }}-${{ inputs.version }}-${{ steps.qt-cache-key.outputs.digest }}
+        key: qt-${{ runner.os }}-${{ inputs.host }}-${{ inputs.target }}-${{ inputs.arch }}-${{ inputs.version }}-${{ steps.qt-meta.outputs.digest }}
 
-    - name: Ensure pip available
-      shell: bash
-      run: python3 -m ensurepip 2>/dev/null || true
     - name: Install Qt ${{ inputs.version }}
-      uses: jurplel/install-qt-action@v4
-      with:
-        version: ${{ inputs.version }}
-        host: ${{ inputs.host }}
-        target: ${{ inputs.target }}
-        arch: ${{ inputs.arch }}
-        dir: ${{ inputs.dir }}
-        modules: ${{ inputs.modules }}
-        archives: ${{ inputs.archives }}
-        setup-python: false
-        cache: true
+      if: steps.qt-cache.outputs.cache-hit != 'true'
+      id: qt-install
+      shell: bash
+      env:
+        QT_VERSION: ${{ inputs.version }}
+        QT_HOST: ${{ inputs.host }}
+        QT_TARGET: ${{ inputs.target }}
+        QT_ARCH: ${{ inputs.arch }}
+        QT_OUTDIR: ${{ inputs.dir }}/Qt
+        QT_MODULES: ${{ inputs.modules }}
+        QT_ARCHIVES: ${{ inputs.archives }}
+      run: |
+        python3 "${GITHUB_WORKSPACE}/tools/setup/install_qt.py" install \
+          --version "${QT_VERSION}" \
+          --host "${QT_HOST}" \
+          --target "${QT_TARGET}" \
+          --arch "${QT_ARCH}" \
+          --outdir "${QT_OUTDIR}" \
+          --modules "${QT_MODULES}" \
+          --archives "${QT_ARCHIVES}"
+
+    - name: Resolve Qt paths (cache hit)
+      if: steps.qt-cache.outputs.cache-hit == 'true'
+      id: qt-cached
+      shell: bash
+      env:
+        QT_OUTDIR: ${{ inputs.dir }}/Qt
+        QT_VERSION: ${{ inputs.version }}
+        ARCH_DIR: ${{ steps.qt-meta.outputs.arch_dir }}
+      run: |
+        qt_root="${QT_OUTDIR}/${QT_VERSION}/${ARCH_DIR}"
+        echo "qt_root_dir=${qt_root}" >> "$GITHUB_OUTPUT"
+        echo "qt_bin_dir=${qt_root}/bin" >> "$GITHUB_OUTPUT"
+
+    - name: Set Qt environment
+      if: ${{ inputs.export-env == 'true' }}
+      shell: bash
+      run: |
+        qt_root="${{ steps.qt-install.outputs.qt_root_dir || steps.qt-cached.outputs.qt_root_dir }}"
+        echo "QT_ROOT_DIR=${qt_root}" >> "$GITHUB_ENV"
+        echo "${qt_root}/bin" >> "$GITHUB_PATH"
+        echo "Qt installed at ${qt_root}"
diff --git a/.github/actions/qt-ios/action.yml b/.github/actions/qt-ios/action.yml
index 05ca7b01315d..072210416da3 100644
--- a/.github/actions/qt-ios/action.yml
+++ b/.github/actions/qt-ios/action.yml
@@ -24,9 +24,9 @@ inputs:
     required: false
     default: Release
   save-cache:
-    description: Save cache (set to false for PR builds)
+    description: "Whether to save cache (auto = save for pushes and same-repo PRs, skip for fork PRs)"
     required: false
-    default: "true"
+    default: "auto"
   restore-timestamps:
     description: Restore file timestamps from git history (requires fetch-depth 0)
     required: false
diff --git a/.github/actions/run-unit-tests/action.yml b/.github/actions/run-unit-tests/action.yml
index 9db5a51bc936..eb56af76a104 100644
--- a/.github/actions/run-unit-tests/action.yml
+++ b/.github/actions/run-unit-tests/action.yml
@@ -32,52 +32,17 @@ runs:
     - name: Detect parallel jobs
       id: jobs
       shell: bash
-      env:
-        INPUT_PARALLEL: ${{ inputs.parallel }}
       run: |
-        if [[ "$INPUT_PARALLEL" != "auto" ]]; then
-          JOBS="$INPUT_PARALLEL"
-        elif command -v nproc >/dev/null 2>&1; then
-          JOBS="$(nproc)"
-        elif command -v sysctl >/dev/null 2>&1; then
-          JOBS="$(sysctl -n hw.ncpu)"
-        elif [[ -n "${NUMBER_OF_PROCESSORS:-}" ]]; then
-          JOBS="${NUMBER_OF_PROCESSORS}"
-        else
-          JOBS=2
-        fi
-
-        if [[ ! "$JOBS" =~ ^[0-9]+$ ]] || [[ "$JOBS" -lt 1 ]]; then
-          echo "::error::Invalid parallel job count: $JOBS"
-          exit 1
-        fi
-
-        echo "jobs=$JOBS" >> "$GITHUB_OUTPUT"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/cmake_helper.py" detect-jobs \
+          --parallel "${{ inputs.parallel }}"
 
     - name: Run CTest
       shell: bash
       working-directory: ${{ inputs.build-dir }}
-      env:
-        INPUT_JUNIT_OUTPUT: ${{ inputs.junit-output }}
-        INPUT_CTEST_OUTPUT: ${{ inputs.ctest-output }}
-        INPUT_INCLUDE_LABELS: ${{ inputs.include-labels }}
-        INPUT_EXCLUDE_LABELS: ${{ inputs.exclude-labels }}
-        INPUT_JOBS: ${{ steps.jobs.outputs.jobs }}
       run: |
-        set -o pipefail
-
-        CTEST_ARGS=(
-          --output-on-failure
-          --output-junit "$INPUT_JUNIT_OUTPUT"
-          --parallel "$INPUT_JOBS"
-        )
-
-        if [[ -n "$INPUT_INCLUDE_LABELS" ]]; then
-          CTEST_ARGS+=(-L "$INPUT_INCLUDE_LABELS")
-        fi
-
-        if [[ -n "$INPUT_EXCLUDE_LABELS" ]]; then
-          CTEST_ARGS+=(-LE "$INPUT_EXCLUDE_LABELS")
-        fi
-
-        ctest "${CTEST_ARGS[@]}" 2>&1 | tee "$INPUT_CTEST_OUTPUT"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/cmake_helper.py" ctest \
+          --junit-output "${{ inputs.junit-output }}" \
+          --ctest-output "${{ inputs.ctest-output }}" \
+          --jobs "${{ steps.jobs.outputs.jobs }}" \
+          --include-labels "${{ inputs.include-labels }}" \
+          --exclude-labels "${{ inputs.exclude-labels }}"
diff --git a/.github/actions/setup-python/action.yml b/.github/actions/setup-python/action.yml
index 9f65b41f9a35..51b5f8a2b15a 100644
--- a/.github/actions/setup-python/action.yml
+++ b/.github/actions/setup-python/action.yml
@@ -3,7 +3,7 @@ description: Setup Python with uv for fast dependency installation
 
 inputs:
   groups:
-    description: 'Dependency groups to install (comma-separated: precommit, test, ci, qt, coverage, dev, lsp, all)'
+    description: 'Dependency groups to install (comma-separated: scripts, precommit, test, ci, qt, coverage, dev, lsp, all)'
     required: false
     default: 'ci'
   python-version:
@@ -24,6 +24,8 @@ runs:
       with:
         enable-cache: true
         cache-dependency-glob: |
+          tools/pyproject.toml
+          tools/uv.lock
           tools/setup/install_python.py
           .pre-commit-config.yaml
 
@@ -32,15 +34,7 @@ runs:
       env:
         GROUPS: ${{ inputs.groups }}
       run: |
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd=python3
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd=python
-        else
-          echo "Error: Python not found in PATH" >&2
-          exit 1
-        fi
-        "$py_cmd" tools/setup/install_python.py "$GROUPS"
+        python3 tools/setup/install_python.py "$GROUPS"
 
     - name: Add venv to PATH
       shell: bash
diff --git a/.github/actions/size-analysis/action.yml b/.github/actions/size-analysis/action.yml
index bfa4d04b370a..aa4afd411a7a 100644
--- a/.github/actions/size-analysis/action.yml
+++ b/.github/actions/size-analysis/action.yml
@@ -40,12 +40,4 @@ runs:
         )
         [[ "$INPUT_INSTALL_BLOATY" == "true" ]] && args+=(--install-bloaty)
 
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd="python3"
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd="python"
-        else
-          echo "Error: Python interpreter not found in PATH" >&2
-          exit 1
-        fi
-        "${py_cmd}" "${GITHUB_WORKSPACE}/.github/scripts/size_analysis.py" "${args[@]}"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/size_analysis.py" "${args[@]}"
diff --git a/.github/actions/test-duration-report/action.yml b/.github/actions/test-duration-report/action.yml
index 93f08b0578d6..eb30438d3881 100644
--- a/.github/actions/test-duration-report/action.yml
+++ b/.github/actions/test-duration-report/action.yml
@@ -48,160 +48,13 @@ runs:
     - name: Analyze test durations
       id: analyze
       shell: bash
-      env:
-        INPUT_JUNIT_PATH: ${{ inputs.junit-path }}
-        INPUT_BASELINE_PATH: ${{ inputs.baseline-path }}
-        INPUT_REPORT_JSON_PATH: ${{ inputs.report-json-path }}
-        INPUT_TOP_N: ${{ inputs.top-n }}
-        INPUT_SLOW_THRESHOLD_SECONDS: ${{ inputs.slow-threshold-seconds }}
-        INPUT_REGRESSION_FACTOR: ${{ inputs.regression-factor }}
-        INPUT_MIN_DELTA_SECONDS: ${{ inputs.min-delta-seconds }}
-        INPUT_FAIL_ON_REGRESSION: ${{ inputs.fail-on-regression }}
       run: |
-        python3 - <<'PY'
-        import json
-        import os
-        import sys
-        import xml.etree.ElementTree as ET
-        from pathlib import Path
-
-        junit_path = Path(os.environ["INPUT_JUNIT_PATH"])
-        baseline_path = Path(os.environ["INPUT_BASELINE_PATH"])
-        report_json_path = Path(os.environ["INPUT_REPORT_JSON_PATH"])
-        top_n = int(os.environ["INPUT_TOP_N"])
-        slow_threshold = float(os.environ["INPUT_SLOW_THRESHOLD_SECONDS"])
-        regression_factor = float(os.environ["INPUT_REGRESSION_FACTOR"])
-        min_delta = float(os.environ["INPUT_MIN_DELTA_SECONDS"])
-        fail_on_regression = os.environ["INPUT_FAIL_ON_REGRESSION"].lower() == "true"
-
-        step_summary = Path(os.environ["GITHUB_STEP_SUMMARY"])
-        github_output = Path(os.environ["GITHUB_OUTPUT"])
-
-        def test_key(elem: ET.Element) -> str:
-            classname = elem.attrib.get("classname", "").strip()
-            name = elem.attrib.get("name", "").strip()
-            if classname and name:
-                return f"{classname}::{name}"
-            return name or classname or "<unnamed>"
-
-        def parse_time(value: str) -> float:
-            try:
-                return float(value)
-            except Exception:
-                return 0.0
-
-        if not junit_path.exists():
-            msg = f"JUnit report not found at {junit_path}"
-            print(f"::warning::{msg}")
-            with step_summary.open("a", encoding="utf-8") as f:
-                f.write("## Test Duration Report\n\n")
-                f.write(f"- WARNING: {msg}\n")
-            with github_output.open("a", encoding="utf-8") as f:
-                f.write("regression_count=0\n")
-                f.write("slow_count=0\n")
-            sys.exit(0)
-
-        tree = ET.parse(junit_path)
-        root = tree.getroot()
-        cases = []
-        for testcase in root.iter("testcase"):
-            key = test_key(testcase)
-            secs = parse_time(testcase.attrib.get("time", "0"))
-            cases.append((key, secs))
-
-        total_seconds = sum(secs for _, secs in cases)
-        slowest = sorted(cases, key=lambda x: x[1], reverse=True)
-        slow_over_threshold = [(k, s) for k, s in slowest if s >= slow_threshold]
-
-        baseline = {}
-        baseline_loaded = False
-        if baseline_path.exists():
-            try:
-                payload = json.loads(baseline_path.read_text(encoding="utf-8"))
-                if isinstance(payload, dict) and "tests" in payload and isinstance(payload["tests"], dict):
-                    raw = payload["tests"]
-                    for key, value in raw.items():
-                        if isinstance(value, dict):
-                            baseline[key] = float(value.get("seconds", 0.0))
-                        else:
-                            baseline[key] = float(value)
-                    baseline_loaded = True
-                elif isinstance(payload, dict):
-                    for key, value in payload.items():
-                        if isinstance(value, (int, float)):
-                            baseline[key] = float(value)
-                    baseline_loaded = True
-            except Exception as e:
-                print(f"::warning::Failed to parse baseline file {baseline_path}: {e}")
-
-        regressions = []
-        if baseline:
-            for key, current in cases:
-                previous = baseline.get(key)
-                if previous is None or previous <= 0:
-                    continue
-                if current >= previous * regression_factor and (current - previous) >= min_delta:
-                    regressions.append((key, previous, current))
-
-        report = {
-            "junit_path": str(junit_path),
-            "total_tests": len(cases),
-            "total_seconds": total_seconds,
-            "slow_threshold_seconds": slow_threshold,
-            "slow_tests": [{"test": k, "seconds": s} for k, s in slow_over_threshold],
-            "regression_factor": regression_factor,
-            "min_delta_seconds": min_delta,
-            "regressions": [
-                {"test": k, "baseline_seconds": b, "current_seconds": c, "delta_seconds": c - b}
-                for k, b, c in regressions
-            ],
-        }
-        report_json_path.parent.mkdir(parents=True, exist_ok=True)
-        report_json_path.write_text(json.dumps(report, indent=2, sort_keys=True), encoding="utf-8")
-
-        with step_summary.open("a", encoding="utf-8") as f:
-            f.write("## Test Duration Report\n\n")
-            f.write(f"- JUnit: `{junit_path}`\n")
-            f.write(f"- Total tests: **{len(cases)}**\n")
-            f.write(f"- Total time: **{total_seconds:.1f}s**\n")
-            f.write(f"- Slow threshold: **{slow_threshold:.1f}s**\n")
-            if baseline_loaded:
-                f.write(f"- Baseline file: `{baseline_path}` ({len(baseline)} entries)\n")
-            else:
-                f.write(f"- Baseline file: `{baseline_path}` (not available)\n")
-            f.write("\n")
-
-            if slowest:
-                f.write(f"### Top {min(top_n, len(slowest))} Slowest Tests\n\n")
-                f.write("| Test | Seconds |\n")
-                f.write("|---|---:|\n")
-                for key, secs in slowest[:top_n]:
-                    f.write(f"| `{key}` | {secs:.3f} |\n")
-                f.write("\n")
-
-            if regressions:
-                f.write("### Regressions vs Baseline\n\n")
-                f.write("| Test | Baseline (s) | Current (s) | Delta (s) |\n")
-                f.write("|---|---:|---:|---:|\n")
-                for key, base, cur in sorted(regressions, key=lambda x: x[2] - x[1], reverse=True)[:top_n]:
-                    f.write(f"| `{key}` | {base:.3f} | {cur:.3f} | {cur - base:.3f} |\n")
-                f.write("\n")
-            else:
-                f.write("No baseline regressions detected.\n\n")
-
-        for key, secs in slow_over_threshold[:top_n]:
-            print(f"::warning::Slow test (>={slow_threshold:.1f}s): {key} took {secs:.3f}s")
-
-        for key, base, cur in sorted(regressions, key=lambda x: x[2] - x[1], reverse=True)[:top_n]:
-            print(
-                f"::warning::Timing regression: {key} baseline={base:.3f}s current={cur:.3f}s "
-                f"(+{(cur - base):.3f}s, x{(cur / base):.2f})"
-            )
-
-        with github_output.open("a", encoding="utf-8") as f:
-            f.write(f"regression_count={len(regressions)}\n")
-            f.write(f"slow_count={len(slow_over_threshold)}\n")
-
-        if fail_on_regression and regressions:
-            sys.exit(1)
-        PY
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/test_duration_report.py" \
+          --junit-path "${{ inputs.junit-path }}" \
+          --baseline-path "${{ inputs.baseline-path }}" \
+          --report-json-path "${{ inputs.report-json-path }}" \
+          --top-n "${{ inputs.top-n }}" \
+          --slow-threshold-seconds "${{ inputs.slow-threshold-seconds }}" \
+          --regression-factor "${{ inputs.regression-factor }}" \
+          --min-delta-seconds "${{ inputs.min-delta-seconds }}" \
+          ${{ inputs.fail-on-regression == 'true' && '--fail-on-regression' || '' }}
diff --git a/.github/actions/upload/action.yml b/.github/actions/upload/action.yml
index 0d8102c48165..1436575f9982 100644
--- a/.github/actions/upload/action.yml
+++ b/.github/actions/upload/action.yml
@@ -2,33 +2,33 @@ name: Upload Release
 description: Upload release artifact to GitHub and optionally to AWS
 
 inputs:
-  artifact_name:
+  artifact-name:
     description: Artifact filename
     required: true
-  package_name:
+  package-name:
     description: Package name (for GitHub artifact)
     required: true
-  aws_role_arn:
+  aws-role-arn:
     description: AWS IAM role ARN for OIDC authentication (preferred)
     required: false
-  aws_key_id:
+  aws-key-id:
     description: AWS access key ID
     required: false
-  aws_secret_access_key:
+  aws-secret-access-key:
     description: AWS secret access key
     required: false
-  aws_distribution_id:
+  aws-distribution-id:
     description: AWS CloudFront distribution ID
     required: false
-  upload_aws:
+  upload-aws:
     description: Upload artifact to AWS
     required: false
     default: 'true'
-  retention_days:
+  retention-days:
     description: Days to retain artifact (default 7 for PRs, 30 for pushes)
     required: false
     default: ''
-  compression_level:
+  compression-level:
     description: Compression level 0-9 (0=none, best for pre-compressed binaries)
     required: false
     default: '0'
@@ -37,24 +37,24 @@ runs:
   using: composite
   steps:
     - name: Save artifact
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       with:
-        name: ${{ inputs.package_name }}
-        path: ${{ runner.temp }}/build/${{ inputs.artifact_name }}
-        retention-days: ${{ inputs.retention_days != '' && inputs.retention_days || (github.event_name == 'pull_request' && '7' || '30') }}
-        compression-level: ${{ inputs.compression_level }}
+        name: ${{ inputs.package-name }}
+        path: ${{ runner.temp }}/build/${{ inputs.artifact-name }}
+        retention-days: ${{ inputs.retention-days != '' && inputs.retention-days || (github.event_name == 'pull_request' && '7' || '30') }}
+        compression-level: ${{ inputs.compression-level }}
 
     - name: Upload to AWS
       if: >-
-        fromJSON(inputs.upload_aws) &&
+        fromJSON(inputs.upload-aws) &&
         github.event_name == 'push' &&
         github.repository_owner == 'mavlink' &&
-        (inputs.aws_role_arn != '' || (inputs.aws_key_id != '' && inputs.aws_secret_access_key != ''))
+        (inputs.aws-role-arn != '' || (inputs.aws-key-id != '' && inputs.aws-secret-access-key != ''))
       uses: ./.github/actions/aws-upload
       with:
-        artifact_name: ${{ inputs.artifact_name }}
-        artifact_path: ${{ runner.temp }}/build/${{ inputs.artifact_name }}
-        aws_role_arn: ${{ inputs.aws_role_arn }}
-        aws_key_id: ${{ inputs.aws_key_id }}
-        aws_secret_access_key: ${{ inputs.aws_secret_access_key }}
-        aws_distribution_id: ${{ inputs.aws_distribution_id }}
+        artifact-name: ${{ inputs.artifact-name }}
+        artifact-path: ${{ runner.temp }}/build/${{ inputs.artifact-name }}
+        aws-role-arn: ${{ inputs.aws-role-arn }}
+        aws-key-id: ${{ inputs.aws-key-id }}
+        aws-secret-access-key: ${{ inputs.aws-secret-access-key }}
+        aws-distribution-id: ${{ inputs.aws-distribution-id }}
diff --git a/.github/actions/verify-executable/action.yml b/.github/actions/verify-executable/action.yml
index 3052bca4ddd2..65025b1ad8a4 100644
--- a/.github/actions/verify-executable/action.yml
+++ b/.github/actions/verify-executable/action.yml
@@ -23,67 +23,9 @@ runs:
   steps:
     - name: Verify executable
       shell: bash
-      env:
-        INPUT_BINARY_PATH: ${{ inputs.binary-path }}
-        INPUT_WORKING_DIR: ${{ inputs.working-dir }}
-        INPUT_TYPE: ${{ inputs.type }}
-        INPUT_TIMEOUT: ${{ inputs.timeout }}
       run: |
-        set -euo pipefail
-
-        binary_path="${INPUT_BINARY_PATH}"
-
-        if [[ -n "${INPUT_WORKING_DIR}" ]]; then
-          work_dir="${INPUT_WORKING_DIR}"
-        else
-          work_dir="$(dirname "${binary_path}")"
-        fi
-
-        binary_name="$(basename "${binary_path}")"
-        run_binary="${binary_name}"
-        run_headless="true"
-
-        # AppImages typically don't ship the "offscreen" Qt platform plugin.
-        # Let run_tests.py use xvfb-run (Linux, no DISPLAY) instead.
-        if [[ "${INPUT_TYPE}" == "appimage" || "${binary_name}" == *.AppImage ]]; then
-          run_headless="false"
-        fi
-
-        if [[ ! -d "${work_dir}" ]]; then
-          echo "::error::Working directory not found: ${work_dir}"
-          exit 1
-        fi
-
-        pushd "${work_dir}" >/dev/null
-
-        if [[ "${RUNNER_OS}" != "Windows" ]]; then
-          chmod +x "${binary_name}" 2>/dev/null || true
-          run_binary="${PWD}/${binary_name}"
-        fi
-
-        if command -v python3 >/dev/null 2>&1; then
-          py_cmd="python3"
-        elif command -v python >/dev/null 2>&1; then
-          py_cmd="python"
-        else
-          echo "Error: Python interpreter not found in PATH" >&2
-          exit 1
-        fi
-
-        set +e
-        args=(
-          --binary "${run_binary}"
-          --timeout "${INPUT_TIMEOUT}"
-          --verify-only
-          -v
-        )
-        if [[ "${run_headless}" == "true" ]]; then
-          args+=(--headless)
-        fi
-        "${py_cmd}" "${GITHUB_WORKSPACE}/tools/run_tests.py" "${args[@]}"
-        exit_code=$?
-        set -e
-
-        popd >/dev/null
-
-        exit "${exit_code}"
+        python3 "${GITHUB_WORKSPACE}/.github/scripts/verify_executable.py" \
+          --binary-path "${{ inputs.binary-path }}" \
+          --type "${{ inputs.type }}" \
+          --working-dir "${{ inputs.working-dir }}" \
+          --timeout "${{ inputs.timeout }}"
diff --git a/.github/build-config.json b/.github/build-config.json
index ee7cbb63d72d..599ce585893b 100644
--- a/.github/build-config.json
+++ b/.github/build-config.json
@@ -1,18 +1,21 @@
 {
   "android_build_tools": "35.0.0",
+  "ccache_version": "4.13.1",
   "android_cmdline_tools": "13114758",
   "android_min_sdk": "28",
   "android_platform": "35",
   "cmake_minimum_version": "3.25",
   "gstreamer_android_version": "1.22.12",
+  "gstreamer_ios_version": "1.24.13",
   "gstreamer_macos_version": "1.24.13",
-  "gstreamer_minimum_version": "1.22.12",
-  "gstreamer_version": "1.24.13",
+  "gstreamer_minimum_version": "1.20",
+  "gstreamer_default_version": "1.24.13",
   "gstreamer_windows_version": "1.22.12",
   "ios_deployment_target": "14.0",
   "java_version": "17",
   "macos_deployment_target": "13.0",
   "ndk_full_version": "27.2.12479018",
+  "platform_workflows": "Linux,Windows,MacOS,Android",
   "ndk_version": "r27c",
   "qt_minimum_version": "6.10.0",
   "qt_modules": "qtcharts qtlocation qtpositioning qtspeech qt5compat qtmultimedia qtserialport qtimageformats qtshadertools qtconnectivity qtquick3d qtsensors qtscxml qtwebsockets qthttpserver",
diff --git a/.github/codecov.yml b/.github/codecov.yml
index cef4e70c46ed..e817c6eb2cd3 100644
--- a/.github/codecov.yml
+++ b/.github/codecov.yml
@@ -1,8 +1,8 @@
 codecov:
-  require_ci_to_pass: yes
+  require_ci_to_pass: true
   notify:
-    after_n_builds: 2  # Wait for at least 2 builds (Debug + Release)
-    wait_for_ci: yes
+    after_n_builds: 1  # Only Linux Debug generates coverage
+    wait_for_ci: true
 
 coverage:
   precision: 2
@@ -26,9 +26,9 @@ coverage:
 comment:
   layout: "reach,diff,flags,tree,footer"
   behavior: default
-  require_changes: no
-  require_base: no
-  require_head: yes
+  require_changes: false
+  require_base: false
+  require_head: true
 
 ignore:
   - "test/**/*"
diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
index c31297820aa9..d9963c4a1597 100644
--- a/.github/copilot-instructions.md
+++ b/.github/copilot-instructions.md
@@ -39,6 +39,42 @@ src/
 └── Settings/         # Persistent settings
 ```
 
+## CI Structure
+
+Platform workflows (`linux.yml`, `macos.yml`, `windows.yml`, `android.yml`, `ios.yml`) share logic via composite actions and reusable workflows.
+
+```
+.github/
+├── workflows/
+│   ├── linux.yml, macos.yml, ...  # Platform build + test
+│   ├── _detect-changes.yml        # Reusable: skip builds on unrelated PRs
+│   ├── build-results.yml          # Aggregate PR comment (workflow_run trigger)
+│   └── build-gstreamer.yml        # GStreamer SDK builds
+├── actions/
+│   ├── cmake-configure/           # CMake configure with consistent options
+│   ├── cmake-build/               # Build with timing, reviewdog, ccache
+│   ├── run-unit-tests/            # CTest runner with JUnit output
+│   ├── detect-changes/            # Path-based change detection per platform
+│   ├── attest-and-upload/         # SBOM attestation + artifact upload
+│   ├── deploy-docs/               # Deploy built docs to external repo
+│   ├── gstreamer/                 # Build GStreamer from source
+│   ├── setup-python/              # Python + uv + dependency installation
+│   └── qt-install/                # Qt SDK installation with caching
+├── scripts/                       # Python scripts for CI jobs
+│   ├── common/                    # Shared modules (gh_actions, build_config)
+│   ├── templates/                 # Jinja2 templates for generated output
+│   └── tests/                     # Tests for CI scripts
+└── build-config.json              # Centralized version numbers
+```
+
+### CI Conventions
+
+- **Dependencies**: CI Python scripts use `httpx` for GitHub API access and `jinja2` for templating. Deps managed in `tools/pyproject.toml` under `[project.optional-dependencies] scripts`.
+- **Shared helpers**: `gh_actions.py` provides GitHub API pagination (httpx) with `gh` CLI fallback. Import as `from common.gh_actions import ...`.
+- **Bootstrap scripts** (`install_dependencies.py`, `ccache_helper.py`): Use stdlib only — they run before dependencies are installed.
+- **Config**: Version numbers and build settings live in `.github/build-config.json`. Read via `common.build_config.get_build_config_value()`.
+- **Outputs**: Use `common.gh_actions.write_github_output()` for `$GITHUB_OUTPUT` writes.
+
 ## Quick Patterns
 
 ```cpp
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 4ed07cc136b6..3bb6fbda7703 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -1,6 +1,10 @@
 # Dependabot configuration
 # To merge dependabot PRs, comment "@dependabot merge" after CI passes
 # See: https://docs.github.com/en/code-security/dependabot/working-with-dependabot/managing-pull-requests-for-dependency-updates
+#
+# Dependency management split:
+#   - Dependabot: GitHub Actions (this file)
+#   - Renovate:   npm, git-submodules, pip, pre-commit (see renovate.json)
 
 version: 2
 updates:
@@ -17,4 +21,3 @@ updates:
       github-actions:
         patterns:
           - "*"
-    # npm dependencies managed by Renovate (see renovate.json)
diff --git a/.github/renovate.json b/.github/renovate.json
index 4c20d12f02dd..606c24bd13b1 100644
--- a/.github/renovate.json
+++ b/.github/renovate.json
@@ -14,6 +14,7 @@
   "ignorePaths": [
     ".github/workflows/**"
   ],
+  "description": "Manages npm, git-submodules, pip, pre-commit. GitHub Actions are handled by Dependabot (see dependabot.yml).",
   "enabledManagers": [
     "npm",
     "git-submodules",
diff --git a/.github/scripts/README.md b/.github/scripts/README.md
index 8f212c3dd0e5..1de04b1b0809 100644
--- a/.github/scripts/README.md
+++ b/.github/scripts/README.md
@@ -8,16 +8,19 @@ Python helper scripts used by workflows and composite actions in this repository
 |---|---|
 | `android_boot_test.py` | Android emulator boot smoke test |
 | `benchmark_runner.py` | Run benchmark binaries and summarize output |
+| `ccache_helper.py` | Ccache CI helper: config output, binary install, build summary |
 | `check_baseline_ready.py` | Verify baseline-cache update readiness for platform workflows |
+| `ci_bootstrap.py` | Bootstrap helper that makes `tools/common` imports work for CI scripts |
 | `collect_artifact_sizes.py` | Collect artifact sizes for latest successful platform workflow runs |
 | `collect_build_status.py` | Collect latest platform/pre-commit status for build-results comments |
 | `coverage_comment.py` | Build coverage report comments |
 | `find_binary.py` | Locate produced binaries/artifacts in build trees |
 | `generate_build_results_comment.py` | Generate consolidated PR build-results comment |
 | `gstreamer_archive.py` | Package GStreamer builds and optionally upload to S3 |
-| `install_ccache.py` | Resolve ccache config and install pinned Linux binary |
+| `plan_docker_builds.py` | Generate Docker workflow build matrices from changed files |
+| `precommit_results.py` | Normalize pre-commit outputs into uploaded CI artifacts |
 | `size_analysis.py` | Analyze binary size changes |
-| `workflow_runs.py` | Shared helpers for listing workflow runs via GitHub API |
+| `test_duration_report.py` | Generate test-duration reports and regressions |
 
 ## Tests
 
diff --git a/.github/scripts/android_sdk_helper.py b/.github/scripts/android_sdk_helper.py
new file mode 100644
index 000000000000..affcd1a39881
--- /dev/null
+++ b/.github/scripts/android_sdk_helper.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+"""Android SDK/NDK setup helpers for CI."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import subprocess
+import sys
+from pathlib import Path
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import append_github_env  # noqa: E402
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--ndk-version", required=True)
+    parser.add_argument("--workspace", default=os.environ.get("GITHUB_WORKSPACE", "."))
+    args = parser.parse_args()
+
+    sdk_root = os.environ.get("ANDROID_SDK_ROOT", "")
+    if not sdk_root:
+        print("::error::ANDROID_SDK_ROOT not set", file=sys.stderr)
+        sys.exit(1)
+
+    sdk_root_unix = sdk_root.replace("\\", "/")
+    ndk_path = f"{sdk_root_unix}/ndk/{args.ndk_version}"
+
+    if not Path(ndk_path).is_dir():
+        print(f"::error::NDK path not found: {ndk_path}", file=sys.stderr)
+        sys.exit(1)
+
+    append_github_env({
+        "ANDROID_NDK_ROOT": ndk_path,
+        "ANDROID_NDK_HOME": ndk_path,
+        "ANDROID_NDK": ndk_path,
+    })
+
+    is_windows = os.environ.get("RUNNER_OS") == "Windows"
+
+    if is_windows:
+        sdkmanager = os.path.join(sdk_root, "cmdline-tools", "latest", "bin", "sdkmanager.bat")
+        gradlew = os.path.join(args.workspace, "android", "gradlew.bat")
+    else:
+        sdkmanager = "sdkmanager"
+        gradlew = os.path.join(args.workspace, "android", "gradlew")
+
+    subprocess.run([sdkmanager, "--update"], check=True)
+    subprocess.run([gradlew, "--version"], check=True)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/attest_helper.py b/.github/scripts/attest_helper.py
new file mode 100644
index 000000000000..f59fdb791c10
--- /dev/null
+++ b/.github/scripts/attest_helper.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+"""Check attestation conditions and resolve SBOM paths."""
+
+from __future__ import annotations
+
+import argparse
+import sys
+from pathlib import Path
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import is_fork_pr, write_github_output  # noqa: E402
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--subject-path", required=True)
+    parser.add_argument("--subject-name", required=True)
+    parser.add_argument("--scan-path", default="")
+    parser.add_argument("--sbom-format", default="spdx-json")
+    parser.add_argument("--runner-temp", required=True)
+    args = parser.parse_args()
+
+    subject = Path(args.subject_path)
+
+    if is_fork_pr():
+        print("Skipping attestation for external PR")
+        write_github_output({"skip": "true"})
+        return
+
+    if not subject.exists():
+        print(f"::warning::Artifact not found: {subject}")
+        write_github_output({"skip": "true"})
+        return
+
+    scan_path = args.scan_path or str(subject.parent)
+    suffix = "cdx.json" if args.sbom_format == "cyclonedx-json" else "spdx.json"
+    sbom_path = str(Path(args.runner_temp) / f"{args.subject_name}.sbom.{suffix}")
+
+    write_github_output({
+        "skip": "false",
+        "scan-path": scan_path,
+        "sbom-path": sbom_path,
+    })
+    print(f"Will attest: {subject}")
+    print(f"Scan path: {scan_path}")
+    print(f"SBOM path: {sbom_path}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/aws_upload.py b/.github/scripts/aws_upload.py
new file mode 100644
index 000000000000..cc21cf4b2b80
--- /dev/null
+++ b/.github/scripts/aws_upload.py
@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+"""Validate and upload artifacts to AWS S3.
+
+Subcommands:
+    validate    Validate AWS credentials and artifact inputs
+    upload      Upload artifact to S3 with path safety checks
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+import subprocess
+import sys
+from pathlib import Path
+
+
+def validate_credentials(role_arn: str, key_id: str, secret_key: str) -> None:
+    """Ensure either OIDC role or static credentials are provided."""
+    if not role_arn and (not key_id or not secret_key):
+        print(
+            "::error::Either aws_role_arn (OIDC) or both aws_key_id and "
+            "aws_secret_access_key (static credentials) must be provided",
+            file=sys.stderr,
+        )
+        sys.exit(1)
+
+
+def validate_artifact(artifact_path: str, artifact_name: str) -> None:
+    """Validate artifact exists and name is safe."""
+    if not Path(artifact_path).is_file():
+        print(f"::error::Artifact not found: {artifact_path}", file=sys.stderr)
+        sys.exit(1)
+
+    if re.search(r"[/\\]", artifact_name) or ".." in artifact_name:
+        print(
+            f"::error::Invalid artifact name (contains path separators or ..): {artifact_name}",
+            file=sys.stderr,
+        )
+        sys.exit(1)
+
+
+def sanitize_ref(ref_name: str) -> str:
+    """Remove path traversal and unsafe characters from a git ref name."""
+    safe = ref_name.replace("..", "")
+    return re.sub(r"[^a-zA-Z0-9._-]", "_", safe)
+
+
+def cmd_validate(args: argparse.Namespace) -> None:
+    validate_credentials(args.role_arn, args.key_id, args.secret_key)
+    validate_artifact(args.artifact_path, args.artifact_name)
+
+
+def cmd_upload(args: argparse.Namespace) -> None:
+    validate_artifact(args.artifact_path, args.artifact_name)
+    safe_ref = sanitize_ref(args.ref_name)
+
+    s3_path = f"s3://{args.s3_bucket}/builds/{safe_ref}/{args.artifact_name}"
+    subprocess.run(
+        ["aws", "s3", "cp", args.artifact_path, s3_path, "--acl", "public-read"],
+        check=True,
+    )
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    p_val = sub.add_parser("validate")
+    p_val.add_argument("--role-arn", default="")
+    p_val.add_argument("--key-id", default="")
+    p_val.add_argument("--secret-key", default="")
+    p_val.add_argument("--artifact-path", required=True)
+    p_val.add_argument("--artifact-name", required=True)
+
+    p_up = sub.add_parser("upload")
+    p_up.add_argument("--artifact-path", required=True)
+    p_up.add_argument("--artifact-name", required=True)
+    p_up.add_argument("--ref-name", required=True)
+    p_up.add_argument("--s3-bucket", default="qgroundcontrol")
+
+    args = parser.parse_args()
+    {"validate": cmd_validate, "upload": cmd_upload}[args.command](args)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/benchmark_runner.py b/.github/scripts/benchmark_runner.py
index 582669840e30..ccfc06184b9b 100755
--- a/.github/scripts/benchmark_runner.py
+++ b/.github/scripts/benchmark_runner.py
@@ -18,6 +18,15 @@
 import time
 from pathlib import Path
 
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import (  # noqa: E402
+    write_github_output as _write_github_output,
+    write_step_summary as _write_step_summary,
+)
+
 
 def run_benchmarks(binary: Path, test_filter: str, platform: str) -> str:
     """Run Qt Test benchmarks and return output."""
@@ -106,33 +115,25 @@ def fallback_startup_benchmark(binary: Path, platform: str) -> list[dict]:
 
 def write_github_output(results: list[dict]) -> None:
     """Write outputs for GitHub Actions."""
-    github_output = os.environ.get("GITHUB_OUTPUT")
-    if github_output:
-        with open(github_output, "a") as f:
-            f.write(f"has_results={'true' if results else 'false'}\n")
-            f.write(f"result_count={len(results)}\n")
+    _write_github_output({
+        "has_results": "true" if results else "false",
+        "result_count": str(len(results)),
+    })
 
 
 def write_summary(results: list[dict], output_file: Path) -> None:
     """Write GitHub step summary."""
-    summary_file = os.environ.get("GITHUB_STEP_SUMMARY")
-    if not summary_file:
-        return
-
-    with open(summary_file, "a") as f:
-        f.write("## Runtime Benchmarks\n\n")
-        f.write(
-            "⚠️ **Note**: Runtime benchmarks on shared runners have ~3x variance.\n"
-        )
-        f.write("Only significant regressions (>50%) trigger alerts.\n\n")
-        f.write("### Results\n\n")
-
-        if results and output_file.exists():
-            f.write("```json\n")
-            f.write(output_file.read_text())
-            f.write("\n```\n")
-        else:
-            f.write("No benchmark results available\n")
+    parts = [
+        "## Runtime Benchmarks\n",
+        "⚠️ **Note**: Runtime benchmarks on shared runners have ~3x variance.",
+        "Only significant regressions (>50%) trigger alerts.\n",
+        "### Results\n",
+    ]
+    if results and output_file.exists():
+        parts.append(f"```json\n{output_file.read_text()}\n```\n")
+    else:
+        parts.append("No benchmark results available\n")
+    _write_step_summary("\n".join(parts))
 
 
 def main() -> int:
diff --git a/.github/scripts/ccache_helper.py b/.github/scripts/ccache_helper.py
new file mode 100755
index 000000000000..952423fac421
--- /dev/null
+++ b/.github/scripts/ccache_helper.py
@@ -0,0 +1,851 @@
+#!/usr/bin/env python3
+"""
+Ccache helper for CI: install, configure, and report.
+
+Subcommands:
+    config   Output ccache configuration for GitHub Actions
+    install  Download and install a pinned ccache binary (Linux only)
+    summary  Write a build cache hit/miss summary to GitHub Step Summary
+
+Examples:
+    ccache_helper.py config  --version 4.13.1 --arch x86_64 --conf ccache.conf
+    ccache_helper.py install --version 4.13.1 --arch x86_64
+    ccache_helper.py summary
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import os
+import platform
+import re
+import shutil
+import subprocess
+import sys
+import tarfile
+import tempfile
+import time
+import zipfile
+from pathlib import Path
+from typing import NamedTuple
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import append_github_env, write_github_output as write_github_outputs  # noqa: E402
+
+def _download_file(url: str, dest: Path, *, timeout: int = 120) -> None:
+    """Download a URL to a local file using urllib (stdlib)."""
+    import urllib.request
+
+    request = urllib.request.Request(url)
+    with urllib.request.urlopen(request, timeout=timeout) as resp:
+        with open(dest, "wb") as f:
+            while True:
+                chunk = resp.read(65536)
+                if not chunk:
+                    break
+                f.write(chunk)
+
+
+WINDOWS_BINARY_SHA256 = {
+    "x86_64": "1c78a0b816a3174d4b170b96294e016a21fb4a577dfd8361e7322f77f85c6348",
+    "aarch64": "5907c8f74dcfff920ee57df55a5cb98164630665926b2ba9085e9f5fb701c58f",
+}
+
+
+# ---------------------------------------------------------------------------
+# Data classes
+# ---------------------------------------------------------------------------
+
+class CcacheConfig(NamedTuple):
+    """Configuration values extracted for ccache setup."""
+
+    version: str
+    arch: str
+    max_size: str
+
+
+# ---------------------------------------------------------------------------
+# Installer
+# ---------------------------------------------------------------------------
+
+class CcacheInstaller:
+    """Handles ccache installation with signature verification."""
+
+    DEFAULT_VERSION = "4.13.1"
+    DEFAULT_MAX_SIZE = "2G"
+    MINISIGN_VERSION = "0.11"
+    MINISIGN_KEY = "RWQX7yXbBedVfI4PNx6FLdFXu9GHUFsr28s4BVGxm4BeybtnX3P06saF"
+
+    CCACHE_RELEASE_URL = "https://github.com/ccache/ccache/releases/download"
+    MINISIGN_RELEASE_URL = "https://github.com/jedisct1/minisign/releases/download"
+    MINISIGN_ARCHIVE_SHA256 = "f0a0954413df8531befed169e447a66da6868d79052ed7e892e50a4291af7ae0"
+
+    def __init__(
+        self,
+        version: str = DEFAULT_VERSION,
+        arch: str | None = None,
+        config_path: Path | None = None,
+        prefix: Path | None = None,
+        max_retries: int = 3,
+        retry_delay: float = 5.0,
+    ) -> None:
+        self.version = version
+        self.arch = arch or self.detect_arch()
+        self.config_path = config_path
+        self.prefix = prefix or self._default_prefix()
+        self.max_retries = max_retries
+        self.retry_delay = retry_delay
+        self.max_size = self.DEFAULT_MAX_SIZE
+
+        if config_path:
+            self.max_size = self.read_max_size(config_path)
+
+    @staticmethod
+    def _default_prefix() -> Path:
+        """Get default installation prefix from env or standard location."""
+        env_prefix = os.environ.get("CCACHE_PREFIX")
+        if env_prefix:
+            return Path(env_prefix)
+        return Path("/usr/local")
+
+    @staticmethod
+    def validate_version(version: str) -> bool:
+        """Validate version format matches X.Y or X.Y.Z pattern."""
+        pattern = r"^[0-9]+\.[0-9]+(\.[0-9]+)?$"
+        return bool(re.match(pattern, version))
+
+    @staticmethod
+    def detect_arch() -> str:
+        """Auto-detect CPU architecture, normalizing to ccache naming."""
+        machine = platform.machine().lower()
+        arch_map = {
+            "x86_64": "x86_64",
+            "amd64": "x86_64",
+            "aarch64": "aarch64",
+            "arm64": "aarch64",
+        }
+        return arch_map.get(machine, "x86_64")
+
+    def read_max_size(self, config_path: Path) -> str:
+        """Extract max_size value from ccache.conf file."""
+        if not config_path.exists():
+            print(
+                f"Warning: ccache config not found at {config_path}, using default max_size",
+                file=sys.stderr,
+            )
+            return self.DEFAULT_MAX_SIZE
+
+        pattern = re.compile(r"^max_size\s*=\s*(.+)$")
+        try:
+            with config_path.open() as f:
+                for line in f:
+                    match = pattern.match(line.strip())
+                    if match:
+                        return match.group(1).strip()
+        except OSError as e:
+            print(f"Warning: Failed to read config: {e}", file=sys.stderr)
+
+        return self.DEFAULT_MAX_SIZE
+
+    def download_with_retry(self, url: str, dest: Path) -> bool:
+        """Download file with retry logic."""
+        from urllib.error import URLError
+
+        for attempt in range(1, self.max_retries + 1):
+            try:
+                print(f"Downloading {url} (attempt {attempt}/{self.max_retries})")
+                _download_file(url, dest)
+                return True
+            except (URLError, OSError) as e:
+                print(f"Download failed: {e}", file=sys.stderr)
+                if attempt < self.max_retries:
+                    print(f"Retrying in {self.retry_delay} seconds...")
+                    time.sleep(self.retry_delay)
+
+        return False
+
+    def download_with_verify(self, temp_dir: Path) -> Path | None:
+        """Download ccache archive and verify its signature."""
+        archive_name = f"ccache-{self.version}-linux-{self.arch}-glibc.tar.xz"
+        archive_path = temp_dir / archive_name
+        sig_path = temp_dir / f"{archive_name}.minisig"
+
+        ccache_url = f"{self.CCACHE_RELEASE_URL}/v{self.version}/{archive_name}"
+        sig_url = f"{ccache_url}.minisig"
+
+        if not self.download_with_retry(ccache_url, archive_path):
+            print("Error: Failed to download ccache archive", file=sys.stderr)
+            return None
+
+        if not self.download_with_retry(sig_url, sig_path):
+            print("Error: Failed to download signature file", file=sys.stderr)
+            return None
+
+        minisign_bin = self._setup_minisign(temp_dir)
+        if not minisign_bin:
+            print("Error: Failed to setup minisign", file=sys.stderr)
+            return None
+
+        if not self.verify_signature(archive_path, sig_path, minisign_bin):
+            print("Error: Signature verification failed", file=sys.stderr)
+            return None
+
+        return archive_path
+
+    def _setup_minisign(self, temp_dir: Path) -> Path | None:
+        """Download and extract minisign binary."""
+        minisign_archive = f"minisign-{self.MINISIGN_VERSION}-linux.tar.gz"
+        minisign_url = f"{self.MINISIGN_RELEASE_URL}/{self.MINISIGN_VERSION}/{minisign_archive}"
+        minisign_path = temp_dir / minisign_archive
+
+        if not self.download_with_retry(minisign_url, minisign_path):
+            return None
+
+        actual_hash = hashlib.sha256(minisign_path.read_bytes()).hexdigest()
+        if actual_hash != self.MINISIGN_ARCHIVE_SHA256:
+            print(
+                f"Error: minisign archive hash mismatch: {actual_hash} != {self.MINISIGN_ARCHIVE_SHA256}",
+                file=sys.stderr,
+            )
+            return None
+
+        try:
+            with tarfile.open(minisign_path, "r:gz") as tar:
+                tar.extractall(temp_dir, filter="data")
+        except tarfile.TarError as e:
+            print(f"Error extracting minisign: {e}", file=sys.stderr)
+            return None
+
+        minisign_bin = temp_dir / "minisign-linux" / self.arch / "minisign"
+        if not minisign_bin.exists():
+            print(f"Error: minisign binary not found at {minisign_bin}", file=sys.stderr)
+            return None
+
+        minisign_bin.chmod(0o755)
+        return minisign_bin
+
+    def verify_signature(self, archive: Path, sig_file: Path, minisign_bin: Path) -> bool:
+        """Verify archive signature using minisign."""
+        try:
+            result = subprocess.run(
+                [str(minisign_bin), "-Vm", str(archive), "-P", self.MINISIGN_KEY],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+            if result.returncode != 0:
+                print(f"Signature verification failed: {result.stderr}", file=sys.stderr)
+                return False
+            print("Signature verified successfully")
+            return True
+        except OSError as e:
+            print(f"Error running minisign: {e}", file=sys.stderr)
+            return False
+
+    def install(self, archive: Path) -> bool:
+        """Extract and install ccache binary."""
+        temp_dir = archive.parent
+        extract_dir = temp_dir / f"ccache-{self.version}-linux-{self.arch}-glibc"
+
+        try:
+            with tarfile.open(archive, "r:xz") as tar:
+                tar.extractall(temp_dir, filter="data")
+        except tarfile.TarError as e:
+            print(f"Error extracting ccache: {e}", file=sys.stderr)
+            return False
+
+        ccache_bin = extract_dir / "ccache"
+        if not ccache_bin.exists():
+            print(f"Error: ccache binary not found at {ccache_bin}", file=sys.stderr)
+            return False
+
+        dest_bin = self.prefix / "bin" / "ccache"
+
+        try:
+            result = subprocess.run(
+                ["sudo", "cp", str(ccache_bin), str(dest_bin)],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+            if result.returncode != 0:
+                print(f"Error copying ccache: {result.stderr}", file=sys.stderr)
+                return False
+
+            result = subprocess.run(
+                ["sudo", "chmod", "+x", str(dest_bin)],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+            if result.returncode != 0:
+                print(f"Error setting permissions: {result.stderr}", file=sys.stderr)
+                return False
+
+        except OSError as e:
+            print(f"Error installing ccache: {e}", file=sys.stderr)
+            return False
+
+        print(f"ccache {self.version} installed successfully to {dest_bin}")
+        return True
+
+    def is_installed(self) -> bool:
+        """Check if requested ccache version is already installed."""
+        ccache_path = shutil.which("ccache")
+        if not ccache_path:
+            return False
+
+        try:
+            result = subprocess.run(
+                ["ccache", "--version"],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+            if result.returncode != 0:
+                return False
+
+            version_match = re.search(r"[0-9]+\.[0-9]+(\.[0-9]+)?", result.stdout)
+            if version_match and version_match.group() == self.version:
+                return True
+        except OSError:
+            pass
+
+        return False
+
+    def get_config(self) -> CcacheConfig:
+        """Return current configuration as named tuple."""
+        return CcacheConfig(
+            version=self.version,
+            arch=self.arch,
+            max_size=self.max_size,
+        )
+
+    def run_install(self) -> bool:
+        """Execute full installation workflow."""
+        if platform.system() != "Linux":
+            print("Warning: Binary installation only supported on Linux", file=sys.stderr)
+            return False
+
+        if self.is_installed():
+            print(f"ccache {self.version} already installed")
+            return True
+
+        print(f"Installing ccache {self.version}...")
+
+        with tempfile.TemporaryDirectory() as temp_dir:
+            temp_path = Path(temp_dir)
+            archive = self.download_with_verify(temp_path)
+            if not archive:
+                return False
+
+            if not self.install(archive):
+                return False
+
+        self._print_version()
+        return True
+
+    def _print_version(self) -> None:
+        """Print installed ccache version."""
+        try:
+            result = subprocess.run(
+                ["ccache", "--version"],
+                capture_output=True,
+                text=True,
+                check=False,
+            )
+            if result.returncode == 0:
+                print(result.stdout.strip())
+        except OSError:
+            pass
+
+
+# ---------------------------------------------------------------------------
+# Summary
+# ---------------------------------------------------------------------------
+
+def get_ccache_json_stats() -> dict | None:
+    """Run ``ccache --print-stats --format=json`` and return parsed dict.
+
+    Returns None when ccache is unavailable or too old (< 4.10).
+    """
+    ccache_bin = shutil.which("ccache")
+    if not ccache_bin:
+        return None
+
+    try:
+        result = subprocess.run(
+            [ccache_bin, "--print-stats", "--format=json"],
+            capture_output=True,
+            text=True,
+            check=False,
+        )
+        if result.returncode != 0:
+            return None
+        return json.loads(result.stdout)
+    except (OSError, json.JSONDecodeError):
+        return None
+
+
+def build_summary_markdown(stats: dict) -> str:
+    """Build a GitHub-flavoured markdown summary table from ccache JSON stats."""
+    direct = int(stats.get("direct_cache_hit", 0))
+    preprocessed = int(stats.get("preprocessed_cache_hit", 0))
+    misses = int(stats.get("cache_miss", 0))
+    hits = direct + preprocessed
+    total = hits + misses
+    pct = f"{hits / total * 100:.1f}" if total > 0 else "0.0"
+
+    lines = [
+        "### CCache Statistics",
+        "",
+        "| Metric | Value |",
+        "|--------|-------|",
+        f"| Cache hits | {hits} / {total} ({pct}%) |",
+        f"| Direct hits | {direct} |",
+        f"| Preprocessed hits | {preprocessed} |",
+        f"| Misses | {misses} |",
+    ]
+    return "\n".join(lines) + "\n"
+
+
+def write_step_summary(markdown: str) -> bool:
+    """Append *markdown* to ``$GITHUB_STEP_SUMMARY``.
+
+    Returns True on success, False when the env var is unset or write fails.
+    """
+    summary_path = os.environ.get("GITHUB_STEP_SUMMARY")
+    if not summary_path:
+        print(markdown)
+        return True
+
+    try:
+        with open(summary_path, "a") as f:
+            f.write(markdown)
+        return True
+    except OSError as e:
+        print(f"Warning: Failed to write step summary: {e}", file=sys.stderr)
+        return False
+
+
+def get_ccache_verbose_stats() -> str | None:
+    """Run ``ccache -s -vv`` and return its output."""
+    ccache_bin = shutil.which("ccache")
+    if not ccache_bin:
+        return None
+
+    try:
+        result = subprocess.run(
+            [ccache_bin, "-s", "-vv"],
+            capture_output=True,
+            text=True,
+            check=False,
+        )
+        if result.returncode != 0:
+            return None
+        return result.stdout.strip()
+    except OSError:
+        return None
+
+
+def run_summary() -> int:
+    """Collect ccache stats and write a job summary table."""
+    parts: list[str] = []
+
+    stats = get_ccache_json_stats()
+    if stats is not None:
+        parts.append(build_summary_markdown(stats))
+    else:
+        print("ccache JSON stats unavailable (ccache missing or < 4.10)", file=sys.stderr)
+
+    verbose = get_ccache_verbose_stats()
+    if verbose:
+        parts.append(
+            "<details>\n<summary>Verbose stats</summary>\n\n"
+            f"```\n{verbose}\n```\n\n</details>\n"
+        )
+
+    if parts:
+        write_step_summary("\n".join(parts))
+    return 0
+
+
+# ---------------------------------------------------------------------------
+# GitHub Actions output helper
+# ---------------------------------------------------------------------------
+
+def output_github_actions(config: CcacheConfig) -> None:
+    """Write outputs for GitHub Actions."""
+    write_github_outputs({
+        "version": config.version,
+        "arch": config.arch,
+        "max_size": config.max_size,
+    })
+
+
+
+def append_github_path(path_entry: str) -> None:
+    """Append a path entry to ``$GITHUB_PATH`` when available."""
+    github_path = os.environ.get("GITHUB_PATH")
+    if not github_path:
+        return
+    with open(github_path, "a", encoding="utf-8") as handle:
+        handle.write(f"{path_entry}\n")
+
+
+def determine_cache_scope(event_name: str, ref_name: str, pr_number: str = "") -> str:
+    """Return the normalized cache scope used by CI."""
+    scope = "shared"
+    if event_name == "pull_request":
+        scope = f"pr-{pr_number or 'unknown'}"
+    elif event_name == "workflow_dispatch":
+        scope = f"manual-{ref_name}"
+    elif event_name == "push":
+        if ref_name != "master":
+            scope = f"branch-{ref_name}"
+    else:
+        scope = f"{event_name}-{ref_name}"
+    return scope.replace("/", "-")
+
+
+def compute_cpm_fingerprint(root: Path) -> str:
+    """Hash CMake files that declare CPM or FetchContent dependencies."""
+    declaration_re = re.compile(r"CPM(Add|Find)Package|FetchContent_Declare")
+    candidates: list[Path] = []
+    for exact in [
+        root / "CMakeLists.txt",
+        root / "cmake/modules/CPM.cmake",
+        root / ".github/build-config.json",
+    ]:
+        if exact.exists():
+            candidates.append(exact)
+
+    for directory in ("cmake",):
+        base = root / directory
+        if base.exists():
+            candidates.extend(base.rglob("*.cmake"))
+
+    for directory in ("src", "test"):
+        base = root / directory
+        if base.exists():
+            candidates.extend(base.rglob("CMakeLists.txt"))
+
+    dep_files: list[Path] = []
+    for path in candidates:
+        if not path.is_file():
+            continue
+        if path.name == "build-config.json":
+            dep_files.append(path)
+            continue
+        try:
+            text = path.read_text(encoding="utf-8", errors="ignore")
+        except OSError:
+            continue
+        if declaration_re.search(text):
+            dep_files.append(path)
+
+    digest = hashlib.sha256()
+    rel_paths = sorted({path.relative_to(root).as_posix() for path in dep_files})
+    for rel_path in rel_paths:
+        path = root / rel_path
+        try:
+            content = path.read_bytes()
+        except OSError:
+            continue
+        digest.update(rel_path.encode("utf-8"))
+        digest.update(b"\0")
+        digest.update(content)
+        digest.update(b"\0")
+    return digest.hexdigest()
+
+
+def resolve_windows_binary_config(host: str, target: str) -> dict[str, str]:
+    """Return Windows ccache binary arch and checksum for the requested target."""
+    arch = "aarch64" if host == "windows_arm64" else "x86_64"
+    if target != "android" and host != "windows_arm64":
+        arch = "x86_64"
+    return {"arch": arch, "sha256": WINDOWS_BINARY_SHA256[arch]}
+
+
+def install_windows_binary(version: str, arch: str, sha256: str, runner_temp: Path) -> Path:
+    """Download and install the ccache Windows binary under ``runner_temp``."""
+    ccache_url = (
+        f"https://github.com/ccache/ccache/releases/download/v{version}/"
+        f"ccache-{version}-windows-{arch}.zip"
+    )
+    install_dir = runner_temp / f"ccache-{version}-windows-{arch}"
+    install_dir.mkdir(parents=True, exist_ok=True)
+
+    with tempfile.TemporaryDirectory() as temp_dir:
+        temp_path = Path(temp_dir)
+        archive_path = temp_path / "ccache.zip"
+        _download_file(ccache_url, archive_path)
+        actual = hashlib.sha256(archive_path.read_bytes()).hexdigest()
+        if actual != sha256:
+            raise RuntimeError(f"SHA256 mismatch: {actual} != {sha256}")
+
+        with zipfile.ZipFile(archive_path) as archive:
+            archive.extractall(temp_path)
+
+        source = temp_path / f"ccache-{version}-windows-{arch}" / "ccache.exe"
+        if not source.exists():
+            raise FileNotFoundError(f"ccache.exe not found in downloaded archive for {arch}")
+        shutil.copy2(source, install_dir / "ccache.exe")
+    return install_dir
+
+
+def add_windows_binary_to_path(version: str, arch: str, runner_temp: Path) -> Path:
+    """Add the installed Windows ccache binary directory to PATH."""
+    install_dir = runner_temp / f"ccache-{version}-windows-{arch}"
+    binary = install_dir / "ccache.exe"
+    if not binary.exists():
+        raise FileNotFoundError(f"ccache.exe not found at {binary}")
+    append_github_path(str(install_dir))
+    result = subprocess.run([str(binary), "--version"], capture_output=True, text=True, check=False)
+    if result.stdout:
+        print(result.stdout.strip())
+    return install_dir
+
+
+def configure_ccache_environment(workspace: Path) -> Path:
+    """Configure standard ccache environment variables for GitHub Actions."""
+    workspace_path = Path(str(workspace).replace("\\", "/"))
+    ccache_dir = workspace_path / ".ccache"
+    ccache_dir.mkdir(parents=True, exist_ok=True)
+    append_github_env(
+        {
+            "CCACHE_DIR": ccache_dir.as_posix(),
+            "CCACHE_BASEDIR": workspace_path.as_posix(),
+            "CCACHE_CONFIGPATH": (workspace_path / "tools" / "configs" / "ccache.conf").as_posix(),
+            "CCACHE_MAXSIZE": "2G",
+        }
+    )
+    return ccache_dir
+
+
+def configure_cpm_cache(path_value: str) -> Path:
+    """Normalize and create the CPM cache path and export it."""
+    cache_path = Path(path_value.replace("\\", "/"))
+    cache_path.mkdir(parents=True, exist_ok=True)
+    posix_path = cache_path.as_posix()
+    append_github_env({"CPM_SOURCE_CACHE": posix_path})
+    write_github_outputs({"path": posix_path})
+    return cache_path
+
+
+# ---------------------------------------------------------------------------
+# CLI
+# ---------------------------------------------------------------------------
+
+TARGET_ARCH_MAP: dict[str, str] = {
+    "linux_gcc_arm64": "aarch64",
+}
+
+
+def resolve_arch(args: argparse.Namespace) -> str | None:
+    """Return architecture from --arch, --target, or None for auto-detect."""
+    if getattr(args, "arch", None):
+        return args.arch
+    target = getattr(args, "target", None)
+    if target:
+        return TARGET_ARCH_MAP.get(target)
+    return None
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command line arguments."""
+    parser = argparse.ArgumentParser(
+        description="Ccache helper for CI: install, configure, and report",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+    )
+    sub = parser.add_subparsers(dest="command")
+
+    # -- config --------------------------------------------------------
+    cfg = sub.add_parser("config", help="Output ccache configuration for GitHub Actions")
+    cfg.add_argument(
+        "--version",
+        default=CcacheInstaller.DEFAULT_VERSION,
+        help=f"ccache version (default: {CcacheInstaller.DEFAULT_VERSION})",
+    )
+    cfg_arch = cfg.add_mutually_exclusive_group()
+    cfg_arch.add_argument(
+        "--arch",
+        choices=["x86_64", "aarch64"],
+        help="Architecture (default: auto-detect)",
+    )
+    cfg_arch.add_argument(
+        "--target",
+        metavar="CI_TARGET",
+        help="CI build target — resolved to arch (e.g. linux_gcc_arm64 → aarch64)",
+    )
+    cfg.add_argument(
+        "--conf",
+        type=Path,
+        metavar="PATH",
+        help="Path to ccache.conf for max_size",
+    )
+
+    # -- install -------------------------------------------------------
+    inst = sub.add_parser("install", help="Install a pinned ccache binary (Linux)")
+    inst.add_argument(
+        "--version",
+        default=CcacheInstaller.DEFAULT_VERSION,
+        help=f"ccache version (default: {CcacheInstaller.DEFAULT_VERSION})",
+    )
+    inst_arch = inst.add_mutually_exclusive_group()
+    inst_arch.add_argument(
+        "--arch",
+        choices=["x86_64", "aarch64"],
+        help="Architecture (default: auto-detect)",
+    )
+    inst_arch.add_argument(
+        "--target",
+        metavar="CI_TARGET",
+        help="CI build target — resolved to arch (e.g. linux_gcc_arm64 → aarch64)",
+    )
+    inst.add_argument(
+        "--prefix",
+        type=Path,
+        default=None,
+        help="Installation prefix (default: $CCACHE_PREFIX or /usr/local)",
+    )
+
+    # -- summary -------------------------------------------------------
+    sub.add_parser("summary", help="Write cache hit/miss summary to GitHub Step Summary")
+
+    # -- scope ---------------------------------------------------------
+    scope = sub.add_parser("scope", help="Compute the workflow cache scope")
+    scope.add_argument("--event-name", required=True, help="GitHub event name")
+    scope.add_argument("--ref-name", required=True, help="Git ref name")
+    scope.add_argument("--pr-number", default="", help="Pull request number")
+
+    # -- fingerprint ---------------------------------------------------
+    fingerprint = sub.add_parser("fingerprint", help="Compute CPM dependency fingerprint")
+    fingerprint.add_argument("--root", type=Path, default=Path("."), help="Repository root")
+
+    # -- windows-config ------------------------------------------------
+    windows_cfg = sub.add_parser("windows-config", help="Resolve Windows ccache binary metadata")
+    windows_cfg.add_argument("--host", required=True, help="Workflow host input")
+    windows_cfg.add_argument("--target", required=True, help="Workflow target input")
+
+    install_win = sub.add_parser("install-windows", help="Download and install Windows ccache binary")
+    install_win.add_argument("--version", required=True)
+    install_win.add_argument("--arch", required=True, choices=["x86_64", "aarch64"])
+    install_win.add_argument("--sha256", required=True)
+    install_win.add_argument("--runner-temp", type=Path, required=True)
+
+    add_win = sub.add_parser("add-windows-path", help="Add Windows ccache install dir to PATH")
+    add_win.add_argument("--version", required=True)
+    add_win.add_argument("--arch", required=True, choices=["x86_64", "aarch64"])
+    add_win.add_argument("--runner-temp", type=Path, required=True)
+
+    env_cfg = sub.add_parser("configure-env", help="Configure ccache GitHub environment variables")
+    env_cfg.add_argument("--workspace", type=Path, required=True)
+
+    cpm_cfg = sub.add_parser("configure-cpm-cache", help="Configure CPM source cache path")
+    cpm_cfg.add_argument("--path", required=True)
+
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Main entry point."""
+    args = parse_args(argv)
+
+    if args.command == "config":
+        if not CcacheInstaller.validate_version(args.version):
+            print(f"Error: Invalid ccache version format: {args.version}", file=sys.stderr)
+            return 1
+
+        installer = CcacheInstaller(
+            version=args.version,
+            arch=resolve_arch(args),
+            config_path=args.conf,
+        )
+        config = installer.get_config()
+
+        print("ccache configuration:")
+        print(f"  Version: {config.version}")
+        print(f"  Arch: {config.arch}")
+        print(f"  Max Size: {config.max_size}")
+
+        output_github_actions(config)
+        return 0
+
+    if args.command == "install":
+        if not CcacheInstaller.validate_version(args.version):
+            print(f"Error: Invalid ccache version format: {args.version}", file=sys.stderr)
+            return 1
+
+        installer = CcacheInstaller(
+            version=args.version,
+            arch=resolve_arch(args),
+            prefix=args.prefix,
+        )
+
+        config = installer.get_config()
+        print("ccache configuration:")
+        print(f"  Version: {config.version}")
+        print(f"  Arch: {config.arch}")
+        print(f"  Max Size: {config.max_size}")
+
+        if not installer.run_install():
+            return 1
+        return 0
+
+    if args.command == "summary":
+        return run_summary()
+
+    if args.command == "scope":
+        scope = determine_cache_scope(args.event_name, args.ref_name, args.pr_number)
+        print(scope)
+        write_github_outputs({"scope": scope})
+        return 0
+
+    if args.command == "fingerprint":
+        fingerprint = compute_cpm_fingerprint(args.root.resolve())
+        print(fingerprint)
+        write_github_outputs({"fingerprint": fingerprint})
+        return 0
+
+    if args.command == "windows-config":
+        values = resolve_windows_binary_config(args.host, args.target)
+        print(f"arch={values['arch']}")
+        print(f"sha256={values['sha256']}")
+        write_github_outputs(values)
+        return 0
+
+    if args.command == "install-windows":
+        install_dir = install_windows_binary(args.version, args.arch, args.sha256, args.runner_temp)
+        print(install_dir)
+        write_github_outputs({"install_dir": str(install_dir)})
+        return 0
+
+    if args.command == "add-windows-path":
+        install_dir = add_windows_binary_to_path(args.version, args.arch, args.runner_temp)
+        print(install_dir)
+        return 0
+
+    if args.command == "configure-env":
+        ccache_dir = configure_ccache_environment(args.workspace)
+        print(ccache_dir)
+        return 0
+
+    if args.command == "configure-cpm-cache":
+        cache_path = configure_cpm_cache(args.path)
+        print(cache_path)
+        return 0
+
+    print(
+        "Error: a subcommand is required (config, install, summary, scope, fingerprint, windows-config, install-windows, add-windows-path, configure-env, configure-cpm-cache)",
+        file=sys.stderr,
+    )
+    return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/.github/scripts/check_baseline_ready.py b/.github/scripts/check_baseline_ready.py
index 0db71e473e3f..5d7c5c34a465 100644
--- a/.github/scripts/check_baseline_ready.py
+++ b/.github/scripts/check_baseline_ready.py
@@ -4,18 +4,15 @@
 from __future__ import annotations
 
 import argparse
-import hashlib
 import json
 import os
-import sys
-from pathlib import Path
 from typing import Any
 
-_SCRIPT_DIR = Path(__file__).resolve().parent
-if str(_SCRIPT_DIR) not in sys.path:
-    sys.path.insert(0, str(_SCRIPT_DIR))
+from ci_bootstrap import ensure_tools_dir
 
-from workflow_runs import list_workflow_runs, parse_csv_list
+ensure_tools_dir(__file__)
+
+from common.gh_actions import list_workflow_runs_for_sha, parse_csv_list, write_github_output
 
 
 def evaluate_readiness(
@@ -53,21 +50,6 @@ def evaluate_readiness(
     return ready, missing, incomplete, failed
 
 
-def write_output(key: str, value: str) -> None:
-    github_output = os.environ.get("GITHUB_OUTPUT")
-    if not github_output:
-        return
-    if "\n" in value:
-        value_hash = hashlib.sha256(value.encode("utf-8")).hexdigest()[:12]
-        delim = f"EOF_{key}_{value_hash}"
-        while delim in value:
-            delim = f"{delim}_X"
-        with open(github_output, "a", encoding="utf-8") as f:
-            f.write(f"{key}<<{delim}\n{value}\n{delim}\n")
-    else:
-        with open(github_output, "a", encoding="utf-8") as f:
-            f.write(f"{key}={value}\n")
-
 
 def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
     parser = argparse.ArgumentParser(description="Check baseline readiness for build-results workflow.")
@@ -94,7 +76,7 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
 def main(argv: list[str] | None = None) -> int:
     args = parse_args(argv)
     platforms = parse_csv_list(args.platform_workflows)
-    runs = list_workflow_runs(args.repo, args.head_sha)
+    runs = list_workflow_runs_for_sha(args.repo, args.head_sha)
 
     if args.runs_cache:
         with open(args.runs_cache, "w", encoding="utf-8") as f:
@@ -102,10 +84,12 @@ def main(argv: list[str] | None = None) -> int:
 
     ready, missing, incomplete, failed = evaluate_readiness(runs, platforms, args.event)
 
-    write_output("ready", "true" if ready else "false")
-    write_output("missing", ",".join(missing))
-    write_output("incomplete", ",".join(incomplete))
-    write_output("failed", ",".join(failed))
+    write_github_output({
+        "ready": "true" if ready else "false",
+        "missing": ",".join(missing),
+        "incomplete": ",".join(incomplete),
+        "failed": ",".join(failed),
+    })
 
     if ready:
         print(f"Baseline ready for {args.head_sha}.")
diff --git a/.github/scripts/ci_bootstrap.py b/.github/scripts/ci_bootstrap.py
new file mode 100644
index 000000000000..a6e33b60138d
--- /dev/null
+++ b/.github/scripts/ci_bootstrap.py
@@ -0,0 +1,16 @@
+"""Bootstrap helper for GitHub CI scripts that import from tools/."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def ensure_tools_dir(start: str | Path) -> Path:
+    """Ensure the repository's tools directory is importable."""
+    path = Path(start).resolve()
+    repo_root = path.parents[2]
+    tools_dir = repo_root / "tools"
+    if str(tools_dir) not in sys.path:
+        sys.path.insert(0, str(tools_dir))
+    return tools_dir
diff --git a/.github/scripts/cmake_helper.py b/.github/scripts/cmake_helper.py
new file mode 100644
index 000000000000..4a27cd0d98b3
--- /dev/null
+++ b/.github/scripts/cmake_helper.py
@@ -0,0 +1,207 @@
+#!/usr/bin/env python3
+"""CMake build and configure helpers for CI.
+
+Subcommands:
+    build       Run cmake --build with CI-friendly output and timing
+    configure   Run configure.py with standardized arguments
+    detect-jobs Detect number of parallel jobs for the current platform
+    ctest       Run CTest with standardized arguments and timing
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import subprocess
+import sys
+import time
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import append_github_env, write_github_output  # noqa: E402
+
+
+def detect_jobs(requested: str = "auto") -> int:
+    """Detect number of parallel jobs for the current platform."""
+    if requested != "auto":
+        if not re.match(r"^[1-9]\d*$", requested):
+            print(f"::error::Invalid parallel job count: {requested}", file=sys.stderr)
+            sys.exit(1)
+        return int(requested)
+
+    try:
+        return os.cpu_count() or 2
+    except Exception:
+        return 2
+
+
+def cmd_detect_jobs(args: argparse.Namespace) -> None:
+    jobs = detect_jobs(args.parallel)
+    write_github_output({"jobs": str(jobs)})
+
+
+def cmd_build(args: argparse.Namespace) -> None:
+    """Run cmake --build with CI-friendly output."""
+    cmd = ["cmake", "--build", "."]
+
+    if args.target:
+        cmd += ["--target", args.target]
+    if args.build_type:
+        cmd += ["--config", args.build_type]
+    if args.parallel:
+        if args.parallel_jobs:
+            if not re.match(r"^[1-9]\d*$", args.parallel_jobs):
+                print(f"::error::parallel-jobs must be a positive integer, got '{args.parallel_jobs}'",
+                      file=sys.stderr)
+                sys.exit(1)
+            cmd += ["--parallel", args.parallel_jobs]
+        else:
+            cmd.append("--parallel")
+
+    output_file = args.output_file
+    if args.reviewdog and not output_file:
+        output_file = os.path.join(os.environ.get("RUNNER_TEMP", "."), "build-output.log")
+
+    if output_file and args.reviewdog:
+        append_github_env({"REVIEWDOG_LOG": output_file})
+
+    print(f"Running: {' '.join(cmd)}")
+    start = time.monotonic()
+
+    if output_file:
+        with open(output_file, "w") as log:
+            proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True)
+            for line in proc.stdout:
+                sys.stdout.write(line)
+                log.write(line)
+            proc.wait()
+            exit_code = proc.returncode
+    else:
+        result = subprocess.run(cmd, check=False)
+        exit_code = result.returncode
+
+    duration = int(time.monotonic() - start)
+
+    if exit_code == 0:
+        print(f"::notice::Build completed in {duration}s")
+    else:
+        print(f"::error::Build failed after {duration}s")
+        if not args.continue_on_error:
+            sys.exit(exit_code)
+
+
+def cmd_configure(args: argparse.Namespace) -> None:
+    """Run configure.py with standardized arguments."""
+    workspace = os.environ.get("GITHUB_WORKSPACE", ".")
+    cmd = [
+        sys.executable, os.path.join(workspace, "tools", "configure.py"),
+        "-S", args.source_dir,
+        "-B", args.build_dir,
+        "-G", args.generator,
+        "-t", args.build_type,
+    ]
+    if args.testing:
+        cmd.append("--testing")
+    if args.coverage:
+        cmd.append("--coverage")
+    if args.stable:
+        cmd.append("--stable")
+    if not args.use_qt_cmake:
+        cmd.append("--no-qt-cmake")
+    if args.unity_build:
+        cmd += ["--unity", "--unity-batch", args.unity_batch_size]
+    if args.extra_args:
+        cmd.append("--")
+        cmd.extend(args.extra_args.split())
+
+    start = time.monotonic()
+    result = subprocess.run(cmd, check=False)
+    duration = int(time.monotonic() - start)
+    print(f"::notice::Configure completed in {duration}s")
+    sys.exit(result.returncode)
+
+
+def cmd_ctest(args: argparse.Namespace) -> None:
+    """Run CTest with standardized arguments and timing."""
+    cmd = [
+        "ctest",
+        "--output-on-failure",
+        "--output-junit", args.junit_output,
+        "--parallel", str(args.jobs),
+    ]
+    if args.include_labels:
+        cmd += ["-L", args.include_labels]
+    if args.exclude_labels:
+        cmd += ["-LE", args.exclude_labels]
+
+    start = time.monotonic()
+
+    with open(args.ctest_output, "w") as log:
+        proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True)
+        for line in proc.stdout:
+            sys.stdout.write(line)
+            log.write(line)
+        proc.wait()
+        exit_code = proc.returncode
+
+    duration = int(time.monotonic() - start)
+    print(f"::notice::Tests completed in {duration}s")
+    sys.exit(exit_code)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    # detect-jobs
+    p_jobs = sub.add_parser("detect-jobs")
+    p_jobs.add_argument("--parallel", default="auto")
+
+    # build
+    p_build = sub.add_parser("build")
+    p_build.add_argument("--target", default="")
+    p_build.add_argument("--build-type", default="")
+    p_build.add_argument("--parallel", action="store_true", default=False)
+    p_build.add_argument("--parallel-jobs", default="")
+    p_build.add_argument("--output-file", default="")
+    p_build.add_argument("--continue-on-error", action="store_true", default=False)
+    p_build.add_argument("--reviewdog", action="store_true", default=False)
+
+    # configure
+    p_conf = sub.add_parser("configure")
+    p_conf.add_argument("--source-dir", required=True)
+    p_conf.add_argument("--build-dir", required=True)
+    p_conf.add_argument("--generator", default="Ninja")
+    p_conf.add_argument("--build-type", default="Release")
+    p_conf.add_argument("--testing", action="store_true", default=False)
+    p_conf.add_argument("--coverage", action="store_true", default=False)
+    p_conf.add_argument("--stable", action="store_true", default=False)
+    p_conf.add_argument("--use-qt-cmake", action="store_true", default=True)
+    p_conf.add_argument("--no-qt-cmake", action="store_false", dest="use_qt_cmake")
+    p_conf.add_argument("--unity-build", action="store_true", default=False)
+    p_conf.add_argument("--unity-batch-size", default="16")
+    p_conf.add_argument("--extra-args", default="")
+
+    # ctest
+    p_ctest = sub.add_parser("ctest")
+    p_ctest.add_argument("--junit-output", required=True)
+    p_ctest.add_argument("--ctest-output", required=True)
+    p_ctest.add_argument("--jobs", type=int, required=True)
+    p_ctest.add_argument("--include-labels", default="")
+    p_ctest.add_argument("--exclude-labels", default="")
+
+    args = parser.parse_args()
+    commands = {
+        "detect-jobs": cmd_detect_jobs,
+        "build": cmd_build,
+        "configure": cmd_configure,
+        "ctest": cmd_ctest,
+    }
+    commands[args.command](args)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/collect_artifact_sizes.py b/.github/scripts/collect_artifact_sizes.py
index 64c1fbbce3f8..20d9baf98855 100644
--- a/.github/scripts/collect_artifact_sizes.py
+++ b/.github/scripts/collect_artifact_sizes.py
@@ -5,13 +5,17 @@
 
 import argparse
 import concurrent.futures
-from datetime import datetime
 import json
-from pathlib import Path
 import sys
+from pathlib import Path
 from typing import Any
 
-from workflow_runs import list_run_artifacts, list_workflow_runs, parse_csv_list
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import list_run_artifacts, list_workflow_runs_for_sha, parse_csv_list
+from common.github_runs import select_latest_runs_by_name
 
 
 _DISTRIBUTABLE_PREFIXES = (
@@ -39,48 +43,19 @@ def _is_distributable_artifact(name: str) -> bool:
         return False
     return any(name.startswith(prefix) for prefix in _DISTRIBUTABLE_PREFIXES)
 
-
-def _parse_created_at(created_at: Any) -> datetime | None:
-    value = str(created_at).strip()
-    if not value:
-        return None
-    if value.endswith("Z"):
-        value = f"{value[:-1]}+00:00"
-    try:
-        return datetime.fromisoformat(value)
-    except ValueError:
-        return None
-
-
-def _is_newer_run(candidate: dict[str, Any], existing: dict[str, Any]) -> bool:
-    candidate_created_at = str(candidate.get("created_at", ""))
-    existing_created_at = str(existing.get("created_at", ""))
-    candidate_dt = _parse_created_at(candidate_created_at)
-    existing_dt = _parse_created_at(existing_created_at)
-    if candidate_dt is not None and existing_dt is not None:
-        return candidate_dt > existing_dt
-    return candidate_created_at > existing_created_at
-
-
 def latest_successful_runs(
     runs: list[dict[str, Any]],
     platforms: list[str],
+    *,
+    event: str = "",
 ) -> dict[str, dict[str, Any]]:
-    target = set(platforms)
-    latest: dict[str, dict[str, Any]] = {}
-
-    for run in runs:
-        name = str(run.get("name", ""))
-        if name not in target:
-            continue
-        if str(run.get("status", "")) != "completed" or str(run.get("conclusion", "")) != "success":
-            continue
-
-        existing = latest.get(name)
-        if existing is None or _is_newer_run(run, existing):
-            latest[name] = run
-
-    return latest
+    return select_latest_runs_by_name(
+        runs,
+        set(platforms),
+        event=event,
+        status="completed",
+        conclusion="success",
+    )
 
 
 def format_size_human(size_bytes: int) -> str:
@@ -167,6 +142,12 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
         default="Linux,Windows,MacOS,Android",
         help="Comma-separated platform workflow names",
     )
+    parser.add_argument(
+        "--event",
+        default="",
+        choices=["", "push", "pull_request", "workflow_dispatch", "schedule"],
+        help="Optional workflow event name to filter runs by",
+    )
     parser.add_argument(
         "--output-file",
         default="artifact-sizes.json",
@@ -188,6 +169,7 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
 def main(argv: list[str] | None = None) -> int:
     args = parse_args(argv)
     platforms = parse_csv_list(args.platform_workflows)
+    event = str(args.event).strip()
 
     if args.runs_file:
         try:
@@ -204,7 +186,7 @@ def main(argv: list[str] | None = None) -> int:
             return 1
         runs = loaded_runs
     else:
-        runs = list_workflow_runs(args.repo, args.head_sha)
+        runs = list_workflow_runs_for_sha(args.repo, args.head_sha)
     artifacts_by_run_id: dict[int, list[dict[str, Any]]] = {}
     if args.artifacts_file:
         artifacts_path = Path(args.artifacts_file)
@@ -225,7 +207,7 @@ def main(argv: list[str] | None = None) -> int:
                             artifact for artifact in run_artifacts if isinstance(artifact, dict)
                         ]
 
-    latest = latest_successful_runs(runs, platforms)
+    latest = latest_successful_runs(runs, platforms, event=event)
     artifacts = collect_artifacts(
         args.repo,
         latest,
diff --git a/.github/scripts/collect_build_status.py b/.github/scripts/collect_build_status.py
index 76a65cfd559e..fea4839964bc 100644
--- a/.github/scripts/collect_build_status.py
+++ b/.github/scripts/collect_build_status.py
@@ -4,12 +4,16 @@
 from __future__ import annotations
 
 import argparse
-import hashlib
 import json
 import os
 from typing import Any
 
-from workflow_runs import list_workflow_runs, parse_csv_list
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import list_workflow_runs_for_sha, parse_csv_list, write_github_output
+from common.github_runs import select_latest_runs_by_name
 
 
 def latest_runs_by_name(
@@ -17,17 +21,7 @@ def latest_runs_by_name(
     names: set[str],
     event: str,
 ) -> dict[str, dict[str, Any]]:
-    latest: dict[str, dict[str, Any]] = {}
-    for run in runs:
-        name = str(run.get("name", ""))
-        if name not in names:
-            continue
-        if str(run.get("event", "")) != event:
-            continue
-        existing = latest.get(name)
-        if existing is None or str(run.get("created_at", "")) > str(existing.get("created_at", "")):
-            latest[name] = run
-    return latest
+    return select_latest_runs_by_name(runs, names, event=event)
 
 
 def platform_status(
@@ -74,22 +68,6 @@ def render_table(platforms: list[str], states: dict[str, dict[str, str]]) -> str
     return "\n".join(lines)
 
 
-def write_output(key: str, value: str) -> None:
-    github_output = os.environ.get("GITHUB_OUTPUT")
-    if not github_output:
-        return
-
-    if "\n" in value:
-        value_hash = hashlib.sha256(value.encode("utf-8")).hexdigest()[:12]
-        delim = f"EOF_{key}_{value_hash}"
-        while delim in value:
-            delim = f"{delim}_X"
-        with open(github_output, "a", encoding="utf-8") as f:
-            f.write(f"{key}<<{delim}\n{value}\n{delim}\n")
-    else:
-        with open(github_output, "a", encoding="utf-8") as f:
-            f.write(f"{key}={value}\n")
-
 
 def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
     parser = argparse.ArgumentParser(description="Collect build status for PR build-results comment.")
@@ -119,7 +97,7 @@ def main(argv: list[str] | None = None) -> int:
     target_names = set(platforms)
     target_names.add("pre-commit")
 
-    runs = list_workflow_runs(args.repo, args.head_sha)
+    runs = list_workflow_runs_for_sha(args.repo, args.head_sha)
 
     if args.runs_cache:
         with open(args.runs_cache, "w", encoding="utf-8") as f:
@@ -138,13 +116,15 @@ def main(argv: list[str] | None = None) -> int:
         "Some builds failed." if all_complete else "Some builds still in progress."
     )
 
-    write_output("table", table)
-    write_output("summary", summary)
-    write_output("all_complete", "true" if all_complete else "false")
-    write_output("precommit_status", precommit["status"])
-    write_output("precommit_url", precommit["url"])
-    write_output("precommit_conclusion", precommit["conclusion"])
-    write_output("precommit_run_id", precommit["run_id"])
+    write_github_output({
+        "table": table,
+        "summary": summary,
+        "all_complete": "true" if all_complete else "false",
+        "precommit_status": precommit["status"],
+        "precommit_url": precommit["url"],
+        "precommit_conclusion": precommit["conclusion"],
+        "precommit_run_id": precommit["run_id"],
+    })
 
     print(table)
     print(summary)
diff --git a/.github/scripts/coverage_comment.py b/.github/scripts/coverage_comment.py
index 4ee43e3aabdb..9c16e5430b88 100755
--- a/.github/scripts/coverage_comment.py
+++ b/.github/scripts/coverage_comment.py
@@ -6,24 +6,7 @@
 import sys
 from pathlib import Path
 
-try:
-    from defusedxml.ElementTree import ParseError as XMLParseError
-    from defusedxml.ElementTree import parse as _xml_parse_impl
-    _USING_DEFUSEDXML = True
-except ImportError:
-    from xml.etree.ElementTree import ParseError as XMLParseError
-    from xml.etree.ElementTree import parse as _xml_parse_impl
-    _USING_DEFUSEDXML = False
-
-
-def xml_parse(path: str):
-    if _USING_DEFUSEDXML:
-        return _xml_parse_impl(path)
-    # Harden stdlib fallback: reject XML with DTD/entities.
-    text = Path(path).read_text(encoding="utf-8", errors="replace")
-    if "<!DOCTYPE" in text or "<!ENTITY" in text:
-        raise XMLParseError("DOCTYPE/ENTITY declarations are not allowed")
-    return _xml_parse_impl(path)
+from xml_utils import XMLParseError, xml_parse
 
 
 def parse_coverage(xml_path: str) -> dict | None:
diff --git a/.github/scripts/deploy_docs.py b/.github/scripts/deploy_docs.py
new file mode 100644
index 000000000000..2e19fd85e474
--- /dev/null
+++ b/.github/scripts/deploy_docs.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""Deploy built documentation to an external GitHub Pages repository."""
+
+from __future__ import annotations
+
+import argparse
+import datetime
+import re
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+
+def sanitize_branch(name: str) -> str:
+    """Remove unsafe characters from branch name for use as a directory."""
+    return re.sub(r"[^a-zA-Z0-9._-]", "_", name)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--source-dir", required=True, help="Path to built docs")
+    parser.add_argument("--target-dir", required=True, help="Path to target repo checkout")
+    parser.add_argument("--branch", required=True, help="Source branch name (used as subdirectory)")
+    parser.add_argument("--target-branch", default="main", help="Branch to push to")
+    parser.add_argument("--commit-message", default="Docs update")
+    parser.add_argument("--author-email", default="bot@px4.io")
+    parser.add_argument("--author-name", default="PX4BuildBot")
+    args = parser.parse_args()
+
+    safe_branch = sanitize_branch(args.branch)
+    target = Path(args.target_dir)
+    deploy_dir = target / safe_branch
+
+    if deploy_dir.exists():
+        shutil.rmtree(deploy_dir)
+    deploy_dir.mkdir(parents=True)
+
+    source = Path(args.source_dir)
+    for item in source.iterdir():
+        dest = deploy_dir / item.name
+        if item.is_dir():
+            shutil.copytree(item, dest)
+        else:
+            shutil.copy2(item, dest)
+
+    def git(*cmd: str) -> subprocess.CompletedProcess:
+        return subprocess.run(["git", *cmd], cwd=str(target), check=True)
+
+    git("config", "user.email", args.author_email)
+    git("config", "user.name", args.author_name)
+    git("add", safe_branch)
+
+    diff = subprocess.run(
+        ["git", "diff", "--cached", "--quiet"],
+        cwd=str(target), check=False,
+    )
+    if diff.returncode == 0:
+        print("No documentation changes to deploy.")
+        return
+
+    today = datetime.datetime.now(datetime.timezone.utc).strftime("%Y-%m-%d")
+    git("commit", "-m", f"{args.commit_message} {today}")
+    git("push", "origin", args.target_branch)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/detect_changes.py b/.github/scripts/detect_changes.py
new file mode 100644
index 000000000000..aca58e2ed447
--- /dev/null
+++ b/.github/scripts/detect_changes.py
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+"""Detect whether a CI build is needed based on changed files and platform.
+
+Computes the git diff for the current event (pull_request, push, merge_group)
+and matches changed files against platform-specific patterns.
+
+Usage:
+    python3 .github/scripts/detect_changes.py --platform linux
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import subprocess
+import sys
+from typing import Sequence
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import write_github_output
+
+# Patterns that trigger a build for ANY platform
+_COMMON_PATTERNS: list[str] = [
+    r"^src/",
+    r"^CMakeLists\.txt$",
+    r"^cmake/",
+    r"^libs/",
+    r"^resources/",
+    r"^translations/",
+    r"^.*\.qrc$",
+    r"^test/",
+    r"^\.github/actions/",
+    r"^\.github/scripts/",
+    r"^\.github/build-config\.json$",
+]
+
+# Per-platform additional patterns
+_PLATFORM_PATTERNS: dict[str, list[str]] = {
+    "android": [r"^android/"],
+    "docker-linux": [
+        r"^deploy/docker/Dockerfile-build-ubuntu$",
+        r"^deploy/linux/",
+    ],
+    "docker-android": [
+        r"^deploy/docker/Dockerfile-build-android$",
+        r"^android/",
+        r"^deploy/android/",
+    ],
+}
+
+# Per-platform tools/setup patterns
+_SETUP_PATTERNS: dict[str, list[str]] = {
+    "linux": [r"^tools/setup/.*debian", r"^tools/setup/install_dependencies\.py$"],
+    "windows": [r"^tools/setup/.*windows"],
+    "macos": [r"^tools/setup/.*macos"],
+    "android": [r"^tools/setup/"],
+    "ios": [r"^tools/setup/.*ios", r"^tools/setup/.*macos"],
+    "docker-linux": [r"^tools/setup/"],
+    "docker-android": [r"^tools/setup/"],
+}
+
+
+def workflow_name_for_platform(platform: str) -> str:
+    """Map a platform to its workflow YAML filename (without extension)."""
+    if platform.startswith("docker-"):
+        return "docker"
+    return platform
+
+
+def build_patterns(platform: str) -> list[re.Pattern[str]]:
+    """Build the list of compiled regex patterns for a platform."""
+    wf = workflow_name_for_platform(platform)
+    raw: list[str] = list(_COMMON_PATTERNS)
+    raw.append(rf"^deploy/{re.escape(platform)}/")
+    raw.append(rf"^\.github/workflows/{re.escape(wf)}\.yml$")
+    raw.extend(_PLATFORM_PATTERNS.get(platform, []))
+    raw.extend(_SETUP_PATTERNS.get(platform, []))
+    return [re.compile(p) for p in raw]
+
+
+def has_relevant_changes(files: Sequence[str], platform: str) -> bool:
+    """Check if any changed file matches the platform's patterns."""
+    patterns = build_patterns(platform)
+    for f in files:
+        if not f:
+            continue
+        for p in patterns:
+            if p.search(f):
+                return True
+    return False
+
+
+# ---------------------------------------------------------------------------
+# Git helpers — these call out to git as subprocesses
+# ---------------------------------------------------------------------------
+
+_NULL_SHA = "0" * 40
+
+
+def _run_git(*args: str, check: bool = True) -> subprocess.CompletedProcess[str]:
+    return subprocess.run(
+        ["git", *args],
+        capture_output=True,
+        text=True,
+        check=check,
+    )
+
+
+def _ensure_commit(sha: str) -> bool:
+    """Ensure a commit exists locally; fetch it shallowly if needed."""
+    if not sha:
+        return True
+    r = _run_git("cat-file", "-e", f"{sha}^{{commit}}", check=False)
+    if r.returncode == 0:
+        return True
+    _run_git("fetch", "--no-tags", "--depth=1", "origin", sha, check=False)
+    return _run_git("cat-file", "-e", f"{sha}^{{commit}}", check=False).returncode == 0
+
+
+def _diff_names(sha_a: str, sha_b: str) -> list[str] | None:
+    """Return changed file names between two commits, or None on failure."""
+    r = _run_git("diff", "--name-only", sha_a, sha_b, check=False)
+    if r.returncode != 0:
+        return None
+    return r.stdout.strip().splitlines()
+
+
+def _tree_names(sha: str) -> list[str]:
+    """List files changed in a single commit."""
+    r = _run_git("diff-tree", "--no-commit-id", "--name-only", "-r", sha, check=False)
+    return r.stdout.strip().splitlines() if r.returncode == 0 else []
+
+
+def get_changed_files() -> list[str] | None:
+    """Determine changed files from environment variables set by GitHub Actions.
+
+    Returns None if the diff cannot be computed reliably (caller should force build).
+    """
+    event = os.environ.get("EVENT_NAME", "")
+
+    if event == "pull_request":
+        base = os.environ.get("PR_BASE_SHA", "")
+        head = os.environ.get("PR_HEAD_SHA", "")
+        if not _ensure_commit(base) or not _ensure_commit(head):
+            return None
+        return _diff_names(base, head)
+
+    if event == "push":
+        before = os.environ.get("PUSH_BEFORE_SHA", "")
+        current = os.environ.get("CURRENT_SHA", "")
+        if before and before != _NULL_SHA:
+            if not _ensure_commit(before) or not _ensure_commit(current):
+                return None
+            return _diff_names(before, current)
+        return _tree_names(current)
+
+    if event == "merge_group":
+        merge_base = os.environ.get("MERGE_BASE_SHA", "")
+        current = os.environ.get("CURRENT_SHA", "")
+        if merge_base:
+            if not _ensure_commit(merge_base) or not _ensure_commit(current):
+                return None
+            return _diff_names(merge_base, current)
+
+    current = os.environ.get("CURRENT_SHA", "")
+    return _tree_names(current) if current else None
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Detect CI-relevant file changes for a platform.")
+    parser.add_argument("--platform", required=True,
+                        help="Platform (linux, windows, macos, android, ios, docker-linux, docker-android)")
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = parse_args(argv)
+    platform = args.platform
+
+    changed = get_changed_files()
+    if changed is None:
+        print("::warning::Unable to compute changed files reliably; forcing build for safety.")
+        write_github_output({"any": "true"})
+        return 0
+
+    print("Changed files:")
+    for f in changed:
+        print(f"  {f}")
+
+    any_changed = has_relevant_changes(changed, platform)
+    write_github_output({"any": "true" if any_changed else "false"})
+    print(f"Results: any={any_changed}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/.github/scripts/docker_helper.py b/.github/scripts/docker_helper.py
new file mode 100644
index 000000000000..e782519b1594
--- /dev/null
+++ b/.github/scripts/docker_helper.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+"""Docker build helpers for CI.
+
+Subcommands:
+    validate    Validate dockerfile and build-type inputs
+    run         Run docker build with retry logic
+"""
+
+from __future__ import annotations
+
+import argparse
+import subprocess
+import sys
+import time
+
+VALID_DOCKERFILES = {"Dockerfile-build-ubuntu", "Dockerfile-build-android"}
+VALID_BUILD_TYPES = {"Release", "Debug"}
+
+
+def cmd_validate(args: argparse.Namespace) -> None:
+    ok = True
+    if args.dockerfile not in VALID_DOCKERFILES:
+        print(f"::error::Invalid dockerfile '{args.dockerfile}'", file=sys.stderr)
+        print(f"Allowed values: {', '.join(sorted(VALID_DOCKERFILES))}", file=sys.stderr)
+        ok = False
+    if args.build_type not in VALID_BUILD_TYPES:
+        print(f"::error::Invalid build-type '{args.build_type}'", file=sys.stderr)
+        print(f"Allowed values: {', '.join(sorted(VALID_BUILD_TYPES))}", file=sys.stderr)
+        ok = False
+    if not ok:
+        sys.exit(1)
+    print(f"Using dockerfile: {args.dockerfile}")
+    print(f"Build type: {args.build_type}")
+
+
+def cmd_run(args: argparse.Namespace) -> None:
+    cmd = ["./deploy/docker/docker-run.sh"]
+    if args.fuse:
+        cmd.append("--fuse")
+    cmd += [args.image, args.build_type]
+
+    for attempt in range(1, args.max_attempts + 1):
+        result = subprocess.run(cmd, check=False)
+        if result.returncode == 0:
+            return
+        if attempt >= args.max_attempts:
+            print(f"::error::Docker build failed after {attempt} attempt(s).", file=sys.stderr)
+            sys.exit(1)
+        print(f"Docker build failed on attempt {attempt}. Retrying in {args.retry_delay} seconds...")
+        time.sleep(args.retry_delay)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    p_val = sub.add_parser("validate")
+    p_val.add_argument("--dockerfile", required=True)
+    p_val.add_argument("--build-type", required=True)
+
+    p_run = sub.add_parser("run")
+    p_run.add_argument("--image", default="qgc-builder:latest")
+    p_run.add_argument("--build-type", required=True)
+    p_run.add_argument("--fuse", action="store_true", default=False)
+    p_run.add_argument("--max-attempts", type=int, default=2)
+    p_run.add_argument("--retry-delay", type=int, default=30)
+
+    args = parser.parse_args()
+    {"validate": cmd_validate, "run": cmd_run}[args.command](args)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tools/setup/download_artifacts.py b/.github/scripts/download_artifacts.py
old mode 100755
new mode 100644
similarity index 79%
rename from tools/setup/download_artifacts.py
rename to .github/scripts/download_artifacts.py
index 1a73d5b44765..812c4543aece
--- a/tools/setup/download_artifacts.py
+++ b/.github/scripts/download_artifacts.py
@@ -5,7 +5,7 @@
 from all successful platform builds for a given commit SHA.
 
 Usage:
-    python3 tools/setup/download_artifacts.py \\
+    python3 .github/scripts/download_artifacts.py \\
         --repo owner/repo \\
         --head-sha abc123 \\
         --output-dir artifacts \\
@@ -17,19 +17,17 @@
 
 import argparse
 import concurrent.futures
-from datetime import datetime
 import json
-import subprocess
 import sys
 from pathlib import Path
 from typing import Any
 
-REPO_ROOT = Path(__file__).resolve().parents[2]
-COMMON_DIR = REPO_ROOT / "tools" / "common"
-if str(COMMON_DIR) not in sys.path:
-    sys.path.insert(0, str(COMMON_DIR))
+from ci_bootstrap import ensure_tools_dir
 
-import gh_actions as _gh_actions
+ensure_tools_dir(__file__)
+
+from common.gh_actions import gh, list_workflow_runs_for_sha, list_run_artifacts
+from common.github_runs import group_runs_by_name, select_latest_runs_by_name
 
 
 ARTIFACT_EXTENSIONS = (
@@ -45,51 +43,20 @@
 ARTIFACT_EXTENSION_SET = frozenset(ARTIFACT_EXTENSIONS)
 
 
-def gh(*args: str, check: bool = True) -> subprocess.CompletedProcess:
-    """Run a gh CLI command and return the result."""
-    return _gh_actions.gh(*args, check=check)
-
-
-def _parse_created_at(created_at: Any) -> datetime | None:
-    value = str(created_at).strip()
-    if not value:
-        return None
-    if value.endswith("Z"):
-        value = f"{value[:-1]}+00:00"
-    try:
-        return datetime.fromisoformat(value)
-    except ValueError:
-        return None
-
-
-def _is_newer_run(candidate: dict[str, Any], existing: dict[str, Any]) -> bool:
-    candidate_created_at = str(candidate.get("created_at", ""))
-    existing_created_at = str(existing.get("created_at", ""))
-    candidate_dt = _parse_created_at(candidate_created_at)
-    existing_dt = _parse_created_at(existing_created_at)
-    if candidate_dt is not None and existing_dt is not None:
-        return candidate_dt > existing_dt
-    return candidate_created_at > existing_created_at
-
-
 def select_latest_successful_runs(
     runs: list[dict[str, Any]],
     workflows: list[str],
+    *,
+    event: str = "",
 ) -> list[dict[str, Any]]:
     """Return latest completed/successful run per workflow name."""
-    workflow_set = set(workflows)
-    latest_by_workflow: dict[str, dict[str, Any]] = {}
-
-    for run in runs:
-        name = str(run.get("name", ""))
-        if name not in workflow_set:
-            continue
-        if run.get("status") != "completed" or run.get("conclusion") != "success":
-            continue
-        existing = latest_by_workflow.get(name)
-        if existing is None or _is_newer_run(run, existing):
-            latest_by_workflow[name] = run
-
+    latest_by_workflow = select_latest_runs_by_name(
+        runs,
+        set(workflows),
+        event=event,
+        status="completed",
+        conclusion="success",
+    )
     order = {name: idx for idx, name in enumerate(workflows)}
     return sorted(
         latest_by_workflow.values(),
@@ -100,40 +67,28 @@ def select_latest_successful_runs(
 def group_successful_runs_by_workflow(
     runs: list[dict[str, Any]],
     workflows: list[str],
+    *,
+    event: str = "",
 ) -> dict[str, list[dict[str, Any]]]:
     """Group successful runs by workflow name, newest first."""
-    workflow_set = set(workflows)
-    grouped: dict[str, list[dict[str, Any]]] = {name: [] for name in workflows}
-
-    for run in runs:
-        name = str(run.get("name", ""))
-        if name not in workflow_set:
-            continue
-        if run.get("status") != "completed" or run.get("conclusion") != "success":
-            continue
-        grouped[name].append(run)
-
-    for workflow_name in grouped:
-        grouped[workflow_name].sort(
-            key=lambda run: (
-                _parse_created_at(run.get("created_at")) is not None,
-                str(run.get("created_at", "")),
-            ),
-            reverse=True,
-        )
-
-    return grouped
+    return group_runs_by_name(
+        runs,
+        workflows,
+        event=event,
+        status="completed",
+        conclusion="success",
+    )
 
 
-def get_workflow_runs(repo: str, head_sha: str, workflows: list[str]) -> list[dict]:
+def get_workflow_runs(repo: str, head_sha: str, workflows: list[str], *, event: str = "") -> list[dict]:
     """Return completed successful runs for the given workflows and commit."""
-    all_runs = _gh_actions.list_workflow_runs_for_sha(repo, head_sha)
-    return select_latest_successful_runs(all_runs, workflows)
+    all_runs = list_workflow_runs_for_sha(repo, head_sha)
+    return select_latest_successful_runs(all_runs, workflows, event=event)
 
 
 def select_artifact_names_for_run(repo: str, run_id: int, prefixes: list[str]) -> list[str]:
     """Return artifact names that match configured name prefixes."""
-    return select_artifact_names(_gh_actions.list_run_artifacts(repo, run_id), prefixes)
+    return select_artifact_names(list_run_artifacts(repo, run_id), prefixes)
 
 
 def select_artifact_names(artifacts: list[dict[str, Any]], prefixes: list[str]) -> list[str]:
@@ -213,6 +168,12 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
         default="Linux,Windows,MacOS,Android",
         help="Comma-separated workflow names to download from (default: Linux,Windows,MacOS,Android)",
     )
+    parser.add_argument(
+        "--event",
+        default="",
+        choices=["", "push", "pull_request", "workflow_dispatch", "schedule"],
+        help="Optional workflow event name to filter runs by",
+    )
     parser.add_argument(
         "--runs-file",
         default="",
@@ -241,6 +202,7 @@ def main(argv: list[str] | None = None) -> int:
     head_sha = args.head_sha
     output_dir = args.output_dir
     workflows = [w.strip() for w in args.workflows.split(",") if w.strip()]
+    event = str(args.event).strip()
     artifact_prefixes = [p.strip() for p in args.artifact_prefixes.split(",") if p.strip()]
     artifact_metadata_out = Path(args.artifact_metadata_out) if args.artifact_metadata_out else None
 
@@ -265,18 +227,18 @@ def main(argv: list[str] | None = None) -> int:
             return 1
         all_runs = loaded_runs
     else:
-        all_runs = _gh_actions.list_workflow_runs_for_sha(repo, head_sha)
+        all_runs = list_workflow_runs_for_sha(repo, head_sha)
     preloaded_artifacts: dict[int, list[dict[str, Any]]] = {}
-    had_successful_runs = bool(select_latest_successful_runs(all_runs, workflows))
+    had_successful_runs = bool(select_latest_successful_runs(all_runs, workflows, event=event))
     if artifact_prefixes:
         runs = []
-        grouped_runs = group_successful_runs_by_workflow(all_runs, workflows)
+        grouped_runs = group_successful_runs_by_workflow(all_runs, workflows, event=event)
         for workflow_name in workflows:
             candidates = grouped_runs.get(workflow_name, [])
             selected_run: dict[str, Any] | None = None
             for candidate in candidates:
                 run_id = int(candidate["id"])
-                artifacts = _gh_actions.list_run_artifacts(repo, run_id)
+                artifacts = list_run_artifacts(repo, run_id)
                 preloaded_artifacts[run_id] = artifacts
                 if select_artifact_names(artifacts, artifact_prefixes):
                     selected_run = candidate
@@ -284,7 +246,7 @@ def main(argv: list[str] | None = None) -> int:
             if selected_run is not None:
                 runs.append(selected_run)
     else:
-        runs = select_latest_successful_runs(all_runs, workflows)
+        runs = select_latest_successful_runs(all_runs, workflows, event=event)
 
     if not runs:
         if artifact_prefixes and had_successful_runs:
@@ -317,7 +279,7 @@ def main(argv: list[str] | None = None) -> int:
         if artifact_prefixes or artifact_metadata_out is not None:
             artifacts = preloaded_artifacts.get(run_id)
             if artifacts is None:
-                artifacts = _gh_actions.list_run_artifacts(repo, run_id)
+                artifacts = list_run_artifacts(repo, run_id)
             if artifact_prefixes:
                 names = select_artifact_names(artifacts, artifact_prefixes)
                 run_artifact_map[run_id] = names if names else None
diff --git a/.github/scripts/find_binary.py b/.github/scripts/find_binary.py
index 5ed8ab5cfd26..3799f90faadf 100644
--- a/.github/scripts/find_binary.py
+++ b/.github/scripts/find_binary.py
@@ -135,7 +135,7 @@ def output_github_actions(info: BinaryInfo) -> None:
     """Write outputs for GitHub Actions."""
     github_output = os.environ.get("GITHUB_OUTPUT")
     if github_output:
-        with open(github_output, "a") as f:
+        with open(github_output, "a", encoding="utf-8") as f:
             f.write(f"binary_path={info.path}\n")
             f.write(f"binary_name={info.name}\n")
             f.write(f"binary_dir={info.directory}\n")
diff --git a/.github/scripts/generate_build_results_comment.py b/.github/scripts/generate_build_results_comment.py
index 1dc9c8febc99..b61d4ba2bf83 100644
--- a/.github/scripts/generate_build_results_comment.py
+++ b/.github/scripts/generate_build_results_comment.py
@@ -10,29 +10,16 @@
 import re
 from datetime import UTC, datetime
 from pathlib import Path
-from typing import Mapping
+from typing import Any, Mapping
 from urllib.parse import quote, urlsplit, urlunsplit
 
-try:
-    from defusedxml.ElementTree import ParseError as XMLParseError
-    from defusedxml.ElementTree import parse as _xml_parse_impl
-    _USING_DEFUSEDXML = True
-except ImportError:
-    from xml.etree.ElementTree import ParseError as XMLParseError
-    from xml.etree.ElementTree import parse as _xml_parse_impl
-    _USING_DEFUSEDXML = False
+import jinja2
 
-logger = logging.getLogger(__name__)
+from xml_utils import XMLParseError, xml_parse as _xml_parse
 
+logger = logging.getLogger(__name__)
 
-def _xml_parse(path: Path):
-    if _USING_DEFUSEDXML:
-        return _xml_parse_impl(path)
-    # Harden stdlib fallback: reject XML with DTD/entities.
-    text = path.read_text(encoding="utf-8", errors="replace")
-    if "<!DOCTYPE" in text or "<!ENTITY" in text:
-        raise XMLParseError("DOCTYPE/ENTITY declarations are not allowed")
-    return _xml_parse_impl(path)
+_TEMPLATE_DIR = Path(__file__).parent / "templates"
 
 
 def _env(env: Mapping[str, str], key: str, default: str = "") -> str:
@@ -121,101 +108,80 @@ def _failed_test_lines(content: str, limit: int = 20) -> list[str]:
     return lines
 
 
-def _render_test_results(base_dir: Path, env: Mapping[str, str]) -> list[str]:
+def _format_delta_mb(delta_bytes: int) -> str:
+    delta_mb = delta_bytes / 1024.0 / 1024.0
+    if delta_bytes > 0:
+        return f"+{delta_mb:.2f} MB (increase)"
+    if delta_bytes < 0:
+        return f"{delta_mb:.2f} MB (decrease)"
+    return "No change"
+
+
+def _format_size_human(size_bytes: int) -> str:
+    size_mb = size_bytes / 1024.0 / 1024.0
+    if size_mb >= 1024:
+        return f"{(size_mb / 1024):.2f} GB"
+    return f"{size_mb:.2f} MB"
+
+
+def _collect_test_data(base_dir: Path, env: Mapping[str, str]) -> dict[str, Any] | None:
     pattern = _env(env, "TEST_RESULTS_GLOB", "artifacts/test-results-*/test-output.txt")
     files = sorted(base_dir.glob(pattern))
     if not files:
-        return []
+        return None
 
-    lines = ["### Test Results", ""]
-    total_passed = 0
-    total_failed = 0
-    total_skipped = 0
+    platforms: list[dict[str, Any]] = []
+    total_passed = total_failed = total_skipped = 0
     has_failures = False
 
     for file in files:
         arch = file.parent.name.removeprefix("test-results-")
         content = file.read_text(encoding="utf-8", errors="ignore")
         passed, failed, skipped = _count_test_results(content)
-
         total_passed += passed
         total_failed += failed
         total_skipped += skipped
 
+        entry: dict[str, Any] = {"arch": arch, "passed": passed, "failed": failed, "skipped": skipped}
         if failed > 0:
             has_failures = True
-            lines.append(f"**{arch}**: {passed} passed, {failed} failed, {skipped} skipped")
-            lines.append("")
-            lines.append("<details><summary>Failed tests</summary>")
-            lines.append("")
-            lines.append("```")
-            lines.extend(_failed_test_lines(content))
-            lines.append("```")
-            lines.append("</details>")
-        else:
-            lines.append(f"**{arch}**: {passed} passed, {skipped} skipped")
-        lines.append("")
+            entry["failed_lines"] = _failed_test_lines(content)
+        platforms.append(entry)
 
-    if has_failures:
-        lines.append(f"**Total: {total_passed} passed, {total_failed} failed, {total_skipped} skipped**")
-    else:
-        lines.append(f"**Total: {total_passed} passed, {total_skipped} skipped**")
-    lines.append("")
-    return lines
+    return {
+        "platforms": platforms,
+        "total_passed": total_passed,
+        "total_failed": total_failed,
+        "total_skipped": total_skipped,
+        "has_failures": has_failures,
+    }
 
 
-def _render_coverage(base_dir: Path, env: Mapping[str, str]) -> list[str]:
+def _collect_coverage_data(base_dir: Path, env: Mapping[str, str]) -> dict[str, Any] | None:
     coverage_path = base_dir / _env(env, "COVERAGE_XML", "artifacts/coverage-report/coverage.xml")
     if not coverage_path.exists():
-        return []
+        return None
 
-    lines = ["### Code Coverage", ""]
     current = _parse_coverage_percent(coverage_path)
     baseline_path = base_dir / _env(env, "BASELINE_COVERAGE_XML", "baseline-coverage.xml")
     baseline = _parse_coverage_percent(baseline_path)
 
-    coverage_text = f"{current:.1f}%" if current is not None else "N/A"
-
+    result: dict[str, Any] = {"current": current, "baseline": baseline}
     if baseline is not None and current is not None:
-        diff = current - baseline
-        lines.append("| Coverage | Baseline | Change |")
-        lines.append("|----------|----------|--------|")
-        lines.append(f"| {coverage_text} | {baseline:.1f}% | {diff:+.1f}% |")
-    else:
-        lines.append(f"Coverage: **{coverage_text}**")
-        lines.append("")
-        lines.append("*No baseline available for comparison*")
-
-    lines.append("")
-    return lines
-
-
-def _format_delta_mb(delta_bytes: int) -> str:
-    delta_mb = delta_bytes / 1024.0 / 1024.0
-    if delta_bytes > 0:
-        return f"+{delta_mb:.2f} MB (increase)"
-    if delta_bytes < 0:
-        return f"{delta_mb:.2f} MB (decrease)"
-    return "No change"
-
-
-def _format_size_human(size_bytes: int) -> str:
-    size_mb = size_bytes / 1024.0 / 1024.0
-    if size_mb >= 1024:
-        return f"{(size_mb / 1024):.2f} GB"
-    return f"{size_mb:.2f} MB"
+        result["diff"] = current - baseline
+    return result
 
 
-def _render_artifact_sizes(base_dir: Path, env: Mapping[str, str]) -> list[str]:
+def _collect_artifact_data(base_dir: Path, env: Mapping[str, str]) -> dict[str, Any] | None:
     pr_sizes_path = base_dir / _env(env, "PR_SIZES_JSON", "pr-sizes.json")
     if not pr_sizes_path.exists():
-        return []
+        return None
 
     try:
         pr_data = json.loads(pr_sizes_path.read_text(encoding="utf-8"))
     except Exception:
         logger.debug("Failed to parse PR sizes from %s", pr_sizes_path, exc_info=True)
-        return []
+        return None
 
     baseline_path = base_dir / _env(env, "BASELINE_SIZES_JSON", "baseline-sizes.json")
     baseline: dict[str, int] = {}
@@ -236,19 +202,12 @@ def _render_artifact_sizes(base_dir: Path, env: Mapping[str, str]) -> list[str]:
             logger.debug("Failed to parse baseline sizes from %s", baseline_path, exc_info=True)
             baseline = {}
 
-    lines = ["### Artifact Sizes", ""]
-    if baseline:
-        lines.append("| Artifact | Size | Δ from master |")
-        lines.append("|----------|------|---------------|")
-    else:
-        lines.append("| Artifact | Size |")
-        lines.append("|----------|------|")
-
-    total_delta = 0
     artifacts = pr_data.get("artifacts", [])
     if not isinstance(artifacts, list):
-        return []
+        return None
 
+    items: list[dict[str, Any]] = []
+    total_delta = 0
     for artifact in artifacts:
         if not isinstance(artifact, dict):
             continue
@@ -261,21 +220,20 @@ def _render_artifact_sizes(base_dir: Path, env: Mapping[str, str]) -> list[str]:
             continue
         size_human = str(artifact.get("size_human", "")).strip() or _format_size_human(new_size)
 
+        entry: dict[str, Any] = {"name": name, "size_human": size_human}
         if baseline and name in baseline:
-            old_size = baseline[name]
-            delta = new_size - old_size
+            delta = new_size - baseline[name]
             total_delta += delta
-            lines.append(f"| {name} | {size_human} | {_format_delta_mb(delta)} |")
-        else:
-            lines.append(f"| {name} | {size_human} |")
-
-    lines.append("")
-    if baseline and total_delta != 0:
-        direction = "increased" if total_delta > 0 else "decreased"
-        lines.append(f"**Total size {direction} by {abs(total_delta) / 1024.0 / 1024.0:.2f} MB**")
-    elif not baseline:
-        lines.append("*No baseline available for comparison*")
-    return lines
+            entry["delta"] = delta
+            entry["delta_human"] = _format_delta_mb(delta)
+        items.append(entry)
+
+    return {
+        "entries": items,
+        "has_baseline": bool(baseline),
+        "total_delta": total_delta,
+        "total_delta_mb": abs(total_delta) / 1024.0 / 1024.0,
+    }
 
 
 def generate_comment(env: Mapping[str, str], base_dir: Path, now_utc: datetime | None = None) -> str:
@@ -297,50 +255,41 @@ def generate_comment(env: Mapping[str, str], base_dir: Path, now_utc: datetime |
     if parsed_note:
         precommit_note = parsed_note
 
-    lines: list[str] = [
-        "## Build Results",
-        "",
-        "### Platform Status",
-        "",
-    ]
+    now = now_utc or datetime.now(UTC)
 
-    if table:
-        lines.extend(table.strip().splitlines())
-    else:
-        lines.extend(["| Platform | Status | Details |", "|----------|--------|--------|"])
-
-    lines.extend(
-        [
-            "",
-            f"**{summary}**",
-            "",
-            "### Pre-commit",
-            "",
-            "| Check | Status | Details |",
-            "|-------|--------|---------|",
-            f"| pre-commit | {precommit_status} | {precommit_details} |",
-            "",
-        ]
+    jinja_env = jinja2.Environment(
+        loader=jinja2.FileSystemLoader(_TEMPLATE_DIR),
+        keep_trailing_newline=True,
+        trim_blocks=True,
+        lstrip_blocks=True,
     )
-
-    if precommit_note:
-        lines.append(precommit_note)
-        lines.append("")
-
-    lines.extend(_render_test_results(base_dir, env))
-    lines.extend(_render_coverage(base_dir, env))
-    lines.extend(_render_artifact_sizes(base_dir, env))
-
-    now = now_utc or datetime.now(UTC)
-    lines.extend(
-        [
-            "",
-            "---",
-            f"<sub>Updated: {now.strftime('%Y-%m-%d %H:%M:%S UTC')} • Triggered by: {triggered_by}</sub>",
-        ]
+    template = jinja_env.get_template("build_results.md.j2")
+
+    rendered = template.render(
+        table=table,
+        summary=summary,
+        precommit={"status": precommit_status, "details": precommit_details, "note": precommit_note},
+        tests=_collect_test_data(base_dir, env),
+        coverage=_collect_coverage_data(base_dir, env),
+        artifacts=_collect_artifact_data(base_dir, env),
+        timestamp=now.strftime("%Y-%m-%d %H:%M:%S UTC"),
+        triggered_by=triggered_by,
     )
 
-    return "\n".join(lines).rstrip() + "\n"
+    # Normalize: collapse 3+ blank lines to 2, strip trailing whitespace per line
+    lines = [line.rstrip() for line in rendered.splitlines()]
+    result: list[str] = []
+    blank_count = 0
+    for line in lines:
+        if not line:
+            blank_count += 1
+            if blank_count <= 2:
+                result.append(line)
+        else:
+            blank_count = 0
+            result.append(line)
+
+    return "\n".join(result).rstrip() + "\n"
 
 
 def parse_args() -> argparse.Namespace:
diff --git a/.github/scripts/gstreamer_archive.py b/.github/scripts/gstreamer_archive.py
index 84beaef7aa70..6a0c796208b2 100755
--- a/.github/scripts/gstreamer_archive.py
+++ b/.github/scripts/gstreamer_archive.py
@@ -20,6 +20,15 @@
 from dataclasses import dataclass
 from pathlib import Path
 
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import (  # noqa: E402
+    write_github_output as _write_github_output,
+    write_step_summary as _write_step_summary,
+)
+
 
 @dataclass
 class ArchiveResult:
@@ -258,18 +267,16 @@ def _install_aws_cli_macos(self) -> None:
         run_command(["sudo", "installer", "-pkg", str(installer_pkg), "-target", "/"])
 
     def write_github_output(self) -> None:
-        github_output = os.environ.get("GITHUB_OUTPUT")
-        if not github_output or not self._archive_result:
+        if not self._archive_result:
             return
-
-        with open(github_output, "a") as f:
-            f.write(f"name={self._archive_result.name}\n")
-            f.write(f"path={self._archive_result.path}\n")
-            f.write(f"ext={self._archive_result.extension}\n")
+        _write_github_output({
+            "name": self._archive_result.name,
+            "path": str(self._archive_result.path),
+            "ext": self._archive_result.extension,
+        })
 
     def write_github_summary(self, uploaded: bool = False) -> None:
-        summary_path = os.environ.get("GITHUB_STEP_SUMMARY")
-        if not summary_path or not self._archive_result:
+        if not self._archive_result:
             return
 
         arch_display = self._normalize_arch()
@@ -294,8 +301,7 @@ def write_github_summary(self, uploaded: bool = False) -> None:
                 f"| S3 Path | dependencies/gstreamer/{self.platform}/{self.version}/ |"
             )
 
-        with open(summary_path, "a") as f:
-            f.write("\n".join(lines) + "\n")
+        _write_step_summary("\n".join(lines) + "\n")
 
 
 def parse_args() -> argparse.Namespace:
diff --git a/.github/scripts/install_ccache.py b/.github/scripts/install_ccache.py
deleted file mode 100755
index 4e96ccd096b5..000000000000
--- a/.github/scripts/install_ccache.py
+++ /dev/null
@@ -1,418 +0,0 @@
-#!/usr/bin/env python3
-"""
-Install and configure ccache with signature verification.
-
-Usage:
-    install_ccache.py [--version VERSION] [--arch ARCH] [--config PATH] [--prefix PATH]
-
-Outputs (for GitHub Actions):
-    version, arch, max_size
-"""
-
-from __future__ import annotations
-
-import argparse
-import hashlib
-import os
-import platform
-import re
-import shutil
-import subprocess
-import sys
-import tarfile
-import tempfile
-import time
-from pathlib import Path
-from typing import NamedTuple
-from urllib.error import HTTPError, URLError
-from urllib.request import urlopen, urlretrieve
-
-
-class CcacheConfig(NamedTuple):
-    """Configuration values extracted for ccache setup."""
-
-    version: str
-    arch: str
-    max_size: str
-
-
-class CcacheInstaller:
-    """Handles ccache installation with signature verification."""
-
-    DEFAULT_VERSION = "4.12.3"
-    DEFAULT_MAX_SIZE = "2G"
-    MINISIGN_VERSION = "0.11"
-    MINISIGN_KEY = "RWQX7yXbBedVfI4PNx6FLdFXu9GHUFsr28s4BVGxm4BeybtnX3P06saF"
-
-    CCACHE_RELEASE_URL = "https://github.com/ccache/ccache/releases/download"
-    MINISIGN_RELEASE_URL = "https://github.com/jedisct1/minisign/releases/download"
-    MINISIGN_ARCHIVE_SHA256 = "f0a0954413df8531befed169e447a66da6868d79052ed7e892e50a4291af7ae0"
-
-    def __init__(
-        self,
-        version: str = DEFAULT_VERSION,
-        arch: str | None = None,
-        config_path: Path | None = None,
-        prefix: Path | None = None,
-        max_retries: int = 3,
-        retry_delay: float = 5.0,
-    ) -> None:
-        self.version = version
-        self.arch = arch or self.detect_arch()
-        self.config_path = config_path
-        self.prefix = prefix or self._default_prefix()
-        self.max_retries = max_retries
-        self.retry_delay = retry_delay
-        self.max_size = self.DEFAULT_MAX_SIZE
-
-        if config_path:
-            self.max_size = self.read_max_size(config_path)
-
-    @staticmethod
-    def _default_prefix() -> Path:
-        """Get default installation prefix from env or standard location."""
-        env_prefix = os.environ.get("CCACHE_PREFIX")
-        if env_prefix:
-            return Path(env_prefix)
-        return Path("/usr/local")
-
-    @staticmethod
-    def validate_version(version: str) -> bool:
-        """Validate version format matches X.Y or X.Y.Z pattern."""
-        pattern = r"^[0-9]+\.[0-9]+(\.[0-9]+)?$"
-        return bool(re.match(pattern, version))
-
-    @staticmethod
-    def detect_arch() -> str:
-        """Auto-detect CPU architecture, normalizing to ccache naming."""
-        machine = platform.machine().lower()
-        arch_map = {
-            "x86_64": "x86_64",
-            "amd64": "x86_64",
-            "aarch64": "aarch64",
-            "arm64": "aarch64",
-        }
-        return arch_map.get(machine, "x86_64")
-
-    def read_max_size(self, config_path: Path) -> str:
-        """Extract max_size value from ccache.conf file."""
-        if not config_path.exists():
-            print(
-                f"Warning: ccache config not found at {config_path}, using default max_size",
-                file=sys.stderr,
-            )
-            return self.DEFAULT_MAX_SIZE
-
-        pattern = re.compile(r"^max_size\s*=\s*(.+)$")
-        try:
-            with config_path.open() as f:
-                for line in f:
-                    match = pattern.match(line.strip())
-                    if match:
-                        return match.group(1).strip()
-        except OSError as e:
-            print(f"Warning: Failed to read config: {e}", file=sys.stderr)
-
-        return self.DEFAULT_MAX_SIZE
-
-    def download_with_retry(self, url: str, dest: Path) -> bool:
-        """Download file with retry logic."""
-        for attempt in range(1, self.max_retries + 1):
-            try:
-                print(f"Downloading {url} (attempt {attempt}/{self.max_retries})")
-                urlretrieve(url, dest)
-                return True
-            except (HTTPError, URLError, OSError) as e:
-                print(f"Download failed: {e}", file=sys.stderr)
-                if attempt < self.max_retries:
-                    print(f"Retrying in {self.retry_delay} seconds...")
-                    time.sleep(self.retry_delay)
-
-        return False
-
-    def download_with_verify(self, temp_dir: Path) -> Path | None:
-        """Download ccache archive and verify its signature."""
-        archive_name = f"ccache-{self.version}-linux-{self.arch}.tar.xz"
-        archive_path = temp_dir / archive_name
-        sig_path = temp_dir / f"{archive_name}.minisig"
-
-        ccache_url = f"{self.CCACHE_RELEASE_URL}/v{self.version}/{archive_name}"
-        sig_url = f"{ccache_url}.minisig"
-
-        if not self.download_with_retry(ccache_url, archive_path):
-            print("Error: Failed to download ccache archive", file=sys.stderr)
-            return None
-
-        if not self.download_with_retry(sig_url, sig_path):
-            print("Error: Failed to download signature file", file=sys.stderr)
-            return None
-
-        minisign_bin = self._setup_minisign(temp_dir)
-        if not minisign_bin:
-            print("Error: Failed to setup minisign", file=sys.stderr)
-            return None
-
-        if not self.verify_signature(archive_path, sig_path, minisign_bin):
-            print("Error: Signature verification failed", file=sys.stderr)
-            return None
-
-        return archive_path
-
-    def _setup_minisign(self, temp_dir: Path) -> Path | None:
-        """Download and extract minisign binary."""
-        minisign_archive = f"minisign-{self.MINISIGN_VERSION}-linux.tar.gz"
-        minisign_url = f"{self.MINISIGN_RELEASE_URL}/{self.MINISIGN_VERSION}/{minisign_archive}"
-        minisign_path = temp_dir / minisign_archive
-
-        if not self.download_with_retry(minisign_url, minisign_path):
-            return None
-
-        actual_hash = hashlib.sha256(minisign_path.read_bytes()).hexdigest()
-        if actual_hash != self.MINISIGN_ARCHIVE_SHA256:
-            print(
-                f"Error: minisign archive hash mismatch: {actual_hash} != {self.MINISIGN_ARCHIVE_SHA256}",
-                file=sys.stderr,
-            )
-            return None
-
-        try:
-            with tarfile.open(minisign_path, "r:gz") as tar:
-                tar.extractall(temp_dir, filter="data")
-        except tarfile.TarError as e:
-            print(f"Error extracting minisign: {e}", file=sys.stderr)
-            return None
-
-        minisign_bin = temp_dir / "minisign-linux" / self.arch / "minisign"
-        if not minisign_bin.exists():
-            print(f"Error: minisign binary not found at {minisign_bin}", file=sys.stderr)
-            return None
-
-        minisign_bin.chmod(0o755)
-        return minisign_bin
-
-    def verify_signature(self, archive: Path, sig_file: Path, minisign_bin: Path) -> bool:
-        """Verify archive signature using minisign."""
-        try:
-            result = subprocess.run(
-                [str(minisign_bin), "-Vm", str(archive), "-P", self.MINISIGN_KEY],
-                capture_output=True,
-                text=True,
-                check=False,
-            )
-            if result.returncode != 0:
-                print(f"Signature verification failed: {result.stderr}", file=sys.stderr)
-                return False
-            print("Signature verified successfully")
-            return True
-        except OSError as e:
-            print(f"Error running minisign: {e}", file=sys.stderr)
-            return False
-
-    def install(self, archive: Path) -> bool:
-        """Extract and install ccache binary."""
-        temp_dir = archive.parent
-        extract_dir = temp_dir / f"ccache-{self.version}-linux-{self.arch}"
-
-        try:
-            with tarfile.open(archive, "r:xz") as tar:
-                tar.extractall(temp_dir, filter="data")
-        except tarfile.TarError as e:
-            print(f"Error extracting ccache: {e}", file=sys.stderr)
-            return False
-
-        ccache_bin = extract_dir / "ccache"
-        if not ccache_bin.exists():
-            print(f"Error: ccache binary not found at {ccache_bin}", file=sys.stderr)
-            return False
-
-        dest_bin = self.prefix / "bin" / "ccache"
-
-        try:
-            result = subprocess.run(
-                ["sudo", "cp", str(ccache_bin), str(dest_bin)],
-                capture_output=True,
-                text=True,
-                check=False,
-            )
-            if result.returncode != 0:
-                print(f"Error copying ccache: {result.stderr}", file=sys.stderr)
-                return False
-
-            result = subprocess.run(
-                ["sudo", "chmod", "+x", str(dest_bin)],
-                capture_output=True,
-                text=True,
-                check=False,
-            )
-            if result.returncode != 0:
-                print(f"Error setting permissions: {result.stderr}", file=sys.stderr)
-                return False
-
-        except OSError as e:
-            print(f"Error installing ccache: {e}", file=sys.stderr)
-            return False
-
-        print(f"ccache {self.version} installed successfully to {dest_bin}")
-        return True
-
-    def is_installed(self) -> bool:
-        """Check if requested ccache version is already installed."""
-        ccache_path = shutil.which("ccache")
-        if not ccache_path:
-            return False
-
-        try:
-            result = subprocess.run(
-                ["ccache", "--version"],
-                capture_output=True,
-                text=True,
-                check=False,
-            )
-            if result.returncode != 0:
-                return False
-
-            version_match = re.search(r"[0-9]+\.[0-9]+(\.[0-9]+)?", result.stdout)
-            if version_match and version_match.group() == self.version:
-                return True
-        except OSError:
-            pass
-
-        return False
-
-    def get_config(self) -> CcacheConfig:
-        """Return current configuration as named tuple."""
-        return CcacheConfig(
-            version=self.version,
-            arch=self.arch,
-            max_size=self.max_size,
-        )
-
-    def run_install(self) -> bool:
-        """Execute full installation workflow."""
-        if platform.system() != "Linux":
-            print("Warning: Binary installation only supported on Linux", file=sys.stderr)
-            return False
-
-        if self.is_installed():
-            print(f"ccache {self.version} already installed")
-            return True
-
-        print(f"Installing ccache {self.version}...")
-
-        with tempfile.TemporaryDirectory() as temp_dir:
-            temp_path = Path(temp_dir)
-            archive = self.download_with_verify(temp_path)
-            if not archive:
-                return False
-
-            if not self.install(archive):
-                return False
-
-        self._print_version()
-        return True
-
-    def _print_version(self) -> None:
-        """Print installed ccache version."""
-        try:
-            result = subprocess.run(
-                ["ccache", "--version"],
-                capture_output=True,
-                text=True,
-                check=False,
-            )
-            if result.returncode == 0:
-                print(result.stdout.strip())
-        except OSError:
-            pass
-
-
-def output_github_actions(config: CcacheConfig) -> None:
-    """Write outputs for GitHub Actions."""
-    github_output = os.environ.get("GITHUB_OUTPUT")
-    if not github_output:
-        return
-
-    try:
-        with open(github_output, "a") as f:
-            f.write(f"version={config.version}\n")
-            f.write(f"arch={config.arch}\n")
-            f.write(f"max_size={config.max_size}\n")
-    except OSError as e:
-        print(f"Warning: Failed to write GitHub output: {e}", file=sys.stderr)
-
-
-def parse_args() -> argparse.Namespace:
-    """Parse command line arguments."""
-    parser = argparse.ArgumentParser(
-        description="Install and configure ccache with signature verification",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-    )
-    parser.add_argument(
-        "--version",
-        default=CcacheInstaller.DEFAULT_VERSION,
-        help=f"ccache version (default: {CcacheInstaller.DEFAULT_VERSION})",
-    )
-    parser.add_argument(
-        "--arch",
-        choices=["x86_64", "aarch64"],
-        help="Architecture (default: auto-detect)",
-    )
-    parser.add_argument(
-        "--config",
-        type=Path,
-        metavar="PATH",
-        help="Path to ccache.conf for max_size",
-    )
-    parser.add_argument(
-        "--prefix",
-        type=Path,
-        default=None,
-        help="Installation prefix (default: $CCACHE_PREFIX or /usr/local)",
-    )
-    parser.add_argument(
-        "--install",
-        action="store_true",
-        help="Install ccache binary (Linux only)",
-    )
-    parser.add_argument(
-        "--output-only",
-        action="store_true",
-        help="Only output config, don't install",
-    )
-
-    return parser.parse_args()
-
-
-def main() -> int:
-    """Main entry point."""
-    args = parse_args()
-
-    if not CcacheInstaller.validate_version(args.version):
-        print(f"Error: Invalid ccache version format: {args.version}", file=sys.stderr)
-        return 1
-
-    installer = CcacheInstaller(
-        version=args.version,
-        arch=args.arch,
-        config_path=args.config,
-        prefix=args.prefix,
-    )
-
-    config = installer.get_config()
-
-    print("ccache configuration:")
-    print(f"  Version: {config.version}")
-    print(f"  Arch: {config.arch}")
-    print(f"  Max Size: {config.max_size}")
-
-    output_github_actions(config)
-
-    if args.install and not args.output_only:
-        if not installer.run_install():
-            return 1
-
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
diff --git a/.github/scripts/install_dependencies_helper.py b/.github/scripts/install_dependencies_helper.py
new file mode 100644
index 000000000000..c48cd67e1f9e
--- /dev/null
+++ b/.github/scripts/install_dependencies_helper.py
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+"""Post-install fixups for CI dependency caching on Linux.
+
+Handles:
+- Enabling the Ubuntu universe repository
+- Repairing apt alternatives after cache-apt-pkgs-action restore
+- Installing optional packages
+- Detecting Python version for pipx cache keys
+"""
+
+from __future__ import annotations
+
+import re
+import subprocess
+import sys
+from pathlib import Path
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import write_github_output  # noqa: E402
+
+APT_OPTS = ["-o", "DPkg::Lock::Timeout=300", "-o", "Acquire::Retries=3"]
+
+
+def _run(cmd: list[str], *, check: bool = True, **kwargs) -> subprocess.CompletedProcess:
+    return subprocess.run(cmd, check=check, **kwargs)
+
+
+def _sudo(cmd: list[str], **kwargs) -> subprocess.CompletedProcess:
+    return _run(["sudo", *cmd], **kwargs)
+
+
+def _ldconfig_has_blas() -> bool:
+    result = _run(["ldconfig", "-p"], capture_output=True, text=True, check=False)
+    return bool(re.search(r"\blibblas\.so\.3\b", result.stdout))
+
+
+def _get_multiarch() -> str:
+    result = _run(
+        ["dpkg-architecture", "-qDEB_HOST_MULTIARCH"],
+        capture_output=True, text=True, check=False,
+    )
+    return result.stdout.strip() if result.returncode == 0 else ""
+
+
+def enable_universe() -> None:
+    """Enable the Ubuntu universe repository if not already present."""
+    sources_dirs = [Path("/etc/apt/sources.list"), Path("/etc/apt/sources.list.d")]
+    universe_found = False
+
+    for source in sources_dirs:
+        if not source.exists():
+            continue
+        paths = [source] if source.is_file() else list(source.glob("*.list")) + list(source.glob("*.sources"))
+        for p in paths:
+            try:
+                text = p.read_text(errors="replace")
+                if re.search(r"^(deb|Components:).*universe", text, re.MULTILINE):
+                    universe_found = True
+                    break
+            except OSError:
+                continue
+        if universe_found:
+            break
+
+    if not universe_found:
+        _sudo(["apt-get", *APT_OPTS, "install", "-y", "-qq", "software-properties-common"])
+        _sudo(["add-apt-repository", "-y", "universe"])
+
+    _sudo(["apt-get", *APT_OPTS, "update", "-y", "-qq"])
+
+
+def fix_apt_alternatives() -> None:
+    """Repair apt alternatives and BLAS symlinks after cache restore."""
+    result = _sudo(["dpkg", "--configure", "-a"], check=False)
+    if result.returncode != 0:
+        print("::warning::dpkg --configure -a failed; package state may be inconsistent")
+
+    if _ldconfig_has_blas():
+        return
+
+    print("::warning::libblas.so.3 missing from linker cache; attempting repair")
+    _sudo(
+        ["apt-get", *APT_OPTS, "install", "-y", "-qq", "--reinstall", "libblas3", "libopenblas0"],
+        check=False,
+    )
+
+    multiarch = _get_multiarch()
+    if multiarch:
+        _sudo(["update-alternatives", "--auto", f"libblas.so.3-{multiarch}"], check=False)
+
+        blas_link = Path(f"/usr/lib/{multiarch}/libblas.so.3")
+        if not blas_link.exists():
+            candidates = list(Path("/usr/lib").rglob("libblas.so.3"))
+            if candidates:
+                candidate = candidates[0]
+                print(f"::warning::Creating compatibility symlink {blas_link} -> {candidate}")
+                _sudo(["ln", "-sf", str(candidate), str(blas_link)])
+
+    _sudo(["ldconfig"])
+
+    if not _ldconfig_has_blas():
+        print("::error::libblas.so.3 is still missing after repair attempt")
+        sys.exit(1)
+
+
+def install_optional_packages() -> None:
+    """Install optional apt packages that are available."""
+    result = _run(
+        [sys.executable, "tools/setup/install_dependencies.py",
+         "--platform", "debian", "--category", "gstreamer_optional", "--print-available-packages"],
+        capture_output=True, text=True, check=False,
+    )
+    packages = result.stdout.strip()
+    if packages:
+        print(f"Installing optional packages: {packages}")
+        _sudo(["apt-get", *APT_OPTS, "install", "-y", "-qq", *packages.split()], check=False)
+
+
+def detect_python_version() -> None:
+    """Write Python minor version to GITHUB_OUTPUT for cache keys."""
+    minor = f"{sys.version_info.major}.{sys.version_info.minor}"
+    write_github_output({"minor": minor})
+
+
+def main() -> None:
+    import argparse
+    parser = argparse.ArgumentParser(description=__doc__)
+    sub = parser.add_subparsers(dest="command", required=True)
+    sub.add_parser("enable-universe")
+    sub.add_parser("fix-apt-alternatives")
+    sub.add_parser("install-optional")
+    sub.add_parser("detect-python-version")
+
+    args = parser.parse_args()
+    commands = {
+        "enable-universe": enable_universe,
+        "fix-apt-alternatives": fix_apt_alternatives,
+        "install-optional": install_optional_packages,
+        "detect-python-version": detect_python_version,
+    }
+    commands[args.command]()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/plan_docker_builds.py b/.github/scripts/plan_docker_builds.py
new file mode 100644
index 000000000000..723f2f5c9851
--- /dev/null
+++ b/.github/scripts/plan_docker_builds.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+"""Plan Docker build matrix entries for the Docker workflow."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import write_github_output
+
+
+def plan_builds(event_name: str, linux_changed: bool, android_changed: bool) -> dict[str, object]:
+    """Return workflow matrix and a has_jobs flag."""
+    include: list[dict[str, object]] = []
+
+    linux_selected = event_name != "pull_request" or linux_changed
+    android_selected = event_name != "pull_request" or android_changed
+
+    if linux_selected:
+        include.append(
+            {
+                "platform": "Linux",
+                "dockerfile": "Dockerfile-build-ubuntu",
+                "fuse": True,
+                "artifact_pattern": "*.AppImage",
+            }
+        )
+    if android_selected:
+        include.append(
+            {
+                "platform": "Android",
+                "dockerfile": "Dockerfile-build-android",
+                "fuse": False,
+                "artifact_pattern": "*.apk",
+            }
+        )
+
+    return {"matrix": {"include": include}, "has_jobs": bool(include)}
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Plan Docker workflow builds.")
+    parser.add_argument("--event-name", default=os.environ.get("EVENT_NAME", ""))
+    parser.add_argument("--linux", default=os.environ.get("LINUX", "false"))
+    parser.add_argument("--android", default=os.environ.get("ANDROID", "false"))
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Compute the Docker build matrix and emit outputs."""
+    args = parse_args(argv)
+    plan = plan_builds(
+        args.event_name,
+        args.linux == "true",
+        args.android == "true",
+    )
+    matrix_json = json.dumps(plan["matrix"], separators=(",", ":"))
+    print(matrix_json)
+
+    write_github_output({
+        "matrix": matrix_json,
+        "has_jobs": "true" if plan["has_jobs"] else "false",
+    })
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/.github/scripts/precommit_results.py b/.github/scripts/precommit_results.py
new file mode 100644
index 000000000000..d75014b3d365
--- /dev/null
+++ b/.github/scripts/precommit_results.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+"""Prepare pre-commit result artifacts for CI."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import shutil
+import sys
+from pathlib import Path
+
+
+def write_results_json(
+    output_dir: Path,
+    *,
+    exit_code: str,
+    passed: str,
+    failed: str,
+    skipped: str,
+    run_url: str,
+) -> Path:
+    """Write the summary JSON artifact."""
+    output_dir.mkdir(parents=True, exist_ok=True)
+    output_path = output_dir / "pre-commit-results.json"
+    output_path.write_text(
+        json.dumps(
+            {
+                "exit_code": exit_code,
+                "passed": passed,
+                "failed": failed,
+                "skipped": skipped,
+                "run_url": run_url,
+            },
+            indent=2,
+        )
+        + "\n",
+        encoding="utf-8",
+    )
+    return output_path
+
+
+def copy_output_file(source: Path | None, output_dir: Path) -> None:
+    """Copy the text output file into the artifact directory if it exists."""
+    if source is None or not source.exists():
+        return
+    shutil.copy2(source, output_dir / source.name)
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Prepare pre-commit result artifacts.")
+    parser.add_argument("--output-dir", default="pre-commit-results")
+    parser.add_argument("--exit-code", default="1")
+    parser.add_argument("--passed", default="0")
+    parser.add_argument("--failed", default="0")
+    parser.add_argument("--skipped", default="0")
+    parser.add_argument("--run-url", default="")
+    parser.add_argument("--output-file", default="")
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Generate the artifact directory for pre-commit results."""
+    args = parse_args(argv)
+    output_dir = Path(args.output_dir)
+    write_results_json(
+        output_dir,
+        exit_code=args.exit_code,
+        passed=args.passed,
+        failed=args.failed,
+        skipped=args.skipped,
+        run_url=args.run_url,
+    )
+    copy_output_file(Path(args.output_file) if args.output_file else None, output_dir)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/.github/scripts/resolve_gstreamer_config.py b/.github/scripts/resolve_gstreamer_config.py
new file mode 100644
index 000000000000..ef9fadf29cd7
--- /dev/null
+++ b/.github/scripts/resolve_gstreamer_config.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+"""Resolve GStreamer and Qt versions for GitHub Actions."""
+
+from __future__ import annotations
+
+import argparse
+import sys
+from pathlib import Path
+
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.build_config import get_build_config_value
+from common.gh_actions import write_github_output
+
+VERSION_KEYS = {
+    "macos": "gstreamer_macos_version",
+    "windows": "gstreamer_windows_version",
+    "android": "gstreamer_android_version",
+    "ios": "gstreamer_ios_version",
+}
+
+
+def resolve_version(platform_name: str, requested_version: str) -> str:
+    """Return explicit version override or platform-specific config version."""
+    if requested_version:
+        return requested_version
+    version_key = VERSION_KEYS.get(platform_name, "gstreamer_default_version")
+    return get_build_config_value(version_key)
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Resolve GStreamer action config values.")
+    parser.add_argument("--platform", required=True, choices=["linux", "macos", "windows", "android", "ios"])
+    parser.add_argument("--version", default="", help="Explicit GStreamer version override")
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Resolve config values and emit GitHub outputs."""
+    args = parse_args(argv)
+    outputs = {
+        "py_cmd": "python3",
+        "version": resolve_version(args.platform, args.version),
+        "qt_version": get_build_config_value("qt_version"),
+    }
+    write_github_output(outputs)
+    print(f"Building GStreamer {outputs['version']} for {args.platform}")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/.github/scripts/size_analysis.py b/.github/scripts/size_analysis.py
index 4f31f2b6cd72..367d94c63e0b 100755
--- a/.github/scripts/size_analysis.py
+++ b/.github/scripts/size_analysis.py
@@ -21,6 +21,15 @@
 from pathlib import Path
 from typing import Any
 
+from ci_bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import (  # noqa: E402
+    write_github_output as _write_github_output,
+    write_step_summary as _write_step_summary,
+)
+
 
 class BinaryAnalyzer:
     """Analyzes binary size and symbol information."""
@@ -215,20 +224,16 @@ def generate_summary(
 
 def write_github_output(binary_size: int, stripped_size: int, symbol_count: int) -> None:
     """Write outputs to GITHUB_OUTPUT file if available."""
-    github_output = os.environ.get("GITHUB_OUTPUT")
-    if github_output:
-        with open(github_output, "a") as f:
-            f.write(f"binary_size={binary_size}\n")
-            f.write(f"stripped_size={stripped_size}\n")
-            f.write(f"symbol_count={symbol_count}\n")
+    _write_github_output({
+        "binary_size": str(binary_size),
+        "stripped_size": str(stripped_size),
+        "symbol_count": str(symbol_count),
+    })
 
 
 def write_github_step_summary(summary: str) -> None:
     """Write summary to GITHUB_STEP_SUMMARY file if available."""
-    step_summary = os.environ.get("GITHUB_STEP_SUMMARY")
-    if step_summary:
-        with open(step_summary, "a") as f:
-            f.write(summary)
+    _write_step_summary(summary)
 
 
 def parse_args() -> argparse.Namespace:
diff --git a/.github/scripts/templates/build_results.md.j2 b/.github/scripts/templates/build_results.md.j2
new file mode 100644
index 000000000000..d100b4bf2c91
--- /dev/null
+++ b/.github/scripts/templates/build_results.md.j2
@@ -0,0 +1,89 @@
+## Build Results
+
+### Platform Status
+
+{% if table -%}
+{{ table }}
+{% else -%}
+| Platform | Status | Details |
+|----------|--------|--------|
+{% endif %}
+
+**{{ summary }}**
+
+### Pre-commit
+
+| Check | Status | Details |
+|-------|--------|---------|
+| pre-commit | {{ precommit.status }} | {{ precommit.details }} |
+
+{% if precommit.note -%}
+{{ precommit.note }}
+
+{% endif -%}
+{% if tests -%}
+### Test Results
+
+{% for t in tests.platforms -%}
+{% if t.failed > 0 -%}
+**{{ t.arch }}**: {{ t.passed }} passed, {{ t.failed }} failed, {{ t.skipped }} skipped
+
+<details><summary>Failed tests</summary>
+
+```
+{% for line in t.failed_lines -%}
+{{ line }}
+{% endfor -%}
+```
+</details>
+{% else -%}
+**{{ t.arch }}**: {{ t.passed }} passed, {{ t.skipped }} skipped
+{% endif %}
+{% endfor -%}
+{% if tests.has_failures -%}
+**Total: {{ tests.total_passed }} passed, {{ tests.total_failed }} failed, {{ tests.total_skipped }} skipped**
+{% else -%}
+**Total: {{ tests.total_passed }} passed, {{ tests.total_skipped }} skipped**
+{% endif %}
+{% endif -%}
+{% if coverage -%}
+### Code Coverage
+
+{% if coverage.baseline is not none and coverage.current is not none -%}
+| Coverage | Baseline | Change |
+|----------|----------|--------|
+| {{ "%.1f"|format(coverage.current) }}% | {{ "%.1f"|format(coverage.baseline) }}% | {{ "%+.1f"|format(coverage.diff) }}% |
+{% else -%}
+Coverage: **{% if coverage.current is not none %}{{ "%.1f"|format(coverage.current) }}%{% else %}N/A{% endif %}**
+
+*No baseline available for comparison*
+{% endif %}
+{% endif -%}
+{% if artifacts -%}
+### Artifact Sizes
+
+{% if artifacts.has_baseline -%}
+| Artifact | Size | Δ from master |
+|----------|------|---------------|
+{% for a in artifacts.entries -%}
+{% if a.delta is defined -%}
+| {{ a.name }} | {{ a.size_human }} | {{ a.delta_human }} |
+{% else -%}
+| {{ a.name }} | {{ a.size_human }} |
+{% endif -%}
+{% endfor %}
+{% else -%}
+| Artifact | Size |
+|----------|------|
+{% for a in artifacts.entries -%}
+| {{ a.name }} | {{ a.size_human }} |
+{% endfor %}
+{% endif -%}
+{% if artifacts.has_baseline and artifacts.total_delta != 0 -%}
+**Total size {{ "increased" if artifacts.total_delta > 0 else "decreased" }} by {{ "%.2f"|format(artifacts.total_delta_mb) }} MB**
+{%- elif not artifacts.has_baseline -%}
+*No baseline available for comparison*
+{%- endif %}
+{% endif %}
+---
+<sub>Updated: {{ timestamp }} • Triggered by: {{ triggered_by }}</sub>
diff --git a/.github/scripts/test_duration_report.py b/.github/scripts/test_duration_report.py
new file mode 100644
index 000000000000..fcda4e756c57
--- /dev/null
+++ b/.github/scripts/test_duration_report.py
@@ -0,0 +1,240 @@
+#!/usr/bin/env python3
+"""Analyze JUnit test durations and emit CI summaries."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+import xml.etree.ElementTree as ET
+from pathlib import Path
+from typing import Any
+
+from xml_utils import xml_parse
+
+
+def test_key(elem: ET.Element) -> str:
+    """Return a stable identifier for a JUnit testcase element."""
+    classname = elem.attrib.get("classname", "").strip()
+    name = elem.attrib.get("name", "").strip()
+    if classname and name:
+        return f"{classname}::{name}"
+    return name or classname or "<unnamed>"
+
+
+def parse_time(value: str) -> float:
+    """Parse testcase duration, defaulting invalid values to 0."""
+    try:
+        return float(value)
+    except Exception:
+        return 0.0
+
+
+def load_baseline(baseline_path: Path) -> tuple[dict[str, float], bool, str]:
+    """Load a baseline file into a simple test->seconds mapping."""
+    if not baseline_path.exists():
+        return {}, False, ""
+
+    try:
+        payload = json.loads(baseline_path.read_text(encoding="utf-8"))
+        baseline: dict[str, float] = {}
+        if isinstance(payload, dict) and "tests" in payload and isinstance(payload["tests"], dict):
+            for key, value in payload["tests"].items():
+                if isinstance(value, dict):
+                    baseline[key] = float(value.get("seconds", 0.0))
+                else:
+                    baseline[key] = float(value)
+            return baseline, True, ""
+        if isinstance(payload, dict):
+            for key, value in payload.items():
+                if isinstance(value, (int, float)):
+                    baseline[key] = float(value)
+            return baseline, True, ""
+        return {}, False, "baseline file has unsupported structure"
+    except Exception as exc:
+        return {}, False, str(exc)
+
+
+def analyze_test_durations(
+    junit_path: Path,
+    baseline_path: Path,
+    *,
+    top_n: int,
+    slow_threshold: float,
+    regression_factor: float,
+    min_delta: float,
+) -> dict[str, Any]:
+    """Return computed timing report data for a JUnit XML file."""
+    tree = xml_parse(junit_path)
+    root = tree.getroot()
+    cases = [(test_key(testcase), parse_time(testcase.attrib.get("time", "0"))) for testcase in root.iter("testcase")]
+
+    total_seconds = sum(secs for _, secs in cases)
+    slowest = sorted(cases, key=lambda item: item[1], reverse=True)
+    slow_over_threshold = [(key, secs) for key, secs in slowest if secs >= slow_threshold]
+
+    baseline, baseline_loaded, baseline_error = load_baseline(baseline_path)
+    regressions: list[tuple[str, float, float]] = []
+    if baseline:
+        for key, current in cases:
+            previous = baseline.get(key)
+            if previous is None or previous <= 0:
+                continue
+            if current >= previous * regression_factor and (current - previous) >= min_delta:
+                regressions.append((key, previous, current))
+
+    regressions.sort(key=lambda item: item[2] - item[1], reverse=True)
+
+    return {
+        "junit_path": str(junit_path),
+        "total_tests": len(cases),
+        "total_seconds": total_seconds,
+        "slow_threshold_seconds": slow_threshold,
+        "slow_tests": [{"test": key, "seconds": secs} for key, secs in slow_over_threshold],
+        "regression_factor": regression_factor,
+        "min_delta_seconds": min_delta,
+        "regressions": [
+            {
+                "test": key,
+                "baseline_seconds": baseline_secs,
+                "current_seconds": current_secs,
+                "delta_seconds": current_secs - baseline_secs,
+            }
+            for key, baseline_secs, current_secs in regressions
+        ],
+        "baseline_loaded": baseline_loaded,
+        "baseline_entries": len(baseline),
+        "baseline_error": baseline_error,
+        "top_slowest": [{"test": key, "seconds": secs} for key, secs in slowest[:top_n]],
+        "regression_count": len(regressions),
+        "slow_count": len(slow_over_threshold),
+        "regression_warnings": regressions[:top_n],
+        "slow_warnings": slow_over_threshold[:top_n],
+    }
+
+
+def build_summary(report: dict[str, Any], baseline_path: Path, *, missing_junit: str = "") -> str:
+    """Render a markdown summary for GitHub Step Summary."""
+    lines = ["## Test Duration Report", ""]
+    if missing_junit:
+        lines.append(f"- WARNING: {missing_junit}")
+        lines.append("")
+        return "\n".join(lines)
+
+    lines.extend(
+        [
+            f"- JUnit: `{report['junit_path']}`",
+            f"- Total tests: **{report['total_tests']}**",
+            f"- Total time: **{report['total_seconds']:.1f}s**",
+            f"- Slow threshold: **{report['slow_threshold_seconds']:.1f}s**",
+        ]
+    )
+    if report["baseline_loaded"]:
+        lines.append(f"- Baseline file: `{baseline_path}` ({report['baseline_entries']} entries)")
+    else:
+        suffix = f" - {report['baseline_error']}" if report["baseline_error"] else ""
+        lines.append(f"- Baseline file: `{baseline_path}` (not available{suffix})")
+    lines.append("")
+
+    top_slowest = report["top_slowest"]
+    if top_slowest:
+        lines.append(f"### Top {len(top_slowest)} Slowest Tests")
+        lines.append("")
+        lines.append("| Test | Seconds |")
+        lines.append("|---|---:|")
+        for item in top_slowest:
+            lines.append(f"| `{item['test']}` | {item['seconds']:.3f} |")
+        lines.append("")
+
+    regressions = report["regressions"]
+    if regressions:
+        lines.append("### Regressions vs Baseline")
+        lines.append("")
+        lines.append("| Test | Baseline (s) | Current (s) | Delta (s) |")
+        lines.append("|---|---:|---:|---:|")
+        for item in regressions[: len(top_slowest) or len(regressions)]:
+            lines.append(
+                f"| `{item['test']}` | {item['baseline_seconds']:.3f} | {item['current_seconds']:.3f} | {item['delta_seconds']:.3f} |"
+            )
+        lines.append("")
+    else:
+        lines.append("No baseline regressions detected.")
+        lines.append("")
+
+    return "\n".join(lines)
+
+
+def append_file(path: Path | None, content: str) -> None:
+    """Append content to a file if a path is provided."""
+    if path is None:
+        return
+    with path.open("a", encoding="utf-8") as handle:
+        handle.write(content)
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Analyze JUnit test durations.")
+    parser.add_argument("--junit-path", required=True)
+    parser.add_argument("--baseline-path", default=".github/test-duration-baseline.json")
+    parser.add_argument("--report-json-path", default="test-duration-report.json")
+    parser.add_argument("--top-n", type=int, default=20)
+    parser.add_argument("--slow-threshold-seconds", type=float, default=60.0)
+    parser.add_argument("--regression-factor", type=float, default=1.5)
+    parser.add_argument("--min-delta-seconds", type=float, default=5.0)
+    parser.add_argument("--fail-on-regression", action="store_true")
+    parser.add_argument("--github-step-summary", default=os.environ.get("GITHUB_STEP_SUMMARY", ""))
+    parser.add_argument("--github-output", default=os.environ.get("GITHUB_OUTPUT", ""))
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Run the report generation flow."""
+    args = parse_args(argv)
+    junit_path = Path(args.junit_path)
+    baseline_path = Path(args.baseline_path)
+    report_json_path = Path(args.report_json_path)
+    step_summary = Path(args.github_step_summary) if args.github_step_summary else None
+    github_output = Path(args.github_output) if args.github_output else None
+
+    if not junit_path.exists():
+        message = f"JUnit report not found at {junit_path}"
+        print(f"::warning::{message}")
+        append_file(step_summary, build_summary({}, baseline_path, missing_junit=message))
+        append_file(github_output, "regression_count=0\nslow_count=0\n")
+        return 0
+
+    report = analyze_test_durations(
+        junit_path,
+        baseline_path,
+        top_n=args.top_n,
+        slow_threshold=args.slow_threshold_seconds,
+        regression_factor=args.regression_factor,
+        min_delta=args.min_delta_seconds,
+    )
+    report_json_path.parent.mkdir(parents=True, exist_ok=True)
+    report_json_path.write_text(json.dumps(report, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+
+    append_file(step_summary, build_summary(report, baseline_path))
+    append_file(
+        github_output,
+        f"regression_count={report['regression_count']}\nslow_count={report['slow_count']}\n",
+    )
+
+    if report["baseline_error"]:
+        print(f"::warning::Failed to parse baseline file {baseline_path}: {report['baseline_error']}")
+
+    for key, secs in report["slow_warnings"]:
+        print(f"::warning::Slow test (>={args.slow_threshold_seconds:.1f}s): {key} took {secs:.3f}s")
+    for key, base, cur in report["regression_warnings"]:
+        print(
+            f"::warning::Timing regression: {key} baseline={base:.3f}s current={cur:.3f}s "
+            f"(+{(cur - base):.3f}s, x{(cur / base):.2f})"
+        )
+
+    return 1 if args.fail_on_regression and report["regression_count"] else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/.github/scripts/tests/test_aws_upload.py b/.github/scripts/tests/test_aws_upload.py
new file mode 100644
index 000000000000..5317897a81b5
--- /dev/null
+++ b/.github/scripts/tests/test_aws_upload.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+"""Tests for aws_upload.py."""
+
+from __future__ import annotations
+
+import pytest
+
+from aws_upload import sanitize_ref, validate_artifact, validate_credentials
+
+
+class TestSanitizeRef:
+    def test_simple_branch(self) -> None:
+        assert sanitize_ref("main") == "main"
+
+    def test_slashes_replaced(self) -> None:
+        assert sanitize_ref("feature/foo") == "feature_foo"
+
+    def test_dotdot_removed(self) -> None:
+        assert sanitize_ref("../../../etc/passwd") == "___etc_passwd"
+
+    def test_special_chars(self) -> None:
+        assert sanitize_ref("v1.2.3-rc1") == "v1.2.3-rc1"
+
+    def test_spaces_replaced(self) -> None:
+        assert sanitize_ref("my branch") == "my_branch"
+
+
+class TestValidateCredentials:
+    def test_role_arn_sufficient(self) -> None:
+        validate_credentials("arn:aws:iam::123:role/test", "", "")
+
+    def test_static_creds_sufficient(self) -> None:
+        validate_credentials("", "AKID", "secret")
+
+    def test_missing_both_exits(self) -> None:
+        with pytest.raises(SystemExit):
+            validate_credentials("", "", "")
+
+    def test_partial_static_exits(self) -> None:
+        with pytest.raises(SystemExit):
+            validate_credentials("", "AKID", "")
+
+
+class TestValidateArtifact:
+    def test_path_traversal_rejected(self, tmp_path) -> None:
+        f = tmp_path / "test.bin"
+        f.touch()
+        with pytest.raises(SystemExit):
+            validate_artifact(str(f), "../test.bin")
+
+    def test_slash_in_name_rejected(self, tmp_path) -> None:
+        f = tmp_path / "test.bin"
+        f.touch()
+        with pytest.raises(SystemExit):
+            validate_artifact(str(f), "path/test.bin")
+
+    def test_backslash_rejected(self, tmp_path) -> None:
+        f = tmp_path / "test.bin"
+        f.touch()
+        with pytest.raises(SystemExit):
+            validate_artifact(str(f), "path\\test.bin")
+
+    def test_missing_file_exits(self) -> None:
+        with pytest.raises(SystemExit):
+            validate_artifact("/nonexistent/file", "test.bin")
+
+    def test_valid_artifact(self, tmp_path) -> None:
+        f = tmp_path / "QGroundControl.AppImage"
+        f.touch()
+        validate_artifact(str(f), "QGroundControl.AppImage")
diff --git a/.github/scripts/tests/test_ccache_helper.py b/.github/scripts/tests/test_ccache_helper.py
new file mode 100644
index 000000000000..de2c1b7ac7e2
--- /dev/null
+++ b/.github/scripts/tests/test_ccache_helper.py
@@ -0,0 +1,312 @@
+"""Tests for ccache_helper.py."""
+
+from __future__ import annotations
+
+import os
+import tempfile
+from pathlib import Path
+from unittest.mock import patch
+
+import pytest
+
+from ccache_helper import (
+    CcacheConfig,
+    CcacheInstaller,
+    build_summary_markdown,
+    configure_ccache_environment,
+    configure_cpm_cache,
+    compute_cpm_fingerprint,
+    determine_cache_scope,
+    main,
+    resolve_arch,
+    resolve_windows_binary_config,
+    parse_args,
+    write_step_summary,
+)
+
+
+class TestCcacheInstaller:
+    """Tests for CcacheInstaller class."""
+
+    def test_validate_version_valid(self):
+        """Test valid version formats."""
+        assert CcacheInstaller.validate_version("4.13.1")
+        assert CcacheInstaller.validate_version("4.13")
+        assert CcacheInstaller.validate_version("5.0.0")
+
+    def test_validate_version_invalid(self):
+        """Test invalid version formats."""
+        assert not CcacheInstaller.validate_version("4.12.2.1")
+        assert not CcacheInstaller.validate_version("v4.12.2")
+        assert not CcacheInstaller.validate_version("latest")
+        assert not CcacheInstaller.validate_version("")
+
+    def test_detect_arch_x86_64(self):
+        """Test x86_64 architecture detection."""
+        with patch("platform.machine", return_value="x86_64"):
+            assert CcacheInstaller.detect_arch() == "x86_64"
+
+    def test_detect_arch_amd64(self):
+        """Test amd64 (alias) architecture detection."""
+        with patch("platform.machine", return_value="amd64"):
+            assert CcacheInstaller.detect_arch() == "x86_64"
+
+    def test_detect_arch_arm64(self):
+        """Test arm64 architecture detection."""
+        with patch("platform.machine", return_value="arm64"):
+            assert CcacheInstaller.detect_arch() == "aarch64"
+
+    def test_detect_arch_aarch64(self):
+        """Test aarch64 architecture detection."""
+        with patch("platform.machine", return_value="aarch64"):
+            assert CcacheInstaller.detect_arch() == "aarch64"
+
+    def test_default_prefix_from_env(self):
+        """Test prefix from CCACHE_PREFIX environment variable."""
+        with patch.dict(os.environ, {"CCACHE_PREFIX": "/custom/path"}):
+            assert CcacheInstaller._default_prefix() == Path("/custom/path")
+
+    def test_default_prefix_fallback(self):
+        """Test default prefix fallback to /usr/local."""
+        with patch.dict(os.environ, {}, clear=True):
+            os.environ.pop("CCACHE_PREFIX", None)
+            assert CcacheInstaller._default_prefix() == Path("/usr/local")
+
+    def test_read_max_size_from_config(self):
+        """Test reading max_size from ccache.conf."""
+        with tempfile.NamedTemporaryFile(mode="w", suffix=".conf", delete=False) as f:
+            f.write("max_size = 5G\n")
+            f.write("compiler_check = content\n")
+            f.flush()
+            config_path = Path(f.name)
+
+        try:
+            installer = CcacheInstaller(config_path=config_path)
+            assert installer.max_size == "5G"
+        finally:
+            config_path.unlink()
+
+    def test_read_max_size_missing_file(self):
+        """Test max_size default when config file is missing."""
+        installer = CcacheInstaller(config_path=Path("/nonexistent/path.conf"))
+        assert installer.max_size == CcacheInstaller.DEFAULT_MAX_SIZE
+
+    def test_get_config(self):
+        """Test get_config returns correct named tuple."""
+        installer = CcacheInstaller(version="4.10", arch="aarch64")
+        config = installer.get_config()
+
+        assert isinstance(config, CcacheConfig)
+        assert config.version == "4.10"
+        assert config.arch == "aarch64"
+        assert config.max_size == CcacheInstaller.DEFAULT_MAX_SIZE
+
+    def test_installer_with_custom_prefix(self):
+        """Test installer with custom prefix."""
+        custom_prefix = Path("/opt/ccache")
+        installer = CcacheInstaller(prefix=custom_prefix)
+        assert installer.prefix == custom_prefix
+
+
+class TestCcacheConfig:
+    """Tests for CcacheConfig named tuple."""
+
+    def test_config_creation(self):
+        """Test CcacheConfig creation."""
+        config = CcacheConfig(version="4.13.1", arch="x86_64", max_size="2G")
+        assert config.version == "4.13.1"
+        assert config.arch == "x86_64"
+        assert config.max_size == "2G"
+
+    def test_config_immutable(self):
+        """Test CcacheConfig is immutable."""
+        config = CcacheConfig(version="4.13.1", arch="x86_64", max_size="2G")
+        with pytest.raises(AttributeError):
+            config.version = "5.0.0"
+
+
+class TestBuildSummaryMarkdown:
+    """Tests for build_summary_markdown function."""
+
+    def test_typical_stats(self):
+        stats = {
+            "direct_cache_hit": 100,
+            "preprocessed_cache_hit": 20,
+            "cache_miss": 30,
+        }
+        md = build_summary_markdown(stats)
+        assert "120 / 150 (80.0%)" in md
+        assert "| Direct hits | 100 |" in md
+        assert "| Preprocessed hits | 20 |" in md
+        assert "| Misses | 30 |" in md
+
+    def test_all_hits(self):
+        stats = {"direct_cache_hit": 50, "preprocessed_cache_hit": 0, "cache_miss": 0}
+        md = build_summary_markdown(stats)
+        assert "50 / 50 (100.0%)" in md
+
+    def test_all_misses(self):
+        stats = {"direct_cache_hit": 0, "preprocessed_cache_hit": 0, "cache_miss": 42}
+        md = build_summary_markdown(stats)
+        assert "0 / 42 (0.0%)" in md
+
+    def test_empty_stats(self):
+        md = build_summary_markdown({})
+        assert "0 / 0 (0.0%)" in md
+
+    def test_missing_fields_default_to_zero(self):
+        stats = {"direct_cache_hit": 5}
+        md = build_summary_markdown(stats)
+        assert "5 / 5 (100.0%)" in md
+
+
+class TestWriteStepSummary:
+    """Tests for write_step_summary function."""
+
+    def test_writes_to_file(self, tmp_path):
+        summary_file = tmp_path / "summary.md"
+        with patch.dict(os.environ, {"GITHUB_STEP_SUMMARY": str(summary_file)}):
+            assert write_step_summary("hello\n")
+        assert summary_file.read_text() == "hello\n"
+
+    def test_appends_to_existing(self, tmp_path):
+        summary_file = tmp_path / "summary.md"
+        summary_file.write_text("existing\n")
+        with patch.dict(os.environ, {"GITHUB_STEP_SUMMARY": str(summary_file)}):
+            write_step_summary("appended\n")
+        assert summary_file.read_text() == "existing\nappended\n"
+
+    def test_prints_when_no_env(self, capsys):
+        with patch.dict(os.environ, {}, clear=True):
+            os.environ.pop("GITHUB_STEP_SUMMARY", None)
+            write_step_summary("fallback\n")
+        assert "fallback" in capsys.readouterr().out
+
+
+class TestResolveArch:
+    """Tests for --target / --arch resolution."""
+
+    def test_arch_flag(self):
+        args = parse_args(["config", "--arch", "aarch64"])
+        assert resolve_arch(args) == "aarch64"
+
+    def test_target_arm64(self):
+        args = parse_args(["config", "--target", "linux_gcc_arm64"])
+        assert resolve_arch(args) == "aarch64"
+
+    def test_target_unknown_defaults_to_none(self):
+        args = parse_args(["config", "--target", "linux_gcc_64"])
+        assert resolve_arch(args) is None
+
+    def test_neither_returns_none(self):
+        args = parse_args(["config"])
+        assert resolve_arch(args) is None
+
+    def test_arch_and_target_mutually_exclusive(self):
+        with pytest.raises(SystemExit):
+            parse_args(["config", "--arch", "x86_64", "--target", "linux_gcc_arm64"])
+
+    def test_install_target(self):
+        args = parse_args(["install", "--target", "linux_gcc_arm64"])
+        assert resolve_arch(args) == "aarch64"
+
+
+class TestCLI:
+    """Tests for subcommand dispatch."""
+
+    def test_no_subcommand_returns_error(self):
+        assert main([]) == 1
+
+    def test_config_invalid_version(self):
+        assert main(["config", "--version", "bad"]) == 1
+
+    def test_config_valid(self, capsys):
+        assert main(["config", "--version", "4.13.1"]) == 0
+        out = capsys.readouterr().out
+        assert "4.13.1" in out
+
+    def test_config_with_target(self, capsys):
+        assert main(["config", "--target", "linux_gcc_arm64"]) == 0
+        out = capsys.readouterr().out
+        assert "aarch64" in out
+
+    def test_summary_without_ccache(self):
+        with patch("ccache_helper.get_ccache_json_stats", return_value=None), \
+             patch("ccache_helper.get_ccache_verbose_stats", return_value=None):
+            assert main(["summary"]) == 0
+
+    def test_summary_with_stats(self, tmp_path):
+        stats = {"direct_cache_hit": 10, "preprocessed_cache_hit": 2, "cache_miss": 5}
+        verbose = "cache hit (direct): 10\ncache miss: 5"
+        summary_file = tmp_path / "summary.md"
+        with patch("ccache_helper.get_ccache_json_stats", return_value=stats), \
+             patch("ccache_helper.get_ccache_verbose_stats", return_value=verbose), \
+             patch.dict(os.environ, {"GITHUB_STEP_SUMMARY": str(summary_file)}):
+            assert main(["summary"]) == 0
+        content = summary_file.read_text()
+        assert "12 / 17" in content
+        assert "<details>" in content
+        assert "cache hit (direct): 10" in content
+
+
+class TestCacheScope:
+    """Tests for workflow cache scope helper."""
+
+    def test_pull_request_scope(self):
+        assert determine_cache_scope("pull_request", "feature/test", "42") == "pr-42"
+
+    def test_push_non_master_scope(self):
+        assert determine_cache_scope("push", "feature/test") == "branch-feature-test"
+
+
+class TestFingerprint:
+    """Tests for CPM fingerprint helper."""
+
+    def test_fingerprint_changes_when_dependency_file_changes(self, tmp_path):
+        (tmp_path / "cmake/modules").mkdir(parents=True)
+        (tmp_path / ".github").mkdir()
+        (tmp_path / "CMakeLists.txt").write_text("project(QGC)\nCPMAddPackage(NAME foo)\n")
+        (tmp_path / "cmake/modules/CPM.cmake").write_text("# helper\n")
+        (tmp_path / ".github/build-config.json").write_text("{}\n")
+
+        before = compute_cpm_fingerprint(tmp_path)
+        (tmp_path / "CMakeLists.txt").write_text("project(QGC)\nCPMAddPackage(NAME bar)\n")
+        after = compute_cpm_fingerprint(tmp_path)
+
+        assert before != after
+
+
+class TestWindowsConfig:
+    """Tests for Windows ccache binary resolution."""
+
+    def test_windows_arm64_uses_aarch64_binary(self):
+        values = resolve_windows_binary_config("windows_arm64", "windows")
+        assert values["arch"] == "aarch64"
+
+    def test_android_windows_uses_x86_64_binary(self):
+        values = resolve_windows_binary_config("windows", "android")
+        assert values["arch"] == "x86_64"
+
+
+class TestEnvironmentConfig:
+    """Tests for environment configuration helpers."""
+
+    def test_configure_ccache_environment_writes_env(self, tmp_path):
+        github_env = tmp_path / "env.txt"
+        workspace = tmp_path / "workspace"
+        with patch.dict(os.environ, {"GITHUB_ENV": str(github_env)}):
+            ccache_dir = configure_ccache_environment(workspace)
+        assert ccache_dir == workspace / ".ccache"
+        content = github_env.read_text()
+        assert "CCACHE_DIR=" in content
+        assert "CCACHE_CONFIGPATH=" in content
+
+    def test_configure_cpm_cache_writes_outputs(self, tmp_path):
+        github_env = tmp_path / "env.txt"
+        github_output = tmp_path / "output.txt"
+        cache = tmp_path / "cpm-cache"
+        with patch.dict(os.environ, {"GITHUB_ENV": str(github_env), "GITHUB_OUTPUT": str(github_output)}):
+            configured = configure_cpm_cache(str(cache))
+        assert configured == cache
+        assert "CPM_SOURCE_CACHE=" in github_env.read_text()
+        assert "path=" in github_output.read_text()
diff --git a/.github/scripts/tests/test_check_baseline_ready.py b/.github/scripts/tests/test_check_baseline_ready.py
index 65d8f20aeedb..b175a478e170 100644
--- a/.github/scripts/tests/test_check_baseline_ready.py
+++ b/.github/scripts/tests/test_check_baseline_ready.py
@@ -7,7 +7,7 @@
 import pytest
 
 from check_baseline_ready import evaluate_readiness
-from check_baseline_ready import write_output
+from common.gh_actions import write_github_output
 
 
 PLATFORMS = ["Linux", "Windows", "MacOS", "Android"]
@@ -84,7 +84,7 @@ def test_write_output_multiline_uses_collision_resistant_delimiter(
     monkeypatch.setenv("GITHUB_OUTPUT", str(out_path))
 
     value = "line1\nEOF_missing_deadbeef\ntail"
-    write_output("missing", value)
+    write_github_output({"missing": value})
 
     text = out_path.read_text(encoding="utf-8")
     assert "missing<<EOF_missing_" in text
diff --git a/.github/scripts/tests/test_cmake_helper.py b/.github/scripts/tests/test_cmake_helper.py
new file mode 100644
index 000000000000..27e2e2355f90
--- /dev/null
+++ b/.github/scripts/tests/test_cmake_helper.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+"""Tests for cmake_helper.py."""
+
+from __future__ import annotations
+
+import os
+from unittest.mock import patch
+
+from cmake_helper import detect_jobs
+
+
+class TestDetectJobs:
+    def test_explicit_value(self) -> None:
+        assert detect_jobs("4") == 4
+
+    def test_explicit_value_large(self) -> None:
+        assert detect_jobs("16") == 16
+
+    def test_auto_uses_cpu_count(self) -> None:
+        with patch("os.cpu_count", return_value=8):
+            assert detect_jobs("auto") == 8
+
+    def test_auto_fallback_none(self) -> None:
+        with patch("os.cpu_count", return_value=None):
+            assert detect_jobs("auto") == 2
+
+    def test_invalid_exits(self) -> None:
+        import pytest
+        with pytest.raises(SystemExit):
+            detect_jobs("abc")
+
+    def test_zero_exits(self) -> None:
+        import pytest
+        with pytest.raises(SystemExit):
+            detect_jobs("0")
+
+    def test_negative_exits(self) -> None:
+        import pytest
+        with pytest.raises(SystemExit):
+            detect_jobs("-1")
diff --git a/.github/scripts/tests/test_collect_artifact_sizes.py b/.github/scripts/tests/test_collect_artifact_sizes.py
index 25be628cd545..bd2f43e14845 100644
--- a/.github/scripts/tests/test_collect_artifact_sizes.py
+++ b/.github/scripts/tests/test_collect_artifact_sizes.py
@@ -15,6 +15,7 @@ def _run(
     created_at: str = "2026-02-24T00:00:00Z",
     status: str = "completed",
     conclusion: str = "success",
+    event: str = "pull_request",
 ) -> dict[str, object]:
     return {
         "id": run_id,
@@ -22,6 +23,7 @@ def _run(
         "created_at": created_at,
         "status": status,
         "conclusion": conclusion,
+        "event": event,
     }
 
 
@@ -51,6 +53,17 @@ def test_latest_successful_runs_handles_iso8601_offsets() -> None:
     assert latest["Linux"]["id"] == 2
 
 
+def test_latest_successful_runs_filters_by_event() -> None:
+    platforms = ["Linux"]
+    runs = [
+        _run("Linux", run_id=1, created_at="2026-02-24T00:00:00Z", event="pull_request"),
+        _run("Linux", run_id=2, created_at="2026-02-24T01:00:00Z", event="push"),
+    ]
+
+    latest = mod.latest_successful_runs(runs, platforms, event="pull_request")
+    assert latest["Linux"]["id"] == 1
+
+
 def test_collect_artifacts_filters_non_product_artifacts() -> None:
     latest = {"Linux": {"id": 11}}
 
@@ -210,7 +223,7 @@ def fake_list_run_artifacts(repo: str, run_id: int) -> list[dict[str, object]]:
             return [{"name": "QGroundControl-x86_64", "size_in_bytes": 2 * 1024 * 1024}]
         return [{"name": "QGroundControl-installer-AMD64", "size_in_bytes": 2 * 1024 * 1024}]
 
-    monkeypatch.setattr(mod, "list_workflow_runs", fake_list_workflow_runs)
+    monkeypatch.setattr(mod, "list_workflow_runs_for_sha", fake_list_workflow_runs)
     monkeypatch.setattr(mod, "list_run_artifacts", fake_list_run_artifacts)
 
     rc = mod.main(
@@ -258,7 +271,7 @@ def fake_list_workflow_runs(repo: str, head_sha: str) -> list[dict[str, object]]
     def fail_list_run_artifacts(repo: str, run_id: int) -> list[dict[str, object]]:
         raise AssertionError("list_run_artifacts should not be called when artifacts file is provided")
 
-    monkeypatch.setattr(mod, "list_workflow_runs", fake_list_workflow_runs)
+    monkeypatch.setattr(mod, "list_workflow_runs_for_sha", fake_list_workflow_runs)
     monkeypatch.setattr(mod, "list_run_artifacts", fail_list_run_artifacts)
 
     rc = mod.main(
diff --git a/.github/scripts/tests/test_collect_build_status.py b/.github/scripts/tests/test_collect_build_status.py
index 5e3fb26de5fc..53c491e75e18 100644
--- a/.github/scripts/tests/test_collect_build_status.py
+++ b/.github/scripts/tests/test_collect_build_status.py
@@ -7,6 +7,7 @@
 import pytest
 
 import collect_build_status as mod
+from common.gh_actions import write_github_output
 
 
 def _run(
@@ -55,7 +56,7 @@ def test_main_writes_expected_outputs(tmp_path: Path, monkeypatch: pytest.Monkey
         _run("Android", html_url="https://example.test/android"),
         _run("pre-commit", run_id=99, html_url="https://example.test/precommit"),
     ]
-    monkeypatch.setattr(mod, "list_workflow_runs", lambda repo, sha: runs)
+    monkeypatch.setattr(mod, "list_workflow_runs_for_sha", lambda repo, sha: runs)
 
     rc = mod.main(
         [
@@ -84,7 +85,7 @@ def test_write_output_uses_collision_resistant_delimiter(tmp_path: Path, monkeyp
     monkeypatch.setenv("GITHUB_OUTPUT", str(out_path))
 
     value = "line1\nEOF_table_deadbeef\ntail"
-    mod.write_output("table", value)
+    write_github_output({"table": value})
 
     text = out_path.read_text(encoding="utf-8")
     assert "table<<EOF_table_" in text
diff --git a/.github/scripts/tests/test_deploy_docs.py b/.github/scripts/tests/test_deploy_docs.py
new file mode 100644
index 000000000000..4ec44927c1c1
--- /dev/null
+++ b/.github/scripts/tests/test_deploy_docs.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+"""Tests for deploy_docs.py."""
+
+from __future__ import annotations
+
+from deploy_docs import sanitize_branch
+
+
+class TestSanitizeBranch:
+    def test_simple(self) -> None:
+        assert sanitize_branch("main") == "main"
+
+    def test_slashes(self) -> None:
+        assert sanitize_branch("feature/docs-update") == "feature_docs-update"
+
+    def test_special_chars(self) -> None:
+        assert sanitize_branch("v1.2.3-rc1") == "v1.2.3-rc1"
+
+    def test_spaces(self) -> None:
+        assert sanitize_branch("my branch") == "my_branch"
+
+    def test_preserves_dots_dashes_underscores(self) -> None:
+        assert sanitize_branch("release_v2.0-beta") == "release_v2.0-beta"
diff --git a/.github/scripts/tests/test_detect_changes.py b/.github/scripts/tests/test_detect_changes.py
new file mode 100644
index 000000000000..babdd2d3f29e
--- /dev/null
+++ b/.github/scripts/tests/test_detect_changes.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+"""Tests for detect_changes.py."""
+
+from __future__ import annotations
+
+import pytest
+
+from detect_changes import (
+    build_patterns,
+    has_relevant_changes,
+    workflow_name_for_platform,
+)
+
+
+class TestWorkflowNameForPlatform:
+    def test_regular_platform(self) -> None:
+        assert workflow_name_for_platform("linux") == "linux"
+        assert workflow_name_for_platform("windows") == "windows"
+        assert workflow_name_for_platform("macos") == "macos"
+
+    def test_docker_prefix(self) -> None:
+        assert workflow_name_for_platform("docker-linux") == "docker"
+        assert workflow_name_for_platform("docker-android") == "docker"
+
+
+class TestBuildPatterns:
+    def test_common_patterns_present(self) -> None:
+        patterns = build_patterns("linux")
+        pattern_strs = [p.pattern for p in patterns]
+        assert any("^src/" in p for p in pattern_strs)
+        assert any("CMakeLists" in p for p in pattern_strs)
+
+    def test_platform_workflow_pattern(self) -> None:
+        patterns = build_patterns("linux")
+        pattern_strs = [p.pattern for p in patterns]
+        assert any("linux\\.yml" in p for p in pattern_strs)
+
+    def test_docker_workflow_pattern(self) -> None:
+        patterns = build_patterns("docker-linux")
+        pattern_strs = [p.pattern for p in patterns]
+        assert any("docker\\.yml" in p for p in pattern_strs)
+
+    def test_android_extra_pattern(self) -> None:
+        patterns = build_patterns("android")
+        pattern_strs = [p.pattern for p in patterns]
+        assert any("^android/" in p for p in pattern_strs)
+
+    def test_deploy_pattern_uses_platform(self) -> None:
+        patterns = build_patterns("linux")
+        pattern_strs = [p.pattern for p in patterns]
+        assert any("deploy/linux/" in p for p in pattern_strs)
+
+
+class TestHasRelevantChanges:
+    def test_src_change_triggers_any_platform(self) -> None:
+        assert has_relevant_changes(["src/Vehicle.cc"], "linux")
+        assert has_relevant_changes(["src/Vehicle.cc"], "windows")
+        assert has_relevant_changes(["src/Vehicle.cc"], "android")
+
+    def test_cmakelists_triggers(self) -> None:
+        assert has_relevant_changes(["CMakeLists.txt"], "linux")
+
+    def test_cmake_dir_triggers(self) -> None:
+        assert has_relevant_changes(["cmake/FindFoo.cmake"], "macos")
+
+    def test_qrc_triggers(self) -> None:
+        assert has_relevant_changes(["resources/qgc.qrc"], "linux")
+
+    def test_unrelated_file_does_not_trigger(self) -> None:
+        assert not has_relevant_changes(["README.md"], "linux")
+        assert not has_relevant_changes(["docs/guide.md"], "windows")
+
+    def test_workflow_file_triggers_own_platform(self) -> None:
+        assert has_relevant_changes([".github/workflows/linux.yml"], "linux")
+        assert not has_relevant_changes([".github/workflows/linux.yml"], "windows")
+
+    def test_actions_dir_triggers_all(self) -> None:
+        assert has_relevant_changes([".github/actions/qt-install/action.yml"], "linux")
+        assert has_relevant_changes([".github/actions/qt-install/action.yml"], "android")
+
+    def test_build_config_triggers_all(self) -> None:
+        assert has_relevant_changes([".github/build-config.json"], "ios")
+
+    def test_android_dir_only_triggers_android(self) -> None:
+        assert has_relevant_changes(["android/AndroidManifest.xml"], "android")
+        assert not has_relevant_changes(["android/AndroidManifest.xml"], "linux")
+
+    def test_docker_linux_patterns(self) -> None:
+        assert has_relevant_changes(["deploy/docker/Dockerfile-build-ubuntu"], "docker-linux")
+        assert has_relevant_changes(["deploy/linux/AppImage.sh"], "docker-linux")
+        assert not has_relevant_changes(["deploy/docker/Dockerfile-build-ubuntu"], "linux")
+
+    def test_docker_android_patterns(self) -> None:
+        assert has_relevant_changes(["deploy/docker/Dockerfile-build-android"], "docker-android")
+        assert has_relevant_changes(["android/build.gradle"], "docker-android")
+
+    def test_setup_patterns_linux(self) -> None:
+        assert has_relevant_changes(["tools/setup/install_dependencies.py"], "linux")
+        assert has_relevant_changes(["tools/setup/foo-debian.sh"], "linux")
+        assert not has_relevant_changes(["tools/setup/foo-windows.ps1"], "linux")
+
+    def test_setup_patterns_windows(self) -> None:
+        assert has_relevant_changes(["tools/setup/foo-windows.ps1"], "windows")
+        assert not has_relevant_changes(["tools/setup/foo-debian.sh"], "windows")
+
+    def test_setup_patterns_android_matches_all(self) -> None:
+        assert has_relevant_changes(["tools/setup/anything.py"], "android")
+
+    def test_setup_patterns_ios(self) -> None:
+        assert has_relevant_changes(["tools/setup/foo-ios.sh"], "ios")
+        assert has_relevant_changes(["tools/setup/foo-macos.sh"], "ios")
+        assert not has_relevant_changes(["tools/setup/foo-debian.sh"], "ios")
+
+    def test_empty_files_list(self) -> None:
+        assert not has_relevant_changes([], "linux")
+
+    def test_empty_strings_ignored(self) -> None:
+        assert not has_relevant_changes(["", ""], "linux")
+
+    def test_test_dir_triggers(self) -> None:
+        assert has_relevant_changes(["test/UnitTest.cc"], "linux")
+
+    def test_deploy_platform_triggers(self) -> None:
+        assert has_relevant_changes(["deploy/macos/Info.plist"], "macos")
+        assert not has_relevant_changes(["deploy/macos/Info.plist"], "linux")
+
+    def test_scripts_dir_triggers_all(self) -> None:
+        assert has_relevant_changes([".github/scripts/foo.py"], "windows")
+
+    def test_docker_workflow_triggers_docker_platforms(self) -> None:
+        assert has_relevant_changes([".github/workflows/docker.yml"], "docker-linux")
+        assert has_relevant_changes([".github/workflows/docker.yml"], "docker-android")
+        assert not has_relevant_changes([".github/workflows/docker.yml"], "linux")
diff --git a/.github/scripts/tests/test_docker_helper.py b/.github/scripts/tests/test_docker_helper.py
new file mode 100644
index 000000000000..af855eb71bd5
--- /dev/null
+++ b/.github/scripts/tests/test_docker_helper.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+"""Tests for docker_helper.py."""
+
+from __future__ import annotations
+
+import argparse
+
+import pytest
+
+from docker_helper import VALID_BUILD_TYPES, VALID_DOCKERFILES, cmd_validate
+
+
+class TestValidate:
+    def test_valid_ubuntu_release(self) -> None:
+        args = argparse.Namespace(dockerfile="Dockerfile-build-ubuntu", build_type="Release")
+        cmd_validate(args)
+
+    def test_valid_android_debug(self) -> None:
+        args = argparse.Namespace(dockerfile="Dockerfile-build-android", build_type="Debug")
+        cmd_validate(args)
+
+    def test_invalid_dockerfile(self) -> None:
+        args = argparse.Namespace(dockerfile="Dockerfile-bad", build_type="Release")
+        with pytest.raises(SystemExit):
+            cmd_validate(args)
+
+    def test_invalid_build_type(self) -> None:
+        args = argparse.Namespace(dockerfile="Dockerfile-build-ubuntu", build_type="BadType")
+        with pytest.raises(SystemExit):
+            cmd_validate(args)
diff --git a/tools/tests/test_download_artifacts.py b/.github/scripts/tests/test_download_artifacts.py
similarity index 85%
rename from tools/tests/test_download_artifacts.py
rename to .github/scripts/tests/test_download_artifacts.py
index 8201e6f7717d..98990f6ea1e7 100644
--- a/tools/tests/test_download_artifacts.py
+++ b/.github/scripts/tests/test_download_artifacts.py
@@ -1,18 +1,14 @@
 #!/usr/bin/env python3
-"""Tests for tools/setup/download_artifacts.py."""
+"""Tests for download_artifacts.py."""
 
 from __future__ import annotations
 
 import json
 import subprocess
-import sys
 from pathlib import Path
 from unittest.mock import patch
 
-TOOLS_DIR = Path(__file__).parent.parent
-sys.path.insert(0, str(TOOLS_DIR))
-
-from setup import download_artifacts as mod
+import download_artifacts as mod
 
 
 def _cp(stdout: str = "", stderr: str = "", returncode: int = 0) -> subprocess.CompletedProcess:
@@ -25,6 +21,7 @@ def test_parse_args_defaults() -> None:
     assert args.head_sha == "abc123"
     assert args.output_dir == Path("artifacts")
     assert args.workflows == "Linux,Windows,MacOS,Android"
+    assert args.event == ""
     assert args.artifact_prefixes == ""
     assert args.artifact_metadata_out == ""
 
@@ -37,7 +34,7 @@ def test_get_workflow_runs_filters_by_name_status_and_conclusion() -> None:
         {"id": 4, "name": "Other", "status": "completed", "conclusion": "success"},
     ]
 
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=all_runs):
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=all_runs):
         runs = mod.get_workflow_runs("owner/repo", "abc", ["Linux", "Windows"])
 
     assert len(runs) == 1
@@ -70,7 +67,7 @@ def test_get_workflow_runs_keeps_latest_successful_run_per_workflow() -> None:
         },
     ]
 
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=all_runs):
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=all_runs):
         runs = mod.get_workflow_runs("owner/repo", "abc", ["Linux", "Windows"])
 
     by_name = {run["name"]: run["id"] for run in runs}
@@ -78,6 +75,18 @@ def test_get_workflow_runs_keeps_latest_successful_run_per_workflow() -> None:
     assert by_name["Windows"] == 20
 
 
+def test_get_workflow_runs_filters_by_event() -> None:
+    all_runs = [
+        {"id": 10, "name": "Linux", "status": "completed", "conclusion": "success", "event": "push"},
+        {"id": 11, "name": "Linux", "status": "completed", "conclusion": "success", "event": "pull_request"},
+    ]
+
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=all_runs):
+        runs = mod.get_workflow_runs("owner/repo", "abc", ["Linux"], event="pull_request")
+
+    assert [run["id"] for run in runs] == [11]
+
+
 def test_download_run_artifacts_failure_returns_false() -> None:
     with patch.object(mod, "gh", return_value=_cp(stderr="bad", returncode=1)):
         ok = mod.download_run_artifacts(123, "owner/repo", Path("artifacts"))
@@ -107,7 +116,7 @@ def test_select_artifact_names_for_run_filters_by_prefix() -> None:
         {"name": "emulator-diagnostics-123"},
         {"name": "QGroundControl-x86_64.AppImage"},
     ]
-    with patch.object(mod._gh_actions, "list_run_artifacts", return_value=artifacts):
+    with patch.object(mod, "list_run_artifacts", return_value=artifacts):
         names = mod.select_artifact_names_for_run(
             "owner/repo",
             42,
@@ -129,7 +138,7 @@ def test_list_downloaded_artifacts_filters_extensions(tmp_path: Path) -> None:
 
 
 def test_main_returns_zero_when_no_runs_found() -> None:
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=[]), patch.object(
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=[]), patch.object(
         mod, "select_latest_successful_runs", return_value=[],
     ):
         rc = mod.main(["--repo", "owner/repo", "--head-sha", "abc123"])
@@ -138,7 +147,7 @@ def test_main_returns_zero_when_no_runs_found() -> None:
 
 def test_main_returns_one_when_downloads_fail_and_no_files(tmp_path: Path) -> None:
     runs = [{"id": 42, "name": "Linux", "status": "completed", "conclusion": "success"}]
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=runs), patch.object(
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=runs), patch.object(
         mod, "select_latest_successful_runs", return_value=runs,
     ), patch.object(
         mod, "download_run_artifacts", return_value=False,
@@ -156,10 +165,10 @@ def test_main_returns_one_when_downloads_fail_and_no_files(tmp_path: Path) -> No
 
 def test_main_returns_two_when_no_artifacts_match_prefixes(tmp_path: Path) -> None:
     runs = [{"id": 42, "name": "Linux", "status": "completed", "conclusion": "success"}]
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=runs), patch.object(
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=runs), patch.object(
         mod, "select_latest_successful_runs", return_value=runs,
     ), patch.object(
-        mod._gh_actions, "list_run_artifacts", return_value=[{"name": "unrelated-artifact", "size_in_bytes": 1}],
+        mod, "list_run_artifacts", return_value=[{"name": "unrelated-artifact", "size_in_bytes": 1}],
     ), patch.object(
         mod, "download_run_artifacts", return_value=True,
     ), patch.object(
@@ -233,8 +242,8 @@ def _artifacts_for_run(repo: str, run_id: int) -> list[dict[str, object]]:
     downloaded = tmp_path / "coverage.xml"
     downloaded.write_text("<xml/>", encoding="utf-8")
 
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=runs), patch.object(
-        mod._gh_actions, "list_run_artifacts", side_effect=_artifacts_for_run,
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=runs), patch.object(
+        mod, "list_run_artifacts", side_effect=_artifacts_for_run,
     ), patch.object(
         mod, "download_run_artifacts", return_value=True,
     ) as download_mock, patch.object(
@@ -264,10 +273,10 @@ def test_main_writes_artifact_metadata_file(tmp_path: Path) -> None:
     downloaded = tmp_path / "dummy.txt"
     downloaded.write_text("x", encoding="utf-8")
 
-    with patch.object(mod._gh_actions, "list_workflow_runs_for_sha", return_value=runs), patch.object(
+    with patch.object(mod, "list_workflow_runs_for_sha", return_value=runs), patch.object(
         mod, "select_latest_successful_runs", return_value=runs,
     ), patch.object(
-        mod._gh_actions, "list_run_artifacts", return_value=artifacts,
+        mod, "list_run_artifacts", return_value=artifacts,
     ), patch.object(
         mod, "download_run_artifacts", return_value=True,
     ), patch.object(
diff --git a/.github/scripts/tests/test_install_ccache.py b/.github/scripts/tests/test_install_ccache.py
deleted file mode 100644
index 337000b143b9..000000000000
--- a/.github/scripts/tests/test_install_ccache.py
+++ /dev/null
@@ -1,112 +0,0 @@
-"""Tests for install_ccache.py."""
-
-from __future__ import annotations
-
-import os
-import tempfile
-from pathlib import Path
-from unittest.mock import patch
-
-import pytest
-
-from install_ccache import CcacheConfig, CcacheInstaller
-
-
-class TestCcacheInstaller:
-    """Tests for CcacheInstaller class."""
-
-    def test_validate_version_valid(self):
-        """Test valid version formats."""
-        assert CcacheInstaller.validate_version("4.12.2")
-        assert CcacheInstaller.validate_version("4.12")
-        assert CcacheInstaller.validate_version("5.0.0")
-
-    def test_validate_version_invalid(self):
-        """Test invalid version formats."""
-        assert not CcacheInstaller.validate_version("4.12.2.1")
-        assert not CcacheInstaller.validate_version("v4.12.2")
-        assert not CcacheInstaller.validate_version("latest")
-        assert not CcacheInstaller.validate_version("")
-
-    def test_detect_arch_x86_64(self):
-        """Test x86_64 architecture detection."""
-        with patch("platform.machine", return_value="x86_64"):
-            assert CcacheInstaller.detect_arch() == "x86_64"
-
-    def test_detect_arch_amd64(self):
-        """Test amd64 (alias) architecture detection."""
-        with patch("platform.machine", return_value="amd64"):
-            assert CcacheInstaller.detect_arch() == "x86_64"
-
-    def test_detect_arch_arm64(self):
-        """Test arm64 architecture detection."""
-        with patch("platform.machine", return_value="arm64"):
-            assert CcacheInstaller.detect_arch() == "aarch64"
-
-    def test_detect_arch_aarch64(self):
-        """Test aarch64 architecture detection."""
-        with patch("platform.machine", return_value="aarch64"):
-            assert CcacheInstaller.detect_arch() == "aarch64"
-
-    def test_default_prefix_from_env(self):
-        """Test prefix from CCACHE_PREFIX environment variable."""
-        with patch.dict(os.environ, {"CCACHE_PREFIX": "/custom/path"}):
-            assert CcacheInstaller._default_prefix() == Path("/custom/path")
-
-    def test_default_prefix_fallback(self):
-        """Test default prefix fallback to /usr/local."""
-        with patch.dict(os.environ, {}, clear=True):
-            os.environ.pop("CCACHE_PREFIX", None)
-            assert CcacheInstaller._default_prefix() == Path("/usr/local")
-
-    def test_read_max_size_from_config(self):
-        """Test reading max_size from ccache.conf."""
-        with tempfile.NamedTemporaryFile(mode="w", suffix=".conf", delete=False) as f:
-            f.write("max_size = 5G\n")
-            f.write("compiler_check = content\n")
-            f.flush()
-            config_path = Path(f.name)
-
-        try:
-            installer = CcacheInstaller(config_path=config_path)
-            assert installer.max_size == "5G"
-        finally:
-            config_path.unlink()
-
-    def test_read_max_size_missing_file(self):
-        """Test max_size default when config file is missing."""
-        installer = CcacheInstaller(config_path=Path("/nonexistent/path.conf"))
-        assert installer.max_size == CcacheInstaller.DEFAULT_MAX_SIZE
-
-    def test_get_config(self):
-        """Test get_config returns correct named tuple."""
-        installer = CcacheInstaller(version="4.10", arch="aarch64")
-        config = installer.get_config()
-
-        assert isinstance(config, CcacheConfig)
-        assert config.version == "4.10"
-        assert config.arch == "aarch64"
-        assert config.max_size == CcacheInstaller.DEFAULT_MAX_SIZE
-
-    def test_installer_with_custom_prefix(self):
-        """Test installer with custom prefix."""
-        custom_prefix = Path("/opt/ccache")
-        installer = CcacheInstaller(prefix=custom_prefix)
-        assert installer.prefix == custom_prefix
-
-
-class TestCcacheConfig:
-    """Tests for CcacheConfig named tuple."""
-
-    def test_config_creation(self):
-        """Test CcacheConfig creation."""
-        config = CcacheConfig(version="4.12.2", arch="x86_64", max_size="2G")
-        assert config.version == "4.12.2"
-        assert config.arch == "x86_64"
-        assert config.max_size == "2G"
-
-    def test_config_immutable(self):
-        """Test CcacheConfig is immutable."""
-        config = CcacheConfig(version="4.12.2", arch="x86_64", max_size="2G")
-        with pytest.raises(AttributeError):
-            config.version = "5.0.0"
diff --git a/.github/scripts/tests/test_plan_docker_builds.py b/.github/scripts/tests/test_plan_docker_builds.py
new file mode 100644
index 000000000000..7331e1f68a63
--- /dev/null
+++ b/.github/scripts/tests/test_plan_docker_builds.py
@@ -0,0 +1,21 @@
+from __future__ import annotations
+
+from plan_docker_builds import plan_builds
+
+
+def test_plan_builds_pull_request_filters_by_changes():
+    plan = plan_builds("pull_request", linux_changed=True, android_changed=False)
+    assert plan["has_jobs"] is True
+    assert plan["matrix"]["include"] == [
+        {
+            "platform": "Linux",
+            "dockerfile": "Dockerfile-build-ubuntu",
+            "fuse": True,
+            "artifact_pattern": "*.AppImage",
+        }
+    ]
+
+
+def test_plan_builds_push_includes_all():
+    plan = plan_builds("push", linux_changed=False, android_changed=False)
+    assert len(plan["matrix"]["include"]) == 2
diff --git a/.github/scripts/tests/test_precommit_results.py b/.github/scripts/tests/test_precommit_results.py
new file mode 100644
index 000000000000..a35b78215b27
--- /dev/null
+++ b/.github/scripts/tests/test_precommit_results.py
@@ -0,0 +1,34 @@
+from __future__ import annotations
+
+from pathlib import Path
+
+from precommit_results import main
+
+
+def test_precommit_results_writes_json_and_copies_output(tmp_path):
+    output_file = tmp_path / "pre-commit-output.txt"
+    output_file.write_text("hook output\n", encoding="utf-8")
+    out_dir = tmp_path / "artifact"
+
+    result = main(
+        [
+            "--output-dir",
+            str(out_dir),
+            "--exit-code",
+            "1",
+            "--passed",
+            "10",
+            "--failed",
+            "2",
+            "--skipped",
+            "1",
+            "--run-url",
+            "https://example.test/run/1",
+            "--output-file",
+            str(output_file),
+        ]
+    )
+
+    assert result == 0
+    assert (out_dir / "pre-commit-results.json").exists()
+    assert (out_dir / "pre-commit-output.txt").read_text(encoding="utf-8") == "hook output\n"
diff --git a/.github/scripts/tests/test_resolve_gstreamer_config.py b/.github/scripts/tests/test_resolve_gstreamer_config.py
new file mode 100644
index 000000000000..af1d56bad700
--- /dev/null
+++ b/.github/scripts/tests/test_resolve_gstreamer_config.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+"""Tests for resolve_gstreamer_config.py."""
+
+from __future__ import annotations
+
+from unittest.mock import patch
+
+from resolve_gstreamer_config import resolve_version
+
+
+def test_resolve_version_prefers_explicit_override() -> None:
+    assert resolve_version("linux", "1.2.3") == "1.2.3"
+
+
+def test_resolve_version_uses_platform_specific_key() -> None:
+    with patch("resolve_gstreamer_config.get_build_config_value", return_value="9.9.9") as mock_get:
+        assert resolve_version("windows", "") == "9.9.9"
+    mock_get.assert_called_once()
diff --git a/.github/scripts/tests/test_test_duration_report.py b/.github/scripts/tests/test_test_duration_report.py
new file mode 100644
index 000000000000..b2b95bc16b23
--- /dev/null
+++ b/.github/scripts/tests/test_test_duration_report.py
@@ -0,0 +1,52 @@
+from __future__ import annotations
+
+import json
+
+from test_duration_report import analyze_test_durations, main
+
+
+def _write_junit(path, xml: str) -> None:
+    path.write_text(xml, encoding="utf-8")
+
+
+def test_analyze_test_durations_detects_regression(tmp_path):
+    junit = tmp_path / "junit.xml"
+    baseline = tmp_path / "baseline.json"
+    _write_junit(
+        junit,
+        """<testsuite>
+        <testcase classname="Suite" name="fast" time="1.0" />
+        <testcase classname="Suite" name="slow" time="10.0" />
+        </testsuite>""",
+    )
+    baseline.write_text(json.dumps({"tests": {"Suite::slow": {"seconds": 2.0}}}), encoding="utf-8")
+
+    report = analyze_test_durations(
+        junit,
+        baseline,
+        top_n=5,
+        slow_threshold=5.0,
+        regression_factor=1.5,
+        min_delta=5.0,
+    )
+
+    assert report["slow_count"] == 1
+    assert report["regression_count"] == 1
+
+
+def test_test_duration_report_main_missing_junit(tmp_path):
+    summary = tmp_path / "summary.md"
+    output = tmp_path / "output.txt"
+    result = main(
+        [
+            "--junit-path",
+            str(tmp_path / "missing.xml"),
+            "--github-step-summary",
+            str(summary),
+            "--github-output",
+            str(output),
+        ]
+    )
+    assert result == 0
+    assert "regression_count=0" in output.read_text(encoding="utf-8")
+    assert "WARNING" in summary.read_text(encoding="utf-8")
diff --git a/.github/scripts/tests/test_workflow_runs.py b/.github/scripts/tests/test_workflow_runs.py
deleted file mode 100644
index 460fe9bbdb5c..000000000000
--- a/.github/scripts/tests/test_workflow_runs.py
+++ /dev/null
@@ -1,31 +0,0 @@
-"""Tests for workflow_runs.py."""
-
-from __future__ import annotations
-
-import json
-
-import workflow_runs as mod
-
-
-def test_parse_json_documents_handles_paginated_stream() -> None:
-    payload = (
-        json.dumps({"workflow_runs": [{"id": 1, "name": "Linux"}]})
-        + "\n"
-        + json.dumps({"workflow_runs": [{"id": 2, "name": "Windows"}]})
-    )
-
-    docs = mod.parse_json_documents(payload)
-    assert len(docs) == 2
-    assert docs[0]["workflow_runs"][0]["id"] == 1
-    assert docs[1]["workflow_runs"][0]["id"] == 2
-
-
-def test_list_workflow_runs_delegates_to_shared_helper(monkeypatch) -> None:
-    def fake_list(repo: str, head_sha: str) -> list[dict[str, object]]:
-        assert repo == "owner/repo"
-        assert head_sha == "abc123"
-        return [{"id": 1, "name": "Linux"}]
-
-    monkeypatch.setattr(mod, "_list_workflow_runs_for_sha", fake_list)
-    runs = mod.list_workflow_runs("owner/repo", "abc123")
-    assert runs == [{"id": 1, "name": "Linux"}]
diff --git a/.github/scripts/verify_executable.py b/.github/scripts/verify_executable.py
new file mode 100644
index 000000000000..efaf89dabe53
--- /dev/null
+++ b/.github/scripts/verify_executable.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+"""Verify QGroundControl executable with a boot test.
+
+Resolves paths, sets permissions, and delegates to run_tests.py --verify-only.
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import stat
+import subprocess
+import sys
+from pathlib import Path
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--binary-path", required=True)
+    parser.add_argument("--working-dir", default="")
+    parser.add_argument("--type", default="binary", dest="exe_type")
+    parser.add_argument("--timeout", default="60")
+    args = parser.parse_args()
+
+    binary_path = Path(args.binary_path)
+    work_dir = Path(args.working_dir) if args.working_dir else binary_path.parent
+
+    if not work_dir.is_dir():
+        print(f"::error::Working directory not found: {work_dir}", file=sys.stderr)
+        sys.exit(1)
+
+    binary_name = binary_path.name
+    run_binary = binary_name
+    headless = True
+
+    # AppImages typically don't ship the "offscreen" Qt platform plugin.
+    if args.exe_type == "appimage" or binary_name.endswith(".AppImage"):
+        headless = False
+
+    if os.name != "nt":
+        exe = work_dir / binary_name
+        try:
+            exe.chmod(exe.stat().st_mode | stat.S_IEXEC)
+        except OSError:
+            pass
+        run_binary = str(exe.resolve())
+
+    workspace = os.environ.get("GITHUB_WORKSPACE", ".")
+    cmd = [
+        sys.executable, os.path.join(workspace, "tools", "run_tests.py"),
+        "--binary", run_binary,
+        "--timeout", args.timeout,
+        "--verify-only",
+        "-v",
+    ]
+    if headless:
+        cmd.append("--headless")
+
+    result = subprocess.run(cmd, cwd=str(work_dir), check=False)
+    sys.exit(result.returncode)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/scripts/workflow_runs.py b/.github/scripts/workflow_runs.py
deleted file mode 100644
index 93efc8b64064..000000000000
--- a/.github/scripts/workflow_runs.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python3
-"""Helpers for querying GitHub Actions workflow runs via gh CLI."""
-
-from __future__ import annotations
-
-import sys
-from pathlib import Path
-from typing import Any
-
-# Ensure repository root is importable when scripts are executed by path.
-_REPO_ROOT = Path(__file__).resolve().parents[2]
-_COMMON_DIR = _REPO_ROOT / "tools" / "common"
-if str(_COMMON_DIR) not in sys.path:
-    sys.path.insert(0, str(_COMMON_DIR))
-
-import gh_actions as _gh_actions
-
-_gh = _gh_actions.gh
-parse_json_documents = _gh_actions.parse_json_documents
-list_run_artifacts = _gh_actions.list_run_artifacts
-_list_workflow_runs_for_sha = _gh_actions.list_workflow_runs_for_sha
-
-
-def parse_csv_list(value: str) -> list[str]:
-    """Parse comma-separated values into a trimmed non-empty list."""
-    return [item.strip() for item in value.split(",") if item.strip()]
-
-
-def list_workflow_runs(repo: str, head_sha: str) -> list[dict[str, Any]]:
-    """List workflow runs for a commit SHA across all pages."""
-    return _list_workflow_runs_for_sha(repo, head_sha)
diff --git a/.github/scripts/xml_utils.py b/.github/scripts/xml_utils.py
new file mode 100644
index 000000000000..125d03dff2c1
--- /dev/null
+++ b/.github/scripts/xml_utils.py
@@ -0,0 +1,27 @@
+"""Safe XML parsing with defusedxml fallback."""
+
+from pathlib import Path
+
+try:
+    from defusedxml.ElementTree import ParseError as XMLParseError
+    from defusedxml.ElementTree import parse as _xml_parse_impl
+
+    _USING_DEFUSEDXML = True
+except ImportError:
+    from xml.etree.ElementTree import ParseError as XMLParseError
+    from xml.etree.ElementTree import parse as _xml_parse_impl
+
+    _USING_DEFUSEDXML = False
+
+
+def xml_parse(path):
+    """Parse XML safely, rejecting DTD/ENTITY declarations when defusedxml is unavailable."""
+    if _USING_DEFUSEDXML:
+        return _xml_parse_impl(path)
+    text = Path(path).read_text(encoding="utf-8", errors="replace")
+    if "<!DOCTYPE" in text or "<!ENTITY" in text:
+        raise XMLParseError("DOCTYPE/ENTITY declarations are not allowed")
+    return _xml_parse_impl(path)
+
+
+__all__ = ["XMLParseError", "xml_parse"]
diff --git a/.github/test-duration-baseline.json b/.github/test-duration-baseline.json
index e3967044ba54..02f71856d1fa 100644
--- a/.github/test-duration-baseline.json
+++ b/.github/test-duration-baseline.json
@@ -117,7 +117,7 @@
     "LandingComplexItemTest::LandingComplexItemTest": {
       "seconds": 0.338131
     },
-    "LogDownloadTest::LogDownloadTest": {
+    "MAVLinkLogDownloadTest::MAVLinkLogDownloadTest": {
       "seconds": 1.7378
     },
     "MAVLinkLogManagerTest::MAVLinkLogManagerTest": {
diff --git a/.github/trivy.yaml b/.github/trivy.yaml
index 68072007a0c5..bd422a58bf74 100644
--- a/.github/trivy.yaml
+++ b/.github/trivy.yaml
@@ -30,7 +30,6 @@ db:
 scan:
   # File patterns to skip
   skip-files:
-    - "**/*_test.go"
     - "**/test/**"
     - "**/tests/**"
 
diff --git a/.github/workflows/_detect-changes.yml b/.github/workflows/_detect-changes.yml
new file mode 100644
index 000000000000..9712e51fe396
--- /dev/null
+++ b/.github/workflows/_detect-changes.yml
@@ -0,0 +1,39 @@
+name: Detect Changes
+
+on:
+  workflow_call:
+    inputs:
+      platform:
+        description: 'Platform to detect changes for'
+        required: true
+        type: string
+    outputs:
+      should_build:
+        description: 'Whether relevant files changed'
+        value: ${{ jobs.detect.outputs.should_build }}
+
+concurrency:
+  group: detect-changes-${{ inputs.platform }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+jobs:
+  detect:
+    name: Detect Changes
+    if: github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    outputs:
+      should_build: ${{ steps.detect.outputs.any }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Detect changes
+        id: detect
+        uses: ./.github/actions/detect-changes
+        with:
+          platform: ${{ inputs.platform }}
diff --git a/.github/workflows/analysis.yml b/.github/workflows/analysis.yml
index 5125e926d9e1..97815662b29f 100644
--- a/.github/workflows/analysis.yml
+++ b/.github/workflows/analysis.yml
@@ -49,10 +49,14 @@ jobs:
         with:
           fetch-depth: 1
 
-      - name: Get build config (clazy/iwyu)
+      - name: Build Setup (clazy/iwyu)
         if: contains(fromJSON('["clazy", "iwyu"]'), inputs.tool)
-        id: config
-        uses: ./.github/actions/build-config
+        uses: ./.github/actions/build-setup
+        with:
+          qt-host: linux
+          qt-arch: linux_gcc_64
+          build-type: Debug
+          save-cache: true
 
       - name: Prepare apt repositories (clazy)
         if: inputs.tool == 'clazy'
@@ -74,34 +78,12 @@ jobs:
           packages: clazy ninja-build
           version: clazy-linux-v1
 
-      - name: Initial Setup (clazy/iwyu)
-        if: contains(fromJSON('["clazy", "iwyu"]'), inputs.tool)
-        uses: ./.github/actions/common
-
       - name: Install Dependencies (iwyu)
         if: inputs.tool == 'iwyu'
         uses: ./.github/actions/install-dependencies
         with:
           extra-packages: iwyu clang ninja-build
 
-      - name: Setup Caching (iwyu)
-        if: inputs.tool == 'iwyu'
-        uses: ./.github/actions/cache
-        with:
-          host: linux
-          target: linux_gcc_64
-          build-type: Debug
-          save-cache: true
-
-      - name: Install Qt (clazy/iwyu)
-        if: contains(fromJSON('["clazy", "iwyu"]'), inputs.tool)
-        uses: ./.github/actions/qt-install
-        with:
-          version: ${{ steps.config.outputs.qt_version }}
-          host: linux
-          arch: linux_gcc_64
-          modules: ${{ steps.config.outputs.qt_modules }}
-
       - name: Build Setup (sanitizers)
         if: contains(fromJSON('["asan", "ubsan", "tsan"]'), inputs.tool)
         uses: ./.github/actions/build-setup
@@ -218,7 +200,7 @@ jobs:
 
       - name: Upload Output
         if: always()
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: ${{ inputs.tool }}-output
           path: |
diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
index d60fbc4396a7..10bf550bb455 100644
--- a/.github/workflows/android.yml
+++ b/.github/workflows/android.yml
@@ -10,16 +10,6 @@ on:
     paths-ignore:
       - 'docs/**'
   pull_request:
-    paths:
-      - '.github/workflows/android.yml'
-      - '.github/actions/**'
-      - 'deploy/android/**'
-      - 'src/**'
-      - 'test/**'
-      - 'android/**'
-      - 'CMakeLists.txt'
-      - 'cmake/**'
-      - 'translations/*'
   merge_group:
   workflow_dispatch:
     inputs:
@@ -31,7 +21,6 @@ on:
         options:
           - Release
           - Debug
-  workflow_call:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -42,10 +31,18 @@ permissions:
   id-token: write
   attestations: write
   actions: read
+  security-events: write
 
 jobs:
+  changes:
+    uses: ./.github/workflows/_detect-changes.yml
+    with:
+      platform: android
+
   build:
     name: Android (${{ matrix.host }})
+    needs: changes
+    if: always() && !cancelled() && (needs.changes.outputs.should_build == 'true' || needs.changes.result == 'skipped')
     runs-on: ${{ matrix.runner }}
     timeout-minutes: 120
 
@@ -98,7 +95,6 @@ jobs:
 
     steps:
       - name: Harden Runner
-        if: runner.os == 'Linux'
         uses: step-security/harden-runner@v2
         with:
           egress-policy: audit
@@ -122,6 +118,7 @@ jobs:
           cache-read-only: ${{ github.event_name == 'pull_request' }}
 
       - name: Install Qt for Android
+        id: qt-android
         uses: ./.github/actions/qt-android
         with:
           host: ${{ matrix.qt_host || matrix.host }}
@@ -136,7 +133,6 @@ jobs:
           android-platform: ${{ steps.config.outputs.android_platform }}
           android-cmdline-tools: ${{ steps.config.outputs.android_cmdline_tools }}
           android-build-tools: ${{ steps.config.outputs.android_build_tools }}
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Create Debug Keystore
         if: ${{ env.QT_ANDROID_KEYSTORE_STORE_PASS == '' || !matrix.primary }}
@@ -160,10 +156,13 @@ jobs:
           build-dir: ${{ runner.temp }}/build
           build-type: ${{ inputs.build_type || 'Release' }}
           stable: ${{ (github.ref_type == 'tag' || contains(github.ref, 'Stable')) && 'true' || 'false' }}
+          use-qt-cmake: 'false'
           extra-args: >-
             -DCMAKE_WARN_DEPRECATED=FALSE
+            -DCMAKE_TOOLCHAIN_FILE=${{ steps.qt-android.outputs.target_qt_root_dir }}/lib/cmake/Qt6/qt.toolchain.cmake
+            -DCMAKE_PREFIX_PATH=${{ steps.qt-android.outputs.target_qt_root_dir }}
             -DQT_ANDROID_ABIS=${{ env.QT_ANDROID_ABIS }}
-            -DQT_HOST_PATH=${{ env.QT_ROOT_DIR }}/../${{ matrix.qt_host_path }}
+            -DQT_HOST_PATH=${{ steps.qt-android.outputs.host_qt_root_dir }}
             -DQT_ANDROID_SIGN_APK=ON
 
       - name: Build
@@ -353,32 +352,25 @@ jobs:
 
       - name: Upload Emulator Diagnostics
         if: ${{ failure() && matrix.emulator }}
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: emulator-diagnostics-${{ matrix.host }}-${{ github.run_id }}-${{ github.run_attempt }}
           path: ${{ runner.temp }}/emulator-diagnostics
           if-no-files-found: warn
           retention-days: 14
 
-      - name: Attest Build with SBOM
+      - name: Attest and Upload
         if: ${{ !matrix.emulator }}
-        uses: ./.github/actions/attest-sbom
+        uses: ./.github/actions/attest-and-upload
         with:
-          subject-path: ${{ runner.temp }}/build/${{ env.PACKAGE }}.apk
+          artifact-name: ${{ env.PACKAGE }}.apk
+          package-name: ${{ matrix.primary && env.PACKAGE || format('{0}-{1}', env.PACKAGE, matrix.host) }}
           subject-name: ${{ env.PACKAGE }}-${{ matrix.host }}
-          scan-path: ${{ runner.temp }}/build
-
-      - name: Upload Build File
-        if: ${{ !matrix.emulator }}
-        uses: ./.github/actions/upload
-        with:
-          artifact_name: ${{ env.PACKAGE }}.apk
-          package_name: ${{ matrix.primary && env.PACKAGE || format('{0}-{1}', env.PACKAGE, matrix.host) }}
-          aws_role_arn: ${{ secrets.AWS_ROLE_ARN }}
-          aws_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          aws_secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          aws_distribution_id: ${{ secrets.AWS_DISTRIBUTION_ID }}
-          upload_aws: ${{ matrix.primary }}
+          aws-role-arn: ${{ secrets.AWS_ROLE_ARN }}
+          aws-key-id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          aws-distribution-id: ${{ secrets.AWS_DISTRIBUTION_ID }}
+          upload-aws: ${{ matrix.primary }}
 
       - name: Deploy to Play Store
         if: ${{ !matrix.emulator && matrix.primary && github.ref_type == 'tag' && env.HAS_PLAYSTORE_SECRET == 'true' }}
diff --git a/.github/workflows/build-gstreamer.yml b/.github/workflows/build-gstreamer.yml
index cb7c5c1a19a6..d1435da49971 100644
--- a/.github/workflows/build-gstreamer.yml
+++ b/.github/workflows/build-gstreamer.yml
@@ -57,6 +57,7 @@ concurrency:
 
 permissions:
   contents: read
+  id-token: write
 
 jobs:
   build:
diff --git a/.github/workflows/build-results.yml b/.github/workflows/build-results.yml
index 502036db47d0..c8c7c5c00847 100644
--- a/.github/workflows/build-results.yml
+++ b/.github/workflows/build-results.yml
@@ -56,23 +56,78 @@ jobs:
             const exact = prs.find(pr => pr.head?.sha === run.head_sha);
             return exact ? exact.number : null;
 
-      - name: Checkout
+      - name: Check if all platform workflows are complete
+        id: gate
         if: steps.pr.outputs.result != 'null'
+        uses: actions/github-script@v8
+        env:
+          PLATFORM_WORKFLOWS: ${{ env.PLATFORM_WORKFLOWS }}
+          HEAD_SHA: ${{ github.event.workflow_run.head_sha }}
+        with:
+          script: |
+            const wanted = new Set(process.env.PLATFORM_WORKFLOWS.split(',').map(s => s.trim()));
+            const runs = await github.paginate(
+              github.rest.actions.listWorkflowRunsForRepo,
+              {
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                head_sha: process.env.HEAD_SHA,
+                event: 'pull_request',
+                per_page: 100
+              }
+            );
+            const latest = new Map();
+            for (const run of runs) {
+              if (!wanted.has(run.name)) continue;
+              const prev = latest.get(run.name);
+              if (!prev || new Date(run.created_at) > new Date(prev.created_at)) {
+                latest.set(run.name, run);
+              }
+            }
+            const missing = [...wanted].filter(n => !latest.has(n));
+            const incomplete = [...latest.values()].filter(r => r.status !== 'completed');
+            const ready = missing.length === 0 && incomplete.length === 0;
+            if (!ready) {
+              const reasons = [];
+              if (missing.length) reasons.push(`missing: ${missing.join(', ')}`);
+              if (incomplete.length) reasons.push(`still running: ${incomplete.map(r => r.name).join(', ')}`);
+              core.info(`Skipping early — ${reasons.join('; ')}`);
+            }
+            core.setOutput('ready', ready ? 'true' : 'false');
+
+      - name: Checkout
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
         uses: actions/checkout@v6
         with:
           sparse-checkout: |
             .github/actions/download-all-artifacts
             .github/actions/collect-artifact-sizes
+            .github/actions/setup-python
             .github/scripts/collect_build_status.py
             .github/scripts/collect_artifact_sizes.py
-            .github/scripts/workflow_runs.py
+            .github/scripts/ci_bootstrap.py
             .github/scripts/generate_build_results_comment.py
+            .github/scripts/templates/build_results.md.j2
+            .github/scripts/xml_utils.py
+            tools/common/build_config.py
+            tools/common/file_traversal.py
             tools/common/gh_actions.py
-            tools/setup/download_artifacts.py
+            tools/common/github_runs.py
+            tools/pyproject.toml
+            tools/uv.lock
+            tools/setup/setup_bootstrap.py
+            tools/setup/install_python.py
+            .github/scripts/download_artifacts.py
           sparse-checkout-cone-mode: false
 
+      - name: Setup Python dependencies
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
+        uses: ./.github/actions/setup-python
+        with:
+          groups: scripts
+
       - name: Collect build status
-        if: steps.pr.outputs.result != 'null'
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
         id: builds
         env:
           PLATFORM_WORKFLOWS: ${{ env.PLATFORM_WORKFLOWS }}
@@ -94,6 +149,7 @@ jobs:
         with:
           head-sha: ${{ github.event.workflow_run.head_sha }}
           workflows: ${{ env.PLATFORM_WORKFLOWS }}
+          event: pull_request
           runs-file: workflow-runs-cache.json
           artifact-prefixes: coverage-report,test-results-
           artifact-metadata-file: workflow-artifacts.json
@@ -104,6 +160,7 @@ jobs:
         with:
           head-sha: ${{ github.event.workflow_run.head_sha }}
           workflows: ${{ env.PLATFORM_WORKFLOWS }}
+          event: pull_request
           output-file: pr-sizes.json
           runs-file: workflow-runs-cache.json
           artifacts-file: workflow-artifacts.json
@@ -111,7 +168,7 @@ jobs:
       - name: Download pre-commit results artifact
         if: steps.pr.outputs.result != 'null' && steps.builds.outputs.all_complete == 'true' && steps.builds.outputs.precommit_run_id != ''
         continue-on-error: true
-        uses: actions/download-artifact@v7
+        uses: actions/download-artifact@v8
         with:
           run-id: ${{ steps.builds.outputs.precommit_run_id }}
           github-token: ${{ github.token }}
@@ -135,7 +192,7 @@ jobs:
           key: coverage-baseline-latest
 
       - name: Generate combined report
-        if: steps.pr.outputs.result != 'null'
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
         env:
           BUILD_TABLE: ${{ steps.builds.outputs.table }}
           BUILD_SUMMARY: ${{ steps.builds.outputs.summary }}
@@ -155,7 +212,7 @@ jobs:
           cat comment.md
 
       - name: Deduplicate prior build-results comments
-        if: steps.pr.outputs.result != 'null'
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
         uses: actions/github-script@v8
         env:
           PR_NUMBER: ${{ steps.pr.outputs.result }}
@@ -190,7 +247,7 @@ jobs:
             }
 
       - name: Post combined comment
-        if: steps.pr.outputs.result != 'null'
+        if: steps.pr.outputs.result != 'null' && steps.gate.outputs.ready == 'true'
         uses: thollander/actions-comment-pull-request@v3
         with:
           pr-number: ${{ steps.pr.outputs.result }}
@@ -212,20 +269,74 @@ jobs:
       contents: read
 
     steps:
+      - name: Check if all platform workflows succeeded
+        id: gate
+        uses: actions/github-script@v8
+        env:
+          PLATFORM_WORKFLOWS: ${{ env.PLATFORM_WORKFLOWS }}
+          HEAD_SHA: ${{ github.event.workflow_run.head_sha }}
+        with:
+          script: |
+            const wanted = new Set(process.env.PLATFORM_WORKFLOWS.split(',').map(s => s.trim()));
+            const runs = await github.paginate(
+              github.rest.actions.listWorkflowRunsForRepo,
+              {
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                head_sha: process.env.HEAD_SHA,
+                event: 'push',
+                per_page: 100
+              }
+            );
+            const latest = new Map();
+            for (const run of runs) {
+              if (!wanted.has(run.name)) continue;
+              const prev = latest.get(run.name);
+              if (!prev || new Date(run.created_at) > new Date(prev.created_at)) {
+                latest.set(run.name, run);
+              }
+            }
+            const missing = [...wanted].filter(n => !latest.has(n));
+            const failed = [...latest.values()].filter(r => r.status !== 'completed' || r.conclusion !== 'success');
+            const ready = missing.length === 0 && failed.length === 0;
+            if (!ready) {
+              const reasons = [];
+              if (missing.length) reasons.push(`missing: ${missing.join(', ')}`);
+              if (failed.length) reasons.push(`not successful: ${failed.map(r => `${r.name} (${r.status}/${r.conclusion})`).join(', ')}`);
+              core.info(`Skipping baseline save — ${reasons.join('; ')}`);
+            }
+            core.setOutput('ready', ready ? 'true' : 'false');
+
       - name: Checkout
+        if: steps.gate.outputs.ready == 'true'
         uses: actions/checkout@v6
         with:
           sparse-checkout: |
             .github/actions/download-all-artifacts
             .github/actions/collect-artifact-sizes
-            .github/scripts/collect_artifact_sizes.py
+            .github/actions/setup-python
             .github/scripts/check_baseline_ready.py
-            .github/scripts/workflow_runs.py
+            .github/scripts/collect_artifact_sizes.py
+            .github/scripts/ci_bootstrap.py
+            tools/common/build_config.py
+            tools/common/file_traversal.py
             tools/common/gh_actions.py
-            tools/setup/download_artifacts.py
+            tools/common/github_runs.py
+            tools/pyproject.toml
+            tools/uv.lock
+            tools/setup/setup_bootstrap.py
+            tools/setup/install_python.py
+            .github/scripts/download_artifacts.py
           sparse-checkout-cone-mode: false
 
+      - name: Setup Python dependencies
+        if: steps.gate.outputs.ready == 'true'
+        uses: ./.github/actions/setup-python
+        with:
+          groups: scripts
+
       - name: Verify all platform workflows succeeded for baseline SHA
+        if: steps.gate.outputs.ready == 'true'
         id: ready
         env:
           PLATFORM_WORKFLOWS: ${{ env.PLATFORM_WORKFLOWS }}
@@ -247,6 +358,7 @@ jobs:
         with:
           head-sha: ${{ github.event.workflow_run.head_sha }}
           workflows: ${{ env.PLATFORM_WORKFLOWS }}
+          event: push
           runs-file: workflow-runs-cache.json
           artifact-prefixes: coverage-report,test-results-
           artifact-metadata-file: workflow-artifacts.json
@@ -257,6 +369,7 @@ jobs:
         with:
           head-sha: ${{ github.event.workflow_run.head_sha }}
           workflows: ${{ env.PLATFORM_WORKFLOWS }}
+          event: push
           output-file: baseline-sizes.json
           runs-file: workflow-runs-cache.json
           artifacts-file: workflow-artifacts.json
diff --git a/.github/workflows/check-links.yml b/.github/workflows/check-links.yml
index b7e4a0f1b664..3e759c532925 100644
--- a/.github/workflows/check-links.yml
+++ b/.github/workflows/check-links.yml
@@ -66,7 +66,7 @@ jobs:
           fail: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
 
       - name: Upload report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         if: always()
         with:
           name: link-check-report
diff --git a/.github/workflows/ci-scripts.yml b/.github/workflows/ci-scripts.yml
index 431942368dfd..2e3012dd3db5 100644
--- a/.github/workflows/ci-scripts.yml
+++ b/.github/workflows/ci-scripts.yml
@@ -9,6 +9,7 @@ on:
       - '.github/build-config.json'
       - 'tools/setup/**'
       - 'tools/*.py'
+      - 'tools/uv.lock'
       - 'tools/tests/**'
       - 'tools/common/**'
       - 'tools/generators/**'
@@ -29,6 +30,7 @@ on:
       - '.github/build-config.json'
       - 'tools/setup/**'
       - 'tools/*.py'
+      - 'tools/uv.lock'
       - 'tools/tests/**'
       - 'tools/common/**'
       - 'tools/generators/**'
@@ -96,6 +98,8 @@ jobs:
             .github/actions/setup-python
             .github/build-config.json
             .github/scripts
+            tools/pyproject.toml
+            tools/uv.lock
             tools/*.py
             tools/setup
             tools/tests
@@ -112,7 +116,7 @@ jobs:
       - name: Setup Python
         uses: ./.github/actions/setup-python
         with:
-          groups: test
+          groups: scripts,test
           python-version: '3.12'
 
       - name: Python syntax smoke test
diff --git a/.github/workflows/crowdin.yml b/.github/workflows/crowdin.yml
index 98c3485d6877..f147001c49fb 100644
--- a/.github/workflows/crowdin.yml
+++ b/.github/workflows/crowdin.yml
@@ -25,33 +25,45 @@ on:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+  cancel-in-progress: false
 
 jobs:
-  upload:
-    name: Upload Sources
-    if: >-
-      github.repository_owner == 'mavlink' &&
-      (
-        github.event_name == 'push' ||
-        (github.event_name == 'pull_request' && github.event.pull_request.merged == true) ||
-        (github.event_name == 'workflow_dispatch' && inputs.action == 'upload')
-      )
+  sync:
+    name: Crowdin Sync
+    if: github.repository_owner == 'mavlink'
     runs-on: ubuntu-latest
     timeout-minutes: 15
     permissions:
       contents: read
 
     steps:
+      - name: Determine action
+        id: action
+        env:
+          EVENT_NAME: ${{ github.event_name }}
+          INPUT_ACTION: ${{ inputs.action }}
+          PR_MERGED: ${{ github.event.pull_request.merged }}
+        run: |
+          if [[ "$EVENT_NAME" == "schedule" ]] || [[ "$EVENT_NAME" == "workflow_dispatch" && "$INPUT_ACTION" == "download" ]]; then
+            echo "mode=download" >> "$GITHUB_OUTPUT"
+          elif [[ "$EVENT_NAME" == "push" ]] || [[ "$EVENT_NAME" == "pull_request" && "$PR_MERGED" == "true" ]] || [[ "$EVENT_NAME" == "workflow_dispatch" && "$INPUT_ACTION" == "upload" ]]; then
+            echo "mode=upload" >> "$GITHUB_OUTPUT"
+          else
+            echo "mode=skip" >> "$GITHUB_OUTPUT"
+          fi
+
       - name: Harden Runner
+        if: steps.action.outputs.mode != 'skip'
         uses: step-security/harden-runner@v2
         with:
           egress-policy: audit
 
       - name: Checkout
+        if: steps.action.outputs.mode != 'skip'
         uses: actions/checkout@v6
 
       - name: Upload sources to Crowdin
+        if: steps.action.outputs.mode == 'upload'
         uses: crowdin/github-action@v2
         with:
           config: 'docs/crowdin_docs.yml'
@@ -64,30 +76,8 @@ jobs:
           CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
           CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
 
-  download:
-    name: Download Translations
-    if: >-
-      github.repository_owner == 'mavlink' &&
-      (
-        github.event_name == 'schedule' ||
-        (github.event_name == 'workflow_dispatch' && inputs.action == 'download')
-      )
-    runs-on: ubuntu-latest
-    timeout-minutes: 15
-    permissions:
-      contents: write
-      pull-requests: write
-
-    steps:
-      - name: Harden Runner
-        uses: step-security/harden-runner@v2
-        with:
-          egress-policy: audit
-
-      - name: Checkout
-        uses: actions/checkout@v6
-
       - name: Download translations from Crowdin
+        if: steps.action.outputs.mode == 'download'
         uses: crowdin/github-action@v2
         with:
           config: 'docs/crowdin_docs.yml'
diff --git a/.github/workflows/dependency-review.yml b/.github/workflows/dependency-review.yml
index 755b67166a7a..bebf5f1763cd 100644
--- a/.github/workflows/dependency-review.yml
+++ b/.github/workflows/dependency-review.yml
@@ -7,6 +7,12 @@ on:
       - 'android/**'
       - '**/*.gradle'
       - '**/*.gradle.kts'
+      - 'requirements*.txt'
+      - '**/requirements*.txt'
+      - 'pyproject.toml'
+      - '**/pyproject.toml'
+      - 'setup.py'
+      - '**/setup.py'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 8609f85bed1e..429fa750f1cd 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -10,8 +10,6 @@ on:
     paths-ignore:
       - 'docs/**'
   pull_request:
-    paths-ignore:
-      - 'docs/**'
   workflow_dispatch:
 
 concurrency:
@@ -29,31 +27,26 @@ jobs:
     runs-on: ubuntu-latest
     if: github.event_name == 'pull_request'
     timeout-minutes: 5
+    permissions:
+      contents: read
     outputs:
-      linux: ${{ steps.filter.outputs.linux }}
-      android: ${{ steps.filter.outputs.android }}
-      shared: ${{ steps.filter.outputs.shared }}
+      linux: ${{ steps.detect-linux.outputs.any }}
+      android: ${{ steps.detect-android.outputs.any }}
     steps:
-      - name: Detect changed paths
-        uses: dorny/paths-filter@v3
-        id: filter
+      - name: Checkout repo
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Detect Linux changes
+        id: detect-linux
+        uses: ./.github/actions/detect-changes
+        with:
+          platform: docker-linux
+      - name: Detect Android changes
+        id: detect-android
+        uses: ./.github/actions/detect-changes
         with:
-          filters: |
-            shared:
-              - 'src/**'
-              - 'cmake/**'
-              - 'CMakeLists.txt'
-              - 'tools/setup/**'
-              - '.github/workflows/docker.yml'
-              - '.github/actions/docker/**'
-              - '.github/build-config.json'
-            linux:
-              - 'deploy/linux/**'
-              - 'deploy/docker/Dockerfile-build-ubuntu'
-            android:
-              - 'android/**'
-              - 'deploy/android/**'
-              - 'deploy/docker/Dockerfile-build-android'
+          platform: docker-android
 
   plan-builds:
     name: Plan Docker Builds
@@ -65,63 +58,29 @@ jobs:
       matrix: ${{ steps.plan.outputs.matrix }}
       has_jobs: ${{ steps.plan.outputs.has_jobs }}
     steps:
+      - name: Checkout planner
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+          sparse-checkout: |
+            .github/scripts/plan_docker_builds.py
+            .github/scripts/ci_bootstrap.py
+            tools/common/gh_actions.py
+          sparse-checkout-cone-mode: false
+
       - name: Plan matrix
         id: plan
         env:
           EVENT_NAME: ${{ github.event_name }}
-          SHARED: ${{ needs.changes.outputs.shared }}
           LINUX: ${{ needs.changes.outputs.linux }}
           ANDROID: ${{ needs.changes.outputs.android }}
-        run: |
-          python3 - <<'PY'
-          import json
-          import os
-          from pathlib import Path
-
-          event_name = os.environ.get("EVENT_NAME", "")
-          shared = os.environ.get("SHARED", "") == "true"
-          linux_changed = os.environ.get("LINUX", "") == "true"
-          android_changed = os.environ.get("ANDROID", "") == "true"
-
-          include: list[dict[str, object]] = []
-
-          linux_selected = event_name != "pull_request" or shared or linux_changed
-          android_selected = event_name != "pull_request" or shared or android_changed
-
-          if linux_selected:
-            include.append(
-              {
-                "platform": "Linux",
-                "dockerfile": "Dockerfile-build-ubuntu",
-                "fuse": True,
-                "artifact_pattern": "*.AppImage",
-              }
-            )
-          if android_selected:
-            include.append(
-              {
-                "platform": "Android",
-                "dockerfile": "Dockerfile-build-android",
-                "fuse": False,
-                "artifact_pattern": "*.apk",
-              }
-            )
-
-          matrix = {"include": include}
-          has_jobs = "true" if include else "false"
-          matrix_json = json.dumps(matrix, separators=(",", ":"))
-
-          output_path = Path(os.environ["GITHUB_OUTPUT"])
-          with output_path.open("a", encoding="utf-8") as f:
-            f.write(f"matrix={matrix_json}\n")
-            f.write(f"has_jobs={has_jobs}\n")
-          PY
+        run: python3 "${GITHUB_WORKSPACE}/.github/scripts/plan_docker_builds.py"
 
   build:
     name: Docker ${{ matrix.platform }}
     runs-on: ubuntu-latest
     needs: [changes, plan-builds]
-    if: always() && !cancelled() && needs.plan-builds.outputs.has_jobs == 'true'
+    if: always() && !cancelled() && needs.plan-builds.outputs.has_jobs == 'true' && vars.DOCKER_BUILD_ENABLED == 'true'
     timeout-minutes: 120
 
     strategy:
@@ -213,7 +172,7 @@ jobs:
 
       - name: Scan artifact for vulnerabilities
         if: steps.artifact.outputs.found == 'true'
-        uses: aquasecurity/trivy-action@0.34.0
+        uses: aquasecurity/trivy-action@0.35.0
         with:
           scan-type: 'fs'
           scan-ref: ${{ steps.artifact.outputs.path }}
diff --git a/.github/workflows/docs_deploy.yml b/.github/workflows/docs_deploy.yml
index 9e10da04256e..47963303727d 100644
--- a/.github/workflows/docs_deploy.yml
+++ b/.github/workflows/docs_deploy.yml
@@ -14,6 +14,10 @@ on:
       - 'package*.json'
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 permissions:
   contents: read
 
@@ -48,7 +52,7 @@ jobs:
           touch docs/.vitepress/dist/.nojekyll
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: qgc_docs_build
           path: docs/.vitepress/dist/
@@ -66,35 +70,12 @@ jobs:
         with:
           egress-policy: audit
 
-      - name: Download Artifact
-        uses: actions/download-artifact@v7
-        with:
-          name: qgc_docs_build
-          path: ~/_book
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v6
-        with:
-          repository: mavlink/docs.qgroundcontrol.com
-          token: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-          path: docs.qgroundcontrol.com
-
       - name: Deploy docs
-        env:
-          BRANCH: ${{ env.BRANCH_NAME }}
-        run: |
-          # Sanitize branch name to prevent path traversal and shell injection
-          SAFE_BRANCH="${BRANCH//[^a-zA-Z0-9._-]/_}"
-          rm -rf "docs.qgroundcontrol.com/${SAFE_BRANCH}"
-          mkdir -p "docs.qgroundcontrol.com/${SAFE_BRANCH}"
-          cp -r ~/_book/* "docs.qgroundcontrol.com/${SAFE_BRANCH}/"
-          cd docs.qgroundcontrol.com
-          git config user.email "bot@px4.io"
-          git config user.name "PX4BuildBot"
-          git add "${SAFE_BRANCH}"
-          if git diff --cached --quiet; then
-            echo "No documentation changes to deploy."
-            exit 0
-          fi
-          git commit -m "QGC docs build update $(date -u +%Y-%m-%d)"
-          git push origin master
+        uses: ./.github/actions/deploy-docs
+        with:
+          artifact-name: qgc_docs_build
+          target-repo: mavlink/docs.qgroundcontrol.com
+          target-branch: master
+          deploy-token: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
+          source-branch: ${{ env.BRANCH_NAME }}
+          commit-message: 'QGC docs build update'
diff --git a/.github/workflows/doxygen_deploy.yml b/.github/workflows/doxygen_deploy.yml
index df4dcd03c57d..0b470526bf1c 100644
--- a/.github/workflows/doxygen_deploy.yml
+++ b/.github/workflows/doxygen_deploy.yml
@@ -37,7 +37,7 @@ jobs:
         run: doxygen Doxyfile
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: doxygen_build
           path: docs/api/html/
@@ -55,34 +55,12 @@ jobs:
         with:
           egress-policy: audit
 
-      - name: Download Artifact
-        uses: actions/download-artifact@v7
-        with:
-          name: doxygen_build
-          path: ~/_api_docs
-
-      - name: Checkout API docs repo
-        uses: actions/checkout@v6
-        with:
-          repository: mavlink/api.qgroundcontrol.com
-          token: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
-          path: api.qgroundcontrol.com
-
       - name: Deploy docs
-        env:
-          BRANCH: ${{ env.BRANCH_NAME }}
-        run: |
-          SAFE_BRANCH="${BRANCH//[^a-zA-Z0-9._-]/_}"
-          rm -rf "api.qgroundcontrol.com/${SAFE_BRANCH}"
-          mkdir -p "api.qgroundcontrol.com/${SAFE_BRANCH}"
-          cp -r ~/_api_docs/* "api.qgroundcontrol.com/${SAFE_BRANCH}/"
-          cd api.qgroundcontrol.com
-          git config user.email "bot@px4.io"
-          git config user.name "PX4BuildBot"
-          git add "${SAFE_BRANCH}"
-          if git diff --cached --quiet; then
-            echo "No documentation changes to deploy."
-            exit 0
-          fi
-          git commit -m "QGC Doxygen API docs update $(date -u +%Y-%m-%d)"
-          git push origin main
+        uses: ./.github/actions/deploy-docs
+        with:
+          artifact-name: doxygen_build
+          target-repo: mavlink/api.qgroundcontrol.com
+          target-branch: main
+          deploy-token: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
+          source-branch: ${{ env.BRANCH_NAME }}
+          commit-message: 'QGC Doxygen API docs update'
diff --git a/.github/workflows/flatpak.yml b/.github/workflows/flatpak.yml
index c8ec0f4c963d..14f5512c3e6b 100644
--- a/.github/workflows/flatpak.yml
+++ b/.github/workflows/flatpak.yml
@@ -34,7 +34,7 @@ jobs:
           cache-key: flatpak-builder-${{ hashFiles('deploy/linux/org.mavlink.qgroundcontrol.flatpak.yml') }}
 
       - name: Upload Flatpak
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: QGroundControl-flatpak
           path: QGroundControl.flatpak
diff --git a/.github/workflows/ios.yml b/.github/workflows/ios.yml
index 9f5d5e661cd5..3452977cf0ea 100644
--- a/.github/workflows/ios.yml
+++ b/.github/workflows/ios.yml
@@ -13,6 +13,7 @@ permissions:
   id-token: write
   attestations: write
   actions: read
+  security-events: write
 
 jobs:
   build:
@@ -58,7 +59,6 @@ jobs:
           xcode-version: ${{ steps.config.outputs.xcode_ios_version }}
           cpm-modules: ${{ runner.temp }}/build/cpm_modules
           build-type: ${{ matrix.build_type }}
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Configure
         uses: ./.github/actions/cmake-configure
@@ -74,17 +74,10 @@ jobs:
           build-dir: ${{ runner.temp }}/build
           build-type: ${{ matrix.build_type }}
 
-      - name: Attest Build with SBOM
+      - name: Attest and Upload
         if: matrix.build_type == 'Release'
-        uses: ./.github/actions/attest-sbom
+        uses: ./.github/actions/attest-and-upload
         with:
-          subject-path: ${{ runner.temp }}/build/${{ env.PACKAGE }}.app
-          subject-name: ${{ env.PACKAGE }}
-          scan-path: ${{ runner.temp }}/build
-
-      - name: Upload Build File
-        uses: ./.github/actions/upload
-        with:
-          artifact_name: ${{ env.PACKAGE }}.app
-          package_name: ${{ env.PACKAGE }}
-          upload_aws: 'false'
+          artifact-name: ${{ env.PACKAGE }}.app
+          package-name: ${{ env.PACKAGE }}
+          upload-aws: 'false'
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index 74ab664af963..43f49a58edf9 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -10,16 +10,6 @@ on:
     paths-ignore:
       - 'docs/**'
   pull_request:
-    paths:
-      - '.github/workflows/linux.yml'
-      - '.github/actions/**'
-      - 'deploy/linux/**'
-      - 'src/**'
-      - 'test/**'
-      - 'CMakeLists.txt'
-      - 'cmake/**'
-      - 'tools/setup/*debian*'
-      - 'tools/setup/install_dependencies.py'
   merge_group:
   workflow_dispatch:
     inputs:
@@ -31,7 +21,6 @@ on:
         options:
           - Release
           - Debug
-  workflow_call:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -46,8 +35,15 @@ permissions:
   checks: write
 
 jobs:
+  changes:
+    uses: ./.github/workflows/_detect-changes.yml
+    with:
+      platform: linux
+
   build:
     name: Build ${{ matrix.arch }} ${{ matrix.build_type }}
+    needs: changes
+    if: always() && !cancelled() && (needs.changes.outputs.should_build == 'true' || needs.changes.result == 'skipped')
     runs-on: ${{ matrix.os }}
     timeout-minutes: 120
 
@@ -77,6 +73,7 @@ jobs:
 
     steps:
       - name: Harden Runner
+        if: runner.arch != 'ARM64'
         uses: step-security/harden-runner@v2
         with:
           egress-policy: audit
@@ -93,7 +90,6 @@ jobs:
           qt-host: ${{ matrix.host }}
           qt-arch: ${{ matrix.arch }}
           build-type: ${{ matrix.build_type }}
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Install Dependencies
         uses: ./.github/actions/install-dependencies
@@ -128,6 +124,29 @@ jobs:
         with:
           category: "/language:c-cpp"
 
+      - name: Run Unit Tests
+        if: matrix.build_type == 'Debug'
+        uses: ./.github/actions/run-unit-tests
+        with:
+          build-dir: ${{ runner.temp }}/build
+          junit-output: junit-results-linux-${{ matrix.arch }}.xml
+          ctest-output: test-output-linux-${{ matrix.arch }}.txt
+          include-labels: 'Unit|Integration'
+          exclude-labels: 'Flaky|Network'
+
+      - name: Report Test Results
+        if: always() && !cancelled() && matrix.build_type == 'Debug'
+        uses: ./.github/actions/test-report
+        with:
+          name: Unit Tests (${{ matrix.arch }})
+          build-dir: ${{ runner.temp }}/build
+          junit-file: junit-results-linux-${{ matrix.arch }}.xml
+          output-file: test-output-linux-${{ matrix.arch }}.txt
+          artifact-name: test-results-${{ matrix.arch }}
+          retention-days: 7
+          trunk-org-slug: ${{ vars.TRUNK_ORG_SLUG }}
+          trunk-token: ${{ secrets.TRUNK_TOKEN }}
+
       - name: Verify Executable
         if: matrix.build_type == 'Release'
         uses: ./.github/actions/verify-executable
@@ -143,7 +162,7 @@ jobs:
 
       - name: Upload metrics artifact
         if: matrix.build_type == 'Release' && matrix.os == 'ubuntu-22.04'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: size-metrics
           path: ${{ runner.temp }}/build/metrics.json
@@ -161,28 +180,21 @@ jobs:
           binary-path: ${{ runner.temp }}/build/${{ matrix.package }}.AppImage
           type: appimage
 
-      - name: Attest Build with SBOM
+      - name: Attest and Upload
         if: matrix.build_type == 'Release'
-        uses: ./.github/actions/attest-sbom
+        uses: ./.github/actions/attest-and-upload
         with:
-          subject-path: ${{ runner.temp }}/build/${{ matrix.package }}.AppImage
-          subject-name: ${{ matrix.package }}
-          scan-path: ${{ runner.temp }}/build
-
-      - name: Upload Build File
-        if: matrix.build_type == 'Release'
-        uses: ./.github/actions/upload
-        with:
-          artifact_name: ${{ matrix.package }}.AppImage
-          package_name: ${{ matrix.package }}
-          aws_role_arn: ${{ secrets.AWS_ROLE_ARN }}
-          aws_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          aws_secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          aws_distribution_id: ${{ secrets.AWS_DISTRIBUTION_ID }}
+          artifact-name: ${{ matrix.package }}.AppImage
+          package-name: ${{ matrix.package }}
+          aws-role-arn: ${{ secrets.AWS_ROLE_ARN }}
+          aws-key-id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          aws-distribution-id: ${{ secrets.AWS_DISTRIBUTION_ID }}
 
   debug-validation:
     name: ${{ matrix.job_name }}
-    if: ${{ !cancelled() && (github.event_name != 'workflow_dispatch' || inputs.build_type == 'Debug') }}
+    needs: changes
+    if: ${{ !cancelled() && (needs.changes.outputs.should_build == 'true' || needs.changes.result == 'skipped') && (github.event_name != 'workflow_dispatch' || inputs.build_type == 'Debug') }}
     runs-on: ubuntu-22.04
     timeout-minutes: ${{ matrix.timeout_minutes }}
 
@@ -190,11 +202,11 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - job_name: Test + Coverage linux_gcc_64 Debug
-            mode: coverage
-            timeout_minutes: 60
-            fetch_depth: 0
-            fetch_tags: false
+          # - job_name: Test + Coverage linux_gcc_64 Debug
+          #   mode: coverage
+          #   timeout_minutes: 60
+          #   fetch_depth: 0
+          #   fetch_tags: false
           - job_name: Sanitizers linux_gcc_64 Debug (ASan+UBSan)
             mode: sanitizers
             timeout_minutes: 120
@@ -218,7 +230,7 @@ jobs:
           fetch-tags: ${{ matrix.fetch_tags }}
 
       - name: Restore file timestamps
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: chetan/git-restore-mtime-action@v2
 
       - name: Build Setup
@@ -228,13 +240,12 @@ jobs:
           qt-host: linux
           qt-arch: linux_gcc_64
           build-type: Debug
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Install Dependencies
         uses: ./.github/actions/install-dependencies
 
       - name: Configure (Coverage)
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/cmake-configure
         with:
           build-dir: ${{ runner.temp }}/build
@@ -244,7 +255,7 @@ jobs:
           stable: ${{ (github.ref_type == 'tag' || contains(github.ref, 'Stable')) && 'true' || 'false' }}
 
       - name: Build (Coverage)
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/cmake-build
         with:
           build-dir: ${{ runner.temp }}/build
@@ -268,7 +279,7 @@ jobs:
           build-type: Debug
 
       - name: Run Unit Tests
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/run-unit-tests
         with:
           build-dir: ${{ runner.temp }}/build
@@ -296,7 +307,7 @@ jobs:
           parallel: '1'
 
       - name: Analyze Unit Test Durations
-        if: always() && !cancelled() && matrix.mode == 'coverage'
+        if: always() && !cancelled() && matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/test-duration-report
         with:
           junit-path: ${{ runner.temp }}/build/junit-results-linux-linux_gcc_64.xml
@@ -322,7 +333,7 @@ jobs:
           fail-on-regression: 'false'
 
       - name: Report Test Results
-        if: always() && !cancelled() && matrix.mode == 'coverage'
+        if: always() && !cancelled() && matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/test-report
         with:
           name: Unit Tests (linux_gcc_64)
@@ -335,8 +346,8 @@ jobs:
           trunk-token: ${{ secrets.TRUNK_TOKEN }}
 
       - name: Upload Duration Report
-        if: always() && !cancelled() && matrix.mode == 'coverage'
-        uses: actions/upload-artifact@v6
+        if: always() && !cancelled() && matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
+        uses: actions/upload-artifact@v7
         with:
           name: test-duration-linux_gcc_64
           path: ${{ runner.temp }}/build/test-duration-linux-linux_gcc_64.json
@@ -344,7 +355,7 @@ jobs:
 
       - name: Upload Test Results (Sanitizers)
         if: always() && !cancelled() && matrix.mode == 'sanitizers'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: test-results-linux-sanitizers
           path: |
@@ -354,21 +365,24 @@ jobs:
           retention-days: 7
 
       - name: Ensure coverage tools are available
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         run: |
-          if ! command -v ccache >/dev/null 2>&1; then
-            sudo apt-get install -y --no-install-recommends ccache
-          fi
-          # Ensure ccache is at /usr/local/bin where the build's ccache-launcher expects it
-          if [ ! -f /usr/local/bin/ccache ] && command -v ccache >/dev/null 2>&1; then
-            sudo ln -s "$(command -v ccache)" /usr/local/bin/ccache
+          ccache_path="$(command -v ccache 2>/dev/null)" || {
+            echo "Error: ccache not found — expected pinned binary from cache action" >&2
+            exit 1
+          }
+          echo "ccache found at: ${ccache_path}"
+          if [[ "${ccache_path}" != "/usr/local/bin/ccache" ]]; then
+            echo "Warning: ccache resolved to ${ccache_path}, expected /usr/local/bin/ccache" >&2
           fi
+          ccache_ver="$(ccache --version | head -1)"
+          echo "ccache version: ${ccache_ver}"
           if ! command -v gcovr >/dev/null 2>&1; then
             pipx install gcovr
           fi
 
       - name: Verify coverage data files exist
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         working-directory: ${{ runner.temp }}/build
         run: |
           gcda_count=$(find . -name '*.gcda' | wc -l | tr -d '[:space:]')
@@ -379,14 +393,14 @@ jobs:
           fi
 
       - name: Coverage Report
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         uses: ./.github/actions/coverage
         with:
           build-dir: ${{ runner.temp }}/build
           mode: report-only
 
       - name: Verify Coverage Thresholds
-        if: matrix.mode == 'coverage'
+        if: matrix.mode == 'coverage' && vars.COVERAGE_ENABLED == 'true'
         working-directory: ${{ runner.temp }}/build
         run: |
           line_thresh=$(cmake -L -N . 2>/dev/null | sed -n 's/^QGC_COVERAGE_LINE_THRESHOLD:STRING=//p')
@@ -395,10 +409,12 @@ jobs:
           branch_thresh="${branch_thresh:-20}"
 
           python3 - "$line_thresh" "$branch_thresh" <<'PY'
-          import sys
-          import xml.etree.ElementTree as ET
+          import os, sys
           from pathlib import Path
 
+          sys.path.insert(0, os.path.join(os.environ["GITHUB_WORKSPACE"], ".github", "scripts"))
+          from xml_utils import xml_parse
+
           line_thresh = float(sys.argv[1])
           branch_thresh = float(sys.argv[2])
 
@@ -406,7 +422,7 @@ jobs:
               print("::warning::coverage.xml not found, skipping threshold check")
               sys.exit(0)
 
-          tree = ET.parse("coverage.xml")
+          tree = xml_parse("coverage.xml")
           cov = tree.getroot()
           lines_valid = int(cov.get("lines-valid", 0))
           line_rate = float(cov.get("line-rate", 0)) * 100
@@ -440,117 +456,3 @@ jobs:
           sys.exit(1 if failed else 0)
           PY
 
-  size-metrics:
-    name: Size Metrics
-    if: ${{ !cancelled() && (github.event_name != 'workflow_dispatch' || inputs.build_type != 'Debug') }}
-    runs-on: ubuntu-24.04
-    timeout-minutes: 10
-    needs: build
-    permissions:
-      actions: write
-      contents: read
-      pull-requests: write
-
-    steps:
-      - name: Harden Runner
-        uses: step-security/harden-runner@v2
-        with:
-          egress-policy: audit
-
-      - name: Download metrics artifact
-        uses: actions/download-artifact@v7
-        with:
-          name: size-metrics
-          path: .
-
-      - name: Save baseline
-        if: github.event_name == 'push' && github.ref == 'refs/heads/master'
-        run: mkdir -p baseline && cp metrics.json baseline/metrics.json
-      - name: Delete stale baseline cache
-        if: github.event_name == 'push' && github.ref == 'refs/heads/master' && hashFiles('baseline/metrics.json') != ''
-        env:
-          GH_TOKEN: ${{ github.token }}
-          GH_REPO: ${{ github.repository }}
-        run: gh actions-cache delete size-baseline-latest -R "${GH_REPO}" --confirm || true
-
-      - name: Save baseline to cache
-        uses: actions/cache/save@v5
-        if: github.event_name == 'push' && github.ref == 'refs/heads/master' && hashFiles('baseline/metrics.json') != ''
-        with:
-          path: baseline/metrics.json
-          key: size-baseline-latest
-
-      - name: Restore baseline
-        if: github.event_name == 'pull_request'
-        id: baseline
-        uses: actions/cache/restore@v5
-        with:
-          path: baseline/metrics.json
-          key: size-baseline-latest
-
-      - name: Compare with baseline
-        if: github.event_name == 'pull_request' && hashFiles('baseline/metrics.json') != ''
-        uses: actions/github-script@v8
-        with:
-          script: |
-            if (!context.issue.number) {
-              core.info('No PR number available; skipping size comparison comment.');
-              return;
-            }
-            const fs = require('fs');
-            const current = JSON.parse(fs.readFileSync('metrics.json', 'utf8'));
-            const baseline = JSON.parse(fs.readFileSync('baseline/metrics.json', 'utf8'));
-
-            const find = (arr, name) => arr.find(m => m.name === name)?.value || 0;
-            const fmt = (b) => (b / 1048576).toFixed(2);
-
-            const metrics = ['Binary Size', 'Stripped Size'].map(name => {
-              const cur = find(current, name);
-              const base = find(baseline, name);
-              const delta = base > 0 ? ((cur - base) / base * 100).toFixed(1) : 'N/A';
-              return { name, current: cur, baseline: base, delta };
-            });
-
-            const rows = metrics.map(m =>
-              `| ${m.name} | ${fmt(m.baseline)} MB | ${fmt(m.current)} MB | ${m.delta === 'N/A' ? m.delta : m.delta + '%'} |`
-            ).join('\n');
-
-            const body = `<!-- binary-size-report -->\n` +
-              `## Binary Size Report\n\n` +
-              `| Metric | Baseline | PR | Change |\n` +
-              `|--------|----------|-----|--------|\n${rows}\n`;
-
-            const threshold = 5;
-            const binaryDelta = metrics[0].delta;
-            if (binaryDelta !== 'N/A' && parseFloat(binaryDelta) > threshold) {
-              core.warning(`Binary size increased by ${binaryDelta}% (threshold: ${threshold}%)`);
-            }
-
-            const comments = await github.paginate(
-              github.rest.issues.listComments,
-              {
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: context.issue.number,
-                per_page: 100,
-              }
-            );
-            const existing = comments.find(c =>
-              c.user?.type === 'Bot' && c.body?.includes('<!-- binary-size-report -->')
-            );
-
-            if (existing) {
-              await github.rest.issues.updateComment({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                comment_id: existing.id,
-                body,
-              });
-            } else {
-              await github.rest.issues.createComment({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                issue_number: context.issue.number,
-                body,
-              });
-            }
diff --git a/.github/workflows/lupdate.yml b/.github/workflows/lupdate.yml
index 5def9be2ddd3..86ce62f3da96 100644
--- a/.github/workflows/lupdate.yml
+++ b/.github/workflows/lupdate.yml
@@ -1,6 +1,8 @@
 name: Update Translations
 
 on:
+  schedule:
+    - cron: '0 3 * * 0'  # Every Sunday at 03:00 UTC
   workflow_dispatch:
 
 concurrency:
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 69a7893b848b..8fcfa977afe9 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -10,14 +10,6 @@ on:
     paths-ignore:
       - 'docs/**'
   pull_request:
-    paths:
-      - '.github/workflows/macos.yml'
-      - '.github/actions/**'
-      - 'deploy/macos/**'
-      - 'src/**'
-      - 'test/**'
-      - 'CMakeLists.txt'
-      - 'cmake/**'
   merge_group:
   workflow_dispatch:
     inputs:
@@ -29,7 +21,6 @@ on:
         options:
           - Release
           - Debug
-  workflow_call:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -40,13 +31,22 @@ permissions:
   id-token: write
   attestations: write
   actions: read
+  security-events: write
 
 jobs:
+  changes:
+    uses: ./.github/workflows/_detect-changes.yml
+    with:
+      platform: macos
+
   build:
+    needs: changes
+    if: always() && !cancelled() && (needs.changes.outputs.should_build == 'true' || needs.changes.result == 'skipped')
     runs-on: macos-15
     timeout-minutes: 120
 
     strategy:
+      fail-fast: false
       matrix:
         build_type: ${{ inputs.build_type && fromJSON(format('["{0}"]', inputs.build_type)) || fromJSON('["Release"]') }}
 
@@ -55,11 +55,6 @@ jobs:
         shell: bash
 
     steps:
-      - name: Harden Runner
-        uses: step-security/harden-runner@v2
-        with:
-          egress-policy: audit
-
       - name: Checkout repo
         uses: actions/checkout@v6
         with:
@@ -74,7 +69,6 @@ jobs:
           qt-host: mac
           qt-arch: clang_64
           build-type: ${{ matrix.build_type }}
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Setup Xcode
         uses: maxim-lobanov/setup-xcode@v1
@@ -141,21 +135,13 @@ jobs:
         with:
           binary-path: /Volumes/QGroundControl/QGroundControl.app/Contents/MacOS/QGroundControl
 
-      - name: Attest Build with SBOM
-        if: matrix.build_type == 'Release'
-        uses: ./.github/actions/attest-sbom
-        with:
-          subject-path: ${{ runner.temp }}/build/QGroundControl.dmg
-          subject-name: QGroundControl
-          scan-path: ${{ runner.temp }}/build
-
-      - name: Upload Build File
+      - name: Attest and Upload
         if: matrix.build_type == 'Release'
-        uses: ./.github/actions/upload
+        uses: ./.github/actions/attest-and-upload
         with:
-          artifact_name: QGroundControl.dmg
-          package_name: QGroundControl
-          aws_role_arn: ${{ secrets.AWS_ROLE_ARN }}
-          aws_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          aws_secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          aws_distribution_id: ${{ secrets.AWS_DISTRIBUTION_ID }}
+          artifact-name: QGroundControl.dmg
+          package-name: QGroundControl
+          aws-role-arn: ${{ secrets.AWS_ROLE_ARN }}
+          aws-key-id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          aws-distribution-id: ${{ secrets.AWS_DISTRIBUTION_ID }}
diff --git a/.github/workflows/performance.yml b/.github/workflows/performance.yml
index 66cae5648af6..a204d7bcb416 100644
--- a/.github/workflows/performance.yml
+++ b/.github/workflows/performance.yml
@@ -65,7 +65,7 @@ jobs:
         run: python3 ./.github/scripts/find_binary.py --build-dir build --build-type Release
 
       - name: Upload binary
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: qgc-binary
           path: |
@@ -95,6 +95,8 @@ jobs:
             .github/actions/build-config
             .github/actions/qt-install
             .github/scripts/benchmark_runner.py
+            tools/common/build_config.py
+            tools/setup/setup_bootstrap.py
             tools/setup/read_config.py
             .github/build-config.json
           sparse-checkout-cone-mode: false
@@ -112,7 +114,7 @@ jobs:
           modules: ${{ steps.config.outputs.qt_modules }}
 
       - name: Download binary
-        uses: actions/download-artifact@v7
+        uses: actions/download-artifact@v8
         with:
           name: qgc-binary
           path: build
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 9aedaf436668..d9951b3f4500 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -5,15 +5,7 @@ on:
     branches:
       - master
       - 'Stable*'
-    paths:
-      - 'src/**'
-      - 'test/**'
-      - '.pre-commit-config.yaml'
   pull_request:
-    paths:
-      - 'src/**'
-      - 'test/**'
-      - '.pre-commit-config.yaml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -75,7 +67,7 @@ jobs:
         continue-on-error: true
         env:
           PRE_COMMIT_OUTPUT: pre-commit-output.txt
-        run: ./tools/pre-commit.sh --ci
+        run: python3 ./tools/pre_commit.py --ci
 
       - name: Prepare pre-commit results artifact
         if: github.event_name == 'pull_request' && always()
@@ -86,42 +78,18 @@ jobs:
           SKIPPED: ${{ steps.pre-commit.outputs.skipped }}
           RUN_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
         run: |
-          mkdir -p pre-commit-results
-
-          : "${EXIT_CODE:=1}"
-          : "${PASSED:=0}"
-          : "${FAILED:=0}"
-          : "${SKIPPED:=0}"
-
-          python3 - <<'PY'
-          import json
-          import os
-          from pathlib import Path
-
-          output_path = Path("pre-commit-results/pre-commit-results.json")
-          output_path.write_text(
-              json.dumps(
-                  {
-                      "exit_code": os.environ.get("EXIT_CODE", "1"),
-                      "passed": os.environ.get("PASSED", "0"),
-                      "failed": os.environ.get("FAILED", "0"),
-                      "skipped": os.environ.get("SKIPPED", "0"),
-                      "run_url": os.environ.get("RUN_URL", ""),
-                  },
-                  indent=2,
-              )
-              + "\n",
-              encoding="utf-8",
-          )
-          PY
-
-          if [[ -f pre-commit-output.txt ]]; then
-            cp pre-commit-output.txt pre-commit-results/pre-commit-output.txt
-          fi
+          python3 "${GITHUB_WORKSPACE}/.github/scripts/precommit_results.py" \
+            --output-dir pre-commit-results \
+            --exit-code "${EXIT_CODE:-1}" \
+            --passed "${PASSED:-0}" \
+            --failed "${FAILED:-0}" \
+            --skipped "${SKIPPED:-0}" \
+            --run-url "${RUN_URL}" \
+            --output-file pre-commit-output.txt
 
       - name: Upload pre-commit results artifact
         if: github.event_name == 'pull_request' && always()
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: pre-commit-results
           path: pre-commit-results
diff --git a/.github/workflows/px4-metadata.yml b/.github/workflows/px4-metadata.yml
new file mode 100644
index 000000000000..b1ed35e09e10
--- /dev/null
+++ b/.github/workflows/px4-metadata.yml
@@ -0,0 +1,49 @@
+name: Update PX4 Metadata
+
+on:
+  schedule:
+    - cron: '0 6 * * *'  # Daily at 6:00 AM UTC
+  workflow_dispatch:
+
+concurrency:
+  group: 'px4-metadata'
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  update-px4-metadata:
+    if: github.repository_owner == 'mavlink'
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - name: Harden Runner
+        uses: step-security/harden-runner@v2
+        with:
+          egress-policy: audit
+
+      - name: Checkout
+        uses: actions/checkout@v6
+
+      - name: Download PX4 airframe metadata
+        run: curl -fsSL https://artifacts.px4.io/Firmware/_general/airframes.xml -o src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+
+      - name: Download PX4 parameter metadata
+        run: curl -fsSL https://artifacts.px4.io/Firmware/_general/parameters.xml -o src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@v8
+        with:
+          branch: update-px4-metadata
+          title: "chore: update PX4 metadata"
+          commit-message: "chore: update PX4 metadata"
+          body: |
+            This PR was automatically generated by GitHub Actions to update the bundled PX4 metadata files.
+
+            Updated files:
+            - `src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml` (airframe definitions)
+            - `src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml` (parameter catalog)
+
+            Source: https://artifacts.px4.io/Firmware/_general/
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index d89a0f0434ce..b54f1ee43e25 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -1,7 +1,11 @@
 name: Release
 
-# Disabled: semantic-release blocked by branch protection (can't push CHANGELOG.md)
-# To fix: either remove @semantic-release/git plugin or use a PAT from allowed pusher
+# TODO: Disabled — semantic-release blocked by branch protection (can't push CHANGELOG.md)
+# Fix options:
+#   1. Remove @semantic-release/git plugin (skip CHANGELOG commit)
+#   2. Use a PAT from an allowed pusher
+#   3. Use a GitHub App token with bypass permissions
+# Until fixed, this workflow only runs via manual workflow_dispatch.
 on:
   workflow_dispatch:
 
@@ -122,7 +126,7 @@ jobs:
           artifact-name: sbom-cyclonedx
 
       - name: Download artifacts
-        uses: actions/download-artifact@v7
+        uses: actions/download-artifact@v8
         with:
           path: artifacts
           merge-multiple: true
@@ -131,28 +135,28 @@ jobs:
         run: find artifacts -type f | head -50 || echo "No artifacts found"
 
       - name: Attest Linux AppImage
-        uses: actions/attest-sbom@v3
+        uses: actions/attest-sbom@v4
         with:
           subject-path: artifacts/**/QGroundControl*.AppImage
           sbom-path: sbom.spdx.json
         continue-on-error: true
 
       - name: Attest macOS DMG
-        uses: actions/attest-sbom@v3
+        uses: actions/attest-sbom@v4
         with:
           subject-path: artifacts/**/QGroundControl.dmg
           sbom-path: sbom.spdx.json
         continue-on-error: true
 
       - name: Attest Windows EXE
-        uses: actions/attest-sbom@v3
+        uses: actions/attest-sbom@v4
         with:
           subject-path: artifacts/**/QGroundControl*.exe
           sbom-path: sbom.spdx.json
         continue-on-error: true
 
       - name: Attest Android APK
-        uses: actions/attest-sbom@v3
+        uses: actions/attest-sbom@v4
         with:
           subject-path: artifacts/**/QGroundControl.apk
           sbom-path: sbom.spdx.json
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 1eb2d135cf79..2e0cb75441fb 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -10,15 +10,6 @@ on:
     paths-ignore:
       - 'docs/**'
   pull_request:
-    paths:
-      - '.github/workflows/windows.yml'
-      - '.github/actions/**'
-      - 'deploy/windows/**'
-      - 'src/**'
-      - 'test/**'
-      - 'CMakeLists.txt'
-      - 'cmake/**'
-      - 'tools/setup/*windows*'
   merge_group:
   workflow_dispatch:
     inputs:
@@ -30,7 +21,6 @@ on:
         options:
           - Release
           - Debug
-  workflow_call:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -41,10 +31,18 @@ permissions:
   id-token: write
   attestations: write
   actions: read
+  security-events: write
 
 jobs:
+  changes:
+    uses: ./.github/workflows/_detect-changes.yml
+    with:
+      platform: windows
+
   build:
     name: Build ${{ matrix.arch }} ${{ matrix.build_type }}
+    needs: changes
+    if: always() && !cancelled() && (needs.changes.outputs.should_build == 'true' || needs.changes.result == 'skipped')
     runs-on: ${{ matrix.os }}
     timeout-minutes: 120
 
@@ -81,10 +79,10 @@ jobs:
         shell: cmd
 
     steps:
-      # - name: Harden Runner
-      #   uses: step-security/harden-runner@v2
-      #   with:
-      #     egress-policy: audit
+      - name: Harden Runner
+        uses: step-security/harden-runner@v2
+        with:
+          egress-policy: audit
 
       - name: Checkout repo
         uses: actions/checkout@v6
@@ -100,7 +98,6 @@ jobs:
           qt-arch: ${{ matrix.arch }}
           qt-version: ${{ matrix.qt_version || '' }}
           build-type: ${{ matrix.build_type }}
-          save-cache: ${{ github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository }}
 
       - name: Install GStreamer
         if: matrix.arch == 'win64_msvc2022_64'
@@ -113,6 +110,17 @@ jobs:
         with:
           arch: ${{ (matrix.arch == 'win64_msvc2022_64' && 'x64') || (matrix.arch == 'win64_msvc2022_arm64' && 'arm64') || 'amd64_arm64' }}
 
+      - name: Install host Qt for ARM64 cross-compilation
+        if: matrix.arch == 'win64_msvc2022_arm64_cross_compiled'
+        id: qt-host
+        uses: ./.github/actions/qt-install
+        with:
+          version: ${{ steps.build-setup.outputs.qt_version }}
+          host: windows
+          arch: win64_msvc2022_64
+          modules: ${{ steps.build-setup.outputs.qt_modules }}
+          export-env: 'false'
+
       - name: Fix Rust linker resolution (ARM64 native)
         if: matrix.variant == 'arm64'
         shell: bash
@@ -134,7 +142,7 @@ jobs:
           stable: ${{ (github.ref_type == 'tag' || contains(github.ref, 'Stable')) && 'true' || 'false' }}
           extra-args: >-
             -DQGC_ENABLE_GST_VIDEOSTREAMING=${{ matrix.arch == 'win64_msvc2022_64' && 'ON' || 'OFF' }}
-            ${{ matrix.arch == 'win64_msvc2022_arm64_cross_compiled' && format('-DQT_HOST_PATH={0}/../msvc2022_64', env.QT_ROOT_DIR) || '' }}
+            ${{ matrix.arch == 'win64_msvc2022_arm64_cross_compiled' && format('-DQT_HOST_PATH={0}', steps.qt-host.outputs.qt_root_dir) || '' }}
 
       - name: Build
         uses: ./.github/actions/cmake-build
@@ -153,22 +161,14 @@ jobs:
         working-directory: ${{ runner.temp }}\build
         run: cmake --install . --config ${{ matrix.build_type }}
 
-      - name: Attest Build with SBOM
-        if: matrix.build_type == 'Release'
-        uses: ./.github/actions/attest-sbom
-        with:
-          subject-path: ${{ runner.temp }}/build/${{ matrix.package }}.exe
-          subject-name: ${{ matrix.package }}
-          scan-path: ${{ runner.temp }}/build
-
-      - name: Upload artifact (installer)
+      - name: Attest and Upload
         if: matrix.build_type == 'Release'
-        uses: ./.github/actions/upload
+        uses: ./.github/actions/attest-and-upload
         with:
-          artifact_name: ${{ matrix.package }}.exe
-          package_name: ${{ matrix.package }}
-          aws_role_arn: ${{ secrets.AWS_ROLE_ARN }}
-          aws_key_id: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          aws_secret_access_key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          aws_distribution_id: ${{ secrets.AWS_DISTRIBUTION_ID }}
-          upload_aws: ${{ matrix.arch == 'win64_msvc2022_arm64_cross_compiled' && 'false' || 'true' }}
+          artifact-name: ${{ matrix.package }}.exe
+          package-name: ${{ matrix.package }}
+          aws-role-arn: ${{ secrets.AWS_ROLE_ARN }}
+          aws-key-id: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          aws-distribution-id: ${{ secrets.AWS_DISTRIBUTION_ID }}
+          upload-aws: ${{ matrix.arch == 'win64_msvc2022_arm64_cross_compiled' && 'false' || 'true' }}
diff --git a/.gitignore b/.gitignore
index feb50168cf3c..d8daa9afd380 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,9 +26,7 @@ tags
 # ------------------------------------------------------------------------------
 # Build System & CMake
 # ------------------------------------------------------------------------------
-build*/
-!.github/actions/build-setup/
-!.github/actions/build-setup/action.yml
+/build*/
 cmake-build-*/
 out/
 CMakeFiles
@@ -79,7 +77,6 @@ bin/mac
 *.dll
 
 # Build tool artifacts
-Makefile
 *.ninja
 .ninja_log
 build.ninja
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8fab6eae708a..0cf210641680 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -67,7 +67,7 @@ repos:
     rev: v1.1.407
     hooks:
       - id: pyright
-        files: ^(tools|test)/.*\.py$
+        files: ^(tools|test|\.github/scripts)/.*\.py$
 
   # Shell scripts
   - repo: https://github.com/shellcheck-py/shellcheck-py
@@ -107,7 +107,6 @@ repos:
     rev: v1.37.1
     hooks:
       - id: yamllint
-        args: ['-d', '{extends: default, rules: {line-length: {max: 200}, document-start: disable, truthy: {check-keys: false}, comments: {min-spaces-from-content: 1}}}']
 
   # Markdown linting (report-only, doesn't auto-fix)
   - repo: https://github.com/igorshubovych/markdownlint-cli
diff --git a/.qmlformat.ini b/.qmlformat.ini
index 0ada5ddfb3d3..967e78da00c7 100644
--- a/.qmlformat.ini
+++ b/.qmlformat.ini
@@ -5,7 +5,7 @@
 IndentWidth=4
 UseTabs=false
 NormalizeOrder=true
-NewlineType=native
+NewlineType=unix
 ObjectsSpacing=true
 FunctionsSpacing=true
 SortImports=true
diff --git a/.vscode/launch.default.json b/.vscode/launch.default.json
index eed7731d54fc..e51a6123c663 100644
--- a/.vscode/launch.default.json
+++ b/.vscode/launch.default.json
@@ -17,18 +17,13 @@
       "externalConsole": false,
       "name": "Launch QGroundControl",
       "preLaunchTask": "CMake: Build",
-      "program": "${workspaceFolder}/build/QGroundControl",
+      "program": "${workspaceFolder}/build/Debug/QGroundControl",
       "request": "launch",
       "setupCommands": [
         {
           "description": "Enable pretty-printing for gdb",
           "ignoreFailures": true,
           "text": "-enable-pretty-printing"
-        },
-        {
-          "description": "Load Qt pretty printers",
-          "ignoreFailures": true,
-          "text": "source ${workspaceFolder}/tools/gdb-pretty-printers/qt6.py"
         }
       ],
       "stopAtEntry": false,
@@ -43,7 +38,7 @@
       },
       "name": "Launch QGroundControl (LLDB)",
       "preLaunchTask": "CMake: Build",
-      "program": "${workspaceFolder}/build/QGroundControl",
+      "program": "${workspaceFolder}/build/Debug/QGroundControl",
       "request": "launch",
       "type": "lldb"
     },
@@ -57,7 +52,7 @@
       "externalConsole": false,
       "name": "Run Unit Tests (Debug)",
       "preLaunchTask": "CMake: Build",
-      "program": "${workspaceFolder}/build/QGroundControl",
+      "program": "${workspaceFolder}/build/Debug/QGroundControl",
       "request": "launch",
       "setupCommands": [
         {
@@ -79,7 +74,7 @@
       "externalConsole": false,
       "name": "Debug Specific Test",
       "preLaunchTask": "CMake: Build",
-      "program": "${workspaceFolder}/build/QGroundControl",
+      "program": "${workspaceFolder}/build/Debug/QGroundControl",
       "request": "launch",
       "setupCommands": [
         {
@@ -95,7 +90,7 @@
       "MIMode": "gdb",
       "name": "Attach to QGroundControl",
       "processId": "${command:pickProcess}",
-      "program": "${workspaceFolder}/build/QGroundControl",
+      "program": "${workspaceFolder}/build/Debug/QGroundControl",
       "request": "attach",
       "setupCommands": [
         {
diff --git a/.vscode/tasks.default.json b/.vscode/tasks.default.json
index 37a5c4636786..15b183330245 100644
--- a/.vscode/tasks.default.json
+++ b/.vscode/tasks.default.json
@@ -9,10 +9,14 @@
   "tasks": [
     {
       "args": [
-        "--preset",
-        "default"
+        "-B",
+        "build",
+        "-G",
+        "Ninja",
+        "-DCMAKE_BUILD_TYPE=Debug",
+        "-DQGC_BUILD_TESTING=ON"
       ],
-      "command": "cmake",
+      "command": "qt-cmake",
       "group": "build",
       "label": "CMake: Configure (Debug)",
       "problemMatcher": [],
@@ -20,10 +24,14 @@
     },
     {
       "args": [
-        "--preset",
-        "default-release"
+        "-B",
+        "build",
+        "-G",
+        "Ninja",
+        "-DCMAKE_BUILD_TYPE=Release",
+        "-DQGC_BUILD_TESTING=OFF"
       ],
-      "command": "cmake",
+      "command": "qt-cmake",
       "group": "build",
       "label": "CMake: Configure (Release)",
       "problemMatcher": [],
@@ -59,9 +67,11 @@
     },
     {
       "args": [
-        "--unittest"
+        "--test-dir",
+        "build",
+        "--output-on-failure"
       ],
-      "command": "${workspaceFolder}/build/QGroundControl",
+      "command": "ctest",
       "dependsOn": "CMake: Build",
       "group": {
         "isDefault": true,
@@ -73,9 +83,13 @@
     },
     {
       "args": [
-        "--unittest:${input:testClass}"
+        "--test-dir",
+        "build",
+        "--output-on-failure",
+        "-R",
+        "${input:testClass}"
       ],
-      "command": "${workspaceFolder}/build/QGroundControl",
+      "command": "ctest",
       "dependsOn": "CMake: Build",
       "group": "test",
       "label": "Run Specific Test",
@@ -84,33 +98,47 @@
     },
     {
       "args": [
-        "--check"
+        "./tools/analyze.py",
+        "--tool",
+        "clang-format"
       ],
-      "command": "${workspaceFolder}/tools/format-check.sh",
+      "command": "python3",
       "group": "none",
       "label": "Format: Check Changed Files",
       "problemMatcher": [],
       "type": "shell"
     },
     {
-      "args": [],
-      "command": "${workspaceFolder}/tools/format-check.sh",
+      "args": [
+        "./tools/analyze.py",
+        "--tool",
+        "clang-format",
+        "--fix"
+      ],
+      "command": "python3",
       "group": "none",
       "label": "Format: Fix Changed Files",
       "problemMatcher": [],
       "type": "shell"
     },
     {
-      "command": "${workspaceFolder}/tools/analyze.sh",
+      "args": [
+        "./tools/analyze.py"
+      ],
+      "command": "python3",
       "group": "none",
       "label": "Static Analysis",
       "problemMatcher": "$gcc",
       "type": "shell"
     },
     {
-      "command": "${workspaceFolder}/tools/clean.sh",
+      "args": [
+        "run",
+        "--all-files"
+      ],
+      "command": "pre-commit",
       "group": "none",
-      "label": "Clean All",
+      "label": "Pre-commit: Run All",
       "problemMatcher": [],
       "type": "shell"
     },
diff --git a/.yamllint.yml b/.yamllint.yml
new file mode 100644
index 000000000000..3283565553bc
--- /dev/null
+++ b/.yamllint.yml
@@ -0,0 +1,12 @@
+extends: default
+
+rules:
+  document-start: disable
+  line-length:
+    max: 200
+  comments-indentation: disable
+  truthy:
+    allowed-values: ["true", "false"]
+    check-keys: false
+  comments:
+    min-spaces-from-content: 1
diff --git a/AGENTS.md b/AGENTS.md
new file mode 100644
index 000000000000..71476374aa37
--- /dev/null
+++ b/AGENTS.md
@@ -0,0 +1,97 @@
+# AGENTS.md
+
+Instructions for AI coding agents (Codex, Claude Code, etc.) working on QGroundControl.
+
+## Quick References
+
+- [CODING_STYLE.md](CODING_STYLE.md) — Naming, formatting, C++20 features, QML style, logging
+- [.github/CONTRIBUTING.md](.github/CONTRIBUTING.md) — Architecture patterns (Fact System, Multi-Vehicle, FirmwarePlugin)
+- [.github/copilot-instructions.md](.github/copilot-instructions.md) — Code structure, CI structure, quick patterns
+- [tools/README.md](tools/README.md) — Development scripts and tooling
+
+## Build & Test Commands
+
+```bash
+# Configure (Release)
+cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Release
+
+# Build
+cmake --build build --config Release --parallel
+
+# Run unit tests
+cd build && ctest --output-on-failure -L Unit --parallel $(nproc)
+
+# Lint (pre-commit hooks)
+pre-commit run --all-files
+
+# Format C++
+clang-format -i path/to/changed/files.cc
+
+# CI Python script tests
+cd .github/scripts && PYTHONPATH=. python3 -m pytest tests/ -q
+
+# Tools Python tests
+cd tools && uv run --extra scripts --extra test pytest tests/ -q
+```
+
+## Golden Rules
+
+1. **Fact System**: ALL vehicle parameters use Facts. Never create custom parameter storage.
+2. **Multi-Vehicle**: ALWAYS null-check `MultiVehicleManager::instance()->activeVehicle()`
+3. **Firmware Plugin**: Use `vehicle->firmwarePlugin()` for firmware-specific behavior.
+4. **QML Sizing**: Use `ScreenTools.defaultFontPixelHeight/Width`, never hardcoded values.
+5. **QML Colors**: Use `QGCPalette`, never hardcoded colors.
+6. **Match existing style**: Follow conventions of surrounding code. See CODING_STYLE.md.
+
+## Project Layout
+
+```
+src/                    # C++/QML application source
+├── Vehicle/            # Vehicle state and communications
+├── FactSystem/         # Parameter management (Fact, FactGroup, FactMetaData)
+├── FirmwarePlugin/     # PX4/ArduPilot abstraction
+├── MissionManager/     # Mission planning
+├── MAVLink/            # Protocol handling
+├── QmlControls/        # Reusable QML components
+└── Settings/           # Persistent settings
+
+tools/                  # Development scripts and shared Python modules
+├── common/             # Shared Python modules (gh_actions, build_config, etc.)
+├── setup/              # Environment setup scripts
+├── analyzers/          # Static analysis tools
+└── pyproject.toml      # Python dependencies (uv)
+
+.github/
+├── workflows/          # CI workflows (linux, macos, windows, android, ios)
+├── actions/            # Composite actions (cmake-build, run-unit-tests, etc.)
+├── scripts/            # CI-specific Python scripts
+│   ├── common/         # Shared CI modules
+│   └── templates/      # Jinja2 templates
+└── build-config.json   # Centralized version numbers
+```
+
+## CI Conventions
+
+- Platform workflows share logic via composite actions and reusable workflows.
+- CI Python scripts use `httpx` for GitHub API and `jinja2` for templating.
+- Bootstrap scripts (`install_dependencies.py`, `ccache_helper.py`) use stdlib only.
+- Version numbers live in `.github/build-config.json`.
+- Use `common.gh_actions.write_github_output()` for `$GITHUB_OUTPUT` writes.
+
+## C++ Key Patterns
+
+```cpp
+// Always null-check vehicle
+Vehicle* vehicle = MultiVehicleManager::instance()->activeVehicle();
+if (!vehicle) return;
+
+// Access parameters via Fact System
+Fact* param = vehicle->parameterManager()->getParameter(-1, "PARAM_NAME");
+if (param) param->setCookedValue(newValue);
+```
+
+```qml
+// QML vehicle access
+property var vehicle: QGroundControl.multiVehicleManager.activeVehicle
+enabled: vehicle && vehicle.armed
+```
diff --git a/CODING_STYLE.md b/CODING_STYLE.md
index c86e0b9936d1..573c752363fa 100644
--- a/CODING_STYLE.md
+++ b/CODING_STYLE.md
@@ -130,8 +130,24 @@ Q_DECLARE_LOGGING_CATEGORY(MyComponentLog)
 QGC_LOGGING_CATEGORY(MyComponentLog, "qgc.component.name")
 
 // Use categorized logging
+
+// qCDebug is used for general logging. These logs only display when turned on.
+// Do not use qCInfo, always use qCDebug.
 qCDebug(MyComponentLog) << "Debug message";
+
+// qCWarning is used for logging of error flows which are handled but unusual.
+// For example the vehicle failed to respond to a request.
+// These logs will display even when the category is not enabled to display.
 qCWarning(MyComponentLog) << "Warning message";
+
+// qCCritical is used to indicate a coding error.
+// Example: An internal  Fact is using an unsupported Fact type.
+// These logs will cause unit tests to fail if they are hit.
+// These logs will display even when the category is not enabled to display.
+qCCritical(MyComponentLog) << "Internal Error: ...";
+
+// Never use uncategorized logging
+qDebug() << "..."; // This is wrong
 ```
 
 ## Qt6 / QML Integration
diff --git a/Makefile b/Makefile
index f677f7c4f18d..d91993fdf59d 100644
--- a/Makefile
+++ b/Makefile
@@ -40,7 +40,7 @@ help:
 	@echo "  Qt version: $(QT_VERSION)"
 
 # Configuration - reads from centralized config
-QT_VERSION := $(shell ./tools/setup/read-config.sh qt_version 2>/dev/null || echo "6.10.1")
+QT_VERSION := $(shell python3 ./tools/setup/read_config.py --get qt_version 2>/dev/null || echo "6.10.1")
 QT_DIR ?= $(HOME)/Qt/$(QT_VERSION)/gcc_64
 BUILD_TYPE ?= Debug
 BUILD_DIR := build
@@ -51,7 +51,7 @@ submodules:
 
 deps:
 	@echo "Installing dependencies (requires sudo)..."
-	sudo ./tools/setup/install-dependencies-debian.sh
+	python3 ./tools/setup/install_dependencies.py --platform debian
 
 # Build targets
 configure: submodules
@@ -81,22 +81,22 @@ lint:
 	pre-commit run --all-files
 
 format:
-	./tools/analyze.sh --tool clang-format
+	python3 ./tools/analyze.py --tool clang-format
 
 format-fix:
-	./tools/analyze.sh --tool clang-format --fix
+	python3 ./tools/analyze.py --tool clang-format --fix
 
 analyze:
-	./tools/analyze.sh
+	python3 ./tools/analyze.py
 
 coverage:
-	./tools/coverage.sh
+	python3 ./tools/coverage.py
 
 check: lint test
 
 # Other targets
 run:
-	./$(BUILD_DIR)/staging/QGroundControl
+	./$(BUILD_DIR)/$(BUILD_TYPE)/QGroundControl
 
 docs:
 	npm run docs:build
diff --git a/README.md b/README.md
index 78788ca279c6..1087445ee051 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@
 
 <p align="center">
   <a href="https://github.com/mavlink/QGroundControl/releases">
-    <img src="https://img.shields.io/github/release/mavlink/QGroundControl.svg" alt="Latest Release">
+    <img src="https://img.shields.io/github/v/release/mavlink/QGroundControl" alt="Latest Release">
   </a>
 </p>
 
diff --git a/THREAD_SAFETY_ANALYSIS.md b/THREAD_SAFETY_ANALYSIS.md
deleted file mode 100644
index e69de29bb2d1..000000000000
diff --git a/cmake/BuildConfig.cmake b/cmake/BuildConfig.cmake
index 789d94ad7203..e5b9a553f732 100644
--- a/cmake/BuildConfig.cmake
+++ b/cmake/BuildConfig.cmake
@@ -22,8 +22,10 @@ endfunction()
 
 qgc_config_get_value(QGC_CONFIG_QT_VERSION "qt_version")
 qgc_config_get_value(QGC_CONFIG_QT_MINIMUM_VERSION "qt_minimum_version")
-qgc_config_get_value(QGC_CONFIG_GSTREAMER_VERSION "gstreamer_version")
+qgc_config_get_value(QGC_CONFIG_GSTREAMER_VERSION "gstreamer_default_version")
+qgc_config_get_value(QGC_CONFIG_GSTREAMER_MIN_VERSION "gstreamer_minimum_version")
 qgc_config_get_value(QGC_CONFIG_GSTREAMER_ANDROID_VERSION "gstreamer_android_version")
+qgc_config_get_value(QGC_CONFIG_GSTREAMER_IOS_VERSION "gstreamer_ios_version")
 qgc_config_get_value(QGC_CONFIG_GSTREAMER_MACOS_VERSION "gstreamer_macos_version")
 qgc_config_get_value(QGC_CONFIG_GSTREAMER_WIN_VERSION "gstreamer_windows_version")
 qgc_config_get_value(QGC_CONFIG_NDK_VERSION "ndk_version")
@@ -35,4 +37,21 @@ qgc_config_get_value(QGC_CONFIG_CMAKE_MINIMUM "cmake_minimum_version")
 qgc_config_get_value(QGC_CONFIG_MACOS_DEPLOYMENT_TARGET "macos_deployment_target")
 qgc_config_get_value(QGC_CONFIG_IOS_DEPLOYMENT_TARGET "ios_deployment_target")
 
+# Extract patch versions from platform strings (e.g., "1.22.12" -> QGC_GSTREAMER_PATCH_1_22=12)
+foreach(_gst_ver_var QGC_CONFIG_GSTREAMER_ANDROID_VERSION QGC_CONFIG_GSTREAMER_IOS_VERSION QGC_CONFIG_GSTREAMER_MACOS_VERSION QGC_CONFIG_GSTREAMER_WIN_VERSION)
+    if(DEFINED ${_gst_ver_var})
+        string(REPLACE "." ";" _ver_parts "${${_gst_ver_var}}")
+        list(LENGTH _ver_parts _ver_len)
+        if(_ver_len EQUAL 3)
+            list(GET _ver_parts 0 _major)
+            list(GET _ver_parts 1 _minor)
+            list(GET _ver_parts 2 _patch)
+            set(_patch_var "QGC_GSTREAMER_PATCH_${_major}_${_minor}")
+            if(NOT DEFINED ${_patch_var})
+                set(${_patch_var} "${_patch}" CACHE STRING "GStreamer ${_major}.${_minor} patch version (from ${_gst_ver_var})")
+            endif()
+        endif()
+    endif()
+endforeach()
+
 message(STATUS "BuildConfig: Qt ${QGC_CONFIG_QT_VERSION}, GStreamer ${QGC_CONFIG_GSTREAMER_VERSION}, NDK ${QGC_CONFIG_NDK_VERSION}")
diff --git a/cmake/CustomOptions.cmake b/cmake/CustomOptions.cmake
index 84f86ea59216..481e989d4917 100644
--- a/cmake/CustomOptions.cmake
+++ b/cmake/CustomOptions.cmake
@@ -62,9 +62,6 @@ set(QGC_VALGRIND_TIMEOUT_MULTIPLIER 20 CACHE STRING "Timeout multiplier for Valg
 option(QGC_ENABLE_BZIP2 "Enable BZip2 decompression support" OFF)
 option(QGC_ENABLE_LZ4 "Enable LZ4 decompression support" OFF)
 
-# MAVLink Inspector is disabled by default due to GPL licensing of QtCharts
-# option(QGC_DISABLE_MAVLINK_INSPECTOR "Disable MAVLink Inspector" OFF)
-
 # ============================================================================
 # Communication Options
 # ============================================================================
@@ -78,7 +75,6 @@ option(QGC_NO_SERIAL_LINK "Disable serial port communication" OFF)
 
 option(QGC_ENABLE_UVC "Enable UVC (USB Video Class) device support" ON)
 option(QGC_ENABLE_GST_VIDEOSTREAMING "Enable GStreamer video backend" ON)
-cmake_dependent_option(QGC_CUSTOM_GST_PACKAGE "Use QGC-provided GStreamer packages" OFF "QGC_ENABLE_GST_VIDEOSTREAMING" OFF)
 option(QGC_ENABLE_QT_VIDEOSTREAMING "Enable QtMultimedia video backend" OFF)
 
 # ============================================================================
diff --git a/cmake/find-modules/FindGStreamer.cmake b/cmake/find-modules/FindGStreamer.cmake
deleted file mode 100644
index 200da8569dd9..000000000000
--- a/cmake/find-modules/FindGStreamer.cmake
+++ /dev/null
@@ -1,672 +0,0 @@
-# ============================================================================
-# FindGStreamer.cmake
-# CMake find module for GStreamer multimedia framework
-#
-# Handles multiple platforms: Windows, Linux, macOS, Android, iOS
-# Supports both static and dynamic linking
-# ============================================================================
-
-# ----------------------------------------------------------------------------
-# Default Configuration
-# ----------------------------------------------------------------------------
-
-# Set default version based on platform (from build-config.json)
-if(NOT DEFINED GStreamer_FIND_VERSION)
-    if(LINUX)
-        set(GStreamer_FIND_VERSION 1.20)
-    elseif(WIN32)
-        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_WIN_VERSION})
-    elseif(ANDROID)
-        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_ANDROID_VERSION})
-    elseif(MACOS OR IOS)
-        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_MACOS_VERSION})
-    else()
-        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_VERSION})
-    endif()
-endif()
-
-# Determine GStreamer root directory from various environment variables
-if(NOT DEFINED GStreamer_ROOT_DIR)
-    if(DEFINED GSTREAMER_ROOT)
-        set(GStreamer_ROOT_DIR ${GSTREAMER_ROOT})
-    elseif(DEFINED GStreamer_ROOT)
-        set(GStreamer_ROOT_DIR ${GStreamer_ROOT})
-    endif()
-
-    if(DEFINED GStreamer_ROOT_DIR AND NOT EXISTS "${GStreamer_ROOT_DIR}")
-        message(STATUS "GStreamer: User-provided directory does not exist: ${GStreamer_ROOT_DIR}")
-    endif()
-endif()
-
-# Static vs dynamic linking preference
-if(NOT DEFINED GStreamer_USE_STATIC_LIBS)
-    if(ANDROID OR IOS)
-        set(GStreamer_USE_STATIC_LIBS ON)
-    else()
-        set(GStreamer_USE_STATIC_LIBS OFF)
-    endif()
-endif()
-
-# Framework usage (macOS/iOS only)
-if(NOT DEFINED GStreamer_USE_FRAMEWORK)
-    if(APPLE)
-        set(GStreamer_USE_FRAMEWORK ON)
-    else()
-        set(GStreamer_USE_FRAMEWORK OFF)
-    endif()
-endif()
-
-# ============================================================================
-# Platform-Specific Configuration
-# ============================================================================
-
-macro(_gst_normalize_and_validate_root)
-    cmake_path(CONVERT "${GStreamer_ROOT_DIR}" TO_CMAKE_PATH_LIST GStreamer_ROOT_DIR NORMALIZE)
-    if(NOT EXISTS "${GStreamer_ROOT_DIR}")
-        message(FATAL_ERROR "GStreamer: SDK not found at '${GStreamer_ROOT_DIR}' — "
-            "check installation or set GStreamer_ROOT_DIR")
-    endif()
-endmacro()
-
-set(PKG_CONFIG_ARGN)
-
-# ----------------------------------------------------------------------------
-# Windows Platform
-# ----------------------------------------------------------------------------
-if(WIN32)
-    if(NOT DEFINED GStreamer_ROOT_DIR)
-        if(DEFINED ENV{GSTREAMER_1_0_ROOT_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_X86_64}")
-            set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_X86_64}")
-        elseif(MSVC AND DEFINED ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64}")
-            set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64}")
-        elseif(MINGW AND DEFINED ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64}")
-            set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64}")
-        elseif(EXISTS "C:/Program Files/gstreamer/1.0/msvc_x86_64")
-            set(GStreamer_ROOT_DIR "C:/Program Files/gstreamer/1.0/msvc_x86_64")
-        elseif(EXISTS "C:/gstreamer/1.0/msvc_x86_64")
-            set(GStreamer_ROOT_DIR "C:/gstreamer/1.0/msvc_x86_64")
-        endif()
-    endif()
-
-    _gst_normalize_and_validate_root()
-
-    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
-    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
-    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
-
-    set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/bin/pkg-config.exe")
-    # CACHE FORCE ensures find_package(PkgConfig) sees the bundled exe even when
-    # no system pkg-config is on PATH (common in CI containers).
-    set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
-    set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_LIB_PATH}/pkgconfig;${GSTREAMER_PLUGIN_PATH}/pkgconfig;$ENV{PKG_CONFIG_PATH}")
-    list(APPEND PKG_CONFIG_ARGN
-        --dont-define-prefix
-        --define-variable=prefix=${GStreamer_ROOT_DIR}
-        --define-variable=libdir=${GSTREAMER_LIB_PATH}
-        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
-    )
-
-# ----------------------------------------------------------------------------
-# Linux Platform
-# ----------------------------------------------------------------------------
-elseif(LINUX)
-    if(NOT DEFINED GStreamer_ROOT_DIR)
-        if(EXISTS "/usr")
-            set(GStreamer_ROOT_DIR "/usr")
-        endif()
-    endif()
-
-    _gst_normalize_and_validate_root()
-
-    if((EXISTS "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu") AND (EXISTS "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/gstreamer-1.0"))
-        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu")
-    elseif((EXISTS "${GStreamer_ROOT_DIR}/lib64") AND (EXISTS "${GStreamer_ROOT_DIR}/lib64/gstreamer-1.0"))
-        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib64")
-    elseif((EXISTS "${GStreamer_ROOT_DIR}/lib") AND (EXISTS "${GStreamer_ROOT_DIR}/lib/gstreamer-1.0"))
-        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
-    else()
-        message(FATAL_ERROR "Could not locate GStreamer libraries - check installation or set environment/cmake variables")
-    endif()
-
-    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
-    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
-
-    set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_LIB_PATH}/pkgconfig:$ENV{PKG_CONFIG_PATH}")
-
-# ----------------------------------------------------------------------------
-# Android Platform
-# ----------------------------------------------------------------------------
-elseif(ANDROID)
-    set(_gst_freedesktop_url "https://gstreamer.freedesktop.org/data/pkg/android/${GStreamer_FIND_VERSION}/gstreamer-1.0-android-universal-${GStreamer_FIND_VERSION}.tar.xz")
-    set(_gst_s3_url "https://qgroundcontrol.s3.us-west-2.amazonaws.com/dependencies/gstreamer/android/qgc-android-gstreamer-${GStreamer_FIND_VERSION}.tar.xz")
-
-    set(_gst_android_hash "")
-
-    if(QGC_CUSTOM_GST_PACKAGE)
-        set(_gst_android_urls "${_gst_s3_url}")
-        set(_gst_source_variant "custom")
-    elseif(CMAKE_ANDROID_ARCH_ABI MATCHES "^(x86|x86_64)$")
-        # S3 custom package only contains ARM architectures; use freedesktop universal tarball for x86
-        set(_gst_android_urls "${_gst_freedesktop_url}")
-        set(_gst_source_variant "universal")
-        # Fetch checksum only for freedesktop-only downloads where it can be verified
-        set(_gst_checksum_url "${_gst_freedesktop_url}.sha256sum")
-        if(DEFINED ENV{CPM_SOURCE_CACHE})
-            set(_gst_checksum_dir "$ENV{CPM_SOURCE_CACHE}")
-        else()
-            set(_gst_checksum_dir "${CMAKE_BINARY_DIR}/_deps")
-        endif()
-        set(_gst_checksum_file "${_gst_checksum_dir}/gstreamer-android-${GStreamer_FIND_VERSION}.sha256sum")
-        if(NOT EXISTS "${_gst_checksum_file}")
-            file(MAKE_DIRECTORY "${_gst_checksum_dir}")
-            file(DOWNLOAD "${_gst_checksum_url}" "${_gst_checksum_file}"
-                STATUS _checksum_status TIMEOUT 30 TLS_VERIFY ON)
-            list(GET _checksum_status 0 _checksum_code)
-            if(NOT _checksum_code EQUAL 0)
-                file(REMOVE "${_gst_checksum_file}")
-            endif()
-        endif()
-        if(EXISTS "${_gst_checksum_file}")
-            file(READ "${_gst_checksum_file}" _checksum_content)
-            string(STRIP "${_checksum_content}" _checksum_content)
-            string(REGEX MATCH "([0-9a-fA-F]{64})" _checksum_match "${_checksum_content}")
-            if(_checksum_match)
-                set(_gst_android_hash "SHA256=${CMAKE_MATCH_1}")
-            endif()
-        endif()
-    else()
-        set(_gst_android_urls "${_gst_freedesktop_url}" "${_gst_s3_url}")
-        set(_gst_source_variant "universal")
-    endif()
-
-    # Download with retry before passing to CPM (avoids FetchContent timeout failures)
-    if(DEFINED ENV{CPM_SOURCE_CACHE})
-        set(_gst_download_dir "$ENV{CPM_SOURCE_CACHE}/gstreamer-android")
-    else()
-        set(_gst_download_dir "${CMAKE_BINARY_DIR}/_deps/gstreamer-android")
-    endif()
-    set(_gst_archive_name "gstreamer-android-${_gst_source_variant}-${GStreamer_FIND_VERSION}.tar.xz")
-    set(_gst_archive_path "${_gst_download_dir}/${_gst_archive_name}")
-
-    # Extract raw hash from "SHA256=<hex>" format
-    set(_gst_expected_hash "")
-    if(_gst_android_hash)
-        string(REGEX MATCH "=([0-9a-fA-F]+)$" _gst_hash_match "${_gst_android_hash}")
-        if(_gst_hash_match)
-            set(_gst_expected_hash "${CMAKE_MATCH_1}")
-        endif()
-    endif()
-
-    # Verify cached archive integrity
-    set(_gst_need_download TRUE)
-    if(EXISTS "${_gst_archive_path}")
-        if(_gst_expected_hash)
-            file(SHA256 "${_gst_archive_path}" _gst_cached_hash)
-            if(_gst_cached_hash STREQUAL "${_gst_expected_hash}")
-                message(STATUS "GStreamer: Using cached ${_gst_archive_path} (SHA256 verified)")
-                set(_gst_need_download FALSE)
-            else()
-                message(STATUS "GStreamer: Cached archive failed SHA256 check, re-downloading")
-                file(REMOVE "${_gst_archive_path}")
-            endif()
-        else()
-            message(STATUS "GStreamer: Using cached ${_gst_archive_path}")
-            set(_gst_need_download FALSE)
-        endif()
-    endif()
-
-    if(_gst_need_download)
-        file(MAKE_DIRECTORY "${_gst_download_dir}")
-        set(_gst_downloaded FALSE)
-        foreach(_gst_url IN LISTS _gst_android_urls)
-            message(STATUS "GStreamer: Downloading from ${_gst_url}")
-            file(DOWNLOAD "${_gst_url}" "${_gst_archive_path}.tmp"
-                STATUS _gst_dl_status
-                SHOW_PROGRESS
-                TIMEOUT 600
-                INACTIVITY_TIMEOUT 60
-                TLS_VERIFY ON
-            )
-            list(GET _gst_dl_status 0 _gst_dl_code)
-            if(_gst_dl_code EQUAL 0)
-                if(_gst_expected_hash)
-                    file(SHA256 "${_gst_archive_path}.tmp" _gst_actual_hash)
-                    if(NOT _gst_actual_hash STREQUAL "${_gst_expected_hash}")
-                        message(WARNING "GStreamer: SHA256 mismatch from ${_gst_url}, trying next URL")
-                        file(REMOVE "${_gst_archive_path}.tmp")
-                        continue()
-                    endif()
-                endif()
-                file(RENAME "${_gst_archive_path}.tmp" "${_gst_archive_path}")
-                set(_gst_downloaded TRUE)
-                break()
-            endif()
-            list(GET _gst_dl_status 1 _gst_dl_error)
-            message(WARNING "GStreamer: Download failed from ${_gst_url}: ${_gst_dl_error}")
-            file(REMOVE "${_gst_archive_path}.tmp")
-        endforeach()
-        if(NOT _gst_downloaded)
-            message(FATAL_ERROR "GStreamer: All download URLs failed for ${_gst_archive_name}.\n"
-                "Tried: ${_gst_android_urls}\n"
-                "Set GStreamer_ROOT_DIR to use a local installation.")
-        endif()
-    endif()
-
-    CPMAddPackage(
-        NAME gstreamer
-        VERSION ${GStreamer_FIND_VERSION}
-        URL "file://${_gst_archive_path}"
-        DOWNLOAD_EXTRACT_TIMESTAMP ON
-    )
-
-    if(NOT DEFINED GStreamer_ROOT_DIR)
-        if(CMAKE_ANDROID_ARCH_ABI STREQUAL "armeabi-v7a")
-            set(_gst_arch "armv7")
-        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "arm64-v8a")
-            set(_gst_arch "arm64")
-        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "x86")
-            set(_gst_arch "x86")
-        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "x86_64")
-            set(_gst_arch "x86_64")
-        else()
-            message(FATAL_ERROR "GStreamer: Unsupported Android ABI: ${CMAKE_ANDROID_ARCH_ABI}")
-        endif()
-
-        set(GStreamer_ROOT_DIR "${gstreamer_SOURCE_DIR}/${_gst_arch}")
-    endif()
-
-    cmake_path(CONVERT "${GStreamer_ROOT_DIR}" TO_CMAKE_PATH_LIST GStreamer_ROOT_DIR NORMALIZE)
-    if(NOT EXISTS "${GStreamer_ROOT_DIR}")
-        file(GLOB _gst_extracted_dirs LIST_DIRECTORIES true "${gstreamer_SOURCE_DIR}/*")
-        message(FATAL_ERROR
-            "Could not locate GStreamer for ${CMAKE_ANDROID_ARCH_ABI}\n"
-            "  Expected: ${GStreamer_ROOT_DIR}\n"
-            "  Source dir: ${gstreamer_SOURCE_DIR}\n"
-            "  Contents: ${_gst_extracted_dirs}\n"
-            "  Check that the GStreamer tarball contains an '${_gst_arch}' directory."
-        )
-    endif()
-
-    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
-    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
-    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
-
-    # Clear host PKG_CONFIG_PATH to prevent host .pc files contaminating cross-builds.
-    # Use PKG_CONFIG_LIBDIR instead to restrict search to GStreamer SDK paths only.
-    set(ENV{PKG_CONFIG_PATH} "")
-    if(CMAKE_HOST_WIN32)
-        set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/share/gst-android/ndk-build/tools/windows/pkg-config.exe")
-        set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
-        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig;${GSTREAMER_PLUGIN_PATH}/pkgconfig")
-        list(APPEND PKG_CONFIG_ARGN --dont-define-prefix)
-    elseif(CMAKE_HOST_UNIX)
-        if(CMAKE_HOST_APPLE)
-            # Try to find pkg-config in common Homebrew locations and in PATH
-            find_program(PKG_CONFIG_EXECUTABLE
-                NAMES pkg-config
-                PATHS /opt/homebrew/bin /usr/local/bin
-                NO_DEFAULT_PATH
-            )
-            if(NOT PKG_CONFIG_EXECUTABLE)
-                # Fallback to PATH search if not found in Homebrew locations
-                find_program(PKG_CONFIG_EXECUTABLE pkg-config)
-            endif()
-            if(NOT PKG_CONFIG_EXECUTABLE)
-                message(FATAL_ERROR "Could not find pkg-config. Please install pkg-config using tools/setup/install_dependencies.py --platform macos.")
-            endif()
-        endif()
-        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig")
-    endif()
-    list(APPEND PKG_CONFIG_ARGN
-        --define-variable=prefix=${GStreamer_ROOT_DIR}
-        --define-variable=libdir=${GSTREAMER_LIB_PATH}
-        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
-    )
-
-# ----------------------------------------------------------------------------
-# macOS Platform
-# ----------------------------------------------------------------------------
-elseif(MACOS)
-    if(NOT DEFINED GStreamer_ROOT_DIR)
-        if(EXISTS "/Library/Frameworks/GStreamer.framework")
-            set(GStreamer_ROOT_DIR "/Library/Frameworks/GStreamer.framework/Versions/1.0")
-        elseif(EXISTS "/opt/homebrew/opt/gstreamer")
-            set(GStreamer_ROOT_DIR "/opt/homebrew/opt/gstreamer")
-            set(GStreamer_USE_FRAMEWORK OFF)
-        elseif(EXISTS "/usr/local/opt/gstreamer")
-            set(GStreamer_ROOT_DIR "/usr/local/opt/gstreamer")
-            set(GStreamer_USE_FRAMEWORK OFF)
-        endif()
-    endif()
-
-    _gst_normalize_and_validate_root()
-
-    if(GStreamer_USE_FRAMEWORK AND NOT DEFINED GSTREAMER_FRAMEWORK_PATH)
-        set(GSTREAMER_FRAMEWORK_PATH "${GStreamer_ROOT_DIR}/../..")
-        cmake_path(NORMAL_PATH GSTREAMER_FRAMEWORK_PATH)
-    endif()
-
-    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
-    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
-    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
-
-    if(GStreamer_USE_FRAMEWORK)
-        set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/bin/pkg-config")
-        set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
-        set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig:$ENV{PKG_CONFIG_PATH}")
-    else()
-        find_program(PKG_CONFIG_EXECUTABLE NAMES pkg-config pkgconf
-            PATHS /opt/homebrew/bin /usr/local/bin
-            NO_DEFAULT_PATH
-        )
-        if(NOT PKG_CONFIG_EXECUTABLE)
-            find_program(PKG_CONFIG_EXECUTABLE NAMES pkg-config pkgconf)
-        endif()
-        set(ENV{PKG_CONFIG_PATH} "")
-        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig")
-    endif()
-    list(APPEND PKG_CONFIG_ARGN
-        --define-variable=prefix=${GStreamer_ROOT_DIR}
-        --define-variable=libdir=${GSTREAMER_LIB_PATH}
-        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
-    )
-
-# ----------------------------------------------------------------------------
-# iOS Platform (Currently Unsupported)
-# ----------------------------------------------------------------------------
-elseif(IOS)
-    message(FATAL_ERROR "GStreamer for iOS is currently unsupported")
-
-    CPMAddPackage(
-        NAME gstreamer
-        VERSION ${GStreamer_FIND_VERSION}
-        URL "https://gstreamer.freedesktop.org/data/pkg/ios/${GStreamer_FIND_VERSION}/gstreamer-1.0-devel-${GStreamer_FIND_VERSION}-ios-universal.pkg"
-    )
-
-    set(GST_PKG_FILE "${gstreamer_SOURCE_DIR}/gstreamer.pkg")
-    set(GST_EXPAND_DIR "${gstreamer_SOURCE_DIR}/gstreamer-pkg-expanded")
-    set(GST_PAYLOAD_DIR "${GST_EXPAND_DIR}/Payload")
-
-    file(MAKE_DIRECTORY "${GST_EXPAND_DIR}")
-    execute_process(
-        COMMAND pkgutil --expand-full "${GST_PKG_FILE}" "${GST_EXPAND_DIR}"
-        RESULT_VARIABLE _pkgutil_rc
-    )
-    if(NOT _pkgutil_rc EQUAL 0)
-        message(FATAL_ERROR "pkgutil failed to expand GStreamer .pkg")
-    endif()
-
-    execute_process(
-        COMMAND xar -xf "${GST_EXPAND_DIR}/gstreamer-1.0-devel-${GStreamer_FIND_VERSION}-ios-universal.pkg/Payload"
-                --directory "${GST_PAYLOAD_DIR}"
-        RESULT_VARIABLE _xar_rc
-    )
-    if(NOT _xar_rc EQUAL 0)
-        message(FATAL_ERROR "xar failed to extract GStreamer Payload")
-    endif()
-
-    # set(GSTREAMER_FRAMEWORK_PATH "/Library/Developer/GStreamer/iPhone.sdk" CACHE PATH "Path of GStreamer.Framework")
-    set(GSTREAMER_FRAMEWORK_PATH "${GST_PAYLOAD_DIR}/usr/local/Frameworks/GStreamer.framework")
-
-    set(GStreamer_ROOT_DIR "${GSTREAMER_FRAMEWORK_PATH}/Versions/1.0")
-
-    if(NOT EXISTS "${GStreamer_ROOT_DIR}")
-        message(FATAL_ERROR "Could not locate GStreamer - check installation or set environment/cmake variables")
-    endif()
-
-    set(GSTREAMER_INCLUDE_PATH "${GSTREAMER_FRAMEWORK_PATH}/Headers")
-endif()
-
-# ----------------------------------------------------------------------------
-# Validation
-# ----------------------------------------------------------------------------
-if(NOT EXISTS "${GStreamer_ROOT_DIR}" OR NOT EXISTS "${GSTREAMER_LIB_PATH}" OR NOT EXISTS "${GSTREAMER_PLUGIN_PATH}" OR NOT EXISTS "${GSTREAMER_INCLUDE_PATH}")
-    message(FATAL_ERROR "GStreamer: Could not locate required directories - check installation or set GStreamer_ROOT_DIR")
-endif()
-
-if(GStreamer_USE_FRAMEWORK AND NOT EXISTS "${GSTREAMER_FRAMEWORK_PATH}")
-    message(FATAL_ERROR "GStreamer: Could not locate framework at ${GSTREAMER_FRAMEWORK_PATH}")
-endif()
-
-# ============================================================================
-# Plugin & Dependency Configuration
-# ============================================================================
-
-if(GStreamer_USE_STATIC_LIBS)
-    set(GSTREAMER_EXTRA_DEPS
-        gstreamer-base-1.0
-        gstreamer-video-1.0
-        gstreamer-gl-1.0
-        gstreamer-gl-prototypes-1.0
-        gstreamer-rtsp-1.0
-        # gstreamer-gl-egl-1.0
-        # gstreamer-gl-wayland-1.0
-        # gstreamer-gl-x11-1.0
-    )
-
-    set(GSTREAMER_PLUGINS
-        coreelements
-        dav1d
-        isomp4
-        libav
-        matroska
-        mpegtsdemux
-        opengl
-        openh264
-        playback
-        rtp
-        rtpmanager
-        rtsp
-        sdpelem
-        tcp
-        typefindfunctions
-        udp
-        videoparsersbad
-        vpx
-    )
-    if(ANDROID)
-        list(APPEND GSTREAMER_PLUGINS androidmedia) # vulkan
-    elseif(APPLE)
-        list(APPEND GSTREAMER_PLUGINS applemedia vulkan)
-    elseif(WIN32)
-        list(APPEND GSTREAMER_PLUGINS d3d d3d11 d3d12 dxva nvcodec)
-    elseif(LINUX)
-        list(APPEND GSTREAMER_PLUGINS nvcodec qsv va vulkan) # qml6 - GStreamer provided qml6 is xcb only
-    endif()
-endif()
-
-if(ANDROID)
-    set(GStreamer_Mobile_MODULE_NAME gstreamer_android)
-    set(G_IO_MODULES openssl)
-    set(G_IO_MODULES_PATH "${GStreamer_ROOT_DIR}/lib/gio/modules")
-
-    set(GStreamer_NDK_BUILD_PATH  "${GStreamer_ROOT_DIR}/share/gst-android/ndk-build/")
-    set(GSTREAMER_ANDROID_MODULE_NAME gstreamer_android)
-    set(GSTREAMER_JAVA_SRC_DIR "${CMAKE_BINARY_DIR}/android-build-${CMAKE_PROJECT_NAME}/src")
-    set(GSTREAMER_ASSETS_DIR "${CMAKE_BINARY_DIR}/android-build-${CMAKE_PROJECT_NAME}/assets")
-
-    configure_file(
-        "${GStreamer_NDK_BUILD_PATH}/gstreamer_android-1.0.c.in"
-        "${GStreamer_Mobile_MODULE_NAME}.c"
-    )
-endif()
-
-# ============================================================================
-# Package Discovery
-# ============================================================================
-
-set(GStreamer_ROOT_DIR "${GStreamer_ROOT_DIR}" CACHE PATH "GStreamer SDK root directory" FORCE)
-
-if(GStreamer_USE_FRAMEWORK)
-    list(APPEND CMAKE_FRAMEWORK_PATH "${GSTREAMER_FRAMEWORK_PATH}")
-endif()
-
-if(GStreamer_USE_STATIC_LIBS)
-    list(APPEND PKG_CONFIG_ARGN "--static")
-endif()
-
-find_package(PkgConfig REQUIRED QUIET)
-
-list(PREPEND CMAKE_PREFIX_PATH ${GStreamer_ROOT_DIR})
-if(LINUX)
-    pkg_check_modules(PC_GSTREAMER REQUIRED gstreamer-1.0>=${GStreamer_FIND_VERSION})
-else()
-    pkg_check_modules(PC_GSTREAMER REQUIRED gstreamer-1.0=${GStreamer_FIND_VERSION})
-endif()
-set(GStreamer_VERSION "${PC_GSTREAMER_VERSION}")
-
-# ============================================================================
-# Component Discovery
-# ============================================================================
-
-# Helper function to find individual GStreamer components
-function(find_gstreamer_component component pkgconfig_name)
-    set(target GStreamer::${component})
-
-    if(NOT TARGET ${target})
-        string(TOUPPER ${component} upper)
-        pkg_check_modules(PC_GSTREAMER_${upper} IMPORTED_TARGET ${pkgconfig_name})
-        if(TARGET PkgConfig::PC_GSTREAMER_${upper})
-            qt_add_library(GStreamer::${component} INTERFACE IMPORTED)
-            target_link_libraries(GStreamer::${component} INTERFACE PkgConfig::PC_GSTREAMER_${upper})
-            if("PC_GSTREAMER_${upper}" MATCHES "PC_GSTREAMER_GL")
-                get_target_property(_qt_incs PkgConfig::PC_GSTREAMER_GL INTERFACE_INCLUDE_DIRECTORIES)
-                set(__qt_fixed_incs)
-                foreach(path IN LISTS _qt_incs)
-                    if(IS_DIRECTORY "${path}")
-                        list(APPEND __qt_fixed_incs "${path}")
-                    endif()
-                endforeach()
-                set_property(TARGET PkgConfig::PC_GSTREAMER_GL PROPERTY INTERFACE_INCLUDE_DIRECTORIES "${__qt_fixed_incs}")
-            endif()
-        endif()
-    endif()
-
-    if(TARGET ${target})
-        set(GStreamer_${component}_FOUND TRUE PARENT_SCOPE)
-    endif()
-endfunction()
-
-# ----------------------------------------------------------------------------
-# Find Core Components (Always Required)
-# ----------------------------------------------------------------------------
-find_gstreamer_component(Core gstreamer-1.0)
-find_gstreamer_component(Base gstreamer-base-1.0)
-find_gstreamer_component(Video gstreamer-video-1.0)
-find_gstreamer_component(Gl gstreamer-gl-1.0)
-find_gstreamer_component(GlPrototypes gstreamer-gl-prototypes-1.0)
-find_gstreamer_component(Rtsp gstreamer-rtsp-1.0)
-
-# ----------------------------------------------------------------------------
-# Find Optional Components (Based on FIND_COMPONENTS)
-# ----------------------------------------------------------------------------
-if(GlEgl IN_LIST GStreamer_FIND_COMPONENTS)
-    find_gstreamer_component(GlEgl gstreamer-gl-egl-1.0)
-endif()
-
-if(GlWayland IN_LIST GStreamer_FIND_COMPONENTS)
-    find_gstreamer_component(GlWayland gstreamer-gl-wayland-1.0)
-endif()
-
-if(GlX11 IN_LIST GStreamer_FIND_COMPONENTS)
-    find_gstreamer_component(GlX11 gstreamer-gl-x11-1.0)
-endif()
-
-# ============================================================================
-# Package Finalization
-# ============================================================================
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(GStreamer
-    VERSION_VAR GStreamer_VERSION
-    HANDLE_COMPONENTS
-)
-
-# ----------------------------------------------------------------------------
-# Create Main GStreamer Target
-# ----------------------------------------------------------------------------
-if(GStreamer_FOUND AND NOT TARGET GStreamer::GStreamer)
-    qt_add_library(GStreamer::GStreamer INTERFACE IMPORTED)
-
-    if(GStreamer_USE_STATIC_LIBS)
-        target_compile_definitions(GStreamer::GStreamer INTERFACE QGC_GST_STATIC_BUILD)
-    endif()
-
-    if(APPLE AND GStreamer_USE_FRAMEWORK)
-        set(CMAKE_FIND_FRAMEWORK ONLY)
-        find_library(GSTREAMER_FRAMEWORK GStreamer
-            PATHS
-                "${GSTREAMER_FRAMEWORK_PATH}"
-                "/Library/Frameworks"
-                "/usr/local/opt/gstreamer"
-                "/opt/homebrew/opt/gstreamer"
-        )
-        unset(CMAKE_FIND_FRAMEWORK)
-        if(GSTREAMER_FRAMEWORK)
-            target_link_libraries(GStreamer::GStreamer INTERFACE ${GSTREAMER_FRAMEWORK})
-            target_include_directories(GStreamer::GStreamer INTERFACE "${GSTREAMER_FRAMEWORK}/Headers")
-            if(MACOS)
-                target_compile_definitions(GStreamer::GStreamer INTERFACE QGC_GST_MACOS_FRAMEWORK)
-            endif()
-            return()
-        else()
-            message(FATAL_ERROR "GStreamer: Could not locate GStreamer.framework")
-        endif()
-
-    # Android-specific link options
-    elseif(ANDROID)
-        target_link_options(GStreamer::GStreamer INTERFACE "-Wl,-Bsymbolic")
-        if(CMAKE_SIZEOF_VOID_P EQUAL 4)
-            target_link_options(GStreamer::GStreamer INTERFACE "-Wl,-z,notext")
-        endif()
-    endif()
-
-    target_link_directories(GStreamer::GStreamer INTERFACE ${GSTREAMER_LIB_PATH})
-
-    target_link_libraries(GStreamer::GStreamer
-        INTERFACE
-            GStreamer::Core
-            GStreamer::Base
-            GStreamer::Video
-            GStreamer::Gl
-            GStreamer::GlPrototypes
-            GStreamer::Rtsp
-    )
-
-    foreach(component IN LISTS GStreamer_FIND_COMPONENTS)
-        if(GStreamer_${component}_FOUND)
-            target_link_libraries(GStreamer::GStreamer INTERFACE GStreamer::${component})
-        endif()
-    endforeach()
-
-# ----------------------------------------------------------------------------
-# Static Plugin Linking (Static Builds Only)
-# ----------------------------------------------------------------------------
-    if(GStreamer_USE_STATIC_LIBS)
-        qt_add_library(GStreamer::Plugins INTERFACE IMPORTED)
-        target_link_directories(GStreamer::Plugins INTERFACE ${GSTREAMER_PLUGIN_PATH})
-
-        foreach(plugin IN LISTS GSTREAMER_PLUGINS)
-            pkg_check_modules(GST_PLUGIN_${plugin} QUIET IMPORTED_TARGET gst${plugin})
-            if(GST_PLUGIN_${plugin}_FOUND)
-                target_link_libraries(GStreamer::Plugins INTERFACE PkgConfig::GST_PLUGIN_${plugin})
-            else()
-                find_library(GST_PLUGIN_${plugin}_LIBRARY
-                    NAMES gst${plugin}
-                    PATHS
-                        ${GSTREAMER_LIB_PATH}
-                        ${GSTREAMER_PLUGIN_PATH}
-                )
-                if(GST_PLUGIN_${plugin}_LIBRARY)
-                    target_link_libraries(GStreamer::Plugins INTERFACE ${GST_PLUGIN_${plugin}_LIBRARY})
-                    set(GST_PLUGIN_${plugin}_FOUND TRUE)
-                endif()
-            endif()
-            if(GST_PLUGIN_${plugin}_FOUND)
-                target_compile_definitions(GStreamer::Plugins INTERFACE GST_PLUGIN_${plugin}_FOUND)
-            endif()
-        endforeach()
-
-        target_link_libraries(GStreamer::GStreamer INTERFACE GStreamer::Plugins)
-    endif()
-endif()
diff --git a/cmake/find-modules/FindQGCGStreamer.cmake b/cmake/find-modules/FindQGCGStreamer.cmake
new file mode 100644
index 000000000000..d267994b5b74
--- /dev/null
+++ b/cmake/find-modules/FindQGCGStreamer.cmake
@@ -0,0 +1,595 @@
+if(NOT DEFINED GStreamer_FIND_VERSION)
+    if(LINUX)
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_MIN_VERSION})
+    elseif(WIN32)
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_WIN_VERSION})
+    elseif(ANDROID)
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_ANDROID_VERSION})
+    elseif(IOS)
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_IOS_VERSION})
+    elseif(MACOS)
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_MACOS_VERSION})
+    else()
+        set(GStreamer_FIND_VERSION ${QGC_CONFIG_GSTREAMER_VERSION})
+    endif()
+endif()
+
+if(NOT GStreamer_FIND_VERSION)
+    message(FATAL_ERROR "GStreamer version not configured. Ensure BuildConfig.cmake has been included "
+        "and .github/build-config.json contains the appropriate gstreamer_*_version entry.")
+endif()
+
+if(NOT DEFINED GStreamer_ROOT_DIR)
+    if(DEFINED GSTREAMER_ROOT)
+        set(GStreamer_ROOT_DIR ${GSTREAMER_ROOT})
+    elseif(DEFINED GStreamer_ROOT)
+        set(GStreamer_ROOT_DIR ${GStreamer_ROOT})
+    endif()
+
+    if(DEFINED GStreamer_ROOT_DIR AND NOT EXISTS "${GStreamer_ROOT_DIR}")
+        message(FATAL_ERROR "GStreamer: User-provided directory does not exist: ${GStreamer_ROOT_DIR}\n"
+            "Correct the path or unset GStreamer_ROOT_DIR.")
+    endif()
+endif()
+
+if(NOT DEFINED GStreamer_USE_STATIC_LIBS)
+    if(ANDROID OR IOS)
+        set(GStreamer_USE_STATIC_LIBS ON)
+    else()
+        set(GStreamer_USE_STATIC_LIBS OFF)
+    endif()
+endif()
+
+if(NOT DEFINED GStreamer_USE_FRAMEWORK)
+    if(APPLE)
+        set(GStreamer_USE_FRAMEWORK ON)
+    else()
+        set(GStreamer_USE_FRAMEWORK OFF)
+    endif()
+endif()
+
+include(GStreamerHelpers)
+
+set(PKG_CONFIG_ARGN)
+
+function(_qgc_find_apple_pkg_config OUT_VAR)
+    find_program(_qgc_pkg_config
+        NAMES pkg-config pkgconf
+        PATHS /opt/homebrew/bin /usr/local/bin
+        NO_DEFAULT_PATH
+    )
+    if(NOT _qgc_pkg_config)
+        find_program(_qgc_pkg_config NAMES pkg-config pkgconf)
+    endif()
+    if(NOT _qgc_pkg_config)
+        message(FATAL_ERROR
+            "Could not find pkg-config.\n"
+            "Install dependencies with: python3 tools/setup/install_dependencies.py --platform macos\n"
+            "or install pkg-config manually (for example: brew install pkg-config).")
+    endif()
+    set(${OUT_VAR} "${_qgc_pkg_config}" CACHE FILEPATH "pkg-config executable" FORCE)
+    unset(_qgc_pkg_config CACHE)
+endfunction()
+
+function(_qgc_validate_expanded_pkg EXPANDED_DIR LABEL)
+    file(GLOB _payloads "${EXPANDED_DIR}/*.pkg/Payload")
+    if(NOT _payloads)
+        file(REMOVE_RECURSE "${EXPANDED_DIR}")
+        message(FATAL_ERROR
+            "pkgutil expanded GStreamer ${LABEL} package but no payloads were found in ${EXPANDED_DIR}")
+    endif()
+endfunction()
+
+if(WIN32 AND NOT ANDROID)
+    if(CMAKE_SYSTEM_PROCESSOR MATCHES "ARM64|aarch64")
+        set(_gst_win_arch "arm64")
+    else()
+        set(_gst_win_arch "x86_64")
+    endif()
+
+    if(NOT DEFINED GStreamer_ROOT_DIR)
+        if(_gst_win_arch STREQUAL "arm64")
+            if(DEFINED ENV{GSTREAMER_1_0_ROOT_ARM64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_ARM64}")
+                set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_ARM64}")
+            elseif(MSVC AND DEFINED ENV{GSTREAMER_1_0_ROOT_MSVC_ARM64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_MSVC_ARM64}")
+                set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_MSVC_ARM64}")
+            elseif(EXISTS "C:/Program Files/gstreamer/1.0/msvc_arm64")
+                set(GStreamer_ROOT_DIR "C:/Program Files/gstreamer/1.0/msvc_arm64")
+            elseif(EXISTS "C:/gstreamer/1.0/msvc_arm64")
+                set(GStreamer_ROOT_DIR "C:/gstreamer/1.0/msvc_arm64")
+            endif()
+        else()
+            if(DEFINED ENV{GSTREAMER_1_0_ROOT_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_X86_64}")
+                set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_X86_64}")
+            elseif(MSVC AND DEFINED ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64}")
+                set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_MSVC_X86_64}")
+            elseif(MINGW AND DEFINED ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64} AND EXISTS "$ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64}")
+                set(GStreamer_ROOT_DIR "$ENV{GSTREAMER_1_0_ROOT_MINGW_X86_64}")
+            elseif(EXISTS "C:/Program Files/gstreamer/1.0/msvc_x86_64")
+                set(GStreamer_ROOT_DIR "C:/Program Files/gstreamer/1.0/msvc_x86_64")
+            elseif(EXISTS "C:/gstreamer/1.0/msvc_x86_64")
+                set(GStreamer_ROOT_DIR "C:/gstreamer/1.0/msvc_x86_64")
+            endif()
+        endif()
+    endif()
+
+    _gst_normalize_and_validate_root()
+
+    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
+    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
+    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
+
+    set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/bin/pkg-config.exe")
+    set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
+    set(ENV{PKG_CONFIG_PATH} "")
+    set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig;${GSTREAMER_PLUGIN_PATH}/pkgconfig")
+    list(APPEND PKG_CONFIG_ARGN
+        --dont-define-prefix
+        --define-variable=prefix=${GStreamer_ROOT_DIR}
+        --define-variable=libdir=${GSTREAMER_LIB_PATH}
+        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
+    )
+
+elseif(LINUX AND NOT ANDROID)
+    if(NOT DEFINED GStreamer_ROOT_DIR)
+        set(GStreamer_ROOT_DIR "/usr")
+    endif()
+
+    _gst_normalize_and_validate_root()
+
+    if((EXISTS "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu") AND (EXISTS "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/gstreamer-1.0"))
+        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu")
+    elseif((EXISTS "${GStreamer_ROOT_DIR}/lib64") AND (EXISTS "${GStreamer_ROOT_DIR}/lib64/gstreamer-1.0"))
+        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib64")
+    elseif((EXISTS "${GStreamer_ROOT_DIR}/lib") AND (EXISTS "${GStreamer_ROOT_DIR}/lib/gstreamer-1.0"))
+        set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
+    else()
+        message(FATAL_ERROR "Could not locate GStreamer libraries - check installation or set environment/cmake variables")
+    endif()
+
+    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
+    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
+
+    set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_LIB_PATH}/pkgconfig:$ENV{PKG_CONFIG_PATH}")
+
+elseif(ANDROID)
+    gstreamer_get_package_url(android ${GStreamer_FIND_VERSION} _gst_android_url)
+    gstreamer_get_s3_mirror_url(android ${GStreamer_FIND_VERSION} _gst_android_s3_url)
+    gstreamer_fetch_checksum(android ${GStreamer_FIND_VERSION} _gst_android_hash)
+
+    if(CPM_SOURCE_CACHE)
+        set(_gst_android_cache "${CPM_SOURCE_CACHE}/gstreamer-android")
+    else()
+        set(_gst_android_cache "${CMAKE_BINARY_DIR}/_deps/gstreamer-android")
+    endif()
+    gstreamer_resilient_download(
+        URLS "${_gst_android_url}" "${_gst_android_s3_url}"
+        FILENAME "gstreamer-android-${GStreamer_FIND_VERSION}.tar.xz"
+        DESTINATION_DIR "${_gst_android_cache}"
+        RESULT_VAR _gst_android_archive
+        EXPECTED_HASH "${_gst_android_hash}"
+    )
+
+    CPMAddPackage(
+        NAME gstreamer
+        VERSION ${GStreamer_FIND_VERSION}
+        URL "file://${_gst_android_archive}"
+    )
+
+    if(NOT DEFINED GStreamer_ROOT_DIR)
+        if(CMAKE_ANDROID_ARCH_ABI STREQUAL "armeabi-v7a")
+            set(GStreamer_ABI_DIR "armv7")
+        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "arm64-v8a")
+            set(GStreamer_ABI_DIR "arm64")
+        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "x86")
+            set(GStreamer_ABI_DIR "x86")
+        elseif(CMAKE_ANDROID_ARCH_ABI STREQUAL "x86_64")
+            set(GStreamer_ABI_DIR "x86_64")
+        else()
+            message(FATAL_ERROR "Unsupported Android ABI: ${CMAKE_ANDROID_ARCH_ABI}")
+        endif()
+        set(GStreamer_ROOT_DIR "${gstreamer_SOURCE_DIR}/${GStreamer_ABI_DIR}")
+        set(GStreamer_AUTO_DOWNLOADED TRUE)
+    endif()
+
+    _gst_normalize_and_validate_root()
+
+    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
+    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
+    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
+
+    set(ENV{PKG_CONFIG_PATH} "")
+    if(CMAKE_HOST_WIN32)
+        set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/share/gst-android/ndk-build/tools/windows/pkg-config.exe")
+        set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
+        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig;${GSTREAMER_PLUGIN_PATH}/pkgconfig")
+        list(APPEND PKG_CONFIG_ARGN --dont-define-prefix)
+    elseif(CMAKE_HOST_UNIX)
+        if(CMAKE_HOST_APPLE)
+            _qgc_find_apple_pkg_config(PKG_CONFIG_EXECUTABLE)
+        endif()
+        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig")
+    endif()
+    list(APPEND PKG_CONFIG_ARGN
+        --define-variable=prefix=${GStreamer_ROOT_DIR}
+        --define-variable=libdir=${GSTREAMER_LIB_PATH}
+        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
+    )
+
+elseif(MACOS AND NOT IOS)
+    if(NOT DEFINED GStreamer_ROOT_DIR)
+        if(EXISTS "/Library/Frameworks/GStreamer.framework")
+            set(GStreamer_ROOT_DIR "/Library/Frameworks/GStreamer.framework/Versions/1.0")
+        elseif(EXISTS "/opt/homebrew/opt/gstreamer")
+            set(GStreamer_ROOT_DIR "/opt/homebrew/opt/gstreamer")
+            set(GStreamer_USE_FRAMEWORK OFF)
+        elseif(EXISTS "/usr/local/opt/gstreamer")
+            set(GStreamer_ROOT_DIR "/usr/local/opt/gstreamer")
+            set(GStreamer_USE_FRAMEWORK OFF)
+        endif()
+    endif()
+
+    _gst_normalize_and_validate_root()
+
+    if(GStreamer_USE_FRAMEWORK AND NOT DEFINED GSTREAMER_FRAMEWORK_PATH)
+        set(GSTREAMER_FRAMEWORK_PATH "${GStreamer_ROOT_DIR}/../..")
+        cmake_path(NORMAL_PATH GSTREAMER_FRAMEWORK_PATH)
+    endif()
+
+    set(GSTREAMER_INCLUDE_PATH "${GStreamer_ROOT_DIR}/include")
+    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
+    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
+
+    if(GStreamer_USE_FRAMEWORK)
+        set(ENV{PKG_CONFIG} "${GStreamer_ROOT_DIR}/bin/pkg-config")
+        set(PKG_CONFIG_EXECUTABLE "$ENV{PKG_CONFIG}" CACHE FILEPATH "pkg-config executable" FORCE)
+        set(ENV{PKG_CONFIG_PATH} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig:$ENV{PKG_CONFIG_PATH}")
+    else()
+        _qgc_find_apple_pkg_config(PKG_CONFIG_EXECUTABLE)
+        set(ENV{PKG_CONFIG_PATH} "")
+        set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig")
+    endif()
+    list(APPEND PKG_CONFIG_ARGN
+        --define-variable=prefix=${GStreamer_ROOT_DIR}
+        --define-variable=libdir=${GSTREAMER_LIB_PATH}
+        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
+    )
+
+elseif(IOS)
+    if(NOT CMAKE_HOST_APPLE)
+        message(FATAL_ERROR "GStreamer for iOS can only be built on macOS")
+    endif()
+
+    if(NOT DEFINED GStreamer_ROOT_DIR)
+        if(EXISTS "/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework")
+            set(GSTREAMER_FRAMEWORK_PATH "/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework")
+            set(GStreamer_ROOT_DIR "${GSTREAMER_FRAMEWORK_PATH}/Versions/1.0")
+        endif()
+    endif()
+
+    if(NOT DEFINED GStreamer_ROOT_DIR OR NOT EXISTS "${GStreamer_ROOT_DIR}")
+        gstreamer_get_package_url(ios ${GStreamer_FIND_VERSION} _gst_ios_url)
+        gstreamer_get_s3_mirror_url(ios ${GStreamer_FIND_VERSION} _gst_ios_s3_url)
+        gstreamer_fetch_checksum(ios ${GStreamer_FIND_VERSION} _gst_ios_hash)
+
+        set(_gst_ios_cache_dir "${CMAKE_BINARY_DIR}/_deps/gstreamer-ios-${GStreamer_FIND_VERSION}")
+        set(_gst_ios_expanded "${_gst_ios_cache_dir}/expanded")
+
+        gstreamer_resilient_download(
+            URLS "${_gst_ios_url}" "${_gst_ios_s3_url}"
+            FILENAME "gstreamer-ios.pkg"
+            DESTINATION_DIR "${_gst_ios_cache_dir}"
+            RESULT_VAR _gst_ios_pkg
+            EXPECTED_HASH "${_gst_ios_hash}"
+        )
+
+        if(EXISTS "${_gst_ios_expanded}")
+            set(_gst_ios_complete FALSE)
+            file(GLOB _existing_pkg_dirs "${_gst_ios_expanded}/*.pkg")
+            foreach(_dir IN LISTS _existing_pkg_dirs)
+                if(EXISTS "${_dir}/Payload/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework")
+                    set(_gst_ios_complete TRUE)
+                    break()
+                endif()
+            endforeach()
+            if(NOT _gst_ios_complete)
+                message(STATUS "GStreamer: cached iOS expansion is incomplete; re-expanding")
+                file(REMOVE_RECURSE "${_gst_ios_expanded}")
+            endif()
+        endif()
+
+        if(NOT EXISTS "${_gst_ios_expanded}")
+            message(STATUS "Expanding GStreamer iOS package...")
+            execute_process(
+                COMMAND pkgutil --expand-full "${_gst_ios_pkg}" "${_gst_ios_expanded}"
+                RESULT_VARIABLE _pkgutil_rc
+            )
+            if(NOT _pkgutil_rc EQUAL 0)
+                file(REMOVE_RECURSE "${_gst_ios_expanded}")
+                message(FATAL_ERROR
+                    "pkgutil failed to expand GStreamer iOS .pkg (exit code: ${_pkgutil_rc})")
+            endif()
+            _qgc_validate_expanded_pkg("${_gst_ios_expanded}" "iOS")
+        endif()
+
+        file(GLOB _pkg_dirs "${_gst_ios_expanded}/*.pkg")
+        foreach(_pkg_dir IN LISTS _pkg_dirs)
+            if(EXISTS "${_pkg_dir}/Payload/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework")
+                set(GSTREAMER_FRAMEWORK_PATH "${_pkg_dir}/Payload/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework")
+                break()
+            endif()
+        endforeach()
+
+        if(NOT GSTREAMER_FRAMEWORK_PATH)
+            message(FATAL_ERROR "Could not locate GStreamer.framework in downloaded iOS SDK")
+        endif()
+
+        set(GStreamer_ROOT_DIR "${GSTREAMER_FRAMEWORK_PATH}/Versions/1.0")
+        set(GStreamer_AUTO_DOWNLOADED TRUE)
+    endif()
+
+    _gst_normalize_and_validate_root()
+
+    set(GStreamer_USE_FRAMEWORK ON)
+    if(NOT DEFINED GSTREAMER_FRAMEWORK_PATH)
+        set(GSTREAMER_FRAMEWORK_PATH "${GStreamer_ROOT_DIR}/../..")
+        cmake_path(NORMAL_PATH GSTREAMER_FRAMEWORK_PATH)
+    endif()
+    set(GSTREAMER_INCLUDE_PATH "${GSTREAMER_FRAMEWORK_PATH}/Headers")
+    set(GSTREAMER_LIB_PATH "${GStreamer_ROOT_DIR}/lib")
+    set(GSTREAMER_PLUGIN_PATH "${GSTREAMER_LIB_PATH}/gstreamer-1.0")
+
+    _qgc_find_apple_pkg_config(PKG_CONFIG_EXECUTABLE)
+
+    set(ENV{PKG_CONFIG_PATH} "")
+    set(ENV{PKG_CONFIG_LIBDIR} "${GSTREAMER_LIB_PATH}/pkgconfig:${GSTREAMER_PLUGIN_PATH}/pkgconfig")
+    list(APPEND PKG_CONFIG_ARGN
+        --define-variable=prefix=${GStreamer_ROOT_DIR}
+        --define-variable=libdir=${GSTREAMER_LIB_PATH}
+        --define-variable=includedir=${GSTREAMER_INCLUDE_PATH}
+    )
+endif()
+
+if(NOT EXISTS "${GStreamer_ROOT_DIR}" OR NOT EXISTS "${GSTREAMER_LIB_PATH}" OR NOT EXISTS "${GSTREAMER_PLUGIN_PATH}" OR NOT EXISTS "${GSTREAMER_INCLUDE_PATH}")
+    message(FATAL_ERROR "GStreamer: Could not locate required directories - check installation or set GStreamer_ROOT_DIR")
+endif()
+
+if(GStreamer_USE_FRAMEWORK AND NOT EXISTS "${GSTREAMER_FRAMEWORK_PATH}")
+    message(FATAL_ERROR "GStreamer: Could not locate framework at ${GSTREAMER_FRAMEWORK_PATH}")
+endif()
+
+# Sub-libraries used directly by QGC source code. Plugin transitive deps
+# are resolved automatically from each plugin's .pc file.
+if(NOT DEFINED GSTREAMER_EXTRA_DEPS)
+    set(GSTREAMER_EXTRA_DEPS
+        gstreamer-base-1.0
+        gstreamer-gl-1.0
+        gstreamer-gl-prototypes-1.0
+        gstreamer-rtsp-1.0
+        gstreamer-video-1.0
+    )
+    if(WIN32)
+        list(APPEND GSTREAMER_EXTRA_DEPS graphene-1.0)
+    endif()
+    if(ANDROID OR IOS)
+        list(APPEND GSTREAMER_EXTRA_DEPS gio-2.0)
+    endif()
+    if(ANDROID)
+        list(APPEND GSTREAMER_EXTRA_DEPS gmodule-2.0 zlib)
+    endif()
+endif()
+
+if(NOT DEFINED GSTREAMER_PLUGINS)
+    set(GSTREAMER_PLUGINS
+        coreelements
+        isomp4
+        libav
+        matroska
+        mpegtsdemux
+        opengl
+        openh264
+        playback
+        rtp
+        rtpmanager
+        rtsp
+        sdpelem
+        tcp
+        typefindfunctions
+        udp
+        videoconvertscale
+        videoparsersbad
+        vpx
+    )
+    if(ANDROID)
+        list(APPEND GSTREAMER_PLUGINS androidmedia dav1d)
+    elseif(APPLE)
+        list(APPEND GSTREAMER_PLUGINS applemedia dav1d vulkan)
+    elseif(WIN32)
+        list(APPEND GSTREAMER_PLUGINS d3d d3d11 d3d12 dav1d dxva nvcodec)
+    elseif(LINUX)
+        list(APPEND GSTREAMER_PLUGINS dav1d nvcodec qsv va vulkan)
+    endif()
+endif()
+
+if(ANDROID)
+    set(GStreamer_Mobile_MODULE_NAME gstreamer_android)
+    set(G_IO_MODULES openssl)
+    set(G_IO_MODULES_PATH "${GStreamer_ROOT_DIR}/lib/gio/modules")
+    set(GStreamer_NDK_BUILD_PATH "${GStreamer_ROOT_DIR}/share/gst-android/ndk-build")
+    set(GStreamer_JAVA_SRC_DIR "${CMAKE_BINARY_DIR}/android-build-${CMAKE_PROJECT_NAME}/src")
+    set(GStreamer_ASSETS_DIR "${CMAKE_BINARY_DIR}/android-build-${CMAKE_PROJECT_NAME}/assets")
+elseif(IOS)
+    set(GStreamer_Mobile_MODULE_NAME gstreamer_mobile)
+    set(G_IO_MODULES openssl)
+    set(G_IO_MODULES_PATH "${GStreamer_ROOT_DIR}/lib/gio/modules")
+    set(GStreamer_ASSETS_DIR "${CMAKE_BINARY_DIR}/assets")
+endif()
+
+set(GStreamer_ROOT_DIR "${GStreamer_ROOT_DIR}" CACHE PATH "GStreamer SDK root directory" FORCE)
+
+if(GStreamer_USE_FRAMEWORK)
+    list(APPEND CMAKE_FRAMEWORK_PATH "${GSTREAMER_FRAMEWORK_PATH}")
+endif()
+
+if(GStreamer_USE_STATIC_LIBS)
+    list(APPEND PKG_CONFIG_ARGN "--static")
+endif()
+
+find_package(PkgConfig REQUIRED QUIET)
+
+list(PREPEND CMAKE_PREFIX_PATH ${GStreamer_ROOT_DIR})
+if(LINUX)
+    pkg_check_modules(PC_GSTREAMER REQUIRED IMPORTED_TARGET gstreamer-1.0>=${GStreamer_FIND_VERSION})
+else()
+    pkg_check_modules(PC_GSTREAMER REQUIRED IMPORTED_TARGET gstreamer-1.0=${GStreamer_FIND_VERSION})
+endif()
+set(GStreamer_VERSION "${PC_GSTREAMER_VERSION}")
+
+function(find_gstreamer_component component pkgconfig_name)
+    set(target GStreamer::${component})
+
+    if(NOT TARGET ${target})
+        string(TOUPPER ${component} upper)
+        pkg_check_modules(PC_GSTREAMER_${upper} IMPORTED_TARGET ${pkgconfig_name})
+        if(TARGET PkgConfig::PC_GSTREAMER_${upper})
+            qt_add_library(GStreamer::${component} INTERFACE IMPORTED)
+            target_link_libraries(GStreamer::${component} INTERFACE PkgConfig::PC_GSTREAMER_${upper})
+            if(upper STREQUAL "GL")
+                get_target_property(_qt_incs PkgConfig::PC_GSTREAMER_GL INTERFACE_INCLUDE_DIRECTORIES)
+                set(__qt_fixed_incs)
+                foreach(path IN LISTS _qt_incs)
+                    if(IS_DIRECTORY "${path}")
+                        list(APPEND __qt_fixed_incs "${path}")
+                    endif()
+                endforeach()
+                set_property(TARGET PkgConfig::PC_GSTREAMER_GL PROPERTY INTERFACE_INCLUDE_DIRECTORIES "${__qt_fixed_incs}")
+            endif()
+        endif()
+    endif()
+
+    if(TARGET ${target})
+        set(QGCGStreamer_${component}_FOUND TRUE PARENT_SCOPE)
+        set(GStreamer_${component}_FOUND TRUE PARENT_SCOPE)
+    endif()
+endfunction()
+
+find_gstreamer_component(Core gstreamer-1.0)
+find_gstreamer_component(Base gstreamer-base-1.0)
+find_gstreamer_component(Video gstreamer-video-1.0)
+find_gstreamer_component(Gl gstreamer-gl-1.0)
+find_gstreamer_component(GlPrototypes gstreamer-gl-prototypes-1.0)
+find_gstreamer_component(Rtsp gstreamer-rtsp-1.0)
+
+if(GlEgl IN_LIST QGCGStreamer_FIND_COMPONENTS)
+    find_gstreamer_component(GlEgl gstreamer-gl-egl-1.0)
+endif()
+
+if(GlWayland IN_LIST QGCGStreamer_FIND_COMPONENTS)
+    find_gstreamer_component(GlWayland gstreamer-gl-wayland-1.0)
+endif()
+
+if(GlX11 IN_LIST QGCGStreamer_FIND_COMPONENTS)
+    find_gstreamer_component(GlX11 gstreamer-gl-x11-1.0)
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(QGCGStreamer
+    REQUIRED_VARS GStreamer_ROOT_DIR GSTREAMER_LIB_PATH GSTREAMER_PLUGIN_PATH
+    VERSION_VAR GStreamer_VERSION
+    HANDLE_COMPONENTS
+)
+
+if(QGCGStreamer_FOUND AND NOT TARGET GStreamer::GStreamer)
+    qt_add_library(GStreamer::GStreamer INTERFACE IMPORTED)
+
+    if(GStreamer_USE_STATIC_LIBS)
+        target_compile_definitions(GStreamer::GStreamer INTERFACE QGC_GST_STATIC_BUILD)
+    endif()
+
+    if(APPLE AND GStreamer_USE_FRAMEWORK)
+        set(_saved_find_framework "${CMAKE_FIND_FRAMEWORK}")
+        set(CMAKE_FIND_FRAMEWORK ONLY)
+        cmake_path(GET GSTREAMER_FRAMEWORK_PATH PARENT_PATH _gst_framework_parent)
+        find_library(GSTREAMER_FRAMEWORK GStreamer
+            PATHS
+                "${_gst_framework_parent}"
+                "${GSTREAMER_FRAMEWORK_PATH}"
+                "/Library/Frameworks"
+                "/usr/local/opt/gstreamer"
+                "/opt/homebrew/opt/gstreamer"
+        )
+        set(CMAKE_FIND_FRAMEWORK "${_saved_find_framework}")
+        if(GSTREAMER_FRAMEWORK)
+            target_link_libraries(GStreamer::GStreamer INTERFACE ${GSTREAMER_FRAMEWORK})
+            target_include_directories(GStreamer::GStreamer INTERFACE "${GSTREAMER_FRAMEWORK}/Headers")
+            if(MACOS)
+                target_compile_definitions(GStreamer::GStreamer INTERFACE QGC_GST_MACOS_FRAMEWORK)
+            endif()
+        else()
+            message(FATAL_ERROR "GStreamer: Could not locate GStreamer.framework")
+        endif()
+
+    elseif(ANDROID)
+        target_link_options(GStreamer::GStreamer INTERFACE "-Wl,-Bsymbolic")
+        if(CMAKE_SIZEOF_VOID_P EQUAL 4)
+            target_link_options(GStreamer::GStreamer INTERFACE "-Wl,-z,notext")
+        endif()
+    endif()
+
+    target_link_directories(GStreamer::GStreamer INTERFACE ${GSTREAMER_LIB_PATH})
+
+    # On macOS with framework, the umbrella library already provides all component
+    # symbols. Linking individual component dylibs would add @rpath/libgst*.dylib
+    # load commands that cannot be resolved inside the app bundle.
+    if(NOT (MACOS AND GStreamer_USE_FRAMEWORK AND GSTREAMER_FRAMEWORK))
+        target_link_libraries(GStreamer::GStreamer
+            INTERFACE
+                GStreamer::Core
+                GStreamer::Base
+                GStreamer::Video
+                GStreamer::Gl
+                GStreamer::GlPrototypes
+                GStreamer::Rtsp
+        )
+
+        foreach(component IN LISTS QGCGStreamer_FIND_COMPONENTS)
+            if(GStreamer_${component}_FOUND)
+                target_link_libraries(GStreamer::GStreamer INTERFACE GStreamer::${component})
+            endif()
+        endforeach()
+    endif()
+
+    if(GStreamer_USE_STATIC_LIBS)
+        qt_add_library(GStreamer::Plugins INTERFACE IMPORTED)
+        target_link_directories(GStreamer::Plugins INTERFACE ${GSTREAMER_PLUGIN_PATH})
+
+        foreach(plugin IN LISTS GSTREAMER_PLUGINS)
+            pkg_check_modules(GST_PLUGIN_${plugin} QUIET IMPORTED_TARGET gst${plugin})
+            if(GST_PLUGIN_${plugin}_FOUND)
+                if(TARGET PkgConfig::GST_PLUGIN_${plugin})
+                    target_link_libraries(GStreamer::Plugins INTERFACE PkgConfig::GST_PLUGIN_${plugin})
+                else()
+                    target_link_libraries(GStreamer::Plugins INTERFACE ${GST_PLUGIN_${plugin}_STATIC_LIBRARIES})
+                    target_link_directories(GStreamer::Plugins INTERFACE ${GST_PLUGIN_${plugin}_STATIC_LIBRARY_DIRS})
+                endif()
+            else()
+                find_library(GST_PLUGIN_${plugin}_LIBRARY
+                    NAMES gst${plugin}
+                    PATHS
+                        ${GSTREAMER_LIB_PATH}
+                        ${GSTREAMER_PLUGIN_PATH}
+                    NO_DEFAULT_PATH
+                )
+                if(GST_PLUGIN_${plugin}_LIBRARY)
+                    target_link_libraries(GStreamer::Plugins INTERFACE ${GST_PLUGIN_${plugin}_LIBRARY})
+                    set(GST_PLUGIN_${plugin}_FOUND TRUE)
+                endif()
+            endif()
+            if(GST_PLUGIN_${plugin}_FOUND)
+                target_compile_definitions(GStreamer::Plugins INTERFACE GST_PLUGIN_${plugin}_FOUND)
+            endif()
+        endforeach()
+
+        target_link_libraries(GStreamer::GStreamer INTERFACE GStreamer::Plugins)
+    endif()
+endif()
diff --git a/cmake/find-modules/GStreamerHelpers.cmake b/cmake/find-modules/GStreamerHelpers.cmake
new file mode 100644
index 000000000000..de472e0f47bd
--- /dev/null
+++ b/cmake/find-modules/GStreamerHelpers.cmake
@@ -0,0 +1,385 @@
+# gstreamer_get_package_url(<PLATFORM> <VERSION> <OUTPUT_VAR>)
+#   PLATFORM: android, ios, macos, macos_devel, windows_msvc_x64, windows_msvc_arm64,
+#             good_plugins, good_plugins_qt6, monorepo
+function(gstreamer_get_package_url PLATFORM VERSION OUTPUT_VAR)
+    if(PLATFORM STREQUAL "android")
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/android/${VERSION}/gstreamer-1.0-android-universal-${VERSION}.tar.xz")
+    elseif(PLATFORM STREQUAL "ios")
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/ios/${VERSION}/gstreamer-1.0-devel-${VERSION}-ios-universal.pkg")
+    elseif(PLATFORM STREQUAL "macos")
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/macos/${VERSION}/gstreamer-1.0-${VERSION}-universal.pkg")
+    elseif(PLATFORM STREQUAL "macos_devel")
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/macos/${VERSION}/gstreamer-1.0-devel-${VERSION}-universal.pkg")
+    elseif(PLATFORM STREQUAL "windows_msvc_x64")
+        if(VERSION VERSION_GREATER_EQUAL "1.28.0")
+            set(_ext "exe")
+        else()
+            set(_ext "msi")
+        endif()
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/windows/${VERSION}/msvc/gstreamer-1.0-msvc-x86_64-${VERSION}.${_ext}")
+    elseif(PLATFORM STREQUAL "windows_msvc_arm64")
+        if(VERSION VERSION_GREATER_EQUAL "1.28.0")
+            set(_ext "exe")
+        else()
+            set(_ext "msi")
+        endif()
+        set(_url "https://gstreamer.freedesktop.org/data/pkg/windows/${VERSION}/msvc/gstreamer-1.0-msvc-arm64-${VERSION}.${_ext}")
+    elseif(PLATFORM STREQUAL "good_plugins")
+        set(_url "https://gstreamer.freedesktop.org/src/gst-plugins-good/gst-plugins-good-${VERSION}.tar.xz")
+    elseif(PLATFORM STREQUAL "good_plugins_qt6")
+        set(_url "https://gitlab.freedesktop.org/gstreamer/gstreamer/-/archive/${VERSION}/gstreamer-${VERSION}.tar.gz?path=subprojects/gst-plugins-good/ext/qt6")
+    elseif(PLATFORM STREQUAL "monorepo")
+        set(_url "https://gitlab.freedesktop.org/gstreamer/gstreamer/-/archive/${VERSION}/gstreamer-${VERSION}.tar.gz")
+    else()
+        message(FATAL_ERROR "gstreamer_get_package_url: Unknown platform '${PLATFORM}'")
+    endif()
+
+    set(${OUTPUT_VAR} "${_url}" PARENT_SCOPE)
+endfunction()
+
+# gstreamer_get_s3_mirror_url(<PLATFORM> <VERSION> <OUTPUT_VAR>)
+# Derives an S3 mirror URL from the primary URL's filename.
+# Returns empty string for platforms without an S3 mirror.
+function(gstreamer_get_s3_mirror_url PLATFORM VERSION OUTPUT_VAR)
+    set(_s3_base "https://qgroundcontrol.s3.us-west-2.amazonaws.com/dependencies/gstreamer")
+
+    if(PLATFORM STREQUAL "android")
+        set(_dir "android")
+    elseif(PLATFORM STREQUAL "ios")
+        set(_dir "ios")
+    elseif(PLATFORM STREQUAL "macos" OR PLATFORM STREQUAL "macos_devel")
+        set(_dir "macos")
+    elseif(PLATFORM STREQUAL "windows_msvc_x64" OR PLATFORM STREQUAL "windows_msvc_arm64")
+        set(_dir "windows")
+    else()
+        set(${OUTPUT_VAR} "" PARENT_SCOPE)
+        return()
+    endif()
+
+    gstreamer_get_package_url(${PLATFORM} ${VERSION} _primary_url)
+    # Works for simple URLs without query strings (those platforms are excluded above)
+    cmake_path(GET _primary_url FILENAME _filename)
+
+    set(${OUTPUT_VAR} "${_s3_base}/${_dir}/${_filename}" PARENT_SCOPE)
+endfunction()
+
+# gstreamer_get_fallback_checksum(<PLATFORM> <VERSION> <OUTPUT_VAR>)
+# Returns a pinned checksum for known artifacts when sidecar checksum fetch fails.
+function(gstreamer_get_fallback_checksum PLATFORM VERSION OUTPUT_VAR)
+    set(_checksum "")
+
+    if(VERSION STREQUAL "1.28.0")
+        if(PLATFORM STREQUAL "android")
+            set(_checksum "SHA256=3315be90b32b96aea5339f161725b4298f939cc502ac299eff81b3819d4f5cc3")
+        elseif(PLATFORM STREQUAL "windows_msvc_x64")
+            set(_checksum "SHA256=d6aca5785cae9d9ed447db491cc921163ff6af0c657eb733293c55416c8b71a6")
+        elseif(PLATFORM STREQUAL "windows_msvc_arm64")
+            set(_checksum "SHA256=99c41b2a4db08730cf17d89f17fed8eddb81e5da569285c83e00266a1f1b9357")
+        elseif(PLATFORM STREQUAL "macos")
+            set(_checksum "SHA256=9c252ae9d3ac5bc54505c4a4e93556c7d6e93218a18ad8060b30770d6db036a6")
+        elseif(PLATFORM STREQUAL "macos_devel")
+            set(_checksum "SHA256=592d6fe925799470a67da9cbbba6badf4d7ac63c89f6f4532baad7ec1daba5a4")
+        elseif(PLATFORM STREQUAL "ios")
+            set(_checksum "SHA256=c4e3365e37c3eae05d8acd470d338560c89a213fb58157c8773db151dc7ebcd7")
+        elseif(PLATFORM STREQUAL "good_plugins")
+            set(_checksum "SHA256=d97700f346fdf9ef5461c035e23ed1ce916ca7a31d6ddad987f774774361db77")
+        endif()
+    elseif(VERSION STREQUAL "1.22.12")
+        if(PLATFORM STREQUAL "android")
+            set(_checksum "SHA256=be92cf477d140c270b480bd8ba0e26b1e01c8db042c46b9e234d87352112e485")
+        elseif(PLATFORM STREQUAL "windows_msvc_x64")
+            set(_checksum "SHA256=e5cbc6fb9f40fc2850806163df4b9d92012f967c842dc000a2b254cbcd7901d6")
+        endif()
+    endif()
+
+    set(${OUTPUT_VAR} "${_checksum}" PARENT_SCOPE)
+endfunction()
+
+# gstreamer_fetch_checksum(<PLATFORM> <VERSION> <OUTPUT_VAR>)
+# Downloads the .sha256sum sidecar from freedesktop.org and returns "SHA256=<hash>".
+# Returns empty string on failure (checksum unavailable or unparseable).
+function(gstreamer_fetch_checksum PLATFORM VERSION OUTPUT_VAR)
+    gstreamer_get_package_url(${PLATFORM} ${VERSION} _pkg_url)
+
+    # URLs with query strings (e.g. good_plugins_qt6) have no sidecar checksum
+    string(FIND "${_pkg_url}" "?" _qs_pos)
+    if(NOT _qs_pos EQUAL -1)
+        message(STATUS "GStreamer: Skipping checksum for ${PLATFORM} ${VERSION} (URL contains query string)")
+        set(${OUTPUT_VAR} "" PARENT_SCOPE)
+        return()
+    endif()
+
+    set(_checksum_url "${_pkg_url}.sha256sum")
+
+    string(MD5 _url_hash "${_checksum_url}")
+    set(_checksum_dir "${CMAKE_BINARY_DIR}/_deps/checksums")
+    set(_checksum_file "${_checksum_dir}/${_url_hash}.sha256sum")
+
+    foreach(_round RANGE 1 2)
+        if(NOT EXISTS "${_checksum_file}")
+            file(MAKE_DIRECTORY "${_checksum_dir}")
+            set(_checksum_tmp "${_checksum_file}.tmp")
+            set(_code 1)
+            foreach(_attempt RANGE 1 3)
+                file(DOWNLOAD "${_checksum_url}" "${_checksum_tmp}"
+                    STATUS _status
+                    TIMEOUT 30
+                    TLS_VERIFY ON
+                )
+                list(GET _status 0 _code)
+                if(_code EQUAL 0)
+                    break()
+                endif()
+                list(GET _status 1 _msg)
+                message(STATUS "GStreamer: Checksum download attempt ${_attempt}/3 failed: ${_msg}")
+                file(REMOVE "${_checksum_tmp}")
+            endforeach()
+            if(NOT _code EQUAL 0)
+                gstreamer_get_fallback_checksum(${PLATFORM} ${VERSION} _fallback_hash)
+                if(_fallback_hash)
+                    message(WARNING
+                        "GStreamer: Checksum sidecar unavailable for ${PLATFORM} ${VERSION}; "
+                        "using pinned fallback checksum.")
+                    set(${OUTPUT_VAR} "${_fallback_hash}" PARENT_SCOPE)
+                    return()
+                endif()
+                message(WARNING
+                    "GStreamer: Checksum sidecar unavailable for ${PLATFORM} ${VERSION}; "
+                    "continuing without integrity verification.")
+                set(${OUTPUT_VAR} "" PARENT_SCOPE)
+                return()
+            endif()
+            file(RENAME "${_checksum_tmp}" "${_checksum_file}")
+        endif()
+
+        file(READ "${_checksum_file}" _content)
+        string(STRIP "${_content}" _content)
+        string(REGEX MATCH "([0-9a-fA-F]+)" _match "${_content}")
+        if(_match)
+            string(LENGTH "${CMAKE_MATCH_1}" _hash_len)
+            if(_hash_len EQUAL 64)
+                set(${OUTPUT_VAR} "SHA256=${CMAKE_MATCH_1}" PARENT_SCOPE)
+                return()
+            endif()
+        endif()
+
+        # Parse failed — purge cached file and retry once
+        file(SIZE "${_checksum_file}" _file_size)
+        string(SUBSTRING "${_content}" 0 60 _content_preview)
+        string(REGEX REPLACE "[^ -~]" "?" _content_preview "${_content_preview}")
+        message(STATUS "GStreamer: Could not parse checksum for ${PLATFORM} ${VERSION} "
+            "(file size: ${_file_size}, preview: [${_content_preview}])")
+        file(REMOVE "${_checksum_file}")
+    endforeach()
+
+    gstreamer_get_fallback_checksum(${PLATFORM} ${VERSION} _fallback_hash)
+    if(_fallback_hash)
+        message(WARNING
+            "GStreamer: Sidecar checksum content invalid/unparseable for ${PLATFORM} ${VERSION}; "
+            "using pinned fallback checksum.")
+        set(${OUTPUT_VAR} "${_fallback_hash}" PARENT_SCOPE)
+        return()
+    endif()
+
+    message(WARNING "GStreamer: Could not parse checksum for ${PLATFORM} ${VERSION}; continuing without verification.")
+    set(${OUTPUT_VAR} "" PARENT_SCOPE)
+endfunction()
+
+# gstreamer_resilient_download(URLS <url>... FILENAME <name> DESTINATION_DIR <dir>
+#     RESULT_VAR <var> [TIMEOUT <sec>] [INACTIVITY_TIMEOUT <sec>] [EXPECTED_HASH <ALGO=hash>]
+#     [ALLOW_FAILURE])
+# Downloads a file, trying each URL in order. Uses atomic temp-file rename to
+# prevent partial-download ghosts. Skips if the destination file already exists.
+macro(_gstreamer_parse_expected_hash _HASH_SPEC _OUT_ALGO _OUT_EXPECTED)
+    set(_gph_valid MD5 SHA1 SHA224 SHA256 SHA384 SHA512 SHA3_224 SHA3_256 SHA3_384 SHA3_512)
+    string(REGEX MATCH "^([A-Za-z0-9_]+)=(.+)$" _gph_match "${${_HASH_SPEC}}")
+    if(NOT _gph_match)
+        message(FATAL_ERROR "gstreamer_resilient_download: Invalid EXPECTED_HASH format '${${_HASH_SPEC}}' (expected ALGO=hex)")
+    endif()
+    set(${_OUT_ALGO} "${CMAKE_MATCH_1}")
+    set(${_OUT_EXPECTED} "${CMAKE_MATCH_2}")
+    list(FIND _gph_valid "${${_OUT_ALGO}}" _gph_idx)
+    if(_gph_idx EQUAL -1)
+        message(FATAL_ERROR "gstreamer_resilient_download: Unsupported hash algorithm '${${_OUT_ALGO}}'")
+    endif()
+endmacro()
+
+function(gstreamer_resilient_download)
+    cmake_parse_arguments(ARG "ALLOW_FAILURE" "FILENAME;DESTINATION_DIR;RESULT_VAR;TIMEOUT;INACTIVITY_TIMEOUT;EXPECTED_HASH" "URLS" ${ARGN})
+
+    foreach(_required FILENAME DESTINATION_DIR RESULT_VAR)
+        if(NOT ARG_${_required})
+            message(FATAL_ERROR "gstreamer_resilient_download: ${_required} is required")
+        endif()
+    endforeach()
+    if(NOT ARG_URLS)
+        message(FATAL_ERROR "gstreamer_resilient_download: at least one URL is required")
+    endif()
+
+    if(NOT ARG_TIMEOUT)
+        set(ARG_TIMEOUT 120)
+    endif()
+    if(NOT ARG_INACTIVITY_TIMEOUT)
+        set(ARG_INACTIVITY_TIMEOUT 60)
+    endif()
+
+    set(_dest "${ARG_DESTINATION_DIR}/${ARG_FILENAME}")
+
+    if(EXISTS "${_dest}")
+        if(ARG_EXPECTED_HASH)
+            _gstreamer_parse_expected_hash(ARG_EXPECTED_HASH _hash_algo _expected)
+            file(${_hash_algo} "${_dest}" _cached_hash)
+            if(NOT _cached_hash STREQUAL "${_expected}")
+                message(STATUS "GStreamer: Cached ${ARG_FILENAME} failed ${_hash_algo} check, re-downloading")
+                file(REMOVE "${_dest}")
+            else()
+                set(${ARG_RESULT_VAR} "${_dest}" PARENT_SCOPE)
+                return()
+            endif()
+        else()
+            message(STATUS "GStreamer: Using cached ${ARG_FILENAME} (no checksum verification)")
+            set(${ARG_RESULT_VAR} "${_dest}" PARENT_SCOPE)
+            return()
+        endif()
+    endif()
+
+    file(MAKE_DIRECTORY "${ARG_DESTINATION_DIR}")
+    set(_tmp "${_dest}.tmp")
+    set(_tried_urls "")
+
+    foreach(_url IN LISTS ARG_URLS)
+        if(NOT _url)
+            continue()
+        endif()
+        message(STATUS "GStreamer: Downloading ${ARG_FILENAME} from ${_url}")
+        file(DOWNLOAD "${_url}" "${_tmp}"
+            STATUS _status
+            SHOW_PROGRESS
+            TIMEOUT ${ARG_TIMEOUT}
+            INACTIVITY_TIMEOUT ${ARG_INACTIVITY_TIMEOUT}
+            TLS_VERIFY ON
+        )
+        list(GET _status 0 _code)
+        if(_code EQUAL 0)
+            if(ARG_EXPECTED_HASH)
+                _gstreamer_parse_expected_hash(ARG_EXPECTED_HASH _hash_algo _expected)
+                file(${_hash_algo} "${_tmp}" _actual_hash)
+                if(NOT _actual_hash STREQUAL "${_expected}")
+                    message(WARNING "GStreamer: ${_hash_algo} mismatch for ${ARG_FILENAME} from ${_url}")
+                    file(REMOVE "${_tmp}")
+                    list(APPEND _tried_urls "${_url}")
+                    continue()
+                endif()
+            endif()
+            file(RENAME "${_tmp}" "${_dest}")
+            set(${ARG_RESULT_VAR} "${_dest}" PARENT_SCOPE)
+            return()
+        endif()
+        list(GET _status 1 _error)
+        message(WARNING "GStreamer: Failed to download from ${_url}: ${_error}")
+        file(REMOVE "${_tmp}")
+        list(APPEND _tried_urls "${_url}")
+    endforeach()
+
+    if(ARG_ALLOW_FAILURE)
+        message(STATUS "GStreamer: All download URLs failed for ${ARG_FILENAME} (allowing failure). Tried: ${_tried_urls}")
+        set(${ARG_RESULT_VAR} "" PARENT_SCOPE)
+        return()
+    endif()
+
+    message(FATAL_ERROR "GStreamer: All download URLs failed for ${ARG_FILENAME}.\n"
+        "Tried: ${_tried_urls}\n"
+        "Install manually from https://gstreamer.freedesktop.org/download/ or set GStreamer_ROOT_DIR.")
+endfunction()
+
+# gstreamer_get_recommended_version(<MAJOR> <MINOR> <OUTPUT_VAR> [<PATCH_FALLBACK>])
+# Patch versions are auto-extracted from platform version strings in build-config.json
+# via BuildConfig.cmake (e.g., gstreamer_android_version "1.22.12" -> QGC_GSTREAMER_PATCH_1_22=12).
+function(gstreamer_get_recommended_version MAJOR MINOR OUTPUT_VAR)
+    set(_var_name "QGC_GSTREAMER_PATCH_${MAJOR}_${MINOR}")
+    if(DEFINED ${_var_name})
+        set(_patch "${${_var_name}}")
+    elseif(ARGC GREATER 3 AND NOT "${ARGV3}" STREQUAL "")
+        set(_patch "${ARGV3}")
+        message(STATUS
+            "No patch mapping for GStreamer ${MAJOR}.${MINOR}; using detected patch ${_patch}.")
+    else()
+        set(_patch 0)
+        message(WARNING "No patch mapping for GStreamer ${MAJOR}.${MINOR} — defaulting to .0. "
+                        "This version is not used by any platform target in .github/build-config.json.")
+    endif()
+
+    set(${OUTPUT_VAR} "${MAJOR}.${MINOR}.${_patch}" PARENT_SCOPE)
+endfunction()
+
+function(gstreamer_install_gio_modules)
+    cmake_parse_arguments(ARG "" "SOURCE_DIR;DEST_DIR;EXTENSION" "" ${ARGN})
+
+    if(NOT EXISTS "${ARG_SOURCE_DIR}")
+        message(WARNING "gstreamer_install_gio_modules: SOURCE_DIR does not exist: ${ARG_SOURCE_DIR}")
+        return()
+    endif()
+
+    # Ship the full GIO module set from the selected runtime. Filtering can
+    # remove TLS/proxy helpers required by some deployments.
+    file(GLOB modules_to_install "${ARG_SOURCE_DIR}/*.${ARG_EXTENSION}*")
+
+    if(modules_to_install)
+        install(FILES ${modules_to_install} DESTINATION "${ARG_DEST_DIR}")
+    endif()
+endfunction()
+
+function(gstreamer_install_plugins)
+    cmake_parse_arguments(ARG "" "SOURCE_DIR;DEST_DIR;EXTENSION;PREFIX" "" ${ARGN})
+
+    if(NOT EXISTS "${ARG_SOURCE_DIR}")
+        message(WARNING "gstreamer_install_plugins: SOURCE_DIR does not exist: ${ARG_SOURCE_DIR}")
+        return()
+    endif()
+
+    file(GLOB all_plugins "${ARG_SOURCE_DIR}/${ARG_PREFIX}*.${ARG_EXTENSION}*")
+
+    # Install only plugins listed in GSTREAMER_PLUGINS (set by FindQGCGStreamer).
+    set(plugins_to_install "")
+    foreach(plugin_path IN LISTS all_plugins)
+        get_filename_component(plugin_name "${plugin_path}" NAME)
+        foreach(allowed IN LISTS GSTREAMER_PLUGINS)
+            if(plugin_name MATCHES "^${ARG_PREFIX}${allowed}([^a-zA-Z0-9]|$)")
+                list(APPEND plugins_to_install "${plugin_path}")
+                break()
+            endif()
+        endforeach()
+    endforeach()
+
+    if(plugins_to_install)
+        install(FILES ${plugins_to_install} DESTINATION "${ARG_DEST_DIR}")
+    endif()
+endfunction()
+
+# _gst_normalize_and_validate_root()
+# Normalize GStreamer_ROOT_DIR path separators and verify the directory exists.
+# Must be called as a macro (not function) so it modifies the caller's scope.
+macro(_gst_normalize_and_validate_root)
+    cmake_path(CONVERT "${GStreamer_ROOT_DIR}" TO_CMAKE_PATH_LIST GStreamer_ROOT_DIR NORMALIZE)
+    if(NOT EXISTS "${GStreamer_ROOT_DIR}")
+        message(FATAL_ERROR "GStreamer: SDK not found at '${GStreamer_ROOT_DIR}' — "
+            "check installation or set GStreamer_ROOT_DIR")
+    endif()
+endmacro()
+
+# WARNING: This function copies ALL shared libraries from SOURCE_DIR without
+# filtering. Only call it for auto-downloaded SDKs or known-clean directories.
+# Do NOT point it at a shared system prefix (e.g. /usr/lib, Homebrew lib/).
+function(gstreamer_install_libs)
+    cmake_parse_arguments(ARG "" "SOURCE_DIR;DEST_DIR;EXTENSION" "" ${ARGN})
+
+    if(NOT EXISTS "${ARG_SOURCE_DIR}")
+        message(WARNING "gstreamer_install_libs: SOURCE_DIR does not exist: ${ARG_SOURCE_DIR}")
+        return()
+    endif()
+
+    file(GLOB all_libs "${ARG_SOURCE_DIR}/*.${ARG_EXTENSION}")
+    if(all_libs)
+        install(FILES ${all_libs} DESTINATION "${ARG_DEST_DIR}")
+    endif()
+endfunction()
diff --git a/cmake/find-modules/_FindGStreamer.cmake b/cmake/find-modules/_FindGStreamer.cmake
deleted file mode 100644
index 8d858bed8238..000000000000
--- a/cmake/find-modules/_FindGStreamer.cmake
+++ /dev/null
@@ -1,456 +0,0 @@
-# SPDX-FileCopyrightText: 2024 L. E. Segovia <amy@centricular.com>
-# SPDX-License-Ref: LGPL-2.1-or-later
-
-#[=======================================================================[.rst:
-FindGStreamer
--------
-
-Finds the GStreamer library. Requires ``pkg-config`` to be installed.
-
-Configuration
-^^^^^^^^^^^^^
-
-This module can be configured with the following variables:
-
-``GStreamer_STATIC``
-  Link against GStreamer statically (see below).
-
-Imported Targets
-^^^^^^^^^^^^^^^^
-
-This module defines the following :prop_tgt:`IMPORTED` targets:
-
-``GStreamer::GStreamer``
-  The GStreamer library.
-
-Result Variables
-^^^^^^^^^^^^^^^^
-
-This will define the following variables:
-
-``GStreamer_FOUND``
-  True if the system has the GStreamer library.
-``GStreamer_VERSION``
-  The version of the GStreamer library which was found.
-``GStreamer_INCLUDE_DIRS``
-  Include directories needed to use GStreamer.
-``GStreamer_LIBRARIES``
-  Libraries needed to link to GStreamer.
-
-Cache Variables
-^^^^^^^^^^^^^^^
-
-The following cache variables may also be set:
-
-``GStreamer_INCLUDE_DIR``
-  The directory containing ``gst/gstversion.h``.
-``GStreamer_LIBRARY``
-  The path to the GStreamer library.
-
-Configuration Variables
-^^^^^^^^^^^^^^^
-
-Setting the following variables is required, depending on the operating system:
-
-``GStreamer_ROOT_DIR``
-  Installation prefix of the GStreamer SDK.
-
-``GStreamer_USE_STATIC_LIBS`
-  Set to ON to force the use of the static libraries. Default is OFF.
-
-``GStreamer_EXTRA_DEPS``
-  pkg-config names of the extra dependencies that will be included whenever linking against GStreamer.
-
-#]=======================================================================]
-
-if (GStreamer_FOUND)
-    return()
-endif()
-
-#####################
-#  Setup variables  #
-#####################
-
-if (NOT DEFINED GStreamer_ROOT_DIR AND DEFINED GSTREAMER_ROOT)
-    set(GStreamer_ROOT_DIR ${GSTREAMER_ROOT})
-endif()
-
-if (NOT GStreamer_ROOT_DIR)
-    set(GStreamer_ROOT_DIR "${CMAKE_CURRENT_LIST_DIR}/../../")
-endif()
-
-if (NOT EXISTS "${GStreamer_ROOT_DIR}")
-    message(FATAL_ERROR "The directory GStreamer_ROOT_DIR=${GStreamer_ROOT_DIR} does not exist")
-endif()
-
-if (NOT DEFINED GStreamer_USE_STATIC_LIBS)
-set(GStreamer_USE_STATIC_LIBS OFF)
-endif()
-
-# Set the environment for pkg-config
-if (WIN32)
-    set(ENV{PKG_CONFIG_PATH} "${GStreamer_ROOT_DIR}/lib/pkgconfig;${GStreamer_ROOT_DIR}/lib/gstreamer-1.0/pkgconfig;${GStreamer_ROOT_DIR}/lib/gio/modules/pkgconfig")
-else()
-    set(ENV{PKG_CONFIG_PATH} "${GStreamer_ROOT_DIR}/lib/pkgconfig:${GStreamer_ROOT_DIR}/lib/gstreamer-1.0/pkgconfig:${GStreamer_ROOT_DIR}/lib/gio/modules/pkgconfig")
-endif()
-
-# Set the list of extra dependencies
-if (NOT DEFINED GStreamer_EXTRA_DEPS)
-    set(GStreamer_EXTRA_DEPS)
-    if (DEFINED GSTREAMER_EXTRA_DEPS)
-        set(GStreamer_EXTRA_DEPS ${GSTREAMER_EXTRA_DEPS})
-    endif()
-endif()
-
-# Find libraries. This is meant to be used with static libraries
-# (hence the reprioritization) but I've added a fallback to shared libraries
-# and stub modules in case any are non-existent.
-function(_gst_find_library LOCAL_LIB GST_LOCAL_LIB)
-    if (DEFINED ${GST_LOCAL_LIB})
-        return()
-    endif()
-
-    set(_gst_suffixes ${CMAKE_FIND_LIBRARY_SUFFIXES})
-    set(_gst_prefixes ${CMAKE_FIND_LIBRARY_PREFIXES})
-    if (APPLE)
-        set(CMAKE_FIND_LIBRARY_SUFFIXES ".a" ".dylib" ".so" ".tbd")
-        set(CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
-    elseif (UNIX)
-        set(CMAKE_FIND_LIBRARY_SUFFIXES ".a" ".so")
-        set(CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
-    else()
-        set(CMAKE_FIND_LIBRARY_SUFFIXES ".a" ".lib")
-        set(CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
-    endif()
-
-    if ("${LOCAL_LIB}" IN_LIST _gst_IGNORED_SYSTEM_LIBRARIES)
-        set(${GST_LOCAL_LIB} ${LOCAL_LIB} PARENT_SCOPE)
-    else()
-        find_library(${GST_LOCAL_LIB}
-            ${LOCAL_LIB}
-            HINTS ${ARGN}
-            NO_DEFAULT_PATH
-            NO_CMAKE_FIND_ROOT_PATH
-            REQUIRED
-        )
-        set(${GST_LOCAL_LIB} "${${GST_LOCAL_LIB}}" PARENT_SCOPE)
-        if (NOT ${GST_LOCAL_LIB})
-            message(FATAL_ERROR "${LOCAL_LIB} was unexpectedly not found.")
-        endif()
-    endif()
-
-    set(CMAKE_FIND_LIBRARY_SUFFIXES ${_gst_suffixes})
-    set(CMAKE_FIND_LIBRARY_PREFIXES ${_gst_prefixes})
-endfunction()
-
-macro(_gst_apply_link_libraries HIDE PC_LIBRARIES PC_HINTS GST_TARGET)
-    if (APPLE AND ${HIDE})
-        target_link_directories(${GST_TARGET} INTERFACE
-            ${${PC_HINTS}}
-        )
-    endif()
-    foreach(LOCAL_LIB IN LISTS ${PC_LIBRARIES})
-        if (LOCAL_LIB MATCHES "${_gst_SRT_REGEX_PATCH}")
-            string(REGEX REPLACE "${_gst_SRT_REGEX_PATCH}" "\\1" LOCAL_LIB "${LOCAL_LIB}")
-        endif()
-        string(MAKE_C_IDENTIFIER "_gst_${LOCAL_LIB}" GST_LOCAL_LIB)
-        if (NOT ${GST_LOCAL_LIB})
-            _gst_find_library(${LOCAL_LIB} ${GST_LOCAL_LIB} ${${PC_HINTS}})
-        endif()
-        if ("${${GST_LOCAL_LIB}}" IN_LIST _gst_IGNORED_SYSTEM_LIBRARIES)
-            target_link_libraries(${GST_TARGET} INTERFACE
-                ${${GST_LOCAL_LIB}})
-        elseif (APPLE AND ${HIDE})
-            set(LOCAL_FILE)
-            get_filename_component(LOCAL_FILE ${${GST_LOCAL_LIB}} NAME)
-            target_link_libraries(${GST_TARGET} INTERFACE
-                "-hidden-l${LOCAL_FILE}")
-        elseif((UNIX OR ANDROID) AND ${HIDE})
-            target_link_libraries(${GST_TARGET} INTERFACE
-                -Wl,--exclude-libs,${${GST_LOCAL_LIB}})
-        else()
-            target_link_libraries(${GST_TARGET} INTERFACE
-                ${${GST_LOCAL_LIB}})
-        endif()
-    endforeach()
-endmacro()
-
-macro(_gst_filter_missing_directories GST_INCLUDE_DIRS)
-    set(_gst_include_dirs)
-    foreach(DIR IN LISTS ${GST_INCLUDE_DIRS})
-        string(MAKE_C_IDENTIFIER "${DIR}" _gst_dir_id)
-        if (DEFINED _gst_exists_${_gst_dir_id})
-            if (_gst_exists_${_gst_dir_id})
-                list(APPEND _gst_include_dirs "${DIR}")
-            endif()
-        elseif (EXISTS "${DIR}")
-            list(APPEND _gst_include_dirs "${DIR}")
-            set(_gst_exists_${_gst_dir_id} TRUE)
-        else()
-            message(WARNING "Skipping missing include folder ${DIR}.")
-            set(_gst_exists_${_gst_dir_id} FALSE)
-        endif()
-    endforeach()
-    set(${GST_INCLUDE_DIRS} "${_gst_include_dirs}")
-endmacro()
-
-macro(_gst_apply_frameworks PC_STATIC_LDFLAGS_OTHER GST_TARGET)
-    if (APPLE)
-        # LDFLAGS_OTHER may include framework linkage. Because CMake
-        # iterates over arguments separated by spaces, it doesn't realise
-        # that those arguments must not be split.
-        set(new_ldflags)
-        set(assemble_framework FALSE)
-        foreach(_arg IN LISTS ${PC_STATIC_LDFLAGS_OTHER})
-            if (assemble_framework)
-                set(assemble_framework FALSE)
-                find_library(GST_${_arg}_LIB ${_arg} REQUIRED)
-                target_link_libraries(${GST_TARGET}
-                    INTERFACE
-                        "${GST_${_arg}_LIB}"
-                )
-            elseif (_arg STREQUAL "-framework")
-                set(assemble_framework TRUE)
-            else()
-                set(assemble_framework FALSE)
-                list(APPEND new_ldflags "${_arg}")
-            endif()
-        endforeach()
-        set_target_properties(${GST_TARGET} PROPERTIES
-            INTERFACE_LINK_OPTIONS "${new_ldflags}"
-        )
-    else()
-        set_target_properties(${TARGET} PROPERTIES
-            INTERFACE_LINK_OPTIONS "${${PC_STATIC_LDFLAGS_OTHER}}"
-        )
-    endif()
-endmacro()
-
-################################
-#      Set up the targets      #
-################################
-
-find_package(PkgConfig REQUIRED)
-
-# GStreamer's pkg-config modules are a MUST -- but we'll test them below
-pkg_check_modules(PC_GStreamer gstreamer-1.0 ${GStreamer_EXTRA_DEPS})
-# Simulate the list that'll be wholearchive'd.
-# Unfortunately, this uses an option only available with pkgconf.
-# set(_old_pkg_config_executable "${PKG_CONFIG_EXECUTABLE}")
-# set(PKG_CONFIG_EXECUTABLE ${PKG_CONFIG_EXECUTABLE} --maximum-traverse-depth=1)
-# pkg_check_modules(PC_GStreamer_NoDeps QUIET REQUIRED gstreamer-1.0 ${GStreamer_EXTRA_DEPS})
-# set(PKG_CONFIG_EXECUTABLE "${_old_pkg_config_executable}")
-
-set(GStreamer_VERSION "${PC_GStreamer_VERSION}")
-
-# Test validity of the paths
-# NOTE: only paths that must be considered are those provided by pkg-config
-# NOTE 2: also exclude sysroots
-find_path(GStreamer_INCLUDE_DIR
-    NAMES gst/gstversion.h
-    PATHS ${PC_GStreamer_INCLUDE_DIRS}
-    PATH_SUFFIXES gstreamer-1.0
-    NO_DEFAULT_PATH
-    NO_CMAKE_FIND_ROOT_PATH
-    REQUIRED
-)
-
-find_library(GStreamer_LIBRARY
-    NAMES gstreamer-1.0
-    PATHS ${PC_GStreamer_LIBRARY_DIRS}
-    NO_DEFAULT_PATH
-    NO_CMAKE_FIND_ROOT_PATH
-    REQUIRED
-)
-
-# Android: Ignore these libraries when constructing the IMPORTED_LOCATION
-set(_gst_IGNORED_SYSTEM_LIBRARIES c c++ unwind m dl atomic)
-if (ANDROID)
-    list(APPEND _gst_IGNORED_SYSTEM_LIBRARIES log GLESv2 EGL OpenSLES android vulkan)
-elseif(APPLE)
-    list(APPEND _gst_IGNORED_SYSTEM_LIBRARIES iconv resolv System)
-endif()
-
-# Normalize library flags coming from srt/haisrt
-# https://github.com/Haivision/srt/commit/b90b64d26f850fb0efcc4cdd8b31cbf74bd4db0c
-set(_gst_SRT_REGEX_PATCH "^:lib(.+)\\.(a|so|lib|dylib)$")
-
-if(PC_GStreamer_FOUND AND (NOT TARGET GStreamer::GStreamer))
-    # This is not UNKNOWN but INTERFACE, as we only intend to
-    # make a target suitable for downstream consumption.
-    # FindPkgConfig already takes care of things, however it is totally unable
-    # to discern between shared and static libraries when populating
-    # xxx_STATIC_LINK_LIBRARIES, so we need to populate them manually.
-    add_library(GStreamer::GStreamer INTERFACE IMPORTED)
-
-    if (GStreamer_USE_STATIC_LIBS)
-        _gst_filter_missing_directories(PC_GStreamer_STATIC_INCLUDE_DIRS)
-        set_target_properties(GStreamer::GStreamer PROPERTIES
-            INTERFACE_COMPILE_OPTIONS "${PC_GStreamer_STATIC_CFLAGS_OTHER}"
-        )
-        if (PC_GStreamer_STATIC_INCLUDE_DIRS)
-            set_target_properties(GStreamer::GStreamer PROPERTIES
-                INTERFACE_INCLUDE_DIRECTORIES "${PC_GStreamer_STATIC_INCLUDE_DIRS}"
-            )
-        endif()
-        _gst_apply_frameworks(PC_GStreamer_STATIC_LDFLAGS_OTHER GStreamer::GStreamer)
-    else()
-        set_target_properties(GStreamer::GStreamer PROPERTIES
-            INTERFACE_COMPILE_OPTIONS "${PC_GStreamer_CFLAGS_OTHER}"
-            INTERFACE_INCLUDE_DIRECTORIES "${PC_GStreamer_INCLUDE_DIRS}"
-            INTERFACE_LINK_OPTIONS "${PC_GStreamer_LDFLAGS_OTHER}"
-        )
-    endif()
-
-    add_library(GStreamer::deps INTERFACE IMPORTED)
-
-    if (NOT GStreamer_USE_STATIC_LIBS)
-        set_target_properties(GStreamer::deps PROPERTIES
-            INTERFACE_LINK_LIBRARIES "${PC_GStreamer_LINK_LIBRARIES}"
-        )
-        # We're done
-    else()
-        # Handle all libraries, even those specified with -l:libfoo.a (srt)
-        # Due to the unavailability of pkgconf's `--maximum-traverse-depth`
-        # on stock pkg-config, I attempt to simulate it through the shared
-        # libraries listing.
-        # If pkgconf is available, replace all PC_GStreamer_ entries with
-        # PC_GStreamer_NoDeps and uncomment the code block above.
-        foreach(LOCAL_LIB IN LISTS PC_GStreamer_LIBRARIES)
-            # list(TRANSFORM REPLACE) is of no use here
-            # https://gitlab.kitware.com/cmake/cmake/-/issues/16899
-            if (LOCAL_LIB MATCHES "${_gst_SRT_REGEX_PATCH}")
-                string(REGEX REPLACE "${_gst_SRT_REGEX_PATCH}" "\\1" LOCAL_LIB "${LOCAL_LIB}")
-            endif()
-            string(MAKE_C_IDENTIFIER "_gst_${LOCAL_LIB}" GST_LOCAL_LIB)
-            if (NOT ${GST_LOCAL_LIB})
-                _gst_find_library(${LOCAL_LIB} ${GST_LOCAL_LIB} ${PC_GStreamer_STATIC_LIBRARY_DIRS})
-            endif()
-            target_link_libraries(GStreamer::GStreamer INTERFACE
-                "${${GST_LOCAL_LIB}}"
-            )
-        endforeach()
-
-        _gst_apply_link_libraries(ON PC_GStreamer_STATIC_LIBRARIES PC_GStreamer_STATIC_LIBRARY_DIRS GStreamer::deps)
-    endif()
-
-    target_link_libraries(GStreamer::GStreamer
-        INTERFACE
-            GStreamer::deps
-    )
-endif()
-
-foreach(_gst_PLUGIN IN LISTS GSTREAMER_PLUGINS)
-    # Safety valve for the custom targets above
-    if ("${_gst_plugin}" IN_LIST _gst_CUSTOM_TARGETS)
-        continue()
-    endif()
-
-    if (TARGET GStreamer::${_gst_PLUGIN})
-        continue()
-    endif()
-
-    if (GStreamer_FIND_REQUIRED_${_gst_PLUGIN})
-        set(_gst_PLUGIN_REQUIRED REQUIRED)
-    else()
-        set(_gst_PLUGIN_REQUIRED)
-    endif()
-
-    pkg_check_modules(PC_GStreamer_${_gst_PLUGIN} "gst${_gst_PLUGIN}")
-
-    set(GStreamer_${_gst_PLUGIN}_FOUND "${PC_GStreamer_${_gst_PLUGIN}_FOUND}")
-    if (NOT GStreamer_${_gst_PLUGIN}_FOUND)
-        continue()
-    endif()
-
-    add_library(GStreamer::${_gst_PLUGIN} INTERFACE IMPORTED)
-    _gst_filter_missing_directories(PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS)
-    set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-        INTERFACE_COMPILE_OPTIONS "${PC_GStreamer_${_gst_PLUGIN}_CFLAGS_OTHER}"
-    )
-    if (PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS)
-        set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES "${PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS}"
-        )
-    endif()
-    if (GStreamer_USE_STATIC_LIBS)
-        _gst_apply_frameworks(PC_GStreamer_${_gst_PLUGIN}_STATIC_LDFLAGS_OTHER GStreamer::${_gst_PLUGIN})
-    else()
-        set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-            INTERFACE_LINK_OPTIONS "${PC_GStreamer_${_gst_PLUGIN}_LDFLAGS_OTHER}"
-            INTERFACE_LINK_LIBRARIES "${PC_GStreamer_${_gst_PLUGIN}_LINK_LIBRARIES}"
-        )
-        # We're done
-        continue()
-    endif()
-
-    # Handle all libraries, even those specified with -l:libfoo.a (srt)
-    _gst_apply_link_libraries(OFF PC_GStreamer_${_gst_PLUGIN}_STATIC_LIBRARIES PC_GStreamer_${_gst_PLUGIN}_STATIC_LIBRARY_DIRS GStreamer::${_gst_PLUGIN})
-endforeach()
-
-foreach(_gst_PLUGIN IN LISTS GSTREAMER_APIS)
-    # Safety valve for the custom targets above
-    if ("${_gst_plugin}" IN_LIST _gst_CUSTOM_TARGETS)
-        continue()
-    endif()
-
-    if (TARGET GStreamer::${_gst_PLUGIN})
-        continue()
-    endif()
-
-    if (GStreamer_FIND_REQUIRED_${_gst_PLUGIN})
-        set(_gst_PLUGIN_REQUIRED REQUIRED)
-    else()
-        set(_gst_PLUGIN_REQUIRED)
-    endif()
-
-    string(REGEX REPLACE "^api_(.+)" "\\1" _gst_PLUGIN_PC "${_gst_PLUGIN}")
-    string(REPLACE "_" "-" _gst_PLUGIN_PC "${_gst_PLUGIN_PC}")
-
-    pkg_check_modules(PC_GStreamer_${_gst_PLUGIN} "gstreamer-${_gst_PLUGIN_PC}-1.0")
-
-    set(GStreamer_${_gst_PLUGIN}_FOUND "${PC_GStreamer_${_gst_PLUGIN}_FOUND}")
-    if (NOT GStreamer_${_gst_PLUGIN}_FOUND)
-        continue()
-    endif()
-
-    add_library(GStreamer::${_gst_PLUGIN} INTERFACE IMPORTED)
-    _gst_filter_missing_directories(PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS)
-    set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-        INTERFACE_COMPILE_OPTIONS "${PC_GStreamer_${_gst_PLUGIN}_CFLAGS_OTHER}"
-        INTERFACE_LINK_OPTIONS "${PC_GStreamer_${_gst_PLUGIN}_LDFLAGS_OTHER}"
-    )
-    if (PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS)
-        set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES "${PC_GStreamer_${_gst_PLUGIN}_INCLUDE_DIRS}"
-        )
-    endif()
-    if (GStreamer_USE_STATIC_LIBS)
-        _gst_apply_frameworks(PC_GStreamer_${_gst_PLUGIN}_STATIC_LDFLAGS_OTHER GStreamer::${_gst_PLUGIN})
-    else()
-        set_target_properties(GStreamer::${_gst_PLUGIN} PROPERTIES
-            INTERFACE_LINK_OPTIONS "${PC_GStreamer_${_gst_PLUGIN}_LDFLAGS_OTHER}"
-            INTERFACE_LINK_LIBRARIES "${PC_GStreamer_${_gst_PLUGIN}_LINK_LIBRARIES}"
-        )
-        # We're done
-        continue()
-    endif()
-
-    # Handle all libraries, even those specified with -l:libfoo.a (srt)
-    _gst_apply_link_libraries(OFF PC_GStreamer_${_gst_PLUGIN}_STATIC_LIBRARIES PC_GStreamer_${_gst_PLUGIN}_STATIC_LIBRARY_DIRS GStreamer::${_gst_PLUGIN})
-endforeach()
-
-# Perform final validation
-include(FindPackageHandleStandardArgs)
-set(_gst_handle_version_range)
-if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.19.0")
-    set(_gst_handle_version_range "HANDLE_VERSION_RANGE")
-endif()
-find_package_handle_standard_args(GStreamer
-    REQUIRED_VARS
-        GStreamer_LIBRARY
-        GStreamer_INCLUDE_DIR
-    VERSION_VAR GStreamer_VERSION
-    ${_gst_handle_version_range}
-    HANDLE_COMPONENTS
-)
diff --git a/cmake/find-modules/_FindGStreamerMobile.cmake b/cmake/find-modules/_FindGStreamerMobile.cmake
deleted file mode 100644
index 90311b27428e..000000000000
--- a/cmake/find-modules/_FindGStreamerMobile.cmake
+++ /dev/null
@@ -1,607 +0,0 @@
-# SPDX-FileCopyrightText: 2024 L. E. Segovia <amy@centricular.com>
-# SPDX-License-Ref: LGPL-2.1-or-later
-
-#[=======================================================================[.rst:
-FindGStreamerMobile
--------
-
-Creates additional mobile targets to install fonts and the CA certificate
-bundle. Android and iOS only.
-
-Imported Targets
-^^^^^^^^^^^^^^^^
-
-This module defines the following :prop_tgt:`INTERFACE` targets:
-
-``GStreamer::fonts``
-  A target that will install GStreamer's default fonts into the app.
-
-``GStreamer::ca_certificates``
-  A target that will install the NSS CA certificate bundle into the app.
-
-This module defines the following :prop_tgt:`SHARED` targets:
-
-``GStreamer::mobile``
-  A target that will build the shared library consisting of GStreamer plus all the selected plugin components. (Android/iOS only)
-
-Result Variables
-^^^^^^^^^^^^^^^^
-
-This will define the following variables:
-
-``GStreamer_Mobile_FOUND``
-  ON if the system has the GStreamer library.
-
-Cache Variables
-^^^^^^^^^^^^^^^
-
-The following cache variables may also be set:
-
-``GStreamer_CA_BUNDLE``
-  Path to /etc/ssl/certs/ca-certificates.crt.
-``GStreamer_UBUNTU_R_TTF``
-  Path to the TrueType font Ubuntu R.
-``GStreamer_FONTS_CONF``
-  Path to /etc/fonts.conf.
-
-Configuration Variables
-^^^^^^^^^^^^^^^
-
-Like with the main GStreamer library, setting the following variables is
-required, depending on the operating system:
-
-``GStreamer_ROOT_DIR``
-  Installation prefix of the GStreamer SDK.
-
-``GStreamer_JAVA_SRC_DIR``
-  Target directory for deploying the selected plugins' Java classfiles to. (Android only)
-
-``GStreamer_Mobile_MODULE_NAME``
-  Name for the GStreamer::mobile shared library. Default is ``gstreamer_android`` (Android) or ``gstreamer_mobile`` (iOS).
-
-``GStreamer_ASSETS_DIR``
-  Target directory for deploying assets to.
-
-``G_IO_MODULES``
-  Set this to the GIO modules you need, additional to any GStreamer plugins. (Usually set to ``gnutls`` or ``openssl``)
-
-``G_IO_MODULES_PATH``
-  Path for the static GIO modules.
-
-#]=======================================================================]
-
-if (GStreamer_Mobile_FOUND)
-    return()
-endif()
-
-#####################
-#  Setup variables  #
-#####################
-
-if (NOT DEFINED GStreamer_ROOT_DIR AND DEFINED GSTREAMER_ROOT)
-    set(GStreamer_ROOT_DIR ${GSTREAMER_ROOT})
-endif()
-
-if (NOT GStreamer_ROOT_DIR)
-    set(GStreamer_ROOT_DIR "${CMAKE_CURRENT_LIST_DIR}/../../")
-endif()
-
-if (NOT EXISTS "${GStreamer_ROOT_DIR}")
-    message(FATAL_ERROR "The directory GStreamer_ROOT_DIR=${GStreamer_ROOT_DIR} does not exist")
-endif()
-
-set(_gst_required_vars)
-
-if (ca_certificates IN_LIST GStreamerMobile_FIND_COMPONENTS)
-    # for setting the default GTlsDatabase
-    list(APPEND GStreamer_EXTRA_DEPS gio-2.0)
-endif()
-
-if (ANDROID)
-    list(APPEND GStreamer_EXTRA_DEPS zlib)
-endif()
-
-# Prepare Android hotfixes for x264
-if(ANDROID_ABI MATCHES "^armeabi")
-    set(NEEDS_NOTEXT_FIX TRUE)
-    set(NEEDS_BSYMBOLIC_FIX TRUE)
-elseif(ANDROID_ABI STREQUAL "x86")
-    set(NEEDS_NOTEXT_FIX TRUE)
-    set(NEEDS_BSYMBOLIC_FIX TRUE)
-# arm64: https://ffmpeg.org/pipermail/ffmpeg-devel/2022-July/298734.html
-elseif(ANDROID_ABI STREQUAL "x86_64" OR ANDROID_ABI STREQUAL "arm64-v8a")
-    set(NEEDS_BSYMBOLIC_FIX TRUE)
-endif()
-
-# Set up output variables for Android
-if(ANDROID)
-    if (NOT DEFINED GStreamer_JAVA_SRC_DIR AND DEFINED GSTREAMER_JAVA_SRC_DIR)
-        set(GStreamer_JAVA_SRC_DIR ${GSTREAMER_JAVA_SRC_DIR})
-    elseif(NOT DEFINED GStreamer_JAVA_SRC_DIR)
-        set(GStreamer_JAVA_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../src/")
-    else()
-        # Gradle does not let us access the root of the subproject
-        # so we implement the ndk-build assumption ourselves
-        set(GStreamer_JAVA_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../${GStreamer_JAVA_SRC_DIR}")
-    endif()
-
-    if(NOT DEFINED GStreamer_NDK_BUILD_PATH AND DEFINED GSTREAMER_NDK_BUILD_PATH)
-        set(GStreamer_NDK_BUILD_PATH "${GSTREAMER_NDK_BUILD_PATH}")
-    elseif(NOT DEFINED GStreamer_NDK_BUILD_PATH)
-        set(GStreamer_NDK_BUILD_PATH  "${GStreamer_ROOT}/share/gst-android/ndk-build/")
-    endif()
-endif()
-
-if(NOT DEFINED GStreamer_Mobile_MODULE_NAME)
-    if (DEFINED GSTREAMER_ANDROID_MODULE_NAME)
-        set(GStreamer_Mobile_MODULE_NAME "${GSTREAMER_ANDROID_MODULE_NAME}")
-    elseif(ANDROID)
-        set(GStreamer_Mobile_MODULE_NAME gstreamer_android)
-    else()
-        set(GStreamer_Mobile_MODULE_NAME gstreamer_mobile)
-    endif()
-endif()
-
-if(ANDROID)
-    if(NOT DEFINED GStreamer_ASSETS_DIR AND DEFINED GSTREAMER_ASSETS_DIR)
-        set(GStreamer_ASSETS_DIR "${GSTREAMER_ASSETS_DIR}")
-    elseif(NOT DEFINED GStreamer_ASSETS_DIR)
-        set(GStreamer_ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../src/assets/")
-    else()
-        # Same as above
-        set(GStreamer_ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../${GStreamer_ASSETS_DIR}")
-    endif()
-
-    if(NOT DEFINED GStreamer_NDK_BUILD_PATH AND DEFINED GSTREAMER_NDK_BUILD_PATH)
-        set(GStreamer_NDK_BUILD_PATH "${GSTREAMER_NDK_BUILD_PATH}")
-    elseif(NOT DEFINED GStreamer_NDK_BUILD_PATH)
-        set(GStreamer_NDK_BUILD_PATH  "${GStreamer_ROOT}/share/gst-android/ndk-build/")
-    endif()
-elseif(IOS)
-    if(NOT DEFINED GStreamer_ASSETS_DIR AND DEFINED GStreamer_ASSETS_DIR)
-        set(GStreamer_ASSETS_DIR ${GStreamer_ASSETS_DIR})
-    elseif(NOT DEFINED GStreamer_ASSETS_DIR)
-        set(GStreamer_ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
-    else()
-        # Same as above
-        set(GStreamer_ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../${GStreamer_ASSETS_DIR}")
-    endif()
-endif()
-
-if (ANDROID)
-    file(READ "${GStreamer_NDK_BUILD_PATH}/GStreamer.java" JAVA_INPUT)
-endif()
-
-if (ANDROID OR APPLE)
-    set(GSTREAMER_IS_MOBILE ON)
-else()
-    set(GSTREAMER_IS_MOBILE OFF)
-endif()
-
-# Block shared GStreamer on mobile
-if (GSTREAMER_IS_MOBILE)
-    if (NOT DEFINED GStreamer_USE_STATIC_LIBS)
-        set(GStreamer_USE_STATIC_LIBS ON)
-    endif()
-    if (NOT GStreamer_USE_STATIC_LIBS)
-        message(FATAL_ERROR "Shared library GStreamer is not supported on mobile platforms")
-    endif()
-endif()
-
-# Now, let's set up targets for each of the components supplied
-# These are the required plugins
-set(_gst_plugins ${GStreamerMobile_FIND_COMPONENTS})
-# These are custom handled targets, and must be skipped from the loop
-list(REMOVE_ITEM _gst_plugins fonts ca_certificates mobile)
-list(REMOVE_DUPLICATES _gst_plugins)
-
-set(GSTREAMER_PLUGINS ${_gst_plugins})
-# These are the API packages
-set(GSTREAMER_APIS ${GSTREAMER_PLUGINS})
-list(FILTER GSTREAMER_APIS INCLUDE REGEX "^api_")
-# Filter them out, although they're handled the same
-# they cannot be considered for the purposes of initialization
-list(FILTER GSTREAMER_PLUGINS EXCLUDE REGEX "^api_")
-
-if (GSTREAMER_IS_MOBILE AND (NOT TARGET GStreamer::mobile))
-    # Generate the plugins' declaration strings
-    # (don't append a semicolon, CMake does it as part of the list)
-    list(TRANSFORM GSTREAMER_PLUGINS
-        PREPEND "\nGST_PLUGIN_STATIC_DECLARE\("
-        OUTPUT_VARIABLE PLUGINS_DECLARATION
-    )
-    list(TRANSFORM PLUGINS_DECLARATION
-        APPEND "\)"
-        OUTPUT_VARIABLE PLUGINS_DECLARATION
-    )
-    if(PLUGINS_DECLARATION)
-        set(PLUGINS_DECLARATION "${PLUGINS_DECLARATION};")
-    endif()
-
-    # Generate the plugins' registration strings
-    list(TRANSFORM GSTREAMER_PLUGINS
-        PREPEND "\nGST_PLUGIN_STATIC_REGISTER\("
-        OUTPUT_VARIABLE PLUGINS_REGISTRATION
-    )
-    list(TRANSFORM PLUGINS_REGISTRATION
-        APPEND "\)"
-        OUTPUT_VARIABLE PLUGINS_REGISTRATION
-    )
-    if(PLUGINS_REGISTRATION)
-        set(PLUGINS_REGISTRATION "${PLUGINS_REGISTRATION};")
-    endif()
-
-    # Generate list of gio modules
-    if (NOT G_IO_MODULES)
-        set(G_IO_MODULES)
-    endif()
-    list(TRANSFORM G_IO_MODULES
-        PREPEND "gio"
-        OUTPUT_VARIABLE G_IO_MODULES_LIBS
-    )
-    list(TRANSFORM G_IO_MODULES
-        PREPEND "\nGST_G_IO_MODULE_DECLARE\("
-        OUTPUT_VARIABLE G_IO_MODULES_DECLARE
-    )
-    list(TRANSFORM G_IO_MODULES_DECLARE
-        APPEND "\);"
-        OUTPUT_VARIABLE G_IO_MODULES_DECLARE
-    )
-    if(G_IO_MODULES_DECLARE)
-        set(G_IO_MODULES_DECLARE "${G_IO_MODULES_DECLARE};")
-    endif()
-    list(TRANSFORM G_IO_MODULES
-        PREPEND "\nGST_G_IO_MODULE_LOAD\("
-        OUTPUT_VARIABLE G_IO_MODULES_LOAD
-    )
-    list(TRANSFORM G_IO_MODULES_LOAD
-        APPEND "\)"
-        OUTPUT_VARIABLE G_IO_MODULES_LOAD
-    )
-    if(G_IO_MODULES_LOAD)
-        set(G_IO_MODULES_LOAD "${G_IO_MODULES_LOAD};")
-    endif()
-
-    # Generates a source file that declares and registers all the required plugins
-    if (ANDROID)
-        configure_file(
-            "${CMAKE_CURRENT_LIST_DIR}/GStreamer/gstreamer_android-1.0.c.in"
-            "${GStreamer_Mobile_MODULE_NAME}.c"
-        )
-    else()
-        configure_file(
-            "${CMAKE_CURRENT_LIST_DIR}/GStreamer/gst_ios_init.m.in"
-            "${GStreamer_Mobile_MODULE_NAME}.m"
-        )
-    endif()
-
-    # Creates a shared library including gstreamer, its plugins and all the dependencies
-    if (ANDROID)
-        add_library(GStreamerMobile
-            SHARED
-                "${GStreamer_Mobile_MODULE_NAME}.c"
-        )
-    else()
-        add_library(GStreamerMobile SHARED)
-        enable_language(OBJC OBJCXX)
-        target_sources(GStreamerMobile
-            PRIVATE
-                "${GStreamer_Mobile_MODULE_NAME}.m"
-        )
-        set_source_files_properties("${GStreamer_Mobile_MODULE_NAME}.m"
-            PROPERTIES
-                LANGUAGE OBJC
-        )
-        find_library(Foundation_LIB Foundation REQUIRED)
-        target_link_libraries(GStreamerMobile
-            PRIVATE
-                ${Foundation_LIB}
-        )
-    endif()
-    add_library(GStreamer::mobile ALIAS GStreamerMobile)
-
-    # Assume it's C++ for the sake of gstsoundtouch
-    set_target_properties(
-        GStreamerMobile
-        PROPERTIES
-            LIBRARY_OUTPUT_NAME ${GStreamer_Mobile_MODULE_NAME}
-    )
-    if (APPLE)
-        set_target_properties(
-            GStreamerMobile
-            PROPERTIES
-                LINKER_LANGUAGE OBJCXX
-                FRAMEWORK TRUE
-                FRAMEWORK_VERSION A
-                MACOSX_FRAMEWORK_IDENTIFIER org.gstreamer.GStreamerMobile
-        )
-    else()
-        set_target_properties(
-            GStreamerMobile
-            PROPERTIES
-                LINKER_LANGUAGE CXX
-        )
-    endif()
-endif()
-
-if (GStreamerMobile_FIND_REQUIRED)
-find_package(GStreamer COMPONENTS ${_gst_plugins} REQUIRED)
-else()
-find_package(GStreamer COMPONENTS ${_gst_plugins})
-endif()
-
-# Path for the static GIO modules
-pkg_get_variable(G_IO_MODULES_PATH gio-2.0 giomoduledir)
-if (NOT G_IO_MODULES_PATH)
-    set(G_IO_MODULES_PATH "${GStreamer_ROOT_DIR}/lib/gio/modules")
-endif()
-
-if (GSTREAMER_IS_MOBILE)
-    set_target_properties(
-        GStreamerMobile
-        PROPERTIES
-            VERSION ${PC_GStreamer_VERSION}
-            SOVERSION ${PC_GStreamer_VERSION}
-    )
-
-    # Handle all libraries, even those specified with -l:libfoo.a (srt)
-    # Due to the unavailability of pkgconf's `--maximum-traverse-depth`
-    # on stock pkg-config, I attempt to simulate it through the shared
-    # libraries listing.
-    # If pkgconf is available, replace all PC_GStreamer_ entries with
-    # PC_GStreamer_NoDeps and uncomment the code block above.
-    foreach(LOCAL_LIB IN LISTS PC_GStreamer_LIBRARIES)
-        # list(TRANSFORM REPLACE) is of no use here
-        # https://gitlab.kitware.com/cmake/cmake/-/issues/16899
-        if (LOCAL_LIB MATCHES "${_gst_SRT_REGEX_PATCH}")
-            string(REGEX REPLACE "${_gst_SRT_REGEX_PATCH}" "\\1" LOCAL_LIB "${LOCAL_LIB}")
-        endif()
-        string(MAKE_C_IDENTIFIER "_gst_${LOCAL_LIB}" GST_LOCAL_LIB)
-        # These have already been found by FindGStreamer
-        if ("${${GST_LOCAL_LIB}}" IN_LIST _gst_IGNORED_SYSTEM_LIBRARIES)
-            target_link_libraries(GStreamerMobile PRIVATE
-                "${${GST_LOCAL_LIB}}"
-            )
-        elseif (MSVC)
-            target_link_libraries(GStreamerMobile PRIVATE
-                "/WHOLEARCHIVE:${${GST_LOCAL_LIB}}"
-            )
-        elseif(APPLE)
-            target_link_libraries(GStreamerMobile PRIVATE
-                "-Wl,-force_load,${${GST_LOCAL_LIB}}"
-            )
-        else()
-            target_link_libraries(GStreamerMobile PRIVATE
-                "-Wl,--whole-archive,${${GST_LOCAL_LIB}},--no-whole-archive"
-            )
-        endif()
-    endforeach()
-
-    target_link_libraries(
-        GStreamerMobile
-        PRIVATE
-            GStreamer::deps
-    )
-
-    target_link_options(
-        GStreamerMobile
-        INTERFACE
-            $<TARGET_PROPERTY:GStreamer::GStreamer,INTERFACE_LINK_OPTIONS>
-    )
-
-    target_include_directories(
-        GStreamerMobile
-        INTERFACE
-            $<TARGET_PROPERTY:GStreamer::GStreamer,INTERFACE_INCLUDE_DIRECTORIES>
-    )
-
-    # Text relocations are required for all 32-bit objects. We
-    # must disable the warning to allow linking with lld. Unlike gold, ld which
-    # will silently allow text relocations, lld support must be explicit.
-    #
-    # See https://crbug.com/911658#c19 for more information. See also
-    # https://trac.ffmpeg.org/ticket/7878
-    if(DEFINED NEEDS_NOTEXT_FIX)
-        target_link_options(
-            GStreamerMobile
-            PRIVATE
-                "-Wl,-z,notext"
-        )
-    endif()
-
-    # resolve textrels in the x86 asm
-    if(DEFINED NEEDS_BSYMBOLIC_FIX)
-        target_link_options(
-            GStreamerMobile
-            PRIVATE
-                "-Wl,-Bsymbolic"
-        )
-    endif()
-
-    if (ANDROID)
-        # Collect all Java-based initializer classes
-        set(GSTREAMER_PLUGINS_CLASSES)
-        foreach(LOCAL_PLUGIN IN LISTS GSTREAMER_PLUGINS)
-            file(GLOB_RECURSE
-                LOCAL_PLUGIN_CLASS
-                FOLLOW_SYMLINKS
-                RELATIVE "${GStreamer_NDK_BUILD_PATH}"
-                "${GStreamer_NDK_BUILD_PATH}/${LOCAL_PLUGIN}/*.java"
-            )
-            list(APPEND GSTREAMER_PLUGINS_CLASSES ${LOCAL_PLUGIN_CLASS})
-        endforeach()
-
-        # Same as above, but collect the plugins themselves
-        set(GSTREAMER_PLUGINS_WITH_CLASSES)
-        foreach(LOCAL_PLUGIN IN LISTS GSTREAMER_PLUGINS)
-            if(EXISTS "${GStreamer_NDK_BUILD_PATH}/${LOCAL_PLUGIN}/")
-                list(APPEND GSTREAMER_PLUGINS_WITH_CLASSES ${LOCAL_PLUGIN})
-            endif()
-        endforeach()
-
-        add_custom_target(
-            "copyjavasource_${ANDROID_ABI}"
-        )
-
-        foreach(LOCAL_FILE IN LISTS GSTREAMER_PLUGINS_CLASSES)
-            string(MAKE_C_IDENTIFIER "cp_${LOCAL_FILE}" COPYJAVASOURCE_TGT)
-            add_custom_target(
-                ${COPYJAVASOURCE_TGT}
-                COMMAND
-                    "${CMAKE_COMMAND}" -E make_directory
-                    "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/"
-                COMMAND
-                    "${CMAKE_COMMAND}" -E copy
-                    "${GStreamer_NDK_BUILD_PATH}/${LOCAL_FILE}"
-                    "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/"
-                BYPRODUCTS
-                    "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/${LOCAL_FILE}"
-            )
-            add_dependencies(copyjavasource_${ANDROID_ABI} ${COPYJAVASOURCE_TGT})
-        endforeach()
-    endif()
-
-    # And, finally, set the GIO modules up
-    if (G_IO_MODULES_LIBS)
-        add_library(GStreamer::gio_modules INTERFACE IMPORTED)
-
-        _gst_apply_link_libraries(OFF G_IO_MODULES_LIBS G_IO_MODULES_PATH GStreamer::gio_modules)
-        target_link_libraries(
-            GStreamerMobile
-            PRIVATE
-                GStreamer::gio_modules
-        )
-    endif()
-    set(GStreamer_mobile_FOUND TRUE)
-endif()
-
-if(fonts IN_LIST GStreamerMobile_FIND_COMPONENTS)
-    set(GStreamer_UBUNTU_R_TTF "${GStreamer_NDK_BUILD_PATH}/fontconfig/fonts/Ubuntu-R.ttf"
-        CACHE FILEPATH "Path to Ubuntu-R.ttf"
-    )
-    set(GStreamer_FONTS_CONF
-        "${GStreamer_NDK_BUILD_PATH}/fontconfig/fonts.conf"
-        CACHE FILEPATH "Path to fonts.conf"
-    )
-    if (EXISTS "${GStreamer_UBUNTU_R_TTF}" AND EXISTS "${GStreamer_FONTS_CONF}")
-        set(GStreamerMobile_fonts_FOUND ON)
-        set(_gst_required_vars "GStreamer_UBUNTU_R_TTF GStreamer_FONTS_CONF ${gst_required_vars}")
-
-        if (ANDROID)
-            string(REPLACE "//copyFonts" "copyFonts" JAVA_INPUT "${JAVA_INPUT}")
-            add_custom_target(
-                copyfontsres_${ANDROID_ABI}
-                COMMAND
-                    "${CMAKE_COMMAND}" -E make_directory
-                    "${GStreamer_ASSETS_DIR}/fontconfig/fonts/truetype/"
-                COMMAND
-                    "${CMAKE_COMMAND}" -E copy
-                    "${GStreamer_UBUNTU_R_TTF}"
-                    "${GStreamer_ASSETS_DIR}/fontconfig/fonts/truetype/"
-                COMMAND
-                    "${CMAKE_COMMAND}" -E copy
-                    "${GStreamer_FONTS_CONF}"
-                    "${GStreamer_ASSETS_DIR}/fontconfig/"
-                BYPRODUCTS
-                    "${GStreamer_ASSETS_DIR}/fontconfig/fonts/truetype/Ubuntu-R.ttf"
-                    "${GStreamer_ASSETS_DIR}/fontconfig/fonts.conf"
-            )
-
-            if (TARGET GStreamerMobile)
-                add_dependencies(GStreamerMobile copyfontsres_${ANDROID_ABI})
-            endif()
-        elseif(APPLE)
-            set(GStreamerMobile_fonts_FOUND ON)
-            list(APPEND GSTREAMER_RESOURCES "${GStreamer_FONTS_CONF}" "${GStreamer_UBUNTU_R_TTF}")
-        else()
-            message(FATAL_ERROR "No fonts assets available for this operating system.")
-        endif()
-    else()
-        set(GStreamerMobile_fonts_FOUND OFF)
-    endif()
-endif()
-
-if(ca_certificates IN_LIST GStreamerMobile_FIND_COMPONENTS)
-    set(GStreamer_CA_BUNDLE "${GStreamer_ROOT_DIR}/etc/ssl/certs/ca-certificates.crt"
-        CACHE FILEPATH "Path to ca-certificates bundle"
-    )
-    if (EXISTS "${GStreamer_CA_BUNDLE}")
-        set(GStreamerMobile_ca_certificates_FOUND ON)
-        string(REPLACE "//copyCaCertificates" "copyCaCertificates" JAVA_INPUT "${JAVA_INPUT}")
-        set(_gst_required_vars "GStreamer_CA_BUNDLE ${_gst_required_vars}")
-
-        if (ANDROID)
-            add_custom_target(
-                copycacertificatesres_${ANDROID_ABI}
-                COMMAND
-                    "${CMAKE_COMMAND}" -E make_directory
-                    "${GStreamer_ASSETS_DIR}/ssl/certs/"
-                COMMAND
-                    "${CMAKE_COMMAND}" -E copy
-                    "${GStreamer_CA_BUNDLE}"
-                    "${GStreamer_ASSETS_DIR}/ssl/certs/"
-                BYPRODUCTS "${GStreamer_ASSETS_DIR}/ssl/certs/ca-certificates.crt"
-            )
-
-            if (TARGET GStreamerMobile)
-                add_dependencies(GStreamerMobile copycacertificatesres_${ANDROID_ABI})
-                target_compile_definitions(GStreamerMobile
-                    PRIVATE
-                        GSTREAMER_INCLUDE_CA_CERTIFICATES
-                )
-            endif()
-        elseif (APPLE)
-            list(APPEND GSTREAMER_RESOURCES "${GStreamer_CA_BUNDLE}")
-        else()
-            message(FATAL_ERROR "No certificate bundle available for this operating system.")
-        endif()
-    else()
-        set(GStreamerMobile_ca_certificates_FOUND OFF)
-    endif()
-endif()
-
-if (ANDROID)
-    file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/GStreamer.java" "${JAVA_INPUT}")
-    add_custom_target(
-        enable_includes_in_gstreamer_java
-        COMMAND
-            "${CMAKE_COMMAND}" -E make_directory
-            "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/"
-        COMMAND
-            "${CMAKE_COMMAND}" -E copy
-            "${CMAKE_CURRENT_BINARY_DIR}/GStreamer.java"
-            "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/GStreamer.java"
-        BYPRODUCTS
-            "${GStreamer_JAVA_SRC_DIR}/org/freedesktop/gstreamer/GStreamer.java"
-    )
-    if (TARGET GStreamerMobile)
-        add_dependencies(copyjavasource_${ANDROID_ABI} enable_includes_in_gstreamer_java)
-        add_dependencies(GStreamerMobile copyjavasource_${ANDROID_ABI})
-    endif()
-endif()
-
-if (TARGET GStreamerMobile AND GSTREAMER_RESOURCES)
-    set_target_properties(
-        GStreamerMobile
-        PROPERTIES
-            RESOURCE "${GSTREAMER_RESOURCES}"
-    )
-endif()
-
-# Perform final validation
-include(FindPackageHandleStandardArgs)
-foreach(_gst_PLUGIN IN LISTS _gst_plugins)
-    set(GStreamerMobile_${_gst_PLUGIN}_FOUND "${GStreamer_${_gst_PLUGIN}_FOUND}")
-
-    if (GStreamer_${_gst_PLUGIN}_FOUND)
-        target_link_libraries(
-            GStreamerMobile
-            PRIVATE
-                GStreamer::${_gst_PLUGIN}
-        )
-    endif()
-endforeach()
-# FIXME: CMake does not tolerate interpolation of REQUIRED_VARS
-find_package_handle_standard_args(GStreamerMobile
-    HANDLE_COMPONENTS
-)
diff --git a/deploy/docker/entrypoint.sh b/deploy/docker/entrypoint.sh
index 9514ce8243a0..2d8098cc8b68 100644
--- a/deploy/docker/entrypoint.sh
+++ b/deploy/docker/entrypoint.sh
@@ -27,7 +27,6 @@ if [[ -n "${ANDROID_SDK_ROOT:-}" ]]; then
         -DQT_HOST_PATH="${QT_HOST_PATH}" \
         -DQT_ANDROID_ABIS="${ANDROID_ABIS}" \
         -DANDROID_SDK_ROOT="${ANDROID_SDK_ROOT}" \
-        -DQGC_CUSTOM_GST_PACKAGE=OFF \
         -DQT_ANDROID_SIGN_APK=OFF
     cmake --build /project/build --target all --config "${BUILD_TYPE}" --parallel
 else
diff --git a/deploy/linux/AppRun b/deploy/linux/AppRun
index dc46bb7ca2db..c027c3834efb 100755
--- a/deploy/linux/AppRun
+++ b/deploy/linux/AppRun
@@ -25,9 +25,14 @@ for LIB_PATH in \
 done
 
 # Preload system GLib 2.76+ for TTS compatibility (libspeechd.so.2 dependency)
+# Must also preload system GIO to avoid ABI mismatch with bundled GStreamer GIO plugin
 if [ -n "$SYSTEM_GLIB" ]; then
     if nm -D "$SYSTEM_GLIB" 2>/dev/null | grep -qm1 g_string_free_and_steal; then
-        export LD_PRELOAD="${SYSTEM_GLIB}${LD_PRELOAD:+:$LD_PRELOAD}"
+        GLIB_PRELOAD="${SYSTEM_GLIB}"
+        if [ -f "$SYSTEM_GIO" ]; then
+            GLIB_PRELOAD="${GLIB_PRELOAD}:${SYSTEM_GIO}"
+        fi
+        export LD_PRELOAD="${GLIB_PRELOAD}${LD_PRELOAD:+:$LD_PRELOAD}"
     fi
 fi
 
diff --git a/docs/assets/fly/toolbar/apm_support_indicator.png b/docs/assets/fly/toolbar/apm_support_indicator.png
new file mode 100644
index 000000000000..d0f63475e9be
Binary files /dev/null and b/docs/assets/fly/toolbar/apm_support_indicator.png differ
diff --git a/docs/assets/fly/toolbar/battery_indicator.png b/docs/assets/fly/toolbar/battery_indicator.png
index c26b0fce9e26..6f5b84ed3f27 100644
Binary files a/docs/assets/fly/toolbar/battery_indicator.png and b/docs/assets/fly/toolbar/battery_indicator.png differ
diff --git a/docs/assets/fly/toolbar/esc_indicator.png b/docs/assets/fly/toolbar/esc_indicator.png
new file mode 100644
index 000000000000..1576b67bf142
Binary files /dev/null and b/docs/assets/fly/toolbar/esc_indicator.png differ
diff --git a/docs/assets/fly/toolbar/flight_modes_indicator.png b/docs/assets/fly/toolbar/flight_modes_indicator.png
index e3481618ca87..821a72535077 100644
Binary files a/docs/assets/fly/toolbar/flight_modes_indicator.png and b/docs/assets/fly/toolbar/flight_modes_indicator.png differ
diff --git a/docs/assets/fly/toolbar/gimbal_indicator.png b/docs/assets/fly/toolbar/gimbal_indicator.png
new file mode 100644
index 000000000000..f73d2fb338bc
Binary files /dev/null and b/docs/assets/fly/toolbar/gimbal_indicator.png differ
diff --git a/docs/assets/fly/toolbar/gps_indicator.png b/docs/assets/fly/toolbar/gps_indicator.png
index 4e2b76633fd1..71e813add254 100644
Binary files a/docs/assets/fly/toolbar/gps_indicator.png and b/docs/assets/fly/toolbar/gps_indicator.png differ
diff --git a/docs/assets/fly/toolbar/joystick_indicator.png b/docs/assets/fly/toolbar/joystick_indicator.png
new file mode 100644
index 000000000000..9b81227e7618
Binary files /dev/null and b/docs/assets/fly/toolbar/joystick_indicator.png differ
diff --git a/docs/assets/fly/toolbar/main_status_indicator.png b/docs/assets/fly/toolbar/main_status_indicator.png
new file mode 100644
index 000000000000..61b677ce34c5
Binary files /dev/null and b/docs/assets/fly/toolbar/main_status_indicator.png differ
diff --git a/docs/assets/fly/toolbar/multi_vehicle_indicator.png b/docs/assets/fly/toolbar/multi_vehicle_indicator.png
new file mode 100644
index 000000000000..71b5db858628
Binary files /dev/null and b/docs/assets/fly/toolbar/multi_vehicle_indicator.png differ
diff --git a/docs/assets/fly/toolbar/rc_rssi_indicator.png b/docs/assets/fly/toolbar/rc_rssi_indicator.png
new file mode 100644
index 000000000000..1c446b67aa2e
Binary files /dev/null and b/docs/assets/fly/toolbar/rc_rssi_indicator.png differ
diff --git a/docs/assets/fly/toolbar/remote_id_indicator.png b/docs/assets/fly/toolbar/remote_id_indicator.png
new file mode 100644
index 000000000000..cf65d4c645a5
Binary files /dev/null and b/docs/assets/fly/toolbar/remote_id_indicator.png differ
diff --git a/docs/assets/fly/toolbar/signing_indicator.jpg b/docs/assets/fly/toolbar/signing_indicator.jpg
new file mode 100644
index 000000000000..c7f8dea46a4c
Binary files /dev/null and b/docs/assets/fly/toolbar/signing_indicator.jpg differ
diff --git a/docs/assets/fly/toolbar/telemetry_rssi_indicator.png b/docs/assets/fly/toolbar/telemetry_rssi_indicator.png
new file mode 100644
index 000000000000..5a23ada7d5cd
Binary files /dev/null and b/docs/assets/fly/toolbar/telemetry_rssi_indicator.png differ
diff --git a/docs/assets/fly/toolbar/vtol_indicator.png b/docs/assets/fly/toolbar/vtol_indicator.png
new file mode 100644
index 000000000000..d6f8221952fc
Binary files /dev/null and b/docs/assets/fly/toolbar/vtol_indicator.png differ
diff --git a/docs/assets/plan/plan_view_overview.jpg b/docs/assets/plan/plan_view_overview.jpg
deleted file mode 100644
index c7de9d5f7d5b..000000000000
Binary files a/docs/assets/plan/plan_view_overview.jpg and /dev/null differ
diff --git a/docs/assets/plan/plan_view_overview.png b/docs/assets/plan/plan_view_overview.png
new file mode 100644
index 000000000000..e73b940e9ac6
Binary files /dev/null and b/docs/assets/plan/plan_view_overview.png differ
diff --git a/docs/assets/settings/mavlink/overview_telemetry.jpg b/docs/assets/settings/mavlink/overview_telemetry.jpg
new file mode 100644
index 000000000000..9631a67f226a
Binary files /dev/null and b/docs/assets/settings/mavlink/overview_telemetry.jpg differ
diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 2bdb50744012..31e62fbaa89f 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -53,7 +53,7 @@
   - [General](qgc-user-guide/settings_view/general.md)
     - [CSV Logging](qgc-user-guide/settings_view/csv.md)
   - [Offline Maps](qgc-user-guide/settings_view/offline_maps.md)
-  - [MAVLink](qgc-user-guide/settings_view/mavlink.md)
+  - [Telemetry](qgc-user-guide/settings_view/telemetry.md)
   - [Console Logging](qgc-user-guide/settings_view/console_logging.md)
   - [Virtual Joystick (PX4)](qgc-user-guide/settings_view/virtual_joystick.md)
 - [Analyze](qgc-user-guide/analyze_view/index.md)
@@ -80,6 +80,7 @@
   - [Getting Started with source & builds](qgc-dev-guide/getting_started/index.md)
     - [Build using Containers](qgc-dev-guide/getting_started/container.md)
   - [Navigating the Source Code](qgc-dev-guide/navigating_source.md)
+    - [API Reference (Doxygen)](https://api.qgroundcontrol.com/master/annotated.html)
     - [Class Hierarchy](qgc-dev-guide/classes/index.md)
   - [QGC Release/Branching Process](qgc-dev-guide/release_branching_process.md)
   - [Communication Flow](qgc-dev-guide/communication_flow.md)
diff --git a/docs/en/qgc-dev-guide/classes/index.md b/docs/en/qgc-dev-guide/classes/index.md
index 85f026674d99..9ce1d55bdfd6 100644
--- a/docs/en/qgc-dev-guide/classes/index.md
+++ b/docs/en/qgc-dev-guide/classes/index.md
@@ -1,5 +1,9 @@
 # Class Hierarchy (high level)
 
+::: tip
+Doxygen documentation for classes can be found at <https://api.qgroundcontrol.com/master/annotated.html>.
+:::
+
 ## LinkManager, LinkInterface
 
 A "Link" in QGC is a specific type of communication pipe with the vehicle such as a serial port or UDP over WiFi. The base class for all links is LinkInterface. Each link runs on it's own thread and sends bytes to MAVLinkProtocol.
diff --git a/docs/en/qgc-dev-guide/navigating_source.md b/docs/en/qgc-dev-guide/navigating_source.md
index b2dec3c69e18..c04ffab06950 100644
--- a/docs/en/qgc-dev-guide/navigating_source.md
+++ b/docs/en/qgc-dev-guide/navigating_source.md
@@ -1,6 +1,13 @@
 # Navigating QGC Source Code
 
-QGC is a large code base. With that it can be daunting to find what your are looking for in the source. Below are listed some tips to help you find what you are looking for.
+QGC is a large code base and it can be daunting to find what you are looking for in the source.
+
+Below are listed some tips to help you find what you are looking for.
+
+## Use the API Reference
+
+Doxygen documentation can be found at <https://api.qgroundcontrol.com/>.
+This can be easier to navigate and search than the source itself.
 
 ## Start from the top of the UI
 
diff --git a/docs/en/qgc-user-guide/fly_view/fly_view_toolbar.md b/docs/en/qgc-user-guide/fly_view/fly_view_toolbar.md
index 50457b484cbe..3d6195ccd620 100644
--- a/docs/en/qgc-user-guide/fly_view/fly_view_toolbar.md
+++ b/docs/en/qgc-user-guide/fly_view/fly_view_toolbar.md
@@ -13,11 +13,11 @@ The "Q" icon on the left of the toolbar allows you to select between additional
 
 ## Toolbar Indicators
 
-Next are a multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
+Next are multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
 
 ![Toolbar Indicator - expand button](../../../assets/fly/toolbar_indicator_expand.png)
 
-### Flight Status
+### Flight Status <img src="../../../assets/fly/toolbar/main_status_indicator.png" alt="Flight Status indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Status indicator shows you whether the vehicle is ready to fly or not. It can be in one of the following states:
 
@@ -29,10 +29,10 @@ The Flight Status indicator shows you whether the vehicle is ready to fly or not
 - **Landing** - Vehicle is in the process of landing.
 - **Communication Lost** - QGroundControl has lost communication with the vehicle.
 
-The Flight Status Indicator dropdown also gives you acess to:
+The Flight Status indicator dropdown also gives you access to:
 
 - **Arm** - Arming a vehicle starts the motors in preparation for takeoff. You will only be able to arm the vehicle if it is safe and ready to fly. Generally you do not need to manually arm the vehicle. You can simply takeoff or start a mission and the vehicle will arm itself.
-- **Disarm** - Disarming a vehicle is only availble when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
+- **Disarm** - Disarming a vehicle is only available when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
 - **Emergency Stop** - Emergency stop is used to disarm the vehicle while it is flying. For emergency use only, your vehicle will crash!
 
 In the cases of warnings or not ready state you can click the indicator to display the dropdown which will show the reason(s) why. The toggle on the right expands each error with additional information and possible solutions.
@@ -41,7 +41,7 @@ In the cases of warnings or not ready state you can click the indicator to displ
 
 Once each issue is resolved it will disappear from the UI. When all issues blocking arming have been removed you should now be ready to fly.
 
-## Flight Mode
+### Flight Mode <img src="../../../assets/fly/toolbar/flight_modes_indicator.png" alt="Flight Mode indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Mode indicator shows you the current flight mode. The dropdown allows you to switch between flight modes. The expanded page allows you to:
 
@@ -49,15 +49,23 @@ The Flight Mode indicator shows you the current flight mode. The dropdown allows
 - Set global geo-fence settings
 - Add/Remove flight modes from the displayed list
 
-## Vehicle Messages
+### Vehicle Messages <img src="../../../assets/fly/toolbar/messages_indicator.png" alt="Vehicle Messages indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Vehicle Messages indicator dropdown shows you messages which come from the vehicle. The indicator will turn red if there are important messages available.
 
-## GPS
+### GPS / RTK GPS <img src="../../../assets/fly/toolbar/gps_indicator.png" alt="GPS / RTK GPS indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-The GPS indicator shows you the satellite count and the HDOP in the toolbar icon. The dropdown shows you additional GPS status. The expanded page give you access to RTK settings.
+The GPS/RTK GPS indicator shows satellite and GNSS status in the toolbar, and the dropdown provides additional GPS details.
 
-## Battery
+With an active vehicle, the indicator shows vehicle GPS information (for example, satellite count and HDOP), and the expanded page provides access to RTK-related settings.
+
+When there is no active vehicle but RTK is connected, the indicator switches to RTK status so you can still monitor the correction link.
+
+### GPS Resilience
+
+The GPS Resilience indicator appears when the vehicle reports GPS resilience telemetry (authentication, spoofing, or jamming state). The dropdown provides summary status and per-GPS details when available.
+
+### Battery <img src="../../../assets/fly/toolbar/battery_indicator.png" alt="Battery indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Battery indicator shows you a configurable colored battery icon for remaining charge. It can also be configured to show percent remaining, voltage or both. The expanded page allows you to:
 
@@ -65,14 +73,49 @@ The Battery indicator shows you a configurable colored battery icon for remainin
 - Configure the icon coloring
 - Set up the low battery failsafe
 
-## Remote ID
+### Remote ID <img src="../../../assets/fly/toolbar/remote_id_indicator.png" alt="Remote ID indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Remote ID indicator appears when Remote ID is available on the active vehicle. Its color indicates overall Remote ID health, and the dropdown shows Remote ID status details.
+
+### ESC <img src="../../../assets/fly/toolbar/esc_indicator.png" alt="ESC indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The ESC indicator appears when ESC telemetry is available from the vehicle. It shows overall ESC health and online motor count, and opens a detailed ESC status page.
+
+### Joystick <img src="../../../assets/fly/toolbar/joystick_indicator.png" alt="Joystick indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Joystick indicator appears when a joystick/gamepad is detected. The dropdown shows device status and connection details.
+
+### Telemetry RSSI <img src="../../../assets/fly/toolbar/telemetry_rssi_indicator.png" alt="Telemetry RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Telemetry RSSI indicator appears when telemetry signal information is available. It provides local/remote RSSI and additional radio link quality details.
+
+### RC RSSI <img src="../../../assets/fly/toolbar/rc_rssi_indicator.png" alt="RC RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The RC RSSI indicator appears when RC signal information is available. It shows current RC link strength and opens a page with RC RSSI details.
+
+### Gimbal <img src="../../../assets/fly/toolbar/gimbal_indicator.png" alt="Gimbal indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Gimbal indicator is shown when the vehicle supports the [MAVLink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html). It displays active gimbal status and provides access to gimbal controls and settings.
+
+### VTOL Transitions <img src="../../../assets/fly/toolbar/vtol_indicator.png" alt="VTOL indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+For VTOL vehicles, a VTOL transition status indicator is shown when applicable. It indicates the current VTOL mode/state and provides transition-related status information.
+
+### MAVLink Signing <img src="../../../assets/fly/toolbar/signing_indicator.jpg" alt="MAVLink Signing indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The MAVLink Signing indicator appears when signing keys have been configured (see [MAVLink 2 Signing](../settings_view/telemetry.md#signing)).
+It shows a lock icon that indicates whether MAVLink 2 message signing is active on the current vehicle connection:
+
+- **Locked (green):** Signing is active — the vehicle's incoming packets matched a stored key, or a key was manually enabled.
+- **Unlocked:** Signing is not active on the current connection.
+
+The dropdown shows the signing status, the name of the active key (if any), and the number of saved keys.
+Expanding the indicator provides full key management: you can enable a key on the vehicle, disable the active key, delete unused keys, or add new keys.
+
+### Multi-Vehicle Selector <img src="../../../assets/fly/toolbar/multi_vehicle_indicator.png" alt="Multi-Vehicle indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-## Other Indicators
+The Multi-Vehicle selector appears when more than one vehicle is connected. It allows you to quickly switch the active vehicle from the toolbar.
 
-There are other indicators which only show in certain situations:
+### APM Support Forwarding <img src="../../../assets/fly/toolbar/apm_support_indicator.png" alt="APM Support Forwarding indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-* Telemetry RSSI
-* RC RSSI
-* Gimbal - Only displayed if the vehicle supports the [Mavlink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html)
-* VTOL transitions
-* Select from multiple connected vehicles
+On ArduPilot, an APM Support Forwarding indicator appears when MAVLink traffic forwarding to a support server is enabled.
diff --git a/docs/en/qgc-user-guide/plan_view/plan_view.md b/docs/en/qgc-user-guide/plan_view/plan_view.md
index 648b34b4701a..f5f85af8e7f5 100644
--- a/docs/en/qgc-user-guide/plan_view/plan_view.md
+++ b/docs/en/qgc-user-guide/plan_view/plan_view.md
@@ -2,32 +2,32 @@
 
 The _Plan View_ is used to plan _autonomous missions_ for your vehicle, and upload them to the vehicle. Once the mission is [planned](#plan_mission) and sent to the vehicle, you switch to the [Fly View](../fly_view/fly_view.md) to fly the mission.
 
-It is also use to configure the [GeoFence](plan_geofence.md) and [Rally Points](plan_rally_points.md) if these are supported by the firmware.
+It is also used to configure the [GeoFence](plan_geofence.md) and [Rally Points](plan_rally_points.md) if these are supported by the firmware.
 
 <span id="plan_screenshot"></span>
-![Plan View](../../../assets/plan/plan_view_overview.jpg)
+![Plan View](../../../assets/plan/plan_view_overview.png)
 
 ## UI Overview {#ui_overview}
 
-The [screenshot above](#plan_screenshot) shows a simple mission plan that starts with a takeoff at the [Planned Home](#planned_home) position (H),
-flies through three waypoints, and then lands on the last waypoint (i.e. waypoint 3).
+The [screenshot above](#plan_screenshot) shows the Plan View with an empty mission.
+The map is centered on the [Planned Home](#planned_home) position (H).
 
 The main elements of the UI are:
 
 - **Map:** Displays the numbered indicators for the current mission, including the [Planned Home](#planned_home).
   Click on the indicators to select them (for editing) or drag them around to reposition them.
-- **Plan Toolbar:** Status information for the currently selected waypoint relative to the previous waypoint, as well as statistics for the entire mission (e.g. horizontal distance and time for mission).
-  - `Max telem dist` is the distance between the [Planned Home](#planned_home) and the furthest waypoint.
-  - When connected to a vehicle it also shows an **Upload** button, can be used to upload the plan to the vehicle.
-- **[Plan Tools](#plan_tools):** Used to create and manage missions.
-- **[Mission Command List/Overlay](#mission_command_list):** Displays the current list of mission items (select items to [edit](#mission_command_editors)).
-- **Terrain Altitude Overlay:** Shows the relative altitude of each mission command.
-
-It shows you information related to the currently selected waypoint as well as statistics for the entire mission.
+  Flight path lines and direction arrows show the planned route between waypoints.
+- **Plan Toolbar:** Located at the top of the view with buttons for **Open**, **Save**, **Upload**, and **Clear**.
+  A hamburger menu (☰) provides additional options such as _Save as KML_ and _Download_ (load plan from vehicle).
+  The **Save** and **Upload** buttons are highlighted when there are unsaved or un-uploaded changes.
+- **[Plan Tools](#plan_tools):** A vertical tool strip on the left side of the map used to add mission items (Takeoff, Waypoint, Pattern, ROI, Return/Land) and toggle the stats panel.
+- **[Plan Editor Panel](#plan_editor_panel):** A collapsible tree view on the right side containing the plan file info, mission items, GeoFence, and rally point editors.
+- **Layer Switcher:** Buttons in the top-right area for switching between **Mission**, **Geo-Fence**, and **Rally Point** editing layers.
+- **Mission Stats / Terrain Panel:** A panel at the bottom of the map that can toggle between a terrain altitude profile chart (height AMSL vs. distance) and mission statistics (selected waypoint info, total distance, max telemetry distance, estimated flight time, and battery info).
 
 ## Planning a Mission {#plan_mission}
 
-At very high level, the steps to create a mission are:
+At a very high level, the steps to create a mission are:
 
 1. Change to _Plan View_.
 2. Add waypoints or commands to the mission and edit as needed.
@@ -41,12 +41,8 @@ The following sections explain some of the details in the view.
 The _Planned Home_ shown in _Plan View_ is used to set the approximate start point when planning a mission (i.e. when a vehicle may not even be connected to QGC).
 It is used by QGC to estimate mission times and to draw waypoint lines.
 
-![Planned Home Position](../../../assets/plan/mission/mission_settings_planned_home.jpg)
-
 You should move/drag the planned home position to roughly the location where you plan to takeoff.
-The altitude for the planned home position is set in the [Mission Settings](#mission_settings) panel.
-
-<img src="../../../assets/plan/mission/mission_settings_planned_home_position_section.jpg" style="width: 200px;"/>
+The altitude for the planned home position is determined automatically from terrain data.
 
 :::tip
 The Fly View displays the _actual_ home position set by the vehicle firmware when it arms (this is where the vehicle will return in Return/RTL mode).
@@ -54,132 +50,131 @@ The Fly View displays the _actual_ home position set by the vehicle firmware whe
 
 ## Plan Tools {#plan_tools}
 
-The plan tools are used for adding individual waypoints, easing mission creation for complicated geometries, uploading/downloading/saving/restoring missions, and for navigating the map. The main tools are described below.
-
-::: info
-**Center map**, **Zoom In**, **Zoom Out** tools help users better view and navigate the _Plan view_ map (they don't affect the mission commands sent to the vehicle).
-:::
+The plan tools are a vertical tool strip on the left side of the map, used for adding mission items. The tools are only visible when editing the Mission layer. The main tools (top to bottom) are described below.
 
-### Add Waypoints
+### Takeoff
 
-Click on the **Add Waypoint** tool to activate it. While active, clicking on the map will add new mission waypoint at the clicked location.
-The tool will stay active until you select it again.
-Once you have added a waypoint, you can select it and drag it around to change its position.
+Inserts a takeoff command into the mission. This tool is available for all vehicle types except rovers.
 
-### File (Sync) {#file}
-
-The _File tools_ are used to move missions between the ground station and vehicle, and to save/restore them from files.
-The tool displays an `!` to indicate that there are mission changes that you have not sent to the vehicle.
-
-::: info
-Before you fly a mission you must upload it to the vehicle.
-:::
+### Pattern
 
-The _File tools_ provide the following functionality:
+The [Pattern](pattern.md) tool simplifies the creation of missions for flying complex geometries, including [surveys](../plan_view/pattern_survey.md) and [structure scans](../plan_view/pattern_structure_scan_v2.md).
+If multiple pattern types are available for the vehicle, clicking the button opens a dropdown to select from Survey, Corridor Scan, Structure Scan, and landing patterns.
 
-- Upload (Send to vehicle)
-- Download (Load from vehicle)
-- Save/Save as to File, including as KML file.
-- Load from File
-- Remove All (removes all mission waypoints from _Plan view_ and from vehicle)
+### Waypoint
 
-### Pattern
+Click the **Waypoint** tool to toggle waypoint-on-click mode. While active, clicking on the map will add a new mission waypoint at the clicked location.
+The tool stays active until you click it again to deactivate.
+Once you have added a waypoint, you can select it and drag it around to reposition it.
 
-The [Pattern](pattern.md) tool simplifies the creation of missions for flying complex geometries, including [surveys](../plan_view/pattern_survey.md) and [structure scans](../plan_view/pattern_structure_scan_v2.md).
+### ROI
 
-## Mission Command List {#mission_command_list}
+Toggles Region of Interest mode. When active, clicking on the map sets an ROI location.
+This tool is only visible if the vehicle firmware supports ROI mode.
 
-Mission commands for the current mission are listed on the right side of the view.
-At the top are a set of options to switch between editing the mission, GeoFence and rally points.
-Within the list you can select individual mission items to edit their values.
+### Return / Land
 
-![Mission Command List](../../../assets/plan/mission/mission_command_list.jpg)
+Adds a return or land command to the mission. The label varies by vehicle type:
+- **Multicopters:** _Return_
+- **Fixed-wing:** _Land_ (or _Alt Land_ if a land item already exists in the mission)
 
-### Mission Command Editors {#mission_command_editors}
+### Stats
 
-Click on a mission command in the list to display its editor (in which you can set/change the command attributes).
+Toggles the [Mission Stats / Terrain panel](#stats_terrain) at the bottom of the map. Only visible when that panel is currently hidden.
 
-You can change the **type** of the command by clicking on the command name (for example: _Waypoint_).
-This will display the _Select Mission Command_ dialog shown below.
-By default this just displays the "Basic Commands", but you can use the **Category** drop down menu to display more (e.g. choose **All commands** to see all the options).
+## File Operations {#file}
 
-<img src="../../../assets/plan/mission/mission_commands.jpg" style="width: 200px;"/>
+File operations are located in the **Plan Toolbar** at the top of the view:
 
-To the right of each command name is a menu that you can click to access to additional options such as _Insert_ and _Delete_.
+- **Open** — Load a plan from a file.
+- **Save** — Save the current plan to a file. Highlighted when there are unsaved changes.
+- **Upload** — Upload the plan to the vehicle. Highlighted when the plan has un-uploaded changes.
+- **Clear** — Remove all mission items, geofence, and rally points. If connected to a vehicle, also clears them from the vehicle.
+- **Hamburger menu** (☰) — Additional options:
+  - _Save as KML_ — Export the plan as a KML file.
+  - _Download_ — Download the current plan from the vehicle (only available when connected).
 
 ::: info
-The list of available commands will depend on firmware and vehicle type.
-Examples may include: Waypoint, Start image capture, Jump to item (to repeat mission) and other commands.
+Before you fly a mission you must upload it to the vehicle.
 :::
 
-### Mission Settings {#mission_settings}
+## Plan Editor Panel {#plan_editor_panel}
 
-The _Mission Start_ panel is the first item that appears in the [mission command list](#mission_command_list).
-It may be used to specify a number default settings that may affect the start or end of the mission.
+The Plan Editor Panel is a collapsible tree view on the right side of the view.
+The panel can be collapsed or expanded using the toggle button on its left edge.
+It is organized into the following collapsible sections: **Plan Info**, **Defaults**, **Mission**, **GeoFence**, **Rally Points**, and **Transform**.
 
-![Mission Command List - showing mission settings](../../../assets/plan/mission_start.png)
+### Layer Switcher {#layer_switcher}
 
-![Mission settings](../../../assets/plan/mission/mission_settings.png)
+Buttons in the top-right area of the map allow switching between the **Mission**, **Geo-Fence**, and **Rally Point** editing layers.
+The active layer button is always visible; the other layer buttons slide in briefly when toggled and auto-hide after a few seconds.
 
-#### Mission Defaults
+### Plan Info {#plan_info}
 
-##### Waypoint alt
+The Plan Info section contains general plan-level settings:
 
-Set the default altitude for the first mission item added to a plan (subsequent items take an initial altitude from the previous item).
-This can also be used to change the altitude of all items in a plan to the same value; you will be prompted if you change the value when there are items in a plan.
+- **Plan File** — An editable name for the plan file.
+- **Vehicle Info** — Firmware and vehicle type selectors. When connected to a vehicle these are determined automatically; when planning offline you must set them before adding any mission items so that the correct mission commands are available.
+- **Expected Home Position** — The altitude (AMSL) for the planned home position is determined automatically from terrain data. A **Move To Map Center** button repositions the home marker to the center of the map. This is only the _planned_ home position for estimating mission times and drawing waypoint lines — the actual home position is set by the vehicle when it arms.
 
-##### Flight speed
+### Defaults {#mission_settings}
 
-Set a flight speed for the mission that is different than the default mission speed.
+The Defaults section sets plan-wide values that apply to new mission items:
 
-#### Mission End
+- **Altitude Frame** — Select the altitude reference frame for waypoints.
+- **Waypoints Altitude** — The default altitude for the first mission item added (subsequent items take their initial altitude from the previous item). Changing this value when items already exist will prompt to update all items to the new altitude.
+- **Flight Speed** — Set a flight speed that differs from the default mission speed.
+- **Vehicle Speeds** — Cruise speed (fixed-wing) and/or hover speed (multi-rotor/VTOL), used for estimating mission time.
 
-##### Return to Launch after mission end
+### Mission Items {#mission_items}
 
-Check this if you want your vehicle to Return/RTL after the final mission item.
+The Mission section lists all mission items (waypoints, commands, patterns, etc.) in order.
+Each item can be expanded to edit its parameters.
 
-#### Planned Home Position
-
-The [Planned Home Position](#planned_home) section allows you to simulate the vehicle's home position while planning a mission.
-This allows you to view the waypoint trajectory for your vehicle from takeoff to mission completion.
-
-![MissionSettings Planned Home Position Section](../../../assets/plan/mission/mission_settings_planned_home_position_section.jpg)
+- Click an item to select it on the map and expand its editor.
+- Click the **command name** dropdown to change the item type. A dialog shows "Basic Commands" by default; use the **Category** dropdown to see all available commands.
+- Each item has a **hamburger menu** (☰) with options such as _Show all values_, _Move to vehicle position_, _Move to previous item position_, and _Edit position_.
+- A **delete button** (trash icon) removes the item.
+- Items that are incomplete or missing required values show a **?** status indicator.
 
 ::: info
-This is only the _planned_ home position and you should place it where you plan to start the vehicle from.
-It has no actual impact on flying the mission.
-The actual home position of a vehicle is set by the vehicle itself when arming.
+The list of available commands depends on firmware and vehicle type.
+Examples include: Waypoint, Start image capture, Jump to item (to repeat mission), and other commands.
 :::
 
-This section allows you to set the **Altitude** and **Set Home to Map Centre**
-(you can move it to another position by dragging it on the map).
+#### Initial Camera Settings
+
+This allows you to set camera options before any mission items take place.
+This includes camera actions (take photos by time/distance, start/stop video recording) and gimbal control.
+
+### GeoFence {#geofence}
+
+The GeoFence section allows you to define geofence boundaries:
 
-#### Camera
+- **Polygon Fences** — Add inclusion or exclusion polygon fences. Each polygon can be toggled between inclusion/exclusion, edited, or deleted.
+- **Circular Fences** — Add inclusion or exclusion circular fences with a configurable radius.
+- **Breach Return Point** — Optionally set a return point (with altitude) that the vehicle will fly to if it breaches the geofence.
 
-The camera section allows you to specify a camera action to take, control the gimbal and set your camera into photo or video mode.
+### Rally Points {#rally_points}
 
-![MissionSettings Camera Section](../../../assets/plan/mission/mission_settings_camera_section.jpg)
+The Rally Points section displays and manages rally points. When a rally point is selected, its position fields are shown for editing.
 
-The available camera actions are:
+### Transform {#transform}
 
-- No change (continue current action)
-- Take photos (time)
-- Take photos (distance)
-- Stop taking photos
-- Start recording video
-- Stop recording video
+The Transform section provides tools to adjust the entire mission after it has been created:
 
-#### Vehicle Info
+- **Offset Mission** — Shift the mission by a specified distance in the East, North, and Up directions. Optionally include takeoff and/or landing items in the offset.
+- **Reposition Mission** — Move the mission to a new location specified by geographic coordinates (Lat/Lon), UTM, MGRS, or the current vehicle position.
+- **Rotate Mission** — Rotate the mission clockwise by a specified number of degrees. Optionally include takeoff and/or landing items in the rotation.
 
-The appropriate mission commands for the vehicle depend on the firmware and vehicle type.
+## Mission Stats / Terrain Panel {#stats_terrain}
 
-If you are planning a mission while you are _connected to a vehicle_ the firmware and vehicle type will be determined from the vehicle.
-This section allows you to specify the vehicle firmware/type when not connected to a vehicle.
+A panel at the bottom of the map provides two toggleable views:
 
-![MissionSettings VehicleInfoSection](../../../assets/plan/mission/mission_settings_vehicle_info_section.jpg)
+- **Terrain Profile** — A chart showing height AMSL vs. distance from start across the mission.
+- **Mission Statistics** — Displays details for the selected waypoint (altitude difference, azimuth, distance to previous waypoint, gradient, heading) and for the total mission (distance, max telemetry distance, estimated flight time). Battery information (batteries required and change point) is also shown when available.
 
-The additional value that can be specified when planning a mission is the vehicle flight speed.
-By specifying this value, total mission or survey times can be approximated even when not connected to a vehicle.
+Toggle buttons on the left side of the panel let you switch between the terrain profile and mission statistics views, or collapse the panel entirely.
 
 ## Troubleshooting
 
@@ -190,14 +185,14 @@ If a failure occurs you should see a status message in the QGC UI similar to:
 
 > Mission transfer failed. Retry transfer. Error: Mission write mission count failed, maximum retries exceeded.
 
-The loss rate for your link can be viewed in [Settings View > MAVLink](../settings_view/mavlink.md).
+The loss rate for your link can be viewed in [App Settings > Telemetry](../settings_view/telemetry.md).
 The loss rate should be in the low single digits (i.e. maximum of 2 or 3):
 
 - A loss rate in the high single digits can lead to intermittent failures.
 - Higher loss rates often lead to 100% failure.
 
 There is a much smaller possibility that issues are caused by bugs in either flight stack or QGC.
-To analyse this possibility you can turn on [Console Logging](../settings_view/console_logging.md) for Plan upload/download and review the protocol message traffic.
+To analyze this possibility you can turn on [Console Logging](../settings_view/console_logging.md) for Plan upload/download and review the protocol message traffic.
 
 ## Further Info
 
diff --git a/docs/en/qgc-user-guide/settings_view/settings_view.md b/docs/en/qgc-user-guide/settings_view/settings_view.md
index 78d3006666b3..b8b0c633fbe2 100644
--- a/docs/en/qgc-user-guide/settings_view/settings_view.md
+++ b/docs/en/qgc-user-guide/settings_view/settings_view.md
@@ -17,7 +17,7 @@ You can switch between the various settings options by clicking the buttons in t
 **[Offline Maps](offline_maps.md)**
 <br>Allows you to cache maps for use while you have no Internet connection.
 
-**[MAVLink](mavlink.md)**
+**[Telemetry](telemetry.md)**
 <br>Settings associated with the MAVLink connection to a vehicle.
 
 **[Console](console_logging.md)**
diff --git a/docs/en/qgc-user-guide/settings_view/mavlink.md b/docs/en/qgc-user-guide/settings_view/telemetry.md
similarity index 71%
rename from docs/en/qgc-user-guide/settings_view/mavlink.md
rename to docs/en/qgc-user-guide/settings_view/telemetry.md
index 0ba6749f8327..758d9e752bb2 100644
--- a/docs/en/qgc-user-guide/settings_view/mavlink.md
+++ b/docs/en/qgc-user-guide/settings_view/telemetry.md
@@ -1,12 +1,10 @@
-# MAVLink Settings
+# Telemetry Settings
 
-The MAVLink settings (**SettingsView > MAVLink**) allow you to configure options and view information specific to MAVLink communications.
+The Telemetry settings (**App Settings > Telemetry**) allow you to configure options and view information specific to MAVLink communications.
 This includes setting the MAVLink system ID for _QGroundControl_ and viewing link quality.
 
 The screen also allows you to manage [MAVLink 2 Log Streaming](#logging) (PX4 only), including _automating log upload to Flight Review_!
 
-![MAVLink settings screen](../../../assets/settings/mavlink/overview.png)
-
 ## Ground Station {#ground_station}
 
 This section sets the MAVLink properties and behaviour of _QGroundControl_.
@@ -30,6 +28,29 @@ A high **Loss rate** may lead to protocol errors for things like parameter downl
 
 ![Link Status](../../../assets/settings/mavlink/link_status.jpg)
 
+## MAVLink 2 Signing {#signing}
+
+The _MAVLink 2 Signing_ section (under **App Settings > Telemetry**) allows you to manage signing keys used for [MAVLink 2 message signing](https://mavlink.io/en/guide/message_signing.html).
+When signing is enabled, all messages between QGroundControl and the vehicle are cryptographically authenticated, preventing unauthorized command injection.
+
+### Key Management
+
+- **Add Key:** Enter a friendly name and a passphrase. The passphrase is SHA-256 hashed to produce the 32-byte signing key. Only the hash is stored — the passphrase is not saved.
+- **Enable:** Sends the signing key to the active vehicle via `SETUP_SIGNING`. The vehicle and QGroundControl will both begin signing messages. Only available when no key is currently active.
+- **Disable:** Disables signing on the active vehicle by sending an all-zero key. Only shown for the currently active key.
+- **Delete:** Removes a key from QGroundControl's key store. Not available for keys that are in use by any connected vehicle. A warning is shown because the vehicle may still have the key configured — deleting it locally means you can no longer communicate with that vehicle over a signed connection.
+
+### Auto-Detection
+
+When QGroundControl receives signed packets from a vehicle, it automatically tries each stored key to find a match.
+If a match is found, signing is automatically configured on the link — no manual action is needed.
+The detected key name is shown in the Signing toolbar indicator.
+
+::: warning
+Signing keys should only be sent to the vehicle over secure (wired or encrypted) links.
+Anyone who intercepts the key can sign messages and send commands to the vehicle.
+:::
+
 ## MAVLink 2 Logging (PX4 only) {#logging}
 
 The _MAVLink 2 Logging_ settings (PX4 only) configure real-time log streaming from PX4 to _QGroundControl_ and upload of logs to [Flight Review](https://logs.px4.io).
diff --git a/docs/en/qgc-user-guide/troubleshooting/parameter_download.md b/docs/en/qgc-user-guide/troubleshooting/parameter_download.md
index 547c9f1ae27e..f70d463b484c 100644
--- a/docs/en/qgc-user-guide/troubleshooting/parameter_download.md
+++ b/docs/en/qgc-user-guide/troubleshooting/parameter_download.md
@@ -7,9 +7,9 @@ At which point you will get an error stating that QGC was unable to retrieve the
 Although you can still fly the vehicle in this state it is not recommended.
 Also the vehicle setup pages will not be available.
 
-You can see the loss rate for your link from the [Settings View > MAVLink](../settings_view/mavlink.md) page.
+You can see the loss rate for your link from the [App Settings > Telemetry](../settings_view/telemetry.md) page.
 Even a loss rate in the high single digits can lead to intermittent failures of the plan protocols.
-Higher loss rates could leads to 100% failure.
+Higher loss rates could lead to 100% failure.
 
 There is also the more remote possibility of either firmware or QGC bugs.
 To see the details of the back and forth message traffic of the protocol you can turn on [Console Logging](../settings_view/console_logging.md) for the Parameter Protocol.
diff --git a/docs/ko/initial-connect-state-machine-analysis.md b/docs/ko/initial-connect-state-machine-analysis.md
new file mode 100644
index 000000000000..bc2e4d216817
--- /dev/null
+++ b/docs/ko/initial-connect-state-machine-analysis.md
@@ -0,0 +1,374 @@
+# Initial Connect State Machine Analysis
+
+## Scope
+
+This document analyzes QGroundControl's vehicle initial connection pipeline implemented in:
+
+- `src/Vehicle/InitialConnectStateMachine.h`
+- `src/Vehicle/InitialConnectStateMachine.cc`
+
+It also covers upstream/downstream dependencies that influence behavior:
+
+- `src/Vehicle/Vehicle.cc`
+- `src/Vehicle/ComponentInformation/ComponentInformationManager.*`
+- `src/Utilities/StateMachine/*`
+- `src/FirmwarePlugin/FirmwarePlugin.cc`
+- `src/FactSystem/ParameterManager.cc`
+- `src/MissionManager/GeoFenceManager.cc`
+- `src/MissionManager/RallyPointManager.cc`
+- `src/API/QGCOptions.h`
+
+---
+
+## 1. What the Initial Connect State Machine does
+
+At first online vehicle connection, QGC runs a linear state machine to gather critical vehicle metadata and synchronize mission-related state.
+
+### State order
+
+1. **Request AUTOPILOT_VERSION** (`RetryableRequestMessageState`)
+2. **Request Standard Modes** (`AsyncFunctionState`)
+3. **Request Component Information** (`AsyncFunctionState`)
+4. **Request Parameters** (`AsyncFunctionState`)
+5. **Request Mission** (`SkippableAsyncState`)
+6. **Request Geofence** (`SkippableAsyncState`)
+7. **Request Rally Points** (`SkippableAsyncState`)
+8. **Signal Complete** (`RetryState` with zero retries)
+9. **Final** (`QGCFinalState`)
+
+The state machine is started from `Vehicle` construction for normal vehicles.
+
+---
+
+## 2. Progress model
+
+The machine uses weighted progress:
+
+- AutopilotVersion: 1
+- StandardModes: 1
+- ComponentInfo: 5
+- Parameters: 5
+- Mission: 2
+- GeoFence: 1
+- RallyPoints: 1
+- Complete: 1
+
+This means parameter and component-info stages dominate progress reporting (as intended), while mission/fence/rally are lighter-weight contributors.
+
+Sub-progress is wired from managers during long operations:
+
+- `ComponentInformationManager::progressUpdate`
+- `ParameterManager::loadProgressChanged`
+- `MissionManager::progressPctChanged`
+- `GeoFenceManager::progressPctChanged`
+- `RallyPointManager::progressPctChanged`
+
+---
+
+## 3. Retries/timeouts and failure behavior
+
+### Per-state retry policy
+
+`_maxRetries = 1` globally for initial connect states.
+
+Timeouts:
+
+- AUTOPILOT_VERSION: 5000 ms
+- StandardModes: 5000 ms
+- ComponentInfo: 30000 ms
+- Parameters: 60000 ms
+- Mission: 30000 ms
+- GeoFence: 15000 ms
+- RallyPoints: 15000 ms
+
+### Important semantic detail
+
+For all async states after AUTOPILOT_VERSION, timeout handling uses `RetryTransition`:
+
+- On first timeout: retry in-place (`restartWait()` + retry action), no state transition.
+- After retries exhausted: transition to the next state.
+
+So timeout exhaustion is **graceful degradation** (advance), not hard stop, for this machine.
+
+### AUTOPILOT_VERSION state behavior
+
+AUTOPILOT_VERSION uses `RetryableRequestMessageState`, which also retries and then advances by default when retries are exhausted (`failOnMaxRetries` is not enabled here). It invokes a failure handler before advancing.
+
+---
+
+## 4. Exactly what is skipped, and when
+
+## A) Entire machine skipped
+
+In unit tests, the machine is **not started** only for synthetic generic vehicles:
+
+- Condition: `qgcApp()->runningUnitTests() && _vehicleType == MAV_TYPE_GENERIC`
+
+All real vehicle types still run initial connect during tests.
+
+## B) AUTOPILOT_VERSION request skipped
+
+State skip predicate returns true if:
+
+1. No primary link exists, **or**
+2. Primary link is high-latency (`LinkConfiguration::isHighLatency()`), **or**
+3. Primary link is log replay (`LinkInterface::isLogReplay()` true, e.g. `LogReplayLink`)
+
+When skipped, the state completes immediately and transitions to StandardModes.
+
+## C) Mission load skipped
+
+Mission state is skipped if:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link
+
+## D) Geofence load skipped
+
+Geofence state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `GeoFenceManager::supported()` is false
+   - `supported()` is capability-driven: requires `MAV_PROTOCOL_CAPABILITY_MISSION_FENCE`
+
+## E) Rally points load skipped
+
+Rally state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `RallyPointManager::supported()` is false
+   - `supported()` requires `MAV_PROTOCOL_CAPABILITY_MISSION_RALLY`
+
+When rally is skipped, QGC still marks:
+
+- `_initialPlanRequestComplete = true`
+- emits `initialPlanRequestCompleteChanged(true)`
+
+so downstream UI logic does not stall waiting for rally load.
+
+## F) Component information sub-states skipped (inside ComponentInformationManager)
+
+`ComponentInformationManager` itself has internal skippable phases:
+
+- Parameter metadata skipped if `GENERAL` metadata says parameter metadata unsupported
+- Events metadata skipped if unsupported
+- Actuators metadata skipped if unsupported
+
+Support checks are based on `CompInfoGeneral::isMetaDataTypeSupported(type)`.
+
+---
+
+## 5. What data is captured during initial connect, and why
+
+## A) AUTOPILOT_VERSION data captured
+
+On successful AUTOPILOT_VERSION response, QGC captures:
+
+1. **Vehicle UID** (`uid`)
+   - Used as stable identity and surfaced via `vehicleUIDChanged`.
+
+2. **Firmware board vendor/product IDs**
+   - Hardware identification for board-specific behavior and diagnostics.
+
+3. **Flight software semantic version** (`flight_sw_version` packed fields)
+   - Parsed into major/minor/patch/version-type and stored in `Vehicle`.
+
+4. **Firmware custom version / git hash**
+   - PX4: decoded from binary bytes (reverse-order formatting)
+   - APM: decoded as 8-char ASCII
+   - Exposed via `gitHashChanged`.
+
+5. **MAVLink capability bits**
+   - Stored via `_setCapabilities(...)`
+   - Drives feature gating such as mission-int, command-int, geofence, rally support.
+
+If AUTOPILOT_VERSION fails, QGC sets **assumed capabilities**:
+
+- Always assume MAVLink2
+- For PX4/APM, also assume mission-int/command-int/fence/rally support
+
+This allows connect flow to continue even without that message.
+
+## B) Standard modes captured
+
+QGC requests available standard modes one-by-one (`AVAILABLE_MODES`) and updates firmware plugin mode mapping.
+
+Purpose:
+
+- Provide accurate, vehicle-reported mode names/availability.
+- Refresh flight mode UI mapping even if HEARTBEAT arrives earlier.
+
+## C) Component Information captured
+
+`ComponentInformationManager` requests metadata in this sequence:
+
+1. `GENERAL` metadata
+2. URI update pass (maps/propagates discovered metadata URIs)
+3. `PARAMETER` metadata (if supported)
+4. `EVENTS` metadata (if supported)
+5. `ACTUATORS` metadata (if supported)
+
+### Why this matters
+
+- **Parameter metadata** (`CompInfoParam`) feeds `ParameterManager` metadata lookups (`factMetaDataForName`), affecting parameter typing/metadata behavior.
+- **Events metadata** supports event schema/decoding ecosystem.
+- **Actuators metadata** is used by PX4 actuator configuration UX:
+  - If actuator metadata is absent or actuator conditions fail, PX4 plugin falls back to legacy Motor page.
+  - If present and valid (`show-ui-if` etc.), Actuators page is enabled.
+
+So component info is both a data-quality improvement and a feature-availability gate.
+
+## D) Parameters stage captured
+
+- Requests full parameter refresh (`refreshAllParameters()`)
+- Waits for `parametersReadyChanged(true)`
+- On ready:
+  - Sends GCS time to vehicle twice (reliability)
+  - Sets up auto-disarm signalling
+
+This stage is foundational for most setup/calibration UI and many capability/behavior branches.
+
+## E) Plan data captured
+
+- Mission items from vehicle
+- Geofence data (if supported and not skipped)
+- Rally points (if supported and not skipped)
+
+On rally completion (or rally skip), QGC sets initial plan load complete.
+
+---
+
+## 6. Where "check latest stable firmware" fits
+
+The latest-stable firmware check is triggered as a **side-effect** of AUTOPILOT_VERSION success:
+
+- Condition: `QGCOptions::checkFirmwareVersion()` is true and `_checkLatestStableFWDone` is false.
+- Action: `FirmwarePlugin::checkIfIsLatestStable(vehicle)`.
+
+This is asynchronous (downloads and parses a version file), and **does not gate** state machine transitions. Initial connect continues regardless of result.
+
+It is skipped during unit tests in `FirmwarePlugin::checkIfIsLatestStable`.
+
+---
+
+## 7. Options/configurations that affect behavior
+
+1. **Link configuration high-latency flag**
+   - `LinkConfiguration.highLatency`
+   - Causes skipping of AUTOPILOT_VERSION and plan-load states.
+
+2. **Log replay link type**
+   - `LinkInterface::isLogReplay()` true
+   - Same skip effect as high-latency.
+
+3. **Firmware/version check option**
+   - `QGCOptions::checkFirmwareVersion()` (virtual, custom-build overridable)
+   - Controls only latest-stable check side-effect, not transition graph.
+
+4. **Capability bits**
+   - From AUTOPILOT_VERSION or assumed fallback.
+   - Gate geofence/rally support and therefore skip decisions.
+
+5. **Metadata support flags from CompInfoGeneral**
+   - Gate internal component-info sub-requests (param/events/actuators metadata).
+
+---
+
+## 8. Practical implications
+
+- The machine is designed for **robust connect**, not strict fail-fast.
+- Network/link quality and link type strongly influence which expensive operations are skipped.
+- Component information is a key bridge between firmware-reported metadata and dynamic UI behavior (especially parameters and actuators).
+- Missing AUTOPILOT_VERSION does not block connect; QGC degrades gracefully with assumptions.
+
+---
+
+## 9. Quick skip matrix
+
+| State                                  | Skip trigger(s)            | Outcome                                                      |
+| -------------------------------------- | --------------------------------------------- | ------------------------------------------------------------ |
+| AUTOPILOT_VERSION | no primary link OR high-latency OR log replay | immediate complete/advance                                   |
+| StandardModes                          | none explicit                                 | retry-on-timeout then advance                                |
+| ComponentInfo                          | none explicit                                 | retry-on-timeout then advance                                |
+| Parameters                             | none explicit                                 | retry-on-timeout then advance                                |
+| Mission                                | high-latency OR log replay OR no primary link | skipped -> GeoFence                                          |
+| GeoFence                               | mission skip conditions OR !fence capability  | skipped -> Rally                                             |
+| Rally                                  | mission skip conditions OR !rally capability  | skipped -> Complete (+mark plan complete) |
+| Complete                               | never skipped                                 | emits `initialConnectComplete` at machine finish             |
+
+### Run matrix by (HighLatency, LogReplay, Flying)
+
+Assumptions for this matrix:
+
+- Primary link exists
+- Geofence and rally are supported by capability bits
+- State machine is started (not the `runningUnitTests && MAV_TYPE_GENERIC` bypass)
+
+Legend:
+
+- `Run` = state logic executes (it may still complete quickly)
+- `Skip` = state is skipped by state skip predicate
+- `Run*` = state executes but parameter download is short-circuited inside `ParameterManager` for high-latency/log-replay links
+
+| State                                  | HL=0 LR=0 Fly=0 | HL=0 LR=0 Fly=1 | HL=1 LR=0 Fly=0 | HL=1 LR=0 Fly=1 | HL=0 LR=1 Fly=0 | HL=0 LR=1 Fly=1 | HL=1 LR=1 Fly=0 | HL=1 LR=1 Fly=1 |
+| -------------------------------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- |
+| AUTOPILOT_VERSION | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| StandardModes                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| ComponentInfo                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| Parameters                             | Run             | Run             | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           |
+| Mission                                | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| GeoFence                               | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Rally                                  | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Complete                               | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+
+`Flying` does not currently participate in InitialConnectStateMachine skip predicates. It does not change run/skip behavior in this machine.
+
+### Unit-test readable matrix (request expectations)
+
+This is the same compact matrix used by `_stateRunMatrix_data` in `InitialConnectTest`.
+
+```text
++----+----+-----+------------+------------+----------------+
+| HL | LR | Fly | AP_VERSION | AVAIL_MODS | PLAN_REQ_LISTS |
++----+----+-----+------------+------------+----------------+
+| 0  | 0  | 0   | Run        | Run        | Run            |
+| 0  | 0  | 1   | Run        | Run        | Run            |
+| 1  | 0  | 0   | Skip       | Run        | Skip           |
+| 1  | 0  | 1   | Skip       | Run        | Skip           |
+| 0  | 1  | 0   | Skip       | Run        | Skip           |
+| 0  | 1  | 1   | Skip       | Run        | Skip           |
+| 1  | 1  | 0   | Skip       | Run        | Skip           |
+| 1  | 1  | 1   | Skip       | Run        | Skip           |
++----+----+-----+------------+------------+----------------+
+```
+
+Where:
+
+- `HL` = HighLatency
+- `LR` = LogReplay
+- `Fly` = Flying
+- `AP_VERSION` = `AUTOPILOT_VERSION` request expected
+- `AVAIL_MODS` = `AVAILABLE_MODES` request expected
+- `PLAN_REQ_LISTS` = mission/geofence/rally `MISSION_REQUEST_LIST` traffic expected
+
+Skip behavior basis: `skipForLinkType = (highLatency || logReplay)`.
+
+---
+
+## 10. Notes on observability/debugging
+
+Useful log categories for tracing behavior:
+
+- `Vehicle.InitialConnectStateMachine`
+- `ComponentInformation.ComponentInformationManager`
+- `Vehicle.StandardModes`
+- `Vehicle` (capability logs)
+- `ActuatorsConfig` (for metadata-driven actuator UI decisions)
+
+This combination lets you determine:
+
+- Which states were entered/skipped/timed out
+- Which metadata types were supported/downloaded
+- Why actuator UI appeared or fell back to legacy motor UI
diff --git a/docs/ko/qgc-dev-guide/command_line_options.md b/docs/ko/qgc-dev-guide/command_line_options.md
index 040b0472cc93..6cdf89588a40 100644
--- a/docs/ko/qgc-dev-guide/command_line_options.md
+++ b/docs/ko/qgc-dev-guide/command_line_options.md
@@ -33,7 +33,7 @@ The options/command line arguments are listed in the table below.
 | Option                                                    | Description                                                                                                                                                              |
 | --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | `--clear-settings`                                        | Clears the app settings (reverts _QGroundControl_ back to default settings).                                                          |
-| `--logging:full`                                          | Turns on full logging. See [Console Logging](../../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line).       |
+| `--logging:full`                                          | Turns on full logging. See [Console Logging](../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line).          |
 | `--logging:full,LinkManagerVerboseLog,ParameterLoaderLog` | Turns on full logging and turns off the following listed comma-separated logging options.                                                                |
 | `--logging:LinkManagerLog,ParameterLoaderLog`             | Turns on the specified comma separated logging options                                                                                                                   |
 | `--unittest:name`                                         | (Debug builds only) Runs the specified unit test. Leave off `:name` to run all tests.                                 |
diff --git a/docs/ko/qgc-user-guide/fly_view/fly_view_toolbar.md b/docs/ko/qgc-user-guide/fly_view/fly_view_toolbar.md
index d4a3ea9ed6d4..0adbc5390dba 100644
--- a/docs/ko/qgc-user-guide/fly_view/fly_view_toolbar.md
+++ b/docs/ko/qgc-user-guide/fly_view/fly_view_toolbar.md
@@ -13,11 +13,11 @@ The "Q" icon on the left of the toolbar allows you to select between additional
 
 ## Toolbar Indicators
 
-Next are a multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
+Next are multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
 
 ![Toolbar Indicator - expand button](../../../assets/fly/toolbar_indicator_expand.png)
 
-### Flight Status
+### Flight Status <img src="../../../assets/fly/toolbar/main_status_indicator.png" alt="Flight Status indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Status indicator shows you whether the vehicle is ready to fly or not. It can be in one of the following states:
 
@@ -29,10 +29,10 @@ The Flight Status indicator shows you whether the vehicle is ready to fly or not
 - **Landing** - Vehicle is in the process of landing.
 - **Communication Lost** - QGroundControl has lost communication with the vehicle.
 
-The Flight Status Indicator dropdown also gives you acess to:
+The Flight Status indicator dropdown also gives you access to:
 
 - **Arm** - Arming a vehicle starts the motors in preparation for takeoff. You will only be able to arm the vehicle if it is safe and ready to fly. Generally you do not need to manually arm the vehicle. You can simply takeoff or start a mission and the vehicle will arm itself.
-- **Disarm** - Disarming a vehicle is only availble when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
+- **Disarm** - Disarming a vehicle is only available when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
 - **Emergency Stop** - Emergency stop is used to disarm the vehicle while it is flying. For emergency use only, your vehicle will crash!
 
 In the cases of warnings or not ready state you can click the indicator to display the dropdown which will show the reason(s) why. The toggle on the right expands each error with additional information and possible solutions.
@@ -41,7 +41,7 @@ In the cases of warnings or not ready state you can click the indicator to displ
 
 Once each issue is resolved it will disappear from the UI. When all issues blocking arming have been removed you should now be ready to fly.
 
-## Flight Mode
+### Flight Mode <img src="../../../assets/fly/toolbar/flight_modes_indicator.png" alt="Flight Mode indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Mode indicator shows you the current flight mode. The dropdown allows you to switch between flight modes. The expanded page allows you to:
 
@@ -49,15 +49,23 @@ The Flight Mode indicator shows you the current flight mode. The dropdown allows
 - Set global geo-fence settings
 - Add/Remove flight modes from the displayed list
 
-## Vehicle Messages
+### Vehicle Messages <img src="../../../assets/fly/toolbar/messages_indicator.png" alt="Vehicle Messages indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Vehicle Messages indicator dropdown shows you messages which come from the vehicle. The indicator will turn red if there are important messages available.
 
-## GPS
+### GPS / RTK GPS <img src="../../../assets/fly/toolbar/gps_indicator.png" alt="GPS / RTK GPS indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-The GPS indicator shows you the satellite count and the HDOP in the toolbar icon. The dropdown shows you additional GPS status. The expanded page give you access to RTK settings.
+The GPS/RTK GPS indicator shows satellite and GNSS status in the toolbar, and the dropdown provides additional GPS details.
 
-## Battery
+With an active vehicle, the indicator shows vehicle GPS information (for example, satellite count and HDOP), and the expanded page provides access to RTK-related settings.
+
+When there is no active vehicle but RTK is connected, the indicator switches to RTK status so you can still monitor the correction link.
+
+### GPS Resilience
+
+The GPS Resilience indicator appears when the vehicle reports GPS resilience telemetry (authentication, spoofing, or jamming state). The dropdown provides summary status and per-GPS details when available.
+
+### Battery <img src="../../../assets/fly/toolbar/battery_indicator.png" alt="Battery indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Battery indicator shows you a configurable colored battery icon for remaining charge. It can also be configured to show percent remaining, voltage or both. The expanded page allows you to:
 
@@ -65,14 +73,38 @@ The Battery indicator shows you a configurable colored battery icon for remainin
 - Configure the icon coloring
 - Set up the low battery failsafe
 
-## Remote ID
+### Remote ID <img src="../../../assets/fly/toolbar/remote_id_indicator.png" alt="Remote ID indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Remote ID indicator appears when Remote ID is available on the active vehicle. Its color indicates overall Remote ID health, and the dropdown shows Remote ID status details.
+
+### ESC <img src="../../../assets/fly/toolbar/esc_indicator.png" alt="ESC indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The ESC indicator appears when ESC telemetry is available from the vehicle. It shows overall ESC health and online motor count, and opens a detailed ESC status page.
+
+### Joystick <img src="../../../assets/fly/toolbar/joystick_indicator.png" alt="Joystick indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Joystick indicator appears when a joystick/gamepad is detected. The dropdown shows device status and connection details.
+
+### Telemetry RSSI <img src="../../../assets/fly/toolbar/telemetry_rssi_indicator.png" alt="Telemetry RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Telemetry RSSI indicator appears when telemetry signal information is available. It provides local/remote RSSI and additional radio link quality details.
+
+### RC RSSI <img src="../../../assets/fly/toolbar/rc_rssi_indicator.png" alt="RC RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The RC RSSI indicator appears when RC signal information is available. It shows current RC link strength and opens a page with RC RSSI details.
+
+### Gimbal <img src="../../../assets/fly/toolbar/gimbal_indicator.png" alt="Gimbal indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Gimbal indicator is shown when the vehicle supports the [MAVLink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html). It displays active gimbal status and provides access to gimbal controls and settings.
+
+### VTOL Transitions <img src="../../../assets/fly/toolbar/vtol_indicator.png" alt="VTOL indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+For VTOL vehicles, a VTOL transition status indicator is shown when applicable. It indicates the current VTOL mode/state and provides transition-related status information.
+
+### Multi-Vehicle Selector <img src="../../../assets/fly/toolbar/multi_vehicle_indicator.png" alt="Multi-Vehicle indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-## Other Indicators
+The Multi-Vehicle selector appears when more than one vehicle is connected. It allows you to quickly switch the active vehicle from the toolbar.
 
-There are other indicators which only show in certain situations:
+### APM Support Forwarding <img src="../../../assets/fly/toolbar/apm_support_indicator.png" alt="APM Support Forwarding indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-- Telemetry RSSI
-- RC RSSI
-- Gimbal - Only displayed if the vehicle supports the [Mavlink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html)
-- VTOL transitions
-- Select from multiple connected vehicles
+On ArduPilot, an APM Support Forwarding indicator appears when MAVLink traffic forwarding to a support server is enabled.
diff --git a/docs/ko/qgc-user-guide/getting_started/download_and_install.md b/docs/ko/qgc-user-guide/getting_started/download_and_install.md
index f82f600f1eb3..85ccf71a9099 100644
--- a/docs/ko/qgc-user-guide/getting_started/download_and_install.md
+++ b/docs/ko/qgc-user-guide/getting_started/download_and_install.md
@@ -78,6 +78,7 @@ sudo apt remove --purge modemmanager
 
 ```sh
 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+sudo apt install python3-gi python3-gst-1.0 -y
 sudo apt install libfuse2 -y
 sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev -y
 ```
diff --git a/docs/ko/qgc-user-guide/plan_view/plan_view.md b/docs/ko/qgc-user-guide/plan_view/plan_view.md
index 49a18d0547db..1d6d6c6b8a3e 100644
--- a/docs/ko/qgc-user-guide/plan_view/plan_view.md
+++ b/docs/ko/qgc-user-guide/plan_view/plan_view.md
@@ -5,7 +5,7 @@ _계획 뷰_에서는 차량에 대한 _자율 임무_를 계획하고 차량에
 펌웨어에서 지원하는 경우 [지오 펜스](plan_geofence.md)와 [랠리 포인트](plan_rally_points.md)를 설정할 수 있습니다.
 
 <span id="plan_screenshot"></span>
-![계획 뷰 ](../../../assets/plan/plan_view_overview.jpg)
+![계획 뷰 ](../../../assets/plan/plan_view_overview.png)
 
 ## UI 개요 {#ui_overview}
 
diff --git a/docs/tr/initial-connect-state-machine-analysis.md b/docs/tr/initial-connect-state-machine-analysis.md
new file mode 100644
index 000000000000..bc2e4d216817
--- /dev/null
+++ b/docs/tr/initial-connect-state-machine-analysis.md
@@ -0,0 +1,374 @@
+# Initial Connect State Machine Analysis
+
+## Scope
+
+This document analyzes QGroundControl's vehicle initial connection pipeline implemented in:
+
+- `src/Vehicle/InitialConnectStateMachine.h`
+- `src/Vehicle/InitialConnectStateMachine.cc`
+
+It also covers upstream/downstream dependencies that influence behavior:
+
+- `src/Vehicle/Vehicle.cc`
+- `src/Vehicle/ComponentInformation/ComponentInformationManager.*`
+- `src/Utilities/StateMachine/*`
+- `src/FirmwarePlugin/FirmwarePlugin.cc`
+- `src/FactSystem/ParameterManager.cc`
+- `src/MissionManager/GeoFenceManager.cc`
+- `src/MissionManager/RallyPointManager.cc`
+- `src/API/QGCOptions.h`
+
+---
+
+## 1. What the Initial Connect State Machine does
+
+At first online vehicle connection, QGC runs a linear state machine to gather critical vehicle metadata and synchronize mission-related state.
+
+### State order
+
+1. **Request AUTOPILOT_VERSION** (`RetryableRequestMessageState`)
+2. **Request Standard Modes** (`AsyncFunctionState`)
+3. **Request Component Information** (`AsyncFunctionState`)
+4. **Request Parameters** (`AsyncFunctionState`)
+5. **Request Mission** (`SkippableAsyncState`)
+6. **Request Geofence** (`SkippableAsyncState`)
+7. **Request Rally Points** (`SkippableAsyncState`)
+8. **Signal Complete** (`RetryState` with zero retries)
+9. **Final** (`QGCFinalState`)
+
+The state machine is started from `Vehicle` construction for normal vehicles.
+
+---
+
+## 2. Progress model
+
+The machine uses weighted progress:
+
+- AutopilotVersion: 1
+- StandardModes: 1
+- ComponentInfo: 5
+- Parameters: 5
+- Mission: 2
+- GeoFence: 1
+- RallyPoints: 1
+- Complete: 1
+
+This means parameter and component-info stages dominate progress reporting (as intended), while mission/fence/rally are lighter-weight contributors.
+
+Sub-progress is wired from managers during long operations:
+
+- `ComponentInformationManager::progressUpdate`
+- `ParameterManager::loadProgressChanged`
+- `MissionManager::progressPctChanged`
+- `GeoFenceManager::progressPctChanged`
+- `RallyPointManager::progressPctChanged`
+
+---
+
+## 3. Retries/timeouts and failure behavior
+
+### Per-state retry policy
+
+`_maxRetries = 1` globally for initial connect states.
+
+Timeouts:
+
+- AUTOPILOT_VERSION: 5000 ms
+- StandardModes: 5000 ms
+- ComponentInfo: 30000 ms
+- Parameters: 60000 ms
+- Mission: 30000 ms
+- GeoFence: 15000 ms
+- RallyPoints: 15000 ms
+
+### Important semantic detail
+
+For all async states after AUTOPILOT_VERSION, timeout handling uses `RetryTransition`:
+
+- On first timeout: retry in-place (`restartWait()` + retry action), no state transition.
+- After retries exhausted: transition to the next state.
+
+So timeout exhaustion is **graceful degradation** (advance), not hard stop, for this machine.
+
+### AUTOPILOT_VERSION state behavior
+
+AUTOPILOT_VERSION uses `RetryableRequestMessageState`, which also retries and then advances by default when retries are exhausted (`failOnMaxRetries` is not enabled here). It invokes a failure handler before advancing.
+
+---
+
+## 4. Exactly what is skipped, and when
+
+## A) Entire machine skipped
+
+In unit tests, the machine is **not started** only for synthetic generic vehicles:
+
+- Condition: `qgcApp()->runningUnitTests() && _vehicleType == MAV_TYPE_GENERIC`
+
+All real vehicle types still run initial connect during tests.
+
+## B) AUTOPILOT_VERSION request skipped
+
+State skip predicate returns true if:
+
+1. No primary link exists, **or**
+2. Primary link is high-latency (`LinkConfiguration::isHighLatency()`), **or**
+3. Primary link is log replay (`LinkInterface::isLogReplay()` true, e.g. `LogReplayLink`)
+
+When skipped, the state completes immediately and transitions to StandardModes.
+
+## C) Mission load skipped
+
+Mission state is skipped if:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link
+
+## D) Geofence load skipped
+
+Geofence state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `GeoFenceManager::supported()` is false
+   - `supported()` is capability-driven: requires `MAV_PROTOCOL_CAPABILITY_MISSION_FENCE`
+
+## E) Rally points load skipped
+
+Rally state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `RallyPointManager::supported()` is false
+   - `supported()` requires `MAV_PROTOCOL_CAPABILITY_MISSION_RALLY`
+
+When rally is skipped, QGC still marks:
+
+- `_initialPlanRequestComplete = true`
+- emits `initialPlanRequestCompleteChanged(true)`
+
+so downstream UI logic does not stall waiting for rally load.
+
+## F) Component information sub-states skipped (inside ComponentInformationManager)
+
+`ComponentInformationManager` itself has internal skippable phases:
+
+- Parameter metadata skipped if `GENERAL` metadata says parameter metadata unsupported
+- Events metadata skipped if unsupported
+- Actuators metadata skipped if unsupported
+
+Support checks are based on `CompInfoGeneral::isMetaDataTypeSupported(type)`.
+
+---
+
+## 5. What data is captured during initial connect, and why
+
+## A) AUTOPILOT_VERSION data captured
+
+On successful AUTOPILOT_VERSION response, QGC captures:
+
+1. **Vehicle UID** (`uid`)
+   - Used as stable identity and surfaced via `vehicleUIDChanged`.
+
+2. **Firmware board vendor/product IDs**
+   - Hardware identification for board-specific behavior and diagnostics.
+
+3. **Flight software semantic version** (`flight_sw_version` packed fields)
+   - Parsed into major/minor/patch/version-type and stored in `Vehicle`.
+
+4. **Firmware custom version / git hash**
+   - PX4: decoded from binary bytes (reverse-order formatting)
+   - APM: decoded as 8-char ASCII
+   - Exposed via `gitHashChanged`.
+
+5. **MAVLink capability bits**
+   - Stored via `_setCapabilities(...)`
+   - Drives feature gating such as mission-int, command-int, geofence, rally support.
+
+If AUTOPILOT_VERSION fails, QGC sets **assumed capabilities**:
+
+- Always assume MAVLink2
+- For PX4/APM, also assume mission-int/command-int/fence/rally support
+
+This allows connect flow to continue even without that message.
+
+## B) Standard modes captured
+
+QGC requests available standard modes one-by-one (`AVAILABLE_MODES`) and updates firmware plugin mode mapping.
+
+Purpose:
+
+- Provide accurate, vehicle-reported mode names/availability.
+- Refresh flight mode UI mapping even if HEARTBEAT arrives earlier.
+
+## C) Component Information captured
+
+`ComponentInformationManager` requests metadata in this sequence:
+
+1. `GENERAL` metadata
+2. URI update pass (maps/propagates discovered metadata URIs)
+3. `PARAMETER` metadata (if supported)
+4. `EVENTS` metadata (if supported)
+5. `ACTUATORS` metadata (if supported)
+
+### Why this matters
+
+- **Parameter metadata** (`CompInfoParam`) feeds `ParameterManager` metadata lookups (`factMetaDataForName`), affecting parameter typing/metadata behavior.
+- **Events metadata** supports event schema/decoding ecosystem.
+- **Actuators metadata** is used by PX4 actuator configuration UX:
+  - If actuator metadata is absent or actuator conditions fail, PX4 plugin falls back to legacy Motor page.
+  - If present and valid (`show-ui-if` etc.), Actuators page is enabled.
+
+So component info is both a data-quality improvement and a feature-availability gate.
+
+## D) Parameters stage captured
+
+- Requests full parameter refresh (`refreshAllParameters()`)
+- Waits for `parametersReadyChanged(true)`
+- On ready:
+  - Sends GCS time to vehicle twice (reliability)
+  - Sets up auto-disarm signalling
+
+This stage is foundational for most setup/calibration UI and many capability/behavior branches.
+
+## E) Plan data captured
+
+- Mission items from vehicle
+- Geofence data (if supported and not skipped)
+- Rally points (if supported and not skipped)
+
+On rally completion (or rally skip), QGC sets initial plan load complete.
+
+---
+
+## 6. Where "check latest stable firmware" fits
+
+The latest-stable firmware check is triggered as a **side-effect** of AUTOPILOT_VERSION success:
+
+- Condition: `QGCOptions::checkFirmwareVersion()` is true and `_checkLatestStableFWDone` is false.
+- Action: `FirmwarePlugin::checkIfIsLatestStable(vehicle)`.
+
+This is asynchronous (downloads and parses a version file), and **does not gate** state machine transitions. Initial connect continues regardless of result.
+
+It is skipped during unit tests in `FirmwarePlugin::checkIfIsLatestStable`.
+
+---
+
+## 7. Options/configurations that affect behavior
+
+1. **Link configuration high-latency flag**
+   - `LinkConfiguration.highLatency`
+   - Causes skipping of AUTOPILOT_VERSION and plan-load states.
+
+2. **Log replay link type**
+   - `LinkInterface::isLogReplay()` true
+   - Same skip effect as high-latency.
+
+3. **Firmware/version check option**
+   - `QGCOptions::checkFirmwareVersion()` (virtual, custom-build overridable)
+   - Controls only latest-stable check side-effect, not transition graph.
+
+4. **Capability bits**
+   - From AUTOPILOT_VERSION or assumed fallback.
+   - Gate geofence/rally support and therefore skip decisions.
+
+5. **Metadata support flags from CompInfoGeneral**
+   - Gate internal component-info sub-requests (param/events/actuators metadata).
+
+---
+
+## 8. Practical implications
+
+- The machine is designed for **robust connect**, not strict fail-fast.
+- Network/link quality and link type strongly influence which expensive operations are skipped.
+- Component information is a key bridge between firmware-reported metadata and dynamic UI behavior (especially parameters and actuators).
+- Missing AUTOPILOT_VERSION does not block connect; QGC degrades gracefully with assumptions.
+
+---
+
+## 9. Quick skip matrix
+
+| State                                  | Skip trigger(s)            | Outcome                                                      |
+| -------------------------------------- | --------------------------------------------- | ------------------------------------------------------------ |
+| AUTOPILOT_VERSION | no primary link OR high-latency OR log replay | immediate complete/advance                                   |
+| StandardModes                          | none explicit                                 | retry-on-timeout then advance                                |
+| ComponentInfo                          | none explicit                                 | retry-on-timeout then advance                                |
+| Parameters                             | none explicit                                 | retry-on-timeout then advance                                |
+| Mission                                | high-latency OR log replay OR no primary link | skipped -> GeoFence                                          |
+| GeoFence                               | mission skip conditions OR !fence capability  | skipped -> Rally                                             |
+| Rally                                  | mission skip conditions OR !rally capability  | skipped -> Complete (+mark plan complete) |
+| Complete                               | never skipped                                 | emits `initialConnectComplete` at machine finish             |
+
+### Run matrix by (HighLatency, LogReplay, Flying)
+
+Assumptions for this matrix:
+
+- Primary link exists
+- Geofence and rally are supported by capability bits
+- State machine is started (not the `runningUnitTests && MAV_TYPE_GENERIC` bypass)
+
+Legend:
+
+- `Run` = state logic executes (it may still complete quickly)
+- `Skip` = state is skipped by state skip predicate
+- `Run*` = state executes but parameter download is short-circuited inside `ParameterManager` for high-latency/log-replay links
+
+| State                                  | HL=0 LR=0 Fly=0 | HL=0 LR=0 Fly=1 | HL=1 LR=0 Fly=0 | HL=1 LR=0 Fly=1 | HL=0 LR=1 Fly=0 | HL=0 LR=1 Fly=1 | HL=1 LR=1 Fly=0 | HL=1 LR=1 Fly=1 |
+| -------------------------------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- |
+| AUTOPILOT_VERSION | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| StandardModes                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| ComponentInfo                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| Parameters                             | Run             | Run             | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           |
+| Mission                                | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| GeoFence                               | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Rally                                  | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Complete                               | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+
+`Flying` does not currently participate in InitialConnectStateMachine skip predicates. It does not change run/skip behavior in this machine.
+
+### Unit-test readable matrix (request expectations)
+
+This is the same compact matrix used by `_stateRunMatrix_data` in `InitialConnectTest`.
+
+```text
++----+----+-----+------------+------------+----------------+
+| HL | LR | Fly | AP_VERSION | AVAIL_MODS | PLAN_REQ_LISTS |
++----+----+-----+------------+------------+----------------+
+| 0  | 0  | 0   | Run        | Run        | Run            |
+| 0  | 0  | 1   | Run        | Run        | Run            |
+| 1  | 0  | 0   | Skip       | Run        | Skip           |
+| 1  | 0  | 1   | Skip       | Run        | Skip           |
+| 0  | 1  | 0   | Skip       | Run        | Skip           |
+| 0  | 1  | 1   | Skip       | Run        | Skip           |
+| 1  | 1  | 0   | Skip       | Run        | Skip           |
+| 1  | 1  | 1   | Skip       | Run        | Skip           |
++----+----+-----+------------+------------+----------------+
+```
+
+Where:
+
+- `HL` = HighLatency
+- `LR` = LogReplay
+- `Fly` = Flying
+- `AP_VERSION` = `AUTOPILOT_VERSION` request expected
+- `AVAIL_MODS` = `AVAILABLE_MODES` request expected
+- `PLAN_REQ_LISTS` = mission/geofence/rally `MISSION_REQUEST_LIST` traffic expected
+
+Skip behavior basis: `skipForLinkType = (highLatency || logReplay)`.
+
+---
+
+## 10. Notes on observability/debugging
+
+Useful log categories for tracing behavior:
+
+- `Vehicle.InitialConnectStateMachine`
+- `ComponentInformation.ComponentInformationManager`
+- `Vehicle.StandardModes`
+- `Vehicle` (capability logs)
+- `ActuatorsConfig` (for metadata-driven actuator UI decisions)
+
+This combination lets you determine:
+
+- Which states were entered/skipped/timed out
+- Which metadata types were supported/downloaded
+- Why actuator UI appeared or fell back to legacy motor UI
diff --git a/docs/tr/qgc-dev-guide/command_line_options.md b/docs/tr/qgc-dev-guide/command_line_options.md
index 040b0472cc93..6cdf89588a40 100644
--- a/docs/tr/qgc-dev-guide/command_line_options.md
+++ b/docs/tr/qgc-dev-guide/command_line_options.md
@@ -33,7 +33,7 @@ The options/command line arguments are listed in the table below.
 | Option                                                    | Description                                                                                                                                                              |
 | --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | `--clear-settings`                                        | Clears the app settings (reverts _QGroundControl_ back to default settings).                                                          |
-| `--logging:full`                                          | Turns on full logging. See [Console Logging](../../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line).       |
+| `--logging:full`                                          | Turns on full logging. See [Console Logging](../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line).          |
 | `--logging:full,LinkManagerVerboseLog,ParameterLoaderLog` | Turns on full logging and turns off the following listed comma-separated logging options.                                                                |
 | `--logging:LinkManagerLog,ParameterLoaderLog`             | Turns on the specified comma separated logging options                                                                                                                   |
 | `--unittest:name`                                         | (Debug builds only) Runs the specified unit test. Leave off `:name` to run all tests.                                 |
diff --git a/docs/tr/qgc-user-guide/fly_view/fly_view_toolbar.md b/docs/tr/qgc-user-guide/fly_view/fly_view_toolbar.md
index d4a3ea9ed6d4..0adbc5390dba 100644
--- a/docs/tr/qgc-user-guide/fly_view/fly_view_toolbar.md
+++ b/docs/tr/qgc-user-guide/fly_view/fly_view_toolbar.md
@@ -13,11 +13,11 @@ The "Q" icon on the left of the toolbar allows you to select between additional
 
 ## Toolbar Indicators
 
-Next are a multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
+Next are multiple toolbar indicators for vehicle status. The dropdowns for each toolbar indicator provide additional detail on status. You can also expand the indicators to show additional application and vehicle settings associated with the indicator. Press the ">" button to expand.
 
 ![Toolbar Indicator - expand button](../../../assets/fly/toolbar_indicator_expand.png)
 
-### Flight Status
+### Flight Status <img src="../../../assets/fly/toolbar/main_status_indicator.png" alt="Flight Status indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Status indicator shows you whether the vehicle is ready to fly or not. It can be in one of the following states:
 
@@ -29,10 +29,10 @@ The Flight Status indicator shows you whether the vehicle is ready to fly or not
 - **Landing** - Vehicle is in the process of landing.
 - **Communication Lost** - QGroundControl has lost communication with the vehicle.
 
-The Flight Status Indicator dropdown also gives you acess to:
+The Flight Status indicator dropdown also gives you access to:
 
 - **Arm** - Arming a vehicle starts the motors in preparation for takeoff. You will only be able to arm the vehicle if it is safe and ready to fly. Generally you do not need to manually arm the vehicle. You can simply takeoff or start a mission and the vehicle will arm itself.
-- **Disarm** - Disarming a vehicle is only availble when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
+- **Disarm** - Disarming a vehicle is only available when the vehicle is on the ground. It will stop the motors. Generally you do not need to explicitly disarm as vehicles will disarm automatically after landing, or shortly after arming if you do not take off.
 - **Emergency Stop** - Emergency stop is used to disarm the vehicle while it is flying. For emergency use only, your vehicle will crash!
 
 In the cases of warnings or not ready state you can click the indicator to display the dropdown which will show the reason(s) why. The toggle on the right expands each error with additional information and possible solutions.
@@ -41,7 +41,7 @@ In the cases of warnings or not ready state you can click the indicator to displ
 
 Once each issue is resolved it will disappear from the UI. When all issues blocking arming have been removed you should now be ready to fly.
 
-## Flight Mode
+### Flight Mode <img src="../../../assets/fly/toolbar/flight_modes_indicator.png" alt="Flight Mode indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Flight Mode indicator shows you the current flight mode. The dropdown allows you to switch between flight modes. The expanded page allows you to:
 
@@ -49,15 +49,23 @@ The Flight Mode indicator shows you the current flight mode. The dropdown allows
 - Set global geo-fence settings
 - Add/Remove flight modes from the displayed list
 
-## Vehicle Messages
+### Vehicle Messages <img src="../../../assets/fly/toolbar/messages_indicator.png" alt="Vehicle Messages indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Vehicle Messages indicator dropdown shows you messages which come from the vehicle. The indicator will turn red if there are important messages available.
 
-## GPS
+### GPS / RTK GPS <img src="../../../assets/fly/toolbar/gps_indicator.png" alt="GPS / RTK GPS indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-The GPS indicator shows you the satellite count and the HDOP in the toolbar icon. The dropdown shows you additional GPS status. The expanded page give you access to RTK settings.
+The GPS/RTK GPS indicator shows satellite and GNSS status in the toolbar, and the dropdown provides additional GPS details.
 
-## Battery
+With an active vehicle, the indicator shows vehicle GPS information (for example, satellite count and HDOP), and the expanded page provides access to RTK-related settings.
+
+When there is no active vehicle but RTK is connected, the indicator switches to RTK status so you can still monitor the correction link.
+
+### GPS Resilience
+
+The GPS Resilience indicator appears when the vehicle reports GPS resilience telemetry (authentication, spoofing, or jamming state). The dropdown provides summary status and per-GPS details when available.
+
+### Battery <img src="../../../assets/fly/toolbar/battery_indicator.png" alt="Battery indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 The Battery indicator shows you a configurable colored battery icon for remaining charge. It can also be configured to show percent remaining, voltage or both. The expanded page allows you to:
 
@@ -65,14 +73,38 @@ The Battery indicator shows you a configurable colored battery icon for remainin
 - Configure the icon coloring
 - Set up the low battery failsafe
 
-## Remote ID
+### Remote ID <img src="../../../assets/fly/toolbar/remote_id_indicator.png" alt="Remote ID indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Remote ID indicator appears when Remote ID is available on the active vehicle. Its color indicates overall Remote ID health, and the dropdown shows Remote ID status details.
+
+### ESC <img src="../../../assets/fly/toolbar/esc_indicator.png" alt="ESC indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The ESC indicator appears when ESC telemetry is available from the vehicle. It shows overall ESC health and online motor count, and opens a detailed ESC status page.
+
+### Joystick <img src="../../../assets/fly/toolbar/joystick_indicator.png" alt="Joystick indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Joystick indicator appears when a joystick/gamepad is detected. The dropdown shows device status and connection details.
+
+### Telemetry RSSI <img src="../../../assets/fly/toolbar/telemetry_rssi_indicator.png" alt="Telemetry RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Telemetry RSSI indicator appears when telemetry signal information is available. It provides local/remote RSSI and additional radio link quality details.
+
+### RC RSSI <img src="../../../assets/fly/toolbar/rc_rssi_indicator.png" alt="RC RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The RC RSSI indicator appears when RC signal information is available. It shows current RC link strength and opens a page with RC RSSI details.
+
+### Gimbal <img src="../../../assets/fly/toolbar/gimbal_indicator.png" alt="Gimbal indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Gimbal indicator is shown when the vehicle supports the [MAVLink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html). It displays active gimbal status and provides access to gimbal controls and settings.
+
+### VTOL Transitions <img src="../../../assets/fly/toolbar/vtol_indicator.png" alt="VTOL indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+For VTOL vehicles, a VTOL transition status indicator is shown when applicable. It indicates the current VTOL mode/state and provides transition-related status information.
+
+### Multi-Vehicle Selector <img src="../../../assets/fly/toolbar/multi_vehicle_indicator.png" alt="Multi-Vehicle indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-## Other Indicators
+The Multi-Vehicle selector appears when more than one vehicle is connected. It allows you to quickly switch the active vehicle from the toolbar.
 
-There are other indicators which only show in certain situations:
+### APM Support Forwarding <img src="../../../assets/fly/toolbar/apm_support_indicator.png" alt="APM Support Forwarding indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-- Telemetry RSSI
-- RC RSSI
-- Gimbal - Only displayed if the vehicle supports the [Mavlink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html)
-- VTOL transitions
-- Select from multiple connected vehicles
+On ArduPilot, an APM Support Forwarding indicator appears when MAVLink traffic forwarding to a support server is enabled.
diff --git a/docs/tr/qgc-user-guide/getting_started/download_and_install.md b/docs/tr/qgc-user-guide/getting_started/download_and_install.md
index 7ca6f7148394..28289aabc6cc 100644
--- a/docs/tr/qgc-user-guide/getting_started/download_and_install.md
+++ b/docs/tr/qgc-user-guide/getting_started/download_and_install.md
@@ -78,6 +78,7 @@ sudo apt remove --purge modemmanager
 
 ```sh
 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+sudo apt install python3-gi python3-gst-1.0 -y
 sudo apt install libfuse2 -y
 sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev -y
 ```
diff --git a/docs/tr/qgc-user-guide/plan_view/plan_view.md b/docs/tr/qgc-user-guide/plan_view/plan_view.md
index 77ab88f237cd..4d3a43fae8d3 100644
--- a/docs/tr/qgc-user-guide/plan_view/plan_view.md
+++ b/docs/tr/qgc-user-guide/plan_view/plan_view.md
@@ -5,7 +5,7 @@ _Plan View_, aracınız için _ otonom görevler _ planlamak ve onları araca y
 Ayrıca eğer yazılım tarafından destekleniyorsa [GeoFence](plan_geofence.md) ve [Rally Points](plan_rally_points.md)'leri ayalarmak için kullanılır.
 
 <span id="plan_screenshot"></span>
-![Plan Ekranı](../../../assets/plan/plan_view_overview.jpg)
+![Plan Ekranı](../../../assets/plan/plan_view_overview.png)
 
 ## Kullanıcı Arayüzü'ne Genel Bakış {#ui_overview}
 
diff --git a/docs/zh/initial-connect-state-machine-analysis.md b/docs/zh/initial-connect-state-machine-analysis.md
new file mode 100644
index 000000000000..bc2e4d216817
--- /dev/null
+++ b/docs/zh/initial-connect-state-machine-analysis.md
@@ -0,0 +1,374 @@
+# Initial Connect State Machine Analysis
+
+## Scope
+
+This document analyzes QGroundControl's vehicle initial connection pipeline implemented in:
+
+- `src/Vehicle/InitialConnectStateMachine.h`
+- `src/Vehicle/InitialConnectStateMachine.cc`
+
+It also covers upstream/downstream dependencies that influence behavior:
+
+- `src/Vehicle/Vehicle.cc`
+- `src/Vehicle/ComponentInformation/ComponentInformationManager.*`
+- `src/Utilities/StateMachine/*`
+- `src/FirmwarePlugin/FirmwarePlugin.cc`
+- `src/FactSystem/ParameterManager.cc`
+- `src/MissionManager/GeoFenceManager.cc`
+- `src/MissionManager/RallyPointManager.cc`
+- `src/API/QGCOptions.h`
+
+---
+
+## 1. What the Initial Connect State Machine does
+
+At first online vehicle connection, QGC runs a linear state machine to gather critical vehicle metadata and synchronize mission-related state.
+
+### State order
+
+1. **Request AUTOPILOT_VERSION** (`RetryableRequestMessageState`)
+2. **Request Standard Modes** (`AsyncFunctionState`)
+3. **Request Component Information** (`AsyncFunctionState`)
+4. **Request Parameters** (`AsyncFunctionState`)
+5. **Request Mission** (`SkippableAsyncState`)
+6. **Request Geofence** (`SkippableAsyncState`)
+7. **Request Rally Points** (`SkippableAsyncState`)
+8. **Signal Complete** (`RetryState` with zero retries)
+9. **Final** (`QGCFinalState`)
+
+The state machine is started from `Vehicle` construction for normal vehicles.
+
+---
+
+## 2. Progress model
+
+The machine uses weighted progress:
+
+- AutopilotVersion: 1
+- StandardModes: 1
+- ComponentInfo: 5
+- Parameters: 5
+- Mission: 2
+- GeoFence: 1
+- RallyPoints: 1
+- Complete: 1
+
+This means parameter and component-info stages dominate progress reporting (as intended), while mission/fence/rally are lighter-weight contributors.
+
+Sub-progress is wired from managers during long operations:
+
+- `ComponentInformationManager::progressUpdate`
+- `ParameterManager::loadProgressChanged`
+- `MissionManager::progressPctChanged`
+- `GeoFenceManager::progressPctChanged`
+- `RallyPointManager::progressPctChanged`
+
+---
+
+## 3. Retries/timeouts and failure behavior
+
+### Per-state retry policy
+
+`_maxRetries = 1` globally for initial connect states.
+
+Timeouts:
+
+- AUTOPILOT_VERSION: 5000 ms
+- StandardModes: 5000 ms
+- ComponentInfo: 30000 ms
+- Parameters: 60000 ms
+- Mission: 30000 ms
+- GeoFence: 15000 ms
+- RallyPoints: 15000 ms
+
+### Important semantic detail
+
+For all async states after AUTOPILOT_VERSION, timeout handling uses `RetryTransition`:
+
+- On first timeout: retry in-place (`restartWait()` + retry action), no state transition.
+- After retries exhausted: transition to the next state.
+
+So timeout exhaustion is **graceful degradation** (advance), not hard stop, for this machine.
+
+### AUTOPILOT_VERSION state behavior
+
+AUTOPILOT_VERSION uses `RetryableRequestMessageState`, which also retries and then advances by default when retries are exhausted (`failOnMaxRetries` is not enabled here). It invokes a failure handler before advancing.
+
+---
+
+## 4. Exactly what is skipped, and when
+
+## A) Entire machine skipped
+
+In unit tests, the machine is **not started** only for synthetic generic vehicles:
+
+- Condition: `qgcApp()->runningUnitTests() && _vehicleType == MAV_TYPE_GENERIC`
+
+All real vehicle types still run initial connect during tests.
+
+## B) AUTOPILOT_VERSION request skipped
+
+State skip predicate returns true if:
+
+1. No primary link exists, **or**
+2. Primary link is high-latency (`LinkConfiguration::isHighLatency()`), **or**
+3. Primary link is log replay (`LinkInterface::isLogReplay()` true, e.g. `LogReplayLink`)
+
+When skipped, the state completes immediately and transitions to StandardModes.
+
+## C) Mission load skipped
+
+Mission state is skipped if:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link
+
+## D) Geofence load skipped
+
+Geofence state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `GeoFenceManager::supported()` is false
+   - `supported()` is capability-driven: requires `MAV_PROTOCOL_CAPABILITY_MISSION_FENCE`
+
+## E) Rally points load skipped
+
+Rally state is skipped if any of:
+
+1. Link type should be skipped (`high latency` or `log replay`), **or**
+2. No primary link, **or**
+3. `RallyPointManager::supported()` is false
+   - `supported()` requires `MAV_PROTOCOL_CAPABILITY_MISSION_RALLY`
+
+When rally is skipped, QGC still marks:
+
+- `_initialPlanRequestComplete = true`
+- emits `initialPlanRequestCompleteChanged(true)`
+
+so downstream UI logic does not stall waiting for rally load.
+
+## F) Component information sub-states skipped (inside ComponentInformationManager)
+
+`ComponentInformationManager` itself has internal skippable phases:
+
+- Parameter metadata skipped if `GENERAL` metadata says parameter metadata unsupported
+- Events metadata skipped if unsupported
+- Actuators metadata skipped if unsupported
+
+Support checks are based on `CompInfoGeneral::isMetaDataTypeSupported(type)`.
+
+---
+
+## 5. What data is captured during initial connect, and why
+
+## A) AUTOPILOT_VERSION data captured
+
+On successful AUTOPILOT_VERSION response, QGC captures:
+
+1. **Vehicle UID** (`uid`)
+   - Used as stable identity and surfaced via `vehicleUIDChanged`.
+
+2. **Firmware board vendor/product IDs**
+   - Hardware identification for board-specific behavior and diagnostics.
+
+3. **Flight software semantic version** (`flight_sw_version` packed fields)
+   - Parsed into major/minor/patch/version-type and stored in `Vehicle`.
+
+4. **Firmware custom version / git hash**
+   - PX4: decoded from binary bytes (reverse-order formatting)
+   - APM: decoded as 8-char ASCII
+   - Exposed via `gitHashChanged`.
+
+5. **MAVLink capability bits**
+   - Stored via `_setCapabilities(...)`
+   - Drives feature gating such as mission-int, command-int, geofence, rally support.
+
+If AUTOPILOT_VERSION fails, QGC sets **assumed capabilities**:
+
+- Always assume MAVLink2
+- For PX4/APM, also assume mission-int/command-int/fence/rally support
+
+This allows connect flow to continue even without that message.
+
+## B) Standard modes captured
+
+QGC requests available standard modes one-by-one (`AVAILABLE_MODES`) and updates firmware plugin mode mapping.
+
+Purpose:
+
+- Provide accurate, vehicle-reported mode names/availability.
+- Refresh flight mode UI mapping even if HEARTBEAT arrives earlier.
+
+## C) Component Information captured
+
+`ComponentInformationManager` requests metadata in this sequence:
+
+1. `GENERAL` metadata
+2. URI update pass (maps/propagates discovered metadata URIs)
+3. `PARAMETER` metadata (if supported)
+4. `EVENTS` metadata (if supported)
+5. `ACTUATORS` metadata (if supported)
+
+### Why this matters
+
+- **Parameter metadata** (`CompInfoParam`) feeds `ParameterManager` metadata lookups (`factMetaDataForName`), affecting parameter typing/metadata behavior.
+- **Events metadata** supports event schema/decoding ecosystem.
+- **Actuators metadata** is used by PX4 actuator configuration UX:
+  - If actuator metadata is absent or actuator conditions fail, PX4 plugin falls back to legacy Motor page.
+  - If present and valid (`show-ui-if` etc.), Actuators page is enabled.
+
+So component info is both a data-quality improvement and a feature-availability gate.
+
+## D) Parameters stage captured
+
+- Requests full parameter refresh (`refreshAllParameters()`)
+- Waits for `parametersReadyChanged(true)`
+- On ready:
+  - Sends GCS time to vehicle twice (reliability)
+  - Sets up auto-disarm signalling
+
+This stage is foundational for most setup/calibration UI and many capability/behavior branches.
+
+## E) Plan data captured
+
+- Mission items from vehicle
+- Geofence data (if supported and not skipped)
+- Rally points (if supported and not skipped)
+
+On rally completion (or rally skip), QGC sets initial plan load complete.
+
+---
+
+## 6. Where "check latest stable firmware" fits
+
+The latest-stable firmware check is triggered as a **side-effect** of AUTOPILOT_VERSION success:
+
+- Condition: `QGCOptions::checkFirmwareVersion()` is true and `_checkLatestStableFWDone` is false.
+- Action: `FirmwarePlugin::checkIfIsLatestStable(vehicle)`.
+
+This is asynchronous (downloads and parses a version file), and **does not gate** state machine transitions. Initial connect continues regardless of result.
+
+It is skipped during unit tests in `FirmwarePlugin::checkIfIsLatestStable`.
+
+---
+
+## 7. Options/configurations that affect behavior
+
+1. **Link configuration high-latency flag**
+   - `LinkConfiguration.highLatency`
+   - Causes skipping of AUTOPILOT_VERSION and plan-load states.
+
+2. **Log replay link type**
+   - `LinkInterface::isLogReplay()` true
+   - Same skip effect as high-latency.
+
+3. **Firmware/version check option**
+   - `QGCOptions::checkFirmwareVersion()` (virtual, custom-build overridable)
+   - Controls only latest-stable check side-effect, not transition graph.
+
+4. **Capability bits**
+   - From AUTOPILOT_VERSION or assumed fallback.
+   - Gate geofence/rally support and therefore skip decisions.
+
+5. **Metadata support flags from CompInfoGeneral**
+   - Gate internal component-info sub-requests (param/events/actuators metadata).
+
+---
+
+## 8. Practical implications
+
+- The machine is designed for **robust connect**, not strict fail-fast.
+- Network/link quality and link type strongly influence which expensive operations are skipped.
+- Component information is a key bridge between firmware-reported metadata and dynamic UI behavior (especially parameters and actuators).
+- Missing AUTOPILOT_VERSION does not block connect; QGC degrades gracefully with assumptions.
+
+---
+
+## 9. Quick skip matrix
+
+| State                                  | Skip trigger(s)            | Outcome                                                      |
+| -------------------------------------- | --------------------------------------------- | ------------------------------------------------------------ |
+| AUTOPILOT_VERSION | no primary link OR high-latency OR log replay | immediate complete/advance                                   |
+| StandardModes                          | none explicit                                 | retry-on-timeout then advance                                |
+| ComponentInfo                          | none explicit                                 | retry-on-timeout then advance                                |
+| Parameters                             | none explicit                                 | retry-on-timeout then advance                                |
+| Mission                                | high-latency OR log replay OR no primary link | skipped -> GeoFence                                          |
+| GeoFence                               | mission skip conditions OR !fence capability  | skipped -> Rally                                             |
+| Rally                                  | mission skip conditions OR !rally capability  | skipped -> Complete (+mark plan complete) |
+| Complete                               | never skipped                                 | emits `initialConnectComplete` at machine finish             |
+
+### Run matrix by (HighLatency, LogReplay, Flying)
+
+Assumptions for this matrix:
+
+- Primary link exists
+- Geofence and rally are supported by capability bits
+- State machine is started (not the `runningUnitTests && MAV_TYPE_GENERIC` bypass)
+
+Legend:
+
+- `Run` = state logic executes (it may still complete quickly)
+- `Skip` = state is skipped by state skip predicate
+- `Run*` = state executes but parameter download is short-circuited inside `ParameterManager` for high-latency/log-replay links
+
+| State                                  | HL=0 LR=0 Fly=0 | HL=0 LR=0 Fly=1 | HL=1 LR=0 Fly=0 | HL=1 LR=0 Fly=1 | HL=0 LR=1 Fly=0 | HL=0 LR=1 Fly=1 | HL=1 LR=1 Fly=0 | HL=1 LR=1 Fly=1 |
+| -------------------------------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- | --------------- |
+| AUTOPILOT_VERSION | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| StandardModes                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| ComponentInfo                          | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+| Parameters                             | Run             | Run             | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           | Run\*           |
+| Mission                                | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| GeoFence                               | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Rally                                  | Run             | Run             | Skip            | Skip            | Skip            | Skip            | Skip            | Skip            |
+| Complete                               | Run             | Run             | Run             | Run             | Run             | Run             | Run             | Run             |
+
+`Flying` does not currently participate in InitialConnectStateMachine skip predicates. It does not change run/skip behavior in this machine.
+
+### Unit-test readable matrix (request expectations)
+
+This is the same compact matrix used by `_stateRunMatrix_data` in `InitialConnectTest`.
+
+```text
++----+----+-----+------------+------------+----------------+
+| HL | LR | Fly | AP_VERSION | AVAIL_MODS | PLAN_REQ_LISTS |
++----+----+-----+------------+------------+----------------+
+| 0  | 0  | 0   | Run        | Run        | Run            |
+| 0  | 0  | 1   | Run        | Run        | Run            |
+| 1  | 0  | 0   | Skip       | Run        | Skip           |
+| 1  | 0  | 1   | Skip       | Run        | Skip           |
+| 0  | 1  | 0   | Skip       | Run        | Skip           |
+| 0  | 1  | 1   | Skip       | Run        | Skip           |
+| 1  | 1  | 0   | Skip       | Run        | Skip           |
+| 1  | 1  | 1   | Skip       | Run        | Skip           |
++----+----+-----+------------+------------+----------------+
+```
+
+Where:
+
+- `HL` = HighLatency
+- `LR` = LogReplay
+- `Fly` = Flying
+- `AP_VERSION` = `AUTOPILOT_VERSION` request expected
+- `AVAIL_MODS` = `AVAILABLE_MODES` request expected
+- `PLAN_REQ_LISTS` = mission/geofence/rally `MISSION_REQUEST_LIST` traffic expected
+
+Skip behavior basis: `skipForLinkType = (highLatency || logReplay)`.
+
+---
+
+## 10. Notes on observability/debugging
+
+Useful log categories for tracing behavior:
+
+- `Vehicle.InitialConnectStateMachine`
+- `ComponentInformation.ComponentInformationManager`
+- `Vehicle.StandardModes`
+- `Vehicle` (capability logs)
+- `ActuatorsConfig` (for metadata-driven actuator UI decisions)
+
+This combination lets you determine:
+
+- Which states were entered/skipped/timed out
+- Which metadata types were supported/downloaded
+- Why actuator UI appeared or fell back to legacy motor UI
diff --git a/docs/zh/qgc-dev-guide/command_line_options.md b/docs/zh/qgc-dev-guide/command_line_options.md
index dd4bb55d774a..02cf2ea7862c 100644
--- a/docs/zh/qgc-dev-guide/command_line_options.md
+++ b/docs/zh/qgc-dev-guide/command_line_options.md
@@ -30,16 +30,16 @@ Linux终端：
 
 选项/命令行参数列在下表中。
 
-| 选项                                                        | 描述                                                                                                                                                                 |
-| --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `--clear-settings`                                        | Clears the app settings (reverts _QGroundControl_ back to default settings).                                                    |
-| `--logging:full`                                          | Turns on full logging. See [Console Logging](../../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line). |
-| `--logging:full,LinkManagerVerboseLog,ParameterLoaderLog` | Turns on full logging and turns off the following listed comma-separated logging options.                                                          |
-| `--logging:LinkManagerLog,ParameterLoaderLog`             | Turns on the specified comma separated logging options                                                                                                             |
-| `--unittest:name`                                         | （仅限调试版本）连续运行指定的单元测试次。 Leave off `:name` to run all tests.                                                                                          |
-| `--unittest-stress:name`                                  | （仅限调试版本）连续运行指定的单元测试20次。 Leave off :name to run all tests.                                                                          |
-| `--fake-mobile`                                           | Simulates running on a mobile device.                                                                                                              |
-| `--test-high-dpi`                                         | Simulates running _QGroundControl_ on a high DPI device.                                                                                           |
+| 选项                                                        | 描述                                                                                                                                                              |
+| --------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `--clear-settings`                                        | Clears the app settings (reverts _QGroundControl_ back to default settings).                                                 |
+| `--logging:full`                                          | Turns on full logging. See [Console Logging](../qgc-user-guide/settings_view/console_logging.md#logging-from-the-command-line). |
+| `--logging:full,LinkManagerVerboseLog,ParameterLoaderLog` | Turns on full logging and turns off the following listed comma-separated logging options.                                                       |
+| `--logging:LinkManagerLog,ParameterLoaderLog`             | Turns on the specified comma separated logging options                                                                                                          |
+| `--unittest:name`                                         | （仅限调试版本）连续运行指定的单元测试次。 Leave off `:name` to run all tests.                                                                                       |
+| `--unittest-stress:name`                                  | （仅限调试版本）连续运行指定的单元测试20次。 Leave off :name to run all tests.                                                                       |
+| `--fake-mobile`                                           | Simulates running on a mobile device.                                                                                                           |
+| `--test-high-dpi`                                         | Simulates running _QGroundControl_ on a high DPI device.                                                                                        |
 
 笔记：
 
diff --git a/docs/zh/qgc-user-guide/fly_view/fly_view_toolbar.md b/docs/zh/qgc-user-guide/fly_view/fly_view_toolbar.md
index ba1854dcfc8a..9d3009f2d1ba 100644
--- a/docs/zh/qgc-user-guide/fly_view/fly_view_toolbar.md
+++ b/docs/zh/qgc-user-guide/fly_view/fly_view_toolbar.md
@@ -13,11 +13,11 @@
 
 ## 工具栏指示器
 
-接下来是关于车辆状况的多个工具栏指标。 每个工具栏指示器的下拉功能提供了关于状态的更多细节。 您也可以展开指示器以显示与指示器相关联的其他应用程序和载具设置。 按">"按钮来扩展。
+Next are multiple toolbar indicators for vehicle status. 每个工具栏指示器的下拉功能提供了关于状态的更多细节。 您也可以展开指示器以显示与指示器相关联的其他应用程序和载具设置。 按">"按钮来扩展。
 
 ![工具栏指示器 - 展开按钮](../../../assets/fly/toolbar_indicator_expand.png)
 
-### 飞行状态
+### Flight Status <img src="../../../assets/fly/toolbar/main_status_indicator.png" alt="Flight Status indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 飞行状态指示器显示载具是否可以飞行。 它可以是下列状态之一：
 
@@ -29,10 +29,10 @@
 - **着陆** - 载具正在着陆。
 - **通信丢失** - QGroundControl已失去与载具的通信。
 
-飞行状态指示器下拉也让您可以：
+The Flight Status indicator dropdown also gives you access to:
 
 - **解锁** - 解锁一辆载具开启发动机以准备起飞。 你只有在载具安全和准备飞行时才能解锁载具。 通常你不需要手动解锁载具。 你可以简单地起飞或开始执行任务，载具将解锁自己。
-- **锁定** - 只有当载具在地面时才能锁定载具。 它会关停电机。 一般来说，你无需明确进行锁定操作，因为飞行器会在着陆后自动锁定，或者如果在解锁后若未起飞，不久后也会自动锁定。
+- **Disarm** - Disarming a vehicle is only available when the vehicle is on the ground. 它会关停电机。 一般来说，你无需明确进行锁定操作，因为飞行器会在着陆后自动锁定，或者如果在解锁后若未起飞，不久后也会自动锁定。
 - **紧急停机** - 在载具飞行时用紧急停机锁定载具。 仅供紧急情况使用，你的飞行器会坠毁！
 
 在警告或尚未准备好状态的情况下，您可以点击指示器来显示下拉菜单，显示原因(s)。 右侧的切换按钮会展开每个错误，并显示更多信息及可能的解决方案。
@@ -41,7 +41,7 @@
 
 每个问题解决后，将从用户界面中消失。 当所有阻止解锁的问题被移除时，你现在应该可以准备飞行了。
 
-## 飞行模式
+### Flight Mode <img src="../../../assets/fly/toolbar/flight_modes_indicator.png" alt="Flight Mode indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 飞行模式指示器显示您当前的飞行模式。 下拉菜单允许您在飞行模式之间切换。 扩展页面允许您：
 
@@ -49,15 +49,23 @@
 - 设置全局地理栅栏设置
 - 从显示列表中添加/删除飞行模式
 
-## 载具信息
+### Vehicle Messages <img src="../../../assets/fly/toolbar/messages_indicator.png" alt="Vehicle Messages indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 车辆消息指示器下拉显示来自车辆的消息。 如果有重要信息，指示器将会变红。
 
-## GPS
+### GPS / RTK GPS <img src="../../../assets/fly/toolbar/gps_indicator.png" alt="GPS / RTK GPS indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-GPS指示器在工具栏图标中向您显示卫星计数和HDOP。 下拉菜单显示您额外的 GPS 状态。 扩展页面允许您访问RTK设置。
+The GPS/RTK GPS indicator shows satellite and GNSS status in the toolbar, and the dropdown provides additional GPS details.
 
-## 电池
+With an active vehicle, the indicator shows vehicle GPS information (for example, satellite count and HDOP), and the expanded page provides access to RTK-related settings.
+
+When there is no active vehicle but RTK is connected, the indicator switches to RTK status so you can still monitor the correction link.
+
+### GPS Resilience
+
+The GPS Resilience indicator appears when the vehicle reports GPS resilience telemetry (authentication, spoofing, or jamming state). The dropdown provides summary status and per-GPS details when available.
+
+### Battery <img src="../../../assets/fly/toolbar/battery_indicator.png" alt="Battery indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
 电池指示器向您展示了一个可配置的充电图标。 它也可以配置为显示剩余的电压或两种电压。 扩展页面允许您：
 
@@ -65,14 +73,38 @@ GPS指示器在工具栏图标中向您显示卫星计数和HDOP。 下拉菜单
 - 配置图标着色
 - 设置低电量故障安全
 
-## 远程 ID
+### Remote ID <img src="../../../assets/fly/toolbar/remote_id_indicator.png" alt="Remote ID indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Remote ID indicator appears when Remote ID is available on the active vehicle. Its color indicates overall Remote ID health, and the dropdown shows Remote ID status details.
+
+### ESC <img src="../../../assets/fly/toolbar/esc_indicator.png" alt="ESC indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The ESC indicator appears when ESC telemetry is available from the vehicle. It shows overall ESC health and online motor count, and opens a detailed ESC status page.
+
+### Joystick <img src="../../../assets/fly/toolbar/joystick_indicator.png" alt="Joystick indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Joystick indicator appears when a joystick/gamepad is detected. The dropdown shows device status and connection details.
+
+### Telemetry RSSI <img src="../../../assets/fly/toolbar/telemetry_rssi_indicator.png" alt="Telemetry RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Telemetry RSSI indicator appears when telemetry signal information is available. It provides local/remote RSSI and additional radio link quality details.
+
+### RC RSSI <img src="../../../assets/fly/toolbar/rc_rssi_indicator.png" alt="RC RSSI indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The RC RSSI indicator appears when RC signal information is available. It shows current RC link strength and opens a page with RC RSSI details.
+
+### Gimbal <img src="../../../assets/fly/toolbar/gimbal_indicator.png" alt="Gimbal indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+The Gimbal indicator is shown when the vehicle supports the [MAVLink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html). It displays active gimbal status and provides access to gimbal controls and settings.
+
+### VTOL Transitions <img src="../../../assets/fly/toolbar/vtol_indicator.png" alt="VTOL indicator" style="height: 1.15em; vertical-align: text-bottom;" />
+
+For VTOL vehicles, a VTOL transition status indicator is shown when applicable. It indicates the current VTOL mode/state and provides transition-related status information.
+
+### Multi-Vehicle Selector <img src="../../../assets/fly/toolbar/multi_vehicle_indicator.png" alt="Multi-Vehicle indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-## 其他指标
+The Multi-Vehicle selector appears when more than one vehicle is connected. It allows you to quickly switch the active vehicle from the toolbar.
 
-还有其他指标只能在某些情况下显示：
+### APM Support Forwarding <img src="../../../assets/fly/toolbar/apm_support_indicator.png" alt="APM Support Forwarding indicator" style="height: 1.15em; vertical-align: text-bottom;" />
 
-- 遥测信号强度指示
-- 遥控信号强度指示
-- Gimbal - Only displayed if the vehicle supports the [Mavlink Gimbal Protocol](https://mavlink.io/en/services/gimbal_v2.html)
-- 垂直起降转换
-- 从多个连接的载具中选择
+On ArduPilot, an APM Support Forwarding indicator appears when MAVLink traffic forwarding to a support server is enabled.
diff --git a/docs/zh/qgc-user-guide/getting_started/download_and_install.md b/docs/zh/qgc-user-guide/getting_started/download_and_install.md
index 392a49da155b..057bfb4e2751 100644
--- a/docs/zh/qgc-user-guide/getting_started/download_and_install.md
+++ b/docs/zh/qgc-user-guide/getting_started/download_and_install.md
@@ -78,6 +78,7 @@ sudo apt remove --purge modemmanager
 
 ```sh
 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+sudo apt install python3-gi python3-gst-1.0 -y
 sudo apt install libfuse2 -y
 sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev -y
 ```
diff --git a/docs/zh/qgc-user-guide/plan_view/plan_view.md b/docs/zh/qgc-user-guide/plan_view/plan_view.md
index a2f88ea5e35d..c9813fd5c341 100644
--- a/docs/zh/qgc-user-guide/plan_view/plan_view.md
+++ b/docs/zh/qgc-user-guide/plan_view/plan_view.md
@@ -5,7 +5,7 @@ _计划视图_ 用于为你的载具规 划自动化任务_ 并上传到载具
 如果固件支持，它也可以用来配置 [地理围栏](plan_geofence.md) 和 [集结点](plan_rally_points.md)。
 
 <span id="plan_screenshot"></span>
-![计划视图](../../../assets/plan/plan_view_overview.jpg)
+![计划视图](../../../assets/plan/plan_view_overview.png)
 
 ## 界面概述{#ui_overview}
 
diff --git a/justfile b/justfile
index 61c011cf0230..d18c28cd9e04 100644
--- a/justfile
+++ b/justfile
@@ -2,7 +2,7 @@
 # Install: cargo install just, brew install just, or apt install just
 
 # Configuration from build-config.json
-qt_version := `./tools/setup/read-config.sh qt_version 2>/dev/null || echo "6.10.1"`
+qt_version := `python3 ./tools/setup/read_config.py --get qt_version 2>/dev/null || echo "6.10.1"`
 qt_dir := env_var_or_default("QT_DIR", home_directory() / "Qt" / qt_version / "gcc_64")
 build_type := env_var_or_default("BUILD_TYPE", "Debug")
 build_dir := "build"
@@ -81,7 +81,7 @@ analyze:
 
 # Generate coverage report
 coverage:
-    ./tools/coverage.sh
+    python3 ./tools/coverage.py
 
 # Run lint + test
 check: lint test
@@ -92,7 +92,7 @@ check: lint test
 
 # Launch QGroundControl
 run:
-    ./{{build_dir}}/staging/QGroundControl
+    ./{{build_dir}}/{{build_type}}/QGroundControl
 
 # Build documentation
 docs:
@@ -115,7 +115,7 @@ info:
 
 # Check dependency versions
 check-deps:
-    ./tools/check-deps.sh
+    python3 ./tools/check_deps.py
 
 # Clean all caches and build artifacts
 distclean: clean
diff --git a/package-lock.json b/package-lock.json
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+            "optional": true
+        },
+        "@rollup/rollup-linux-riscv64-musl": {
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-riscv64-musl/-/rollup-linux-riscv64-musl-4.59.0.tgz",
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             "optional": true
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         "@rollup/rollup-linux-s390x-gnu": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.34.4.tgz",
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+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.59.0.tgz",
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             "optional": true
         },
         "@rollup/rollup-linux-x64-gnu": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.34.4.tgz",
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+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.59.0.tgz",
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-            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.34.4.tgz",
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+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.59.0.tgz",
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+            "optional": true
+        },
+        "@rollup/rollup-openbsd-x64": {
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-openbsd-x64/-/rollup-openbsd-x64-4.59.0.tgz",
+            "integrity": "sha512-M3bLRAVk6GOwFlPTIxVBSYKUaqfLrn8l0psKinkCFxl4lQvOSz8ZrKDz2gxcBwHFpci0B6rttydI4IpS4IS/jQ==",
+            "optional": true
+        },
+        "@rollup/rollup-openharmony-arm64": {
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-openharmony-arm64/-/rollup-openharmony-arm64-4.59.0.tgz",
+            "integrity": "sha512-tt9KBJqaqp5i5HUZzoafHZX8b5Q2Fe7UjYERADll83O4fGqJ49O1FsL6LpdzVFQcpwvnyd0i+K/VSwu/o/nWlA==",
             "optional": true
         },
         "@rollup/rollup-win32-arm64-msvc": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.34.4.tgz",
-            "integrity": "sha512-qORc3UzoD5UUTneiP2Afg5n5Ti1GAW9Gp5vHPxzvAFFA3FBaum9WqGvYXGf+c7beFdOKNos31/41PRMUwh1tpA==",
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.59.0.tgz",
+            "integrity": "sha512-V5B6mG7OrGTwnxaNUzZTDTjDS7F75PO1ae6MJYdiMu60sq0CqN5CVeVsbhPxalupvTX8gXVSU9gq+Rx1/hvu6A==",
             "optional": true
         },
         "@rollup/rollup-win32-ia32-msvc": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.34.4.tgz",
-            "integrity": "sha512-5g7E2PHNK2uvoD5bASBD9aelm44nf1w4I5FEI7MPHLWcCSrR8JragXZWgKPXk5i2FU3JFfa6CGZLw2RrGBHs2Q==",
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.59.0.tgz",
+            "integrity": "sha512-UKFMHPuM9R0iBegwzKF4y0C4J9u8C6MEJgFuXTBerMk7EJ92GFVFYBfOZaSGLu6COf7FxpQNqhNS4c4icUPqxA==",
+            "optional": true
+        },
+        "@rollup/rollup-win32-x64-gnu": {
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-gnu/-/rollup-win32-x64-gnu-4.59.0.tgz",
+            "integrity": "sha512-laBkYlSS1n2L8fSo1thDNGrCTQMmxjYY5G0WFWjFFYZkKPjsMBsgJfGf4TLxXrF6RyhI60L8TMOjBMvXiTcxeA==",
             "optional": true
         },
         "@rollup/rollup-win32-x64-msvc": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.34.4.tgz",
-            "integrity": "sha512-p0scwGkR4kZ242xLPBuhSckrJ734frz6v9xZzD+kHVYRAkSUmdSLCIJRfql6H5//aF8Q10K+i7q8DiPfZp0b7A==",
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.59.0.tgz",
+            "integrity": "sha512-2HRCml6OztYXyJXAvdDXPKcawukWY2GpR5/nxKp4iBgiO3wcoEGkAaqctIbZcNB6KlUQBIqt8VYkNSj2397EfA==",
             "optional": true
         },
         "@shikijs/core": {
@@ -2788,9 +2881,9 @@
             "integrity": "sha512-fTIQwLF+Qhuws31iw7Ncl1R3HUDtGwIipiJ9iU+UsDUwMhegFcQKQHd51nZjb7CArq0MvON8rbgCGQYWHUKAdg=="
         },
         "@types/estree": {
-            "version": "1.0.6",
-            "resolved": "https://registry.npmjs.org/@types/estree/-/estree-1.0.6.tgz",
-            "integrity": "sha512-AYnb1nQyY49te+VRAVgmzfcgjYS91mY5P0TKUDCLEM+gNnA+3T6rWITXRLYCpahpqSQbN5cE+gHpnPyXjHWxcw=="
+            "version": "1.0.8",
+            "resolved": "https://registry.npmjs.org/@types/estree/-/estree-1.0.8.tgz",
+            "integrity": "sha512-dWHzHa2WqEXI/O1E9OjrocMTKJl2mSrEolh1Iomrv6U+JuNwaHXsXx9bLu5gG7BUWFIN0skIQJQ/L1rIex4X6w=="
         },
         "@types/hast": {
             "version": "3.0.4",
@@ -3316,30 +3409,36 @@
             "integrity": "sha512-q1b3N5QkRUWUl7iyylaaj3kOpIT0N2i9MqIEQXP73GVsN9cw3fdx8X63cEmWhJGi2PPCF23Ijp7ktmd39rawIA=="
         },
         "rollup": {
-            "version": "4.34.4",
-            "resolved": "https://registry.npmjs.org/rollup/-/rollup-4.34.4.tgz",
-            "integrity": "sha512-spF66xoyD7rz3o08sHP7wogp1gZ6itSq22SGa/IZTcUDXDlOyrShwMwkVSB+BUxFRZZCUYqdb3KWDEOMVQZxuw==",
-            "requires": {
-                "@rollup/rollup-android-arm-eabi": "4.34.4",
-                "@rollup/rollup-android-arm64": "4.34.4",
-                "@rollup/rollup-darwin-arm64": "4.34.4",
-                "@rollup/rollup-darwin-x64": "4.34.4",
-                "@rollup/rollup-freebsd-arm64": "4.34.4",
-                "@rollup/rollup-freebsd-x64": "4.34.4",
-                "@rollup/rollup-linux-arm-gnueabihf": "4.34.4",
-                "@rollup/rollup-linux-arm-musleabihf": "4.34.4",
-                "@rollup/rollup-linux-arm64-gnu": "4.34.4",
-                "@rollup/rollup-linux-arm64-musl": "4.34.4",
-                "@rollup/rollup-linux-loongarch64-gnu": "4.34.4",
-                "@rollup/rollup-linux-powerpc64le-gnu": "4.34.4",
-                "@rollup/rollup-linux-riscv64-gnu": "4.34.4",
-                "@rollup/rollup-linux-s390x-gnu": "4.34.4",
-                "@rollup/rollup-linux-x64-gnu": "4.34.4",
-                "@rollup/rollup-linux-x64-musl": "4.34.4",
-                "@rollup/rollup-win32-arm64-msvc": "4.34.4",
-                "@rollup/rollup-win32-ia32-msvc": "4.34.4",
-                "@rollup/rollup-win32-x64-msvc": "4.34.4",
-                "@types/estree": "1.0.6",
+            "version": "4.59.0",
+            "resolved": "https://registry.npmjs.org/rollup/-/rollup-4.59.0.tgz",
+            "integrity": "sha512-2oMpl67a3zCH9H79LeMcbDhXW/UmWG/y2zuqnF2jQq5uq9TbM9TVyXvA4+t+ne2IIkBdrLpAaRQAvo7YI/Yyeg==",
+            "requires": {
+                "@rollup/rollup-android-arm-eabi": "4.59.0",
+                "@rollup/rollup-android-arm64": "4.59.0",
+                "@rollup/rollup-darwin-arm64": "4.59.0",
+                "@rollup/rollup-darwin-x64": "4.59.0",
+                "@rollup/rollup-freebsd-arm64": "4.59.0",
+                "@rollup/rollup-freebsd-x64": "4.59.0",
+                "@rollup/rollup-linux-arm-gnueabihf": "4.59.0",
+                "@rollup/rollup-linux-arm-musleabihf": "4.59.0",
+                "@rollup/rollup-linux-arm64-gnu": "4.59.0",
+                "@rollup/rollup-linux-arm64-musl": "4.59.0",
+                "@rollup/rollup-linux-loong64-gnu": "4.59.0",
+                "@rollup/rollup-linux-loong64-musl": "4.59.0",
+                "@rollup/rollup-linux-ppc64-gnu": "4.59.0",
+                "@rollup/rollup-linux-ppc64-musl": "4.59.0",
+                "@rollup/rollup-linux-riscv64-gnu": "4.59.0",
+                "@rollup/rollup-linux-riscv64-musl": "4.59.0",
+                "@rollup/rollup-linux-s390x-gnu": "4.59.0",
+                "@rollup/rollup-linux-x64-gnu": "4.59.0",
+                "@rollup/rollup-linux-x64-musl": "4.59.0",
+                "@rollup/rollup-openbsd-x64": "4.59.0",
+                "@rollup/rollup-openharmony-arm64": "4.59.0",
+                "@rollup/rollup-win32-arm64-msvc": "4.59.0",
+                "@rollup/rollup-win32-ia32-msvc": "4.59.0",
+                "@rollup/rollup-win32-x64-gnu": "4.59.0",
+                "@rollup/rollup-win32-x64-msvc": "4.59.0",
+                "@types/estree": "1.0.8",
                 "fsevents": "~2.3.2"
             }
         },
diff --git a/pyrightconfig.json b/pyrightconfig.json
index fa8fa6295b4d..f59621a51177 100644
--- a/pyrightconfig.json
+++ b/pyrightconfig.json
@@ -6,9 +6,10 @@
   ],
   "include": [
     "tools/**/*.py",
-    "test/**/*.py"
+    "test/**/*.py",
+    ".github/scripts/**/*.py"
   ],
-  "pythonVersion": "3.10",
+  "pythonVersion": "3.12",
   "reportMissingImports": "warning",
   "reportMissingTypeStubs": false,
   "reportUnusedImport": "warning",
diff --git a/qgcimages.qrc b/qgcimages.qrc
index 6e6547bedd9a..cb92fc65167f 100644
--- a/qgcimages.qrc
+++ b/qgcimages.qrc
@@ -115,7 +115,7 @@
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
         <file alias="LandModeCopter.svg">src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg</file>
         <file alias="LightsComponentIcon.png">src/AutoPilotPlugins/APM/Images/LightsComponentIcon.png</file>
-        <file alias="LogDownloadIcon.svg">src/AnalyzeView/LogDownloadIcon.svg</file>
+        <file alias="OnboardLogIcon.svg">src/AnalyzeView/OnboardLogs/OnboardLogIcon.svg</file>
         <file alias="LowBattery.svg">src/AutoPilotPlugins/PX4/Images/LowBattery.svg</file>
         <file alias="LowBatteryLight.svg">src/AutoPilotPlugins/PX4/Images/LowBatteryLight.svg</file>
         <file alias="MapAddMission.svg">src/FlightMap/Images/MapAddMission.svg</file>
@@ -130,8 +130,8 @@
         <file alias="MapSyncChanged.svg">src/FlightMap/Images/MapSyncChanged.svg</file>
         <file alias="MapType.svg">src/FlightMap/Images/MapType.svg</file>
         <file alias="MapTypeBlack.svg">src/FlightMap/Images/MapTypeBlack.svg</file>
-        <file alias="MAVLinkConsoleIcon.svg">src/AnalyzeView/MAVLinkConsoleIcon.svg</file>
-        <file alias="MAVLinkInspector.svg">src/AnalyzeView/MAVLinkInspector.svg</file>
+        <file alias="MAVLinkConsoleIcon.svg">src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleIcon.svg</file>
+        <file alias="MAVLinkInspector.svg">src/AnalyzeView/MAVLinkInspector/MAVLinkInspector.svg</file>
         <file alias="Megaphone.svg">src/UI/toolbar/Images/Megaphone.svg</file>
         <file alias="MotorComponentIcon.svg">src/AutoPilotPlugins/Common/Images/MotorComponentIcon.svg</file>
         <file alias="no-logging-light.svg">src/AutoPilotPlugins/PX4/Images/no-logging-light.svg</file>
@@ -212,7 +212,7 @@
         <file alias="VehicleTailDownRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleTailDownRotate.png</file>
         <file alias="VehicleUpsideDown.png">src/AutoPilotPlugins/PX4/Images/VehicleUpsideDown.png</file>
         <file alias="VehicleUpsideDownRotate.png">src/AutoPilotPlugins/PX4/Images/VehicleUpsideDownRotate.png</file>
-        <file alias="VibrationPageIcon">src/AnalyzeView/VibrationPageIcon.png</file>
+        <file alias="VibrationPageIcon">src/AnalyzeView/Vibration/VibrationPageIcon.png</file>
         <file alias="wifi.svg">src/AutoPilotPlugins/Common/Images/wifi.svg</file>
         <file alias="Yield.svg">src/UI/toolbar/Images/Yield.svg</file>
         <file alias="ZoomMinus.svg">src/FlightMap/Images/ZoomMinus.svg</file>
diff --git a/qgcresources.qrc b/qgcresources.qrc
index 400c52a8c067..1a9a8de2352d 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -28,6 +28,7 @@
         <file alias="gear-black.svg">resources/gear-black.svg</file>
         <file alias="gear-white.svg">resources/gear-white.svg</file>
         <file alias="GearWithPaperPlane.svg">resources/GearWithPaperPlane.svg</file>
+        <file alias="GeoFence.svg">resources/GeoFence.svg</file>
         <file alias="helicoptericon.svg">resources/helicoptericon.svg</file>
         <file alias="JoystickBezel.png">resources/JoystickBezel.png</file>
         <file alias="JoystickBezelLight.png">resources/JoystickBezelLight.png</file>
@@ -52,6 +53,7 @@
         <file alias="QGCLogoWhite.svg">resources/QGCLogoWhite.svg</file>
         <file alias="QGCLogoArrow.svg">resources/QGCLogoArrow.svg</file>
         <file alias="QGroundControlConnect.svg">resources/QGroundControlConnect.svg</file>
+        <file alias="RallyPoint.svg">resources/RallyPoint.svg</file>
         <file alias="rtl.svg">resources/rtl.svg</file>
         <file alias="sliders.svg">resources/sliders.svg</file>
         <file alias="SaveToDisk.svg">resources/SaveToDisk.svg</file>
@@ -101,11 +103,4 @@
         <file alias="gcscontrol_gcs.svg">resources/gcscontrolIndicator/gcscontrol_gcs.svg</file>
         <file alias="gcscontrol_line.svg">resources/gcscontrolIndicator/gcscontrol_line.svg</file>
     </qresource>
-        <qresource prefix="/qml">
-        <file alias="QGroundControl/AppSettings/NTRIPSettings.qml">src/UI/AppSettings/NTRIPSettings.qml</file>
-        <file alias="NTRIPSettings.qml">src/UI/AppSettings/NTRIPSettings.qml</file>
-    </qresource>
-    <qresource prefix="/json">
-        <file alias="NTRIP.SettingsGroup.json">src/Settings/NTRIP.SettingsGroup.json</file>
-    </qresource>
 </RCC>
diff --git a/resources/GeoFence.svg b/resources/GeoFence.svg
new file mode 100644
index 000000000000..5a61004cfdaf
--- /dev/null
+++ b/resources/GeoFence.svg
@@ -0,0 +1,8 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 20 20">
+    <!-- drone scaled to 82%, left-anchored, vertically centred -->
+    <g transform="scale(0.82) translate(-0.7 2.5)">
+        <path d="M12 4h4.27a2 2 0 1 1 0 2h-2.14a9 9 0 0 1 4.84 7.25 2 2 0 1 1-2 .04 7 7 0 0 0-4.97-6V8H8v-.71a7 7 0 0 0-4.96 6 2 2 0 1 1-2-.04A9 9 0 0 1 5.86 6H3.73a2 2 0 1 1 0-2H8V3h4z"/>
+    </g>
+    <!-- dashed geofence wall, right-anchored, 3 dashes with small gaps -->
+    <path d="M18 2h2v4.7h-2ZM18 7.7h2v4.7h-2ZM18 13.4h2v4.6h-2Z"/>
+</svg>
diff --git a/resources/RallyPoint.svg b/resources/RallyPoint.svg
new file mode 100644
index 000000000000..28d2870297cd
--- /dev/null
+++ b/resources/RallyPoint.svg
@@ -0,0 +1,6 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="-2 -2 24 24">
+    <!-- Pole -->
+    <path d="M0 0h2v20h-2Z" fill="#000000"/>
+    <!-- Triangular banner (1px gap from pole) -->
+    <polygon points="3,0 19,5.5 3,11" fill="#000000"/>
+</svg>
diff --git a/ruff.toml b/ruff.toml
index c417efa12b07..4a218d352410 100644
--- a/ruff.toml
+++ b/ruff.toml
@@ -1,7 +1,7 @@
 # Ruff configuration for QGroundControl Python tools
 # https://docs.astral.sh/ruff/
 
-target-version = "py310"
+target-version = "py312"
 line-length = 100
 
 # Exclude build artifacts and external dependencies
@@ -42,5 +42,5 @@ known-first-party = ["qgc"]
 quote-style = "double"
 indent-style = "space"
 skip-magic-trailing-comma = false
-line-ending = "auto"
+line-ending = "lf"
 docstring-code-format = true
diff --git a/src/API/QGCCorePlugin.cc b/src/API/QGCCorePlugin.cc
index 7b0883387895..90347d290b48 100644
--- a/src/API/QGCCorePlugin.cc
+++ b/src/API/QGCCorePlugin.cc
@@ -63,26 +63,24 @@ const QVariantList &QGCCorePlugin::analyzePages()
 {
     static const QVariantList analyzeList = {
         QVariant::fromValue(new QmlComponentInfo(
-            tr("Log Download"),
-            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/LogDownloadPage.qml")),
-            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/LogDownloadIcon.svg")))),
+            tr("Onboard Logs"),
+            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/OnboardLogs/OnboardLogPage.qml")),
+            QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/OnboardLogIcon.svg")))),
         QVariant::fromValue(new QmlComponentInfo(
             tr("GeoTag Images"),
             QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/GeoTag/GeoTagPage.qml")),
             QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/GeoTag/GeoTagIcon.svg")))),
         QVariant::fromValue(new QmlComponentInfo(
             tr("MAVLink Console"),
-            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkConsolePage.qml")),
+            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkConsole/MAVLinkConsolePage.qml")),
             QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/MAVLinkConsoleIcon.svg")))),
-#ifndef QGC_DISABLE_MAVLINK_INSPECTOR
         QVariant::fromValue(new QmlComponentInfo(
             tr("MAVLink Inspector"),
-            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkInspectorPage.qml")),
+            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/MAVLinkInspector/MAVLinkInspectorPage.qml")),
             QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/MAVLinkInspector.svg")))),
-#endif
         QVariant::fromValue(new QmlComponentInfo(
             tr("Vibration"),
-            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/VibrationPage.qml")),
+            QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AnalyzeView/Vibration/VibrationPage.qml")),
             QUrl::fromUserInput(QStringLiteral("qrc:/qmlimages/VibrationPageIcon")))),
     };
 
diff --git a/src/QmlControls/AnalyzePage.qml b/src/AnalyzeView/AnalyzePage.qml
similarity index 91%
rename from src/QmlControls/AnalyzePage.qml
rename to src/AnalyzeView/AnalyzePage.qml
index 7f1bdf30ec0d..92fd24873019 100644
--- a/src/QmlControls/AnalyzePage.qml
+++ b/src/AnalyzeView/AnalyzePage.qml
@@ -10,7 +10,6 @@ Item {
     anchors.margins:            ScreenTools.defaultFontPixelWidth
 
     property alias  pageComponent:      pageLoader.sourceComponent
-    property alias  pageName:           pageNameLabel.text
     property alias  pageDescription:    pageDescriptionLabel.text
     property alias  headerComponent:    headerLoader.sourceComponent
     property real   availableWidth:     width  - pageLoader.x
@@ -40,11 +39,6 @@ Item {
         anchors.right:          floatIcon.visible ? floatIcon.left : parent.right
         spacing:                _margins
         visible:                !ScreenTools.isShortScreen && headerLoader.sourceComponent === null
-        QGCLabel {
-            id:                 pageNameLabel
-            font.pointSize:     ScreenTools.largeFontPointSize
-            visible:            !popped
-        }
         QGCLabel {
             id:                 pageDescriptionLabel
             anchors.left:       parent.left
@@ -77,8 +71,8 @@ Item {
         fillMode:               Image.PreserveAspectFit
         color:                  qgcPal.text
         visible:                allowPopout && !popped && !ScreenTools.isMobile
-        MouseArea {
-            anchors.fill:   parent
+        QGCMouseArea {
+            fillItem:       floatIcon
             onClicked:      popout()
         }
     }
diff --git a/src/AnalyzeView/AnalyzeView.qml b/src/AnalyzeView/AnalyzeView.qml
index 19f6538978dd..159c9e9c36c5 100644
--- a/src/AnalyzeView/AnalyzeView.qml
+++ b/src/AnalyzeView/AnalyzeView.qml
@@ -1,5 +1,4 @@
 import QtQuick
-import QtQuick.Window
 import QtQuick.Controls
 
 import QGroundControl
@@ -23,10 +22,6 @@ Rectangle {
         anchors.fill: parent
     }
 
-    GeoTagController {
-        id: geoController
-    }
-
     QGCFlickable {
         id:                 buttonScroll
         width:              buttonColumn.width
@@ -44,37 +39,32 @@ Rectangle {
             width:      _maxButtonWidth
             spacing:    _defaultTextHeight / 2
 
-            property real _maxButtonWidth: 0
-
-            Component.onCompleted: reflowWidths()
-
-            // I don't know why this does not work
-            Connections {
-                target:         QGroundControl.settingsManager.appSettings.appFontPointSize
-                function onValueChanged(value) { buttonColumn.reflowWidths() }
-            }
-
-            function reflowWidths() {
-                buttonColumn._maxButtonWidth = 0
-                for (var i = 0; i < children.length; i++) {
-                    buttonColumn._maxButtonWidth = Math.max(buttonColumn._maxButtonWidth, children[i].width)
-                }
-                for (var j = 0; j < children.length; j++) {
-                    children[j].width = buttonColumn._maxButtonWidth
+            property real _maxButtonWidth: {
+                var maxW = 0
+                for (var i = 0; i < buttonRepeater.count; i++) {
+                    var item = buttonRepeater.itemAt(i)
+                    if (item) maxW = Math.max(maxW, item.implicitWidth)
                 }
+                return maxW
             }
 
             Repeater {
                 id:     buttonRepeater
                 model:  QGroundControl.corePlugin ? QGroundControl.corePlugin.analyzePages : []
 
-                Component.onCompleted:  itemAt(0).checked = true
+                Component.onCompleted: {
+                    if (count > 0) {
+                        itemAt(0).checked = true
+                        panelLoader.source = QGroundControl.corePlugin.analyzePages[0].url
+                        panelLoader.title  = QGroundControl.corePlugin.analyzePages[0].title
+                    }
+                }
 
                 SubMenuButton {
-                    id:                 subMenu
                     imageResource:      modelData.icon
                     autoExclusive:      true
                     text:               modelData.title
+                    width:              buttonColumn._maxButtonWidth
 
                     onClicked: {
                         panelLoader.source  = modelData.url
@@ -108,13 +98,13 @@ Rectangle {
         anchors.right:          parent.right
         anchors.top:            parent.top
         anchors.bottom:         parent.bottom
-        source:                 "LogDownloadPage.qml"
+        source:                 ""
 
         property string title
 
         Connections {
             target:     panelLoader.item
-            function onPopout() { mainWindow.createrWindowedAnalyzePage(panelLoader.title, panelLoader.source) }
+            function onPopout() { mainWindow.createWindowedAnalyzePage(panelLoader.title, panelLoader.source) }
         }
     }
 }
diff --git a/src/AnalyzeView/CMakeLists.txt b/src/AnalyzeView/CMakeLists.txt
index 1f5bed0434bb..0969a76c349d 100644
--- a/src/AnalyzeView/CMakeLists.txt
+++ b/src/AnalyzeView/CMakeLists.txt
@@ -4,25 +4,12 @@
 # ============================================================================
 
 add_subdirectory(GeoTag)
+add_subdirectory(MAVLinkConsole)
+add_subdirectory(MAVLinkInspector)
+add_subdirectory(OnboardLogs)
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
-        LogDownloadController.cc
-        LogDownloadController.h
-        LogEntry.cc
-        LogEntry.h
-        MAVLinkChartController.cc
-        MAVLinkChartController.h
-        MAVLinkConsoleController.cc
-        MAVLinkConsoleController.h
-        MAVLinkInspectorController.cc
-        MAVLinkInspectorController.h
-        MAVLinkMessage.cc
-        MAVLinkMessage.h
-        MAVLinkMessageField.cc
-        MAVLinkMessageField.h
-        MAVLinkSystem.cc
-        MAVLinkSystem.h
 )
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
@@ -37,10 +24,13 @@ qt_add_qml_module(AnalyzeViewModule
     VERSION 1.0
     RESOURCE_PREFIX /qml
     QML_FILES
+        AnalyzePage.qml
         AnalyzeView.qml
-        LogDownloadPage.qml
-        MAVLinkConsolePage.qml
-        MAVLinkInspectorPage.qml
-        VibrationPage.qml
+        MAVLinkConsole/MAVLinkConsolePage.qml
+        MAVLinkInspector/MAVLinkChart.qml
+        MAVLinkInspector/MAVLinkMessageButton.qml
+        MAVLinkInspector/MAVLinkInspectorPage.qml
+        OnboardLogs/OnboardLogPage.qml
+        Vibration/VibrationPage.qml
     NO_PLUGIN
 )
diff --git a/src/AnalyzeView/GeoTag/CMakeLists.txt b/src/AnalyzeView/GeoTag/CMakeLists.txt
index 711107827fe1..07c1094a6baa 100644
--- a/src/AnalyzeView/GeoTag/CMakeLists.txt
+++ b/src/AnalyzeView/GeoTag/CMakeLists.txt
@@ -36,4 +36,5 @@ qt_add_qml_module(GeoTagModule
     NO_PLUGIN
 )
 
+target_link_libraries(GeoTagModule PRIVATE AnalyzeViewModule)
 target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE GeoTagModule)
diff --git a/src/AnalyzeView/GeoTag/GeoTagController.h b/src/AnalyzeView/GeoTag/GeoTagController.h
index 5820bcc6565e..495f7b7791c2 100644
--- a/src/AnalyzeView/GeoTag/GeoTagController.h
+++ b/src/AnalyzeView/GeoTag/GeoTagController.h
@@ -49,6 +49,7 @@ class GeoTagController : public QObject
 {
     Q_OBJECT
     QML_ELEMENT
+    QML_SINGLETON
 
     Q_PROPERTY(QString           logFile         READ logFile        WRITE setLogFile        NOTIFY logFileChanged)
     Q_PROPERTY(QString           imageDirectory  READ imageDirectory WRITE setImageDirectory NOTIFY imageDirectoryChanged)
diff --git a/src/AnalyzeView/GeoTag/GeoTagPage.qml b/src/AnalyzeView/GeoTag/GeoTagPage.qml
index d6830f14283a..709973af61bc 100644
--- a/src/AnalyzeView/GeoTag/GeoTagPage.qml
+++ b/src/AnalyzeView/GeoTag/GeoTagPage.qml
@@ -3,6 +3,7 @@ import QtQuick.Controls
 import QtQuick.Layouts
 
 import QGroundControl
+import QGroundControl.AnalyzeView
 import QGroundControl.Controls
 
 AnalyzePage {
@@ -27,7 +28,7 @@ AnalyzePage {
                 Layout.preferredHeight: statusColumn.height + _margin * 2
                 color:                  qgcPal.windowShade
                 radius:                 ScreenTools.defaultFontPixelWidth / 2
-                visible:                geoController.inProgress || geoController.errorMessage || geoController.taggedCount > 0
+                visible:                GeoTagController.inProgress || GeoTagController.errorMessage || GeoTagController.taggedCount > 0
 
                 ColumnLayout {
                     id:                 statusColumn
@@ -40,12 +41,12 @@ AnalyzePage {
                     RowLayout {
                         Layout.fillWidth:   true
                         spacing:            _margin
-                        visible:            geoController.inProgress
+                        visible:            GeoTagController.inProgress
 
                         BusyIndicator {
                             Layout.preferredWidth:  ScreenTools.defaultFontPixelHeight * 2
                             Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 2
-                            running:                geoController.inProgress
+                            running:                GeoTagController.inProgress
                         }
 
                         ColumnLayout {
@@ -61,32 +62,32 @@ AnalyzePage {
                                 Layout.fillWidth:   true
                                 from:               0
                                 to:                 100
-                                value:              geoController.progress
+                                value:              GeoTagController.progress
                             }
                         }
                     }
 
                     QGCLabel {
                         Layout.fillWidth:       true
-                        text:                   geoController.errorMessage
+                        text:                   GeoTagController.errorMessage
                         color:                  qgcPal.colorRed
                         font.bold:              true
                         wrapMode:               Text.WordWrap
                         horizontalAlignment:    Text.AlignHCenter
-                        visible:                geoController.errorMessage && !geoController.inProgress
+                        visible:                GeoTagController.errorMessage && !GeoTagController.inProgress
                     }
 
                     QGCLabel {
                         Layout.fillWidth:       true
                         text: {
-                            if (geoController.taggedCount > 0 && !geoController.inProgress) {
-                                let msg = qsTr("Successfully tagged %1 images").arg(geoController.taggedCount)
+                            if (GeoTagController.taggedCount > 0 && !GeoTagController.inProgress) {
+                                let msg = qsTr("Successfully tagged %1 images").arg(GeoTagController.taggedCount)
                                 let details = []
-                                if (geoController.skippedCount > 0) {
-                                    details.push(qsTr("%1 skipped").arg(geoController.skippedCount))
+                                if (GeoTagController.skippedCount > 0) {
+                                    details.push(qsTr("%1 skipped").arg(GeoTagController.skippedCount))
                                 }
-                                if (geoController.failedCount > 0) {
-                                    details.push(qsTr("%1 failed").arg(geoController.failedCount))
+                                if (GeoTagController.failedCount > 0) {
+                                    details.push(qsTr("%1 failed").arg(GeoTagController.failedCount))
                                 }
                                 if (details.length > 0) {
                                     msg += " (" + details.join(", ") + ")"
@@ -95,10 +96,10 @@ AnalyzePage {
                             }
                             return ""
                         }
-                        color:                  geoController.failedCount > 0 ? qgcPal.colorOrange : qgcPal.colorGreen
+                        color:                  GeoTagController.failedCount > 0 ? qgcPal.colorOrange : qgcPal.colorGreen
                         font.bold:              true
                         horizontalAlignment:    Text.AlignHCenter
-                        visible:                geoController.taggedCount > 0 && !geoController.inProgress
+                        visible:                GeoTagController.taggedCount > 0 && !GeoTagController.inProgress
                     }
                 }
             }
@@ -126,12 +127,12 @@ AnalyzePage {
                             Layout.preferredWidth:  ScreenTools.defaultFontPixelHeight * 1.5
                             Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
                             radius:                 height / 2
-                            color:                  geoController.logFile ? qgcPal.colorGreen : qgcPal.button
+                            color:                  GeoTagController.logFile ? qgcPal.colorGreen : qgcPal.button
 
                             QGCLabel {
                                 anchors.centerIn:   parent
-                                text:               geoController.logFile ? "\u2713" : "1"
-                                color:              geoController.logFile ? "white" : qgcPal.buttonText
+                                text:               GeoTagController.logFile ? "\u2713" : "1"
+                                color:              GeoTagController.logFile ? "white" : qgcPal.buttonText
                                 font.bold:          true
                             }
                         }
@@ -148,7 +149,7 @@ AnalyzePage {
 
                         QGCButton {
                             text:               qsTr("Browse...")
-                            enabled:            !geoController.inProgress
+                            enabled:            !GeoTagController.inProgress
                             onClicked:          openLogFile.openForLoad()
 
                             QGCFileDialog {
@@ -157,7 +158,7 @@ AnalyzePage {
                                 nameFilters:    [qsTr("Flight logs (*.ulg *.bin)"), qsTr("ULog (*.ulg)"), qsTr("DataFlash (*.bin)"), qsTr("All Files (*)")]
                                 defaultSuffix:  "ulg"
                                 onAcceptedForLoad: (file) => {
-                                    geoController.logFile = file
+                                    GeoTagController.logFile = file
                                     close()
                                 }
                             }
@@ -165,9 +166,9 @@ AnalyzePage {
 
                         QGCLabel {
                             Layout.fillWidth:   true
-                            text:               geoController.logFile ? geoController.logFile : qsTr("No file selected")
+                            text:               GeoTagController.logFile ? GeoTagController.logFile : qsTr("No file selected")
                             elide:              Text.ElideMiddle
-                            opacity:            geoController.logFile ? 1.0 : 0.5
+                            opacity:            GeoTagController.logFile ? 1.0 : 0.5
                         }
                     }
                 }
@@ -196,12 +197,12 @@ AnalyzePage {
                             Layout.preferredWidth:  ScreenTools.defaultFontPixelHeight * 1.5
                             Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
                             radius:                 height / 2
-                            color:                  geoController.imageDirectory ? qgcPal.colorGreen : qgcPal.button
+                            color:                  GeoTagController.imageDirectory ? qgcPal.colorGreen : qgcPal.button
 
                             QGCLabel {
                                 anchors.centerIn:   parent
-                                text:               geoController.imageDirectory ? "\u2713" : "2"
-                                color:              geoController.imageDirectory ? "white" : qgcPal.buttonText
+                                text:               GeoTagController.imageDirectory ? "\u2713" : "2"
+                                color:              GeoTagController.imageDirectory ? "white" : qgcPal.buttonText
                                 font.bold:          true
                             }
                         }
@@ -218,7 +219,7 @@ AnalyzePage {
 
                         QGCButton {
                             text:               qsTr("Browse...")
-                            enabled:            !geoController.inProgress
+                            enabled:            !GeoTagController.inProgress
                             onClicked:          selectImageDir.openForLoad()
 
                             QGCFileDialog {
@@ -226,7 +227,7 @@ AnalyzePage {
                                 title:          qsTr("Select Image Folder")
                                 selectFolder:   true
                                 onAcceptedForLoad: (file) => {
-                                    geoController.imageDirectory = file
+                                    GeoTagController.imageDirectory = file
                                     close()
                                 }
                             }
@@ -234,9 +235,9 @@ AnalyzePage {
 
                         QGCLabel {
                             Layout.fillWidth:   true
-                            text:               geoController.imageDirectory ? geoController.imageDirectory : qsTr("No folder selected")
+                            text:               GeoTagController.imageDirectory ? GeoTagController.imageDirectory : qsTr("No folder selected")
                             elide:              Text.ElideMiddle
-                            opacity:            geoController.imageDirectory ? 1.0 : 0.5
+                            opacity:            GeoTagController.imageDirectory ? 1.0 : 0.5
                         }
                     }
                 }
@@ -287,7 +288,7 @@ AnalyzePage {
 
                         QGCButton {
                             text:               qsTr("Browse...")
-                            enabled:            !geoController.inProgress
+                            enabled:            !GeoTagController.inProgress
                             onClicked:          selectDestDir.openForLoad()
 
                             QGCFileDialog {
@@ -295,7 +296,7 @@ AnalyzePage {
                                 title:          qsTr("Select Output Folder")
                                 selectFolder:   true
                                 onAcceptedForLoad: (file) => {
-                                    geoController.saveDirectory = file
+                                    GeoTagController.saveDirectory = file
                                     close()
                                 }
                             }
@@ -304,15 +305,15 @@ AnalyzePage {
                         QGCLabel {
                             Layout.fillWidth:   true
                             text: {
-                                if (geoController.saveDirectory) {
-                                    return geoController.saveDirectory
-                                } else if (geoController.imageDirectory) {
-                                    return geoController.imageDirectory + "/TAGGED"
+                                if (GeoTagController.saveDirectory) {
+                                    return GeoTagController.saveDirectory
+                                } else if (GeoTagController.imageDirectory) {
+                                    return GeoTagController.imageDirectory + "/TAGGED"
                                 }
                                 return qsTr("Default: /TAGGED subfolder")
                             }
                             elide:              Text.ElideMiddle
-                            opacity:            geoController.saveDirectory ? 1.0 : 0.5
+                            opacity:            GeoTagController.saveDirectory ? 1.0 : 0.5
                         }
                     }
                 }
@@ -349,11 +350,11 @@ AnalyzePage {
                         QGCTextField {
                             id:                     timeOffsetField
                             Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 10
-                            text:                   geoController.timeOffsetSecs.toFixed(1)
-                            enabled:                !geoController.inProgress
+                            text:                   GeoTagController.timeOffsetSecs.toFixed(1)
+                            enabled:                !GeoTagController.inProgress
                             inputMethodHints:       Qt.ImhFormattedNumbersOnly
                             validator:              DoubleValidator { bottom: -3600; top: 3600; decimals: 1 }
-                            onEditingFinished:      geoController.timeOffsetSecs = parseFloat(text) || 0
+                            onEditingFinished:      GeoTagController.timeOffsetSecs = parseFloat(text) || 0
                         }
 
                         QGCLabel {
@@ -371,9 +372,9 @@ AnalyzePage {
                         QGCCheckBox {
                             id:         previewCheckbox
                             text:       qsTr("Preview mode (don't write files)")
-                            checked:    geoController.previewMode
-                            enabled:    !geoController.inProgress
-                            onClicked:  geoController.previewMode = checked
+                            checked:    GeoTagController.previewMode
+                            enabled:    !GeoTagController.inProgress
+                            onClicked:  GeoTagController.previewMode = checked
                         }
 
                         QGCLabel {
@@ -391,20 +392,20 @@ AnalyzePage {
                 Layout.alignment:       Qt.AlignHCenter
                 Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 20
                 text: {
-                    if (geoController.inProgress) {
+                    if (GeoTagController.inProgress) {
                         return qsTr("Cancel")
-                    } else if (geoController.previewMode) {
+                    } else if (GeoTagController.previewMode) {
                         return qsTr("Preview")
                     } else {
                         return qsTr("Start Tagging")
                     }
                 }
-                enabled:                (geoController.logFile && geoController.imageDirectory) || geoController.inProgress
+                enabled:                (GeoTagController.logFile && GeoTagController.imageDirectory) || GeoTagController.inProgress
                 onClicked: {
-                    if (geoController.inProgress) {
-                        geoController.cancelTagging()
+                    if (GeoTagController.inProgress) {
+                        GeoTagController.cancelTagging()
                     } else {
-                        geoController.startTagging()
+                        GeoTagController.startTagging()
                     }
                 }
             }
@@ -416,7 +417,7 @@ AnalyzePage {
                 Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 10
                 color:                  qgcPal.windowShade
                 radius:                 ScreenTools.defaultFontPixelWidth / 2
-                visible:                geoController.imageModel.count > 0
+                visible:                GeoTagController.imageModel.count > 0
 
                 ColumnLayout {
                     anchors.fill:       parent
@@ -428,7 +429,7 @@ AnalyzePage {
                         spacing: _margin
 
                         QGCLabel {
-                            text:       qsTr("Images (%1)").arg(geoController.imageModel.count)
+                            text:       qsTr("Images (%1)").arg(GeoTagController.imageModel.count)
                             font.bold:  true
                         }
 
@@ -477,7 +478,7 @@ AnalyzePage {
                         id:                 imageListView
                         Layout.fillWidth:   true
                         Layout.fillHeight:  true
-                        model:              geoController.imageModel
+                        model:              GeoTagController.imageModel
 
                         delegate: Rectangle {
                             width:      imageListView.width
diff --git a/src/AnalyzeView/LogEntry.cc b/src/AnalyzeView/LogEntry.cc
deleted file mode 100644
index a50239cb54cc..000000000000
--- a/src/AnalyzeView/LogEntry.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "LogEntry.h"
-#include "QGCApplication.h"
-#include "QGCLoggingCategory.h"
-
-#include <QtCore/QtMath>
-
-QGC_LOGGING_CATEGORY(LogEntryLog, "AnalyzeView.QGCLogEntry")
-
-LogDownloadData::LogDownloadData(QGCLogEntry * const logEntry)
-    : ID(logEntry->id())
-    , entry(logEntry)
-{
-    // qCDebug(LogEntryLog) << Q_FUNC_INFO << this;
-}
-
-LogDownloadData::~LogDownloadData()
-{
-    // qCDebug(LogEntryLog) << Q_FUNC_INFO << this;
-}
-
-void LogDownloadData::advanceChunk()
-{
-    ++current_chunk;
-    chunk_table = QBitArray(chunkBins(), false);
-}
-
-uint32_t LogDownloadData::chunkBins() const
-{
-    const qreal num = static_cast<qreal>((entry->size() - (current_chunk * kChunkSize))) / static_cast<qreal>(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
-    return qMin(static_cast<uint32_t>(qCeil(num)), kTableBins);
-}
-
-uint32_t LogDownloadData::numChunks() const
-{
-    const qreal num = static_cast<qreal>(entry->size()) / static_cast<qreal>(kChunkSize);
-    return qCeil(num);
-}
-
-bool LogDownloadData::chunkEquals(const bool val) const
-{
-    return (chunk_table == QBitArray(chunk_table.size(), val));
-}
-
-/*===========================================================================*/
-
-QGCLogEntry::QGCLogEntry(uint logId, const QDateTime &dateTime, uint logSize, bool received, QObject *parent)
-    : QObject(parent)
-    , _logID(logId)
-    , _logSize(logSize)
-    , _logTimeUTC(dateTime)
-    , _received(received)
-{
-    // qCDebug(LogEntryLog) << Q_FUNC_INFO << this;
-}
-
-QGCLogEntry::~QGCLogEntry()
-{
-    // qCDebug(LogEntryLog) << Q_FUNC_INFO << this;
-}
-
-QString QGCLogEntry::sizeStr() const
-{
-    return qgcApp()->bigSizeToString(_logSize);
-}
diff --git a/src/AnalyzeView/MAVLinkConsole/CMakeLists.txt b/src/AnalyzeView/MAVLinkConsole/CMakeLists.txt
new file mode 100644
index 000000000000..6cd4a2a3fe55
--- /dev/null
+++ b/src/AnalyzeView/MAVLinkConsole/CMakeLists.txt
@@ -0,0 +1,12 @@
+# ============================================================================
+# MAVLink Console Module
+# MAVLink serial console controller
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        MAVLinkConsoleController.cc
+        MAVLinkConsoleController.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/AnalyzeView/MAVLinkConsoleController.cc b/src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleController.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkConsoleController.cc
rename to src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleController.cc
diff --git a/src/AnalyzeView/MAVLinkConsoleController.h b/src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleController.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkConsoleController.h
rename to src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleController.h
diff --git a/src/AnalyzeView/MAVLinkConsoleIcon.svg b/src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleIcon.svg
similarity index 100%
rename from src/AnalyzeView/MAVLinkConsoleIcon.svg
rename to src/AnalyzeView/MAVLinkConsole/MAVLinkConsoleIcon.svg
diff --git a/src/AnalyzeView/MAVLinkConsolePage.qml b/src/AnalyzeView/MAVLinkConsole/MAVLinkConsolePage.qml
similarity index 100%
rename from src/AnalyzeView/MAVLinkConsolePage.qml
rename to src/AnalyzeView/MAVLinkConsole/MAVLinkConsolePage.qml
diff --git a/src/AnalyzeView/MAVLinkInspector/CMakeLists.txt b/src/AnalyzeView/MAVLinkInspector/CMakeLists.txt
new file mode 100644
index 000000000000..4dfd894f392f
--- /dev/null
+++ b/src/AnalyzeView/MAVLinkInspector/CMakeLists.txt
@@ -0,0 +1,20 @@
+# ============================================================================
+# MAVLink Inspector Module
+# MAVLink inspector controller and chart integration
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        MAVLinkChartController.cc
+        MAVLinkChartController.h
+        MAVLinkInspectorController.cc
+        MAVLinkInspectorController.h
+        MAVLinkMessage.cc
+        MAVLinkMessage.h
+        MAVLinkMessageField.cc
+        MAVLinkMessageField.h
+        MAVLinkSystem.cc
+        MAVLinkSystem.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/QmlControls/MAVLinkChart.qml b/src/AnalyzeView/MAVLinkInspector/MAVLinkChart.qml
similarity index 100%
rename from src/QmlControls/MAVLinkChart.qml
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkChart.qml
diff --git a/src/AnalyzeView/MAVLinkChartController.cc b/src/AnalyzeView/MAVLinkInspector/MAVLinkChartController.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkChartController.cc
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkChartController.cc
diff --git a/src/AnalyzeView/MAVLinkChartController.h b/src/AnalyzeView/MAVLinkInspector/MAVLinkChartController.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkChartController.h
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkChartController.h
diff --git a/src/AnalyzeView/MAVLinkInspector.svg b/src/AnalyzeView/MAVLinkInspector/MAVLinkInspector.svg
similarity index 100%
rename from src/AnalyzeView/MAVLinkInspector.svg
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkInspector.svg
diff --git a/src/AnalyzeView/MAVLinkInspectorController.cc b/src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorController.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkInspectorController.cc
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorController.cc
diff --git a/src/AnalyzeView/MAVLinkInspectorController.h b/src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorController.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkInspectorController.h
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorController.h
diff --git a/src/AnalyzeView/MAVLinkInspectorPage.qml b/src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorPage.qml
similarity index 100%
rename from src/AnalyzeView/MAVLinkInspectorPage.qml
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkInspectorPage.qml
diff --git a/src/AnalyzeView/MAVLinkMessage.cc b/src/AnalyzeView/MAVLinkInspector/MAVLinkMessage.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkMessage.cc
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkMessage.cc
diff --git a/src/AnalyzeView/MAVLinkMessage.h b/src/AnalyzeView/MAVLinkInspector/MAVLinkMessage.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkMessage.h
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkMessage.h
diff --git a/src/QmlControls/MAVLinkMessageButton.qml b/src/AnalyzeView/MAVLinkInspector/MAVLinkMessageButton.qml
similarity index 100%
rename from src/QmlControls/MAVLinkMessageButton.qml
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkMessageButton.qml
diff --git a/src/AnalyzeView/MAVLinkMessageField.cc b/src/AnalyzeView/MAVLinkInspector/MAVLinkMessageField.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkMessageField.cc
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkMessageField.cc
diff --git a/src/AnalyzeView/MAVLinkMessageField.h b/src/AnalyzeView/MAVLinkInspector/MAVLinkMessageField.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkMessageField.h
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkMessageField.h
diff --git a/src/AnalyzeView/MAVLinkSystem.cc b/src/AnalyzeView/MAVLinkInspector/MAVLinkSystem.cc
similarity index 100%
rename from src/AnalyzeView/MAVLinkSystem.cc
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkSystem.cc
diff --git a/src/AnalyzeView/MAVLinkSystem.h b/src/AnalyzeView/MAVLinkInspector/MAVLinkSystem.h
similarity index 100%
rename from src/AnalyzeView/MAVLinkSystem.h
rename to src/AnalyzeView/MAVLinkInspector/MAVLinkSystem.h
diff --git a/src/AnalyzeView/OnboardLogs/CMakeLists.txt b/src/AnalyzeView/OnboardLogs/CMakeLists.txt
new file mode 100644
index 000000000000..f47679afa27c
--- /dev/null
+++ b/src/AnalyzeView/OnboardLogs/CMakeLists.txt
@@ -0,0 +1,14 @@
+# ============================================================================
+# Onboard Logs Module
+# Onboard log list and download functionality
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        OnboardLogController.cc
+        OnboardLogController.h
+        OnboardLogEntry.cc
+        OnboardLogEntry.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/AnalyzeView/LogDownloadController.cc b/src/AnalyzeView/OnboardLogs/OnboardLogController.cc
similarity index 69%
rename from src/AnalyzeView/LogDownloadController.cc
rename to src/AnalyzeView/OnboardLogs/OnboardLogController.cc
index 38b569e85b3d..f6b9638bb6b9 100644
--- a/src/AnalyzeView/LogDownloadController.cc
+++ b/src/AnalyzeView/OnboardLogs/OnboardLogController.cc
@@ -1,6 +1,6 @@
-#include "LogDownloadController.h"
+#include "OnboardLogController.h"
 #include "AppSettings.h"
-#include "LogEntry.h"
+#include "OnboardLogEntry.h"
 #include "MAVLinkProtocol.h"
 #include "MultiVehicleManager.h"
 #include "ParameterManager.h"
@@ -13,35 +13,35 @@
 #include <QtCore/QApplicationStatic>
 #include <QtCore/QTimer>
 
-QGC_LOGGING_CATEGORY(LogDownloadControllerLog, "AnalyzeView.LogDownloadController")
+QGC_LOGGING_CATEGORY(OnboardLogControllerLog, "AnalyzeView.OnboardLogController")
 
-LogDownloadController::LogDownloadController(QObject *parent)
+OnboardLogController::OnboardLogController(QObject *parent)
     : QObject(parent)
     , _timer(new QTimer(this))
     , _logEntriesModel(new QmlObjectListModel(this))
 {
-    qCDebug(LogDownloadControllerLog) << this;
+    qCDebug(OnboardLogControllerLog) << this;
 
-    (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &LogDownloadController::_setActiveVehicle);
-    (void) connect(_timer, &QTimer::timeout, this, &LogDownloadController::_processDownload);
+    (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &OnboardLogController::_setActiveVehicle);
+    (void) connect(_timer, &QTimer::timeout, this, &OnboardLogController::_processDownload);
 
     _timer->setSingleShot(false);
 
     _setActiveVehicle(MultiVehicleManager::instance()->activeVehicle());
 }
 
-LogDownloadController::~LogDownloadController()
+OnboardLogController::~OnboardLogController()
 {
-    qCDebug(LogDownloadControllerLog) << this;
+    qCDebug(OnboardLogControllerLog) << this;
 }
 
-void LogDownloadController::download(const QString &path)
+void OnboardLogController::download(const QString &path)
 {
     const QString dir = path.isEmpty() ? SettingsManager::instance()->appSettings()->logSavePath() : path;
     _downloadToDirectory(dir);
 }
 
-void LogDownloadController::_downloadToDirectory(const QString &dir)
+void OnboardLogController::_downloadToDirectory(const QString &dir)
 {
     _receivedAllEntries();
 
@@ -56,7 +56,7 @@ void LogDownloadController::_downloadToDirectory(const QString &dir)
         _downloadPath += QDir::separator();
     }
 
-    QGCLogEntry *const log = _getNextSelected();
+    QGCOnboardLogEntry *const log = _getNextSelected();
     if (log) {
         log->setStatus(tr("Waiting"));
     }
@@ -65,7 +65,7 @@ void LogDownloadController::_downloadToDirectory(const QString &dir)
     _receivedAllData();
 }
 
-void LogDownloadController::_processDownload()
+void OnboardLogController::_processDownload()
 {
     if (_requestingLogEntries) {
         _findMissingEntries();
@@ -74,13 +74,13 @@ void LogDownloadController::_processDownload()
     }
 }
 
-void LogDownloadController::_findMissingEntries()
+void OnboardLogController::_findMissingEntries()
 {
     const int num_logs = _logEntriesModel->count();
     int start = -1;
     int end = -1;
     for (int i = 0; i < num_logs; i++) {
-        const QGCLogEntry *const entry = _logEntriesModel->value<const QGCLogEntry*>(i);
+        const QGCOnboardLogEntry *const entry = _logEntriesModel->value<const QGCOnboardLogEntry*>(i);
         if (!entry) {
             continue;
         }
@@ -103,14 +103,14 @@ void LogDownloadController::_findMissingEntries()
 
     if (_retries++ > 2) {
         for (int i = 0; i < num_logs; i++) {
-            QGCLogEntry *const entry = _logEntriesModel->value<QGCLogEntry*>(i);
+            QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
             if (entry && !entry->received()) {
                 entry->setStatus(tr("Error"));
             }
         }
 
         _receivedAllEntries();
-        qCWarning(LogDownloadControllerLog) << "Too many errors retreiving log list. Giving up.";
+        qCWarning(OnboardLogControllerLog) << "Too many errors retreiving log list. Giving up.";
         return;
     }
 
@@ -124,7 +124,7 @@ void LogDownloadController::_findMissingEntries()
     _requestLogList(static_cast<uint32_t>(start), static_cast<uint32_t>(end));
 }
 
-void LogDownloadController::_setActiveVehicle(Vehicle *vehicle)
+void OnboardLogController::_setActiveVehicle(Vehicle *vehicle)
 {
     if (vehicle == _vehicle) {
         return;
@@ -132,19 +132,19 @@ void LogDownloadController::_setActiveVehicle(Vehicle *vehicle)
 
     if (_vehicle) {
         _logEntriesModel->clearAndDeleteContents();
-        (void) disconnect(_vehicle, &Vehicle::logEntry, this, &LogDownloadController::_logEntry);
-        (void) disconnect(_vehicle, &Vehicle::logData,  this, &LogDownloadController::_logData);
+        (void) disconnect(_vehicle, &Vehicle::logEntry, this, &OnboardLogController::_logEntry);
+        (void) disconnect(_vehicle, &Vehicle::logData,  this, &OnboardLogController::_logData);
     }
 
     _vehicle = vehicle;
 
     if (_vehicle) {
-        (void) connect(_vehicle, &Vehicle::logEntry, this, &LogDownloadController::_logEntry);
-        (void) connect(_vehicle, &Vehicle::logData,  this, &LogDownloadController::_logData);
+        (void) connect(_vehicle, &Vehicle::logEntry, this, &OnboardLogController::_logEntry);
+        (void) connect(_vehicle, &Vehicle::logData,  this, &OnboardLogController::_logData);
     }
 }
 
-void LogDownloadController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num)
+void OnboardLogController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num)
 {
     Q_UNUSED(last_log_num);
 
@@ -159,7 +159,7 @@ void LogDownloadController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t
         }
 
         for (int i = 0; i < num_logs; i++) {
-            QGCLogEntry *const entry = new QGCLogEntry(i);
+            QGCOnboardLogEntry *const entry = new QGCOnboardLogEntry(i);
             _logEntriesModel->append(entry);
         }
     }
@@ -168,13 +168,13 @@ void LogDownloadController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t
         if ((size > 0) || (_vehicle->firmwareType() != MAV_AUTOPILOT_ARDUPILOTMEGA)) {
             id -= _apmOffset;
             if (id < _logEntriesModel->count()) {
-                QGCLogEntry *const entry = _logEntriesModel->value<QGCLogEntry*>(id);
+                QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(id);
                 entry->setSize(size);
                 entry->setTime(QDateTime::fromSecsSinceEpoch(time_utc));
                 entry->setReceived(true);
                 entry->setStatus(tr("Available"));
             } else {
-                qCWarning(LogDownloadControllerLog) << "Received log entry for out-of-bound index:" << id;
+                qCWarning(OnboardLogControllerLog) << "Received onboard log entry for out-of-bound index:" << id;
             }
         }
     } else {
@@ -190,17 +190,17 @@ void LogDownloadController::_logEntry(uint32_t time_utc, uint32_t size, uint16_t
     }
 }
 
-void LogDownloadController::_receivedAllEntries()
+void OnboardLogController::_receivedAllEntries()
 {
     _timer->stop();
     _setListing(false);
 }
 
-bool LogDownloadController::_entriesComplete() const
+bool OnboardLogController::_entriesComplete() const
 {
     const int num_logs = _logEntriesModel->count();
     for (int i = 0; i < num_logs; i++) {
-        const QGCLogEntry *const entry = _logEntriesModel->value<const QGCLogEntry*>(i);
+        const QGCOnboardLogEntry *const entry = _logEntriesModel->value<const QGCOnboardLogEntry*>(i);
         if (!entry) {
             continue;
         }
@@ -213,7 +213,7 @@ bool LogDownloadController::_entriesComplete() const
     return true;
 }
 
-void LogDownloadController::_logData(uint32_t ofs, uint16_t id, uint8_t count, const uint8_t *data)
+void OnboardLogController::_logData(uint32_t ofs, uint16_t id, uint8_t count, const uint8_t *data)
 {
     if (!_downloadingLogs || !_downloadData) {
         return;
@@ -221,34 +221,34 @@ void LogDownloadController::_logData(uint32_t ofs, uint16_t id, uint8_t count, c
 
     id -= _apmOffset;
     if (_downloadData->ID != id) {
-        qCWarning(LogDownloadControllerLog) << "Received log data for wrong log";
+        qCWarning(OnboardLogControllerLog) << "Received log data for wrong log";
         return;
     }
 
     if ((ofs % MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) != 0) {
-        qCWarning(LogDownloadControllerLog) << "Ignored misaligned incoming packet @" << ofs;
+        qCWarning(OnboardLogControllerLog) << "Ignored misaligned incoming packet @" << ofs;
         return;
     }
 
     bool result = false;
     if (ofs <= _downloadData->entry->size()) {
-        const uint32_t chunk = ofs / LogDownloadData::kChunkSize;
-        // qCDebug(LogDownloadControllerLog) << "Received data - Offset:" << ofs << "Chunk:" << chunk;
+        const uint32_t chunk = ofs / OnboardLogDownloadData::kChunkSize;
+        // qCDebug(OnboardLogControllerLog) << "Received data - Offset:" << ofs << "Chunk:" << chunk;
         if (chunk != _downloadData->current_chunk) {
-            qCWarning(LogDownloadControllerLog) << "Ignored packet for out of order chunk actual:expected" << chunk << _downloadData->current_chunk;
+            qCWarning(OnboardLogControllerLog) << "Ignored packet for out of order chunk actual:expected" << chunk << _downloadData->current_chunk;
             return;
         }
 
-        const uint16_t bin = (ofs - (chunk * LogDownloadData::kChunkSize)) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
+        const uint16_t bin = (ofs - (chunk * OnboardLogDownloadData::kChunkSize)) / MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
         if (bin >= _downloadData->chunk_table.size()) {
-            qCWarning(LogDownloadControllerLog) << "Out of range bin received";
+            qCWarning(OnboardLogControllerLog) << "Out of range bin received";
         } else {
             _downloadData->chunk_table.setBit(bin);
         }
 
         if (_downloadData->file.pos() != ofs) {
             if (!_downloadData->file.seek(ofs)) {
-                qCWarning(LogDownloadControllerLog) << "Error while seeking log file offset";
+                qCWarning(OnboardLogControllerLog) << "Error while seeking log file offset";
                 return;
             }
         }
@@ -268,17 +268,17 @@ void LogDownloadController::_logData(uint32_t ofs, uint16_t id, uint8_t count, c
             } else if (_chunkComplete()) {
                 _downloadData->advanceChunk();
                 _requestLogData(_downloadData->ID,
-                                _downloadData->current_chunk * LogDownloadData::kChunkSize,
+                                _downloadData->current_chunk * OnboardLogDownloadData::kChunkSize,
                                 _downloadData->chunk_table.size() * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
             } else if ((bin < (_downloadData->chunk_table.size() - 1)) && _downloadData->chunk_table.at(bin + 1)) {
                 // Likely to be grabbing fragments and got to the end of a gap
                 _findMissingData();
             }
         } else {
-            qCWarning(LogDownloadControllerLog) << "Error while writing log file chunk";
+            qCWarning(OnboardLogControllerLog) << "Error while writing log file chunk";
         }
     } else {
-        qCWarning(LogDownloadControllerLog) << "Received log offset greater than expected";
+        qCWarning(OnboardLogControllerLog) << "Received log offset greater than expected";
     }
 
     if (!result) {
@@ -286,7 +286,7 @@ void LogDownloadController::_logData(uint32_t ofs, uint16_t id, uint8_t count, c
     }
 }
 
-void LogDownloadController::_findMissingData()
+void OnboardLogController::_findMissingData()
 {
     if (_logComplete()) {
         _receivedAllData();
@@ -315,12 +315,12 @@ void LogDownloadController::_findMissingData()
         }
     }
 
-    const uint32_t pos = (_downloadData->current_chunk * LogDownloadData::kChunkSize) + (start * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
+    const uint32_t pos = (_downloadData->current_chunk * OnboardLogDownloadData::kChunkSize) + (start * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
     const uint32_t len = (end - start) * MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
     _requestLogData(_downloadData->ID, pos, len, _retries);
 }
 
-void LogDownloadController::_updateDataRate()
+void OnboardLogController::_updateDataRate()
 {
     constexpr uint kSizeUpdateThreshold = 102400; // 0.1 MB
     const bool timeThresholdMet = _downloadData->elapsed.elapsed() >= kGUIRateMs;
@@ -350,17 +350,17 @@ void LogDownloadController::_updateDataRate()
     _downloadData->last_status_written = _downloadData->written;
 }
 
-bool LogDownloadController::_chunkComplete() const
+bool OnboardLogController::_chunkComplete() const
 {
     return _downloadData->chunkEquals(true);
 }
 
-bool LogDownloadController::_logComplete() const
+bool OnboardLogController::_logComplete() const
 {
     return (_chunkComplete() && ((_downloadData->current_chunk + 1) == _downloadData->numChunks()));
 }
 
-void LogDownloadController::_receivedAllData()
+void OnboardLogController::_receivedAllData()
 {
     _timer->stop();
     if (_prepareLogDownload()) {
@@ -372,11 +372,11 @@ void LogDownloadController::_receivedAllData()
     }
 }
 
-bool LogDownloadController::_prepareLogDownload()
+bool OnboardLogController::_prepareLogDownload()
 {
     _downloadData.reset();
 
-    QGCLogEntry *const entry = _getNextSelected();
+    QGCOnboardLogEntry *const entry = _getNextSelected();
     if (!entry) {
         return false;
     }
@@ -386,7 +386,7 @@ bool LogDownloadController::_prepareLogDownload()
 
     const QString ftime = (entry->time().date().year() >= 2010) ? entry->time().toString(QStringLiteral("yyyy-M-d-hh-mm-ss")) : QStringLiteral("UnknownDate");
 
-    _downloadData = std::make_unique<LogDownloadData>(entry);
+    _downloadData = std::make_unique<OnboardLogDownloadData>(entry);
     _downloadData->filename = QStringLiteral("log_") + QString::number(entry->id()) + "_" + ftime;
 
     if (_vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
@@ -415,9 +415,9 @@ bool LogDownloadController::_prepareLogDownload()
 
     bool result = false;
     if (!_downloadData->file.open(QIODevice::WriteOnly)) {
-        qCWarning(LogDownloadControllerLog) << "Failed to create log file:" <<  _downloadData->filename;
+        qCWarning(OnboardLogControllerLog) << "Failed to create log file:" <<  _downloadData->filename;
     } else if (!_downloadData->file.resize(entry->size())) {
-        qCWarning(LogDownloadControllerLog) << "Failed to allocate space for log file:" <<  _downloadData->filename;
+        qCWarning(OnboardLogControllerLog) << "Failed to allocate space for log file:" <<  _downloadData->filename;
     } else {
         _downloadData->current_chunk = 0;
         _downloadData->chunk_table = QBitArray(_downloadData->chunkBins(), false);
@@ -437,17 +437,17 @@ bool LogDownloadController::_prepareLogDownload()
     return result;
 }
 
-void LogDownloadController::refresh()
+void OnboardLogController::refresh()
 {
     _logEntriesModel->clearAndDeleteContents();
     _requestLogList(0, 0xffff);
 }
 
-QGCLogEntry *LogDownloadController::_getNextSelected() const
+QGCOnboardLogEntry *OnboardLogController::_getNextSelected() const
 {
     const int numLogs = _logEntriesModel->count();
     for (int i = 0; i < numLogs; i++) {
-        QGCLogEntry *const entry = _logEntriesModel->value<QGCLogEntry*>(i);
+        QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
         if (!entry) {
             continue;
         }
@@ -460,7 +460,7 @@ QGCLogEntry *LogDownloadController::_getNextSelected() const
     return nullptr;
 }
 
-void LogDownloadController::cancel()
+void OnboardLogController::cancel()
 {
     _requestLogEnd();
     _receivedAllEntries();
@@ -478,11 +478,11 @@ void LogDownloadController::cancel()
     _setDownloading(false);
 }
 
-void LogDownloadController::_resetSelection(bool canceled)
+void OnboardLogController::_resetSelection(bool canceled)
 {
     const int num_logs = _logEntriesModel->count();
     for (int i = 0; i < num_logs; i++) {
-        QGCLogEntry *const entry = _logEntriesModel->value<QGCLogEntry*>(i);
+        QGCOnboardLogEntry *const entry = _logEntriesModel->value<QGCOnboardLogEntry*>(i);
         if (!entry) {
             continue;
         }
@@ -498,16 +498,16 @@ void LogDownloadController::_resetSelection(bool canceled)
     emit selectionChanged();
 }
 
-void LogDownloadController::eraseAll()
+void OnboardLogController::eraseAll()
 {
     if (!_vehicle) {
-        qCWarning(LogDownloadControllerLog) << "Vehicle Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
         return;
     }
 
     SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
     if (!sharedLink) {
-        qCWarning(LogDownloadControllerLog) << "Link Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
         return;
     }
 
@@ -522,23 +522,23 @@ void LogDownloadController::eraseAll()
     );
 
     if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
-        qCWarning(LogDownloadControllerLog) << "Failed to send";
+        qCWarning(OnboardLogControllerLog) << "Failed to send";
         return;
     }
 
     refresh();
 }
 
-void LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
+void OnboardLogController::_requestLogList(uint32_t start, uint32_t end)
 {
     if (!_vehicle) {
-        qCWarning(LogDownloadControllerLog) << "Vehicle Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
         return;
     }
 
     SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
     if (!sharedLink) {
-        qCWarning(LogDownloadControllerLog) << "Link Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
         return;
     }
 
@@ -555,30 +555,30 @@ void LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
     );
 
     if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
-        qCWarning(LogDownloadControllerLog) << "Failed to send";
+        qCWarning(OnboardLogControllerLog) << "Failed to send";
         return;
     }
 
-    qCDebug(LogDownloadControllerLog) << "Request log entry list (" << start << "through" << end << ")";
+    qCDebug(OnboardLogControllerLog) << "Request onboard log entry list (" << start << "through" << end << ")";
     _setListing(true);
     _timer->start(kRequestLogListTimeoutMs);
 }
 
-void LogDownloadController::_requestLogData(uint16_t id, uint32_t offset, uint32_t count, int retryCount)
+void OnboardLogController::_requestLogData(uint16_t id, uint32_t offset, uint32_t count, int retryCount)
 {
     if (!_vehicle) {
-        qCWarning(LogDownloadControllerLog) << "Vehicle Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
         return;
     }
 
     SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
     if (!sharedLink) {
-        qCWarning(LogDownloadControllerLog) << "Link Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
         return;
     }
 
     id += _apmOffset;
-    qCDebug(LogDownloadControllerLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << "retryCount" << retryCount << ")";
+    qCDebug(OnboardLogControllerLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << "retryCount" << retryCount << ")";
 
     mavlink_message_t msg{};
     (void) mavlink_msg_log_request_data_pack_chan(
@@ -594,20 +594,20 @@ void LogDownloadController::_requestLogData(uint16_t id, uint32_t offset, uint32
     );
 
     if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
-        qCWarning(LogDownloadControllerLog) << "Failed to send";
+        qCWarning(OnboardLogControllerLog) << "Failed to send";
     }
 }
 
-void LogDownloadController::_requestLogEnd()
+void OnboardLogController::_requestLogEnd()
 {
     if (!_vehicle) {
-        qCWarning(LogDownloadControllerLog) << "Vehicle Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Vehicle Unavailable";
         return;
     }
 
     SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
     if (!sharedLink) {
-        qCWarning(LogDownloadControllerLog) << "Link Unavailable";
+        qCWarning(OnboardLogControllerLog) << "Link Unavailable";
         return;
     }
 
@@ -622,11 +622,11 @@ void LogDownloadController::_requestLogEnd()
     );
 
     if (!_vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg)) {
-        qCWarning(LogDownloadControllerLog) << "Failed to send";
+        qCWarning(OnboardLogControllerLog) << "Failed to send";
     }
 }
 
-void LogDownloadController::_setDownloading(bool active)
+void OnboardLogController::_setDownloading(bool active)
 {
     if (_downloadingLogs != active) {
         _downloadingLogs = active;
@@ -635,7 +635,7 @@ void LogDownloadController::_setDownloading(bool active)
     }
 }
 
-void LogDownloadController::_setListing(bool active)
+void OnboardLogController::_setListing(bool active)
 {
     if (_requestingLogEntries != active) {
         _requestingLogEntries = active;
@@ -644,7 +644,7 @@ void LogDownloadController::_setListing(bool active)
     }
 }
 
-void LogDownloadController::setCompressLogs(bool compress)
+void OnboardLogController::setCompressLogs(bool compress)
 {
     if (_compressLogs != compress) {
         _compressLogs = compress;
@@ -652,25 +652,25 @@ void LogDownloadController::setCompressLogs(bool compress)
     }
 }
 
-bool LogDownloadController::compressLogFile(const QString &logPath)
+bool OnboardLogController::compressLogFile(const QString &logPath)
 {
     Q_UNUSED(logPath)
-    qCWarning(LogDownloadControllerLog) << "Log compression not yet implemented (decompression-only API)";
+    qCWarning(OnboardLogControllerLog) << "Log compression not yet implemented (decompression-only API)";
     return false;
 }
 
-void LogDownloadController::cancelCompression()
+void OnboardLogController::cancelCompression()
 {
     // Not implemented - compression API is decompression-only
 }
 
-void LogDownloadController::_handleCompressionProgress(qreal progress)
+void OnboardLogController::_handleCompressionProgress(qreal progress)
 {
     Q_UNUSED(progress)
     // Not implemented - compression API is decompression-only
 }
 
-void LogDownloadController::_handleCompressionFinished(bool success)
+void OnboardLogController::_handleCompressionFinished(bool success)
 {
     Q_UNUSED(success)
     // Not implemented - compression API is decompression-only
diff --git a/src/AnalyzeView/LogDownloadController.h b/src/AnalyzeView/OnboardLogs/OnboardLogController.h
similarity index 89%
rename from src/AnalyzeView/LogDownloadController.h
rename to src/AnalyzeView/OnboardLogs/OnboardLogController.h
index b999f14601d6..0bf1cf74dd60 100644
--- a/src/AnalyzeView/LogDownloadController.h
+++ b/src/AnalyzeView/OnboardLogs/OnboardLogController.h
@@ -4,17 +4,17 @@
 #include <QtCore/QObject>
 #include <QtQmlIntegration/QtQmlIntegration>
 
-Q_DECLARE_LOGGING_CATEGORY(LogDownloadControllerLog)
+Q_DECLARE_LOGGING_CATEGORY(OnboardLogControllerLog)
 
-struct LogDownloadData;
-class QGCLogEntry;
+struct OnboardLogDownloadData;
+class QGCOnboardLogEntry;
 class QmlObjectListModel;
 class QTimer;
 class QThread;
 class Vehicle;
-class LogDownloadTest;
+class OnboardLogDownloadTest;
 
-class LogDownloadController : public QObject
+class OnboardLogController : public QObject
 {
     Q_OBJECT
     QML_ELEMENT
@@ -28,11 +28,11 @@ class LogDownloadController : public QObject
     Q_PROPERTY(bool               compressing     READ compressing          NOTIFY compressingChanged)
     Q_PROPERTY(float              compressionProgress READ compressionProgress NOTIFY compressionProgressChanged)
 
-    friend class LogDownloadTest;
+    friend class OnboardLogDownloadTest;
 
 public:
-    explicit LogDownloadController(QObject *parent = nullptr);
-    ~LogDownloadController();
+    explicit OnboardLogController(QObject *parent = nullptr);
+    ~OnboardLogController();
 
     Q_INVOKABLE void refresh();
     Q_INVOKABLE void download(const QString &path = QString());
@@ -89,7 +89,7 @@ private slots:
     void _setListing(bool active);
     void _updateDataRate();
 
-    QGCLogEntry *_getNextSelected() const;
+    QGCOnboardLogEntry *_getNextSelected() const;
 
     QTimer *_timer = nullptr;
     QmlObjectListModel *_logEntriesModel = nullptr;
@@ -98,7 +98,7 @@ private slots:
     bool _requestingLogEntries = false;
     int _apmOffset = 0;
     int _retries = 0;
-    std::unique_ptr<LogDownloadData> _downloadData;
+    std::unique_ptr<OnboardLogDownloadData> _downloadData;
     QString _downloadPath;
     Vehicle *_vehicle = nullptr;
     bool _compressLogs = false;
diff --git a/src/AnalyzeView/OnboardLogs/OnboardLogEntry.cc b/src/AnalyzeView/OnboardLogs/OnboardLogEntry.cc
new file mode 100644
index 000000000000..e5125030dbb6
--- /dev/null
+++ b/src/AnalyzeView/OnboardLogs/OnboardLogEntry.cc
@@ -0,0 +1,64 @@
+#include "OnboardLogEntry.h"
+#include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
+
+#include <QtCore/QtMath>
+
+QGC_LOGGING_CATEGORY(OnboardLogEntryLog, "AnalyzeView.QGCOnboardLogEntry")
+
+OnboardLogDownloadData::OnboardLogDownloadData(QGCOnboardLogEntry * const logEntry)
+    : ID(logEntry->id())
+    , entry(logEntry)
+{
+    // qCDebug(OnboardLogEntryLog) << Q_FUNC_INFO << this;
+}
+
+OnboardLogDownloadData::~OnboardLogDownloadData()
+{
+    // qCDebug(OnboardLogEntryLog) << Q_FUNC_INFO << this;
+}
+
+void OnboardLogDownloadData::advanceChunk()
+{
+    ++current_chunk;
+    chunk_table = QBitArray(chunkBins(), false);
+}
+
+uint32_t OnboardLogDownloadData::chunkBins() const
+{
+    const qreal num = static_cast<qreal>((entry->size() - (current_chunk * kChunkSize))) / static_cast<qreal>(MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN);
+    return qMin(static_cast<uint32_t>(qCeil(num)), kTableBins);
+}
+
+uint32_t OnboardLogDownloadData::numChunks() const
+{
+    const qreal num = static_cast<qreal>(entry->size()) / static_cast<qreal>(kChunkSize);
+    return qCeil(num);
+}
+
+bool OnboardLogDownloadData::chunkEquals(const bool val) const
+{
+    return (chunk_table == QBitArray(chunk_table.size(), val));
+}
+
+/*===========================================================================*/
+
+QGCOnboardLogEntry::QGCOnboardLogEntry(uint logId, const QDateTime &dateTime, uint logSize, bool received, QObject *parent)
+    : QObject(parent)
+    , _logID(logId)
+    , _logSize(logSize)
+    , _logTimeUTC(dateTime)
+    , _received(received)
+{
+    // qCDebug(OnboardLogEntryLog) << Q_FUNC_INFO << this;
+}
+
+QGCOnboardLogEntry::~QGCOnboardLogEntry()
+{
+    // qCDebug(OnboardLogEntryLog) << Q_FUNC_INFO << this;
+}
+
+QString QGCOnboardLogEntry::sizeStr() const
+{
+    return qgcApp()->bigSizeToString(_logSize);
+}
diff --git a/src/AnalyzeView/LogEntry.h b/src/AnalyzeView/OnboardLogs/OnboardLogEntry.h
similarity index 86%
rename from src/AnalyzeView/LogEntry.h
rename to src/AnalyzeView/OnboardLogs/OnboardLogEntry.h
index 829ac87af423..567b26134654 100644
--- a/src/AnalyzeView/LogEntry.h
+++ b/src/AnalyzeView/OnboardLogs/OnboardLogEntry.h
@@ -10,14 +10,14 @@
 
 #include "MAVLinkLib.h"
 
-class QGCLogEntry;
+class QGCOnboardLogEntry;
 
-Q_DECLARE_LOGGING_CATEGORY(LogEntryLog)
+Q_DECLARE_LOGGING_CATEGORY(OnboardLogEntryLog)
 
-struct LogDownloadData
+struct OnboardLogDownloadData
 {
-    explicit LogDownloadData(QGCLogEntry * const logEntry);
-    ~LogDownloadData();
+    explicit OnboardLogDownloadData(QGCOnboardLogEntry * const logEntry);
+    ~OnboardLogDownloadData();
 
     void advanceChunk();
 
@@ -31,7 +31,7 @@ struct LogDownloadData
     bool chunkEquals(const bool val) const;
 
     uint ID = 0;
-    QGCLogEntry *const entry = nullptr;
+    QGCOnboardLogEntry *const entry = nullptr;
 
     QBitArray chunk_table;
     uint32_t current_chunk = 0;
@@ -49,7 +49,7 @@ struct LogDownloadData
 
 /*===========================================================================*/
 
-class QGCLogEntry : public QObject
+class QGCOnboardLogEntry : public QObject
 {
     Q_OBJECT
     // QML_ELEMENT
@@ -63,8 +63,8 @@ class QGCLogEntry : public QObject
     Q_PROPERTY(QString      status      READ status                         NOTIFY statusChanged)
 
 public:
-    explicit QGCLogEntry(uint logId, const QDateTime &dateTime = QDateTime(), uint logSize = 0, bool received = false, QObject *parent = nullptr);
-    ~QGCLogEntry();
+    explicit QGCOnboardLogEntry(uint logId, const QDateTime &dateTime = QDateTime(), uint logSize = 0, bool received = false, QObject *parent = nullptr);
+    ~QGCOnboardLogEntry();
 
     uint id() const { return _logID; }
     uint size() const { return _logSize; }
diff --git a/src/AnalyzeView/LogDownloadIcon.svg b/src/AnalyzeView/OnboardLogs/OnboardLogIcon.svg
similarity index 100%
rename from src/AnalyzeView/LogDownloadIcon.svg
rename to src/AnalyzeView/OnboardLogs/OnboardLogIcon.svg
diff --git a/src/AnalyzeView/LogDownloadPage.qml b/src/AnalyzeView/OnboardLogs/OnboardLogPage.qml
similarity index 69%
rename from src/AnalyzeView/LogDownloadPage.qml
rename to src/AnalyzeView/OnboardLogs/OnboardLogPage.qml
index bdd15f03c426..7f253f0ff152 100644
--- a/src/AnalyzeView/LogDownloadPage.qml
+++ b/src/AnalyzeView/OnboardLogs/OnboardLogPage.qml
@@ -7,9 +7,9 @@ import QGroundControl
 import QGroundControl.Controls
 
 AnalyzePage {
-    id: logDownloadPage
+    id: onboardLogPage
     pageComponent: pageComponent
-    pageDescription: qsTr("Log Download allows you to download binary log files from your vehicle. Click Refresh to get list of available logs.")
+    pageDescription: qsTr("Onboard Logs allows you to download binary log files from your vehicle. Click Refresh to get list of available logs.")
 
     Component {
         id: pageComponent
@@ -18,7 +18,7 @@ AnalyzePage {
             width: availableWidth
             height: availableHeight
 
-            Component.onCompleted: LogDownloadController.refresh()
+            Component.onCompleted: OnboardLogController.refresh()
 
             QGCFlickable {
                 Layout.fillWidth: true
@@ -28,7 +28,7 @@ AnalyzePage {
 
                 GridLayout {
                     id: gridLayout
-                    rows: LogDownloadController.model.count + 1
+                    rows: OnboardLogController.model.count + 1
                     columns: 5
                     flow: GridLayout.TopToBottom
                     columnSpacing: ScreenTools.defaultFontPixelWidth
@@ -40,7 +40,7 @@ AnalyzePage {
                     }
 
                     Repeater {
-                        model: LogDownloadController.model
+                        model: OnboardLogController.model
 
                         QGCCheckBox {
                             Binding on checkState {
@@ -54,7 +54,7 @@ AnalyzePage {
                     QGCLabel { text: qsTr("Id") }
 
                     Repeater {
-                        model: LogDownloadController.model
+                        model: OnboardLogController.model
 
                         QGCLabel { text: object.id }
                     }
@@ -62,7 +62,7 @@ AnalyzePage {
                     QGCLabel { text: qsTr("Date") }
 
                     Repeater {
-                        model: LogDownloadController.model
+                        model: OnboardLogController.model
 
                         QGCLabel {
                             text: {
@@ -82,7 +82,7 @@ AnalyzePage {
                     QGCLabel { text: qsTr("Size") }
 
                     Repeater {
-                        model: LogDownloadController.model
+                        model: OnboardLogController.model
 
                         QGCLabel { text: object.sizeStr }
                     }
@@ -90,7 +90,7 @@ AnalyzePage {
                     QGCLabel { text: qsTr("Status") }
 
                     Repeater {
-                        model: LogDownloadController.model
+                        model: OnboardLogController.model
 
                         QGCLabel { text: object.status }
                     }
@@ -104,40 +104,40 @@ AnalyzePage {
 
                 QGCButton {
                     Layout.fillWidth: true
-                    enabled: !LogDownloadController.requestingList && !LogDownloadController.downloadingLogs
+                    enabled: !OnboardLogController.requestingList && !OnboardLogController.downloadingLogs
                     text: qsTr("Refresh")
 
                     onClicked: {
                         if (!QGroundControl.multiVehicleManager.activeVehicle || QGroundControl.multiVehicleManager.activeVehicle.isOfflineEditingVehicle) {
-                            QGroundControl.showMessageDialog(logDownloadPage, qsTr("Log Refresh"), qsTr("You must be connected to a vehicle in order to download logs."))
+                            QGroundControl.showMessageDialog(onboardLogPage, qsTr("Onboard Log Refresh"), qsTr("You must be connected to a vehicle in order to download onboard logs."))
                             return
                         }
 
-                        LogDownloadController.refresh()
+                        OnboardLogController.refresh()
                     }
                 }
 
                 QGCButton {
                     Layout.fillWidth: true
-                    enabled: !LogDownloadController.requestingList && !LogDownloadController.downloadingLogs
+                    enabled: !OnboardLogController.requestingList && !OnboardLogController.downloadingLogs
                     text: qsTr("Download")
 
                     onClicked: {
                         var logsSelected = false
-                        for (var i = 0; i < LogDownloadController.model.count; i++) {
-                            if (LogDownloadController.model.get(i).selected) {
+                        for (var i = 0; i < OnboardLogController.model.count; i++) {
+                            if (OnboardLogController.model.get(i).selected) {
                                 logsSelected = true
                                 break
                             }
                         }
 
                         if (!logsSelected) {
-                            QGroundControl.showMessageDialog(logDownloadPage, qsTr("Log Download"), qsTr("You must select at least one log file to download."))
+                            QGroundControl.showMessageDialog(onboardLogPage, qsTr("Onboard Log"), qsTr("You must select at least one onboard log file to download."))
                             return
                         }
 
                         if (ScreenTools.isMobile) {
-                            LogDownloadController.download()
+                            OnboardLogController.download()
                             return
                         }
 
@@ -150,7 +150,7 @@ AnalyzePage {
                     QGCFileDialog {
                         id: fileDialog
                         onAcceptedForLoad: (file) => {
-                            LogDownloadController.download(file)
+                            OnboardLogController.download(file)
                             close()
                         }
                     }
@@ -158,22 +158,22 @@ AnalyzePage {
 
                 QGCButton {
                     Layout.fillWidth: true
-                    enabled: !LogDownloadController.requestingList && !LogDownloadController.downloadingLogs && (LogDownloadController.model.count > 0)
+                    enabled: !OnboardLogController.requestingList && !OnboardLogController.downloadingLogs && (OnboardLogController.model.count > 0)
                     text: qsTr("Erase All")
                     onClicked: QGroundControl.showMessageDialog(
-                        logDownloadPage,
-                        qsTr("Delete All Log Files"),
-                        qsTr("All log files will be erased permanently. Is this really what you want?"),
+                        onboardLogPage,
+                        qsTr("Delete All Onboard Log Files"),
+                        qsTr("All onboard log files will be erased permanently. Is this really what you want?"),
                         Dialog.Yes | Dialog.No,
-                        function() { LogDownloadController.eraseAll() }
+                        function() { OnboardLogController.eraseAll() }
                     )
                 }
 
                 QGCButton {
                     Layout.fillWidth: true
                     text: qsTr("Cancel")
-                    enabled: LogDownloadController.requestingList || LogDownloadController.downloadingLogs
-                    onClicked: LogDownloadController.cancel()
+                    enabled: OnboardLogController.requestingList || OnboardLogController.downloadingLogs
+                    onClicked: OnboardLogController.cancel()
                 }
             }
         }
diff --git a/src/AnalyzeView/VibrationPage.qml b/src/AnalyzeView/Vibration/VibrationPage.qml
similarity index 100%
rename from src/AnalyzeView/VibrationPage.qml
rename to src/AnalyzeView/Vibration/VibrationPage.qml
diff --git a/src/AnalyzeView/VibrationPageIcon.png b/src/AnalyzeView/Vibration/VibrationPageIcon.png
similarity index 100%
rename from src/AnalyzeView/VibrationPageIcon.png
rename to src/AnalyzeView/Vibration/VibrationPageIcon.png
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml b/src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml
index 790dabe2d7fe..48495cf8216b 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:       parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     APMAirframeComponentController {id: controller; }
 
@@ -14,8 +17,9 @@ Item {
     property Fact _frameType:           controller.getParameterFact(-1, "FRAME_TYPE", false)
     property bool _frameTypeAvailable:  controller.parameterExists(-1, "FRAME_TYPE")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText:  qsTr("Frame Class")
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
index cfb238e42d25..be615cf0858d 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -5,6 +5,7 @@
 #include "APMHeliComponent.h"
 #include "APMLightsComponent.h"
 #include "APMMotorComponent.h"
+#include "APMServoComponent.h"
 #include "APMPowerComponent.h"
 #include "APMRadioComponent.h"
 #include "APMRemoteSupportComponent.h"
@@ -19,6 +20,7 @@
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 #include "Vehicle.h"
+#include "VehicleSupports.h"
 #include "VehicleComponent.h"
 #ifdef QT_DEBUG
 #include "APMFollowComponent.h"
@@ -55,7 +57,7 @@ const QVariantList &APMAutoPilotPlugin::vehicleComponents()
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue(qobject_cast<VehicleComponent*>(_airframeComponent)));
 
-            if (_vehicle->supportsRadio()) {
+            if (_vehicle->supports()->radio()) {
                 _radioComponent = new APMRadioComponent(_vehicle, this);
                 _radioComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue(qobject_cast<VehicleComponent*>(_radioComponent)));
@@ -82,6 +84,12 @@ const QVariantList &APMAutoPilotPlugin::vehicleComponents()
                 _components.append(QVariant::fromValue(qobject_cast<VehicleComponent*>(_motorComponent)));
             }
 
+            if (_vehicle->parameterManager()->parameterExists(-1, QStringLiteral("SERVO1_MIN"))) {
+                _servoComponent = new APMServoComponent(_vehicle, this);
+                _servoComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue(qobject_cast<VehicleComponent*>(_servoComponent)));
+            }
+
             _safetyComponent = new APMSafetyComponent(_vehicle, this);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue(qobject_cast<VehicleComponent*>(_safetyComponent)));
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
index bfeda75863c3..f1d1c51a8dd9 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
@@ -14,6 +14,7 @@ class APMMotorComponent;
 class APMGimbalComponent;
 class APMLightsComponent;
 class APMSubFrameComponent;
+class APMServoComponent;
 class ESP8266Component;
 class APMHeliComponent;
 class APMRemoteSupportComponent;
@@ -43,6 +44,7 @@ class APMAutoPilotPlugin : public AutoPilotPlugin
     APMLightsComponent *_lightsComponent = nullptr;
     APMSubFrameComponent *_subFrameComponent = nullptr;
     APMFlightModesComponent *_flightModesComponent = nullptr;
+    APMServoComponent *_servoComponent = nullptr;
     APMPowerComponent *_powerComponent = nullptr;
     APMMotorComponent *_motorComponent = nullptr;
     APMRadioComponent *_radioComponent = nullptr;
diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
index dcb250d4cf70..cfcdf8cf7d61 100644
--- a/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMFlightModesComponent.qml
@@ -204,7 +204,7 @@ SetupPage {
                                 FactComboBox {
                                     id:         optCombo
                                     width:      ScreenTools.defaultFontPixelWidth * 15
-                                    fact:       controller.getParameterFact(-1, "r.RC" + index + "_OPTION")
+                                    fact:       controller.getParameterFact(-1, "RC" + index + "_OPTION")
                                     indexModel: false
                                 }
                             }
diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml b/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml
index edfbf81327ac..109b1d930254 100644
--- a/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -20,8 +23,9 @@ Item {
     property Fact flightMode5: controller.getParameterFact(-1, _roverFirmware ? "MODE5" : "FLTMODE5")
     property Fact flightMode6: controller.getParameterFact(-1, _roverFirmware ? "MODE6" : "FLTMODE6")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Flight Mode 1")
diff --git a/src/AutoPilotPlugins/APM/APMFollowComponent.qml b/src/AutoPilotPlugins/APM/APMFollowComponent.qml
index 346e2dbcc939..ef1c53eaf556 100644
--- a/src/AutoPilotPlugins/APM/APMFollowComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMFollowComponent.qml
@@ -6,6 +6,7 @@ import QtQuick.Layouts
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
+import QGroundControl.PlanView
 
 SetupPage {
     id:             followPage
@@ -367,7 +368,7 @@ SetupPage {
                             transform: Rotation {
                                 origin.x:       vehicleIcon.width  / 2
                                 origin.y:       vehicleIcon.height / 2
-                                angle:          _roverFirmware ? 0 :
+                                angle:          _roverFirmware || !_followYawBehavior ? 0 :
                                                                  (_followYawBehavior.rawValue == _followYawBehaviorNone ?
                                                                       0 :
                                                                       (_followYawBehavior.rawValue == _followYawBehaviorFace ?
diff --git a/src/AutoPilotPlugins/APM/APMFollowComponentSummary.qml b/src/AutoPilotPlugins/APM/APMFollowComponentSummary.qml
index 22f0d36ea80b..9b253fe49b7f 100644
--- a/src/AutoPilotPlugins/APM/APMFollowComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMFollowComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill: parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller }
 
@@ -28,8 +31,9 @@ Item {
         { label: qsTr("Yaw Behavior"),      fact: getFact("FOLL_YAW_BEHAVE"),   visible: followParamsAvailable }
     ]
 
-    Column {
-        anchors.fill: parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         Repeater {
             model: followItems
diff --git a/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml b/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
index 3dd830eb7e1a..aecdf55cc397 100644
--- a/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -81,8 +84,9 @@ Item {
         property int    lights2Function:         _rcFunctionRCIN10
     }
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText:  qsTr("Lights Output 1")
diff --git a/src/AutoPilotPlugins/APM/APMPowerComponent.qml b/src/AutoPilotPlugins/APM/APMPowerComponent.qml
index 8452c5e5bce3..a989498aeeaf 100644
--- a/src/AutoPilotPlugins/APM/APMPowerComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMPowerComponent.qml
@@ -111,8 +111,8 @@ SetupPage {
                         anchors.left:       parent.left
                         sourceComponent:    _batt1FullSettings.visible ? powerSetupComponent : undefined
 
-                        property Fact armVoltMin:       controller.getParameterFact(-1, "r.BATT_ARM_VOLT", false /* reportMissing */)
-                        property Fact battAmpPerVolt:   controller.getParameterFact(-1, "r.BATT_AMP_PERVLT", false /* reportMissing */)
+                        property Fact armVoltMin:       controller.getParameterFact(-1, "BATT_ARM_VOLT", false /* reportMissing */)
+                        property Fact battAmpPerVolt:   controller.getParameterFact(-1, "BATT_AMP_PERVLT", false /* reportMissing */)
                         property Fact battAmpOffset:    controller.getParameterFact(-1, "BATT_AMP_OFFSET", false /* reportMissing */)
                         property Fact battCapacity:     controller.getParameterFact(-1, "BATT_CAPACITY", false /* reportMissing */)
                         property Fact battCurrPin:      controller.getParameterFact(-1, "BATT_CURR_PIN", false /* reportMissing */)
@@ -198,8 +198,8 @@ SetupPage {
                         anchors.left:       parent.left
                         sourceComponent:    batt2FullSettings.visible ? powerSetupComponent : undefined
 
-                        property Fact armVoltMin:       controller.getParameterFact(-1, "r.BATT2_ARM_VOLT", false /* reportMissing */)
-                        property Fact battAmpPerVolt:   controller.getParameterFact(-1, "r.BATT2_AMP_PERVLT", false /* reportMissing */)
+                        property Fact armVoltMin:       controller.getParameterFact(-1, "BATT2_ARM_VOLT", false /* reportMissing */)
+                        property Fact battAmpPerVolt:   controller.getParameterFact(-1, "BATT2_AMP_PERVLT", false /* reportMissing */)
                         property Fact battAmpOffset:    controller.getParameterFact(-1, "BATT2_AMP_OFFSET", false /* reportMissing */)
                         property Fact battCapacity:     controller.getParameterFact(-1, "BATT2_CAPACITY", false /* reportMissing */)
                         property Fact battCurrPin:      controller.getParameterFact(-1, "BATT2_CURR_PIN", false /* reportMissing */)
diff --git a/src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml b/src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml
index 6ad00799681f..dc6e21bb1d35 100644
--- a/src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -19,8 +22,9 @@ Item {
     property Fact _batt2Capacity:           controller.getParameterFact(-1, "BATT2_CAPACITY", false /* reportMissing */)
     property bool _battCapacityAvailable:   controller.parameterExists(-1, "BATT_CAPACITY")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Batt1 monitor")
diff --git a/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml b/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml
index 4df3795f4fcb..6618b48ed8f6 100644
--- a/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -15,8 +18,9 @@ Item {
     property Fact mapYawFact:       controller.getParameterFact(-1, "RCMAP_YAW")
     property Fact mapThrottleFact:  controller.getParameterFact(-1, "RCMAP_THROTTLE")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Roll")
diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponent.qml b/src/AutoPilotPlugins/APM/APMSafetyComponent.qml
index 29ac36b6b2b9..cf65e704a688 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponent.qml
@@ -325,9 +325,9 @@ SetupPage {
                     spacing: _margins / 2
 
                     property Fact _failsafeGCSEnable:               controller.getParameterFact(-1, "FS_GCS_ENABLE")
-                    property Fact _failsafeBattLowAct:              controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false /* reportMissing */)
-                    property Fact _failsafeBattMah:                 controller.getParameterFact(-1, "r.BATT_LOW_MAH", false /* reportMissing */)
-                    property Fact _failsafeBattVoltage:             controller.getParameterFact(-1, "r.BATT_LOW_VOLT", false /* reportMissing */)
+                    property Fact _failsafeBattLowAct:              controller.getParameterFact(-1, "BATT_FS_LOW_ACT", false /* reportMissing */)
+                    property Fact _failsafeBattMah:                 controller.getParameterFact(-1, "BATT_LOW_MAH", false /* reportMissing */)
+                    property Fact _failsafeBattVoltage:             controller.getParameterFact(-1, "BATT_LOW_VOLT", false /* reportMissing */)
                     property Fact _failsafeThrEnable:               controller.getParameterFact(-1, "FS_THR_ENABLE")
                     property Fact _failsafeThrValue:                controller.getParameterFact(-1, "FS_THR_VALUE")
 
@@ -524,10 +524,12 @@ SetupPage {
                 Column {
                     spacing: _margins / 2
 
-                    property Fact _landSpeedFact:   controller.getParameterFact(-1, "LAND_SPEED")
-                    property Fact _rtlAltFact:      controller.getParameterFact(-1, "RTL_ALT")
+                    property Fact _landSpeedFact:   controller.getParameterFact(-1, "LAND_SPD_MS")
+                    property Fact _rtlAltFact:      controller.getParameterFact(-1, "RTL_ALT_M")
                     property Fact _rtlLoitTimeFact: controller.getParameterFact(-1, "RTL_LOIT_TIME")
-                    property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")
+                    property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL_M")
+                    // RTL_ALT_M (4.7+) is in meters, RTL_ALT (pre-4.7) is in centimeters
+                    property bool _rtlAltIsMeters:  controller.parameterExists(-1, "noremap.RTL_ALT_M")
 
                     QGCLabel {
                         id:             rtlLabel
@@ -575,7 +577,8 @@ SetupPage {
                             text:               qsTr("Return at specified altitude:")
                             checked:            _rtlAltFact.value != 0
 
-                            onClicked: _rtlAltFact.value = 1500
+                            // RTL_ALT_M (4.7+) is in meters, RTL_ALT (pre-4.7) is in centimeters
+                            onClicked: _rtlAltFact.value = _rtlAltIsMeters ? 15 : 1500
                         }
 
                         FactTextField {
@@ -651,7 +654,7 @@ SetupPage {
                 Column {
                     spacing: _margins / 2
 
-                    property Fact _rtlAltFact: controller.getParameterFact(-1, "r.RTL_ALTITUDE")
+                    property Fact _rtlAltFact: controller.getParameterFact(-1, "RTL_ALTITUDE")
 
                     QGCLabel {
                         text:           qsTr("Return to Launch")
diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml b/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
index d43c1f97b604..259373685437 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
@@ -24,7 +24,7 @@ SetupPage {
             property bool _firmware34:       globals.activeVehicle.versionCompare(3, 5, 0) < 0
 
             // Enable/Action parameters
-            property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false)
+            property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "BATT_FS_LOW_ACT", false)
             property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
             property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
             property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
@@ -39,9 +39,9 @@ SetupPage {
             property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
             property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
             property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
-            property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "r.BATT_LOW_VOLT", false)
-            property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "r.BATT_LOW_MAH", false)
-            property bool _batteryDetected:              controller.parameterExists(-1, "r.BATT_LOW_MAH")
+            property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "BATT_LOW_VOLT", false)
+            property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "BATT_LOW_MAH", false)
+            property bool _batteryDetected:              controller.parameterExists(-1, "BATT_LOW_MAH")
 
             // Older firmwares use ARMING_CHECK. Newer firmwares use ARMING_SKIPCHK.
             property Fact _armingCheck:     controller.getParameterFact(-1, "ARMING_CHECK", false /* reportMissing */)
diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSafetyComponentSummary.qml
index bba18a214385..3c3583a83696 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -20,7 +23,7 @@ Item {
     property bool _batt1MonitorEnabled:     _batt1Monitor.rawValue !== 0
     property bool _batt2MonitorEnabled:     _batt2MonitorAvailable && _batt2Monitor.rawValue !== 0
 
-    property Fact _batt1FSLowAct:           controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false /* reportMissing */)
+    property Fact _batt1FSLowAct:           controller.getParameterFact(-1, "BATT_FS_LOW_ACT", false /* reportMissing */)
     property Fact _batt1FSCritAct:          controller.getParameterFact(-1, "BATT_FS_CRT_ACT", false /* reportMissing */)
     property Fact _batt2FSLowAct:           controller.getParameterFact(-1, "BATT2_FS_LOW_ACT", false /* reportMissing */)
     property Fact _batt2FSCritAct:          controller.getParameterFact(-1, "BATT2_FS_CRT_ACT", false /* reportMissing */)
@@ -29,8 +32,9 @@ Item {
     property bool _roverFirmware:           controller.parameterExists(-1, "MODE1") // This catches all usage of ArduRover firmware vehicle types: Rover, Boat...
 
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Arming Checks:")
@@ -146,7 +150,7 @@ Item {
             valueText:  fact ? (fact.value == 0 ? qsTr("current") : fact.valueString + " " + fact.units) : ""
             visible:    controller.vehicle.multiRotor
 
-            property Fact fact: controller.getParameterFact(-1, "RTL_ALT", false /* reportMissing */)
+            property Fact fact: controller.getParameterFact(-1, "RTL_ALT_M", false /* reportMissing */)
         }
 
         VehicleSummaryRow {
@@ -154,7 +158,7 @@ Item {
             valueText:  fact ? (fact.value < 0 ? qsTr("current") : fact.valueString + " " + fact.units) : ""
             visible:    controller.vehicle.fixedWing
 
-            property Fact fact: controller.getParameterFact(-1, "r.RTL_ALTITUDE", false /* reportMissing */)
+            property Fact fact: controller.getParameterFact(-1, "RTL_ALTITUDE", false /* reportMissing */)
         }
     }
 }
diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml b/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
index 9e914cda8409..2bd81dc5646e 100644
--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml
@@ -13,7 +13,7 @@ Item {
     FactPanelController { id: controller; }
 
     // Enable/Action parameters
-    property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "r.BATT_FS_LOW_ACT", false)
+    property Fact _failsafeBatteryEnable:     controller.getParameterFact(-1, "BATT_FS_LOW_ACT", false)
     property Fact _failsafeEKFEnable:         controller.getParameterFact(-1, "FS_EKF_ACTION")
     property Fact _failsafeGCSEnable:         controller.getParameterFact(-1, "FS_GCS_ENABLE")
     property Fact _failsafeLeakEnable:        controller.getParameterFact(-1, "FS_LEAK_ENABLE")
@@ -28,8 +28,8 @@ Item {
     property Fact _failsafeLeakPin:              controller.getParameterFact(-1, "LEAK1_PIN")
     property Fact _failsafeLeakLogic:            controller.getParameterFact(-1, "LEAK1_LOGIC")
     property Fact _failsafeEKFThreshold:         controller.getParameterFact(-1, "FS_EKF_THRESH")
-    property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "r.BATT_LOW_VOLT", false)
-    property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "r.BATT_LOW_MAH", false)
+    property Fact _failsafeBatteryVoltage:       controller.getParameterFact(-1, "BATT_LOW_VOLT", false)
+    property Fact _failsafeBatteryCapacity:      controller.getParameterFact(-1, "BATT_LOW_MAH", false)
 
     // Older firmwares use ARMING_CHECK. Newer firmwares use ARMING_SKIPCHK.
     property Fact _armingCheck:     controller.getParameterFact(-1, "ARMING_CHECK", false /* reportMissing */)
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
index 644bcd0f553b..a7af794599d8 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponent.qml
@@ -738,7 +738,7 @@ SetupPage {
                     QGCButton {
                         width:      _buttonWidth
                         text:       qsTr("CompassMot")
-                        visible:    globals.activeVehicle ? globals.activeVehicle.supportsMotorInterference : false
+                        visible:    globals.activeVehicle ? globals.activeVehicle.supports.motorInterference : false
                         onClicked:  compassMotDialogFactory.open()
                     }
 
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
index ed470b85f4a0..c4f07c75dc94 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml
@@ -11,7 +11,9 @@ import QGroundControl.Controls
 */
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     APMSensorsComponentController { id: controller; }
 
@@ -20,8 +22,9 @@ Item {
         factPanelController:    controller
     }
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
         labelText:  qsTr("Compasses:")
@@ -77,7 +80,7 @@ Item {
             model: sensorParams.rgInsId.length
             APMSensorIdDecoder {
                 fact:          sensorParams.rgInsId[index]
-                anchors.right: parent.right
+                Layout.alignment: Qt.AlignRight
             }
         }
 
@@ -90,7 +93,7 @@ Item {
             model: sensorParams.rgBaroId.length
             APMSensorIdDecoder {
                 fact:          sensorParams.rgBaroId[index]
-                anchors.right: parent.right
+                Layout.alignment: Qt.AlignRight
             }
         }
     }
diff --git a/src/AutoPilotPlugins/APM/APMServoComponent.cc b/src/AutoPilotPlugins/APM/APMServoComponent.cc
new file mode 100644
index 000000000000..2b0601479fdc
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMServoComponent.cc
@@ -0,0 +1,11 @@
+#include "APMServoComponent.h"
+
+APMServoComponent::APMServoComponent(Vehicle *vehicle, AutoPilotPlugin *autopilot, QObject *parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
+{
+}
+
+QUrl APMServoComponent::setupSource() const
+{
+    return QUrl::fromUserInput(QStringLiteral("qrc:/qml/QGroundControl/AutoPilotPlugins/APM/APMServoComponent.qml"));
+}
diff --git a/src/AutoPilotPlugins/APM/APMServoComponent.h b/src/AutoPilotPlugins/APM/APMServoComponent.h
new file mode 100644
index 000000000000..b3a43d6e2289
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMServoComponent.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "VehicleComponent.h"
+
+class APMServoComponent : public VehicleComponent
+{
+    Q_OBJECT
+
+public:
+    explicit APMServoComponent(Vehicle *vehicle, AutoPilotPlugin *autopilot, QObject *parent = nullptr);
+
+    // VehicleComponent overrides
+    QString     name() const final                 { return _name; }
+    QString     description() const final          { return tr("Configure servo PWM limits, trim, direction, and function."); }
+    QString     iconResource() const final         { return QStringLiteral("/qmlimages/MotorComponentIcon.svg"); }
+    bool        requiresSetup() const final        { return false; }
+    bool        setupComplete() const final        { return true; }
+    QUrl        setupSource() const final;
+    QUrl        summaryQmlSource() const final     { return QUrl(); }
+    QStringList setupCompleteChangedTriggerList() const final { return QStringList(); }
+
+private:
+    const QString _name = tr("Servo Outputs");
+};
diff --git a/src/AutoPilotPlugins/APM/APMServoComponent.qml b/src/AutoPilotPlugins/APM/APMServoComponent.qml
new file mode 100644
index 000000000000..27285c506dba
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/APMServoComponent.qml
@@ -0,0 +1,398 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+
+SetupPage {
+    id:             servoPage
+    pageComponent:  pageComponent
+    showAdvanced:   false
+
+    readonly property int _maxServos: 16
+    readonly property real _margins: ScreenTools.defaultFontPixelHeight * 0.5
+
+    FactPanelController {
+        id: controller
+    }
+
+    ServoOutputMonitorController {
+        id: servoMonitor
+    }
+
+    QGCPalette {
+        id: qgcPal
+        colorGroupEnabled: true
+    }
+
+    // Keep the "Position (us)" bar a stable width so the table doesn't reflow.
+    readonly property int _positionBarWidth: ScreenTools.defaultFontPixelWidth * 10
+
+    function getFact(param) {
+        return controller.parameterExists(-1, param)
+               ? controller.getParameterFact(-1, param, false)
+               : null
+    }
+
+    function servoExists(n) {
+        return controller.parameterExists(-1, "SERVO" + n + "_FUNCTION")
+    }
+
+    Component {
+        id: pageComponent
+
+        Column {
+            width:   availableWidth
+            spacing: _margins
+
+            QGCLabel {
+                text:     qsTr("Configure ArduPilot servo outputs.")
+                wrapMode: Text.WordWrap
+                width:    parent.width
+            }
+
+            QGCGroupBox {
+                title: qsTr("Servo Outputs")
+
+                GridLayout {
+                    columns:       7
+                    rowSpacing:    ScreenTools.defaultFontPixelHeight * 0.3
+                    columnSpacing: ScreenTools.defaultFontPixelWidth * 2
+
+                    // --- Headers (all explicitly in row 0) -----------------
+                    QGCLabel { text: qsTr("Servo");         font.bold: true; Layout.row: 0; Layout.column: 0 }
+                    QGCLabel {
+                        text: qsTr("Position")
+                        font.bold: true
+                        Layout.row: 0
+                        Layout.column: 1
+                        Layout.preferredWidth: _positionBarWidth
+                        Layout.fillWidth: false
+                    }
+                    QGCLabel { text: qsTr("Function");      font.bold: true; Layout.row: 0; Layout.column: 2 }
+                    QGCLabel { text: qsTr("Min");           font.bold: true; Layout.row: 0; Layout.column: 3 }
+                    QGCLabel { text: qsTr("Trim");          font.bold: true; Layout.row: 0; Layout.column: 4 }
+                    QGCLabel { text: qsTr("Max");           font.bold: true; Layout.row: 0; Layout.column: 5 }
+                    QGCLabel { text: qsTr("Reversed");      font.bold: true; Layout.row: 0; Layout.column: 6 }
+
+                    // --- Column 0: Servo number ----------------------------
+                    Repeater {
+                        model: _maxServos
+                        QGCLabel {
+                            text:          index + 1
+                            visible:       servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 0
+                        }
+                    }
+
+                    // --- Column 1: Position --------------------------------
+                    Repeater {
+                        id: positionRepeater
+                        model: _maxServos
+                        Item {
+                            readonly property int _servoIndex: index + 1
+                            readonly property var _minFact:  getFact("SERVO" + _servoIndex + "_MIN")
+                            readonly property var _maxFact:  getFact("SERVO" + _servoIndex + "_MAX")
+
+                            property int pwmValue: servoMonitor.servoValue(index)
+                            readonly property double _rawValue: pwmValue >= 0 ? pwmValue : NaN
+                            readonly property double _minValue:  _minFact ? _minFact.value : NaN
+                            readonly property double _maxValue:  _maxFact ? _maxFact.value : NaN
+
+                            readonly property double _range: _maxValue - _minValue
+                            readonly property double _ratio: (_range > 0 && !isNaN(_rawValue) && !isNaN(_minValue))
+                                                               ? Math.max(0, Math.min(1, (_rawValue - _minValue) / _range))
+                                                               : 0
+
+                            height: ScreenTools.defaultFontPixelHeight * 0.95
+                            Layout.preferredWidth: _positionBarWidth
+                            Layout.fillWidth: false
+                            width: _positionBarWidth
+                            visible: servoExists(_servoIndex)
+                            Layout.row: index + 1
+                            Layout.column: 1
+
+                            readonly property color _trackColor: qgcPal.colorGrey
+                            // Use a themed accent so the fill is always clearly distinct from the track
+                            readonly property color _progressColor: qgcPal.colorGreen
+
+                            readonly property bool _hasValidValue: pwmValue >= 0 && !isNaN(_rawValue) && !isNaN(_minValue) && !isNaN(_maxValue) && _range > 0
+                            // Use the delegate width (cell width), not `parent.width` (Repeater/GridLayout width).
+                            readonly property real _progressWidth: _hasValidValue ? Math.max(0, _ratio * width) : 0
+
+                            // Keep the delegate's implicit width stable so GridLayout doesn't reflow
+                            // based on changing label text lengths.
+                            implicitWidth: 0
+
+                            Rectangle {
+                                anchors.fill: parent
+                                id:      track
+                                color:   _trackColor
+                                opacity: 0.45
+                                border.width: 1
+                                border.color: qgcPal.text
+                                radius: ScreenTools.defaultBorderRadius
+                            }
+
+                            Rectangle {
+                                anchors.top:    parent.top
+                                anchors.bottom: parent.bottom
+                                anchors.left:   parent.left
+                                width:          _progressWidth
+                                color:          _progressColor
+                                radius: ScreenTools.defaultBorderRadius
+                            }
+
+                            QGCLabel {
+                                id: valueLabel
+                                z:  1
+                                anchors.centerIn: parent
+                                horizontalAlignment: Text.AlignHCenter
+                                verticalAlignment:   Text.AlignVCenter
+                                text: _hasValidValue ? Math.round(_rawValue) : "-"
+                                font.bold: true
+                                color: qgcPal.text
+                                width: parent.width
+                            }
+                        }
+                    }
+
+                    Connections {
+                        target: servoMonitor
+                        function onServoValueChanged(servo, pwmValue) {
+                            const item = positionRepeater.itemAt(servo)
+                            if (item) {
+                                item.pwmValue = pwmValue
+                            }
+                        }
+                    }
+
+                    // --- Column 2: Function --------------------------------
+                    Repeater {
+                        model: _maxServos
+                        FactComboBox {
+                            fact:           getFact("SERVO" + (index + 1) + "_FUNCTION")
+                            indexModel:     false
+                            sizeToContents: true
+                            visible:        servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 2
+                        }
+                    }
+
+                    // --- Column 3: Min ---------------------------------------
+                    Repeater {
+                        model: _maxServos
+                        RowLayout {
+                            spacing:       ScreenTools.defaultFontPixelWidth
+                            visible:       servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 3
+
+                            readonly property var spFact: getFact("SERVO" + (index + 1) + "_MIN")
+                            property int _repeatDir: 0
+
+                            Timer {
+                                id: repeatInitial
+                                interval: 350
+                                repeat: false
+                                running: false
+                                onTriggered: repeatTimer.start()
+                            }
+
+                            Timer {
+                                id: repeatTimer
+                                interval: 80
+                                repeat: true
+                                running: false
+                                onTriggered: if (spFact && _repeatDir !== 0) { spFact.value += _repeatDir }
+                            }
+
+                            QGCButton {
+                                text: "-"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = -1
+                                    spFact.value -= 1
+                                    repeatInitial.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitial.stop()
+                                    repeatTimer.stop()
+                                }
+                            }
+                            FactTextField { fact: spFact; showUnits: false; Layout.fillWidth: true }
+                            QGCButton {
+                                text: "+"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = 1
+                                    spFact.value += 1
+                                    repeatInitial.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitial.stop()
+                                    repeatTimer.stop()
+                                }
+                            }
+                        }
+                    }
+
+                    // --- Column 4: Trim --------------------------------------
+                    Repeater {
+                        model: _maxServos
+                        RowLayout {
+                            spacing:       ScreenTools.defaultFontPixelWidth
+                            visible:       servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 4
+
+                            readonly property var spFact: getFact("SERVO" + (index + 1) + "_TRIM")
+                            property int _repeatDir: 0
+
+                            Timer {
+                                id: repeatInitialTrim
+                                interval: 350
+                                repeat: false
+                                running: false
+                                onTriggered: repeatTimerTrim.start()
+                            }
+
+                            Timer {
+                                id: repeatTimerTrim
+                                interval: 80
+                                repeat: true
+                                running: false
+                                onTriggered: if (spFact && _repeatDir !== 0) { spFact.value += _repeatDir }
+                            }
+
+                            QGCButton {
+                                text: "-"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = -1
+                                    spFact.value -= 1
+                                    repeatInitialTrim.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitialTrim.stop()
+                                    repeatTimerTrim.stop()
+                                }
+                            }
+                            FactTextField { fact: spFact; showUnits: false; Layout.fillWidth: true }
+                            QGCButton {
+                                text: "+"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = 1
+                                    spFact.value += 1
+                                    repeatInitialTrim.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitialTrim.stop()
+                                    repeatTimerTrim.stop()
+                                }
+                            }
+                        }
+                    }
+
+                    // --- Column 5: Max ---------------------------------------
+                    Repeater {
+                        model: _maxServos
+                        RowLayout {
+                            spacing:       ScreenTools.defaultFontPixelWidth
+                            visible:       servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 5
+
+                            readonly property var spFact: getFact("SERVO" + (index + 1) + "_MAX")
+                            property int _repeatDir: 0
+
+                            Timer {
+                                id: repeatInitialMax
+                                interval: 350
+                                repeat: false
+                                running: false
+                                onTriggered: repeatTimerMax.start()
+                            }
+
+                            Timer {
+                                id: repeatTimerMax
+                                interval: 80
+                                repeat: true
+                                running: false
+                                onTriggered: if (spFact && _repeatDir !== 0) { spFact.value += _repeatDir }
+                            }
+
+                            QGCButton {
+                                text: "-"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = -1
+                                    spFact.value -= 1
+                                    repeatInitialMax.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitialMax.stop()
+                                    repeatTimerMax.stop()
+                                }
+                            }
+                            FactTextField { fact: spFact; showUnits: false; Layout.fillWidth: true }
+                            QGCButton {
+                                text: "+"
+                                onPressed: {
+                                    if (!spFact) {
+                                        _repeatDir = 0
+                                        return
+                                    }
+                                    _repeatDir = 1
+                                    spFact.value += 1
+                                    repeatInitialMax.start()
+                                }
+                                onReleased: {
+                                    _repeatDir = 0
+                                    repeatInitialMax.stop()
+                                    repeatTimerMax.stop()
+                                }
+                            }
+                        }
+                    }
+
+                    // --- Column 6: Reversed ---------------------------------
+                    Repeater {
+                        model: _maxServos
+                        FactCheckBox {
+                            fact:          getFact("SERVO" + (index + 1) + "_REVERSED")
+                            visible:       servoExists(index + 1)
+                            Layout.row:    index + 1
+                            Layout.column: 6
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml
index c0261892f00f..8c871aec0eaa 100644
--- a/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -35,8 +38,10 @@ Item {
         }
     }
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
+
         VehicleSummaryRow {
             id: nameRow;
             labelText: qsTr("Frame Type")
diff --git a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
index cdcd618815c5..64f884d775a1 100644
--- a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
+++ b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
@@ -24,17 +24,17 @@ SetupPage {
             property Fact _rateRollI:           controller.getParameterFact(-1, "ATC_RAT_RLL_I")
             property Fact _ratePitchP:          controller.getParameterFact(-1, "ATC_RAT_PIT_P")
             property Fact _ratePitchI:          controller.getParameterFact(-1, "ATC_RAT_PIT_I")
-            property Fact _rateClimbP:          controller.getParameterFact(-1, "PSC_ACCZ_P")
-            property Fact _rateClimbI:          controller.getParameterFact(-1, "PSC_ACCZ_I")
+            property Fact _rateClimbP:          controller.getParameterFact(-1, "PSC_D_ACC_P")
+            property Fact _rateClimbI:          controller.getParameterFact(-1, "PSC_D_ACC_I")
             property Fact _motSpinArm:          controller.getParameterFact(-1, "MOT_SPIN_ARM")
             property Fact _motSpinMin:          controller.getParameterFact(-1, "MOT_SPIN_MIN")
 
-            property Fact _ch7Opt:  controller.getParameterFact(-1, "r.RC7_OPTION")
-            property Fact _ch8Opt:  controller.getParameterFact(-1, "r.RC8_OPTION")
-            property Fact _ch9Opt:  controller.getParameterFact(-1, "r.RC9_OPTION")
-            property Fact _ch10Opt: controller.getParameterFact(-1, "r.RC10_OPTION")
-            property Fact _ch11Opt: controller.getParameterFact(-1, "r.RC11_OPTION")
-            property Fact _ch12Opt: controller.getParameterFact(-1, "r.RC12_OPTION")
+            property Fact _ch7Opt:  controller.getParameterFact(-1, "RC7_OPTION")
+            property Fact _ch8Opt:  controller.getParameterFact(-1, "RC8_OPTION")
+            property Fact _ch9Opt:  controller.getParameterFact(-1, "RC9_OPTION")
+            property Fact _ch10Opt: controller.getParameterFact(-1, "RC10_OPTION")
+            property Fact _ch11Opt: controller.getParameterFact(-1, "RC11_OPTION")
+            property Fact _ch12Opt: controller.getParameterFact(-1, "RC12_OPTION")
 
             readonly property int   _firstOptionChannel:    7
             readonly property int   _lastOptionChannel:     12
@@ -59,7 +59,7 @@ SetupPage {
             function calcAutoTuneChannel() {
                 _autoTuneSwitchChannelIndex = 0
                 for (var channel=_firstOptionChannel; channel<=_lastOptionChannel; channel++) {
-                    var optionFact = controller.getParameterFact(-1, "r.RC" + channel + "_OPTION")
+                    var optionFact = controller.getParameterFact(-1, "RC" + channel + "_OPTION")
                     if (optionFact.value == _autoTuneOption) {
                         _autoTuneSwitchChannelIndex = channel - _firstOptionChannel + 1
                         break
@@ -71,7 +71,7 @@ SetupPage {
             function setChannelAutoTuneOption(channel) {
                 // First clear any previous settings for AutTune
                 for (var optionChannel=_firstOptionChannel; optionChannel<=_lastOptionChannel; optionChannel++) {
-                    var optionFact = controller.getParameterFact(-1, "r.RC" + optionChannel + "_OPTION")
+                    var optionFact = controller.getParameterFact(-1, "RC" + optionChannel + "_OPTION")
                     if (optionFact.value == _autoTuneOption) {
                         optionFact.value = 0
                     }
@@ -79,7 +79,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var optionFact = controller.getParameterFact(-1, "r.RC" + channel + "_OPTION")
+                    var optionFact = controller.getParameterFact(-1, "RC" + channel + "_OPTION")
                     optionFact.value = _autoTuneOption
                 }
             }
@@ -239,14 +239,14 @@ SetupPage {
                                     id:                     tuneMinField
                                     textField.validator:    DoubleValidator {bottom: 0; top: 32767;}
                                     label:                  qsTr("Min:")
-                                    fact:                   controller.getParameterFact(-1, "r.TUNE_MIN")
+                                    fact:                   controller.getParameterFact(-1, "TUNE_MIN")
                                 }
 
                                 LabelledFactTextField {
                                     id:                     tuneMaxField
                                     textField.validator:    DoubleValidator {bottom: 0; top: 32767;}
                                     label:                  qsTr("Max:")
-                                    fact:                   controller.getParameterFact(-1, "r.TUNE_MAX")
+                                    fact:                   controller.getParameterFact(-1, "TUNE_MAX")
                                 }
                             }
                         }
diff --git a/src/AutoPilotPlugins/APM/APMTuningComponentSub.qml b/src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
index 2ba07fa15a6e..6e359012579a 100644
--- a/src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
+++ b/src/AutoPilotPlugins/APM/APMTuningComponentSub.qml
@@ -100,17 +100,20 @@ SetupPage {
                         anchors.top:        parent.top
                         spacing:            _margins*1.5
 
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FILT") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_POSXY_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_POSZ_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_VELXY_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_VELXY_I") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_VELXY_IMAX") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_VELZ_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_ACCZ_D") }
+                        FactTextFieldSlider2 {
+                            visible: controller.parameterExists(-1, "PSC_ACCZ_FILT")
+                            fact:    visible ? controller.getParameterFact(-1, "PSC_ACCZ_FILT") : null
+                        }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_ACCZ_I") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_ACCZ_IMAX") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_ACCZ_P") }
 
                     } // Column - VEL parameters
                 }
@@ -123,19 +126,19 @@ SetupPage {
                         anchors.top:        parent.top
                         spacing:            _margins*1.5
 
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_POSXY_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_POSZ_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_I") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELXY_IMAX") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_VELZ_P") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_D") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTD") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTE") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_FLTT") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_I") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_IMAX") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "r.PSC_ACCZ_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_NE_POS_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_POS_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_NE_VEL_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_NE_VEL_I") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_NE_VEL_IMAX") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_VEL_P") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_D") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_FLTD") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_FLTE") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_FLTT") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_I") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_IMAX") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "PSC_D_ACC_P") }
 
                     } // Column - VEL parameters
                 }
@@ -191,12 +194,12 @@ SetupPage {
                         anchors.top:        parent.top
                         spacing:            _margins*1.5
 
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_ACCEL") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_ACCEL_Z") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_RADIUS") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_SPEED") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_SPEED_DN") }
-                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WPNAV_SPEED_UP") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_ACC") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_ACC_Z") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_RADIUS_M") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_SPD") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_SPD_DN") }
+                        FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "WP_SPD_UP") }
                         FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "LOIT_SPEED") }
                         FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "LOIT_ACC_MAX") }
                         FactTextFieldSlider2 { fact: controller.getParameterFact(-1, "LOIT_ANG_MAX") }
diff --git a/src/AutoPilotPlugins/APM/CMakeLists.txt b/src/AutoPilotPlugins/APM/CMakeLists.txt
index 7ce30f3f54dc..b213f76dc835 100644
--- a/src/AutoPilotPlugins/APM/CMakeLists.txt
+++ b/src/AutoPilotPlugins/APM/CMakeLists.txt
@@ -27,6 +27,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         APMLightsComponent.h
         APMMotorComponent.cc
         APMMotorComponent.h
+        APMServoComponent.cc
+        APMServoComponent.h
         APMPowerComponent.cc
         APMPowerComponent.h
         APMRadioComponent.cc
@@ -72,6 +74,7 @@ qt_add_qml_module(AutoPilotPluginsAPMModule
         APMLightsComponent.qml
         APMLightsComponentSummary.qml
         APMMotorComponent.qml
+        APMServoComponent.qml
         APMNotSupported.qml
         APMPowerComponent.qml
         APMPowerComponentSummary.qml
diff --git a/src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml b/src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml
index d49c407b7359..23485c204cf0 100644
--- a/src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml
+++ b/src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -21,8 +24,10 @@ Item {
     property Fact uartBaud:         controller.getParameterFact(esp8266.componentID, "UART_BAUDRATE")
     property Fact wifiMode:         controller.getParameterFact(esp8266.componentID, "WIFI_MODE", false) //-- Don't bitch if missing
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
+
         VehicleSummaryRow {
             labelText: qsTr("Firmware Version")
             valueText: esp8266.version
diff --git a/src/AutoPilotPlugins/Common/JoystickComponentSummary.qml b/src/AutoPilotPlugins/Common/JoystickComponentSummary.qml
index b314c4471fd8..878a254e5c26 100644
--- a/src/AutoPilotPlugins/Common/JoystickComponentSummary.qml
+++ b/src/AutoPilotPlugins/Common/JoystickComponentSummary.qml
@@ -1,17 +1,21 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.Controls
 
 Item {
-    anchors.fill: parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     readonly property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
     readonly property var _activeJoystick: joystickManager.activeJoystick
 
-    Column {
-        anchors.fill: parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Status")
diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml b/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml
index 1df984dfab6d..c8e587012ee1 100644
--- a/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:       parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     AirframeComponentController { id: controller; }
 
@@ -15,8 +18,10 @@ Item {
 
     property bool autoStartSet: sysAutoStartFact ? (sysAutoStartFact.value !== 0) : false
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
+
         VehicleSummaryRow {
             labelText: qsTr("System ID")
             valueText: sysIdFact ? sysIdFact.valueString : ""
diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index d91b37a0046e..37ec0a18d685 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -175,7 +175,7 @@
       <class>Copter</class>
       <maintainer>Beat Kueng &lt;beat-kueng@gmx.net&gt;</maintainer>
       <type>Quadrotor x</type>
-      <url>https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html</url>
+      <url>https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini</url>
     </airframe>
     <airframe name="Holybro Kopis 2" id="4053" maintainer="Beat Kueng &lt;beat@px4.io&gt;">
       <class>Copter</class>
@@ -270,6 +270,10 @@
     </airframe>
   </airframe_group>
   <airframe_group name="Rover" image="Rover">
+    <airframe name="SIH Rover Ackermann" id="1104" maintainer="John Doe &lt;john@example.com&gt;">
+      <class>Rover</class>
+      <type>Rover</type>
+    </airframe>
     <airframe name="Generic Rover Differential" id="50000" maintainer="John Doe &lt;john@example.com&gt;">
       <class>Rover</class>
       <type>Rover</type>
@@ -277,7 +281,7 @@
     <airframe name="Aion Robotics R1 UGV" id="50001" maintainer="John Doe &lt;john@example.com&gt;">
       <class>Rover</class>
       <type>Rover</type>
-      <url>https://www.aionrobotics.com/r1</url>
+      <url>https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1</url>
     </airframe>
     <airframe name="Generic Rover Ackermann" id="51000" maintainer="John Doe &lt;john@example.com&gt;">
       <class>Rover</class>
@@ -288,23 +292,29 @@
       <type>Rover</type>
       <url>https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html</url>
     </airframe>
-    <airframe name="Generic Rover Mecanum" id="52000" maintainer="John Doe &lt;john@example.com&gt;">
+    <airframe name="NXP B3RB Rover Ackermann" id="51002" maintainer="John Doe &lt;john@example.com&gt;">
       <class>Rover</class>
       <type>Rover</type>
     </airframe>
-    <airframe name="Generic Ground Vehicle (Deprecated)" id="59000" maintainer="">
+    <airframe name="Generic Rover Mecanum" id="52000" maintainer="John Doe &lt;john@example.com&gt;">
       <class>Rover</class>
-      <maintainer />
       <type>Rover</type>
-      <output name="Motor1">throttle</output>
-      <output name="Servo1">steering</output>
     </airframe>
-    <airframe name="NXP Cup car: DF Robot GPX (Deprecated)" id="59001" maintainer="Katrin Moritz">
-      <class>Rover</class>
-      <maintainer>Katrin Moritz</maintainer>
-      <type>Rover</type>
-      <output name="Motor1">Speed of left wheels</output>
-      <output name="Servo1">Steering servo</output>
+  </airframe_group>
+  <airframe_group name="Free-Flyer" image="FreeFlyer">
+    <airframe name="KTH-ATMOS" id="70000" maintainer="DISCOWER">
+      <class>Spacecraft</class>
+      <maintainer>DISCOWER</maintainer>
+      <type>Free-Flyer</type>
+      <url>https://atmos.discower.io</url>
+      <output name="Motor1">back left thruster, +x thrust</output>
+      <output name="Motor2">front left thruster, -x thrust</output>
+      <output name="Motor3">back right thruster, +x thrust</output>
+      <output name="Motor4">front right thruster, -x thrust</output>
+      <output name="Motor5">front left thruster, +y thrust</output>
+      <output name="Motor6">front right thruster, -y thrust</output>
+      <output name="Motor7">back left thruster, +y thrust</output>
+      <output name="Motor8">back right thruster, -y thrust</output>
     </airframe>
   </airframe_group>
   <airframe_group name="Underwater Robot" image="AirframeUnknown">
@@ -343,12 +353,32 @@
       <output name="Servo1">elevon right</output>
       <output name="Servo2">elevon left</output>
     </airframe>
+    <airframe name="SIH Standard VTOL QuadPlane" id="1103" maintainer="John Doe &lt;john@example.com&gt;">
+      <class>VTOL</class>
+      <type>Simulation</type>
+      <output name="Motor1">MC motor front right</output>
+      <output name="Motor2">MC motor back left</output>
+      <output name="Motor3">MC motor front left</output>
+      <output name="Motor4">MC motor back right</output>
+      <output name="Motor5">Forward thrust motor</output>
+      <output name="Servo1">Ailerons (single channel)</output>
+      <output name="Servo2">Elevator</output>
+      <output name="Servo3">Rudder</output>
+    </airframe>
   </airframe_group>
   <airframe_group name="Standard VTOL" image="VTOLPlane">
     <airframe name="HIL Standard VTOL QuadPlane" id="1002" maintainer="Roman Bapst &lt;roman@auterion.com&gt;">
       <class>VTOL</class>
       <maintainer>Roman Bapst &lt;roman@auterion.com&gt;</maintainer>
       <type>Standard VTOL</type>
+      <output name="Motor1">MC motor front right</output>
+      <output name="Motor2">MC motor back left</output>
+      <output name="Motor3">MC motor front left</output>
+      <output name="Motor4">MC motor back right</output>
+      <output name="Motor5">Forward thrust motor</output>
+      <output name="Servo1">Aileron</output>
+      <output name="Servo2">Elevator</output>
+      <output name="Servo3">Rudder</output>
     </airframe>
     <airframe name="Generic Standard VTOL" id="13000" maintainer="John Doe &lt;john@example.com&gt;">
       <class>VTOL</class>
@@ -372,10 +402,4 @@
       <type>VTOL Tiltrotor</type>
     </airframe>
   </airframe_group>
-  <airframe_group name="Spacecraft" image="FreeFlyer">
-    <airframe name="KTH ATMOS Free-flyer" id="70000" maintainer="DISCOWER">
-      <class>Spacecraft</class>
-      <type>Free-Flyer</type>
-    </airframe>
-  </airframe_group>
 </airframes>
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
index 815b5f1fe4bc..5fdd09f06bf3 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
@@ -1,20 +1,25 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
     property Fact _nullFact
     property Fact _rcMapFltmode:    controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
 
-	Column {
-		anchors.fill:       parent
+	ColumnLayout {
+		id: mainLayout
+		spacing: 0
+
 		VehicleSummaryRow {
 			labelText: qsTr("Mode switch")
 			valueText: _rcMapFltmode.value === 0 ? qsTr("Setup required") : _rcMapFltmode.enumStringValue
diff --git a/src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml b/src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml
index 73f62e09095a..3354dfc786a3 100644
--- a/src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -18,8 +21,9 @@ Item {
     property Fact mapAux1Fact:      controller.getParameterFact(-1, "RC_MAP_AUX1")
     property Fact mapAux2Fact:      controller.getParameterFact(-1, "RC_MAP_AUX2")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Roll")
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml b/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml
index e02375611953..08b7e2751f4d 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml
@@ -1,44 +1,78 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     property string _naString: qsTr("N/A")
 
     FactPanelController { id: controller; }
 
-    BatteryParams {
-        id:             battParams
-        controller:     controller
-        batteryIndex:   1
+    property int _indexedBatteryParamCount: {
+        var batteryIndex = 1
+        while (controller.parameterExists(-1, "BAT" + batteryIndex + "_SOURCE")) {
+            batteryIndex++
+        }
+        return batteryIndex - 1
     }
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
-        VehicleSummaryRow {
-            labelText: qsTr("Battery Source")
-            valueText: battParams.battSource.enumStringValue
-        }
+        Repeater {
+            model: _indexedBatteryParamCount
 
-        VehicleSummaryRow {
-            labelText: qsTr("Battery Full")
-            valueText: battParams.battHighVoltAvailable ? battParams.battHighVolt.valueString + " " + battParams.battHighVolt.units : _naString
-        }
+            Loader {
+                sourceComponent: batterySummaryComponent
 
-        VehicleSummaryRow {
-            labelText: qsTr("Battery Empty")
-            valueText: battParams.battLowVoltAvailable ? battParams.battLowVolt.valueString + " " + battParams.battLowVolt.units : _naString
+                property int    batteryIndex:       index + 1
+                property bool   showBatteryIndex:   _indexedBatteryParamCount > 1
+            }
         }
+    }
+
+    Component {
+        id: batterySummaryComponent
+
+        ColumnLayout {
+            spacing: 0
+
+            property var  _controller:      controller
+            property int  _batteryIndex:    batteryIndex
+
+            BatteryParams {
+                id:             battParams
+                controller:     _controller
+                batteryIndex:   _batteryIndex
+            }
+
+            VehicleSummaryRow {
+                labelText: showBatteryIndex ? qsTr("Battery %1 Source").arg(batteryIndex) : qsTr("Battery Source")
+                valueText: battParams.battSource.enumStringValue
+            }
+
+            VehicleSummaryRow {
+                labelText: showBatteryIndex ? qsTr("Battery %1 Full").arg(batteryIndex) : qsTr("Battery Full")
+                valueText: battParams.battHighVoltAvailable ? battParams.battHighVolt.valueString + " " + battParams.battHighVolt.units : _naString
+            }
+
+            VehicleSummaryRow {
+                labelText: showBatteryIndex ? qsTr("Battery %1 Empty").arg(batteryIndex) : qsTr("Battery Empty")
+                valueText: battParams.battLowVoltAvailable ? battParams.battLowVolt.valueString + " " + battParams.battLowVolt.units : _naString
+            }
 
-        VehicleSummaryRow {
-            labelText: qsTr("Number of Cells")
-            valueText: battParams.battNumCellsAvailable ? battParams.battNumCells.valueString : _naString
+            VehicleSummaryRow {
+                labelText: showBatteryIndex ? qsTr("Battery %1 Number of Cells").arg(batteryIndex) : qsTr("Number of Cells")
+                valueText: battParams.battNumCellsAvailable ? battParams.battNumCells.valueString : _naString
+            }
         }
     }
 }
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index 8475e7f385a6..65956b0fd967 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -213,7 +213,7 @@ SetupPage {
                 }
 
                 QGCLabel {
-                    text:                   qsTr("RC Loss Failsafe Trigger")
+                    text:                   qsTr("RC/Joystick Loss Failsafe Trigger")
                 }
 
                 Rectangle {
@@ -253,7 +253,7 @@ SetupPage {
                             }
 
                             QGCLabel {
-                                text:               qsTr("RC Loss Timeout:")
+                                text:               qsTr("RC/Joystick Loss Timeout:")
                                 Layout.fillWidth:   true
                             }
                             FactTextField {
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
index 187726b64237..1284495ef77a 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml
@@ -1,12 +1,15 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -20,8 +23,9 @@ Item {
     property Fact   _rtlLandDelayFact:  controller.getParameterFact(-1, "RTL_LAND_DELAY")
     property int    _rtlLandDelayValue: _rtlLandDelayFact.value
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Low Battery Failsafe")
@@ -29,12 +33,12 @@ Item {
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC Loss Failsafe")
+            labelText: qsTr("RC/Joystick Loss Failsafe")
             valueText: rcLossAction ? rcLossAction.enumStringValue : ""
         }
 
         VehicleSummaryRow {
-            labelText: qsTr("RC Loss Timeout")
+            labelText: qsTr("RC/Joystick Loss Timeout")
             valueText: commRCLossFact ? commRCLossFact.valueString + " " + commRCLossFact.units : ""
         }
 
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
index e3b5a542c8db..3382b902dd1e 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml
@@ -1,5 +1,6 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.FactControls
@@ -10,7 +11,9 @@ import QGroundControl.Controls
 */
 
 Item {
-    anchors.fill:   parent
+    implicitWidth: mainLayout.implicitWidth
+    implicitHeight: mainLayout.implicitHeight
+    width: parent.width  // grows when Loader is wider than implicitWidth
 
     FactPanelController { id: controller; }
 
@@ -20,8 +23,9 @@ Item {
     property Fact gyro0IdFact:  controller.getParameterFact(-1, "CAL_GYRO0_ID")
     property Fact accel0IdFact: controller.getParameterFact(-1, "CAL_ACC0_ID")
 
-    Column {
-        anchors.fill:       parent
+    ColumnLayout {
+        id: mainLayout
+        spacing: 0
 
         VehicleSummaryRow {
             labelText: qsTr("Compass 0")
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9c73a206fa69..6a6bd52091de 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -45,6 +45,7 @@ add_subdirectory(Utilities)
 add_subdirectory(Joystick)
 add_subdirectory(MAVLink)
 add_subdirectory(MissionManager)
+add_subdirectory(PlanView)
 add_subdirectory(PositionManager)
 add_subdirectory(QmlControls)
 add_subdirectory(Settings)
@@ -130,6 +131,7 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
         FirstRunPromptDialogsModule
         FlyViewModule
         FlightMapModule
+        PlanViewModule
         QGroundControlControlsModule
         QGroundControlModule
         ToolbarModule
diff --git a/src/Camera/CMakeLists.txt b/src/Camera/CMakeLists.txt
index 8e973259bf1f..dc088982d619 100644
--- a/src/Camera/CMakeLists.txt
+++ b/src/Camera/CMakeLists.txt
@@ -7,8 +7,8 @@ target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
         CameraMetaData.cc
         CameraMetaData.h
-        MavlinkCameraControl.cc
-        MavlinkCameraControl.h
+        MavlinkCameraControlInterface.cc
+        MavlinkCameraControlInterface.h
         QGCCameraIO.cc
         QGCCameraIO.h
         QGCCameraManager.cc
diff --git a/src/Camera/MavlinkCameraControl.cc b/src/Camera/MavlinkCameraControlInterface.cc
similarity index 77%
rename from src/Camera/MavlinkCameraControl.cc
rename to src/Camera/MavlinkCameraControlInterface.cc
index 8624997c0a6e..44d1a9ec7cc4 100644
--- a/src/Camera/MavlinkCameraControl.cc
+++ b/src/Camera/MavlinkCameraControlInterface.cc
@@ -1,22 +1,22 @@
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "QGCLoggingCategory.h"
 
-QGC_LOGGING_CATEGORY(CameraControlLog, "Camera.MavlinkCameraControl")
-QGC_LOGGING_CATEGORY(CameraControlVerboseLog, "Camera.MavlinkCameraControl:verbose")
+QGC_LOGGING_CATEGORY(CameraControlLog, "Camera.MavlinkCameraControlInterface")
+QGC_LOGGING_CATEGORY(CameraControlVerboseLog, "Camera.MavlinkCameraControlInterface:verbose")
 
-MavlinkCameraControl::MavlinkCameraControl(Vehicle *vehicle, QObject *parent)
+MavlinkCameraControlInterface::MavlinkCameraControlInterface(Vehicle *vehicle, QObject *parent)
     : FactGroup(0, parent, true /* ignore camel case */)
     , _vehicle(vehicle)
 {
     qCDebug(CameraControlLog) << this;
 }
 
-MavlinkCameraControl::~MavlinkCameraControl()
+MavlinkCameraControlInterface::~MavlinkCameraControlInterface()
 {
     qCDebug(CameraControlLog) << this;
 }
 
-QString MavlinkCameraControl::captureImageStatusToStr(uint8_t image_status)
+QString MavlinkCameraControlInterface::captureImageStatusToStr(uint8_t image_status)
 {
     switch (image_status) {
         case PHOTO_CAPTURE_IDLE:
@@ -32,7 +32,7 @@ QString MavlinkCameraControl::captureImageStatusToStr(uint8_t image_status)
     }
 }
 
-QString MavlinkCameraControl::captureVideoStatusToStr(uint8_t video_status)
+QString MavlinkCameraControlInterface::captureVideoStatusToStr(uint8_t video_status)
 {
     switch (video_status) {
         case VIDEO_CAPTURE_STATUS_STOPPED:
@@ -44,7 +44,7 @@ QString MavlinkCameraControl::captureVideoStatusToStr(uint8_t video_status)
     }
 }
 
-QString MavlinkCameraControl::storageStatusToStr(uint8_t status)
+QString MavlinkCameraControlInterface::storageStatusToStr(uint8_t status)
 {
     switch (status) {
         case STORAGE_STATUS_EMPTY:
@@ -60,7 +60,7 @@ QString MavlinkCameraControl::storageStatusToStr(uint8_t status)
     }
 }
 
-QString MavlinkCameraControl::cameraModeToStr(CameraMode mode)
+QString MavlinkCameraControlInterface::cameraModeToStr(CameraMode mode)
 {
     switch (mode) {
         case CAM_MODE_UNDEFINED:
diff --git a/src/Camera/MavlinkCameraControl.h b/src/Camera/MavlinkCameraControlInterface.h
similarity index 90%
rename from src/Camera/MavlinkCameraControl.h
rename to src/Camera/MavlinkCameraControlInterface.h
index 3fd9be8712e9..d393d31d332f 100644
--- a/src/Camera/MavlinkCameraControl.h
+++ b/src/Camera/MavlinkCameraControlInterface.h
@@ -19,7 +19,7 @@ Q_DECLARE_LOGGING_CATEGORY(CameraControlLog)
 Q_DECLARE_LOGGING_CATEGORY(CameraControlVerboseLog)
 
 /// Abstract base class for all camera controls: real and simulated
-class MavlinkCameraControl : public FactGroup
+class MavlinkCameraControlInterface : public FactGroup
 {
     Q_OBJECT
     QML_ELEMENT
@@ -44,6 +44,8 @@ class MavlinkCameraControl : public FactGroup
     Q_PROPERTY(bool                 hasFocus                READ hasFocus                                           NOTIFY infoChanged)
     Q_PROPERTY(bool                 hasVideoStream          READ hasVideoStream                                     NOTIFY infoChanged)
     Q_PROPERTY(bool                 hasTracking             READ hasTracking                                        NOTIFY infoChanged)
+    Q_PROPERTY(bool                 supportsTrackingPoint   READ supportsTrackingPoint                              NOTIFY infoChanged)
+    Q_PROPERTY(bool                 supportsTrackingRect    READ supportsTrackingRect                               NOTIFY infoChanged)
     Q_PROPERTY(bool                 photosInVideoMode       READ photosInVideoMode                                  NOTIFY infoChanged)
     Q_PROPERTY(bool                 videoInPhotoMode        READ videoInPhotoMode                                   NOTIFY infoChanged)
     Q_PROPERTY(bool                 isBasic                 READ isBasic                                            NOTIFY infoChanged)
@@ -74,10 +76,14 @@ class MavlinkCameraControl : public FactGroup
     Q_PROPERTY(QStringList          streamLabels            READ streamLabels                                       NOTIFY streamLabelsChanged)
     Q_PROPERTY(ThermalViewMode      thermalMode             READ thermalMode            WRITE setThermalMode        NOTIFY thermalModeChanged)
     Q_PROPERTY(double               thermalOpacity          READ thermalOpacity         WRITE setThermalOpacity     NOTIFY thermalOpacityChanged)
+
+    // Camera tracking properties
     Q_PROPERTY(bool                 trackingEnabled         READ trackingEnabled        WRITE setTrackingEnabled    NOTIFY trackingEnabledChanged)
-    Q_PROPERTY(TrackingStatus       trackingStatus          READ trackingStatus                                     CONSTANT)
-    Q_PROPERTY(bool                 trackingImageStatus     READ trackingImageStatus                                NOTIFY trackingImageStatusChanged)
-    Q_PROPERTY(QRectF               trackingImageRect       READ trackingImageRect                                  NOTIFY trackingImageStatusChanged)
+    Q_PROPERTY(bool                 trackingImageIsActive   READ trackingImageIsActive                              NOTIFY trackingImageIsActiveChanged)
+    Q_PROPERTY(bool                 trackingImageIsPoint    READ trackingImageIsPoint                               NOTIFY trackingImageIsPointChanged)
+    Q_PROPERTY(QRectF               trackingImageRect       READ trackingImageRect                                  NOTIFY trackingImageRectChanged)
+    Q_PROPERTY(QPointF              trackingImagePoint      READ trackingImagePoint                                 NOTIFY trackingImagePointChanged)
+    Q_PROPERTY(qreal                trackingImageRadius     READ trackingImageRadius                                NOTIFY trackingImageRadiusChanged)
 
     // These properties are used to determine what controls to show in the UI and are based on both the camera capabilities as well as the video manager status.
     // They are not necessarily directly related to the MAVLink camera capabilities.
@@ -93,8 +99,8 @@ class MavlinkCameraControl : public FactGroup
     friend class QGCCameraParamIO;
 
 public:
-    explicit MavlinkCameraControl(Vehicle *vehicle, QObject *parent = nullptr);
-    virtual ~MavlinkCameraControl();
+    explicit MavlinkCameraControlInterface(Vehicle *vehicle, QObject *parent = nullptr);
+    virtual ~MavlinkCameraControlInterface();
 
     enum CameraMode {
         CAM_MODE_UNDEFINED = -1,
@@ -141,14 +147,6 @@ class MavlinkCameraControl : public FactGroup
     };
     Q_ENUM(ThermalViewMode)
 
-    enum TrackingStatus {
-        TRACKING_UNKNOWN = 0,
-        TRACKING_SUPPORTED = 1,
-        TRACKING_ENABLED = 2,
-        TRACKING_RECTANGLE = 4,
-        TRACKING_POINT = 8
-    };
-    Q_ENUM(TrackingStatus)
 
     Q_INVOKABLE virtual void setCameraModeVideo() = 0;
     Q_INVOKABLE virtual void setCameraModePhoto() = 0;
@@ -165,8 +163,8 @@ class MavlinkCameraControl : public FactGroup
     Q_INVOKABLE virtual void stopZoom() = 0;
     Q_INVOKABLE virtual void stopStream() = 0;
     Q_INVOKABLE virtual void resumeStream() = 0;
-    Q_INVOKABLE virtual void startTracking(QRectF rec) = 0;
-    Q_INVOKABLE virtual void startTracking(QPointF point, double radius) = 0;
+    Q_INVOKABLE virtual void startTrackingRect(QRectF rec) = 0;
+    Q_INVOKABLE virtual void startTrackingPoint(QPointF point, double radius) = 0;
     Q_INVOKABLE virtual void stopTracking() = 0;
 
     virtual int version() const = 0;
@@ -182,6 +180,8 @@ class MavlinkCameraControl : public FactGroup
     virtual bool hasZoom() const = 0;
     virtual bool hasFocus() const = 0;
     virtual bool hasTracking() const = 0;
+    virtual bool supportsTrackingPoint() const = 0;
+    virtual bool supportsTrackingRect() const = 0;
     virtual bool hasVideoStream() const = 0;
     virtual bool photosInVideoMode() const = 0;
     virtual bool videoInPhotoMode() const = 0;
@@ -239,10 +239,11 @@ class MavlinkCameraControl : public FactGroup
     virtual bool trackingEnabled() const = 0;
     virtual void setTrackingEnabled(bool set) = 0;
 
-    virtual TrackingStatus trackingStatus() const = 0;
-
-    virtual bool trackingImageStatus() const = 0;
+    virtual bool trackingImageIsActive() const = 0;
+    virtual bool trackingImageIsPoint() const = 0;
     virtual QRectF trackingImageRect() const = 0;
+    virtual QPointF trackingImagePoint() const = 0;
+    virtual qreal trackingImageRadius() const = 0;
 
     virtual void factChanged(Fact *pFact) = 0;                              ///< Notify controller a parameter has changed
     virtual bool incomingParameter(Fact *pFact, QVariant &newValue) = 0;    ///< Allow controller to modify or invalidate incoming parameter
@@ -286,7 +287,11 @@ class MavlinkCameraControl : public FactGroup
     void recordTimeChanged();
     void streamLabelsChanged();
     void trackingEnabledChanged();
-    void trackingImageStatusChanged();
+    void trackingImageIsActiveChanged();
+    void trackingImageIsPointChanged();
+    void trackingImageRectChanged();
+    void trackingImagePointChanged();
+    void trackingImageRadiusChanged();
     void thermalModeChanged();
     void thermalOpacityChanged();
     void storageStatusChanged();
diff --git a/src/Camera/QGCCameraIO.cc b/src/Camera/QGCCameraIO.cc
index cda1587524cb..7339d99c5a6e 100644
--- a/src/Camera/QGCCameraIO.cc
+++ b/src/Camera/QGCCameraIO.cc
@@ -1,5 +1,5 @@
 #include "QGCCameraIO.h"
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "LinkInterface.h"
 #include "MAVLinkProtocol.h"
 #include "QGCLoggingCategory.h"
@@ -12,7 +12,7 @@ namespace {
     constexpr int kMaxRetries = 3;
 }
 
-QGCCameraParamIO::QGCCameraParamIO(MavlinkCameraControl *control, Fact *fact, Vehicle *vehicle)
+QGCCameraParamIO::QGCCameraParamIO(MavlinkCameraControlInterface *control, Fact *fact, Vehicle *vehicle)
     : QObject(control)
     , _control(control)
     , _fact(fact)
diff --git a/src/Camera/QGCCameraIO.h b/src/Camera/QGCCameraIO.h
index 75a1f9d68340..3bcb0e74b22a 100644
--- a/src/Camera/QGCCameraIO.h
+++ b/src/Camera/QGCCameraIO.h
@@ -5,7 +5,7 @@
 
 #include "MAVLinkLib.h"
 
-class MavlinkCameraControl;
+class MavlinkCameraControlInterface;
 class Fact;
 class Vehicle;
 
@@ -16,7 +16,7 @@ Q_DECLARE_LOGGING_CATEGORY(CameraIOLogVerbose)
 class QGCCameraParamIO : public QObject
 {
 public:
-    QGCCameraParamIO(MavlinkCameraControl *control, Fact *fact, Vehicle *vehicle);
+    QGCCameraParamIO(MavlinkCameraControlInterface *control, Fact *fact, Vehicle *vehicle);
     ~QGCCameraParamIO();
 
     void handleParamAck(const mavlink_param_ext_ack_t &ack);
@@ -36,7 +36,7 @@ private slots:
     void _sendParameter();
     QVariant _valueFromMessage(const char *value, uint8_t param_type);
 
-    MavlinkCameraControl *_control = nullptr;
+    MavlinkCameraControlInterface *_control = nullptr;
     Fact *_fact = nullptr;
     Vehicle *_vehicle = nullptr;
 
diff --git a/src/Camera/QGCCameraManager.cc b/src/Camera/QGCCameraManager.cc
index b6ad8c5b80a5..363d655dd180 100644
--- a/src/Camera/QGCCameraManager.cc
+++ b/src/Camera/QGCCameraManager.cc
@@ -3,7 +3,7 @@
 #include "FirmwarePlugin.h"
 #include "Joystick.h"
 #include "JoystickManager.h"
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "MultiVehicleManager.h"
 #include "QGCLoggingCategory.h"
 #include "QGCVideoStreamInfo.h"
@@ -231,10 +231,10 @@ void QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
     pInfo->lastHeartbeat.start();
 }
 
-MavlinkCameraControl *QGCCameraManager::currentCameraInstance()
+MavlinkCameraControlInterface *QGCCameraManager::currentCameraInstance()
 {
     if ((_currentCameraIndex < _cameras.count()) && !_cameras.isEmpty()) {
-        MavlinkCameraControl *pCamera = qobject_cast<MavlinkCameraControl*>(_cameras[_currentCameraIndex]);
+        MavlinkCameraControlInterface *pCamera = qobject_cast<MavlinkCameraControlInterface*>(_cameras[_currentCameraIndex]);
         return pCamera;
     }
     return nullptr;
@@ -242,7 +242,7 @@ MavlinkCameraControl *QGCCameraManager::currentCameraInstance()
 
 QGCVideoStreamInfo *QGCCameraManager::currentStreamInstance()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         QGCVideoStreamInfo *pInfo = pCamera->currentStreamInstance();
         return pInfo;
@@ -252,7 +252,7 @@ QGCVideoStreamInfo *QGCCameraManager::currentStreamInstance()
 
 QGCVideoStreamInfo *QGCCameraManager::thermalStreamInstance()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         QGCVideoStreamInfo *pInfo = pCamera->thermalStreamInstance();
         return pInfo;
@@ -260,15 +260,15 @@ QGCVideoStreamInfo *QGCCameraManager::thermalStreamInstance()
     return nullptr;
 }
 
-MavlinkCameraControl *QGCCameraManager::_findCamera(int id)
+MavlinkCameraControlInterface *QGCCameraManager::_findCamera(int id)
 {
     for (int i = 0; i < _cameras.count(); i++) {
         if (!_cameras[i]) {
             continue;
         }
-        MavlinkCameraControl *pCamera = qobject_cast<MavlinkCameraControl*>(_cameras[i]);
+        MavlinkCameraControlInterface *pCamera = qobject_cast<MavlinkCameraControlInterface*>(_cameras[i]);
         if (!pCamera) {
-            qCCritical(CameraManagerLog) << "Invalid MavlinkCameraControl instance";
+            qCCritical(CameraManagerLog) << "Invalid MavlinkCameraControlInterface instance";
             continue;
         }
         if (pCamera->compID() == id) {
@@ -280,7 +280,7 @@ MavlinkCameraControl *QGCCameraManager::_findCamera(int id)
     return nullptr;
 }
 
-void QGCCameraManager::_addCameraControlToLists(MavlinkCameraControl *cameraControl)
+void QGCCameraManager::_addCameraControlToLists(MavlinkCameraControlInterface *cameraControl)
 {
     if (qobject_cast<SimulatedCameraControl*>(cameraControl)) {
         qCDebug(CameraManagerLog) << "Adding simulated camera to list";
@@ -319,9 +319,9 @@ void QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
     mavlink_msg_camera_information_decode(&message, &info);
     qCDebug(CameraManagerLog) << "Camera information received from" << QGCMAVLink::compIdToString(message.compid)
                           << "Model:" << reinterpret_cast<const char*>(info.model_name);
-    qCDebug(CameraManagerLog) << "Creating MavlinkCameraControl for camera";
+    qCDebug(CameraManagerLog) << "Creating MavlinkCameraControlInterface for camera";
 
-    MavlinkCameraControl *pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
+    MavlinkCameraControlInterface *pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
     if (pCamera) {
         _addCameraControlToLists(pCamera);
 
@@ -362,7 +362,7 @@ void QGCCameraManager::_checkForLostCameras()
             continue;
         }
 
-        MavlinkCameraControl* pCamera = _findCamera(pInfo->compID);
+        MavlinkCameraControlInterface* pCamera = _findCamera(pInfo->compID);
         if (pCamera) {
             const int idx = _cameras.indexOf(pCamera);
             if (idx >= 0) {
@@ -397,7 +397,7 @@ void QGCCameraManager::_checkForLostCameras()
 
 void QGCCameraManager::_handleCameraCaptureStatus(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_camera_capture_status_t cap{};
         mavlink_msg_camera_capture_status_decode(&message, &cap);
@@ -407,7 +407,7 @@ void QGCCameraManager::_handleCameraCaptureStatus(const mavlink_message_t &messa
 
 void QGCCameraManager::_handleStorageInformation(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_storage_information_t st{};
         mavlink_msg_storage_information_decode(&message, &st);
@@ -441,7 +441,7 @@ void QGCCameraManager::_handleCameraSettings(const mavlink_message_t& message)
 
 void QGCCameraManager::_handleParamExtAck(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_param_ext_ack_t ack{};
         mavlink_msg_param_ext_ack_decode(&message, &ack);
@@ -451,7 +451,7 @@ void QGCCameraManager::_handleParamExtAck(const mavlink_message_t &message)
 
 void QGCCameraManager::_handleParamExtValue(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_param_ext_value_t value{};
         mavlink_msg_param_ext_value_decode(&message, &value);
@@ -461,7 +461,7 @@ void QGCCameraManager::_handleParamExtValue(const mavlink_message_t &message)
 
 void QGCCameraManager::_handleVideoStreamInformation(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_video_stream_information_t streamInfo{};
         mavlink_msg_video_stream_information_decode(&message, &streamInfo);
@@ -472,7 +472,7 @@ void QGCCameraManager::_handleVideoStreamInformation(const mavlink_message_t &me
 
 void QGCCameraManager::_handleVideoStreamStatus(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_video_stream_status_t streamStatus{};
         mavlink_msg_video_stream_status_decode(&message, &streamStatus);
@@ -482,7 +482,7 @@ void QGCCameraManager::_handleVideoStreamStatus(const mavlink_message_t &message
 
 void QGCCameraManager::_handleBatteryStatus(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_battery_status_t batteryStatus{};
         mavlink_msg_battery_status_decode(&message, &batteryStatus);
@@ -492,7 +492,7 @@ void QGCCameraManager::_handleBatteryStatus(const mavlink_message_t &message)
 
 void QGCCameraManager::_handleTrackingImageStatus(const mavlink_message_t &message)
 {
-    MavlinkCameraControl *pCamera = _findCamera(message.compid);
+    MavlinkCameraControlInterface *pCamera = _findCamera(message.compid);
     if (pCamera) {
         mavlink_camera_tracking_image_status_t tis{};
         mavlink_msg_camera_tracking_image_status_decode(&message, &tis);
@@ -640,7 +640,7 @@ void QGCCameraManager::_activeJoystickChanged(Joystick *joystick)
 
 void QGCCameraManager::_triggerCamera()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->takePhoto();
     }
@@ -648,7 +648,7 @@ void QGCCameraManager::_triggerCamera()
 
 void QGCCameraManager::_startVideoRecording()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->startVideoRecording();
     }
@@ -656,7 +656,7 @@ void QGCCameraManager::_startVideoRecording()
 
 void QGCCameraManager::_stopVideoRecording()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->stopVideoRecording();
     }
@@ -664,7 +664,7 @@ void QGCCameraManager::_stopVideoRecording()
 
 void QGCCameraManager::_toggleVideoRecording()
 {
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->toggleVideoRecording();
     }
@@ -675,7 +675,7 @@ void QGCCameraManager::_stepZoom(int direction)
     if (_lastZoomChange.elapsed() > 40) {
         _lastZoomChange.start();
         qCDebug(CameraManagerLog) << "Step Camera Zoom" << direction;
-        MavlinkCameraControl *pCamera = currentCameraInstance();
+        MavlinkCameraControlInterface *pCamera = currentCameraInstance();
         if (pCamera) {
             pCamera->stepZoom(direction);
         }
@@ -685,7 +685,7 @@ void QGCCameraManager::_stepZoom(int direction)
 void QGCCameraManager::_startZoom(int direction)
 {
     qCDebug(CameraManagerLog) << "Start Camera Zoom" << direction;
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->startZoom(direction);
     }
@@ -694,7 +694,7 @@ void QGCCameraManager::_startZoom(int direction)
 void QGCCameraManager::_stopZoom()
 {
     qCDebug(CameraManagerLog) << "Stop Camera Zoom";
-    MavlinkCameraControl *pCamera = currentCameraInstance();
+    MavlinkCameraControlInterface *pCamera = currentCameraInstance();
     if (pCamera) {
         pCamera->stopZoom();
     }
@@ -719,7 +719,7 @@ void QGCCameraManager::_stepStream(int direction)
 {
     if (_lastCameraChange.elapsed() > 1000) {
         _lastCameraChange.start();
-        MavlinkCameraControl *pCamera = currentCameraInstance();
+        MavlinkCameraControlInterface *pCamera = currentCameraInstance();
         if (pCamera) {
             qCDebug(CameraManagerLog) << "Step Camera Stream" << direction;
             int stream = pCamera->currentStream() + direction;
@@ -796,8 +796,8 @@ void QGCCameraManager::_handleCameraFovStatus(const mavlink_message_t& message)
     }
 
     auto* settings = SettingsManager::instance()->gimbalControllerSettings();
-    settings->CameraHFov()->setRawValue(fov.hfov);
-    settings->CameraVFov()->setRawValue(vfovDeg);
+    settings->cameraHFov()->setRawValue(fov.hfov);
+    settings->cameraVFov()->setRawValue(vfovDeg);
 }
 
 void QGCCameraManager::_setCurrentZoomLevel(int level)
diff --git a/src/Camera/QGCCameraManager.h b/src/Camera/QGCCameraManager.h
index 6ce5a3a9bef1..5a7515d474e1 100644
--- a/src/Camera/QGCCameraManager.h
+++ b/src/Camera/QGCCameraManager.h
@@ -17,7 +17,7 @@ Q_DECLARE_LOGGING_CATEGORY(CameraManagerLog)
 
 class CameraMetaData;
 class Joystick;
-class MavlinkCameraControl;
+class MavlinkCameraControlInterface;
 class QGCCameraManagerTest;
 class QGCVideoStreamInfo;
 class SimulatedCameraControl;
@@ -29,11 +29,11 @@ class QGCCameraManager : public QObject
     QML_ELEMENT
     QML_UNCREATABLE("")
     Q_MOC_INCLUDE("Joystick.h")
-    Q_MOC_INCLUDE("MavlinkCameraControl.h")
+    Q_MOC_INCLUDE("MavlinkCameraControlInterface.h")
 
     Q_PROPERTY(QmlObjectListModel* cameras READ cameras NOTIFY camerasChanged)
     Q_PROPERTY(QStringList cameraLabels READ cameraLabels NOTIFY cameraLabelsChanged)
-    Q_PROPERTY(MavlinkCameraControl* currentCameraInstance READ currentCameraInstance NOTIFY currentCameraChanged)
+    Q_PROPERTY(MavlinkCameraControlInterface* currentCameraInstance READ currentCameraInstance NOTIFY currentCameraChanged)
     Q_PROPERTY(int currentCamera READ currentCamera WRITE setCurrentCamera NOTIFY currentCameraChanged)
     Q_PROPERTY(int currentZoomLevel READ currentZoomLevel NOTIFY currentZoomLevelChanged)
 
@@ -65,7 +65,7 @@ class QGCCameraManager : public QObject
     const QmlObjectListModel* cameras() const { return &_cameras; }
     QStringList cameraLabels() const { return _cameraLabels; }
     int currentCamera() const { return _currentCameraIndex; }
-    MavlinkCameraControl* currentCameraInstance();
+    MavlinkCameraControlInterface* currentCameraInstance();
     void setCurrentCamera(int sel);
     QGCVideoStreamInfo* currentStreamInstance();
     QGCVideoStreamInfo* thermalStreamInstance();
@@ -112,7 +112,7 @@ private slots:
     void _setCurrentZoomLevel(int level);
 
 private:
-    MavlinkCameraControl* _findCamera(int id);
+    MavlinkCameraControlInterface* _findCamera(int id);
     void _requestCameraInfo(CameraStruct* cameraInfo);
     void _handleHeartbeat(const mavlink_message_t& message);
     void _handleCameraInfo(const mavlink_message_t& message);
@@ -125,7 +125,7 @@ private slots:
     void _handleVideoStreamStatus(const mavlink_message_t& message);
     void _handleBatteryStatus(const mavlink_message_t& message);
     void _handleTrackingImageStatus(const mavlink_message_t& message);
-    void _addCameraControlToLists(MavlinkCameraControl* cameraControl);
+    void _addCameraControlToLists(MavlinkCameraControlInterface* cameraControl);
     void _handleCameraFovStatus(const mavlink_message_t& message);
 
     QPointer<Vehicle> _vehicle;
diff --git a/src/Camera/SimulatedCameraControl.cc b/src/Camera/SimulatedCameraControl.cc
index e0ea5b6cf541..352891ccb154 100644
--- a/src/Camera/SimulatedCameraControl.cc
+++ b/src/Camera/SimulatedCameraControl.cc
@@ -9,7 +9,7 @@
 QGC_LOGGING_CATEGORY(SimulatedCameraControlLog, "Camera.SimulatedCameraControl")
 
 SimulatedCameraControl::SimulatedCameraControl(Vehicle *vehicle, QObject *parent)
-    : MavlinkCameraControl(vehicle, parent)
+    : MavlinkCameraControlInterface(vehicle, parent)
 {
     qCDebug(SimulatedCameraControlLog) << this;
 
@@ -216,7 +216,7 @@ bool SimulatedCameraControl::hasVideoStream() const
     return VideoManager::instance()->decoding();
 }
 
-MavlinkCameraControl::CaptureVideoState SimulatedCameraControl::captureVideoState() const
+MavlinkCameraControlInterface::CaptureVideoState SimulatedCameraControl::captureVideoState() const
 {
     if (!capturesVideo()) {
         return CaptureVideoStateDisabled;
@@ -230,7 +230,7 @@ MavlinkCameraControl::CaptureVideoState SimulatedCameraControl::captureVideoStat
     return CaptureVideoStateIdle;
 }
 
-MavlinkCameraControl::CapturePhotosState SimulatedCameraControl::capturePhotosState() const
+MavlinkCameraControlInterface::CapturePhotosState SimulatedCameraControl::capturePhotosState() const
 {
     if (_photoCaptureStatus() == PHOTO_CAPTURE_IN_PROGRESS) {
         return CapturePhotosStateCapturingSinglePhoto;
@@ -241,7 +241,7 @@ MavlinkCameraControl::CapturePhotosState SimulatedCameraControl::capturePhotosSt
     return capturesPhotos() ? CapturePhotosStateIdle : CapturePhotosStateDisabled;
 }
 
-void SimulatedCameraControl::setPhotoCaptureMode(MavlinkCameraControl::PhotoCaptureMode photoCaptureMode)
+void SimulatedCameraControl::setPhotoCaptureMode(MavlinkCameraControlInterface::PhotoCaptureMode photoCaptureMode)
 {
     if (photoCaptureMode == PHOTO_CAPTURE_TIMELAPSE) {
         qCWarning(CameraControlLog) << "Time lapse capture not supported by simulated camera";
diff --git a/src/Camera/SimulatedCameraControl.h b/src/Camera/SimulatedCameraControl.h
index bc31fa970550..0cf1aad785f3 100644
--- a/src/Camera/SimulatedCameraControl.h
+++ b/src/Camera/SimulatedCameraControl.h
@@ -3,7 +3,7 @@
 #include <QtCore/QElapsedTimer>
 #include <QtCore/QTimer>
 
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 
 class QGCVideoStreamInfo;
 class Vehicle;
@@ -12,7 +12,7 @@ class Vehicle;
 ///     Video record if a manual stream is available
 ///     Photo capture using DO_DIGICAM_CONTROL if the setting is enabled
 ///     It does not support time lapse capture
-class SimulatedCameraControl : public MavlinkCameraControl
+class SimulatedCameraControl : public MavlinkCameraControlInterface
 {
     Q_OBJECT
 
@@ -35,8 +35,8 @@ class SimulatedCameraControl : public MavlinkCameraControl
     void stopStream() override {}
     bool stopTakePhoto() override { return false;}
     void resumeStream() override {}
-    void startTracking(QRectF /*rec*/) override {}
-    void startTracking(QPointF /*point*/, double /*radius*/) override {}
+    void startTrackingRect(QRectF /*rec*/) override {}
+    void startTrackingPoint(QPointF /*point*/, double /*radius*/) override {}
     void stopTracking() override {}
 
     int version() const override { return 0; }
@@ -52,6 +52,8 @@ class SimulatedCameraControl : public MavlinkCameraControl
     bool hasZoom() const override { return false; }
     bool hasFocus() const override { return false; }
     bool hasTracking() const override { return false; }
+    bool supportsTrackingPoint() const override { return false; }
+    bool supportsTrackingRect() const override { return false; }
     bool hasVideoStream() const override;
     bool photosInVideoMode() const override { return true; }
     bool videoInPhotoMode() const override { return false; }
@@ -105,10 +107,11 @@ class SimulatedCameraControl : public MavlinkCameraControl
     bool trackingEnabled() const override { return false; }
     void setTrackingEnabled(bool /*set*/) override {}
 
-    TrackingStatus trackingStatus() const override { return TRACKING_UNKNOWN; }
-
-    bool trackingImageStatus() const override { return false; }
+    bool trackingImageIsActive() const override { return false; }
+    bool trackingImageIsPoint() const override { return false; }
     QRectF trackingImageRect() const override { return QRectF(); }
+    QPointF trackingImagePoint() const override { return QPointF(); }
+    qreal trackingImageRadius() const override { return 0.0; }
 
     void factChanged(Fact* /*pFact*/) override {};
     bool incomingParameter(Fact* /*pFact*/, QVariant& /*newValue*/) override { return false; }
diff --git a/src/Camera/VehicleCameraControl.cc b/src/Camera/VehicleCameraControl.cc
index 489010131c66..a6b37709c847 100644
--- a/src/Camera/VehicleCameraControl.cc
+++ b/src/Camera/VehicleCameraControl.cc
@@ -17,6 +17,8 @@
 
 #include <QtNetwork/QNetworkAccessManager>
 #include <QtCore/QDir>
+
+#include <algorithm>
 #include <QtCore/QSettings>
 #include <QtXml/QDomDocument>
 #include <QtXml/QDomNodeList>
@@ -97,7 +99,7 @@ static bool read_value(QDomNode& element, const char* tagName, QString& target)
 }
 
 VehicleCameraControl::VehicleCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
-    : MavlinkCameraControl(vehicle, parent)
+    : MavlinkCameraControlInterface(vehicle, parent)
     , _compID(compID)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
@@ -130,15 +132,9 @@ VehicleCameraControl::VehicleCameraControl(const mavlink_camera_information_t *i
     _videoRecordTimeUpdateTimer.setInterval(333);
     connect(&_videoRecordTimeUpdateTimer, &QTimer::timeout, this, &VehicleCameraControl::_recTimerHandler);
 
-    //-- Tracking
-    if(_mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE) {
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_RECTANGLE);
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_SUPPORTED);
-    }
-    if(_mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_POINT) {
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_POINT);
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_SUPPORTED);
-    }
+    //-- Tracking capabilities
+    _hasTrackingRectCapability = _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE;
+    _hasTrackingPointCapability = _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_POINT;
 
     connect(this, &VehicleCameraControl::dataReady, this, &VehicleCameraControl::_dataReady);
 
@@ -230,7 +226,7 @@ bool VehicleCameraControl::capturesPhotos() const
     return _mavlinkCameraInfo.flags & (CAMERA_CAP_FLAGS_CAPTURE_IMAGE | CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM);
 }
 
-MavlinkCameraControl::CaptureVideoState VehicleCameraControl::captureVideoState() const
+MavlinkCameraControlInterface::CaptureVideoState VehicleCameraControl::captureVideoState() const
 {
     if (_videoCaptureStatus() == VIDEO_CAPTURE_STATUS_RUNNING || VideoManager::instance()->recording()) {
         return CaptureVideoStateCapturing;
@@ -246,7 +242,7 @@ MavlinkCameraControl::CaptureVideoState VehicleCameraControl::captureVideoState(
     return CaptureVideoStateDisabled;
 }
 
-MavlinkCameraControl::CapturePhotosState VehicleCameraControl::capturePhotosState() const
+MavlinkCameraControlInterface::CapturePhotosState VehicleCameraControl::capturePhotosState() const
 {
     if (_photoCaptureStatus() == PHOTO_CAPTURE_IN_PROGRESS) {
         return CapturePhotosStateCapturingSinglePhoto;
@@ -1693,35 +1689,56 @@ void VehicleCameraControl::handleTrackingImageStatus(const mavlink_camera_tracki
 
     _trackingImageStatus = trackingImageStatus;
 
-    if (_trackingImageStatus.tracking_status == 0 || !trackingEnabled()) {
-        _trackingImageRect = {};
+    const bool active = ((_trackingImageStatus.tracking_status & CAMERA_TRACKING_STATUS_FLAGS_ACTIVE) != 0) && trackingEnabled();
+    const bool isPoint = active && (_trackingImageStatus.tracking_mode == CAMERA_TRACKING_MODE_POINT);
+
+    if (!active) {
         qCDebug(CameraControlLog) << "Tracking off";
-    } else {
-        if (_trackingImageStatus.tracking_mode == 2) {
-            _trackingImageRect = QRectF(QPointF(_trackingImageStatus.rec_top_x, _trackingImageStatus.rec_top_y),
-                                        QPointF(_trackingImageStatus.rec_bottom_x, _trackingImageStatus.rec_bottom_y));
+        _trackingImageRect = {};
+        _trackingImagePoint = {};
+        _trackingImageRadius = 0.0;
+    } else if (isPoint) {
+        const QPointF point(std::clamp(static_cast<qreal>(_trackingImageStatus.point_x), 0.0, 1.0),
+                              std::clamp(static_cast<qreal>(_trackingImageStatus.point_y), 0.0, 1.0));
+        qreal radius = static_cast<qreal>(_trackingImageStatus.radius);
+        if (qIsNaN(radius) || radius <= 0) {
+            radius = 0.05;
         } else {
-            float r = _trackingImageStatus.radius;
-            if (qIsNaN(r) || r <= 0 ) {
-                r = 0.05f;
-            }
-            // Bottom is NAN so that we can draw perfect square using video aspect ratio
-            _trackingImageRect = QRectF(QPointF(_trackingImageStatus.point_x - r, _trackingImageStatus.point_y - r),
-                                        QPointF(_trackingImageStatus.point_x + r, NAN));
+            radius = std::clamp(radius, 0.0, 1.0);
+        }
+        qCDebug(CameraControlLog) << "Tracking Point [" << point << "] radius:" << radius;
+        _trackingImageRect = {};
+        if (_trackingImagePoint != point) {
+            _trackingImagePoint = point;
+            emit trackingImagePointChanged();
+        }
+        if (!qFuzzyCompare(_trackingImageRadius, radius)) {
+            _trackingImageRadius = radius;
+            emit trackingImageRadiusChanged();
+        }
+    } else {
+        // Rectangle tracking
+        const QRectF rect = QRectF(QPointF(std::clamp(static_cast<qreal>(_trackingImageStatus.rec_top_x), 0.0, 1.0),
+                                        std::clamp(static_cast<qreal>(_trackingImageStatus.rec_top_y), 0.0, 1.0)),
+                                QPointF(std::clamp(static_cast<qreal>(_trackingImageStatus.rec_bottom_x), 0.0, 1.0),
+                                        std::clamp(static_cast<qreal>(_trackingImageStatus.rec_bottom_y), 0.0, 1.0))).normalized();
+        qCDebug(CameraControlLog) << "Tracking Rect [" << rect << "]";
+        _trackingImagePoint = {};
+        _trackingImageRadius = 0.0;
+        if (_trackingImageRect != rect) {
+            _trackingImageRect = rect;
+            emit trackingImageRectChanged();
         }
-        // get rectangle into [0..1] boundaries
-        _trackingImageRect.setLeft(std::min(std::max(_trackingImageRect.left(), 0.0), 1.0));
-        _trackingImageRect.setTop(std::min(std::max(_trackingImageRect.top(), 0.0), 1.0));
-        _trackingImageRect.setRight(std::min(std::max(_trackingImageRect.right(), 0.0), 1.0));
-        _trackingImageRect.setBottom(std::min(std::max(_trackingImageRect.bottom(), 0.0), 1.0));
-
-        qCDebug(CameraControlLog) << "Tracking Image Status [left:" << _trackingImageRect.left()
-                                  << "top:" << _trackingImageRect.top()
-                                  << "right:" << _trackingImageRect.right()
-                                  << "bottom:" << _trackingImageRect.bottom() << "]";
     }
 
-    emit trackingImageStatusChanged();
+    if (_trackingImageIsActive != active) {
+        _trackingImageIsActive = active;
+        emit trackingImageIsActiveChanged();
+    }
+    if (_trackingImageIsPoint != isPoint) {
+        _trackingImageIsPoint = isPoint;
+        emit trackingImageIsPointChanged();
+    }
 }
 
 void VehicleCameraControl::setCurrentStream(int stream)
@@ -2323,59 +2340,60 @@ VehicleCameraControl::mode()
 
 void VehicleCameraControl::setTrackingEnabled(bool set)
 {
-    if(set) {
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_ENABLED);
-    } else {
-        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus & ~TRACKING_ENABLED);
+    if (_trackingEnabled == set) {
+        return;
+    }
+    _trackingEnabled = set;
+    if (!set) {
+        stopTracking();
     }
     emit trackingEnabledChanged();
 }
 
-void VehicleCameraControl::startTracking(QRectF rec)
+void VehicleCameraControl::startTrackingRect(QRectF rec)
 {
-    if(_trackingMarquee != rec) {
-        _trackingMarquee = rec;
+    if (!_hasTrackingRectCapability) {
+        qCCritical(CameraControlLog) << "startTrackingRect called but camera does not have rectangle tracking capability";
+        return;
+    }
 
-        qCDebug(CameraControlLog) << "Start Tracking (Rectangle: ["
-                                  << static_cast<float>(rec.x()) << ", "
-                                  << static_cast<float>(rec.y()) << "] - ["
-                                  << static_cast<float>(rec.x() + rec.width()) << ", "
-                                  << static_cast<float>(rec.y() + rec.height()) << "]";
+    qCDebug(CameraControlLog) << "Start Tracking (Rectangle: ["
+                              << static_cast<float>(rec.x()) << ", "
+                              << static_cast<float>(rec.y()) << "] - ["
+                              << static_cast<float>(rec.x() + rec.width()) << ", "
+                              << static_cast<float>(rec.y() + rec.height()) << "]";
 
-        _vehicle->sendMavCommand(_compID,
-                                 MAV_CMD_CAMERA_TRACK_RECTANGLE,
-                                 true,
-                                 static_cast<float>(rec.x()),
-                                 static_cast<float>(rec.y()),
-                                 static_cast<float>(rec.x() + rec.width()),
-                                 static_cast<float>(rec.y() + rec.height()));
+    _vehicle->sendMavCommand(_compID,
+                             MAV_CMD_CAMERA_TRACK_RECTANGLE,
+                             true,
+                             static_cast<float>(rec.x()),
+                             static_cast<float>(rec.y()),
+                             static_cast<float>(rec.x() + rec.width()),
+                             static_cast<float>(rec.y() + rec.height()));
 
-        // Request tracking status
-        _requestTrackingStatus();
-    }
+    _requestTrackingStatus();
 }
 
-void VehicleCameraControl::startTracking(QPointF point, double radius)
+void VehicleCameraControl::startTrackingPoint(QPointF point, double radius)
 {
-    if(_trackingPoint != point || _trackingRadius != radius) {
-        _trackingPoint  = point;
-        _trackingRadius = radius;
+    if (!_hasTrackingPointCapability) {
+        qCCritical(CameraControlLog) << "startTrackingPoint called but camera does not have point tracking capability";
+        return;
+    }
 
-        qCDebug(CameraControlLog) << "Start Tracking (Point: ["
-                                  << static_cast<float>(point.x()) << ", "
-                                  << static_cast<float>(point.y()) << "], Radius:  "
-                                  << static_cast<float>(radius);
+    qCDebug(CameraControlLog) << "Start Tracking (Point: ["
+                              << static_cast<float>(point.x()) << ", "
+                              << static_cast<float>(point.y()) << "], Radius:  "
+                              << static_cast<float>(radius);
 
-        _vehicle->sendMavCommand(_compID,
-                                 MAV_CMD_CAMERA_TRACK_POINT,
-                                 true,
-                                 static_cast<float>(point.x()),
-                                 static_cast<float>(point.y()),
-                                 static_cast<float>(radius));
+    _vehicle->sendMavCommand(_compID,
+                             MAV_CMD_CAMERA_TRACK_POINT,
+                             true,
+                             static_cast<float>(point.x()),
+                             static_cast<float>(point.y()),
+                             static_cast<float>(radius));
 
-        // Request tracking status
-        _requestTrackingStatus();
-    }
+    _requestTrackingStatus();
 }
 
 void VehicleCameraControl::stopTracking()
@@ -2394,8 +2412,18 @@ void VehicleCameraControl::stopTracking()
                              MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS,
                              -1);
 
-    // reset tracking image rectangle
+    // reset tracking state
     _trackingImageRect = {};
+    _trackingImagePoint = {};
+    _trackingImageRadius = 0.0;
+    if (_trackingImageIsActive) {
+        _trackingImageIsActive = false;
+        emit trackingImageIsActiveChanged();
+    }
+    if (_trackingImageIsPoint) {
+        _trackingImageIsPoint = false;
+        emit trackingImageIsPointChanged();
+    }
 }
 
 void VehicleCameraControl::_requestTrackingStatus()
diff --git a/src/Camera/VehicleCameraControl.h b/src/Camera/VehicleCameraControl.h
index a9cbe6a5a647..6ff3470eded6 100644
--- a/src/Camera/VehicleCameraControl.h
+++ b/src/Camera/VehicleCameraControl.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "QmlObjectListModel.h"
 
 class QGCVideoStreamInfo;
@@ -35,7 +35,7 @@ class QGCCameraOptionRange : public QObject
 };
 
 /// MAVLink Camera API controller - connected to a real mavlink v2 camera
-class VehicleCameraControl : public MavlinkCameraControl
+class VehicleCameraControl : public MavlinkCameraControlInterface
 {
 public:
     VehicleCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);
@@ -56,8 +56,8 @@ class VehicleCameraControl : public MavlinkCameraControl
     Q_INVOKABLE virtual void stopZoom               ();
     Q_INVOKABLE virtual void stopStream             ();
     Q_INVOKABLE virtual void resumeStream           ();
-    Q_INVOKABLE virtual void startTracking          (QRectF rec);
-    Q_INVOKABLE virtual void startTracking          (QPointF point, double radius);
+    Q_INVOKABLE virtual void startTrackingRect      (QRectF rec);
+    Q_INVOKABLE virtual void startTrackingPoint     (QPointF point, double radius);
     Q_INVOKABLE virtual void stopTracking           ();
 
     virtual int         version             () const { return _version; }
@@ -72,7 +72,9 @@ class VehicleCameraControl : public MavlinkCameraControl
     virtual bool        hasModes            () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_MODES; }
     virtual bool        hasZoom             () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM; }
     virtual bool        hasFocus            () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS; }
-    virtual bool        hasTracking         () const { return _trackingStatus & TRACKING_SUPPORTED; }
+    virtual bool        hasTracking         () const { return _hasTrackingRectCapability || _hasTrackingPointCapability; }
+    virtual bool        supportsTrackingPoint() const { return _hasTrackingPointCapability; }
+    virtual bool        supportsTrackingRect () const { return _hasTrackingRectCapability; }
     virtual bool        hasVideoStream      () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM; }
     virtual bool        photosInVideoMode   () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE; }
     virtual bool        videoInPhotoMode    () const { return _mavlinkCameraInfo.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE; }
@@ -125,13 +127,14 @@ class VehicleCameraControl : public MavlinkCameraControl
     virtual void        handleVideoStreamInformation(const mavlink_video_stream_information_t &videoStreamInformation);
     virtual void        handleVideoStreamStatus(const mavlink_video_stream_status_t &videoStreamStatus);
 
-    virtual bool        trackingEnabled     () const { return _trackingStatus & TRACKING_ENABLED; }
+    virtual bool        trackingEnabled     () const { return _trackingEnabled; }
     virtual void        setTrackingEnabled  (bool set);
 
-    virtual TrackingStatus trackingStatus   () const { return _trackingStatus; }
-
-    virtual bool trackingImageStatus() const { return _trackingImageStatus.tracking_status == 1; }
+    virtual bool trackingImageIsActive() const { return _trackingImageIsActive; }
+    virtual bool trackingImageIsPoint() const { return _trackingImageIsPoint; }
     virtual QRectF trackingImageRect() const { return _trackingImageRect; }
+    virtual QPointF trackingImagePoint() const { return _trackingImagePoint; }
+    virtual qreal trackingImageRadius() const { return _trackingImageRadius; }
 
     virtual Fact*   exposureMode        ();
     virtual Fact*   ev                  ();
@@ -293,10 +296,13 @@ protected slots:
     QStringList                         _streamLabels;
     ThermalViewMode                     _thermalMode        = THERMAL_BLEND;
     double                              _thermalOpacity     = 85.0;
-    TrackingStatus                      _trackingStatus     = TRACKING_UNKNOWN;
-    QRectF                              _trackingMarquee;
-    QPointF                             _trackingPoint;
-    double                              _trackingRadius     = 0.0;
-    mavlink_camera_tracking_image_status_t  _trackingImageStatus;
+    bool                                _hasTrackingRectCapability = false;
+    bool                                _hasTrackingPointCapability = false;
+    bool                                _trackingEnabled      = false;
+    bool                                    _trackingImageIsActive = false;
+    bool                                    _trackingImageIsPoint = false;
+    mavlink_camera_tracking_image_status_t  _trackingImageStatus{};
     QRectF                                  _trackingImageRect;
+    QPointF                                 _trackingImagePoint;
+    qreal                                   _trackingImageRadius = 0.0;
 };
diff --git a/src/Comms/LinkInterface.cc b/src/Comms/LinkInterface.cc
index d2bcd60c3054..d967783dc1d0 100644
--- a/src/Comms/LinkInterface.cc
+++ b/src/Comms/LinkInterface.cc
@@ -3,8 +3,6 @@
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 #include "MAVLinkSigning.h"
-#include "SettingsManager.h"
-#include "MavlinkSettings.h"
 
 #include <QtQml/QQmlEngine>
 
@@ -42,20 +40,16 @@ bool LinkInterface::mavlinkChannelIsSet() const
 
 bool LinkInterface::initMavlinkSigning()
 {
-    if (!isSecureConnection()) {
-        auto mavlinkSettings = SettingsManager::instance()->mavlinkSettings();
-        const QByteArray signingKeyBytes = mavlinkSettings->mavlink2SigningKey()->rawValue().toByteArray();
-        if (MAVLinkSigning::initSigning(static_cast<mavlink_channel_t>(_mavlinkChannel), signingKeyBytes, MAVLinkSigning::insecureConnectionAccceptUnsignedCallback)) {
-            if (signingKeyBytes.isEmpty()) {
-                qCDebug(LinkInterfaceLog) << "Signing disabled on channel" << _mavlinkChannel;
-            } else {
-                qCDebug(LinkInterfaceLog) << "Signing enabled on channel" << _mavlinkChannel;
-            }
-        } else {
-            qCWarning(LinkInterfaceLog) << "Failed To enable Signing on channel" << _mavlinkChannel;
-            // FIXME: What should we do here?
-            return false;
-        }
+    // Always clear any prior signing state on the channel to avoid stale
+    // mavlink_status_t::signing from a previous connection on this channel.
+    // For insecure connections the correct key will be auto-detected from
+    // incoming signed packets via MAVLinkSigning::tryDetectKey().
+    if (MAVLinkSigning::initSigning(static_cast<mavlink_channel_t>(_mavlinkChannel), QByteArrayView(), nullptr)) {
+        qCDebug(LinkInterfaceLog) << "Signing cleared on channel" << _mavlinkChannel
+                                  << (isSecureConnection() ? "(secure)" : "(will auto-detect)");
+    } else {
+        qCWarning(LinkInterfaceLog) << "Failed to initialise signing on channel" << _mavlinkChannel;
+        return false;
     }
 
     return true;
diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
index 5c9aa6d9b08e..cd127a8ed76e 100644
--- a/src/Comms/LinkManager.cc
+++ b/src/Comms/LinkManager.cc
@@ -785,20 +785,6 @@ bool LinkManager::isLinkUSBDirect(const LinkInterface *link)
     return false;
 }
 
-void LinkManager::resetMavlinkSigning()
-{
-    // Make a copy under mutex protection to avoid holding lock during signing initialization
-    QList<SharedLinkInterfacePtr> links;
-    {
-        QMutexLocker locker(&_linksMutex);
-        links = _rgLinks;
-    }
-
-    for (const SharedLinkInterfacePtr &sharedLink: links) {
-        sharedLink->initMavlinkSigning();
-    }
-}
-
 #ifndef QGC_NO_SERIAL_LINK // Serial Only Functions
 
 void LinkManager::_filterCompositePorts(QList<QGCSerialPortInfo> &portList)
diff --git a/src/Comms/LinkManager.h b/src/Comms/LinkManager.h
index 964b1ecfeb7d..69fa18eaadf8 100644
--- a/src/Comms/LinkManager.h
+++ b/src/Comms/LinkManager.h
@@ -88,9 +88,6 @@ class LinkManager : public QObject
     /// Returns pointer to the mavlink support forwarding link, or nullptr if it does not exist
     SharedLinkInterfacePtr mavlinkForwardingSupportLink();
 
-    /// Re-initilize the mavlink signing for all links. Used when the signing key changes.
-    void resetMavlinkSigning();
-
     void disconnectAll();
 
     /// Allocates a mavlink channel for use
diff --git a/src/Comms/MockLink/MockConfiguration.cc b/src/Comms/MockLink/MockConfiguration.cc
index 55052aea96ab..5b03cd0d91d6 100644
--- a/src/Comms/MockLink/MockConfiguration.cc
+++ b/src/Comms/MockLink/MockConfiguration.cc
@@ -92,8 +92,8 @@ void MockConfiguration::loadSettings(QSettings &settings, const QString &root)
     setCameraCanCaptureImageInVideoMode(settings.value(_cameraCanCaptureImageInVideoModeKey, true).toBool());
     setCameraCanCaptureVideoInImageMode(settings.value(_cameraCanCaptureVideoInImageModeKey, false).toBool());
     setCameraHasBasicZoom(settings.value(_cameraHasBasicZoomKey, true).toBool());
-    setCameraHasTrackingPoint(settings.value(_cameraHasTrackingPointKey, false).toBool());
-    setCameraHasTrackingRectangle(settings.value(_cameraHasTrackingRectangleKey, false).toBool());
+    setCameraHasTrackingPoint(settings.value(_cameraHasTrackingPointKey, true).toBool());
+    setCameraHasTrackingRectangle(settings.value(_cameraHasTrackingRectangleKey, true).toBool());
     setGimbalHasRollAxis(settings.value(_gimbalHasRollAxisKey, true).toBool());
     setGimbalHasPitchAxis(settings.value(_gimbalHasPitchAxisKey, true).toBool());
     setGimbalHasYawAxis(settings.value(_gimbalHasYawAxisKey, true).toBool());
diff --git a/src/Comms/MockLink/MockConfiguration.h b/src/Comms/MockLink/MockConfiguration.h
index 26057d8049c0..ec160a687a26 100644
--- a/src/Comms/MockLink/MockConfiguration.h
+++ b/src/Comms/MockLink/MockConfiguration.h
@@ -153,8 +153,8 @@ class MockConfiguration : public LinkConfiguration
     bool _cameraCanCaptureImageInVideoMode = true;
     bool _cameraCanCaptureVideoInImageMode = false;
     bool _cameraHasBasicZoom = true;
-    bool _cameraHasTrackingPoint = false;
-    bool _cameraHasTrackingRectangle = false;
+    bool _cameraHasTrackingPoint = true;
+    bool _cameraHasTrackingRectangle = true;
 
     // Gimbal capability flags (defaults - all enabled)
     bool _gimbalHasRollAxis = true;
diff --git a/src/Comms/MockLink/MockLink.cc b/src/Comms/MockLink/MockLink.cc
index 16c2349c9c38..bf5b07477766 100644
--- a/src/Comms/MockLink/MockLink.cc
+++ b/src/Comms/MockLink/MockLink.cc
@@ -7,6 +7,9 @@
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 #include "FirmwarePlugin.h"
+#include "FactMetaData.h"
+#include "ParameterManager.h"
+#include "QGC.h"
 
 #include <QtCore/QFile>
 #include <QtCore/QMutexLocker>
@@ -696,6 +699,9 @@ void MockLink::_handleIncomingMavlinkMsg(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_PARAM_MAP_RC:
         _handleParamMapRC(msg);
         break;
+    case MAVLINK_MSG_ID_SETUP_SIGNING:
+        _handleSetupSigning(msg);
+        break;
     default:
         break;
     }
@@ -723,6 +729,28 @@ void MockLink::_handleParamMapRC(const mavlink_message_t &msg)
     }
 }
 
+void MockLink::_handleSetupSigning(const mavlink_message_t &msg)
+{
+    mavlink_setup_signing_t setupSigning{};
+    mavlink_msg_setup_signing_decode(&msg, &setupSigning);
+
+    if (setupSigning.target_system != _vehicleSystemId) {
+        return;
+    }
+
+    // All-zero key = disable signing
+    bool allZeroKey = true;
+    for (const uint8_t byte : setupSigning.secret_key) {
+        if (byte != 0) {
+            allZeroKey = false;
+            break;
+        }
+    }
+
+    _signingEnabled = !allZeroKey;
+    qCDebug(MockLinkLog) << "Signing" << (_signingEnabled ? "enabled" : "disabled");
+}
+
 void MockLink::_handleSetMode(const mavlink_message_t &msg)
 {
     mavlink_set_mode_t request{};
@@ -784,6 +812,13 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString &paramN
     _mapParamName2Value[componentId][paramName] = paramVariant;
 }
 
+void MockLink::setMockParamValue(int componentId, const QString &paramName, float value)
+{
+    mavlink_param_union_t valueUnion{};
+    valueUnion.param_float = value;
+    _setParamFloatUnionIntoMap(componentId, paramName, valueUnion.param_float);
+}
+
 float MockLink::_floatUnionForParam(int componentId, const QString &paramName)
 {
     Q_ASSERT(_mapParamName2Value.contains(componentId));
@@ -852,6 +887,37 @@ float MockLink::_floatUnionForParam(int componentId, const QString &paramName)
     return valueUnion.param_float;
 }
 
+uint32_t MockLink::_computeParamHash(int componentId) const
+{
+    // Volatile parameters are excluded from the hash, matching PX4 firmware and ParameterManager::_tryCacheHashLoad
+    static const QStringList volatileParams = {
+        QStringLiteral("COM_FLIGHT_UUID"),
+        QStringLiteral("EKF2_MAGBIAS_X"),
+        QStringLiteral("EKF2_MAGBIAS_Y"),
+        QStringLiteral("EKF2_MAGBIAS_Z"),
+        QStringLiteral("EKF2_MAG_DECL"),
+        QStringLiteral("LND_FLIGHT_T_HI"),
+        QStringLiteral("LND_FLIGHT_T_LO"),
+        QStringLiteral("SYS_RESTART_TYPE"),
+    };
+
+    uint32_t crc = 0;
+    const auto &params = _mapParamName2Value[componentId];
+    for (auto it = params.constBegin(); it != params.constEnd(); ++it) {
+        const QString &name = it.key();
+        if (volatileParams.contains(name)) {
+            continue;
+        }
+        const QVariant &value = it.value();
+        const MAV_PARAM_TYPE mavType = _mapParamName2MavParamType[componentId][name];
+        const FactMetaData::ValueType_t factType = ParameterManager::mavTypeToFactType(mavType);
+
+        crc = QGC::crc32(reinterpret_cast<const uint8_t *>(qPrintable(name)), name.length(), crc);
+        crc = QGC::crc32(static_cast<const uint8_t *>(value.constData()), FactMetaData::typeToSize(factType), crc);
+    }
+    return crc;
+}
+
 void MockLink::_handleParamRequestList(const mavlink_message_t &msg)
 {
     if (_failureMode == MockConfiguration::FailParamNoResponseToRequestList) {
@@ -875,6 +941,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t &msg)
     // Start the worker routine
     _currentParamRequestListComponentIndex = 0;
     _currentParamRequestListParamIndex = 0;
+    _paramRequestListHashCheckSent = false;
 }
 
 void MockLink::_paramRequestListWorker()
@@ -897,6 +964,37 @@ void MockLink::_paramRequestListWorker()
     const int cParameters = _paramRequestListParamNames.count();
 
     if (_currentParamRequestListParamIndex >= cParameters) {
+        // All regular params sent — for PX4, append _HASH_CHECK as the last entry in the stream.
+        // Uses param_count=0, param_index=-1 (same as standalone response) so ParameterManager
+        // handles it via the _HASH_CHECK early-return path without affecting param count tracking.
+        if (_firmwareType == MAV_AUTOPILOT_PX4 && !_paramRequestListHashCheckSent) {
+            _paramRequestListHashCheckSent = true;
+
+            mavlink_param_union_t valueUnion{};
+            valueUnion.type = MAV_PARAM_TYPE_UINT32;
+            valueUnion.param_uint32 = _computeParamHash(componentId);
+
+            char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN]{};
+            (void) strncpy(paramId, "_HASH_CHECK", MAVLINK_MSG_ID_PARAM_VALUE_LEN);
+
+            qCDebug(MockLinkLog) << "Sending _HASH_CHECK in PARAM_REQUEST_LIST stream" << componentId << "hash:" << valueUnion.param_uint32;
+
+            mavlink_message_t responseMsg{};
+            (void) mavlink_msg_param_value_pack_chan(
+                _vehicleSystemId,
+                componentId,
+                mavlinkChannel(),
+                &responseMsg,
+                paramId,
+                valueUnion.param_float,
+                MAV_PARAM_TYPE_UINT32,
+                0,      // param_count: 0 to avoid affecting ParameterManager's count tracking
+                -1      // param_index: -1 signals this is a virtual/out-of-band parameter
+            );
+            respondWithMavlinkMessage(responseMsg);
+            return;
+        }
+
         // Move to next component
         if (++_currentParamRequestListComponentIndex >= _paramRequestListComponentIds.count()) {
             _currentParamRequestListComponentIndex = -1;
@@ -906,6 +1004,7 @@ void MockLink::_paramRequestListWorker()
             // Cache param names for the new component
             _paramRequestListParamNames = _mapParamName2Value[_paramRequestListComponentIds.at(_currentParamRequestListComponentIndex)].keys();
             _currentParamRequestListParamIndex = 0;
+            _paramRequestListHashCheckSent = false;
         }
         return;
     }
@@ -961,6 +1060,18 @@ void MockLink::_handleParamSet(const mavlink_message_t &msg)
 
     qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;
 
+    // PX4 special case: _HASH_CHECK is a virtual parameter used by ParameterManager
+    // to signal cache-hit and stop parameter streaming. It is intentionally not part
+    // of the normal parameter maps.
+    if ((_firmwareType == MAV_AUTOPILOT_PX4) && (strncmp(paramId, "_HASH_CHECK", MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN) == 0)) {
+        QMutexLocker locker(&_paramRequestListMutex);
+        _currentParamRequestListComponentIndex = -1;
+        _paramRequestListComponentIds.clear();
+        _paramRequestListParamNames.clear();
+        qCDebug(MockLinkLog) << "Received _HASH_CHECK PARAM_SET, stopping parameter stream";
+        return;
+    }
+
     Q_ASSERT(_mapParamName2Value.contains(componentId));
     Q_ASSERT(_mapParamName2MavParamType.contains(componentId));
     Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
@@ -1005,15 +1116,23 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t &msg)
     const QString paramName(QString::fromLocal8Bit(request.param_id, static_cast<int>(strnlen(request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN))));
     const int componentId = request.target_component;
 
-    // special case for magic _HASH_CHECK value
-    if ((request.target_component == MAV_COMP_ID_ALL) && (paramName == "_HASH_CHECK")) {
+    // special case for magic _HASH_CHECK value (PX4 only)
+    if ((_firmwareType == MAV_AUTOPILOT_PX4) && (paramName == "_HASH_CHECK")) {
+        _hashCheckRequestCount++;
+        if (_hashCheckNoResponse) {
+            return;
+        }
+
+        const int hashComponentId = _mapParamName2Value.contains(MAV_COMP_ID_AUTOPILOT1)
+            ? MAV_COMP_ID_AUTOPILOT1
+            : _mapParamName2Value.keys().first();
+
         mavlink_param_union_t valueUnion{};
         valueUnion.type = MAV_PARAM_TYPE_UINT32;
-        valueUnion.param_uint32 = 0;
-        // Special case of magic hash check value
+        valueUnion.param_uint32 = _computeParamHash(hashComponentId);
         (void) mavlink_msg_param_value_pack_chan(
             _vehicleSystemId,
-            componentId,
+            hashComponentId,
             mavlinkChannel(),
             &responseMsg,
             request.param_id,
@@ -1888,6 +2007,17 @@ void MockLink::_handleRequestMessage(const mavlink_command_long_t &request, bool
     accepted = false;
     noAck = false;
 
+    const uint32_t requestedMessageId = static_cast<uint32_t>(request.param1);
+
+    // Per-message-ID no-response injection: silently drop the request (no ACK, no message)
+    {
+        QMutexLocker locker(&_requestMessageNoResponseMutex);
+        if (_requestMessageNoResponseIds.contains(requestedMessageId)) {
+            noAck = true;
+            return;
+        }
+    }
+
     switch (static_cast<int>(request.param1)) {
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
         _handleRequestMessageAutopilotVersion(request, accepted);
diff --git a/src/Comms/MockLink/MockLink.h b/src/Comms/MockLink/MockLink.h
index 6775137fdfe8..52d5259d0021 100644
--- a/src/Comms/MockLink/MockLink.h
+++ b/src/Comms/MockLink/MockLink.h
@@ -10,6 +10,7 @@
 #include <QtCore/QLoggingCategory>
 #include <QtCore/QMap>
 #include <QtCore/QMutex>
+#include <QtCore/QSet>
 #include <QtPositioning/QGeoCoordinate>
 
 #include <atomic>
@@ -51,6 +52,8 @@ class MockLink : public LinkInterface
     double vehicleLongitude() const { return _vehicleLongitude; }
     double vehicleAltitudeAMSL() const { return _vehicleAltitudeAMSL; }
 
+    bool signingEnabled() const { return _signingEnabled; }
+
     /// Sends the specified mavlink message to QGC
     void respondWithMavlinkMessage(const mavlink_message_t &msg);
 
@@ -84,7 +87,7 @@ class MockLink : public LinkInterface
     int receivedRequestMessageCount(int compId, int messageId) const { return _receivedRequestMessageByCompAndMsgCountMap.value(compId).value(messageId, 0); }
     void clearReceivedRequestMessageCounts() { _receivedRequestMessageCountMap.clear(); _receivedRequestMessageByCompAndMsgCountMap.clear(); }
     int receivedRequestMessageCount(uint32_t messageId) const { return _receivedRequestMessageCountMap.value(messageId, 0); }
-    void clearReceivedMavlinkMessageCounts() { _receivedMavlinkMessageCountMap.clear(); }
+    void clearReceivedMavlinkMessageCounts() { _receivedMavlinkMessageCountMap.clear(); _hashCheckRequestCount = 0; }
     int receivedMavlinkMessageCount(uint32_t messageId) const { return _receivedMavlinkMessageCountMap.value(messageId, 0); }
 
     enum RequestMessageFailureMode_t {
@@ -95,6 +98,17 @@ class MockLink : public LinkInterface
     };
     void setRequestMessageFailureMode(RequestMessageFailureMode_t failureMode) { _requestMessageFailureMode = failureMode; }
 
+    /// Block or unblock REQUEST_MESSAGE responses for a specific message ID.
+    /// When blocked, MockLink silently drops the request (no ACK, no message).
+    void setRequestMessageNoResponse(uint32_t messageId, bool noResponse = true) {
+        QMutexLocker locker(&_requestMessageNoResponseMutex);
+        if (noResponse) {
+            _requestMessageNoResponseIds.insert(messageId);
+        } else {
+            _requestMessageNoResponseIds.remove(messageId);
+        }
+    }
+
     enum ParamSetFailureMode_t {
         FailParamSetNone,               ///< Normal behavior
         FailParamSetNoAck,              ///< Do not send PARAM_VALUE ack
@@ -115,6 +129,14 @@ class MockLink : public LinkInterface
         _paramRequestReadFailureFirstAttemptPending = (mode == FailParamRequestReadFirstAttemptNoResponse);
     }
 
+    void setHashCheckNoResponse(bool noResponse) { _hashCheckNoResponse = noResponse; }
+
+    /// Returns the number of standalone PARAM_REQUEST_READ requests for _HASH_CHECK received
+    int hashCheckRequestCount() const { return _hashCheckRequestCount; }
+
+    /// Change a float parameter value directly on MockLink (for testing cache invalidation)
+    void setMockParamValue(int componentId, const QString &paramName, float value);
+
     static MockLink *startPX4MockLink(bool sendStatusText, bool enableCamera, bool enableGimbal, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink *startGenericMockLink(bool sendStatusText, bool enableCamera, bool enableGimbal, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
     static MockLink *startNoInitialConnectMockLink(bool sendStatusText, bool enableCamera, bool enableGimbal, MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
@@ -163,6 +185,7 @@ private slots:
 
     /// Convert from a parameter variant to the float value from mavlink_param_union_t
     float _floatUnionForParam(int componentId, const QString &paramName);
+    uint32_t _computeParamHash(int componentId) const;
     void _setParamFloatUnionIntoMap(int componentId, const QString &paramName, float paramFloat);
 
     /// Handle incoming bytes which are meant to be interpreted by the NuttX shell
@@ -187,6 +210,7 @@ private slots:
     void _handleLogRequestList(const mavlink_message_t &msg);
     void _handleLogRequestData(const mavlink_message_t &msg);
     void _handleParamMapRC(const mavlink_message_t &msg);
+    void _handleSetupSigning(const mavlink_message_t &msg);
     void _handleRequestMessage(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
     void _handleRequestMessageAutopilotVersion(const mavlink_command_long_t &request, bool &accepted);
     void _handleRequestMessageDebug(const mavlink_command_long_t &request, bool &accepted, bool &noAck);
@@ -268,6 +292,7 @@ private slots:
 
     double _vehicleAltitudeAMSL = _defaultVehicleHomeAltitude;
     bool _commLost = false;
+    bool _signingEnabled = false;
     bool _highLatencyTransmissionEnabled = true;
 
     int _sendHomePositionDelayCount = 10;               ///< No home position for 4 seconds
@@ -299,10 +324,15 @@ private slots:
     QMutex _logDownloadMutex;
 
     RequestMessageFailureMode_t _requestMessageFailureMode = FailRequestMessageNone;
+    mutable QMutex _requestMessageNoResponseMutex;
+    QSet<uint32_t> _requestMessageNoResponseIds;
     ParamSetFailureMode_t _paramSetFailureMode = FailParamSetNone;
     bool _paramSetFailureFirstAttemptPending = false;
     ParamRequestReadFailureMode_t _paramRequestReadFailureMode = FailParamRequestReadNone;
     bool _paramRequestReadFailureFirstAttemptPending = false;
+    bool _hashCheckNoResponse = false;
+    int _hashCheckRequestCount = 0;
+    bool _paramRequestListHashCheckSent = false;
 
     QMap<MAV_CMD, int> _receivedMavCommandCountMap;
     QMap<MAV_CMD, QMap<int, int>> _receivedMavCommandByCompCountMap;
diff --git a/src/Comms/MockLink/MockLinkCamera.cc b/src/Comms/MockLink/MockLinkCamera.cc
index feeb5db2ea36..2cc680e65ab5 100644
--- a/src/Comms/MockLink/MockLinkCamera.cc
+++ b/src/Comms/MockLink/MockLinkCamera.cc
@@ -5,6 +5,9 @@
 
 #include <QtCore/QDateTime>
 #include <QtCore/QLoggingCategory>
+#include <QtCore/QtMath>
+
+#include <algorithm>
 
 QGC_LOGGING_CATEGORY(MockLinkCameraLog, "Comms.MockLink.MockLinkCamera")
 
@@ -105,6 +108,34 @@ void MockLinkCamera::run10HzTasks()
             _sendCameraImageCaptured(cam->compId);
             _sendCameraCaptureStatus(cam->compId);
         }
+
+        // Send periodic tracking image status (with simulated drift)
+        if (cam->trackingMode != CAMERA_TRACKING_MODE_NONE && cam->trackingStatusIntervalUs > 0) {
+            const qint64 intervalMs = (cam->trackingStatusIntervalUs + 999) / 1000;
+            if (cam->trackingStatusLastSentMs == 0 || (now - cam->trackingStatusLastSentMs) >= intervalMs) {
+                // Drift the tracked target in a figure-8 pattern around its anchor
+                const double elapsed = static_cast<double>(now - cam->trackingStartMs) / 1000.0;
+                const float driftX = 0.05f * static_cast<float>(qSin(elapsed * 0.7));
+                const float driftY = 0.05f * static_cast<float>(qSin(elapsed * 1.1));
+
+                if (cam->trackingMode == CAMERA_TRACKING_MODE_POINT) {
+                    cam->trackPointX = std::clamp(cam->trackAnchorX + driftX, 0.0f, 1.0f);
+                    cam->trackPointY = std::clamp(cam->trackAnchorY + driftY, 0.0f, 1.0f);
+                } else {
+                    const float halfW = (cam->trackRecBottomX - cam->trackRecTopX) / 2.0f;
+                    const float halfH = (cam->trackRecBottomY - cam->trackRecTopY) / 2.0f;
+                    const float cx = std::clamp(cam->trackAnchorX + driftX, halfW, 1.0f - halfW);
+                    const float cy = std::clamp(cam->trackAnchorY + driftY, halfH, 1.0f - halfH);
+                    cam->trackRecTopX    = cx - halfW;
+                    cam->trackRecTopY    = cy - halfH;
+                    cam->trackRecBottomX = cx + halfW;
+                    cam->trackRecBottomY = cy + halfH;
+                }
+
+                _sendCameraTrackingImageStatus(cam->compId);
+                cam->trackingStatusLastSentMs = now;
+            }
+        }
     }
 }
 
@@ -344,12 +375,64 @@ bool MockLinkCamera::_handleCameraCommand(const mavlink_command_long_t &request,
         return true;
 
     case MAV_CMD_CAMERA_TRACK_POINT:
+        if (cam->capFlags & CAMERA_CAP_FLAGS_HAS_TRACKING_POINT) {
+            cam->trackingMode    = CAMERA_TRACKING_MODE_POINT;
+            cam->trackPointX     = request.param1;
+            cam->trackPointY     = request.param2;
+            cam->trackRadius     = request.param3;
+            cam->trackAnchorX    = request.param1;
+            cam->trackAnchorY    = request.param2;
+            cam->trackingStartMs = QDateTime::currentMSecsSinceEpoch();
+            qCDebug(MockLinkCameraLog) << "Camera" << targetCompId << "tracking point"
+                                       << cam->trackPointX << cam->trackPointY << "radius" << cam->trackRadius;
+            _sendCommandAck(targetCompId, request.command, MAV_RESULT_ACCEPTED);
+        } else {
+            _sendCommandAck(targetCompId, request.command, MAV_RESULT_DENIED);
+        }
+        return true;
+
     case MAV_CMD_CAMERA_TRACK_RECTANGLE:
+        if (cam->capFlags & CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE) {
+            cam->trackingMode      = CAMERA_TRACKING_MODE_RECTANGLE;
+            cam->trackRecTopX      = request.param1;
+            cam->trackRecTopY      = request.param2;
+            cam->trackRecBottomX   = request.param3;
+            cam->trackRecBottomY   = request.param4;
+            cam->trackAnchorX      = (request.param1 + request.param3) / 2.0f;
+            cam->trackAnchorY      = (request.param2 + request.param4) / 2.0f;
+            cam->trackingStartMs   = QDateTime::currentMSecsSinceEpoch();
+            qCDebug(MockLinkCameraLog) << "Camera" << targetCompId << "tracking rectangle"
+                                       << cam->trackRecTopX << cam->trackRecTopY
+                                       << "->" << cam->trackRecBottomX << cam->trackRecBottomY;
+            _sendCommandAck(targetCompId, request.command, MAV_RESULT_ACCEPTED);
+        } else {
+            _sendCommandAck(targetCompId, request.command, MAV_RESULT_DENIED);
+        }
+        return true;
+
     case MAV_CMD_CAMERA_STOP_TRACKING:
-        qCDebug(MockLinkCameraLog) << "Camera" << targetCompId << "tracking command" << request.command;
+        cam->trackingMode = CAMERA_TRACKING_MODE_NONE;
+        cam->trackingStatusIntervalUs = -1;
+        cam->trackingStatusLastSentMs = 0;
+        qCDebug(MockLinkCameraLog) << "Camera" << targetCompId << "tracking stopped";
         _sendCommandAck(targetCompId, request.command, MAV_RESULT_ACCEPTED);
         return true;
 
+    case MAV_CMD_SET_MESSAGE_INTERVAL:
+    {
+        const int msgId = static_cast<int>(request.param1);
+        if (msgId == MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS) {
+            cam->trackingStatusIntervalUs = static_cast<qint64>(request.param2);
+            cam->trackingStatusLastSentMs = 0;
+            qCDebug(MockLinkCameraLog) << "Camera" << targetCompId
+                                       << "tracking status interval" << cam->trackingStatusIntervalUs << "us";
+            _sendCommandAck(targetCompId, request.command, MAV_RESULT_ACCEPTED);
+            return true;
+        }
+        _sendCommandAck(targetCompId, request.command, MAV_RESULT_UNSUPPORTED);
+        return true;
+    }
+
     default:
         break;
     }
@@ -650,6 +733,33 @@ void MockLinkCamera::_sendVideoStreamStatus(uint8_t compId, uint8_t streamId)
     qCDebug(MockLinkCameraLog) << "Sent VIDEO_STREAM_STATUS for compId:" << compId << "stream:" << streamId;
 }
 
+void MockLinkCamera::_sendCameraTrackingImageStatus(uint8_t compId)
+{
+    const CameraState *cam = _findCamera(compId);
+    if (!cam || cam->trackingMode == CAMERA_TRACKING_MODE_NONE) {
+        return;
+    }
+
+    mavlink_message_t msg{};
+    (void) mavlink_msg_camera_tracking_image_status_pack_chan(
+        _mockLink->vehicleId(),
+        compId,
+        _mockLink->mavlinkChannel(),
+        &msg,
+        CAMERA_TRACKING_STATUS_FLAGS_ACTIVE,    // tracking_status
+        cam->trackingMode,                      // tracking_mode
+        CAMERA_TRACKING_TARGET_DATA_EMBEDDED,   // target_data
+        cam->trackPointX,                       // point_x
+        cam->trackPointY,                       // point_y
+        cam->trackRadius,                       // radius
+        cam->trackRecTopX,                      // rec_top_x
+        cam->trackRecTopY,                      // rec_top_y
+        cam->trackRecBottomX,                   // rec_bottom_x
+        cam->trackRecBottomY,                   // rec_bottom_y
+        0);                                     // camera_device_id
+    _mockLink->respondWithMavlinkMessage(msg);
+}
+
 void MockLinkCamera::_sendCommandAck(uint8_t compId, uint16_t command, uint8_t result, int requestedMsgId)
 {
     mavlink_message_t msg{};
diff --git a/src/Comms/MockLink/MockLinkCamera.h b/src/Comms/MockLink/MockLinkCamera.h
index f7e9a1eadbcf..d489449c02ad 100644
--- a/src/Comms/MockLink/MockLinkCamera.h
+++ b/src/Comms/MockLink/MockLinkCamera.h
@@ -57,6 +57,21 @@ class MockLinkCamera
         uint8_t  image_status        = ImageCaptureIdle;     ///< ImageCaptureStatus enum
         float    image_interval      = 0.0f;                 ///< Interval between image captures (seconds)
         qint64   singleShotStartMs   = 0;                    ///< Timestamp when single-shot capture started (0 = not active)
+
+        // Tracking state
+        uint8_t  trackingMode        = CAMERA_TRACKING_MODE_NONE; ///< CAMERA_TRACKING_MODE enum
+        float    trackPointX         = 0.0f;
+        float    trackPointY         = 0.0f;
+        float    trackRadius         = 0.0f;
+        float    trackRecTopX        = 0.0f;
+        float    trackRecTopY        = 0.0f;
+        float    trackRecBottomX     = 0.0f;
+        float    trackRecBottomY     = 0.0f;
+        qint64   trackingStatusIntervalUs = -1;               ///< Interval for CAMERA_TRACKING_IMAGE_STATUS (-1 = disabled)
+        qint64   trackingStatusLastSentMs = 0;                ///< Timestamp of last tracking status message
+        qint64   trackingStartMs     = 0;                     ///< Timestamp when tracking was started (for drift animation)
+        float    trackAnchorX        = 0.0f;                  ///< Original center X of tracked target
+        float    trackAnchorY        = 0.0f;                  ///< Original center Y of tracked target
     };
 
     explicit MockLinkCamera(MockLink *mockLink,
@@ -97,6 +112,7 @@ class MockLinkCamera
     void _sendCameraImageCaptured(uint8_t compId);
     void _sendVideoStreamInformation(uint8_t compId, uint8_t streamId);
     void _sendVideoStreamStatus(uint8_t compId, uint8_t streamId);
+    void _sendCameraTrackingImageStatus(uint8_t compId);
     void _sendCommandAck(uint8_t compId, uint16_t command, uint8_t result, int requestedMsgId = -1);
 
     CameraState *_findCamera(uint8_t compId);
diff --git a/src/Comms/MockLink/PX4MockLink.params b/src/Comms/MockLink/PX4MockLink.params
index 7dc95d5c9df3..556fb48875c6 100644
--- a/src/Comms/MockLink/PX4MockLink.params
+++ b/src/Comms/MockLink/PX4MockLink.params
@@ -21,6 +21,15 @@
 1	1	BAT1_V_EMPTY	3.400000095367431641	9
 1	1	BAT1_V_LOAD_DROP	0.300000011920928955	9
 1	1	BAT1_V_OFFS_CURR	0.000000000000000000	9
+1	1	BAT2_A_PER_V	15.391030311584472656	9
+1	1	BAT2_CAPACITY	-1.000000000000000000	9
+1	1	BAT2_N_CELLS	3	6
+1	1	BAT2_R_INTERNAL	-1.000000000000000000	9
+1	1	BAT2_SOURCE	0	6
+1	1	BAT2_V_CHARGED	4.050000190734863281	9
+1	1	BAT2_V_DIV	10.177939414978027344	9
+1	1	BAT2_V_EMPTY	3.400000095367431641	9
+1	1	BAT2_V_LOAD_DROP	0.300000011920928955	9
 1	1	CAL_ACC0_EN	1	6
 1	1	CAL_ACC0_ID	1376264	6
 1	1	CAL_ACC0_XOFF	0.001000000047497451	9
diff --git a/src/Comms/QGCSerialPortInfo.cc b/src/Comms/QGCSerialPortInfo.cc
index e66c4442c815..ad1c338cf756 100644
--- a/src/Comms/QGCSerialPortInfo.cc
+++ b/src/Comms/QGCSerialPortInfo.cc
@@ -110,8 +110,15 @@ bool QGCSerialPortInfo::_loadJsonData()
             return false;
         }
 
+        const QRegularExpression regExp(fallbackObject[_jsonRegExpKey].toString(), QRegularExpression::CaseInsensitiveOption);
+        if (!regExp.isValid()) {
+            qCWarning(QGCSerialPortInfoLog) << "Invalid regular expression in board description fallback:"
+                                             << regExp.errorString()
+                                             << "pattern:" << fallbackObject[_jsonRegExpKey].toString();
+            return false;
+        }
         const BoardRegExpFallback_t boardFallback = {
-            fallbackObject[_jsonRegExpKey].toString(),
+            regExp,
             _boardClassStringToType(fallbackObject[_jsonBoardClassKey].toString()),
             fallbackObject[_jsonAndroidOnlyKey].toBool(false)
         };
@@ -136,8 +143,15 @@ bool QGCSerialPortInfo::_loadJsonData()
             return false;
         }
 
+        const QRegularExpression regExp(fallbackObject[_jsonRegExpKey].toString(), QRegularExpression::CaseInsensitiveOption);
+        if (!regExp.isValid()) {
+            qCWarning(QGCSerialPortInfoLog) << "Invalid regular expression in board manufacturer fallback:"
+                                             << regExp.errorString()
+                                             << "pattern:" << fallbackObject[_jsonRegExpKey].toString();
+            return false;
+        }
         const BoardRegExpFallback_t boardFallback = {
-            fallbackObject[_jsonRegExpKey].toString(),
+            regExp,
             _boardClassStringToType(fallbackObject[_jsonBoardClassKey].toString()),
             fallbackObject[_jsonAndroidOnlyKey].toBool(false)
         };
@@ -195,7 +209,7 @@ bool QGCSerialPortInfo::getBoardInfo(QGCSerialPortInfo::BoardType_t &boardType,
     Q_ASSERT(boardType == BoardTypeUnknown);
 
     for (const BoardRegExpFallback_t &boardFallback : _boardDescriptionFallbackList) {
-        if (description().contains(QRegularExpression(boardFallback.regExp, QRegularExpression::CaseInsensitiveOption))) {
+        if (description().contains(boardFallback.regExp)) {
 #ifndef Q_OS_ANDROID
             if (boardFallback.androidOnly) {
                 continue;
@@ -208,7 +222,7 @@ bool QGCSerialPortInfo::getBoardInfo(QGCSerialPortInfo::BoardType_t &boardType,
     }
 
     for (const BoardRegExpFallback_t &boardFallback : _boardManufacturerFallbackList) {
-        if (manufacturer().contains(QRegularExpression(boardFallback.regExp, QRegularExpression::CaseInsensitiveOption))) {
+        if (manufacturer().contains(boardFallback.regExp)) {
 #ifndef Q_OS_ANDROID
             if (boardFallback.androidOnly) {
                 continue;
diff --git a/src/Comms/QGCSerialPortInfo.h b/src/Comms/QGCSerialPortInfo.h
index 79c70966f9f1..500ff992053d 100644
--- a/src/Comms/QGCSerialPortInfo.h
+++ b/src/Comms/QGCSerialPortInfo.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <QtCore/QLoggingCategory>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QtSystemDetection>
 #ifdef Q_OS_ANDROID
     #include "qserialportinfo.h"
@@ -70,7 +71,7 @@ class QGCSerialPortInfo : public QSerialPortInfo
     static QList<BoardInfo_t> _boardInfoList;
 
     struct BoardRegExpFallback_t {
-        QString regExp;
+        QRegularExpression regExp;
         BoardType_t boardType;
         bool androidOnly;
     };
diff --git a/src/Comms/USBBoardInfo.json b/src/Comms/USBBoardInfo.json
index dc68a3ca6a92..3dccd3811a7a 100644
--- a/src/Comms/USBBoardInfo.json
+++ b/src/Comms/USBBoardInfo.json
@@ -35,6 +35,8 @@
         { "vendorID": 12677, "productID": 57,       "boardClass": "Pixhawk",    "name": "ARK FMU V6X" },
         { "vendorID": 12677, "productID": 58,       "boardClass": "Pixhawk",    "name": "ARK Pi6X" },
         { "vendorID": 12677, "productID": 59,       "boardClass": "Pixhawk",    "name": "ARK FPV" },
+        { "vendorID": 12677, "productID": 61,       "boardClass": "Pixhawk",    "name": "ARK FMU V6S" },
+        { "vendorID": 12677, "productID": 62,       "boardClass": "Pixhawk",    "name": "ARK FMU V6XRT" },
 
         { "vendorID": 1155, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },
         { "vendorID": 4617, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },
@@ -118,6 +120,10 @@
         { "regExp": "^ARK BL FPV.x$",       "boardClass": "Pixhawk" },
         { "regExp": "^ARK Pi6X.x$",         "boardClass": "Pixhawk" },
         { "regExp": "^ARK BL Pi6X.x$",      "boardClass": "Pixhawk" },
+        { "regExp": "^ARK FMU v6S$",        "boardClass": "Pixhawk" },
+        { "regExp": "^ARK BL FMU v6S$",     "boardClass": "Pixhawk" },
+        { "regExp": "^ARK FMU v6XRT$",      "boardClass": "Pixhawk" },
+        { "regExp": "^ARK BL FMU v6XRT$",   "boardClass": "Pixhawk" },
         { "regExp": "^PX4 TROPIC Community","boardClass": "Pixhawk" },
         { "regExp": "^PX4 MR-TROPIC",       "boardClass": "Pixhawk" },
         { "regExp": "^PX4 BL MR-TROPIC",    "boardClass": "Pixhawk" },
diff --git a/src/FactSystem/Fact.cc b/src/FactSystem/Fact.cc
index 3044a6f6d391..35e661abfcc0 100644
--- a/src/FactSystem/Fact.cc
+++ b/src/FactSystem/Fact.cc
@@ -50,7 +50,6 @@ Fact::Fact(const QString& settingsGroup, FactMetaData *metaData, QObject *parent
             const QVariant defaultValue = metaData->rawDefaultValue();
             QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
             _rawValue = defaultValue;
-            _rawValueIsNotSet = false;
         }
     }
 
@@ -89,7 +88,6 @@ const Fact &Fact::operator=(const Fact& other)
     _name = other._name;
     _componentId = other._componentId;
     _rawValue = other._rawValue;
-    _rawValueIsNotSet = other._rawValueIsNotSet;
     _type = other._type;
     _sendValueChangedSignals = other._sendValueChangedSignals;
     _deferredValueChangeSignal = other._deferredValueChangeSignal;
@@ -113,7 +111,6 @@ void Fact::forceSetRawValue(const QVariant &value)
             {
                 QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
                 _rawValue = typedValue;
-                _rawValueIsNotSet = false;
             }
 
             const QVariant cooked = _metaData->rawTranslator()(typedValue);
@@ -139,7 +136,6 @@ void Fact::setRawValue(const QVariant &value)
                 QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
                 if (typedValue != _rawValue) {
                     _rawValue = typedValue;
-                    _rawValueIsNotSet = false;
                     changed = true;
                 }
             }
@@ -201,7 +197,6 @@ void Fact::containerSetRawValue(const QVariant &value)
         QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
         if (_rawValue != value) {
             _rawValue = value;
-            _rawValueIsNotSet = false;
             changed = true;
         }
         currentRaw = _rawValue;
@@ -357,12 +352,6 @@ QStringList Fact::selectedBitmaskStrings() const
 
 QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
 {
-    QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
-    if (_rawValueIsNotSet) {
-        return invalidValueString(decimalPlaces);
-    }
-    locker.unlock();
-
     QString valueString;
 
     const auto stripNegativeZero = [](QString &candidate) {
diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h
index 484ba722aa87..67598eb08f63 100644
--- a/src/FactSystem/Fact.h
+++ b/src/FactSystem/Fact.h
@@ -202,7 +202,6 @@ class Fact : public QObject
     QString _name;
     int _componentId = -1;
     QVariant _rawValue{0};
-    bool _rawValueIsNotSet = true;
     mutable QRecursiveMutex _rawValueMutex;
     FactMetaData::ValueType_t _type = FactMetaData::valueTypeInt32;
     FactMetaData *_metaData = nullptr;
diff --git a/src/FactSystem/FactControls/AltitudeFactTextField.qml b/src/FactSystem/FactControls/AltitudeFactTextField.qml
index b6796650919f..8015855aceae 100644
--- a/src/FactSystem/FactControls/AltitudeFactTextField.qml
+++ b/src/FactSystem/FactControls/AltitudeFactTextField.qml
@@ -7,17 +7,17 @@ import QGroundControl.Controls
 
 FactTextField {
     unitsLabel:                 fact ? fact.units : ""
-    extraUnitsLabel:            fact ? _altitudeModeExtraUnits : ""
+    extraUnitsLabel:            fact ? qsTr("%1").arg(_altitudeFrameExtraUnits) : ""
     showUnits:                  true
     showHelp:                   true
 
-    property int altitudeMode: QGroundControl.AltitudeModeNone
+    property int altitudeFrame: QGroundControl.AltitudeFrameNone
 
-    property string _altitudeModeExtraUnits
+    property string _altitudeFrameExtraUnits
 
-    onAltitudeModeChanged: updateAltitudeModeExtraUnits()
+    onAltitudeFrameChanged: updateAltitudeFrameExtraUnits()
 
-    function updateAltitudeModeExtraUnits() {
-        _altitudeModeExtraUnits = QGroundControl.altitudeModeExtraUnits(altitudeMode);
+    function updateAltitudeFrameExtraUnits() {
+        _altitudeFrameExtraUnits = QGroundControl.altitudeFrameExtraUnits(altitudeFrame);
     }
 }
diff --git a/src/FactSystem/ParameterManager.cc b/src/FactSystem/ParameterManager.cc
index 5878c59a4398..46a2d4e57969 100644
--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
@@ -41,10 +41,13 @@ ParameterManager::ParameterManager(Vehicle *vehicle)
         qCDebug(ParameterManagerLog) << this << "In log replay mode";
     }
 
-    _initialRequestTimeoutTimer.setSingleShot(true);
-    // Use much shorter timeouts in unit tests since MockLink responds instantly
-    _initialRequestTimeoutTimer.setInterval(qgcApp()->runningUnitTests() ? 500 : 5000);
-    (void) connect(&_initialRequestTimeoutTimer, &QTimer::timeout, this, &ParameterManager::_initialRequestTimeout);
+    _hashCheckTimer.setSingleShot(true);
+    _hashCheckTimer.setInterval(kHashCheckTimeoutMs);
+    (void) connect(&_hashCheckTimer, &QTimer::timeout, this, &ParameterManager::_hashCheckTimeout);
+
+    _paramRequestListTimer.setSingleShot(true);
+    _paramRequestListTimer.setInterval(qgcApp()->runningUnitTests() ? kTestInitialRequestIntervalMs : kParamRequestListTimeoutMs);
+    (void) connect(&_paramRequestListTimer, &QTimer::timeout, this, &ParameterManager::_paramRequestListTimeout);
 
     _waitingParamTimeoutTimer.setSingleShot(true);
     _waitingParamTimeoutTimer.setInterval(qgcApp()->runningUnitTests() ? 500 : 3000);
@@ -123,14 +126,13 @@ void ParameterManager::_handleParamValue(int componentId, const QString &paramet
 
     // ArduPilot has this strange behavior of streaming parameters that we didn't ask for. This even happens before it responds to the
     // PARAM_REQUEST_LIST. We disregard any of this until the initial request is responded to.
-    if ((parameterIndex == 65535) && (parameterName != QStringLiteral("_HASH_CHECK")) && _initialRequestTimeoutTimer.isActive()) {
+    if ((parameterIndex == 65535) && (parameterName != QStringLiteral("_HASH_CHECK")) && _paramRequestListTimer.isActive()) {
         qCDebug(ParameterManagerLog) << "Disregarding unrequested param prior to initial list response" << parameterName;
         return;
     }
 
-    _initialRequestTimeoutTimer.stop();
-
     if (_vehicle->px4Firmware() && (parameterName == "_HASH_CHECK")) {
+        _hashCheckTimer.stop();
         if (!_initialLoadComplete && !_logReplay) {
             /* we received a cache hash, potentially load from cache */
             _tryCacheHashLoad(_vehicle->id(), componentId, parameterValue);
@@ -138,6 +140,8 @@ void ParameterManager::_handleParamValue(int componentId, const QString &paramet
         return;
     }
 
+    _paramRequestListTimer.stop();
+
     // Used to debug cache crc misses (turn on ParameterManagerDebugCacheFailureLog)
     if (!_initialLoadComplete && !_logReplay && _debugCacheCRC.contains(componentId) && _debugCacheCRC[componentId]) {
         if (_debugCacheMap[componentId].contains(parameterName)) {
@@ -155,7 +159,6 @@ void ParameterManager::_handleParamValue(int componentId, const QString &paramet
         }
     }
 
-    _initialRequestTimeoutTimer.stop();
     _waitingParamTimeoutTimer.stop();
 
     // Update our total parameter counts
@@ -521,12 +524,12 @@ void ParameterManager::_ftpDownloadComplete(const QString &fileName, const QStri
          * can immediately response with the conventional parameter download request, because
          * we have no indication of communication link congestion.*/
         if (immediateRetry) {
-            _initialRequestTimeout();
+            _paramRequestListTimeout();
         } else {
-            _initialRequestTimeoutTimer.start();
+            _paramRequestListTimer.start();
         }
     } else {
-        _initialRequestTimeoutTimer.start();
+        _paramRequestListTimer.start();
     }
 }
 
@@ -535,7 +538,7 @@ void ParameterManager::_ftpDownloadProgress(float progress)
     qCDebug(ParameterManagerVerbose1Log) << "ParameterManager::_ftpDownloadProgress:" << progress;
     _setLoadProgress(static_cast<double>(progress));
     if (progress > 0.001) {
-        _initialRequestTimeoutTimer.stop();
+        _paramRequestListTimer.stop();
     }
 }
 
@@ -556,11 +559,10 @@ void ParameterManager::refreshAllParameters(uint8_t componentId)
         emit missingParametersChanged(_missingParameters);
     }
 
-    if (!_initialLoadComplete) {
-        _initialRequestTimeoutTimer.start();
-    }
-
     if (_tryftp && ((componentId == MAV_COMP_ID_ALL) || (componentId == MAV_COMP_ID_AUTOPILOT1))) {
+        if (!_initialLoadComplete) {
+            _paramRequestListTimer.start();
+        }
         FTPManager *const ftpManager = _vehicle->ftpManager();
         (void) connect(ftpManager, &FTPManager::downloadComplete, this, &ParameterManager::_ftpDownloadComplete);
         _waitingParamTimeoutTimer.stop();
@@ -574,7 +576,19 @@ void ParameterManager::refreshAllParameters(uint8_t componentId)
             qCWarning(ParameterManagerLog) << "ParameterManager::refreshallParameters FTPManager::download returned failure";
             (void) disconnect(ftpManager, &FTPManager::downloadComplete, this, &ParameterManager::_ftpDownloadComplete);
         }
+    } else if (_vehicle->px4Firmware() && !_initialLoadComplete && !_hashCheckDone) {
+        // PX4: Try _HASH_CHECK first to see if we can load from cache without a full parameter stream
+        _hashCheckTimer.start();
+        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Requesting _HASH_CHECK before full parameter list";
+        const uint8_t hashCheckCompId = (componentId == MAV_COMP_ID_ALL)
+            ? static_cast<uint8_t>(MAV_COMP_ID_AUTOPILOT1)
+            : componentId;
+        _requestHashCheck(hashCheckCompId);
     } else {
+        if (!_initialLoadComplete) {
+            _paramRequestListTimer.start();
+        }
+
         // Reset index wait lists
         for (int cid: _paramCountMap.keys()) {
             // Add/Update all indices to the wait list, parameter index is 0-based
@@ -753,6 +767,32 @@ void ParameterManager::_waitingParamTimeout()
     }
 }
 
+void ParameterManager::_requestHashCheck(uint8_t componentId)
+{
+    const SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
+    if (!sharedLink) {
+        return;
+    }
+
+    qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "Sending PARAM_REQUEST_READ for _HASH_CHECK";
+
+    char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1] = {};
+    (void) strncpy(paramId, "_HASH_CHECK", MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
+
+    mavlink_message_t msg{};
+    (void) mavlink_msg_param_request_read_pack_chan(
+        MAVLinkProtocol::instance()->getSystemId(),
+        MAVLinkProtocol::getComponentId(),
+        sharedLink->mavlinkChannel(),
+        &msg,
+        static_cast<uint8_t>(_vehicle->id()),
+        componentId,
+        paramId,
+        -1);
+
+    (void) _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
+}
+
 void ParameterManager::_mavlinkParamRequestRead(int componentId, const QString &paramName, int paramIndex, bool notifyFailure)
 {
     auto paramRequestReadEncoder = [this, componentId, paramName, paramIndex](uint8_t /*systemId*/, uint8_t channel, mavlink_message_t *message) -> void {
@@ -881,13 +921,19 @@ QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)
 
 void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, const QVariant &hashValue)
 {
-    qCInfo(ParameterManagerLog) << "Attemping load from cache";
+    qCDebug(ParameterManagerLog) << "Attemping load from cache";
 
     /* The datastructure of the cache table */
     CacheMapName2ParamTypeVal cacheMap;
     QFile cacheFile(parameterCacheFile(vehicleId, componentId));
     if (!cacheFile.exists()) {
-        /* no local cache, just wait for them to come in*/
+        qCDebug(ParameterManagerLog) << "No parameter cache file";
+        if (!_hashCheckDone) {
+            // Standalone hash check path — fall back to PARAM_REQUEST_LIST
+            _hashCheckDone = true;
+            refreshAllParameters();
+        }
+        // If already in PARAM_REQUEST_LIST flow, just let the stream continue
         return;
     }
     (void) cacheFile.open(QIODevice::ReadOnly);
@@ -915,7 +961,9 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, const Q
 
     /* if the two param set hashes match, just load from the disk */
     if (crc32_value == hashValue.toUInt()) {
-        qCInfo(ParameterManagerLog) << "Parameters loaded from cache" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
+        _hashCheckDone = true;
+        _paramRequestListTimer.stop();
+        qCDebug(ParameterManagerLog) << "Parameters loaded from cache" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
 
         const int count = cacheMap.count();
         int index = 0;
@@ -961,14 +1009,14 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, const Q
 
         // Hide 500ms after animation finishes
         connect(ani, &QVariantAnimation::finished, this, [this] {
-            QTimer::singleShot(500, [this] {
+            QTimer::singleShot(500, this, [this] {
                 _setLoadProgress(0);
             });
         });
 
         ani->start(QAbstractAnimation::DeleteWhenStopped);
     } else {
-        qCInfo(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
+        qCDebug(ParameterManagerLog) << "Parameters cache match failed" << qPrintable(QFileInfo(cacheFile).absoluteFilePath());
         if (ParameterManagerDebugCacheFailureLog().isDebugEnabled()) {
             _debugCacheCRC[componentId] = true;
             _debugCacheMap[componentId] = cacheMap;
@@ -977,6 +1025,12 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, const Q
             }
             qgcApp()->showAppMessage(tr("Parameter cache CRC match failed"));
         }
+        if (!_hashCheckDone) {
+            // Standalone hash check path — fall back to PARAM_REQUEST_LIST
+            _hashCheckDone = true;
+            refreshAllParameters();
+        }
+        // If already in PARAM_REQUEST_LIST flow, just let the stream continue
     }
 }
 
@@ -1195,11 +1249,18 @@ void ParameterManager::_checkInitialLoadComplete()
     emit missingParametersChanged(_missingParameters);
 }
 
-void ParameterManager::_initialRequestTimeout()
+void ParameterManager::_hashCheckTimeout()
+{
+    _hashCheckDone = true;
+    qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_HASH_CHECK timed out, falling back to PARAM_REQUEST_LIST";
+    refreshAllParameters();
+}
+
+void ParameterManager::_paramRequestListTimeout()
 {
     if (_logReplay) {
         // Signal load complete
-        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_initialRequestTimeout (log replay): Signalling load complete";
+        qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "_paramRequestListTimeout (log replay): Signalling load complete";
         _initialLoadComplete = true;
         _missingParameters = false;
         _parametersReady = true;
@@ -1212,7 +1273,6 @@ void ParameterManager::_initialRequestTimeout()
     if (!_disableAllRetries && (++_initialRequestRetryCount <= _maxInitialRequestListRetry)) {
         qCDebug(ParameterManagerLog) << _logVehiclePrefix(-1) << "Retrying initial parameter request list";
         refreshAllParameters();
-        _initialRequestTimeoutTimer.start();
     } else if (!_vehicle->genericFirmware()) {
         const QString errorMsg = tr("Vehicle %1 did not respond to request for parameters. "
                                     "This will cause %2 to be unable to display its full user interface.").arg(_vehicle->id()).arg(QCoreApplication::applicationName());
@@ -1223,9 +1283,9 @@ void ParameterManager::_initialRequestTimeout()
 
 QString ParameterManager::_remapParamNameToVersion(const QString &paramName) const
 {
-    if (!paramName.startsWith(QStringLiteral("r."))) {
-        // No version mapping wanted
-        return paramName;
+    static const QString noRemapPrefix = QStringLiteral("noremap.");
+    if (paramName.startsWith(noRemapPrefix)) {
+        return paramName.mid(noRemapPrefix.length());
     }
 
     const int majorVersion = _vehicle->firmwareMajorVersion();
@@ -1233,21 +1293,21 @@ QString ParameterManager::_remapParamNameToVersion(const QString &paramName) con
 
     qCDebug(ParameterManagerLog) << "_remapParamNameToVersion" << paramName << majorVersion << minorVersion;
 
-    QString mappedParamName = paramName.right(paramName.length() - 2);
     if (majorVersion == Vehicle::versionNotSetValue) {
         // Vehicle version unknown
-        return mappedParamName;
+        return paramName;
     }
 
     const FirmwarePlugin::remapParamNameMajorVersionMap_t &majorVersionRemap = _vehicle->firmwarePlugin()->paramNameRemapMajorVersionMap();
     if (!majorVersionRemap.contains(majorVersion)) {
         // No mapping for this major version
         qCDebug(ParameterManagerLog) << "_remapParamNameToVersion: no major version mapping";
-        return mappedParamName;
+        return paramName;
     }
 
     const FirmwarePlugin::remapParamNameMinorVersionRemapMap_t &remapMinorVersion = majorVersionRemap[majorVersion];
     // We must map backwards from the highest known minor version to one above the vehicle's minor version
+    QString mappedParamName = paramName;
     for (int currentMinorVersion = _vehicle->firmwarePlugin()->remapParamNameHigestMinorVersionNumber(majorVersion); currentMinorVersion>minorVersion; currentMinorVersion--) {
         if (remapMinorVersion.contains(currentMinorVersion)) {
             const FirmwarePlugin::remapParamNameMap_t &remap = remapMinorVersion[currentMinorVersion];
diff --git a/src/FactSystem/ParameterManager.h b/src/FactSystem/ParameterManager.h
index 34c3d9546ba0..1fef68d92096 100644
--- a/src/FactSystem/ParameterManager.h
+++ b/src/FactSystem/ParameterManager.h
@@ -94,6 +94,8 @@ class ParameterManager : public QObject
     static constexpr int kParamRequestReadRetryCount = 2;           ///< Number of retries for PARAM_REQUEST_READ
     static constexpr int kWaitForParamValueAckMs = 1000;            ///< Time to wait for param value ack after set param
     static constexpr int kMaxInitialRequestListRetry = 4;           ///< Maximum retries for initial parameter request list
+    static constexpr int kHashCheckTimeoutMs = 1000;                ///< Timeout for standalone _HASH_CHECK request
+    static constexpr int kParamRequestListTimeoutMs = 5000;        ///< Timeout for PARAM_REQUEST_LIST response
     static constexpr int kTestInitialRequestIntervalMs = 500;       ///< Timer interval for initial request in test mode
     /// Maximum time to wait for initial request retries to exhaust in tests
     static constexpr int kTestMaxInitialRequestTimeMs = (kMaxInitialRequestListRetry + 1) * kTestInitialRequestIntervalMs + 1000;
@@ -121,15 +123,24 @@ private slots:
     void _mavlinkParamSet(int componentId, const QString &name, FactMetaData::ValueType_t valueType, const QVariant &rawValue);
     void _waitingParamTimeout();
     void _tryCacheLookup();
-    void _initialRequestTimeout();
+    void _hashCheckTimeout();
+    void _paramRequestListTimeout();
     /// Translates ParameterManager::defaultComponentId to real component id if needed
     int _actualComponentId(int componentId) const;
     void _mavlinkParamRequestRead(int componentId, const QString &paramName, int paramIndex, bool notifyFailure);
+    void _requestHashCheck(uint8_t componentId);
     void _writeLocalParamCache(int vehicleId, int componentId);
     void _tryCacheHashLoad(int vehicleId, int componentId, const QVariant &hashValue);
     void _loadMetaData();
     void _clearMetaData();
-    /// Remap a parameter from one firmware version to another
+    /// Remap a parameter name from the newest firmware version to the version running on the vehicle.
+    /// All parameter names are walked backwards through the FirmwarePlugin remap tables from the
+    /// highest known minor version down to the vehicle's actual version. Names not found in any
+    /// remap table pass through unchanged.
+    ///
+    /// Names prefixed with "noremap." bypass remapping entirely — the prefix is stripped and the
+    /// bare name is used as-is. This is needed when code must distinguish old vs new parameter
+    /// names for unit conversion (e.g. checking whether WPNAV_SPEED exists vs WP_SPD).
     QString _remapParamNameToVersion(const QString &paramName) const;
     bool _fillMavlinkParamUnion(FactMetaData::ValueType_t valueType, const QVariant &rawValue, mavlink_param_union_t &paramUnion) const;
     bool _mavlinkParamUnionToVariant(const mavlink_param_union_t &paramUnion, QVariant &outValue) const;
@@ -165,6 +176,7 @@ private slots:
     bool _waitingForDefaultComponent = false;   ///< true: last chance wait for default component params
     bool _metaDataAddedToFacts = false;         ///< true: FactMetaData has been adde to the default component facts
     bool _logReplay = false;                    ///< true: running with log replay link
+    bool _hashCheckDone = false;                ///< true: _HASH_CHECK has been attempted, go straight to PARAM_REQUEST_LIST
 
     typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
     typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
@@ -193,7 +205,8 @@ private slots:
     int _totalParamCount = 0;                   ///< Number of parameters across all components
     int _pendingWritesCount = 0;                ///< Number of parameters with pending writes
 
-    QTimer _initialRequestTimeoutTimer;
+    QTimer _hashCheckTimer;
+    QTimer _paramRequestListTimer;
     QTimer _waitingParamTimeoutTimer;
 
     Fact _defaultFact;   ///< Used to return default fact, when parameter not found
diff --git a/src/FactSystem/SettingsFact.cc b/src/FactSystem/SettingsFact.cc
index 5efffae1629a..c3152d807fec 100644
--- a/src/FactSystem/SettingsFact.cc
+++ b/src/FactSystem/SettingsFact.cc
@@ -49,7 +49,6 @@ SettingsFact::SettingsFact(const QString &settingsGroup, FactMetaData *metaData,
 
         QMutexLocker<QRecursiveMutex> locker(&_rawValueMutex);
         _rawValue = resolvedValue;
-        _rawValueIsNotSet = false;
     }
 
     (void) connect(this, &Fact::rawValueChanged, this, &SettingsFact::_rawValueChanged);
diff --git a/src/FirmwarePlugin/APM/APM-MavCmdInfoCommon.json b/src/FirmwarePlugin/APM/APM-MavCmdInfoCommon.json
index b106da0495ff..6176998d4f4a 100644
--- a/src/FirmwarePlugin/APM/APM-MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/APM/APM-MavCmdInfoCommon.json
@@ -90,6 +90,11 @@
                 "enumValues":       "1,0",
                 "default":          1
             }
+        },
+        {
+            "id":           2500,
+            "comment":      "MAV_CMD_VIDEO_START_CAPTURE",
+            "paramRemove":  "2"
         }
     ]
 }
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 7e521c67b859..0458b3bb6c1a 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -555,6 +555,7 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(QGCMAVLink::VehicleCl
         MAV_CMD_DO_MOUNT_CONTROL,
         MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
         MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+        MAV_CMD_IMAGE_START_CAPTURE, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_CMD_VIDEO_START_CAPTURE, MAV_CMD_VIDEO_STOP_CAPTURE,
         MAV_CMD_DO_FENCE_ENABLE,
         MAV_CMD_DO_PARACHUTE,
         MAV_CMD_DO_INVERTED_FLIGHT,
@@ -792,11 +793,11 @@ static void _MAV_CMD_DO_REPOSITION_ResultHandler(void *resultHandlerData, int /*
     delete data;
 }
 
-void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const
+bool APMFirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const
 {
     if (qIsNaN(vehicle->altitudeRelative()->rawValue().toDouble())) {
         qgcApp()->showAppMessage(QStringLiteral("Unable to go to location, vehicle position not known."));
-        return;
+        return false;
     }
 
     // attempt to use MAV_CMD_DO_REPOSITION to move vehicle.  If that
@@ -845,7 +846,7 @@ void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoord
         }
         if (instanceData->MAV_CMD_DO_REPOSITION_supported) {
             // no need to fall back
-            return;
+            return true;
         }
     }
 
@@ -854,6 +855,8 @@ void APMFirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoord
     QGeoCoordinate coordWithAltitude = gotoCoord;
     coordWithAltitude.setAltitude(vehicle->altitudeRelative()->rawValue().toDouble());
     vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);
+
+    return true;
 }
 
 void APMFirmwarePlugin::guidedModeRTL(Vehicle *vehicle, bool smartRTL) const
@@ -909,18 +912,28 @@ void APMFirmwarePlugin::guidedModeChangeAltitude(Vehicle *vehicle, double altitu
 
 bool APMFirmwarePlugin::mulirotorSpeedLimitsAvailable(Vehicle *vehicle) const
 {
-    return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "WPNAV_SPEED");
+    // Use noremap. to bypass remap and check for specific parameter names directly,
+    // since the old and new parameters have different units.
+    return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.WP_SPD"))
+        || vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.WPNAV_SPEED"));
 }
 
-double APMFirmwarePlugin::maximumHorizontalSpeedMultirotor(Vehicle *vehicle) const
+double APMFirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(Vehicle *vehicle) const
 {
-    const QString speedParam("WPNAV_SPEED");
+    // Use noremap. to bypass remap and check for specific parameter names directly,
+    // since the old and new parameters have different units.
 
-    if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, speedParam)) {
-        return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, speedParam)->rawValue().toDouble() * 0.01;  // note cm/s -> m/s
+    // 4.7+: WP_SPD is in m/s
+    if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.WP_SPD"))) {
+        return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.WP_SPD"))->rawValue().toDouble();
     }
 
-    return FirmwarePlugin::maximumHorizontalSpeedMultirotor(vehicle);
+    // pre-4.7: WPNAV_SPEED is in cm/s
+    if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.WPNAV_SPEED"))) {
+        return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.WPNAV_SPEED"))->rawValue().toDouble() * 0.01;
+    }
+
+    return FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(vehicle);
 }
 
 void APMFirmwarePlugin::guidedModeChangeGroundSpeedMetersSecond(Vehicle *vehicle, double groundspeed) const
@@ -982,11 +995,28 @@ void APMFirmwarePlugin::guidedModeChangeHeading(Vehicle *vehicle, const QGeoCoor
 double APMFirmwarePlugin::minimumTakeoffAltitudeMeters(Vehicle* vehicle) const
 {
     double minTakeoffAlt = 0;
-    const QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
-    const float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters
 
-    if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, takeoffAltParam)) {
-        minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, takeoffAltParam)->rawValue().toDouble() / static_cast<double>(paramDivisor);
+    // Use noremap. to bypass remap and check for specific parameter names directly,
+    // since the old and new parameters have different units.
+
+    if (vehicle->vtol()) {
+        // 4.7+: Q_PILOT_TKO_ALT_M (meters)
+        if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.Q_PILOT_TKO_ALT_M"))) {
+            minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.Q_PILOT_TKO_ALT_M"))->rawValue().toDouble();
+        } else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.Q_PILOT_TKOFF_ALT"))) {
+            // pre-4.7: Q_PILOT_TKOFF_ALT (centimeters)
+            minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.Q_PILOT_TKOFF_ALT"))->rawValue().toDouble() / 100.0;
+        } else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("Q_RTL_ALT"))) {
+            minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("Q_RTL_ALT"))->rawValue().toDouble();
+        }
+    } else {
+        // 4.7+: PILOT_TKO_ALT_M (meters)
+        if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.PILOT_TKO_ALT_M"))) {
+            minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.PILOT_TKO_ALT_M"))->rawValue().toDouble();
+        } else if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, QStringLiteral("noremap.PILOT_TKOFF_ALT"))) {
+            // pre-4.7: PILOT_TKOFF_ALT (centimeters)
+            minTakeoffAlt = vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, QStringLiteral("noremap.PILOT_TKOFF_ALT"))->rawValue().toDouble() / 100.0;
+        }
     }
 
     if (minTakeoffAlt == 0) {
@@ -1229,7 +1259,7 @@ QMutex &APMFirmwarePlugin::_reencodeMavlinkChannelMutex()
 
 double APMFirmwarePlugin::maximumEquivalentAirspeed(Vehicle *vehicle) const
 {
-    const QString airspeedMax("r.AIRSPEED_MAX");
+    const QString airspeedMax("AIRSPEED_MAX");
 
     if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, airspeedMax)) {
         return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, airspeedMax)->rawValue().toDouble();
@@ -1240,7 +1270,7 @@ double APMFirmwarePlugin::maximumEquivalentAirspeed(Vehicle *vehicle) const
 
 double APMFirmwarePlugin::minimumEquivalentAirspeed(Vehicle *vehicle) const
 {
-    const QString airspeedMin("r.AIRSPEED_MIN");
+    const QString airspeedMin("AIRSPEED_MIN");
 
     if (vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, airspeedMin)) {
         return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, airspeedMin)->rawValue().toDouble();
@@ -1251,8 +1281,8 @@ double APMFirmwarePlugin::minimumEquivalentAirspeed(Vehicle *vehicle) const
 
 bool APMFirmwarePlugin::fixedWingAirSpeedLimitsAvailable(Vehicle *vehicle) const
 {
-    return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "r.AIRSPEED_MIN") &&
-           vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "r.AIRSPEED_MAX");
+    return vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "AIRSPEED_MIN") &&
+           vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "AIRSPEED_MAX");
 }
 
 void APMFirmwarePlugin::guidedModeChangeEquivalentAirspeedMetersSecond(Vehicle *vehicle, double airspeed_equiv) const
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
index 196236ee3f60..fc0dab63600b 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -31,7 +31,7 @@ class APMFirmwarePlugin : public FirmwarePlugin
     bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) const override;
     void setGuidedMode(Vehicle *vehicle, bool guidedMode) const override;
     void guidedModeTakeoff(Vehicle *vehicle, double altitudeRel) const override;
-    void guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const override;
+    bool guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const override;
     double minimumTakeoffAltitudeMeters(Vehicle *vehicle) const override;
     void startTakeoff(Vehicle *vehicle) const override;
     void startMission(Vehicle *vehicle) const override;
@@ -73,7 +73,7 @@ class APMFirmwarePlugin : public FirmwarePlugin
 
     // support for changing speed in Copter guide mode:
     bool mulirotorSpeedLimitsAvailable(Vehicle *vehicle) const override;
-    double maximumHorizontalSpeedMultirotor(Vehicle *vehicle) const override;
+    double maximumHorizontalSpeedMultirotorMetersSecond(Vehicle *vehicle) const override;
     void guidedModeChangeGroundSpeedMetersSecond(Vehicle *vehicle, double speed) const override;
 
     static QPair<QMetaObject::Connection,QMetaObject::Connection> startCompensatingBaro(Vehicle *vehicle);
diff --git a/src/FirmwarePlugin/APM/APMFlightModeIndicator.qml b/src/FirmwarePlugin/APM/APMFlightModeIndicator.qml
index 3e1087e5ab5f..b016864d806b 100644
--- a/src/FirmwarePlugin/APM/APMFlightModeIndicator.qml
+++ b/src/FirmwarePlugin/APM/APMFlightModeIndicator.qml
@@ -12,7 +12,9 @@ SettingsGroupLayout {
     visible:                activeVehicle.multiRotor
 
     property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
-    property Fact rtlAltFact: controller.getParameterFact(-1, "RTL_ALT")
+    property Fact rtlAltFact: controller.getParameterFact(-1, "RTL_ALT_M")
+    // RTL_ALT_M (4.7+) is in meters, RTL_ALT (pre-4.7) is in centimeters
+    property bool _rtlAltIsMeters: controller.parameterExists(-1, "noremap.RTL_ALT_M")
 
     FactPanelController { id: controller }
 
@@ -45,7 +47,8 @@ SettingsGroupLayout {
                 if (index === 0) {
                     rtlAltFact.rawValue = 0
                 } else {
-                    rtlAltFact.rawValue = 1500
+                    // RTL_ALT_M (4.7+) is in meters, RTL_ALT (pre-4.7) is in centimeters
+                    rtlAltFact.rawValue = _rtlAltIsMeters ? 15 : 1500
                 }
             }
 
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index fcd94fc59dbf..fb2b5c9d03e5 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -74,6 +74,92 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject *parent)
         remapV4_0["TUNE_MIN"] = QStringLiteral("TUNE_LOW");
         remapV4_0["TUNE_MAX"] = QStringLiteral("TUNE_HIGH");
 
+        // ArduPilot 4.7: massive parameter rename and SI unit conversion
+        FirmwarePlugin::remapParamNameMap_t &remapV4_7 = _remapParamName[4][7];
+
+        // Position controller: PSC_VELXY_* -> PSC_NE_VEL_*
+        remapV4_7["PSC_NE_VEL_P"]    = QStringLiteral("PSC_VELXY_P");
+        remapV4_7["PSC_NE_VEL_I"]    = QStringLiteral("PSC_VELXY_I");
+        remapV4_7["PSC_NE_VEL_D"]    = QStringLiteral("PSC_VELXY_D");
+        remapV4_7["PSC_NE_VEL_IMAX"] = QStringLiteral("PSC_VELXY_IMAX");
+        remapV4_7["PSC_NE_VEL_FLTE"] = QStringLiteral("PSC_VELXY_FLTE");
+        remapV4_7["PSC_NE_VEL_FLTD"] = QStringLiteral("PSC_VELXY_FLTD");
+        remapV4_7["PSC_NE_VEL_FF"]   = QStringLiteral("PSC_VELXY_FF");
+
+        // Position controller: PSC_VELZ_* -> PSC_D_VEL_*
+        remapV4_7["PSC_D_VEL_P"]     = QStringLiteral("PSC_VELZ_P");
+        remapV4_7["PSC_D_VEL_I"]     = QStringLiteral("PSC_VELZ_I");
+        remapV4_7["PSC_D_VEL_D"]     = QStringLiteral("PSC_VELZ_D");
+        remapV4_7["PSC_D_VEL_IMAX"]  = QStringLiteral("PSC_VELZ_IMAX");
+        remapV4_7["PSC_D_VEL_FLTE"]  = QStringLiteral("PSC_VELZ_FLTE");
+        remapV4_7["PSC_D_VEL_FF"]    = QStringLiteral("PSC_VELZ_FF");
+
+        // Position controller: PSC_ACCZ_* -> PSC_D_ACC_*
+        remapV4_7["PSC_D_ACC_P"]     = QStringLiteral("PSC_ACCZ_P");
+        remapV4_7["PSC_D_ACC_I"]     = QStringLiteral("PSC_ACCZ_I");
+        remapV4_7["PSC_D_ACC_D"]     = QStringLiteral("PSC_ACCZ_D");
+        remapV4_7["PSC_D_ACC_IMAX"]  = QStringLiteral("PSC_ACCZ_IMAX");
+        remapV4_7["PSC_D_ACC_FLTD"]  = QStringLiteral("PSC_ACCZ_FLTD");
+        remapV4_7["PSC_D_ACC_FLTE"]  = QStringLiteral("PSC_ACCZ_FLTE");
+        remapV4_7["PSC_D_ACC_FLTT"]  = QStringLiteral("PSC_ACCZ_FLTT");
+        remapV4_7["PSC_D_ACC_FF"]    = QStringLiteral("PSC_ACCZ_FF");
+        remapV4_7["PSC_D_ACC_SMAX"]  = QStringLiteral("PSC_ACCZ_SMAX");
+
+        // Position controller: PSC_POSXY_P -> PSC_NE_POS_P (simply renamed)
+        remapV4_7["PSC_NE_POS_P"]    = QStringLiteral("PSC_POSXY_P");
+
+        // Position controller: PSC_POSZ_P -> PSC_D_POS_P (simply renamed)
+        remapV4_7["PSC_D_POS_P"]     = QStringLiteral("PSC_POSZ_P");
+
+        // Waypoint navigation: WPNAV_* -> WP_*
+        remapV4_7["WP_ACC"]          = QStringLiteral("WPNAV_ACCEL");
+        remapV4_7["WP_ACC_CNR"]      = QStringLiteral("WPNAV_ACCEL_C");
+        remapV4_7["WP_ACC_Z"]        = QStringLiteral("WPNAV_ACCEL_Z");
+        remapV4_7["WP_RADIUS_M"]     = QStringLiteral("WPNAV_RADIUS");
+        remapV4_7["WP_SPD"]          = QStringLiteral("WPNAV_SPEED");
+        remapV4_7["WP_SPD_DN"]       = QStringLiteral("WPNAV_SPEED_DN");
+        remapV4_7["WP_SPD_UP"]       = QStringLiteral("WPNAV_SPEED_UP");
+
+        // RTL parameters
+        remapV4_7["RTL_ALT_M"]       = QStringLiteral("RTL_ALT");
+        remapV4_7["RTL_SPEED_MS"]    = QStringLiteral("RTL_SPEED");
+        remapV4_7["RTL_ALT_FINAL_M"] = QStringLiteral("RTL_ALT_FINAL");
+        remapV4_7["RTL_CLIMB_MIN_M"] = QStringLiteral("RTL_CLIMB_MIN");
+
+        // Landing parameters
+        remapV4_7["LAND_SPD_MS"]     = QStringLiteral("LAND_SPEED");
+        remapV4_7["LAND_SPD_HIGH_MS"]= QStringLiteral("LAND_SPEED_HIGH");
+        remapV4_7["LAND_ALT_LOW_M"]  = QStringLiteral("LAND_ALT_LOW");
+
+        // Loiter parameters
+        remapV4_7["LOIT_SPEED_MS"]   = QStringLiteral("LOIT_SPEED");
+        remapV4_7["LOIT_ACC_MAX_M"]  = QStringLiteral("LOIT_ACC_MAX");
+        remapV4_7["LOIT_BRK_ACC_M"]  = QStringLiteral("LOIT_BRK_ACCEL");
+        remapV4_7["LOIT_BRK_JRK_M"] = QStringLiteral("LOIT_BRK_JERK");
+
+        // Pilot parameters
+        remapV4_7["PILOT_ACC_Z"]     = QStringLiteral("PILOT_ACCEL_Z");
+        remapV4_7["PILOT_SPD_UP"]    = QStringLiteral("PILOT_SPEED_UP");
+        remapV4_7["PILOT_SPD_DN"]    = QStringLiteral("PILOT_SPEED_DN");
+        remapV4_7["PILOT_TKO_ALT_M"] = QStringLiteral("PILOT_TKOFF_ALT");
+
+        // Attitude controller
+        remapV4_7["ATC_ANGLE_MAX"]   = QStringLiteral("ANGLE_MAX");
+        remapV4_7["ATC_ACC_R_MAX"]   = QStringLiteral("ATC_ACCEL_R_MAX");
+        remapV4_7["ATC_ACC_P_MAX"]   = QStringLiteral("ATC_ACCEL_P_MAX");
+        remapV4_7["ATC_ACC_Y_MAX"]   = QStringLiteral("ATC_ACCEL_Y_MAX");
+        remapV4_7["ATC_RATE_WPY_MAX"]= QStringLiteral("ATC_SLEW_YAW");
+
+        // Circle
+        remapV4_7["CIRCLE_RADIUS_M"] = QStringLiteral("CIRCLE_RADIUS");
+
+        // PosHold
+        remapV4_7["PHLD_BRK_ANGLE"]  = QStringLiteral("PHLD_BRAKE_ANGLE");
+        remapV4_7["PHLD_BRK_RATE"]   = QStringLiteral("PHLD_BRAKE_RATE");
+
+        // EKF
+        remapV4_7["EK3_FLOW_MAX"]    = QStringLiteral("EK3_MAX_FLOW");
+
         _remapParamNameIntialized = true;
     }
 }
@@ -85,7 +171,7 @@ ArduCopterFirmwarePlugin::~ArduCopterFirmwarePlugin()
 
 int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
-    return ((majorVersionNumber == 4) ? 0 : Vehicle::versionNotSetValue);
+    return ((majorVersionNumber == 4) ? 7 : Vehicle::versionNotSetValue);
 }
 
 bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle *vehicle) const
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index f1bdfc591d8c..d5469bdb30ea 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -76,6 +76,70 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(QObject *parent)
         remapV4_5["RTL_ALTITUDE"] = QStringLiteral("ALT_HOLD_RTL");
         // LAND_SPEED is only used in a Copter component
 
+        // ArduPilot 4.7: QuadPlane parameter renames and SI unit conversion
+        FirmwarePlugin::remapParamNameMap_t &remapV4_7 = _remapParamName[4][7];
+
+        // Attitude controller
+        remapV4_7["Q_A_ANGLE_MAX"]       = QStringLiteral("Q_ANGLE_MAX");
+        remapV4_7["Q_A_ACC_R_MAX"]       = QStringLiteral("Q_A_ACCEL_R_MAX");
+        remapV4_7["Q_A_ACC_P_MAX"]       = QStringLiteral("Q_A_ACCEL_P_MAX");
+        remapV4_7["Q_A_ACC_Y_MAX"]       = QStringLiteral("Q_A_ACCEL_Y_MAX");
+        remapV4_7["Q_A_RATE_WPY_MAX"]    = QStringLiteral("Q_A_SLEW_YAW");
+
+        // Loiter
+        remapV4_7["Q_LOIT_SPEED_MS"]     = QStringLiteral("Q_LOIT_SPEED");
+        remapV4_7["Q_LOIT_ACC_MAX_M"]    = QStringLiteral("Q_LOIT_ACC_MAX");
+        remapV4_7["Q_LOIT_BRK_ACC_M"]    = QStringLiteral("Q_LOIT_BRK_ACCEL");
+        remapV4_7["Q_LOIT_BRK_JRK_M"]    = QStringLiteral("Q_LOIT_BRK_JERK");
+
+        // Pilot
+        remapV4_7["Q_PILOT_SPD_UP"]      = QStringLiteral("Q_PILOT_SPEED_UP");
+        remapV4_7["Q_PILOT_SPD_DN"]      = QStringLiteral("Q_PILOT_SPEED_DN");
+        remapV4_7["Q_PILOT_TKO_ALT_M"]   = QStringLiteral("Q_PILOT_TKOFF_ALT");
+
+        // Position controller: Q_P_VELXY_* -> Q_P_NE_VEL_*
+        remapV4_7["Q_P_NE_VEL_P"]        = QStringLiteral("Q_P_VELXY_P");
+        remapV4_7["Q_P_NE_VEL_I"]        = QStringLiteral("Q_P_VELXY_I");
+        remapV4_7["Q_P_NE_VEL_D"]        = QStringLiteral("Q_P_VELXY_D");
+        remapV4_7["Q_P_NE_VEL_IMAX"]     = QStringLiteral("Q_P_VELXY_IMAX");
+        remapV4_7["Q_P_NE_VEL_FLTE"]     = QStringLiteral("Q_P_VELXY_FLTE");
+        remapV4_7["Q_P_NE_VEL_FLTD"]     = QStringLiteral("Q_P_VELXY_FLTD");
+        remapV4_7["Q_P_NE_VEL_FF"]       = QStringLiteral("Q_P_VELXY_FF");
+
+        // Position controller: Q_P_VELZ_* -> Q_P_D_VEL_*
+        remapV4_7["Q_P_D_VEL_P"]         = QStringLiteral("Q_P_VELZ_P");
+        remapV4_7["Q_P_D_VEL_I"]         = QStringLiteral("Q_P_VELZ_I");
+        remapV4_7["Q_P_D_VEL_D"]         = QStringLiteral("Q_P_VELZ_D");
+        remapV4_7["Q_P_D_VEL_IMAX"]      = QStringLiteral("Q_P_VELZ_IMAX");
+        remapV4_7["Q_P_D_VEL_FLTE"]      = QStringLiteral("Q_P_VELZ_FLTE");
+        remapV4_7["Q_P_D_VEL_FF"]        = QStringLiteral("Q_P_VELZ_FF");
+
+        // Position controller: Q_P_ACCZ_* -> Q_P_D_ACC_*
+        remapV4_7["Q_P_D_ACC_P"]         = QStringLiteral("Q_P_ACCZ_P");
+        remapV4_7["Q_P_D_ACC_I"]         = QStringLiteral("Q_P_ACCZ_I");
+        remapV4_7["Q_P_D_ACC_D"]         = QStringLiteral("Q_P_ACCZ_D");
+        remapV4_7["Q_P_D_ACC_IMAX"]      = QStringLiteral("Q_P_ACCZ_IMAX");
+        remapV4_7["Q_P_D_ACC_FLTD"]      = QStringLiteral("Q_P_ACCZ_FLTD");
+        remapV4_7["Q_P_D_ACC_FLTE"]      = QStringLiteral("Q_P_ACCZ_FLTE");
+        remapV4_7["Q_P_D_ACC_FLTT"]      = QStringLiteral("Q_P_ACCZ_FLTT");
+        remapV4_7["Q_P_D_ACC_FF"]        = QStringLiteral("Q_P_ACCZ_FF");
+        remapV4_7["Q_P_D_ACC_SMAX"]      = QStringLiteral("Q_P_ACCZ_SMAX");
+
+        // Waypoint navigation
+        remapV4_7["Q_WP_ACC"]            = QStringLiteral("Q_WP_ACCEL");
+        remapV4_7["Q_WP_ACC_CNR"]        = QStringLiteral("Q_WP_ACCEL_C");
+        remapV4_7["Q_WP_ACC_Z"]          = QStringLiteral("Q_WP_ACCEL_Z");
+        remapV4_7["Q_WP_RADIUS_M"]       = QStringLiteral("Q_WP_RADIUS");
+        remapV4_7["Q_WP_SPD"]            = QStringLiteral("Q_WP_SPEED");
+        remapV4_7["Q_WP_SPD_DN"]         = QStringLiteral("Q_WP_SPEED_DN");
+        remapV4_7["Q_WP_SPD_UP"]         = QStringLiteral("Q_WP_SPEED_UP");
+
+        // EKF
+        remapV4_7["EK3_FLOW_MAX"]        = QStringLiteral("EK3_MAX_FLOW");
+
+        // Common
+        remapV4_7["ARMING_SKIPCHK"]      = QStringLiteral("ARMING_CHECK");
+
         _remapParamNameIntialized = true;
     }
 }
@@ -87,8 +151,7 @@ ArduPlaneFirmwarePlugin::~ArduPlaneFirmwarePlugin()
 
 int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
-    // Remapping supports up to 4.5
-    return ((majorVersionNumber == 4) ? 5 : Vehicle::versionNotSetValue);
+    return ((majorVersionNumber == 4) ? 7 : Vehicle::versionNotSetValue);
 }
 
 QString ArduPlaneFirmwarePlugin::takeOffFlightMode() const
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
index eab875cab42e..496bc382c980 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -47,6 +47,15 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(QObject *parent)
     updateAvailableFlightModes(availableFlightModes);
 
     if (!_remapParamNameIntialized) {
+        // ArduPilot 4.7: parameter renames and SI unit conversion
+        FirmwarePlugin::remapParamNameMap_t &remapV4_7 = _remapParamName[4][7];
+
+        // EKF
+        remapV4_7["EK3_FLOW_MAX"]    = QStringLiteral("EK3_MAX_FLOW");
+
+        // Common
+        remapV4_7["ARMING_SKIPCHK"]  = QStringLiteral("ARMING_CHECK");
+
         _remapParamNameIntialized = true;
     }
 }
@@ -56,10 +65,9 @@ ArduRoverFirmwarePlugin::~ArduRoverFirmwarePlugin()
 
 }
 
-int ArduRoverFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int /*majorVersionNumber*/) const
+int ArduRoverFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
-    // Remapping not supported
-    return Vehicle::versionNotSetValue;
+    return ((majorVersionNumber == 4) ? 7 : Vehicle::versionNotSetValue);
 }
 
 void ArduRoverFirmwarePlugin::guidedModeChangeAltitude(Vehicle* /*vehicle*/, double /*altitudeChange*/, bool /*pauseVehicle*/)
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
index 6e275974c24f..ab066cb578e9 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -125,6 +125,67 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(QObject *parent)
     updateAvailableFlightModes(availableFlightModes);
 
     if (!_remapParamNameIntialized) {
+        // ArduPilot 4.7: parameter renames and SI unit conversion
+        FirmwarePlugin::remapParamNameMap_t &remapV4_7 = _remapParamName[4][7];
+
+        // Position controller: PSC_VELXY_* -> PSC_NE_VEL_*
+        remapV4_7["PSC_NE_VEL_P"]    = QStringLiteral("PSC_VELXY_P");
+        remapV4_7["PSC_NE_VEL_I"]    = QStringLiteral("PSC_VELXY_I");
+        remapV4_7["PSC_NE_VEL_D"]    = QStringLiteral("PSC_VELXY_D");
+        remapV4_7["PSC_NE_VEL_IMAX"] = QStringLiteral("PSC_VELXY_IMAX");
+        remapV4_7["PSC_NE_VEL_FLTE"] = QStringLiteral("PSC_VELXY_FLTE");
+        remapV4_7["PSC_NE_VEL_FLTD"] = QStringLiteral("PSC_VELXY_FLTD");
+        remapV4_7["PSC_NE_VEL_FF"]   = QStringLiteral("PSC_VELXY_FF");
+
+        // Position controller: PSC_VELZ_* -> PSC_D_VEL_*
+        remapV4_7["PSC_D_VEL_P"]     = QStringLiteral("PSC_VELZ_P");
+        remapV4_7["PSC_D_VEL_I"]     = QStringLiteral("PSC_VELZ_I");
+        remapV4_7["PSC_D_VEL_D"]     = QStringLiteral("PSC_VELZ_D");
+        remapV4_7["PSC_D_VEL_IMAX"]  = QStringLiteral("PSC_VELZ_IMAX");
+        remapV4_7["PSC_D_VEL_FLTE"]  = QStringLiteral("PSC_VELZ_FLTE");
+        remapV4_7["PSC_D_VEL_FF"]    = QStringLiteral("PSC_VELZ_FF");
+
+        // Position controller: PSC_ACCZ_* -> PSC_D_ACC_*
+        remapV4_7["PSC_D_ACC_P"]     = QStringLiteral("PSC_ACCZ_P");
+        remapV4_7["PSC_D_ACC_I"]     = QStringLiteral("PSC_ACCZ_I");
+        remapV4_7["PSC_D_ACC_D"]     = QStringLiteral("PSC_ACCZ_D");
+        remapV4_7["PSC_D_ACC_IMAX"]  = QStringLiteral("PSC_ACCZ_IMAX");
+        remapV4_7["PSC_D_ACC_FLTD"]  = QStringLiteral("PSC_ACCZ_FLTD");
+        remapV4_7["PSC_D_ACC_FLTE"]  = QStringLiteral("PSC_ACCZ_FLTE");
+        remapV4_7["PSC_D_ACC_FLTT"]  = QStringLiteral("PSC_ACCZ_FLTT");
+        remapV4_7["PSC_D_ACC_FF"]    = QStringLiteral("PSC_ACCZ_FF");
+        remapV4_7["PSC_D_ACC_SMAX"]  = QStringLiteral("PSC_ACCZ_SMAX");
+
+        // Position controller: PSC_POSXY_P -> PSC_NE_POS_P
+        remapV4_7["PSC_NE_POS_P"]    = QStringLiteral("PSC_POSXY_P");
+
+        // Position controller: PSC_POSZ_P -> PSC_D_POS_P
+        remapV4_7["PSC_D_POS_P"]     = QStringLiteral("PSC_POSZ_P");
+
+        // Waypoint navigation: WPNAV_* -> WP_*
+        remapV4_7["WP_ACC"]          = QStringLiteral("WPNAV_ACCEL");
+        remapV4_7["WP_ACC_CNR"]      = QStringLiteral("WPNAV_ACCEL_C");
+        remapV4_7["WP_ACC_Z"]        = QStringLiteral("WPNAV_ACCEL_Z");
+        remapV4_7["WP_RADIUS_M"]     = QStringLiteral("WPNAV_RADIUS");
+        remapV4_7["WP_SPD"]          = QStringLiteral("WPNAV_SPEED");
+        remapV4_7["WP_SPD_DN"]       = QStringLiteral("WPNAV_SPEED_DN");
+        remapV4_7["WP_SPD_UP"]       = QStringLiteral("WPNAV_SPEED_UP");
+
+        // Attitude controller
+        remapV4_7["ATC_ACC_R_MAX"]   = QStringLiteral("ATC_ACCEL_R_MAX");
+        remapV4_7["ATC_ACC_P_MAX"]   = QStringLiteral("ATC_ACCEL_P_MAX");
+        remapV4_7["ATC_ACC_Y_MAX"]   = QStringLiteral("ATC_ACCEL_Y_MAX");
+        remapV4_7["ATC_RATE_WPY_MAX"]= QStringLiteral("ATC_SLEW_YAW");
+
+        // Circle
+        remapV4_7["CIRCLE_RADIUS_M"] = QStringLiteral("CIRCLE_RADIUS");
+
+        // EKF
+        remapV4_7["EK3_FLOW_MAX"]    = QStringLiteral("EK3_MAX_FLOW");
+
+        // Common
+        remapV4_7["ARMING_SKIPCHK"]  = QStringLiteral("ARMING_CHECK");
+
         _remapParamNameIntialized = true;
     }
 
@@ -142,10 +203,9 @@ ArduSubFirmwarePlugin::~ArduSubFirmwarePlugin()
 
 }
 
-int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int /*majorVersionNumber*/) const
+int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
-    // Remapping not supported
-    return Vehicle::versionNotSetValue;
+    return ((majorVersionNumber == 4) ? 7 : Vehicle::versionNotSetValue);
 }
 
 void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle *vehicle)
diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc
index 813214343f2f..e0f9cd78ca5d 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -141,12 +141,13 @@ void FirmwarePlugin::guidedModeTakeoff(Vehicle *vehicle, double takeoffAltRel) c
     qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
 }
 
-void FirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const
+bool FirmwarePlugin::guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const
 {
     Q_UNUSED(vehicle);
     Q_UNUSED(gotoCoord);
     Q_UNUSED(forwardFlightLoiterRadius);
     qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
+    return false;
 }
 
 void FirmwarePlugin::guidedModeChangeAltitude(Vehicle*, double, bool pauseVehicle)
@@ -198,11 +199,12 @@ const QVariantList &FirmwarePlugin::toolIndicators(const Vehicle*)
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GPSResilienceIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/TelemetryRSSIIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RCRSSIIndicator.qml")),
-            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Controls/BatteryIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/BatteryIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/RemoteIDIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/GimbalIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/EscIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/JoystickIndicator.qml")),
+            QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/SigningIndicator.qml")),
             QVariant::fromValue(QUrl::fromUserInput("qrc:/qml/QGroundControl/Toolbar/MultiVehicleSelector.qml")),
 #ifdef QT_DEBUG
             // ControlIndicator is only available in debug builds for the moment
@@ -291,7 +293,7 @@ QGCCameraManager *FirmwarePlugin::createCameraManager(Vehicle *vehicle) const
     return new QGCCameraManager(vehicle);
 }
 
-MavlinkCameraControl *FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject *parent) const
+MavlinkCameraControlInterface *FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject *parent) const
 {
     return new VehicleCameraControl(info, vehicle, compID, parent);
 }
diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
index 4e0dd535d030..56f850495852 100644
--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -8,11 +8,11 @@
 #include "QGCMAVLink.h"
 #include "FollowMe.h"
 #include "FactMetaData.h"
+#include "Vehicle.h"
 
 class VehicleComponent;
 class AutoPilotPlugin;
-class Vehicle;
-class MavlinkCameraControl;
+class MavlinkCameraControlInterface;
 class QGCCameraManager;
 class Autotune;
 class LinkInterface;
@@ -82,14 +82,27 @@ class FirmwarePlugin : public QObject
         GuidedTakeoffCapability =   1 << 7, ///< Vehicle supports guided takeoff
     };
 
-    /// Maps from on parameter name to another
-    ///     key:    parameter name to translate from
-    ///     value:  mapped parameter name
+    /// Parameter name remapping support:
+    /// When firmware renames a parameter across versions, callers should use the *newest* (current)
+    /// parameter name. ParameterManager::_remapParamNameToVersion() walks the remap tables backwards
+    /// from the highest known minor version down to the vehicle's actual firmware version, translating
+    /// new names to old names at each step. If the name is not found in any remap table it passes
+    /// through unchanged, so remapping is always safe to run.
+    ///
+    /// To bypass remapping (e.g. when checking parameterExists for a specific old or new name to
+    /// decide which unit conversion to apply), prefix the name with "noremap.".
+    ///
+    /// Remap table entries map new_name -> old_name for the version in which the rename occurred.
+    /// For example: remapV4_0["TUNE_MIN"] = "TUNE_LOW" means TUNE_LOW was renamed to TUNE_MIN in 4.0.
+
+    /// Maps from one parameter name to another (new_name -> old_name for a given version)
+    ///     key:    current (new) parameter name
+    ///     value:  previous (old) parameter name
     typedef QMap<QString, QString> remapParamNameMap_t;
 
     /// Maps from firmware minor version to remapParamNameMap_t entry
-    ///     key:    firmware minor version
-    ///     value:  remapParamNameMap_t entry
+    ///     key:    firmware minor version in which the rename(s) occurred
+    ///     value:  remapParamNameMap_t with new->old mappings for that version
     typedef QMap<int, remapParamNameMap_t> remapParamNameMinorVersionRemapMap_t;
 
     /// Maps from firmware major version number to remapParamNameMinorVersionRemapMap_t entry
@@ -184,7 +197,7 @@ class FirmwarePlugin : public QObject
     virtual double minimumTakeoffAltitudeMeters(Vehicle* /*vehicle*/) const { return 3.048; }
 
     /// @return The maximum horizontal groundspeed for a multirotor.
-    virtual double maximumHorizontalSpeedMultirotor(Vehicle* /*vehicle*/) const { return NAN; }
+    virtual double maximumHorizontalSpeedMultirotorMetersSecond(Vehicle* /*vehicle*/) const { return NAN; }
 
     /// @return The maximum equivalent airspeed setpoint.
     virtual double maximumEquivalentAirspeed(Vehicle* /*vehicle*/) const { return NAN; }
@@ -207,8 +220,9 @@ class FirmwarePlugin : public QObject
     /// Command the vehicle to start the mission
     virtual void startMission(Vehicle *vehicle) const;
 
-    /// Command vehicle to move to specified location (altitude is included and relative)
-    virtual void guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius = 0.0) const;
+    /// Command vehicle to move to specified location (altitude is ignored, vehicle uses current altitude)
+    /// @return true: goto command accepted, false: goto failed (vehicle not moved)
+    virtual bool guidedModeGotoLocation(Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius = 0.0) const;
 
     /// Command vehicle to change altitude
     ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
@@ -305,10 +319,13 @@ class FirmwarePlugin : public QObject
     virtual QString missionCommandOverrides(QGCMAVLink::VehicleClass_t vehicleClass) const;
 
     /// Returns the mapping structure which is used to map from one parameter name to another based on firmware version.
+    /// See remapParamNameMap_t for details on how remapping works.
     virtual const remapParamNameMajorVersionMap_t &paramNameRemapMajorVersionMap() const;
 
-    /// Returns the highest major version number that is known to the remap for this specified major version.
-    virtual int remapParamNameHigestMinorVersionNumber(int /*majorVersionNumber*/) const { return 0; }
+    /// Returns the highest minor version number that has remap entries for the specified major version.
+    /// The remap logic iterates backwards from this version down to the vehicle's actual minor version.
+    /// Return Vehicle::versionNotSetValue if remapping is not supported for the given major version.
+    virtual int remapParamNameHigestMinorVersionNumber(int /*majorVersionNumber*/) const { return Vehicle::versionNotSetValue; }
 
     /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example
     virtual bool multiRotorCoaxialMotors(Vehicle* /*vehicle*/) const { return false; }
@@ -342,7 +359,7 @@ class FirmwarePlugin : public QObject
     virtual QGCCameraManager *createCameraManager(Vehicle *vehicle) const;
 
     /// Camera control.
-    virtual MavlinkCameraControl *createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject *parent = nullptr) const;
+    virtual MavlinkCameraControlInterface *createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject *parent = nullptr) const;
 
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*> *factGroups() { return nullptr; }
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 96ab48cb1052..9bd3349adb37 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -2,16 +2,18 @@
 #include "PX4ParameterMetaData.h"
 #include "QGCApplication.h"
 #include "PX4AutoPilotPlugin.h"
+#include "QGCLoggingCategory.h"
 #include "SettingsManager.h"
 #include "PlanViewSettings.h"
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-#include <QDebug>
 #include <QString>
 
 #include "px4_custom_mode.h"
 
+QGC_LOGGING_CATEGORY(PX4FirmwarePluginLog, "FirmwarePlugin.PX4FirmwarePlugin")
+
 PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
     : FirmwarePluginInstanceData(parent)
     , versionNotified(false)
@@ -141,7 +143,7 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
     }
 
     if (!found) {
-        qWarning() << "Unknown flight Mode" << flightMode;
+        qCWarning(PX4FirmwarePluginLog) << "Unknown flight Mode" << flightMode;
     }
 
     return found;
@@ -182,7 +184,7 @@ FactMetaData* PX4FirmwarePlugin::_getMetaDataForFact(QObject* parameterMetaData,
     if (px4MetaData) {
         return px4MetaData->getMetaDataForFact(name, vehicleType, type);
     } else {
-        qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
+        qCWarning(PX4FirmwarePluginLog) << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
     }
 
     return nullptr;
@@ -260,7 +262,7 @@ QString PX4FirmwarePlugin::missionCommandOverrides(QGCMAVLink::VehicleClass_t ve
     case QGCMAVLink::VehicleClassRoverBoat:
         return QStringLiteral(":/json/PX4-MavCmdInfoRover.json");
     default:
-        qWarning() << "PX4FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
+        qCWarning(PX4FirmwarePluginLog) << "PX4FirmwarePlugin::missionCommandOverrides called with bad VehicleClass_t:" << vehicleClass;
         return QString();
     }
 }
@@ -305,7 +307,7 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
 
     auto* vehicle = qobject_cast<Vehicle*>(sender());
     if (!vehicle) {
-        qWarning() << "Dynamic cast failed!";
+        qCWarning(PX4FirmwarePluginLog) << "Dynamic cast failed!";
         return;
     }
 
@@ -341,7 +343,7 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
         static_cast<float>(takeoffAltAMSL));    // AMSL altitude
 }
 
-double PX4FirmwarePlugin::maximumHorizontalSpeedMultirotor(Vehicle* vehicle) const
+double PX4FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(Vehicle* vehicle) const
 {
     QString speedParam("MPC_XY_VEL_MAX");
 
@@ -349,7 +351,7 @@ double PX4FirmwarePlugin::maximumHorizontalSpeedMultirotor(Vehicle* vehicle) con
         return vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, speedParam)->rawValue().toDouble();
     }
 
-    return FirmwarePlugin::maximumHorizontalSpeedMultirotor(vehicle);
+    return FirmwarePlugin::maximumHorizontalSpeedMultirotorMetersSecond(vehicle);
 }
 
 double PX4FirmwarePlugin::maximumEquivalentAirspeed(Vehicle* vehicle) const
@@ -385,7 +387,7 @@ bool PX4FirmwarePlugin::fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle) const
             vehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, "FW_AIRSPD_MAX");
 }
 
-void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const
+bool PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const
 {
     // PX4 doesn't support setting the forward flight loiter radius of
     // MAV_CMD_DO_REPOSITION
@@ -393,7 +395,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
 
     if (qIsNaN(vehicle->altitudeAMSL()->rawValue().toDouble())) {
         qgcApp()->showAppMessage(tr("Unable to go to location, vehicle position not known."));
-        return;
+        return false;
     }
 
     if (vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
@@ -420,6 +422,8 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
                                 static_cast<float>(gotoCoord.longitude()),
                                 vehicle->altitudeAMSL()->rawValue().toFloat());
     }
+
+    return true;
 }
 
 typedef struct {
@@ -433,13 +437,13 @@ static void _pauseVehicleThenChangeAltResultHandler(void* resultHandlerData, int
     if (ack.result != MAV_RESULT_ACCEPTED) {
         switch (failureCode) {
         case Vehicle::MavCmdResultCommandResultOnly:
-            qDebug() << QStringLiteral("MAV_CMD_DO_REPOSITION error(%1)").arg(ack.result);
+            qCDebug(PX4FirmwarePluginLog) << QStringLiteral("MAV_CMD_DO_REPOSITION error(%1)").arg(ack.result);
             break;
         case Vehicle::MavCmdResultFailureNoResponseToCommand:
-            qDebug() << "MAV_CMD_DO_REPOSITION no response from vehicle";
+            qCDebug(PX4FirmwarePluginLog) << "MAV_CMD_DO_REPOSITION no response from vehicle";
             break;
         case Vehicle::MavCmdResultFailureDuplicateCommand:
-            qDebug() << "Internal Error: MAV_CMD_DO_REPOSITION could not be sent due to duplicate command";
+            qCDebug(PX4FirmwarePluginLog) << "Internal Error: MAV_CMD_DO_REPOSITION could not be sent due to duplicate command";
             break;
         }
     }
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 2713af1fb481..438c3c53b62a 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -37,12 +37,12 @@ class PX4FirmwarePlugin : public FirmwarePlugin
     void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) const override;
     void                guidedModeLand                  (Vehicle* vehicle) const override;
     void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) const override;
-    double              maximumHorizontalSpeedMultirotor(Vehicle* vehicle) const override;
+    double              maximumHorizontalSpeedMultirotorMetersSecond(Vehicle* vehicle) const override;
     double              maximumEquivalentAirspeed(Vehicle* vehicle) const override;
     double              minimumEquivalentAirspeed(Vehicle* vehicle) const override;
     bool                mulirotorSpeedLimitsAvailable(Vehicle* vehicle) const override;
     bool                fixedWingAirSpeedLimitsAvailable(Vehicle* vehicle) const override;
-    void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const override;
+    bool                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius) const override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
     void                guidedModeChangeGroundSpeedMetersSecond(Vehicle* vehicle, double groundspeed) const override;
     void                guidedModeChangeEquivalentAirspeedMetersSecond(Vehicle* vehicle, double airspeed_equiv) const override;
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 66a3ff1bf333..9c2f190c5a9e 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2,209 +2,17 @@
   <version>3</version>
   <parameter_version_major>1</parameter_version_major>
   <parameter_version_minor>15</parameter_version_minor>
-  <group name="UAVCAN Motor Parameters" no_code_generation="true">
-    <parameter name="ctl_bw" default="75" type="INT32">
-      <short_desc>Speed controller bandwidth</short_desc>
-      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
-      <min>10</min>
-      <max>250</max>
-      <unit>Hz</unit>
-    </parameter>
-    <parameter name="ctl_dir" default="1" type="INT32">
-      <short_desc>Reverse direction</short_desc>
-      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
-      <min>0</min>
-      <max>1</max>
-    </parameter>
-    <parameter name="ctl_gain" default="1" type="FLOAT">
-      <short_desc>Speed (RPM) controller gain</short_desc>
-      <long_desc>Speed (RPM) controller gain. Determines controller
-            aggressiveness; units are amp-seconds per radian. Systems with
-            higher rotational inertia (large props) will need gain increased;
-            systems with low rotational inertia (small props) may need gain
-            decreased. Higher values result in faster response, but may result
-            in oscillation and excessive overshoot. Lower values result in a
-            slower, smoother response.</long_desc>
-      <min>0.00</min>
-      <max>1.00</max>
-      <unit>C/rad</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="ctl_hz_idle" default="3.5" type="FLOAT">
-      <short_desc>Idle speed (e Hz)</short_desc>
-      <long_desc>Idle speed (e Hz)</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>Hz</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="ctl_start_rate" default="25" type="INT32">
-      <short_desc>Spin-up rate (e Hz/s)</short_desc>
-      <long_desc>Spin-up rate (e Hz/s)</long_desc>
-      <min>5</min>
-      <max>1000</max>
-      <unit>1/s^2</unit>
-    </parameter>
-    <parameter name="esc_index" default="0" type="INT32">
-      <short_desc>Index of this ESC in throttle command messages.</short_desc>
-      <long_desc>Index of this ESC in throttle command messages.</long_desc>
-      <min>0</min>
-      <max>15</max>
-    </parameter>
-    <parameter name="id_ext_status" default="20034" type="INT32">
-      <short_desc>Extended status ID</short_desc>
-      <long_desc>Extended status ID</long_desc>
-      <min>1</min>
-      <max>1000000</max>
-    </parameter>
-    <parameter name="int_ext_status" default="50000" type="INT32">
-      <short_desc>Extended status interval (µs)</short_desc>
-      <long_desc>Extended status interval (µs)</long_desc>
-      <min>0</min>
-      <max>1000000</max>
-      <unit>us</unit>
-    </parameter>
-    <parameter name="int_status" default="50000" type="INT32">
-      <short_desc>ESC status interval (µs)</short_desc>
-      <long_desc>ESC status interval (µs)</long_desc>
-      <max>1000000</max>
-      <unit>us</unit>
-    </parameter>
-    <parameter name="mot_i_max" default="12" type="FLOAT">
-      <short_desc>Motor current limit in amps</short_desc>
-      <long_desc>Motor current limit in amps. This determines the maximum
-            current controller setpoint, as well as the maximum allowable
-            current setpoint slew rate. This value should generally be set to
-            the continuous current rating listed in the motor’s specification
-            sheet, or set equal to the motor’s specified continuous power
-            divided by the motor voltage limit.</long_desc>
-      <min>1</min>
-      <max>80</max>
-      <unit>A</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="mot_kv" default="2300" type="INT32">
-      <short_desc>Motor Kv in RPM per volt</short_desc>
-      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
-            specification sheet; accuracy will help control performance but
-            some deviation from the specified value is acceptable.</long_desc>
-      <min>0</min>
-      <max>4000</max>
-      <unit>rpm/V</unit>
-    </parameter>
-    <parameter name="mot_ls" default="0.0" type="FLOAT">
-      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
-      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
-      <unit>H</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="mot_num_poles" default="14" type="INT32">
-      <short_desc>Number of motor poles.</short_desc>
-      <long_desc>Number of motor poles. Used to convert mechanical speeds to
-            electrical speeds. This number should be taken from the motor’s
-            specification sheet.</long_desc>
-      <min>2</min>
-      <max>40</max>
-    </parameter>
-    <parameter name="mot_rs" default="0.0" type="FLOAT">
-      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
-      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
-            tuning a new motor, check that this value is approximately equal
-            to the value shown in the motor’s specification sheet.</long_desc>
-      <unit>Ohm</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="mot_v_accel" default="0.5" type="FLOAT">
-      <short_desc>Acceleration limit (V)</short_desc>
-      <long_desc>Acceleration limit (V)</long_desc>
-      <min>0.01</min>
-      <max>1.00</max>
-      <unit>V</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="mot_v_max" default="14.8" type="FLOAT">
-      <short_desc>Motor voltage limit in volts</short_desc>
-      <long_desc>Motor voltage limit in volts. The current controller’s
-            commanded voltage will never exceed this value. Note that this may
-            safely be above the nominal voltage of the motor; to determine the
-            actual motor voltage limit, divide the motor’s rated power by the
-            motor current limit.</long_desc>
-      <min>0</min>
-      <unit>V</unit>
-      <decimal>3</decimal>
-    </parameter>
-  </group>
-  <group name="UAVCAN GNSS" no_code_generation="true">
-    <parameter name="gnss.dyn_model" default="2" type="INT32">
-      <short_desc>GNSS dynamic model</short_desc>
-      <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
-        Automotive, 1 – Sea, 2 – Airborne.
-      </long_desc>
-      <min>0</min>
-      <max>2</max>
-      <values>
-        <value code="0">Automotive</value>
-        <value code="1">Sea</value>
-        <value code="2">Airborne</value>
-      </values>
-    </parameter>
-    <parameter name="gnss.old_fix_msg" default="1" type="INT32">
-      <short_desc>Broadcast old GNSS fix message</short_desc>
-      <long_desc>Broadcast the old (deprecated) GNSS fix message
-        uavcan.equipment.gnss.Fix alongside the new alternative
-        uavcan.equipment.gnss.Fix2. It is recommended to
-        disable this feature to reduce the CAN bus traffic.
-      </long_desc>
-      <min>0</min>
-      <max>1</max>
-      <values>
-        <value code="0">Fix2</value>
-        <value code="1">Fix and Fix2</value>
-      </values>
-    </parameter>
-    <parameter name="gnss.warn_dimens" default="0" type="INT32">
-      <short_desc>device health warning</short_desc>
-      <long_desc>Set the device health to Warning if the dimensionality of
-              the GNSS solution is less than this value. 3 for the full (3D)
-              solution, 2 for planar (2D) solution, 1 for time-only solution,
-              0 disables the feature.
-      </long_desc>
-      <min>0</min>
-      <max>3</max>
-      <values>
-        <value code="0">disables the feature</value>
-        <value code="1">time-only solution</value>
-        <value code="2">planar (2D) solution</value>
-        <value code="3">full (3D) solution</value>
-      </values>
-    </parameter>
-    <parameter name="gnss.warn_sats" default="0" type="INT32">
-      <short_desc />
-      <long_desc>Set the device health to Warning if the number of satellites
-        used in the GNSS solution is below this threshold. Zero
-        disables the feature
-      </long_desc>
-    </parameter>
-    <parameter name="uavcan.pubp-pres" default="0" type="INT32">
-      <short_desc />
-      <long_desc>Set the device health to Warning if the number of satellites
-        used in the GNSS solution is below this threshold. Zero
-        disables the feature
-      </long_desc>
-      <min>0</min>
-      <max>1000000</max>
-      <unit>us</unit>
-    </parameter>
-  </group>
   <group name="ADSB">
     <parameter name="ADSB_CALLSIGN_1" default="0" type="INT32">
       <short_desc>First 4 characters of CALLSIGN</short_desc>
-      <long_desc>Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -&gt; 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.</long_desc>
+      <long_desc>Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -&gt; 1347957792
+For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="ADSB_CALLSIGN_2" default="0" type="INT32">
       <short_desc>Second 4 characters of CALLSIGN</short_desc>
-      <long_desc>Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -&gt; 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.</long_desc>
+      <long_desc>Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -&gt; 1413829460
+For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="ADSB_EMERGC" default="0" type="INT32">
@@ -356,225 +164,15 @@
     </parameter>
   </group>
   <group name="Actuator Outputs">
-    <parameter name="PCA9685_DIS1" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS10" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 10 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS11" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 11 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS12" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 12 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS13" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 13 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS14" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 14 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS15" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 15 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS16" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 16 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS2" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS3" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS4" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS5" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS6" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS7" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS8" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DIS9" default="1000" type="INT32">
-      <short_desc>PCA9685 Output Channel 9 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_DUTY_EN" default="0" type="INT32">
-      <short_desc>Put the selected channels into Duty-Cycle output mode</short_desc>
-      <long_desc>The driver will output standard pulse-width encoded signal without this bit set. To make PCA9685 output in duty-cycle fashion, please enable the corresponding channel bit here and adjusting standard params to suit your need. The driver will have 12bits resolution for duty-cycle output. That means to achieve 0% to 100% output range on one channel, the corresponding params MIN and MAX for the channel should be set to 0 and 4096. Other standard params follows the same rule.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-      <bitmask>
-        <bit index="0">Put CH1 to Duty-Cycle mode</bit>
-        <bit index="1">Put CH2 to Duty-Cycle mode</bit>
-        <bit index="2">Put CH3 to Duty-Cycle mode</bit>
-        <bit index="3">Put CH4 to Duty-Cycle mode</bit>
-        <bit index="4">Put CH5 to Duty-Cycle mode</bit>
-        <bit index="5">Put CH6 to Duty-Cycle mode</bit>
-        <bit index="6">Put CH7 to Duty-Cycle mode</bit>
-        <bit index="7">Put CH8 to Duty-Cycle mode</bit>
-        <bit index="8">Put CH9 to Duty-Cycle mode</bit>
-        <bit index="9">Put CH10 to Duty-Cycle mode</bit>
-        <bit index="10">Put CH11 to Duty-Cycle mode</bit>
-        <bit index="11">Put CH12 to Duty-Cycle mode</bit>
-        <bit index="12">Put CH13 to Duty-Cycle mode</bit>
-        <bit index="13">Put CH14 to Duty-Cycle mode</bit>
-        <bit index="14">Put CH15 to Duty-Cycle mode</bit>
-        <bit index="15">Put CH16 to Duty-Cycle mode</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="PCA9685_FAIL1" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL10" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 10 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC10).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL11" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 11 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC11).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL12" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 12 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC12).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL13" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 13 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC13).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL14" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 14 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC14).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL15" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 15 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC15).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL16" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 16 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC16).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL2" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL3" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL4" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL5" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL6" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL7" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL8" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FAIL9" default="-1" type="INT32">
-      <short_desc>PCA9685 Output Channel 9 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC9).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_FUNC1" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 1 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC1" default="0" type="INT32">
+      <short_desc>SIM Channel 1 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 1.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -623,11 +221,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC10" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 10 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC10" default="0" type="INT32">
+      <short_desc>SIM Channel 10 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 10.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -676,11 +284,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC11" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 11 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC11" default="0" type="INT32">
+      <short_desc>SIM Channel 11 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 11.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -729,11 +347,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC12" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 12 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC12" default="0" type="INT32">
+      <short_desc>SIM Channel 12 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 12.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -782,11 +410,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC13" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 13 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC13" default="0" type="INT32">
+      <short_desc>SIM Channel 13 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 13.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -835,11 +473,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC14" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 14 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC14" default="0" type="INT32">
+      <short_desc>SIM Channel 14 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 14.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -888,11 +536,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC15" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 15 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC15" default="0" type="INT32">
+      <short_desc>SIM Channel 15 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 15.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -941,11 +599,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC16" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 16 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC16" default="0" type="INT32">
+      <short_desc>SIM Channel 16 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 16.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -994,11 +662,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC2" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 2 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC2" default="0" type="INT32">
+      <short_desc>SIM Channel 2 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 2.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1047,11 +725,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC3" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 3 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC3" default="0" type="INT32">
+      <short_desc>SIM Channel 3 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 3.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1100,11 +788,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC4" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 4 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC4" default="0" type="INT32">
+      <short_desc>SIM Channel 4 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 4.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1153,11 +851,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC5" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 5 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC5" default="0" type="INT32">
+      <short_desc>SIM Channel 5 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 5.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1206,11 +914,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC6" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 6 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC6" default="0" type="INT32">
+      <short_desc>SIM Channel 6 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 6.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1259,11 +977,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC7" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 7 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC7" default="0" type="INT32">
+      <short_desc>SIM Channel 7 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 7.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1312,11 +1040,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_FUNC8" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 8 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+    <parameter name="PWM_MAIN_FUNC8" default="0" type="INT32">
+      <short_desc>SIM Channel 8 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 8.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1365,11 +1103,21 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PCA9685_FUNC9" default="0" type="INT32">
-      <short_desc>PCA9685 Output Channel 9 Output Function</short_desc>
-      <long_desc>Select what should be output on PCA9685 Output Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
+      </values>
+    </parameter>
+    <parameter name="PWM_MAIN_FUNC9" default="0" type="INT32">
+      <short_desc>SIM Channel 9 Output Function</short_desc>
+      <long_desc>Select what should be output on SIM Channel 9.
+The default failsafe value is set according to the selected function:
+- 'Min' for ConstantMin
+- 'Max' for ConstantMax
+- 'Max' for Parachute
+- ('Max'+'Min')/2 for Servos
+- 'Disarmed' for the rest</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Constant Min</value>
@@ -1418,8173 +1166,93 @@
         <value code="422">Gimbal Yaw</value>
         <value code="430">Gripper</value>
         <value code="440">Landing Gear Wheel</value>
+        <value code="450">IC Engine Ignition</value>
+        <value code="451">IC Engine Throttle</value>
+        <value code="452">IC Engine Choke</value>
+        <value code="453">IC Engine Starter</value>
       </values>
     </parameter>
-    <parameter name="PCA9685_MAX1" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX10" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 10 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX11" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 11 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX12" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 12 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX13" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 13 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX14" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 14 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX15" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 15 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX16" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 16 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX2" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX3" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX4" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX5" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX6" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX7" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX8" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MAX9" default="1900" type="INT32">
-      <short_desc>PCA9685 Output Channel 9 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PCA9685_MIN1" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN10" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 10 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN11" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 11 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN12" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 12 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN13" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 13 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN14" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 14 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN15" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 15 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN16" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 16 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN2" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN3" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN4" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN5" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN6" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN7" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN8" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_MIN9" default="1100" type="INT32">
-      <short_desc>PCA9685 Output Channel 9 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PCA9685_PWM_FREQ" default="50.0" type="FLOAT">
-      <short_desc>PWM cycle frequency</short_desc>
-      <long_desc>Controls the PWM frequency at timing perspective. This is independent from PWM update frequency, as PCA9685 is capable to output without being continuously commanded by FC. Higher frequency leads to more accurate pulse width, but some ESCs and servos may not support it. This parameter should be set to the same value as PWM update rate in most case. This parameter MUST NOT exceed upper limit of 400.0, if any outputs as generic 1000~2000us pulse width is desired. Frequency higher than 400 only makes sense in duty-cycle mode.</long_desc>
-      <min>23.8</min>
-      <max>1525.87</max>
-      <decimal>2</decimal>
-    </parameter>
-    <parameter name="PCA9685_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for PCA9685 Output</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
+    <parameter name="PWM_MAIN_REV" default="0" type="INT32">
+      <short_desc>Reverse Output Range for SIM</short_desc>
+      <long_desc>Allows to reverse the output range for each channel.
+Note: this is only useful for servos.</long_desc>
       <min>0</min>
       <max>65535</max>
       <bitmask>
-        <bit index="0">PCA9685 Output Channel 1</bit>
-        <bit index="1">PCA9685 Output Channel 2</bit>
-        <bit index="2">PCA9685 Output Channel 3</bit>
-        <bit index="3">PCA9685 Output Channel 4</bit>
-        <bit index="4">PCA9685 Output Channel 5</bit>
-        <bit index="5">PCA9685 Output Channel 6</bit>
-        <bit index="6">PCA9685 Output Channel 7</bit>
-        <bit index="7">PCA9685 Output Channel 8</bit>
-        <bit index="8">PCA9685 Output Channel 9</bit>
-        <bit index="9">PCA9685 Output Channel 10</bit>
-        <bit index="10">PCA9685 Output Channel 11</bit>
-        <bit index="11">PCA9685 Output Channel 12</bit>
-        <bit index="12">PCA9685 Output Channel 13</bit>
-        <bit index="13">PCA9685 Output Channel 14</bit>
-        <bit index="14">PCA9685 Output Channel 15</bit>
-        <bit index="15">PCA9685 Output Channel 16</bit>
+        <bit index="0">SIM Channel 1</bit>
+        <bit index="1">SIM Channel 2</bit>
+        <bit index="2">SIM Channel 3</bit>
+        <bit index="3">SIM Channel 4</bit>
+        <bit index="4">SIM Channel 5</bit>
+        <bit index="5">SIM Channel 6</bit>
+        <bit index="6">SIM Channel 7</bit>
+        <bit index="7">SIM Channel 8</bit>
+        <bit index="8">SIM Channel 9</bit>
+        <bit index="9">SIM Channel 10</bit>
+        <bit index="10">SIM Channel 11</bit>
+        <bit index="11">SIM Channel 12</bit>
+        <bit index="12">SIM Channel 13</bit>
+        <bit index="13">SIM Channel 14</bit>
+        <bit index="14">SIM Channel 15</bit>
+        <bit index="15">SIM Channel 16</bit>
       </bitmask>
     </parameter>
-    <parameter name="PCA9685_SCHD_HZ" default="50.0" type="FLOAT">
-      <short_desc>PWM update rate</short_desc>
-      <long_desc>Controls the update rate of PWM output. Flight Controller will inform those numbers of update events in a second, to PCA9685. Higher update rate will consume more I2C bandwidth, which may even lead to worse output latency, or completely block I2C bus.</long_desc>
-      <min>50.0</min>
-      <max>400.0</max>
-      <decimal>2</decimal>
-    </parameter>
-    <parameter name="PWM_AUX_DIS1" default="1000" type="INT32">
-      <short_desc>PWM Aux 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
+  </group>
+  <group name="Airspeed Validator">
+    <parameter name="ASPD_BETA_GATE" default="1" type="INT32">
+      <short_desc>Gate size for sideslip angle fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1</min>
+      <max>5</max>
+      <unit>SD</unit>
     </parameter>
-    <parameter name="PWM_AUX_DIS10" default="1000" type="INT32">
-      <short_desc>PWM Capture 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
+    <parameter name="ASPD_BETA_NOISE" default="0.15" type="FLOAT">
+      <short_desc>Wind estimator sideslip measurement noise</short_desc>
+      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
+      <min>0</min>
+      <max>1</max>
+      <unit>rad</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="PWM_AUX_DIS11" default="1000" type="INT32">
-      <short_desc>PWM Capture 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
+    <parameter name="ASPD_DO_CHECKS" default="7" type="INT32">
+      <short_desc>Enable checks on airspeed sensors</short_desc>
+      <long_desc>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY &gt; 0.
+Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS &gt; 0, even if bit 0 is not explicitly set.</long_desc>
+      <min>0</min>
+      <max>31</max>
+      <bitmask>
+        <bit index="0">Only data missing check (triggers if more than 1s no data)</bit>
+        <bit index="1">Data stuck (triggers if data is exactly constant for 2s in FW mode)</bit>
+        <bit index="2">Innovation check (see ASPD_FS_INNOV)</bit>
+        <bit index="3">Load factor check (triggers if measurement is below stall speed)</bit>
+        <bit index="4">First principle check (airspeed change vs. throttle and pitch)</bit>
+      </bitmask>
     </parameter>
-    <parameter name="PWM_AUX_DIS2" default="1000" type="INT32">
-      <short_desc>PWM Aux 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
+    <parameter name="ASPD_FALLBACK" default="0" type="INT32">
+      <short_desc>Fallback options</short_desc>
+      <values>
+        <value code="0">Fallback only to other airspeed sensors</value>
+        <value code="1">Fallback to groundspeed-minus-windspeed airspeed estimation</value>
+        <value code="2">Fallback to thrust based airspeed estimation</value>
+      </values>
     </parameter>
-    <parameter name="PWM_AUX_DIS3" default="1000" type="INT32">
-      <short_desc>PWM Aux 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS4" default="1000" type="INT32">
-      <short_desc>PWM Aux 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS5" default="1000" type="INT32">
-      <short_desc>PWM Aux 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS6" default="1000" type="INT32">
-      <short_desc>PWM Aux 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS7" default="1000" type="INT32">
-      <short_desc>PWM Aux 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS8" default="1000" type="INT32">
-      <short_desc>PWM Aux 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_DIS9" default="1000" type="INT32">
-      <short_desc>PWM Capture 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL1" default="-1" type="INT32">
-      <short_desc>PWM Aux 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL10" default="-1" type="INT32">
-      <short_desc>PWM Capture 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL11" default="-1" type="INT32">
-      <short_desc>PWM Capture 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL2" default="-1" type="INT32">
-      <short_desc>PWM Aux 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL3" default="-1" type="INT32">
-      <short_desc>PWM Aux 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL4" default="-1" type="INT32">
-      <short_desc>PWM Aux 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL5" default="-1" type="INT32">
-      <short_desc>PWM Aux 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL6" default="-1" type="INT32">
-      <short_desc>PWM Aux 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL7" default="-1" type="INT32">
-      <short_desc>PWM Aux 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL8" default="-1" type="INT32">
-      <short_desc>PWM Aux 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FAIL9" default="-1" type="INT32">
-      <short_desc>PWM Capture 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC1" default="0" type="INT32">
-      <short_desc>PWM Aux 1 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC10" default="0" type="INT32">
-      <short_desc>PWM Capture 2 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Capture 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC11" default="0" type="INT32">
-      <short_desc>PWM Capture 3 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Capture 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC2" default="0" type="INT32">
-      <short_desc>PWM Aux 2 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC3" default="0" type="INT32">
-      <short_desc>PWM Aux 3 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC4" default="0" type="INT32">
-      <short_desc>PWM Aux 4 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC5" default="0" type="INT32">
-      <short_desc>PWM Aux 5 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC6" default="0" type="INT32">
-      <short_desc>PWM Aux 6 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC7" default="0" type="INT32">
-      <short_desc>PWM Aux 7 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC8" default="0" type="INT32">
-      <short_desc>PWM Aux 8 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Aux 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_FUNC9" default="0" type="INT32">
-      <short_desc>PWM Capture 1 Output Function</short_desc>
-      <long_desc>Select what should be output on PWM Capture 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-        <value code="2000">Camera Trigger</value>
-        <value code="2032">Camera Capture</value>
-        <value code="2064">PPS Input</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_MAX1" default="2000" type="INT32">
-      <short_desc>PWM Aux 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX10" default="2000" type="INT32">
-      <short_desc>PWM Capture 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX11" default="2000" type="INT32">
-      <short_desc>PWM Capture 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX2" default="2000" type="INT32">
-      <short_desc>PWM Aux 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX3" default="2000" type="INT32">
-      <short_desc>PWM Aux 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX4" default="2000" type="INT32">
-      <short_desc>PWM Aux 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX5" default="2000" type="INT32">
-      <short_desc>PWM Aux 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX6" default="2000" type="INT32">
-      <short_desc>PWM Aux 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX7" default="2000" type="INT32">
-      <short_desc>PWM Aux 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX8" default="2000" type="INT32">
-      <short_desc>PWM Aux 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MAX9" default="2000" type="INT32">
-      <short_desc>PWM Capture 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN1" default="1000" type="INT32">
-      <short_desc>PWM Aux 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN10" default="1000" type="INT32">
-      <short_desc>PWM Capture 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN11" default="1000" type="INT32">
-      <short_desc>PWM Capture 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN2" default="1000" type="INT32">
-      <short_desc>PWM Aux 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN3" default="1000" type="INT32">
-      <short_desc>PWM Aux 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN4" default="1000" type="INT32">
-      <short_desc>PWM Aux 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN5" default="1000" type="INT32">
-      <short_desc>PWM Aux 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN6" default="1000" type="INT32">
-      <short_desc>PWM Aux 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN7" default="1000" type="INT32">
-      <short_desc>PWM Aux 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN8" default="1000" type="INT32">
-      <short_desc>PWM Aux 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_MIN9" default="1000" type="INT32">
-      <short_desc>PWM Capture 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_AUX_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for PWM AUX</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>2047</max>
-      <bitmask>
-        <bit index="0">PWM Aux 1</bit>
-        <bit index="1">PWM Aux 2</bit>
-        <bit index="2">PWM Aux 3</bit>
-        <bit index="3">PWM Aux 4</bit>
-        <bit index="4">PWM Aux 5</bit>
-        <bit index="5">PWM Aux 6</bit>
-        <bit index="6">PWM Aux 7</bit>
-        <bit index="7">PWM Aux 8</bit>
-        <bit index="8">PWM Capture 1</bit>
-        <bit index="9">PWM Capture 2</bit>
-        <bit index="10">PWM Capture 3</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="PWM_AUX_TIM0" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for PWM Aux 1-4</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs PWM Aux 1-4. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-5">DShot150</value>
-        <value code="-4">DShot300</value>
-        <value code="-3">DShot600</value>
-        <value code="-2">DShot1200</value>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_TIM1" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for PWM Aux 5-6</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs PWM Aux 5-6. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_TIM2" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for PWM Aux 7-8</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs PWM Aux 7-8. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_AUX_TIM3" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for PWM Capture 1-3</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs PWM Capture 1-3. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS1" default="1000" type="INT32">
-      <short_desc>MAIN 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS2" default="1000" type="INT32">
-      <short_desc>MAIN 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS3" default="1000" type="INT32">
-      <short_desc>MAIN 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS4" default="1000" type="INT32">
-      <short_desc>MAIN 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS5" default="1000" type="INT32">
-      <short_desc>MAIN 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS6" default="1000" type="INT32">
-      <short_desc>MAIN 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS7" default="1000" type="INT32">
-      <short_desc>MAIN 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_DIS8" default="1000" type="INT32">
-      <short_desc>MAIN 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>800</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL1" default="-1" type="INT32">
-      <short_desc>MAIN 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL2" default="-1" type="INT32">
-      <short_desc>MAIN 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL3" default="-1" type="INT32">
-      <short_desc>MAIN 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL4" default="-1" type="INT32">
-      <short_desc>MAIN 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL5" default="-1" type="INT32">
-      <short_desc>MAIN 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL6" default="-1" type="INT32">
-      <short_desc>MAIN 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL7" default="-1" type="INT32">
-      <short_desc>MAIN 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FAIL8" default="-1" type="INT32">
-      <short_desc>MAIN 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC1" default="0" type="INT32">
-      <short_desc>MAIN 1 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC2" default="0" type="INT32">
-      <short_desc>MAIN 2 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC3" default="0" type="INT32">
-      <short_desc>MAIN 3 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC4" default="0" type="INT32">
-      <short_desc>MAIN 4 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC5" default="0" type="INT32">
-      <short_desc>MAIN 5 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC6" default="0" type="INT32">
-      <short_desc>MAIN 6 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC7" default="0" type="INT32">
-      <short_desc>MAIN 7 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_FUNC8" default="0" type="INT32">
-      <short_desc>MAIN 8 Output Function</short_desc>
-      <long_desc>Select what should be output on MAIN 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX1" default="2000" type="INT32">
-      <short_desc>MAIN 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX2" default="2000" type="INT32">
-      <short_desc>MAIN 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX3" default="2000" type="INT32">
-      <short_desc>MAIN 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX4" default="2000" type="INT32">
-      <short_desc>MAIN 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX5" default="2000" type="INT32">
-      <short_desc>MAIN 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX6" default="2000" type="INT32">
-      <short_desc>MAIN 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX7" default="2000" type="INT32">
-      <short_desc>MAIN 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MAX8" default="2000" type="INT32">
-      <short_desc>MAIN 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>1600</min>
-      <max>2200</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN1" default="1000" type="INT32">
-      <short_desc>MAIN 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN2" default="1000" type="INT32">
-      <short_desc>MAIN 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN3" default="1000" type="INT32">
-      <short_desc>MAIN 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN4" default="1000" type="INT32">
-      <short_desc>MAIN 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN5" default="1000" type="INT32">
-      <short_desc>MAIN 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN6" default="1000" type="INT32">
-      <short_desc>MAIN 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN7" default="1000" type="INT32">
-      <short_desc>MAIN 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_MIN8" default="1000" type="INT32">
-      <short_desc>MAIN 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>800</min>
-      <max>1400</max>
-    </parameter>
-    <parameter name="PWM_MAIN_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for PWM MAIN</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">MAIN 1</bit>
-        <bit index="1">MAIN 2</bit>
-        <bit index="2">MAIN 3</bit>
-        <bit index="3">MAIN 4</bit>
-        <bit index="4">MAIN 5</bit>
-        <bit index="5">MAIN 6</bit>
-        <bit index="6">MAIN 7</bit>
-        <bit index="7">MAIN 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="PWM_MAIN_TIM0" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for MAIN 1-2</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs MAIN 1-2. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_TIM1" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for MAIN 3-4</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs MAIN 3-4. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="PWM_MAIN_TIM2" default="400" type="INT32">
-      <short_desc>Output Protocol Configuration for MAIN 5-8</short_desc>
-      <long_desc>Select which Output Protocol to use for outputs MAIN 5-8. Custom PWM rates can be used by directly setting any value &gt;0.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="-1">OneShot</value>
-        <value code="50">PWM 50 Hz</value>
-        <value code="100">PWM 100 Hz</value>
-        <value code="200">PWM 200 Hz</value>
-        <value code="400">PWM 400 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="RBCLW_DIS1" default="128" type="INT32">
-      <short_desc>Roboclaw Driver Channel 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>128</min>
-      <max>128</max>
-    </parameter>
-    <parameter name="RBCLW_DIS2" default="128" type="INT32">
-      <short_desc>Roboclaw Driver Channel 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>128</min>
-      <max>128</max>
-    </parameter>
-    <parameter name="RBCLW_FAIL1" default="-1" type="INT32">
-      <short_desc>Roboclaw Driver Channel 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>257</max>
-    </parameter>
-    <parameter name="RBCLW_FAIL2" default="-1" type="INT32">
-      <short_desc>Roboclaw Driver Channel 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>257</max>
-    </parameter>
-    <parameter name="RBCLW_FUNC1" default="0" type="INT32">
-      <short_desc>Roboclaw Driver Channel 1 Output Function</short_desc>
-      <long_desc>Select what should be output on Roboclaw Driver Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="RBCLW_FUNC2" default="0" type="INT32">
-      <short_desc>Roboclaw Driver Channel 2 Output Function</short_desc>
-      <long_desc>Select what should be output on Roboclaw Driver Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="RBCLW_MAX1" default="256" type="INT32">
-      <short_desc>Roboclaw Driver Channel 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>128</min>
-      <max>256</max>
-    </parameter>
-    <parameter name="RBCLW_MAX2" default="256" type="INT32">
-      <short_desc>Roboclaw Driver Channel 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>128</min>
-      <max>256</max>
-    </parameter>
-    <parameter name="RBCLW_MIN1" default="1" type="INT32">
-      <short_desc>Roboclaw Driver Channel 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>1</min>
-      <max>128</max>
-    </parameter>
-    <parameter name="RBCLW_MIN2" default="1" type="INT32">
-      <short_desc>Roboclaw Driver Channel 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>1</min>
-      <max>128</max>
-    </parameter>
-    <parameter name="RBCLW_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for Roboclaw Driver</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <bitmask>
-        <bit index="0">Roboclaw Driver Channel 1</bit>
-        <bit index="1">Roboclaw Driver Channel 2</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS1" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS2" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS3" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS4" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS5" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS6" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS7" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_DIS8" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL1" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL2" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL3" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL4" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL5" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL6" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL7" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FAIL8" default="-1" type="INT32">
-      <short_desc>SIM_GZ ESC 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC1" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 1 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC2" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 2 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC3" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 3 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC4" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 4 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC5" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 5 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC6" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 6 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC7" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 7 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_FUNC8" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 8 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX1" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX2" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX3" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX4" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX5" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX6" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX7" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MAX8" default="1000" type="INT32">
-      <short_desc>SIM_GZ ESC 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN1" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN2" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN3" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN4" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN5" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN6" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN7" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_MIN8" default="0" type="INT32">
-      <short_desc>SIM_GZ ESC 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_EC_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for SIM_GZ</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">SIM_GZ ESC 1</bit>
-        <bit index="1">SIM_GZ ESC 2</bit>
-        <bit index="2">SIM_GZ ESC 3</bit>
-        <bit index="3">SIM_GZ ESC 4</bit>
-        <bit index="4">SIM_GZ ESC 5</bit>
-        <bit index="5">SIM_GZ ESC 6</bit>
-        <bit index="6">SIM_GZ ESC 7</bit>
-        <bit index="7">SIM_GZ ESC 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS1" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS2" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS3" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS4" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS5" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS6" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS7" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_DIS8" default="500" type="INT32">
-      <short_desc>SIM_GZ Servo 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL1" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL2" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL3" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL4" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL5" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL6" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL7" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FAIL8" default="-1" type="INT32">
-      <short_desc>SIM_GZ Servo 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC1" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 1 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC2" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 2 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC3" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 3 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC4" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 4 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC5" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 5 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC6" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 6 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC7" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 7 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_FUNC8" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 8 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX1" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX2" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX3" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX4" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX5" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX6" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX7" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MAX8" default="1000" type="INT32">
-      <short_desc>SIM_GZ Servo 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN1" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN2" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN3" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN4" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN5" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN6" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN7" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_MIN8" default="0" type="INT32">
-      <short_desc>SIM_GZ Servo 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="SIM_GZ_SV_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for SIM_GZ</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">SIM_GZ Servo 1</bit>
-        <bit index="1">SIM_GZ Servo 2</bit>
-        <bit index="2">SIM_GZ Servo 3</bit>
-        <bit index="3">SIM_GZ Servo 4</bit>
-        <bit index="4">SIM_GZ Servo 5</bit>
-        <bit index="5">SIM_GZ Servo 6</bit>
-        <bit index="6">SIM_GZ Servo 7</bit>
-        <bit index="7">SIM_GZ Servo 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="SIM_GZ_WH_DIS1" default="100" type="INT32">
-      <short_desc>SIM_GZ Wheels 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_DIS2" default="100" type="INT32">
-      <short_desc>SIM_GZ Wheels 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_DIS3" default="100" type="INT32">
-      <short_desc>SIM_GZ Wheels 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_DIS4" default="100" type="INT32">
-      <short_desc>SIM_GZ Wheels 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FAIL1" default="-1" type="INT32">
-      <short_desc>SIM_GZ Wheels 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FAIL2" default="-1" type="INT32">
-      <short_desc>SIM_GZ Wheels 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FAIL3" default="-1" type="INT32">
-      <short_desc>SIM_GZ Wheels 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FAIL4" default="-1" type="INT32">
-      <short_desc>SIM_GZ Wheels 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FUNC1" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 1 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Wheels 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FUNC2" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 2 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Wheels 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FUNC3" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 3 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Wheels 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_WH_FUNC4" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 4 Output Function</short_desc>
-      <long_desc>Select what should be output on SIM_GZ Wheels 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MAX1" default="200" type="INT32">
-      <short_desc>SIM_GZ Wheels 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MAX2" default="200" type="INT32">
-      <short_desc>SIM_GZ Wheels 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MAX3" default="200" type="INT32">
-      <short_desc>SIM_GZ Wheels 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MAX4" default="200" type="INT32">
-      <short_desc>SIM_GZ Wheels 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MIN1" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MIN2" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MIN3" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_MIN4" default="0" type="INT32">
-      <short_desc>SIM_GZ Wheels 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>200</max>
-    </parameter>
-    <parameter name="SIM_GZ_WH_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for SIM_GZ</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>15</max>
-      <bitmask>
-        <bit index="0">SIM_GZ Wheels 1</bit>
-        <bit index="1">SIM_GZ Wheels 2</bit>
-        <bit index="2">SIM_GZ Wheels 3</bit>
-        <bit index="3">SIM_GZ Wheels 4</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC1" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 1 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC2" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 2 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC3" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 3 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC4" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 4 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC5" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 5 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC6" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 6 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC7" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 7 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_FUNC8" default="0" type="INT32">
-      <short_desc>TAP ESC Output ESC 8 Output Function</short_desc>
-      <long_desc>Select what should be output on TAP ESC Output ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="TAP_ESC_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for TAP ESC Output</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">TAP ESC Output ESC 1</bit>
-        <bit index="1">TAP ESC Output ESC 2</bit>
-        <bit index="2">TAP ESC Output ESC 3</bit>
-        <bit index="3">TAP ESC Output ESC 4</bit>
-        <bit index="4">TAP ESC Output ESC 5</bit>
-        <bit index="5">TAP ESC Output ESC 6</bit>
-        <bit index="6">TAP ESC Output ESC 7</bit>
-        <bit index="7">TAP ESC Output ESC 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL1" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL2" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL3" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL4" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL5" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL6" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL7" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FAIL8" default="-1" type="INT32">
-      <short_desc>UAVCAN ESC 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC1" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 1 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC2" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 2 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC3" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 3 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC4" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 4 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC5" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 5 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC6" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 6 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC7" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 7 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_FUNC8" default="0" type="INT32">
-      <short_desc>UAVCAN ESC 8 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX1" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX2" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX3" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX4" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX5" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX6" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX7" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MAX8" default="8191" type="INT32">
-      <short_desc>UAVCAN ESC 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN1" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN2" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN3" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN4" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN5" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN6" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN7" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_MIN8" default="1" type="INT32">
-      <short_desc>UAVCAN ESC 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UAVCAN_EC_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for UAVCAN</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">UAVCAN ESC 1</bit>
-        <bit index="1">UAVCAN ESC 2</bit>
-        <bit index="2">UAVCAN ESC 3</bit>
-        <bit index="3">UAVCAN ESC 4</bit>
-        <bit index="4">UAVCAN ESC 5</bit>
-        <bit index="5">UAVCAN ESC 6</bit>
-        <bit index="6">UAVCAN ESC 7</bit>
-        <bit index="7">UAVCAN ESC 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS1" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS2" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS3" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS4" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS5" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS6" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS7" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_DIS8" default="500" type="INT32">
-      <short_desc>UAVCAN Servo 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL1" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL2" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL3" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL4" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL5" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL6" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL7" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FAIL8" default="-1" type="INT32">
-      <short_desc>UAVCAN Servo 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC1" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 1 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC2" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 2 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC3" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 3 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC4" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 4 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC5" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 5 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC6" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 6 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC7" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 7 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_FUNC8" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 8 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCAN Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX1" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX2" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX3" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX4" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX5" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX6" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX7" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MAX8" default="1000" type="INT32">
-      <short_desc>UAVCAN Servo 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN1" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN2" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN3" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN4" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN5" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN6" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN7" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_MIN8" default="0" type="INT32">
-      <short_desc>UAVCAN Servo 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="UAVCAN_SV_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for UAVCAN</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>255</max>
-      <bitmask>
-        <bit index="0">UAVCAN Servo 1</bit>
-        <bit index="1">UAVCAN Servo 2</bit>
-        <bit index="2">UAVCAN Servo 3</bit>
-        <bit index="3">UAVCAN Servo 4</bit>
-        <bit index="4">UAVCAN Servo 5</bit>
-        <bit index="5">UAVCAN Servo 6</bit>
-        <bit index="6">UAVCAN Servo 7</bit>
-        <bit index="7">UAVCAN Servo 8</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL1" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL10" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 10 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC10).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL11" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 11 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC11).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL12" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 12 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC12).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL13" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 13 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC13).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL14" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 14 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC14).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL15" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 15 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC15).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL16" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 16 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC16).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL2" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL3" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL4" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL5" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL6" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL7" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL8" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FAIL9" default="-1" type="INT32">
-      <short_desc>UAVCANv1 ESC 9 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC9).</long_desc>
-      <min>-1</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC1" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 1 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC10" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 10 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC11" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 11 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC12" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 12 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC13" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 13 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC14" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 14 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC15" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 15 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC16" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 16 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC2" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 2 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC3" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 3 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC4" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 4 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC5" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 5 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC6" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 6 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC7" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 7 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC8" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 8 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_FUNC9" default="0" type="INT32">
-      <short_desc>UAVCANv1 ESC 9 Output Function</short_desc>
-      <long_desc>Select what should be output on UAVCANv1 ESC 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX1" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX10" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 10 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX11" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 11 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX12" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 12 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX13" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 13 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX14" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 14 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX15" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 15 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX16" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 16 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX2" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX3" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX4" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX5" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX6" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX7" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX8" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MAX9" default="8191" type="INT32">
-      <short_desc>UAVCANv1 ESC 9 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN1" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN10" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 10 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN11" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 11 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN12" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 12 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN13" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 13 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN14" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 14 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN15" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 15 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN16" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 16 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN2" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN3" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN4" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN5" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN6" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN7" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN8" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_MIN9" default="1" type="INT32">
-      <short_desc>UAVCANv1 ESC 9 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>8191</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for UAVCANv1</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-      <bitmask>
-        <bit index="0">UAVCANv1 ESC 1</bit>
-        <bit index="1">UAVCANv1 ESC 2</bit>
-        <bit index="2">UAVCANv1 ESC 3</bit>
-        <bit index="3">UAVCANv1 ESC 4</bit>
-        <bit index="4">UAVCANv1 ESC 5</bit>
-        <bit index="5">UAVCANv1 ESC 6</bit>
-        <bit index="6">UAVCANv1 ESC 7</bit>
-        <bit index="7">UAVCANv1 ESC 8</bit>
-        <bit index="8">UAVCANv1 ESC 9</bit>
-        <bit index="9">UAVCANv1 ESC 10</bit>
-        <bit index="10">UAVCANv1 ESC 11</bit>
-        <bit index="11">UAVCANv1 ESC 12</bit>
-        <bit index="12">UAVCANv1 ESC 13</bit>
-        <bit index="13">UAVCANv1 ESC 14</bit>
-        <bit index="14">UAVCANv1 ESC 15</bit>
-        <bit index="15">UAVCANv1 ESC 16</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="VOXL2_IO_FUNC1" default="0" type="INT32">
-      <short_desc>VOXL2 IO Output PWM Channel 1 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL2 IO Output PWM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL2_IO_FUNC2" default="0" type="INT32">
-      <short_desc>VOXL2 IO Output PWM Channel 2 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL2 IO Output PWM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL2_IO_FUNC3" default="0" type="INT32">
-      <short_desc>VOXL2 IO Output PWM Channel 3 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL2 IO Output PWM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL2_IO_FUNC4" default="0" type="INT32">
-      <short_desc>VOXL2 IO Output PWM Channel 4 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL2 IO Output PWM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL2_IO_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for VOXL2 IO Output</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>15</max>
-      <bitmask>
-        <bit index="0">VOXL2 IO Output PWM Channel 1</bit>
-        <bit index="1">VOXL2 IO Output PWM Channel 2</bit>
-        <bit index="2">VOXL2 IO Output PWM Channel 3</bit>
-        <bit index="3">VOXL2 IO Output PWM Channel 4</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="VOXL_ESC_FUNC1" default="0" type="INT32">
-      <short_desc>VOXL ESC Output ESC 1 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_FUNC2" default="0" type="INT32">
-      <short_desc>VOXL ESC Output ESC 2 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_FUNC3" default="0" type="INT32">
-      <short_desc>VOXL ESC Output ESC 3 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_FUNC4" default="0" type="INT32">
-      <short_desc>VOXL ESC Output ESC 4 Output Function</short_desc>
-      <long_desc>Select what should be output on VOXL ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for VOXL ESC Output</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>15</max>
-      <bitmask>
-        <bit index="0">VOXL ESC Output ESC 1</bit>
-        <bit index="1">VOXL ESC Output ESC 2</bit>
-        <bit index="2">VOXL ESC Output ESC 3</bit>
-        <bit index="3">VOXL ESC Output ESC 4</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="VTQ_IO_DIS0" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 0 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS1" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 1 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS10" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 10 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS11" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 11 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS12" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 12 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS13" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 13 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS14" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 14 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS15" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 15 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS2" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 2 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS3" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 3 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS4" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 4 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS5" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 5 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS6" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 6 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS7" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 7 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS8" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 8 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_DIS9" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 9 Disarmed Value</short_desc>
-      <long_desc>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL0" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 0 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC0).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL1" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 1 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC1).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL10" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 10 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC10).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL11" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 11 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC11).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL12" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 12 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC12).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL13" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 13 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC13).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL14" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 14 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC14).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL15" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 15 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC15).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL2" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 2 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC2).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL3" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 3 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC3).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL4" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 4 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC4).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL5" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 5 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC5).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL6" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 6 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC6).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL7" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 7 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC7).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL8" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 8 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC8).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FAIL9" default="-1" type="INT32">
-      <short_desc>Vertiq IO CVI 9 Failsafe Value</short_desc>
-      <long_desc>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see VTQ_IO_FUNC9).</long_desc>
-      <min>-1</min>
-      <max>500</max>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC0" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 0 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 0. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC1" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 1 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC10" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 10 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC11" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 11 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC12" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 12 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC13" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 13 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC14" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 14 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC15" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 15 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC2" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 2 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC3" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 3 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC4" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 4 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC5" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 5 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC6" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 6 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC7" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 7 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC8" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 8 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_FUNC9" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 9 Output Function</short_desc>
-      <long_desc>Select what should be output on Vertiq IO CVI 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Constant Min</value>
-        <value code="2">Constant Max</value>
-        <value code="101">Motor 1</value>
-        <value code="102">Motor 2</value>
-        <value code="103">Motor 3</value>
-        <value code="104">Motor 4</value>
-        <value code="105">Motor 5</value>
-        <value code="106">Motor 6</value>
-        <value code="107">Motor 7</value>
-        <value code="108">Motor 8</value>
-        <value code="109">Motor 9</value>
-        <value code="110">Motor 10</value>
-        <value code="111">Motor 11</value>
-        <value code="112">Motor 12</value>
-        <value code="201">Servo 1</value>
-        <value code="202">Servo 2</value>
-        <value code="203">Servo 3</value>
-        <value code="204">Servo 4</value>
-        <value code="205">Servo 5</value>
-        <value code="206">Servo 6</value>
-        <value code="207">Servo 7</value>
-        <value code="208">Servo 8</value>
-        <value code="301">Peripheral via Actuator Set 1</value>
-        <value code="302">Peripheral via Actuator Set 2</value>
-        <value code="303">Peripheral via Actuator Set 3</value>
-        <value code="304">Peripheral via Actuator Set 4</value>
-        <value code="305">Peripheral via Actuator Set 5</value>
-        <value code="306">Peripheral via Actuator Set 6</value>
-        <value code="400">Landing Gear</value>
-        <value code="401">Parachute</value>
-        <value code="402">RC Roll</value>
-        <value code="403">RC Pitch</value>
-        <value code="404">RC Throttle</value>
-        <value code="405">RC Yaw</value>
-        <value code="406">RC Flaps</value>
-        <value code="407">RC AUX 1</value>
-        <value code="408">RC AUX 2</value>
-        <value code="409">RC AUX 3</value>
-        <value code="410">RC AUX 4</value>
-        <value code="411">RC AUX 5</value>
-        <value code="412">RC AUX 6</value>
-        <value code="420">Gimbal Roll</value>
-        <value code="421">Gimbal Pitch</value>
-        <value code="422">Gimbal Yaw</value>
-        <value code="430">Gripper</value>
-        <value code="440">Landing Gear Wheel</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_IO_MAX0" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 0 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX1" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 1 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX10" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 10 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX11" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 11 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX12" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 12 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX13" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 13 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX14" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 14 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX15" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 15 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX2" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 2 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX3" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 3 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX4" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 4 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX5" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 5 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX6" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 6 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX7" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 7 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX8" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 8 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MAX9" default="65535" type="INT32">
-      <short_desc>Vertiq IO CVI 9 Maximum Value</short_desc>
-      <long_desc>Maxmimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN0" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 0 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN1" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 1 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN10" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 10 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN11" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 11 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN12" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 12 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN13" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 13 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN14" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 14 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN15" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 15 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN2" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 2 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN3" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 3 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN4" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 4 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN5" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 5 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN6" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 6 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN7" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 7 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN8" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 8 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_MIN9" default="0" type="INT32">
-      <short_desc>Vertiq IO CVI 9 Minimum Value</short_desc>
-      <long_desc>Minimum output value (when not disarmed).</long_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="VTQ_IO_REV" default="0" type="INT32">
-      <short_desc>Reverse Output Range for Vertiq IO</short_desc>
-      <long_desc>Allows to reverse the output range for each channel. Note: this is only useful for servos.</long_desc>
-      <min>0</min>
-      <max>32767</max>
-      <bitmask>
-        <bit index="-1">Vertiq IO CVI 0</bit>
-        <bit index="0">Vertiq IO CVI 1</bit>
-        <bit index="1">Vertiq IO CVI 2</bit>
-        <bit index="2">Vertiq IO CVI 3</bit>
-        <bit index="3">Vertiq IO CVI 4</bit>
-        <bit index="4">Vertiq IO CVI 5</bit>
-        <bit index="5">Vertiq IO CVI 6</bit>
-        <bit index="6">Vertiq IO CVI 7</bit>
-        <bit index="7">Vertiq IO CVI 8</bit>
-        <bit index="8">Vertiq IO CVI 9</bit>
-        <bit index="9">Vertiq IO CVI 10</bit>
-        <bit index="10">Vertiq IO CVI 11</bit>
-        <bit index="11">Vertiq IO CVI 12</bit>
-        <bit index="12">Vertiq IO CVI 13</bit>
-        <bit index="13">Vertiq IO CVI 14</bit>
-        <bit index="14">Vertiq IO CVI 15</bit>
-      </bitmask>
-    </parameter>
-  </group>
-  <group name="Airspeed Validator">
-    <parameter name="ASPD_BETA_GATE" default="1" type="INT32">
-      <short_desc>Gate size for sideslip angle fusion</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
-      <min>1</min>
-      <max>5</max>
-      <unit>SD</unit>
-    </parameter>
-    <parameter name="ASPD_BETA_NOISE" default="0.15" type="FLOAT">
-      <short_desc>Wind estimator sideslip measurement noise</short_desc>
-      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <unit>rad</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="ASPD_DO_CHECKS" default="7" type="INT32">
-      <short_desc>Enable checks on airspeed sensors</short_desc>
-      <long_desc>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY &gt; 0.</long_desc>
-      <min>0</min>
-      <max>31</max>
-      <bitmask>
-        <bit index="0">Only data missing check (triggers if more than 1s no data)</bit>
-        <bit index="1">Data stuck (triggers if data is exactly constant for 2s in FW mode)</bit>
-        <bit index="2">Innovation check (see ASPD_FS_INNOV)</bit>
-        <bit index="3">Load factor check (triggers if measurement is below stall speed)</bit>
-        <bit index="4">First principle check (airspeed change vs. throttle and pitch)</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="ASPD_FALLBACK_GW" default="0" type="INT32" boolean="true">
-      <short_desc>Enable fallback to sensor-less airspeed estimation</short_desc>
-      <long_desc>If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.</long_desc>
-      <values>
-        <value code="0">Disable fallback to sensor-less estimation</value>
-        <value code="1">Enable fallback to sensor-less estimation</value>
-      </values>
-    </parameter>
-    <parameter name="ASPD_FP_T_WINDOW" default="2.0" type="FLOAT">
-      <short_desc>First principle airspeed check time window</short_desc>
-      <long_desc>Window for comparing airspeed change to throttle and pitch change. Triggers when the airspeed change within this window is negative while throttle increases and the vehicle pitches down. Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. Relies on  FW_THR_TRIM being set accurately.</long_desc>
-      <min>0</min>
-      <unit>s</unit>
-      <decimal>1</decimal>
+    <parameter name="ASPD_FP_T_WINDOW" default="2.0" type="FLOAT">
+      <short_desc>First principle airspeed check time window</short_desc>
+      <long_desc>Window for comparing airspeed change to throttle and pitch change.
+Triggers when the airspeed change within this window is negative while throttle increases
+and the vehicle pitches down.
+Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions.
+Relies on  FW_THR_TRIM being set accurately.</long_desc>
+      <min>0</min>
+      <unit>s</unit>
+      <decimal>1</decimal>
     </parameter>
     <parameter name="ASPD_FS_INNOV" default="5." type="FLOAT">
       <short_desc>Airspeed failure innovation threshold</short_desc>
-      <long_desc>This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</long_desc>
+      <long_desc>This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,
+smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)
+and measured airspeed.
+The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</long_desc>
       <min>0.5</min>
       <max>10.0</max>
       <unit>m/s</unit>
@@ -9592,7 +1260,8 @@
     </parameter>
     <parameter name="ASPD_FS_INTEG" default="10." type="FLOAT">
       <short_desc>Airspeed failure innovation integral threshold</short_desc>
-      <long_desc>This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.</long_desc>
+      <long_desc>This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.
+Larger values make the check less sensitive, smaller positive values make it more sensitive.</long_desc>
       <min>0.0</min>
       <max>50.0</max>
       <unit>m</unit>
@@ -9600,7 +1269,8 @@
     </parameter>
     <parameter name="ASPD_FS_T_START" default="-1." type="FLOAT">
       <short_desc>Airspeed failsafe start delay</short_desc>
-      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.</long_desc>
+      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good.
+Set to a negative value to disable the re-enabling in flight.</long_desc>
       <min>-1.0</min>
       <unit>s</unit>
       <decimal>1</decimal>
@@ -9620,6 +1290,7 @@
         <value code="1">First airspeed sensor</value>
         <value code="2">Second airspeed sensor</value>
         <value code="3">Third airspeed sensor</value>
+        <value code="4">Thrust based airspeed</value>
       </values>
     </parameter>
     <parameter name="ASPD_SCALE_1" default="1.0" type="FLOAT" volatile="true">
@@ -9628,7 +1299,6 @@
       <min>0.5</min>
       <max>2.0</max>
       <decimal>2</decimal>
-      <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="ASPD_SCALE_2" default="1.0" type="FLOAT" volatile="true">
       <short_desc>Scale of airspeed sensor 2</short_desc>
@@ -9636,7 +1306,6 @@
       <min>0.5</min>
       <max>2.0</max>
       <decimal>2</decimal>
-      <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="ASPD_SCALE_3" default="1.0" type="FLOAT" volatile="true">
       <short_desc>Scale of airspeed sensor 3</short_desc>
@@ -9644,7 +1313,6 @@
       <min>0.5</min>
       <max>2.0</max>
       <decimal>2</decimal>
-      <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="ASPD_SCALE_APPLY" default="2" type="INT32">
       <short_desc>Controls when to apply the new estimated airspeed scale(s)</short_desc>
@@ -9656,7 +1324,8 @@
     </parameter>
     <parameter name="ASPD_SCALE_NSD" default="1.e-4" type="FLOAT">
       <short_desc>Wind estimator true airspeed scale process noise spectral density</short_desc>
-      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.</long_desc>
+      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
+When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.</long_desc>
       <min>0</min>
       <max>0.1</max>
       <unit>1/s/sqrt(Hz)</unit>
@@ -9677,17 +1346,19 @@
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="ASPD_WERR_THR" default="0.55" type="FLOAT">
-      <short_desc>Horizontal wind uncertainty threshold for synthetic airspeed</short_desc>
-      <long_desc>The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.</long_desc>
-      <min>0.001</min>
+    <parameter name="ASPD_WERR_THR" default="2." type="FLOAT">
+      <short_desc>Horizontal wind uncertainty threshold for valid ground-minus-wind</short_desc>
+      <long_desc>The airspeed alternative derived from groundspeed and heading will be declared valid
+as soon and as long the horizontal wind uncertainty is below this value.</long_desc>
+      <min>0.01</min>
       <max>5</max>
       <unit>m/s</unit>
-      <decimal>3</decimal>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="ASPD_WIND_NSD" default="1.e-1" type="FLOAT">
       <short_desc>Wind estimator wind process noise spectral density</short_desc>
-      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</long_desc>
+      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.
+When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</long_desc>
       <min>0</min>
       <max>1</max>
       <unit>m/s^2/sqrt(Hz)</unit>
@@ -9711,7 +1382,8 @@
     </parameter>
     <parameter name="ATT_EXT_HDG_M" default="0" type="INT32">
       <short_desc>External heading usage mode (from Motion capture/Vision)</short_desc>
-      <long_desc>Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.</long_desc>
+      <long_desc>Set to 1 to use heading estimate from vision.
+Set to 2 to use heading from motion capture.</long_desc>
       <min>0</min>
       <max>2</max>
       <values>
@@ -9722,7 +1394,9 @@
     </parameter>
     <parameter name="ATT_MAG_DECL" default="0.0" type="FLOAT">
       <short_desc>Magnetic declination, in degrees</short_desc>
-      <long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
+      <long_desc>This parameter is not used in normal operation,
+as the declination is looked up based on the
+GPS coordinates of the vehicle.</long_desc>
       <unit>deg</unit>
       <decimal>2</decimal>
     </parameter>
@@ -9757,7 +1431,9 @@
   <group name="Autotune">
     <parameter name="FW_AT_APPLY" default="2" type="INT32">
       <short_desc>Controls when to apply the new gains</short_desc>
-      <long_desc>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.</long_desc>
+      <long_desc>After the auto-tuning sequence is completed,
+a new set of gains is available and can be applied
+immediately or after landing.</long_desc>
       <values>
         <value code="0">Do not apply the new gains (logging only)</value>
         <value code="1">Apply the new gains after disarm</value>
@@ -9766,7 +1442,11 @@
     </parameter>
     <parameter name="FW_AT_AXES" default="3" type="INT32">
       <short_desc>Tuning axes selection</short_desc>
-      <long_desc>Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw</long_desc>
+      <long_desc>Defines which axes will be tuned during the auto-tuning sequence
+Set bits in the following positions to enable:
+0 : Roll
+1 : Pitch
+2 : Yaw</long_desc>
       <min>1</min>
       <max>7</max>
       <bitmask>
@@ -9776,8 +1456,8 @@
       </bitmask>
     </parameter>
     <parameter name="FW_AT_MAN_AUX" default="0" type="INT32">
-      <short_desc>Enable/disable auto tuning using an RC AUX input</short_desc>
-      <long_desc>Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.</long_desc>
+      <short_desc>Enable/disable auto tuning using a manual control AUX input</short_desc>
+      <long_desc>Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.</long_desc>
       <min>0</min>
       <max>6</max>
       <values>
@@ -9790,17 +1470,6 @@
         <value code="6">Aux6</value>
       </values>
     </parameter>
-    <parameter name="FW_AT_START" default="0" type="INT32" boolean="true">
-      <short_desc>Start the autotuning sequence</short_desc>
-      <long_desc>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio</long_desc>
-    </parameter>
-    <parameter name="FW_AT_SYSID_AMP" default="1.0" type="FLOAT">
-      <short_desc>Amplitude of the injected signal</short_desc>
-      <long_desc>This parameter scales the signal sent to the rate controller during system identification.</long_desc>
-      <min>0.1</min>
-      <max>6.0</max>
-      <decimal>1</decimal>
-    </parameter>
     <parameter name="FW_AT_SYSID_F0" default="1." type="FLOAT">
       <short_desc>Start frequency of the injected signal</short_desc>
       <long_desc>Can be set lower or higher than the end frequency</long_desc>
@@ -9809,7 +1478,7 @@
       <unit>Hz</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="FW_AT_SYSID_F1" default="20." type="FLOAT">
+    <parameter name="FW_AT_SYSID_F1" default="10." type="FLOAT">
       <short_desc>End frequency of the injected signal</short_desc>
       <long_desc>Can be set lower or higher than the start frequency</long_desc>
       <min>0.1</min>
@@ -9825,7 +1494,7 @@
       <unit>s</unit>
       <decimal>0</decimal>
     </parameter>
-    <parameter name="FW_AT_SYSID_TYPE" default="0" type="INT32">
+    <parameter name="FW_AT_SYSID_TYPE" default="1" type="INT32">
       <short_desc>Input signal type</short_desc>
       <long_desc>Type of signal used during system identification to excite the system.</long_desc>
       <values>
@@ -9836,7 +1505,12 @@
     </parameter>
     <parameter name="MC_AT_APPLY" default="1" type="INT32">
       <short_desc>Controls when to apply the new gains</short_desc>
-      <long_desc>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.</long_desc>
+      <long_desc>After the auto-tuning sequence is completed,
+a new set of gains is available and can be applied
+immediately or after landing.
+WARNING Applying the gains in air is dangerous as there is no
+guarantee that those new gains will be able to stabilize
+the drone properly.</long_desc>
       <values>
         <value code="0">Do not apply the new gains (logging only)</value>
         <value code="1">Apply the new gains after disarm</value>
@@ -9853,10 +1527,6 @@
       <unit>s</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="MC_AT_START" default="0" type="INT32" boolean="true">
-      <short_desc>Start the autotuning sequence</short_desc>
-      <long_desc>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio</long_desc>
-    </parameter>
     <parameter name="MC_AT_SYSID_AMP" default="0.7" type="FLOAT">
       <short_desc>Amplitude of the injected signal</short_desc>
       <min>0.1</min>
@@ -9865,12 +1535,6 @@
     </parameter>
   </group>
   <group name="Battery Calibration">
-    <parameter name="BAT1_A_PER_V" default="-1.0" type="FLOAT">
-      <short_desc>Battery 1 current per volt (A/V)</short_desc>
-      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT1_CAPACITY" default="-1.0" type="FLOAT">
       <short_desc>Battery 1 capacity</short_desc>
       <long_desc>Defines the capacity of battery 1 in mAh.</long_desc>
@@ -9881,17 +1545,6 @@
       <increment>50</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT1_I_CHANNEL" default="-1" type="INT32">
-      <short_desc>Battery 1 Current ADC Channel</short_desc>
-      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="BAT1_I_OVERWRITE" default="0" type="FLOAT">
-      <short_desc>Battery 1 idle current overwrite</short_desc>
-      <long_desc>This parameter allows to overwrite the current measured during idle (unarmed) state with a user-defined constant value (expressed in amperes). When the system is armed, the measured current is used. This is useful because on certain ESCs current measurements are inaccurate in case of no load. Negative values are ignored and will cause the measured current to be used. The default value of 0 disables the overwrite, in which case the measured value is always used.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT1_N_CELLS" default="0" type="INT32">
       <short_desc>Number of cells for battery 1</short_desc>
       <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
@@ -9927,48 +1580,44 @@
     </parameter>
     <parameter name="BAT1_SOURCE" default="0" type="INT32">
       <short_desc>Battery 1 monitoring source</short_desc>
-      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
+      <long_desc>This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
+If the value is set to 'ESCs', the battery information are taken from the esc_status message.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="-1">Disabled</value>
-        <value code="0">Power Module</value>
+        <value code="0">Power Module / Analog</value>
         <value code="1">External</value>
         <value code="2">ESCs</value>
       </values>
     </parameter>
-    <parameter name="BAT1_V_CHANNEL" default="-1" type="INT32">
-      <short_desc>Battery 1 Voltage ADC Channel</short_desc>
-      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT1_V_CHARGED" default="4.05" type="FLOAT">
       <short_desc>Full cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered full.
+For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT1_V_DIV" default="-1.0" type="FLOAT">
-      <short_desc>Battery 1 voltage divider (V divider)</short_desc>
-      <long_desc>This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT1_V_EMPTY" default="3.6" type="FLOAT">
       <short_desc>Empty cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered empty.
+The voltage should be chosen above the steep dropoff at 3.5V. A typical
+lithium battery can only be discharged under high load down to 10% before
+it drops off to a voltage level damaging the cells.</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT2_A_PER_V" default="-1.0" type="FLOAT">
-      <short_desc>Battery 2 current per volt (A/V)</short_desc>
-      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT2_CAPACITY" default="-1.0" type="FLOAT">
       <short_desc>Battery 2 capacity</short_desc>
       <long_desc>Defines the capacity of battery 2 in mAh.</long_desc>
@@ -9979,17 +1628,6 @@
       <increment>50</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT2_I_CHANNEL" default="-1" type="INT32">
-      <short_desc>Battery 2 Current ADC Channel</short_desc>
-      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="BAT2_I_OVERWRITE" default="0" type="FLOAT">
-      <short_desc>Battery 2 idle current overwrite</short_desc>
-      <long_desc>This parameter allows to overwrite the current measured during idle (unarmed) state with a user-defined constant value (expressed in amperes). When the system is armed, the measured current is used. This is useful because on certain ESCs current measurements are inaccurate in case of no load. Negative values are ignored and will cause the measured current to be used. The default value of 0 disables the overwrite, in which case the measured value is always used.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT2_N_CELLS" default="0" type="INT32">
       <short_desc>Number of cells for battery 2</short_desc>
       <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
@@ -10025,37 +1663,39 @@
     </parameter>
     <parameter name="BAT2_SOURCE" default="-1" type="INT32">
       <short_desc>Battery 2 monitoring source</short_desc>
-      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
+      <long_desc>This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
+If the value is set to 'ESCs', the battery information are taken from the esc_status message.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="-1">Disabled</value>
-        <value code="0">Power Module</value>
+        <value code="0">Power Module / Analog</value>
         <value code="1">External</value>
         <value code="2">ESCs</value>
       </values>
     </parameter>
-    <parameter name="BAT2_V_CHANNEL" default="-1" type="INT32">
-      <short_desc>Battery 2 Voltage ADC Channel</short_desc>
-      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT2_V_CHARGED" default="4.05" type="FLOAT">
       <short_desc>Full cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered full.
+For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT2_V_DIV" default="-1.0" type="FLOAT">
-      <short_desc>Battery 2 voltage divider (V divider)</short_desc>
-      <long_desc>This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
-      <decimal>8</decimal>
-      <reboot_required>True</reboot_required>
-    </parameter>
     <parameter name="BAT2_V_EMPTY" default="3.6" type="FLOAT">
       <short_desc>Empty cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered empty.
+The voltage should be chosen above the steep dropoff at 3.5V. A typical
+lithium battery can only be discharged under high load down to 10% before
+it drops off to a voltage level damaging the cells.</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
@@ -10106,18 +1746,28 @@
     </parameter>
     <parameter name="BAT3_SOURCE" default="-1" type="INT32">
       <short_desc>Battery 3 monitoring source</short_desc>
-      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
+      <long_desc>This parameter controls the source of battery data. The value 'Power Module / Analog'
+means that measurements are expected to come from either analog (ADC) inputs
+or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
+measurements read from the board's ADC channels, typically from an onboard
+voltage divider and current shunt, or an external analog power module.
+I2C power monitors are digital sensors on the I2C bus.
+If the value is set to 'External' then the system expects to receive MAVLink
+or CAN battery status messages, or the battery data is published by an external driver.
+If the value is set to 'ESCs', the battery information are taken from the esc_status message.
+This requires the ESC to provide both voltage as well as current (via ESC telemetry).</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="-1">Disabled</value>
-        <value code="0">Power Module</value>
+        <value code="0">Power Module / Analog</value>
         <value code="1">External</value>
         <value code="2">ESCs</value>
       </values>
     </parameter>
     <parameter name="BAT3_V_CHARGED" default="4.05" type="FLOAT">
       <short_desc>Full cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered full.
+For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
@@ -10125,18 +1775,19 @@
     </parameter>
     <parameter name="BAT3_V_EMPTY" default="3.6" type="FLOAT">
       <short_desc>Empty cell voltage</short_desc>
-      <long_desc>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
+      <long_desc>Defines the voltage where a single cell of the battery is considered empty.
+The voltage should be chosen above the steep dropoff at 3.5V. A typical
+lithium battery can only be discharged under high load down to 10% before
+it drops off to a voltage level damaging the cells.</long_desc>
       <unit>V</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="BAT_ADC_CHANNEL" default="-1" type="INT32">
-      <short_desc>This parameter is deprecated. Please use BAT1_I_CHANNEL</short_desc>
-    </parameter>
     <parameter name="BAT_AVRG_CURRENT" default="15" type="FLOAT">
       <short_desc>Expected battery current in flight</short_desc>
-      <long_desc>This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.</long_desc>
+      <long_desc>This value is used to initialize the in-flight average current estimation,
+which in turn is used for estimating remaining flight time and RTL triggering.</long_desc>
       <min>0</min>
       <max>500</max>
       <unit>A</unit>
@@ -10145,7 +1796,9 @@
     </parameter>
     <parameter name="BAT_CRIT_THR" default="0.07" type="FLOAT">
       <short_desc>Critical threshold</short_desc>
-      <long_desc>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</long_desc>
+      <long_desc>Sets the threshold when the battery will be reported as critically low.
+This has to be lower than the low threshold. This threshold commonly
+will trigger RTL.</long_desc>
       <min>0.05</min>
       <max>0.5</max>
       <unit>norm</unit>
@@ -10154,7 +1807,9 @@
     </parameter>
     <parameter name="BAT_EMERGEN_THR" default="0.05" type="FLOAT">
       <short_desc>Emergency threshold</short_desc>
-      <long_desc>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</long_desc>
+      <long_desc>Sets the threshold when the battery will be reported as dangerously low.
+This has to be lower than the critical threshold. This threshold commonly
+will trigger landing.</long_desc>
       <min>0.03</min>
       <max>0.5</max>
       <unit>norm</unit>
@@ -10163,83 +1818,14 @@
     </parameter>
     <parameter name="BAT_LOW_THR" default="0.15" type="FLOAT">
       <short_desc>Low threshold</short_desc>
-      <long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
+      <long_desc>Sets the threshold when the battery will be reported as low.
+This has to be higher than the critical threshold.</long_desc>
       <min>0.12</min>
       <max>0.5</max>
       <unit>norm</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="BAT_V_OFFS_CURR" default="0.0" type="FLOAT">
-      <short_desc>Offset in volt as seen by the ADC input of the current sensor</short_desc>
-      <long_desc>This offset will be subtracted before calculating the battery current based on the voltage.</long_desc>
-      <decimal>8</decimal>
-    </parameter>
-  </group>
-  <group name="CDCACM">
-    <parameter name="SYS_USB_AUTO" default="2" type="INT32">
-      <short_desc>Enable USB autostart</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Auto-detect</value>
-        <value code="2">MAVLink</value>
-      </values>
-    </parameter>
-    <parameter name="USB_MAV_MODE" default="2" type="INT32">
-      <short_desc>Specify USB MAVLink mode</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">normal</value>
-        <value code="1">custom</value>
-        <value code="2">onboard</value>
-        <value code="3">osd</value>
-        <value code="4">magic</value>
-        <value code="5">config</value>
-        <value code="6">iridium</value>
-        <value code="7">minimal</value>
-        <value code="8">extvision</value>
-        <value code="9">extvisionmin</value>
-        <value code="10">gimbal</value>
-        <value code="11">onboard_low_bandwidth</value>
-        <value code="12">uavionix</value>
-      </values>
-    </parameter>
-  </group>
-  <group name="Camera Capture">
-    <parameter name="CAM_CAP_DELAY" default="0.0" type="FLOAT">
-      <short_desc>Camera strobe delay</short_desc>
-      <long_desc>This parameter sets the delay between image integration start and strobe firing</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>ms</unit>
-      <decimal>1</decimal>
-    </parameter>
-  </group>
-  <group name="Camera Control">
-    <parameter name="CAM_CAP_EDGE" default="0" type="INT32">
-      <short_desc>Camera capture edge</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Falling edge</value>
-        <value code="1">Rising edge</value>
-      </values>
-    </parameter>
-    <parameter name="CAM_CAP_FBACK" default="0" type="INT32" boolean="true">
-      <short_desc>Camera capture feedback</short_desc>
-      <long_desc>Enables camera capture feedback</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CAM_CAP_MODE" default="0" type="INT32">
-      <short_desc>Camera capture timestamping mode</short_desc>
-      <long_desc>Change time measurement</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Get absolute timestamp</value>
-        <value code="1">Get timestamp of mid exposure (active high)</value>
-        <value code="2">Get timestamp of mid exposure (active low)</value>
-      </values>
-    </parameter>
   </group>
   <group name="Camera trigger">
     <parameter name="TRIG_ACT_TIME" default="40.0" type="FLOAT">
@@ -10282,7 +1868,8 @@
     </parameter>
     <parameter name="TRIG_MIN_INTERVA" default="1.0" type="FLOAT">
       <short_desc>Minimum camera trigger interval</short_desc>
-      <long_desc>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</long_desc>
+      <long_desc>This parameter sets the minimum time between two consecutive trigger events
+the specific camera setup is supporting.</long_desc>
       <min>1.0</min>
       <max>10000.0</max>
       <unit>ms</unit>
@@ -10331,39 +1918,54 @@
   <group name="Circuit Breaker">
     <parameter name="CBRK_BUZZER" default="0" type="INT32" category="Developer">
       <short_desc>Circuit breaker for disabling buzzer</short_desc>
-      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</long_desc>
+      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification.
+Setting this parameter to 782090 will disable the startup tune, while keeping
+all others enabled.</long_desc>
       <min>0</min>
       <max>782097</max>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="CBRK_FLIGHTTERM" default="121212" type="INT32" category="Developer">
       <short_desc>Circuit breaker for flight termination</short_desc>
-      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.</long_desc>
+      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered
+by the FailureDetector logic or if FMU is lost.
+This circuit breaker does not affect the RC loss, data link loss, geofence,
+and takeoff failure detection safety logic.</long_desc>
       <min>0</min>
       <max>121212</max>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="CBRK_IO_SAFETY" default="22027" type="INT32" category="Developer">
       <short_desc>Circuit breaker for IO safety</short_desc>
-      <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
+      <long_desc>Setting this parameter to 22027 will disable IO safety.
+WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
       <min>0</min>
       <max>22027</max>
     </parameter>
     <parameter name="CBRK_SUPPLY_CHK" default="0" type="INT32" category="Developer">
       <short_desc>Circuit breaker for power supply check</short_desc>
-      <long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
+      <long_desc>Setting this parameter to 894281 will disable the power valid
+checks in the commander.
+WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
       <min>0</min>
       <max>894281</max>
     </parameter>
     <parameter name="CBRK_USB_CHK" default="197848" type="INT32" category="Developer">
       <short_desc>Circuit breaker for USB link check</short_desc>
-      <long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&amp;D purposes it has proven over the years to work just fine.</long_desc>
+      <long_desc>Setting this parameter to 197848 will disable the USB connected
+checks in the commander, setting it to 0 keeps them enabled (recommended).
+We are generally recommending to not fly with the USB link
+connected and production vehicles should set this parameter to
+zero to prevent users from flying USB powered. However, for R&amp;D purposes
+it has proven over the years to work just fine.</long_desc>
       <min>0</min>
       <max>197848</max>
     </parameter>
     <parameter name="CBRK_VTOLARMING" default="0" type="INT32" category="Developer">
       <short_desc>Circuit breaker for arming in fixed-wing mode check</short_desc>
-      <long_desc>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
+      <long_desc>Setting this parameter to 159753 will enable arming in fixed-wing
+mode for VTOLs.
+WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
       <min>0</min>
       <max>159753</max>
     </parameter>
@@ -10371,7 +1973,8 @@
   <group name="Commander">
     <parameter name="COM_ACT_FAIL_ACT" default="0" type="INT32">
       <short_desc>Set the actuator failure failsafe mode</short_desc>
-      <long_desc>Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.</long_desc>
+      <long_desc>Note: actuator failure needs to be enabled and configured via FD_ACT_*
+parameters.</long_desc>
       <min>0</min>
       <max>3</max>
       <values>
@@ -10396,7 +1999,11 @@
     </parameter>
     <parameter name="COM_ARM_AUTH_MET" default="0" type="INT32">
       <short_desc>Arm authorization method</short_desc>
-      <long_desc>Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
+      <long_desc>Methods:
+- one arm: request authorization and arm when authorization is received
+- two step arm: 1st arm command request an authorization and
+2nd arm command arm the drone if authorized
+Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
       <values>
         <value code="0">one arm</value>
         <value code="1">two step arm</value>
@@ -10408,14 +2015,16 @@
     </parameter>
     <parameter name="COM_ARM_AUTH_TO" default="1" type="FLOAT">
       <short_desc>Arm authorization timeout</short_desc>
-      <long_desc>Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
+      <long_desc>Timeout for authorizer answer.
+Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
       <unit>s</unit>
       <decimal>1</decimal>
       <increment>0.1</increment>
     </parameter>
     <parameter name="COM_ARM_BAT_MIN" default="-1." type="FLOAT">
       <short_desc>Minimum battery level for arming</short_desc>
-      <long_desc>Threshold for battery percentage below arming is prohibited. A negative value means BAT_CRIT_THR is the threshold.</long_desc>
+      <long_desc>Threshold for battery percentage below arming is prohibited.
+A negative value means BAT_CRIT_THR is the threshold.</long_desc>
       <min>-1</min>
       <max>0.9</max>
       <unit>norm</unit>
@@ -10424,11 +2033,13 @@
     </parameter>
     <parameter name="COM_ARM_CHK_ESCS" default="0" type="INT32" boolean="true">
       <short_desc>Enable checks on ESCs that report telemetry</short_desc>
-      <long_desc>If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.</long_desc>
+      <long_desc>If this parameter is set, the system will check ESC's online status and failures.
+This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.</long_desc>
     </parameter>
     <parameter name="COM_ARM_HFLT_CHK" default="1" type="INT32" boolean="true">
-      <short_desc>Enable FMU SD card hardfault detection check</short_desc>
-      <long_desc>This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.</long_desc>
+      <short_desc>Enable FMU SD card hardfault / watchdog detection check</short_desc>
+      <long_desc>This check detects if there are hardfault / watchdog files present on the
+SD card. If so, and the parameter is enabled, arming is prevented.</long_desc>
     </parameter>
     <parameter name="COM_ARM_IMU_ACC" default="0.7" type="FLOAT">
       <short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
@@ -10455,7 +2066,8 @@
     </parameter>
     <parameter name="COM_ARM_MAG_STR" default="2" type="INT32">
       <short_desc>Enable mag strength preflight check</short_desc>
-      <long_desc>Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</long_desc>
+      <long_desc>Check if the estimator detects a strong magnetic
+disturbance (check enabled by EKF2_MAG_CHECK)</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Deny arming</value>
@@ -10468,7 +2080,9 @@
     </parameter>
     <parameter name="COM_ARM_ODID" default="0" type="INT32">
       <short_desc>Enable Drone ID system detection and health check</short_desc>
-      <long_desc>This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</long_desc>
+      <long_desc>This check detects if the Open Drone ID system is missing.
+Depending on the value of the parameter, the check can be
+disabled, warn only or deny arming.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Warning only</value>
@@ -10477,7 +2091,9 @@
     </parameter>
     <parameter name="COM_ARM_SDCARD" default="1" type="INT32">
       <short_desc>Enable FMU SD card detection check</short_desc>
-      <long_desc>This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</long_desc>
+      <long_desc>This check detects if the FMU SD card is missing.
+Depending on the value of the parameter, the check can be
+disabled, warn only or deny arming.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Warning only</value>
@@ -10486,20 +2102,36 @@
     </parameter>
     <parameter name="COM_ARM_SWISBTN" default="0" type="INT32" boolean="true">
       <short_desc>Arm switch is a momentary button</short_desc>
-      <long_desc>0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.</long_desc>
+      <long_desc>0: Arming/disarming triggers on switch transition.
+1: Arming/disarming triggers when holding the momentary button down like the stick gesture.</long_desc>
+    </parameter>
+    <parameter name="COM_ARM_TRAFF" default="0" type="INT32">
+      <short_desc>Enable Traffic Avoidance system detection check</short_desc>
+      <long_desc>This check detects if a traffic avoidance system (ADSB/FLARM transponder)
+is missing. Depending on the value of the parameter, the check can be
+disabled, warn only, or deny arming.</long_desc>
+      <values>
+        <value code="0">Disabled</value>
+        <value code="1">Warning only</value>
+        <value code="2">Enforce for all modes</value>
+        <value code="3">Enforce for mission modes only</value>
+      </values>
     </parameter>
     <parameter name="COM_ARM_WO_GPS" default="1" type="INT32">
-      <short_desc>GPS preflight check</short_desc>
-      <long_desc>Measures taken when a check defined by EKF2_GPS_CHECK is failing.</long_desc>
+      <short_desc>Arming without GNSS configuration</short_desc>
+      <long_desc>Configures whether arming is allowed without GNSS, for modes that require a global position
+(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
+The settings deny arming and warn, allow arming and warn, or silently allow arming.</long_desc>
       <values>
         <value code="0">Deny arming</value>
-        <value code="1">Warning only</value>
-        <value code="2">Disabled</value>
+        <value code="1">Allow arming (with warning)</value>
+        <value code="2">Allow arming (no warning)</value>
       </values>
     </parameter>
     <parameter name="COM_CPU_MAX" default="95.0" type="FLOAT">
       <short_desc>Maximum allowed CPU load to still arm</short_desc>
-      <long_desc>The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.</long_desc>
+      <long_desc>The check fails if the CPU load is above this threshold for 2s.
+A negative value disables the check.</long_desc>
       <min>-1</min>
       <max>100</max>
       <unit>%</unit>
@@ -10507,22 +2139,44 @@
     </parameter>
     <parameter name="COM_DISARM_LAND" default="2.0" type="FLOAT">
       <short_desc>Time-out for auto disarm after landing</short_desc>
-      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
+      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
+automatically disarmed in case a landing situation has been detected during this period.
+A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
       <unit>s</unit>
       <decimal>1</decimal>
       <increment>0.1</increment>
     </parameter>
     <parameter name="COM_DISARM_MAN" default="1" type="INT32" boolean="true">
       <short_desc>Allow disarming via switch/stick/button on multicopters in manual thrust modes</short_desc>
-      <long_desc>0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by the throttle stick e.g. Stabilized, Acro</long_desc>
+      <long_desc>0: Disallow disarming when not landed
+1: Allow disarming in multicopter flight in modes where
+the thrust is directly controlled by thr throttle stick
+e.g. Stabilized, Acro</long_desc>
     </parameter>
     <parameter name="COM_DISARM_PRFLT" default="10.0" type="FLOAT">
       <short_desc>Time-out for auto disarm if not taking off</short_desc>
-      <long_desc>A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.</long_desc>
+      <long_desc>A non-zero, positive value specifies the time in seconds, within which the
+vehicle is expected to take off after arming. In case the vehicle didn't takeoff
+within the timeout it disarms again.
+A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.</long_desc>
       <unit>s</unit>
       <decimal>1</decimal>
       <increment>0.1</increment>
     </parameter>
+    <parameter name="COM_DLL_EXCEPT" default="0" type="INT32">
+      <short_desc>Datalink loss exceptions</short_desc>
+      <long_desc>Specify modes in which ground control station connection loss is ignored and no failsafe action is triggered.
+See also COM_RCL_EXCEPT.</long_desc>
+      <min>0</min>
+      <max>31</max>
+      <bitmask>
+        <bit index="0">Mission</bit>
+        <bit index="1">Auto modes</bit>
+        <bit index="2">Offboard</bit>
+        <bit index="3">External Mode</bit>
+        <bit index="4">Altitude Cruise</bit>
+      </bitmask>
+    </parameter>
     <parameter name="COM_DL_LOSS_T" default="10" type="INT32">
       <short_desc>GCS connection loss time threshold</short_desc>
       <long_desc>After this amount of seconds without datalink, the GCS connection lost mode triggers</long_desc>
@@ -10534,7 +2188,11 @@
     </parameter>
     <parameter name="COM_FAIL_ACT_T" default="5." type="FLOAT">
       <short_desc>Delay between failsafe condition triggered and failsafe reaction</short_desc>
-      <long_desc>Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).</long_desc>
+      <long_desc>Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode
+for the user to realize.
+During that time the user can switch modes, but cannot take over control via the stick override feature (see COM_RC_OVERRIDE).
+Afterwards the configured failsafe action is triggered and the user may use stick override.
+A zero value disables the delay.</long_desc>
       <min>0.0</min>
       <max>25.0</max>
       <unit>s</unit>
@@ -10542,12 +2200,15 @@
     </parameter>
     <parameter name="COM_FLIGHT_UUID" default="0" type="INT32" volatile="true" category="System">
       <short_desc>Next flight UUID</short_desc>
-      <long_desc>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</long_desc>
+      <long_desc>This number is incremented automatically after every flight on
+disarming in order to remember the next flight UUID.
+The first flight is 0.</long_desc>
       <min>0</min>
     </parameter>
     <parameter name="COM_FLTMODE1" default="-1" type="INT32">
       <short_desc>Mode slot 1</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10564,6 +2225,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10576,7 +2238,8 @@
     </parameter>
     <parameter name="COM_FLTMODE2" default="-1" type="INT32">
       <short_desc>Mode slot 2</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10593,6 +2256,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10605,7 +2269,8 @@
     </parameter>
     <parameter name="COM_FLTMODE3" default="-1" type="INT32">
       <short_desc>Mode slot 3</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10622,6 +2287,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10634,7 +2300,8 @@
     </parameter>
     <parameter name="COM_FLTMODE4" default="-1" type="INT32">
       <short_desc>Mode slot 4</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10651,6 +2318,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10663,7 +2331,8 @@
     </parameter>
     <parameter name="COM_FLTMODE5" default="-1" type="INT32">
       <short_desc>Mode slot 5</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10680,6 +2349,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10692,7 +2362,8 @@
     </parameter>
     <parameter name="COM_FLTMODE6" default="-1" type="INT32">
       <short_desc>Mode slot 6</short_desc>
-      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
+      <long_desc>If the main switch channel is in this range the
+selected flight mode will be applied.</long_desc>
       <values>
         <value code="-1">Unassigned</value>
         <value code="0">Manual</value>
@@ -10709,6 +2380,7 @@
         <value code="11">Land</value>
         <value code="12">Follow Me</value>
         <value code="13">Precision Land</value>
+        <value code="16">Altitude Cruise</value>
         <value code="100">External Mode 1</value>
         <value code="101">External Mode 2</value>
         <value code="102">External Mode 3</value>
@@ -10719,9 +2391,10 @@
         <value code="107">External Mode 8</value>
       </values>
     </parameter>
-    <parameter name="COM_FLTT_LOW_ACT" default="3" type="INT32">
+    <parameter name="COM_FLTT_LOW_ACT" default="0" type="INT32">
       <short_desc>Remaining flight time low failsafe</short_desc>
-      <long_desc>Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.</long_desc>
+      <long_desc>Action the system takes when the remaining flight time is below
+the estimated time it takes to reach the RTL destination.</long_desc>
       <increment>1</increment>
       <values>
         <value code="0">None</value>
@@ -10731,7 +2404,9 @@
     </parameter>
     <parameter name="COM_FLT_PROFILE" default="0" type="INT32">
       <short_desc>User Flight Profile</short_desc>
-      <long_desc>Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</long_desc>
+      <long_desc>Describes the intended use of the vehicle.
+Can be used by ground control software or log post processing.
+This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</long_desc>
       <values>
         <value code="0">Default</value>
         <value code="100">Pro User</value>
@@ -10741,7 +2416,13 @@
     </parameter>
     <parameter name="COM_FLT_TIME_MAX" default="-1" type="INT32">
       <short_desc>Maximum allowed flight time</short_desc>
-      <long_desc>The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.</long_desc>
+      <long_desc>The vehicle aborts the current operation and returns to launch when
+the time since takeoff is above this value. It is not possible to resume the
+mission or switch to any auto mode other than RTL or Land. Taking over in any manual
+mode is still possible.
+Starting from 90% of the maximum flight time, a warning message will be sent
+every 1 minute with the remaining time until automatic RTL.
+Set to -1 to disable.</long_desc>
       <min>-1</min>
       <unit>s</unit>
     </parameter>
@@ -10758,23 +2439,30 @@
     </parameter>
     <parameter name="COM_HLDL_REG_T" default="0" type="INT32">
       <short_desc>High Latency Datalink regain time threshold</short_desc>
-      <long_desc>After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
+      <long_desc>After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss'
+flag is set back to false</long_desc>
       <min>0</min>
       <max>60</max>
       <unit>s</unit>
     </parameter>
     <parameter name="COM_HOME_EN" default="1" type="INT32" boolean="true">
       <short_desc>Home position enabled</short_desc>
-      <long_desc>Set home position automatically if possible.</long_desc>
+      <long_desc>Set home position automatically if possible.
+During missions, the latitude/longitude of the home position is locked and will not reset during intermediate landings.
+It will only update once the mission is complete or landed outside of a mission.
+However, the altitude is still being adjusted to correct for GNSS vertical drift in the first 2 minutes after takeoff.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="COM_HOME_IN_AIR" default="0" type="INT32" boolean="true">
       <short_desc>Allows setting the home position after takeoff</short_desc>
-      <long_desc>If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.</long_desc>
+      <long_desc>If set to true, the autopilot is allowed to set its home position after takeoff
+The true home position is back-computed if a local position is estimate if available.
+If no local position is available, home is set to the current position.</long_desc>
     </parameter>
     <parameter name="COM_IMB_PROP_ACT" default="0" type="INT32">
       <short_desc>Imbalanced propeller failsafe mode</short_desc>
-      <long_desc>Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.</long_desc>
+      <long_desc>Action the system takes when an imbalanced propeller is detected by the failure detector.
+See also FD_IMB_PROP_THR to set the failure threshold.</long_desc>
       <increment>1</increment>
       <values>
         <value code="-1">Disabled</value>
@@ -10785,6 +2473,7 @@
     </parameter>
     <parameter name="COM_KILL_DISARM" default="5.0" type="FLOAT">
       <short_desc>Timeout value for disarming when kill switch is engaged</short_desc>
+      <long_desc>Use RC_MAP_KILL_SW to map a kill switch.</long_desc>
       <min>0.0</min>
       <max>30.0</max>
       <unit>s</unit>
@@ -10792,7 +2481,10 @@
     </parameter>
     <parameter name="COM_LKDOWN_TKO" default="3.0" type="FLOAT">
       <short_desc>Timeout for detecting a failure after takeoff</short_desc>
-      <long_desc>A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.</long_desc>
+      <long_desc>A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle
+if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.
+The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).
+A zero or negative value means that the check is disabled.</long_desc>
       <min>-1.0</min>
       <max>5.0</max>
       <unit>s</unit>
@@ -10800,7 +2492,8 @@
     </parameter>
     <parameter name="COM_LOW_BAT_ACT" default="0" type="INT32">
       <short_desc>Battery failsafe mode</short_desc>
-      <long_desc>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.</long_desc>
+      <long_desc>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR
+for definition of battery states.</long_desc>
       <values>
         <value code="0">Warning</value>
         <value code="2">Land mode</value>
@@ -10809,39 +2502,60 @@
     </parameter>
     <parameter name="COM_MODE0_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 0</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE1_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 1</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE2_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 2</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE3_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 3</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE4_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 4</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE5_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 5</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE6_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 6</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
     </parameter>
     <parameter name="COM_MODE7_HASH" default="0" type="INT32" volatile="true" category="System">
       <short_desc>External mode identifier 7</short_desc>
-      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</long_desc>
+      <long_desc>This parameter is automatically set to identify external modes. It ensures that modes
+get assigned to the same index independent from their startup order,
+which is required when mapping an external mode to an RC switch.</long_desc>
+    </parameter>
+    <parameter name="COM_MODE_ARM_CHK" default="0" type="INT32" boolean="true">
+      <short_desc>Allow external mode registration while armed</short_desc>
+      <long_desc>By default disabled for safety reasons</long_desc>
     </parameter>
     <parameter name="COM_MOT_TEST_EN" default="1" type="INT32" boolean="true">
       <short_desc>Enable Actuator Testing</short_desc>
-      <long_desc>If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.</long_desc>
+      <long_desc>If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that
+allows spinning the motors and moving the servos for testing purposes.</long_desc>
     </parameter>
     <parameter name="COM_OBC_LOSS_T" default="5.0" type="FLOAT">
       <short_desc>Time-out to wait when onboard computer connection is lost before warning about loss connection</short_desc>
@@ -10852,7 +2566,8 @@
     </parameter>
     <parameter name="COM_OBL_RC_ACT" default="0" type="INT32">
       <short_desc>Set offboard loss failsafe mode</short_desc>
-      <long_desc>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</long_desc>
+      <long_desc>The offboard loss failsafe will only be entered after a timeout,
+set by COM_OF_LOSS_T in seconds.</long_desc>
       <values>
         <value code="0">Position mode</value>
         <value code="1">Altitude mode</value>
@@ -10873,19 +2588,16 @@
       <increment>0.01</increment>
     </parameter>
     <parameter name="COM_PARACHUTE" default="0" type="INT32" boolean="true">
-      <short_desc>Expect and require a healthy MAVLink parachute system</short_desc>
-    </parameter>
-    <parameter name="COM_POSCTL_NAVL" default="0" type="INT32">
-      <short_desc>Position mode navigation loss response</short_desc>
-      <long_desc>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.</long_desc>
-      <values>
-        <value code="0">Altitude mode</value>
-        <value code="1">Land mode (descend)</value>
-      </values>
+      <short_desc>Require MAVLink parachute system to be present and healthy</short_desc>
     </parameter>
     <parameter name="COM_POS_FS_EPH" default="5." type="FLOAT">
-      <short_desc>Horizontal position error threshold</short_desc>
-      <long_desc>This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.</long_desc>
+      <short_desc>Horizontal position error threshold for hovering systems</short_desc>
+      <long_desc>This is the horizontal position error (EPH) threshold that will trigger a failsafe.
+If the previous position error was below this threshold, there is an additional
+factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
+Only used for multicopters and VTOLs in hover mode.
+Independent from estimator positioning data timeout threshold (see EKF2_NOAID_TOUT).
+Set to -1 to disable.</long_desc>
       <min>-1</min>
       <max>400</max>
       <unit>m</unit>
@@ -10893,7 +2605,10 @@
     </parameter>
     <parameter name="COM_POS_LOW_ACT" default="3" type="INT32">
       <short_desc>Low position accuracy action</short_desc>
-      <long_desc>Action the system takes when the estimated position has an accuracy below the specified threshold. See COM_POS_LOW_EPH to set the failsafe threshold. The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode, otherwise it is only a warning.</long_desc>
+      <long_desc>Action the system takes when the estimated position has an accuracy below the specified threshold.
+See COM_POS_LOW_EPH to set the failsafe threshold.
+The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,
+otherwise it is only a warning.</long_desc>
       <increment>1</increment>
       <values>
         <value code="0">None</value>
@@ -10906,20 +2621,25 @@
     </parameter>
     <parameter name="COM_POS_LOW_EPH" default="-1.0" type="FLOAT">
       <short_desc>Low position accuracy failsafe threshold</short_desc>
-      <long_desc>This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold. Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT), and a high failsafe threshold (COM_POS_FS_EPH). Set to -1 to disable.</long_desc>
+      <long_desc>This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold.
+Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT),
+and a high failsafe threshold (COM_POS_FS_EPH).
+Set to -1 to disable.</long_desc>
       <min>-1</min>
       <max>1000</max>
       <unit>m</unit>
     </parameter>
     <parameter name="COM_POWER_COUNT" default="1" type="INT32">
       <short_desc>Required number of redundant power modules</short_desc>
-      <long_desc>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.</long_desc>
+      <long_desc>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected.
+Note: CBRK_SUPPLY_CHK disables all power checks including this one.</long_desc>
       <min>0</min>
       <max>4</max>
     </parameter>
     <parameter name="COM_PREARM_MODE" default="0" type="INT32">
       <short_desc>Condition to enter prearmed mode</short_desc>
-      <long_desc>Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.</long_desc>
+      <long_desc>Condition to enter the prearmed state, an intermediate state between disarmed and armed
+in which non-throttling actuators are active.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Safety button</value>
@@ -10927,7 +2647,7 @@
       </values>
     </parameter>
     <parameter name="COM_QC_ACT" default="0" type="INT32">
-      <short_desc>Set command after a quadchute</short_desc>
+      <short_desc>Set action after a quadchute</short_desc>
       <values>
         <value code="-1">Warning only</value>
         <value code="0">Return mode</value>
@@ -10937,46 +2657,61 @@
     </parameter>
     <parameter name="COM_RAM_MAX" default="95.0" type="FLOAT">
       <short_desc>Maximum allowed RAM usage to pass checks</short_desc>
-      <long_desc>The check fails if the RAM usage is above this threshold. A negative value disables the check.</long_desc>
+      <long_desc>The check fails if the RAM usage is above this threshold.
+A negative value disables the check.</long_desc>
       <min>-1</min>
       <max>100</max>
       <unit>%</unit>
       <increment>1</increment>
     </parameter>
     <parameter name="COM_RCL_EXCEPT" default="0" type="INT32">
-      <short_desc>RC loss exceptions</short_desc>
-      <long_desc>Specify modes in which RC loss is ignored and the failsafe action not triggered.</long_desc>
+      <short_desc>Manual control loss exceptions</short_desc>
+      <long_desc>Specify modes in which stick input is ignored and no failsafe action is triggered.
+External modes requiring stick input will still failsafe.
+Auto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.</long_desc>
       <min>0</min>
       <max>31</max>
       <bitmask>
         <bit index="0">Mission</bit>
-        <bit index="1">Hold</bit>
+        <bit index="1">Auto modes</bit>
         <bit index="2">Offboard</bit>
+        <bit index="3">External Mode</bit>
+        <bit index="4">Altitude Cruise</bit>
       </bitmask>
     </parameter>
-    <parameter name="COM_RC_ARM_HYST" default="1000" type="INT32">
-      <short_desc>RC input arm/disarm command duration</short_desc>
-      <long_desc>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</long_desc>
-      <min>100</min>
-      <max>1500</max>
-      <unit>ms</unit>
-    </parameter>
     <parameter name="COM_RC_IN_MODE" default="3" type="INT32">
-      <short_desc>RC control input mode</short_desc>
-      <long_desc>A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.</long_desc>
+      <short_desc>Manual control input source configuration</short_desc>
+      <long_desc>Selects stick input selection behavior:
+either a traditional remote control receiver (RC) or a MAVLink joystick (MANUAL_CONTROL message)
+Priority sources are immediately switched to whenever they get valid.
+0 RC only. Requires valid RC calibration.
+1 MAVLink only. RC and related checks are disabled.
+2 Switches only if current source becomes invalid.
+3 Locks to the first valid source until reboot.
+4 Ignores all sources.
+5 RC priority, then MAVLink (lower instance before higher)
+6 MAVLink priority (lower instance before higher), then RC
+7 RC priority, then MAVLink (higher instance before lower)
+8 MAVLink priority (higher instance before lower), then RC</long_desc>
       <min>0</min>
-      <max>4</max>
+      <max>8</max>
       <values>
-        <value code="0">RC Transmitter only</value>
-        <value code="1">Joystick only</value>
-        <value code="2">RC and Joystick with fallback</value>
-        <value code="3">RC or Joystick keep first</value>
-        <value code="4">Stick input disabled</value>
+        <value code="0">RC only</value>
+        <value code="1">MAVLink only</value>
+        <value code="2">RC or MAVLink with fallback</value>
+        <value code="3">RC or MAVLink keep first</value>
+        <value code="4">Disable manual control</value>
+        <value code="5">Prio: RC &gt; MAVL 1 &gt; MAVL 2</value>
+        <value code="6">Prio: MAVL 1 &gt; MAVL 2 &gt; RC</value>
+        <value code="7">Prio: RC &gt; MAVL 2 &gt; MAVL 1</value>
+        <value code="8">Prio: MAVL 2 &gt; MAVL 1 &gt; RC</value>
       </values>
     </parameter>
     <parameter name="COM_RC_LOSS_T" default="0.5" type="FLOAT">
       <short_desc>Manual control loss timeout</short_desc>
-      <long_desc>The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.</long_desc>
+      <long_desc>The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost.
+This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.
+Ensure the value is not set lower than the update interval of the RC or Joystick.</long_desc>
       <min>0</min>
       <max>35</max>
       <unit>s</unit>
@@ -10984,8 +2719,11 @@
       <increment>0.1</increment>
     </parameter>
     <parameter name="COM_RC_OVERRIDE" default="1" type="INT32">
-      <short_desc>Enable RC stick override of auto and/or offboard modes</short_desc>
-      <long_desc>When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.</long_desc>
+      <short_desc>Enable manual control stick override</short_desc>
+      <long_desc>When enabled, moving the sticks more than COM_RC_STICK_OV
+immediately gives control back to the pilot by switching to Position mode and
+if position is unavailable Altitude mode.
+Note: Only has an effect on multicopters, and VTOLs in multicopter mode.</long_desc>
       <min>0</min>
       <max>3</max>
       <bitmask>
@@ -10994,8 +2732,9 @@
       </bitmask>
     </parameter>
     <parameter name="COM_RC_STICK_OV" default="30.0" type="FLOAT">
-      <short_desc>RC stick override threshold</short_desc>
-      <long_desc>If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.</long_desc>
+      <short_desc>Stick override threshold</short_desc>
+      <long_desc>If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
+the autopilot the pilot takes over control.</long_desc>
       <min>5</min>
       <max>80</max>
       <unit>%</unit>
@@ -11004,7 +2743,11 @@
     </parameter>
     <parameter name="COM_SPOOLUP_TIME" default="1.0" type="FLOAT">
       <short_desc>Enforced delay between arming and further navigation</short_desc>
-      <long_desc>The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground</long_desc>
+      <long_desc>The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.
+Goal:
+- Motors and propellers spool up to idle speed before getting commanded to spin faster
+- Timeout for ESCs and smart batteries to successfulyy do failure checks
+e.g. for stuck rotors before the vehicle is off the ground</long_desc>
       <min>0</min>
       <max>30</max>
       <unit>s</unit>
@@ -11025,7 +2768,10 @@
     </parameter>
     <parameter name="COM_THROW_SPEED" default="5" type="FLOAT">
       <short_desc>Minimum speed for the throw start</short_desc>
-      <long_desc>When the throw launch is enabled, the drone will only allow motors to spin after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.</long_desc>
+      <long_desc>When the throw launch is enabled, the drone will only allow motors to spin after this speed
+is exceeded before detecting the freefall. This is a safety feature to ensure the drone does
+not turn on after accidental drop or a rapid movement before the throw.
+Set to 0 to disable.</long_desc>
       <min>0</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -11033,14 +2779,18 @@
     </parameter>
     <parameter name="COM_VEL_FS_EVH" default="1." type="FLOAT">
       <short_desc>Horizontal velocity error threshold</short_desc>
-      <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).</long_desc>
+      <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe.
+The default is appropriate for a multicopter. Can be increased for a fixed-wing.
+If the previous velocity error was below this threshold, there is an additional
+factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).</long_desc>
       <min>0</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
     <parameter name="COM_WIND_MAX" default="-1." type="FLOAT">
       <short_desc>High wind speed failsafe threshold</short_desc>
-      <long_desc>Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.</long_desc>
+      <long_desc>Wind speed threshold above which an automatic failsafe action is triggered.
+Failsafe action can be specified with COM_WIND_MAX_ACT.</long_desc>
       <min>-1</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -11048,7 +2798,11 @@
     </parameter>
     <parameter name="COM_WIND_MAX_ACT" default="0" type="INT32">
       <short_desc>High wind failsafe mode</short_desc>
-      <long_desc>Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.</long_desc>
+      <long_desc>Action the system takes when a wind speed above the specified threshold is detected.
+See COM_WIND_MAX to set the failsafe threshold.
+If enabled, it is not possible to resume the mission or switch to any auto mode other than
+RTL or Land if this threshold is exceeded. Taking over in any manual
+mode is still possible.</long_desc>
       <increment>1</increment>
       <values>
         <value code="0">None</value>
@@ -11061,7 +2815,9 @@
     </parameter>
     <parameter name="COM_WIND_WARN" default="-1." type="FLOAT">
       <short_desc>Wind speed warning threshold</short_desc>
-      <long_desc>A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.</long_desc>
+      <long_desc>A warning is triggered if the currently estimated wind speed is above this value.
+Warning is sent periodically (every 1 minute).
+Set to -1 to disable.</long_desc>
       <min>-1</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -11069,7 +2825,9 @@
     </parameter>
     <parameter name="NAV_DLL_ACT" default="0" type="INT32">
       <short_desc>Set GCS connection loss failsafe mode</short_desc>
-      <long_desc>The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.</long_desc>
+      <long_desc>The GCS connection loss failsafe will only be entered after a timeout,
+set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
+action will be executed.</long_desc>
       <min>0</min>
       <max>6</max>
       <values>
@@ -11082,8 +2840,9 @@
       </values>
     </parameter>
     <parameter name="NAV_RCL_ACT" default="2" type="INT32">
-      <short_desc>Set RC loss failsafe mode</short_desc>
-      <long_desc>The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.</long_desc>
+      <short_desc>Set manual control loss failsafe mode</short_desc>
+      <long_desc>The manual control loss failsafe will only be entered after a timeout,
+set by COM_RC_LOSS_T in seconds.</long_desc>
       <min>1</min>
       <max>6</max>
       <values>
@@ -11095,192 +2854,6 @@
       </values>
     </parameter>
   </group>
-  <group name="Cyphal">
-    <parameter name="CYPHAL_BAUD" default="1000000" type="INT32">
-      <short_desc>UAVCAN/CAN v1 bus bitrate</short_desc>
-      <min>20000</min>
-      <max>1000000</max>
-      <unit>bit/s</unit>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CYPHAL_ENABLE" default="1" type="INT32" boolean="true">
-      <short_desc>Cyphal</short_desc>
-      <long_desc>0 - Cyphal disabled. 1 - Enables Cyphal</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CYPHAL_ID" default="1" type="INT32">
-      <short_desc>Cyphal Node ID</short_desc>
-      <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
-      <min>-1</min>
-      <max>125</max>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UCAN1_ACTR_PUB" default="-1" type="INT32">
-      <short_desc>actuator_outputs uORB over Cyphal publication port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_BMS_BP_SUB" default="-1" type="INT32">
-      <short_desc>UDRAL battery parameters subscription  port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_BMS_BS_SUB" default="-1" type="INT32">
-      <short_desc>UDRAL battery status subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_BMS_ES_SUB" default="-1" type="INT32">
-      <short_desc>UDRAL battery energy source subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_ESC0_SUB" default="-1" type="INT32">
-      <short_desc>ESC 0 subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_ESC_PUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC publication port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB0_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 0 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB1_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 1 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB2_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 2 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB3_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 3 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB4_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 4 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB5_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 5 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB6_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 6 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_FB7_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC 7 zubax feedback port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_GPS0_SUB" default="-1" type="INT32">
-      <short_desc>GPS 0 subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_GPS1_SUB" default="-1" type="INT32">
-      <short_desc>GPS 1 subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_GPS_PUB" default="-1" type="INT32">
-      <short_desc>Cyphal GPS publication port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_LG_BMS_SUB" default="-1" type="INT32">
-      <short_desc>Cyphal legacy battery port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_READ_PUB" default="-1" type="INT32">
-      <short_desc>Cyphal ESC readiness port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_SERVO_PUB" default="-1" type="INT32">
-      <short_desc>Cyphal Servo publication port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_UORB_GPS" default="-1" type="INT32">
-      <short_desc>sensor_gps uORB over Cyphal subscription port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-    <parameter name="UCAN1_UORB_GPS_P" default="-1" type="INT32">
-      <short_desc>sensor_gps uORB over Cyphal publication port ID</short_desc>
-      <min>-1</min>
-      <max>6143</max>
-    </parameter>
-  </group>
-  <group name="DShot">
-    <parameter name="DSHOT_3D_DEAD_H" default="1000" type="INT32">
-      <short_desc>DSHOT 3D deadband high</short_desc>
-      <long_desc>When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.</long_desc>
-      <min>1000</min>
-      <max>1999</max>
-    </parameter>
-    <parameter name="DSHOT_3D_DEAD_L" default="1000" type="INT32">
-      <short_desc>DSHOT 3D deadband low</short_desc>
-      <long_desc>When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-    </parameter>
-    <parameter name="DSHOT_3D_ENABLE" default="0" type="INT32" boolean="true">
-      <short_desc>Allows for 3d mode when using DShot and suitable mixer</short_desc>
-      <long_desc>WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.</long_desc>
-    </parameter>
-    <parameter name="DSHOT_BIDIR_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Enable bidirectional DShot</short_desc>
-      <long_desc>This parameter enables bidirectional DShot which provides RPM feedback. Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32. This is not the same as DShot telemetry which requires an additional serial connection.</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="DSHOT_MIN" default="0.055" type="FLOAT">
-      <short_desc>Minimum DShot Motor Output</short_desc>
-      <long_desc>Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <unit>%</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="DSHOT_TEL_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for DShot Driver</short_desc>
-      <long_desc>Configure on which serial port to run DShot Driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="MOT_POLE_COUNT" default="14" type="INT32">
-      <short_desc>Number of magnetic poles of the motors</short_desc>
-      <long_desc>Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.</long_desc>
-    </parameter>
-  </group>
   <group name="EKF2">
     <parameter name="EKF2_ABIAS_INIT" default="0.2" type="FLOAT">
       <short_desc>1-sigma IMU accelerometer switch-on bias</short_desc>
@@ -11314,30 +2887,168 @@
       <unit>m/s^2</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="EKF2_ABL_TAU" default="0.5" type="FLOAT">
-      <short_desc>Accel bias learning inhibit time constant</short_desc>
-      <long_desc>The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.</long_desc>
-      <min>0.1</min>
-      <max>1.0</max>
-      <unit>s</unit>
-      <decimal>2</decimal>
+    <parameter name="EKF2_ABL_TAU" default="0.5" type="FLOAT">
+      <short_desc>Accel bias learning inhibit time constant</short_desc>
+      <long_desc>The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.</long_desc>
+      <min>0.1</min>
+      <max>1.0</max>
+      <unit>s</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="EKF2_ACC_B_NOISE" default="0.003" type="FLOAT">
+      <short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
+      <min>0.0</min>
+      <max>0.01</max>
+      <unit>m/s^3</unit>
+      <decimal>6</decimal>
+    </parameter>
+    <parameter name="EKF2_ACC_NOISE" default="0.35" type="FLOAT">
+      <short_desc>Accelerometer noise for covariance prediction</short_desc>
+      <min>0.01</min>
+      <max>1.0</max>
+      <unit>m/s^2</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="EKF2_AGP0_CTRL" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 0 aiding</short_desc>
+      <long_desc>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <bitmask>
+        <bit index="0">Horizontal position</bit>
+        <bit index="1">Vertical position</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="EKF2_AGP0_DELAY" default="0" type="FLOAT">
+      <short_desc>Auxiliary global position sensor 0 delay (to IMU)</short_desc>
+      <min>0</min>
+      <max>1000</max>
+      <unit>ms</unit>
+      <decimal>1</decimal>
+      <reboot_required>True</reboot_required>
+    </parameter>
+    <parameter name="EKF2_AGP0_GATE" default="3.0" type="FLOAT">
+      <short_desc>Gate size for auxiliary global position sensor 0 fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="EKF2_AGP0_ID" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 0 ID</short_desc>
+      <long_desc>Sensor ID for slot 0. Set to 0 to disable this slot.</long_desc>
+      <min>0</min>
+      <max>255</max>
+    </parameter>
+    <parameter name="EKF2_AGP0_MODE" default="0" type="INT32">
+      <short_desc>Fusion reset mode for sensor 0</short_desc>
+      <long_desc>Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available</long_desc>
+      <values>
+        <value code="0">Automatic</value>
+        <value code="1">Dead-reckoning</value>
+      </values>
+    </parameter>
+    <parameter name="EKF2_AGP0_NOISE" default="1.0" type="FLOAT">
+      <short_desc>Measurement noise for auxiliary global position sensor 0</short_desc>
+      <long_desc>Used to lower bound or replace the uncertainty included in the message</long_desc>
+      <min>0.01</min>
+      <unit>m</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="EKF2_AGP1_CTRL" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 1 aiding</short_desc>
+      <long_desc>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <bitmask>
+        <bit index="0">Horizontal position</bit>
+        <bit index="1">Vertical position</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="EKF2_AGP1_DELAY" default="0" type="FLOAT">
+      <short_desc>Auxiliary global position sensor 1 delay (to IMU)</short_desc>
+      <min>0</min>
+      <max>1000</max>
+      <unit>ms</unit>
+      <decimal>1</decimal>
+      <reboot_required>True</reboot_required>
+    </parameter>
+    <parameter name="EKF2_AGP1_GATE" default="3.0" type="FLOAT">
+      <short_desc>Gate size for auxiliary global position sensor 1 fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="EKF2_AGP1_ID" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 1 ID</short_desc>
+      <long_desc>Sensor ID for slot 1. Set to 0 to disable this slot.</long_desc>
+      <min>0</min>
+      <max>255</max>
+    </parameter>
+    <parameter name="EKF2_AGP1_MODE" default="0" type="INT32">
+      <short_desc>Fusion reset mode for sensor 1</short_desc>
+      <long_desc>Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available</long_desc>
+      <values>
+        <value code="0">Automatic</value>
+        <value code="1">Dead-reckoning</value>
+      </values>
+    </parameter>
+    <parameter name="EKF2_AGP1_NOISE" default="1.0" type="FLOAT">
+      <short_desc>Measurement noise for auxiliary global position sensor 1</short_desc>
+      <long_desc>Used to lower bound or replace the uncertainty included in the message</long_desc>
+      <min>0.01</min>
+      <unit>m</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="EKF2_AGP2_CTRL" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 2 aiding</short_desc>
+      <long_desc>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <bitmask>
+        <bit index="0">Horizontal position</bit>
+        <bit index="1">Vertical position</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="EKF2_AGP2_DELAY" default="0" type="FLOAT">
+      <short_desc>Auxiliary global position sensor 2 delay (to IMU)</short_desc>
+      <min>0</min>
+      <max>1000</max>
+      <unit>ms</unit>
+      <decimal>1</decimal>
+      <reboot_required>True</reboot_required>
+    </parameter>
+    <parameter name="EKF2_AGP2_GATE" default="3.0" type="FLOAT">
+      <short_desc>Gate size for auxiliary global position sensor 2 fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
     </parameter>
-    <parameter name="EKF2_ACC_B_NOISE" default="0.003" type="FLOAT">
-      <short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
-      <min>0.0</min>
-      <max>0.01</max>
-      <unit>m/s^3</unit>
-      <decimal>6</decimal>
+    <parameter name="EKF2_AGP2_ID" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 2 ID</short_desc>
+      <long_desc>Sensor ID for slot 2. Set to 0 to disable this slot.</long_desc>
+      <min>0</min>
+      <max>255</max>
     </parameter>
-    <parameter name="EKF2_ACC_NOISE" default="0.35" type="FLOAT">
-      <short_desc>Accelerometer noise for covariance prediction</short_desc>
+    <parameter name="EKF2_AGP2_MODE" default="0" type="INT32">
+      <short_desc>Fusion reset mode for sensor 2</short_desc>
+      <long_desc>Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available</long_desc>
+      <values>
+        <value code="0">Automatic</value>
+        <value code="1">Dead-reckoning</value>
+      </values>
+    </parameter>
+    <parameter name="EKF2_AGP2_NOISE" default="1.0" type="FLOAT">
+      <short_desc>Measurement noise for auxiliary global position sensor 2</short_desc>
+      <long_desc>Used to lower bound or replace the uncertainty included in the message</long_desc>
       <min>0.01</min>
-      <max>1.0</max>
-      <unit>m/s^2</unit>
+      <unit>m</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="EKF2_AGP_CTRL" default="0" type="INT32">
-      <short_desc>Aux global position (AGP) sensor aiding</short_desc>
+    <parameter name="EKF2_AGP3_CTRL" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 3 aiding</short_desc>
       <long_desc>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</long_desc>
       <min>0</min>
       <max>3</max>
@@ -11346,23 +3057,37 @@
         <bit index="1">Vertical position</bit>
       </bitmask>
     </parameter>
-    <parameter name="EKF2_AGP_DELAY" default="0" type="FLOAT">
-      <short_desc>Aux global position estimator delay relative to IMU measurements</short_desc>
+    <parameter name="EKF2_AGP3_DELAY" default="0" type="FLOAT">
+      <short_desc>Auxiliary global position sensor 3 delay (to IMU)</short_desc>
       <min>0</min>
-      <max>300</max>
+      <max>1000</max>
       <unit>ms</unit>
       <decimal>1</decimal>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="EKF2_AGP_GATE" default="3.0" type="FLOAT">
-      <short_desc>Gate size for aux global position fusion</short_desc>
+    <parameter name="EKF2_AGP3_GATE" default="3.0" type="FLOAT">
+      <short_desc>Gate size for auxiliary global position sensor 3 fusion</short_desc>
       <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
       <min>1.0</min>
       <unit>SD</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="EKF2_AGP_NOISE" default="0.9" type="FLOAT">
-      <short_desc>Measurement noise for aux global position measurements</short_desc>
+    <parameter name="EKF2_AGP3_ID" default="0" type="INT32">
+      <short_desc>Auxiliary global position sensor 3 ID</short_desc>
+      <long_desc>Sensor ID for slot 3. Set to 0 to disable this slot.</long_desc>
+      <min>0</min>
+      <max>255</max>
+    </parameter>
+    <parameter name="EKF2_AGP3_MODE" default="0" type="INT32">
+      <short_desc>Fusion reset mode for sensor 3</short_desc>
+      <long_desc>Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available</long_desc>
+      <values>
+        <value code="0">Automatic</value>
+        <value code="1">Dead-reckoning</value>
+      </values>
+    </parameter>
+    <parameter name="EKF2_AGP3_NOISE" default="1.0" type="FLOAT">
+      <short_desc>Measurement noise for auxiliary global position sensor 3</short_desc>
       <long_desc>Used to lower bound or replace the uncertainty included in the message</long_desc>
       <min>0.01</min>
       <unit>m</unit>
@@ -11504,6 +3229,10 @@
     <parameter name="EKF2_EN" default="1" type="INT32" boolean="true">
       <short_desc>EKF2 enable</short_desc>
     </parameter>
+    <parameter name="EKF2_ENGINE_WRM" default="0" type="INT32" boolean="true">
+      <short_desc>Enable constant position fusion during engine warmup</short_desc>
+      <long_desc>When enabled, constant position fusion is enabled when the vehicle is landed and armed. This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.</long_desc>
+    </parameter>
     <parameter name="EKF2_EVA_NOISE" default="0.1" type="FLOAT">
       <short_desc>Measurement noise for vision angle measurements</short_desc>
       <long_desc>Used to lower bound or replace the uncertainty included in the message</long_desc>
@@ -11594,7 +3323,7 @@
     </parameter>
     <parameter name="EKF2_FUSE_BETA" default="0" type="INT32" boolean="true">
       <short_desc>Enable synthetic sideslip fusion</short_desc>
-      <long_desc>For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.</long_desc>
+      <long_desc>For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to vehicles in fixed-wing mode or with airspeed fusion active. Note: side slip fusion is currently not supported for tailsitters.</long_desc>
     </parameter>
     <parameter name="EKF2_GBIAS_INIT" default="0.1" type="FLOAT">
       <short_desc>1-sigma IMU gyro switch-on bias</short_desc>
@@ -11620,11 +3349,11 @@
       <unit>m</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="EKF2_GPS_CHECK" default="1023" type="INT32">
+    <parameter name="EKF2_GPS_CHECK" default="2047" type="INT32">
       <short_desc>Integer bitmask controlling GPS checks</short_desc>
       <long_desc>Each threshold value is defined by the parameter indicated next to the check. Drift and offset checks only run when the vehicle is on ground and stationary.</long_desc>
       <min>0</min>
-      <max>1023</max>
+      <max>4095</max>
       <bitmask>
         <bit index="0">Sat count (EKF2_REQ_NSATS)</bit>
         <bit index="1">PDOP (EKF2_REQ_PDOP)</bit>
@@ -11636,6 +3365,8 @@
         <bit index="7">Horizontal speed offset (EKF2_REQ_HDRIFT)</bit>
         <bit index="8">Vertical speed offset (EKF2_REQ_VDRIFT)</bit>
         <bit index="9">Spoofing</bit>
+        <bit index="10">GPS fix type (EKF2_REQ_FIX)</bit>
+        <bit index="11">Jamming</bit>
       </bitmask>
     </parameter>
     <parameter name="EKF2_GPS_CTRL" default="7" type="INT32">
@@ -11651,28 +3382,37 @@
       </bitmask>
     </parameter>
     <parameter name="EKF2_GPS_DELAY" default="110" type="FLOAT">
-      <short_desc>GPS measurement delay relative to IMU measurements</short_desc>
+      <short_desc>GPS measurement delay relative to IMU measurement</short_desc>
+      <long_desc>GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).</long_desc>
       <min>0</min>
       <max>300</max>
       <unit>ms</unit>
       <decimal>1</decimal>
       <reboot_required>True</reboot_required>
     </parameter>
+    <parameter name="EKF2_GPS_MODE" default="0" type="INT32">
+      <short_desc>Fusion reset mode</short_desc>
+      <long_desc>Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.</long_desc>
+      <values>
+        <value code="0">Automatic</value>
+        <value code="1">Dead-reckoning</value>
+      </values>
+    </parameter>
     <parameter name="EKF2_GPS_POS_X" default="0.0" type="FLOAT">
       <short_desc>X position of GPS antenna in body frame</short_desc>
-      <long_desc>Forward axis with origin relative to vehicle centre of gravity</long_desc>
+      <long_desc>Forward (roll) axis with origin relative to vehicle centre of gravity</long_desc>
       <unit>m</unit>
       <decimal>3</decimal>
     </parameter>
     <parameter name="EKF2_GPS_POS_Y" default="0.0" type="FLOAT">
       <short_desc>Y position of GPS antenna in body frame</short_desc>
-      <long_desc>Forward axis with origin relative to vehicle centre of gravity</long_desc>
+      <long_desc>Right (pitch) axis with origin relative to vehicle centre of gravity</long_desc>
       <unit>m</unit>
       <decimal>3</decimal>
     </parameter>
     <parameter name="EKF2_GPS_POS_Z" default="0.0" type="FLOAT">
       <short_desc>Z position of GPS antenna in body frame</short_desc>
-      <long_desc>Forward axis with origin relative to vehicle centre of gravity</long_desc>
+      <long_desc>Down (yaw) axis with origin relative to vehicle centre of gravity</long_desc>
       <unit>m</unit>
       <decimal>3</decimal>
     </parameter>
@@ -11899,7 +3639,7 @@
       <unit>1/s</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="EKF2_MIN_RNG" default="0.1" type="FLOAT">
+    <parameter name="EKF2_MIN_RNG" default="0.01" type="FLOAT">
       <short_desc>Expected range finder reading when on ground</short_desc>
       <long_desc>If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.</long_desc>
       <min>0.01</min>
@@ -12062,6 +3802,19 @@
       <unit>m</unit>
       <decimal>1</decimal>
     </parameter>
+    <parameter name="EKF2_REQ_FIX" default="3" type="INT32">
+      <short_desc>Required GPS fix</short_desc>
+      <long_desc>Minimum GPS fix type required for GPS usage.</long_desc>
+      <values>
+        <value code="0">No fix required</value>
+        <value code="2">2D fix</value>
+        <value code="3">3D fix</value>
+        <value code="4">RTCM code differential</value>
+        <value code="5">RTK float</value>
+        <value code="6">RTK fixed</value>
+        <value code="8">Extrapolated</value>
+      </values>
+    </parameter>
     <parameter name="EKF2_REQ_GPS_H" default="10.0" type="FLOAT">
       <short_desc>Required GPS health time on startup</short_desc>
       <long_desc>Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.</long_desc>
@@ -12109,13 +3862,6 @@
       <max>10.0</max>
       <unit>m</unit>
     </parameter>
-    <parameter name="EKF2_RNG_A_IGATE" default="1.0" type="FLOAT">
-      <short_desc>Gate size used for innovation consistency checks for range aid fusion</short_desc>
-      <long_desc>A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode</long_desc>
-      <min>0.1</min>
-      <max>5.0</max>
-      <unit>SD</unit>
-    </parameter>
     <parameter name="EKF2_RNG_A_VMAX" default="1.0" type="FLOAT">
       <short_desc>Maximum horizontal velocity allowed for conditional range aid mode</short_desc>
       <long_desc>If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).</long_desc>
@@ -12140,7 +3886,7 @@
       <decimal>1</decimal>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="EKF2_RNG_FOG" default="1.0" type="FLOAT">
+    <parameter name="EKF2_RNG_FOG" default="3.0" type="FLOAT">
       <short_desc>Maximum distance at which the range finder could detect fog (m)</short_desc>
       <long_desc>Limit for fog detection. If the range finder measures a distance greater than this value, the measurement is considered to not be blocked by fog or rain. If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled</long_desc>
       <min>0.0</min>
@@ -12194,7 +3940,7 @@
       <decimal>3</decimal>
     </parameter>
     <parameter name="EKF2_RNG_QLTY_T" default="1.0" type="FLOAT">
-      <short_desc>Minimum range validity period</short_desc>
+      <short_desc>Minumum range validity period</short_desc>
       <long_desc>Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)</long_desc>
       <min>0.1</min>
       <max>5</max>
@@ -12283,32 +4029,23 @@
       <decimal>3</decimal>
     </parameter>
   </group>
-  <group name="ESC">
-    <parameter name="ESC_BL_VER" default="0" type="INT32">
-      <short_desc>Required esc bootloader version</short_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="ESC_FW_VER" default="0" type="INT32">
-      <short_desc>Required esc firmware version</short_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-    <parameter name="ESC_HW_VER" default="0" type="INT32">
-      <short_desc>Required esc hardware version</short_desc>
-      <min>0</min>
-      <max>65535</max>
-    </parameter>
-  </group>
   <group name="Events">
     <parameter name="EV_TSK_RC_LOSS" default="0" type="INT32" boolean="true">
       <short_desc>RC Loss Alarm</short_desc>
-      <long_desc>Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.</long_desc>
+      <long_desc>Enable/disable event task for RC Loss. When enabled, an alarm tune will be
+played via buzzer or ESCs, if supported. The alarm will sound after a disarm,
+if the vehicle was previously armed and only if the vehicle had RC signal at
+some point. Particularly useful for locating crashed drones without a GPS
+sensor.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="EV_TSK_STAT_DIS" default="0" type="INT32" boolean="true">
       <short_desc>Status Display</short_desc>
-      <long_desc>Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -</long_desc>
+      <long_desc>Enable/disable event task for displaying the vehicle status using arm-mounted
+LEDs. When enabled and if the vehicle supports it, LEDs will flash
+indicating various vehicle status changes. Currently PX4 has not implemented
+any specific status events.
+-</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
   </group>
@@ -12333,7 +4070,8 @@
     </parameter>
     <parameter name="FW_MAN_YR_MAX" default="30." type="FLOAT">
       <short_desc>Maximum manually added yaw rate</short_desc>
-      <long_desc>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.</long_desc>
+      <long_desc>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
+It is added to the yaw rate setpoint generated by the controller for turn coordination.</long_desc>
       <min>0</min>
       <unit>deg/s</unit>
       <decimal>1</decimal>
@@ -12341,7 +4079,9 @@
     </parameter>
     <parameter name="FW_PSP_OFF" default="0.0" type="FLOAT">
       <short_desc>Pitch setpoint offset (pitch at level flight)</short_desc>
-      <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.</long_desc>
+      <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is
+added to the pitch setpoint and should correspond to the pitch at
+typical cruise speed of the airframe.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -12366,7 +4106,8 @@
     </parameter>
     <parameter name="FW_P_TC" default="0.4" type="FLOAT">
       <short_desc>Attitude pitch time constant</short_desc>
-      <long_desc>This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</long_desc>
+      <long_desc>This defines the latency between a pitch step input and the achieved setpoint
+(inverse to a P gain). Smaller systems may require smaller values.</long_desc>
       <min>0.2</min>
       <max>1.0</max>
       <unit>s</unit>
@@ -12383,21 +4124,14 @@
     </parameter>
     <parameter name="FW_R_TC" default="0.4" type="FLOAT">
       <short_desc>Attitude Roll Time Constant</short_desc>
-      <long_desc>This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</long_desc>
+      <long_desc>This defines the latency between a roll step input and the achieved setpoint
+(inverse to a P gain). Smaller systems may require smaller values.</long_desc>
       <min>0.2</min>
       <max>1.0</max>
       <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
-    <parameter name="FW_SPOILERS_LND" default="0." type="FLOAT">
-      <short_desc>Spoiler landing setting</short_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
     <parameter name="FW_WR_FF" default="0.2" type="FLOAT">
       <short_desc>Wheel steering rate feed forward</short_desc>
       <min>0.0</min>
@@ -12408,7 +4142,8 @@
     </parameter>
     <parameter name="FW_WR_I" default="0.1" type="FLOAT">
       <short_desc>Wheel steering rate integrator gain</short_desc>
-      <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
+      <long_desc>This gain defines how much control response will result out of a steady
+state error. It trims any constant error.</long_desc>
       <min>0.0</min>
       <max>10</max>
       <unit>%/rad</unit>
@@ -12424,7 +4159,8 @@
     </parameter>
     <parameter name="FW_WR_P" default="0.5" type="FLOAT">
       <short_desc>Wheel steering rate proportional gain</short_desc>
-      <long_desc>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</long_desc>
+      <long_desc>This defines how much the wheel steering input will be commanded depending on the
+current body angular rate error.</long_desc>
       <min>0.0</min>
       <max>10</max>
       <unit>%/rad/s</unit>
@@ -12433,11 +4169,13 @@
     </parameter>
     <parameter name="FW_W_EN" default="0" type="INT32" boolean="true">
       <short_desc>Enable wheel steering controller</short_desc>
-      <long_desc>Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.</long_desc>
+      <long_desc>Only enabled during automatic runway takeoff and landing.
+In all manual modes the wheel is directly controlled with yaw stick.</long_desc>
     </parameter>
     <parameter name="FW_W_RMAX" default="30.0" type="FLOAT">
       <short_desc>Maximum wheel steering rate</short_desc>
-      <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per second).</long_desc>
+      <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per
+second).</long_desc>
       <min>0.0</min>
       <max>90.0</max>
       <unit>deg/s</unit>
@@ -12454,9 +4192,25 @@
     </parameter>
   </group>
   <group name="FW Auto Landing">
+    <parameter name="FW_FLAPS_LND_SCL" default="1.0" type="FLOAT">
+      <short_desc>Flaps setting during landing</short_desc>
+      <long_desc>Sets a fraction of full flaps during landing.
+Also applies to flaperons if enabled in the mixer/allocation.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
     <parameter name="FW_LND_ABORT" default="3" type="INT32">
       <short_desc>Bit mask to set the automatic landing abort conditions</short_desc>
-      <long_desc>Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)</long_desc>
+      <long_desc>Terrain estimation:
+bit 0: Abort if terrain is not found
+bit 1: Abort if terrain times out (after a first successful measurement)
+The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the
+selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.
+TODO: Extend automatic abort conditions
+e.g. glide slope tracking error (horizontal and vertical)</long_desc>
       <min>0</min>
       <max>3</max>
       <bitmask>
@@ -12466,7 +4220,8 @@
     </parameter>
     <parameter name="FW_LND_AIRSPD" default="-1." type="FLOAT">
       <short_desc>Landing airspeed</short_desc>
-      <long_desc>The calibrated airspeed setpoint during landing. If set &lt;= 0, landing airspeed = FW_AIRSPD_MIN by default.</long_desc>
+      <long_desc>The calibrated airspeed setpoint during landing.
+If set &lt;= 0, landing airspeed = FW_AIRSPD_MIN by default.</long_desc>
       <min>-1.0</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -12474,16 +4229,19 @@
     </parameter>
     <parameter name="FW_LND_ANG" default="5.0" type="FLOAT">
       <short_desc>Maximum landing slope angle</short_desc>
-      <long_desc>Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.</long_desc>
+      <long_desc>Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.
+Set this value within the vehicle's performance limits.</long_desc>
       <min>1.0</min>
-      <max>15.0</max>
+      <max>45.0</max>
       <unit>deg</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
     <parameter name="FW_LND_EARLYCFG" default="0" type="INT32" boolean="true">
       <short_desc>Early landing configuration deployment</short_desc>
-      <long_desc>Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in the loiter-down waypoint before the final approach. Otherwise is enabled only in the final approach.</long_desc>
+      <long_desc>Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in
+the loiter-down waypoint before the final approach.
+Otherwise is enabled only in the final approach.</long_desc>
     </parameter>
     <parameter name="FW_LND_FLALT" default="0.5" type="FLOAT">
       <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
@@ -12522,7 +4280,9 @@
     </parameter>
     <parameter name="FW_LND_FL_TIME" default="1.0" type="FLOAT">
       <short_desc>Landing flare time</short_desc>
-      <long_desc>Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude</long_desc>
+      <long_desc>Multiplied by the descent rate to calculate a dynamic altitude at which
+to trigger the flare.
+NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude</long_desc>
       <min>0.1</min>
       <max>5.0</max>
       <unit>s</unit>
@@ -12531,7 +4291,11 @@
     </parameter>
     <parameter name="FW_LND_NUDGE" default="2" type="INT32">
       <short_desc>Landing touchdown nudging option</short_desc>
-      <long_desc>Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).</long_desc>
+      <long_desc>Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant
+Approach path nudging: shifts the touchdown point laterally along with the entire approach path
+This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
+desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
+relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).</long_desc>
       <min>0</min>
       <max>2</max>
       <values>
@@ -12540,48 +4304,247 @@
         <value code="2">Nudge approach path</value>
       </values>
     </parameter>
-    <parameter name="FW_LND_TD_OFF" default="3.0" type="FLOAT">
-      <short_desc>Maximum lateral position offset for the touchdown point</short_desc>
-      <min>0.0</min>
-      <max>10.0</max>
-      <unit>m</unit>
-      <decimal>1</decimal>
-      <increment>1</increment>
+    <parameter name="FW_LND_TD_OFF" default="3.0" type="FLOAT">
+      <short_desc>Maximum lateral position offset for the touchdown point</short_desc>
+      <min>0.0</min>
+      <max>10.0</max>
+      <unit>m</unit>
+      <decimal>1</decimal>
+      <increment>1</increment>
+    </parameter>
+    <parameter name="FW_LND_TD_TIME" default="-1.0" type="FLOAT">
+      <short_desc>Landing touchdown time (since flare start)</short_desc>
+      <long_desc>This is the time after the start of flaring that we expect the vehicle to touch the runway.
+At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.
+If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.
+Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.
+The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).</long_desc>
+      <min>-1.0</min>
+      <max>5.0</max>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_LND_THRTC_SC" default="1.0" type="FLOAT">
+      <short_desc>Altitude time constant factor for landing and low-height flight</short_desc>
+      <long_desc>The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.</long_desc>
+      <min>0.2</min>
+      <max>1.0</max>
+      <unit />
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_LND_USETER" default="1" type="INT32">
+      <short_desc>Use terrain estimation during landing</short_desc>
+      <long_desc>This is critical for detecting when to flare, and should be enabled if possible.
+If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
+will be aborted, depending on the criteria set in FW_LND_ABORT.
+If disabled, FW_LND_ABORT terrain based criteria are ignored.</long_desc>
+      <min>0</min>
+      <max>2</max>
+      <values>
+        <value code="0">Disable the terrain estimate</value>
+        <value code="1">Use the terrain estimate to trigger the flare (only)</value>
+        <value code="2">Calculate landing glide slope relative to the terrain estimate</value>
+      </values>
+    </parameter>
+    <parameter name="FW_SPOILERS_LND" default="0." type="FLOAT">
+      <short_desc>Spoiler landing setting</short_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+  </group>
+  <group name="FW Auto Takeoff">
+    <parameter name="FW_FLAPS_TO_SCL" default="0.0" type="FLOAT">
+      <short_desc>Flaps setting during take-off</short_desc>
+      <long_desc>Sets a fraction of full flaps during take-off.
+Also applies to flaperons if enabled in the mixer/allocation.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_LAUN_AC_T" default="0.05" type="FLOAT">
+      <short_desc>Trigger time</short_desc>
+      <long_desc>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</long_desc>
+      <min>0.0</min>
+      <max>5.0</max>
+      <unit>s</unit>
+      <decimal>2</decimal>
+      <increment>0.05</increment>
+    </parameter>
+    <parameter name="FW_LAUN_AC_THLD" default="30.0" type="FLOAT">
+      <short_desc>Trigger acceleration threshold</short_desc>
+      <long_desc>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</long_desc>
+      <min>0</min>
+      <unit>m/s^2</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_LAUN_CS_LK_DY" default="0." type="FLOAT">
+      <short_desc>Control surface launch delay</short_desc>
+      <long_desc>Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
+Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
+Set to 0 to disable any surface locking after arming.</long_desc>
+      <min>0.0</min>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_LAUN_DETCN_ON" default="0" type="INT32" boolean="true">
+      <short_desc>Fixed-wing launch detection</short_desc>
+      <long_desc>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
+Not compatible with runway takeoff.</long_desc>
+    </parameter>
+    <parameter name="FW_LAUN_MOT_DEL" default="0.0" type="FLOAT">
+      <short_desc>Motor delay</short_desc>
+      <long_desc>Start the motor(s) this amount of seconds after launch is detected.</long_desc>
+      <min>0.0</min>
+      <max>10.0</max>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_TKO_AIRSPD" default="-1.0" type="FLOAT">
+      <short_desc>Takeoff Airspeed</short_desc>
+      <long_desc>The calibrated airspeed setpoint during the takeoff climbout.
+If set &lt;= 0, FW_AIRSPD_MIN will be set by default.</long_desc>
+      <min>-1.0</min>
+      <unit>m/s</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_TKO_PITCH_MIN" default="10.0" type="FLOAT">
+      <short_desc>Minimum pitch during takeoff</short_desc>
+      <min>-5.0</min>
+      <max>80.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+  </group>
+  <group name="FW General">
+    <parameter name="FW_GPSF_LT" default="30" type="INT32">
+      <short_desc>GPS failure loiter time</short_desc>
+      <long_desc>The time the system should do open loop loiter and wait for GPS recovery
+before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
+Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.</long_desc>
+      <min>0</min>
+      <unit>s</unit>
+    </parameter>
+    <parameter name="FW_GPSF_R" default="15.0" type="FLOAT">
+      <short_desc>GPS failure fixed roll angle</short_desc>
+      <long_desc>Roll angle in GPS failure loiter mode.</long_desc>
+      <min>0.0</min>
+      <max>60.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_POS_STK_CONF" default="2" type="INT32">
+      <short_desc>Custom stick configuration</short_desc>
+      <long_desc>Applies in manual Position and Altitude flight modes.</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <bitmask>
+        <bit index="0">Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)</bit>
+        <bit index="1">Enable airspeed setpoint via sticks in altitude and position flight mode</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="FW_P_LIM_MAX" default="30.0" type="FLOAT">
+      <short_desc>Maximum pitch angle setpoint</short_desc>
+      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
+      <min>0.0</min>
+      <max>80.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_P_LIM_MIN" default="-30.0" type="FLOAT">
+      <short_desc>Minimum pitch angle setpoint</short_desc>
+      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
+      <min>-60.0</min>
+      <max>0.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_R_LIM" default="50.0" type="FLOAT">
+      <short_desc>Maximum roll angle setpoint</short_desc>
+      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
+      <min>35.0</min>
+      <max>75.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_THR_IDLE" default="0.0" type="FLOAT">
+      <short_desc>Idle throttle</short_desc>
+      <long_desc>This is the minimum throttle while on the ground ("landed") in auto modes.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_THR_MAX" default="1.0" type="FLOAT">
+      <short_desc>Throttle limit max</short_desc>
+      <long_desc>Applies in any altitude controlled flight mode.
+Should be set accordingly to achieve FW_T_CLMB_MAX.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_THR_MIN" default="0.0" type="FLOAT">
+      <short_desc>Throttle limit min</short_desc>
+      <long_desc>Applies in any altitude controlled flight mode.
+Usually set to 0 but can be increased to prevent the motor from stopping when
+descending, which can increase achievable descent rates.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>norm</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_T_CLMB_R_SP" default="3.0" type="FLOAT">
+      <short_desc>Default target climbrate</short_desc>
+      <long_desc>In auto modes: default climb rate output by controller to achieve altitude setpoints.
+In manual modes: maximum climb rate setpoint.</long_desc>
+      <min>0.1</min>
+      <unit>m/s</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
     </parameter>
-    <parameter name="FW_LND_TD_TIME" default="-1.0" type="FLOAT">
-      <short_desc>Landing touchdown time (since flare start)</short_desc>
-      <long_desc>This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).</long_desc>
-      <min>-1.0</min>
-      <max>5.0</max>
-      <unit>s</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
+    <parameter name="FW_T_SINK_R_SP" default="2.0" type="FLOAT">
+      <short_desc>Default target sinkrate</short_desc>
+      <long_desc>In auto modes: default sink rate output by controller to achieve altitude setpoints.
+In manual modes: maximum sink rate setpoint.</long_desc>
+      <min>0.1</min>
+      <unit>m/s</unit>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
     </parameter>
-    <parameter name="FW_LND_THRTC_SC" default="1.0" type="FLOAT">
-      <short_desc>Altitude time constant factor for landing and low-height flight</short_desc>
-      <long_desc>The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.</long_desc>
-      <min>0.2</min>
-      <max>1.0</max>
-      <unit />
+    <parameter name="FW_T_SPDWEIGHT" default="1.0" type="FLOAT">
+      <short_desc>Speed &lt;--&gt; Altitude weight</short_desc>
+      <long_desc>Adjusts the amount of weighting that the pitch control
+applies to speed vs height errors.
+0 -&gt; control height only
+2 -&gt; control speed only (gliders)</long_desc>
+      <min>0.0</min>
+      <max>2.0</max>
       <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_LND_USETER" default="1" type="INT32">
-      <short_desc>Use terrain estimation during landing</short_desc>
-      <long_desc>This is critical for detecting when to flare, and should be enabled if possible. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.</long_desc>
-      <min>0</min>
-      <max>2</max>
-      <values>
-        <value code="0">Disable the terrain estimate</value>
-        <value code="1">Use the terrain estimate to trigger the flare (only)</value>
-        <value code="2">Calculate landing glide slope relative to the terrain estimate</value>
-      </values>
+      <increment>1.0</increment>
     </parameter>
-  </group>
-  <group name="FW Geometry">
     <parameter name="FW_WING_HEIGHT" default="0.5" type="FLOAT">
       <short_desc>Height (AGL) of the wings when the aircraft is on the ground</short_desc>
-      <long_desc>This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (&gt; 0m)</long_desc>
+      <long_desc>This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer
+to give a slight margin here (&gt; 0m)</long_desc>
       <min>0.0</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -12596,37 +4559,188 @@
       <increment>0.1</increment>
     </parameter>
   </group>
-  <group name="FW Launch detection">
-    <parameter name="FW_LAUN_AC_T" default="0.05" type="FLOAT">
-      <short_desc>Trigger time</short_desc>
-      <long_desc>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</long_desc>
+  <group name="FW Lateral Control">
+    <parameter name="FW_PN_R_SLEW_MAX" default="90.0" type="FLOAT">
+      <short_desc>Path navigation roll slew rate limit</short_desc>
+      <long_desc>Maximum change in roll angle setpoint per second.
+Applied in all Auto modes, plus manual Position &amp; Altitude modes.</long_desc>
+      <min>0</min>
+      <unit>deg/s</unit>
+      <decimal>0</decimal>
+      <increment>1</increment>
+    </parameter>
+  </group>
+  <group name="FW Longitudinal Control">
+    <parameter name="FW_GND_SPD_MIN" default="5.0" type="FLOAT">
+      <short_desc>Minimum groundspeed</short_desc>
+      <long_desc>The controller will increase the commanded airspeed to maintain
+this minimum groundspeed to the next waypoint.</long_desc>
       <min>0.0</min>
-      <max>5.0</max>
-      <unit>s</unit>
+      <max>40</max>
+      <unit>m/s</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_THR_SLEW_MAX" default="0.0" type="FLOAT">
+      <short_desc>Throttle max slew rate</short_desc>
+      <long_desc>Maximum slew rate for the commanded throttle</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_T_ALT_TC" default="5.0" type="FLOAT">
+      <short_desc>Altitude error time constant</short_desc>
+      <min>2.0</min>
+      <decimal>2</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_T_F_ALT_ERR" default="-1.0" type="FLOAT">
+      <short_desc>Fast descend: minimum altitude error</short_desc>
+      <long_desc>Minimum altitude error needed to descend with max airspeed and minimal throttle.
+A negative value disables fast descend.</long_desc>
+      <min>-1.0</min>
+      <decimal>0</decimal>
+    </parameter>
+    <parameter name="FW_T_HRATE_FF" default="0.3" type="FLOAT">
+      <short_desc>Height rate feed forward</short_desc>
+      <min>0.0</min>
+      <max>1.0</max>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
-    <parameter name="FW_LAUN_AC_THLD" default="30.0" type="FLOAT">
-      <short_desc>Trigger acceleration threshold</short_desc>
-      <long_desc>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</long_desc>
-      <min>0</min>
-      <unit>m/s^2</unit>
+    <parameter name="FW_T_I_GAIN_PIT" default="0.1" type="FLOAT">
+      <short_desc>Integrator gain pitch</short_desc>
+      <long_desc>Increase it to trim out speed and height offsets faster,
+with the downside of possible overshoots and oscillations.</long_desc>
+      <min>0.0</min>
+      <max>2.0</max>
+      <decimal>2</decimal>
+      <increment>0.05</increment>
+    </parameter>
+    <parameter name="FW_T_PTCH_DAMP" default="0.1" type="FLOAT">
+      <short_desc>Pitch damping gain</short_desc>
+      <min>0.0</min>
+      <max>2.0</max>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_T_RLL2THR" default="15.0" type="FLOAT">
+      <short_desc>Roll -&gt; Throttle feedforward</short_desc>
+      <long_desc>Is used to compensate for the additional drag created by turning.
+Increase this gain if the aircraft initially loses energy in turns
+and reduce if the aircraft initially gains energy in turns.</long_desc>
+      <min>0.0</min>
+      <max>20.0</max>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
-    <parameter name="FW_LAUN_DETCN_ON" default="0" type="INT32" boolean="true">
-      <short_desc>Fixed-wing launch detection</short_desc>
-      <long_desc>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.</long_desc>
+    <parameter name="FW_T_SEB_R_FF" default="1.0" type="FLOAT">
+      <short_desc>Specific total energy balance rate feedforward gain</short_desc>
+      <min>0.5</min>
+      <max>3</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
     </parameter>
-    <parameter name="FW_LAUN_MOT_DEL" default="0.0" type="FLOAT">
-      <short_desc>Motor delay</short_desc>
-      <long_desc>Start the motor(s) this amount of seconds after launch is detected.</long_desc>
+    <parameter name="FW_T_SINK_MAX" default="5.0" type="FLOAT">
+      <short_desc>Maximum descent rate</short_desc>
+      <min>1.0</min>
+      <max>15.0</max>
+      <unit>m/s</unit>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_T_SPD_DEV_STD" default="0.2" type="FLOAT">
+      <short_desc>Airspeed rate measurement standard deviation</short_desc>
+      <long_desc>For the airspeed filter in TECS.</long_desc>
+      <min>0.01</min>
+      <max>10.0</max>
+      <unit>m/s^2</unit>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_T_SPD_PRC_STD" default="0.2" type="FLOAT">
+      <short_desc>Process noise standard deviation for the airspeed rate</short_desc>
+      <long_desc>This is defining the noise in the airspeed rate for the constant airspeed rate model
+of the TECS airspeed filter.</long_desc>
+      <min>0.01</min>
+      <max>10.0</max>
+      <unit>m/s^2</unit>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_T_SPD_STD" default="0.07" type="FLOAT">
+      <short_desc>Airspeed measurement standard deviation</short_desc>
+      <long_desc>For the airspeed filter in TECS.</long_desc>
+      <min>0.01</min>
+      <max>10.0</max>
+      <unit>m/s</unit>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="FW_T_STE_R_TC" default="0.4" type="FLOAT">
+      <short_desc>Specific total energy rate first order filter time constant</short_desc>
+      <long_desc>This filter is applied to the specific total energy rate used for throttle damping.</long_desc>
+      <min>0.0</min>
+      <max>2</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_T_TAS_TC" default="5.0" type="FLOAT">
+      <short_desc>True airspeed error time constant</short_desc>
+      <min>2.0</min>
+      <decimal>2</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="FW_T_THR_DAMPING" default="0.05" type="FLOAT">
+      <short_desc>Throttle damping factor</short_desc>
+      <long_desc>This is the damping gain for the throttle demand loop.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <decimal>3</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="FW_T_THR_INTEG" default="0.02" type="FLOAT">
+      <short_desc>Integrator gain throttle</short_desc>
+      <long_desc>Increase it to trim out speed and height offsets faster,
+with the downside of possible overshoots and oscillations.</long_desc>
       <min>0.0</min>
+      <max>1.0</max>
+      <decimal>3</decimal>
+      <increment>0.005</increment>
+    </parameter>
+    <parameter name="FW_T_THR_LOW_HGT" default="-1." type="FLOAT">
+      <short_desc>Low-height threshold for tighter altitude tracking</short_desc>
+      <long_desc>Height above ground threshold below which tighter altitude
+tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly
+(1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC
+to FW_LND_THRTC_SC*FW_T_ALT_TC.
+-1 to disable.</long_desc>
+      <min>-1</min>
+      <unit>m</unit>
+      <decimal>0</decimal>
+      <increment>1</increment>
+    </parameter>
+    <parameter name="FW_T_VERT_ACC" default="7.0" type="FLOAT">
+      <short_desc>Maximum vertical acceleration</short_desc>
+      <long_desc>This is the maximum vertical acceleration
+either up or down that the controller will use to correct speed
+or height errors.</long_desc>
+      <min>1.0</min>
       <max>10.0</max>
-      <unit>s</unit>
+      <unit>m/s^2</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
+    <parameter name="FW_WIND_ARSP_SC" default="0." type="FLOAT">
+      <short_desc>Wind-based airspeed scaling factor</short_desc>
+      <long_desc>Multiplying this factor with the current absolute wind estimate gives the airspeed offset
+added to the minimum airspeed setpoint limit. This helps to make the
+system more robust against disturbances (turbulence) in high wind.</long_desc>
+      <min>0</min>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
   </group>
   <group name="FW NPFG Control">
     <parameter name="NPFG_DAMPING" default="0.7" type="FLOAT">
@@ -12637,21 +4751,10 @@
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="NPFG_EN_MIN_GSP" default="1" type="INT32" boolean="true">
-      <short_desc>Enable minimum forward ground speed maintaining excess wind handling logic</short_desc>
-    </parameter>
-    <parameter name="NPFG_GSP_MAX_TK" default="5.0" type="FLOAT">
-      <short_desc>Maximum, minimum forward ground speed for track keeping in excess wind</short_desc>
-      <long_desc>The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.</long_desc>
-      <min>0.0</min>
-      <max>10.0</max>
-      <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
     <parameter name="NPFG_LB_PERIOD" default="1" type="INT32" boolean="true">
       <short_desc>Enable automatic lower bound on the NPFG period</short_desc>
-      <long_desc>Avoids limit cycling from a too aggressively tuned period/damping combination. If false, also disables upper bound NPFG_PERIOD_UB.</long_desc>
+      <long_desc>Avoids limit cycling from a too aggressively tuned period/damping combination.
+If false, also disables upper bound NPFG_PERIOD_UB.</long_desc>
     </parameter>
     <parameter name="NPFG_PERIOD" default="10.0" type="FLOAT">
       <short_desc>NPFG period</short_desc>
@@ -12664,7 +4767,8 @@
     </parameter>
     <parameter name="NPFG_PERIOD_SF" default="1.5" type="FLOAT">
       <short_desc>Period safety factor</short_desc>
-      <long_desc>Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.</long_desc>
+      <long_desc>Multiplied by period for conservative minimum period bounding (when period lower
+bounding is enabled). 1.0 bounds at marginal stability.</long_desc>
       <min>1.0</min>
       <max>10.0</max>
       <decimal>1</decimal>
@@ -12672,7 +4776,8 @@
     </parameter>
     <parameter name="NPFG_ROLL_TC" default="0.5" type="FLOAT">
       <short_desc>Roll time constant</short_desc>
-      <long_desc>Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.</long_desc>
+      <long_desc>Time constant of roll controller command / response, modeled as first order delay.
+Used to determine lower period bound. Setting zero disables automatic period bounding.</long_desc>
       <min>0.00</min>
       <max>2.00</max>
       <unit>s</unit>
@@ -12681,62 +4786,27 @@
     </parameter>
     <parameter name="NPFG_SW_DST_MLT" default="0.32" type="FLOAT">
       <short_desc>NPFG switch distance multiplier</short_desc>
-      <long_desc>Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.</long_desc>
+      <long_desc>Multiplied by the track error boundary to determine when the aircraft switches
+to the next waypoint and/or path segment. Should be less than 1.</long_desc>
       <min>0.1</min>
       <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="NPFG_TRACK_KEEP" default="1" type="INT32" boolean="true">
-      <short_desc>Enable track keeping excess wind handling logic</short_desc>
-    </parameter>
-    <parameter name="NPFG_UB_PERIOD" default="1" type="INT32" boolean="true">
-      <short_desc>Enable automatic upper bound on the NPFG period</short_desc>
-      <long_desc>Adapts period to maintain track keeping in variable winds and path curvature.</long_desc>
-    </parameter>
-    <parameter name="NPFG_WIND_REG" default="1" type="INT32" boolean="true">
-      <short_desc>Enable wind excess regulation</short_desc>
-      <long_desc>Disabling this parameter further disables all other airspeed incrementation options.</long_desc>
-    </parameter>
-  </group>
-  <group name="FW Path Control">
-    <parameter name="FW_PN_R_SLEW_MAX" default="90.0" type="FLOAT">
-      <short_desc>Path navigation roll slew rate limit</short_desc>
-      <long_desc>Maximum change in roll angle setpoint per second. Applied in all Auto modes, plus manual Position &amp; Altitude modes.</long_desc>
-      <min>0</min>
-      <unit>deg/s</unit>
-      <decimal>0</decimal>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="FW_POS_STK_CONF" default="2" type="INT32">
-      <short_desc>Custom stick configuration</short_desc>
-      <long_desc>Applies in manual Position and Altitude flight modes.</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <bitmask>
-        <bit index="0">Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)</bit>
-        <bit index="1">Enable airspeed setpoint via sticks in altitude and position flight mode</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="FW_R_LIM" default="50.0" type="FLOAT">
-      <short_desc>Maximum roll angle setpoint</short_desc>
-      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
-      <min>35.0</min>
-      <max>65.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_TKO_PITCH_MIN" default="10.0" type="FLOAT">
-      <short_desc>Minimum pitch during takeoff</short_desc>
-      <min>-5.0</min>
-      <max>30.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
+    <parameter name="NPFG_UB_PERIOD" default="1" type="INT32" boolean="true">
+      <short_desc>Enable automatic upper bound on the NPFG period</short_desc>
+      <long_desc>Adapts period to maintain track keeping in variable winds and path curvature.</long_desc>
     </parameter>
   </group>
   <group name="FW Performance">
+    <parameter name="FW_AIRSPD_FLP_SC" default="1." type="FLOAT">
+      <short_desc>Airspeed scale with full flaps</short_desc>
+      <long_desc>Factor applied to the minimum and stall airspeed when flaps are fully deployed.</long_desc>
+      <min>0.5</min>
+      <max>1</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+    </parameter>
     <parameter name="FW_AIRSPD_MAX" default="20.0" type="FLOAT">
       <short_desc>Maximum Airspeed (CAS)</short_desc>
       <long_desc>The maximal airspeed (calibrated airspeed) the user is able to command.</long_desc>
@@ -12747,7 +4817,13 @@
     </parameter>
     <parameter name="FW_AIRSPD_MIN" default="10.0" type="FLOAT">
       <short_desc>Minimum Airspeed (CAS)</short_desc>
-      <long_desc>The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</long_desc>
+      <long_desc>The minimal airspeed (calibrated airspeed) the user is able to command.
+Further, if the airspeed falls below this value, the TECS controller will try to
+increase airspeed more aggressively.
+Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL),
+with some margin between the stall speed and minimum airspeed.
+This value corresponds to the desired minimum speed with the default load factor (level flight, default weight),
+and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</long_desc>
       <min>0.5</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -12755,7 +4831,9 @@
     </parameter>
     <parameter name="FW_AIRSPD_STALL" default="7.0" type="FLOAT">
       <short_desc>Stall Airspeed (CAS)</short_desc>
-      <long_desc>The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.</long_desc>
+      <long_desc>The stall airspeed (calibrated airspeed) of the vehicle.
+It is used for airspeed sensor failure detection and for the control
+surface scaling airspeed limits.</long_desc>
       <min>0.5</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -12763,7 +4841,9 @@
     </parameter>
     <parameter name="FW_AIRSPD_TRIM" default="15.0" type="FLOAT">
       <short_desc>Trim (Cruise) Airspeed</short_desc>
-      <long_desc>The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).</long_desc>
+      <long_desc>The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
+this is the default airspeed setpoint that the controller will try to achieve.
+This value corresponds to the trim airspeed with the default load factor (level flight, default weight).</long_desc>
       <min>0.5</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -12771,7 +4851,9 @@
     </parameter>
     <parameter name="FW_SERVICE_CEIL" default="-1.0" type="FLOAT">
       <short_desc>Service ceiling</short_desc>
-      <long_desc>Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.</long_desc>
+      <long_desc>Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of
+0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX.
+Set negative to disable.</long_desc>
       <min>-1.0</min>
       <unit>m</unit>
       <decimal>0</decimal>
@@ -12779,7 +4861,8 @@
     </parameter>
     <parameter name="FW_THR_ASPD_MAX" default="0." type="FLOAT">
       <short_desc>Throttle at max airspeed</short_desc>
-      <long_desc>Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.</long_desc>
+      <long_desc>Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX
+Set to 0 to disable mapping of airspeed to trim throttle.</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -12787,7 +4870,8 @@
     </parameter>
     <parameter name="FW_THR_ASPD_MIN" default="0." type="FLOAT">
       <short_desc>Throttle at min airspeed</short_desc>
-      <long_desc>Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.</long_desc>
+      <long_desc>Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN
+Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -12804,32 +4888,38 @@
     </parameter>
     <parameter name="FW_T_CLMB_MAX" default="5.0" type="FLOAT">
       <short_desc>Maximum climb rate</short_desc>
-      <long_desc>This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.</long_desc>
+      <long_desc>This is the maximum calibrated climb rate that the aircraft can achieve with
+the throttle set to FW_THR_MAX and the airspeed set to the
+trim value. For electric aircraft make sure this number can be
+achieved towards the end of flight when the battery voltage has reduced.</long_desc>
       <min>1.0</min>
-      <max>15.0</max>
       <unit>m/s</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
     <parameter name="FW_T_SINK_MIN" default="2.0" type="FLOAT">
       <short_desc>Minimum descent rate</short_desc>
-      <long_desc>This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</long_desc>
+      <long_desc>This is the minimum calibrated sink rate of the aircraft with the throttle
+set to THR_MIN and flown at the same airspeed as used
+to measure FW_T_CLMB_MAX.</long_desc>
       <min>1.0</min>
-      <max>5.0</max>
       <unit>m/s</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
     <parameter name="WEIGHT_BASE" default="-1.0" type="FLOAT">
       <short_desc>Vehicle base weight</short_desc>
-      <long_desc>This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</long_desc>
+      <long_desc>This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value
+disables trim throttle and minimum airspeed compensation based on weight.</long_desc>
       <unit>kg</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
     <parameter name="WEIGHT_GROSS" default="-1.0" type="FLOAT">
       <short_desc>Vehicle gross weight</short_desc>
-      <long_desc>This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</long_desc>
+      <long_desc>This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added
+or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value
+disables trim throttle and minimum airspeed compensation based on weight.</long_desc>
       <unit>kg</unit>
       <decimal>1</decimal>
       <increment>0.1</increment>
@@ -12844,7 +4934,10 @@
     </parameter>
     <parameter name="FW_ACRO_YAW_EN" default="0" type="INT32" boolean="true">
       <short_desc>Enable yaw rate controller in Acro</short_desc>
-      <long_desc>If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.</long_desc>
+      <long_desc>If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.
+Otherwise the pilot commands directly the yaw actuator.
+It is disabled by default because an active yaw rate controller will fight against the
+natural turn coordination of the plane.</long_desc>
     </parameter>
     <parameter name="FW_ACRO_Y_MAX" default="90" type="FLOAT">
       <short_desc>Acro body pitch max rate setpoint</short_desc>
@@ -12860,11 +4953,16 @@
     </parameter>
     <parameter name="FW_ARSP_SCALE_EN" default="1" type="INT32" boolean="true">
       <short_desc>Enable airspeed scaling</short_desc>
-      <long_desc>This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)</long_desc>
+      <long_desc>This enables a logic that automatically adjusts the output of the rate controller to take
+into account the real torque produced by an aerodynamic control surface given
+the current deviation from the trim airspeed (FW_AIRSPD_TRIM).
+Enable when using aerodynamic control surfaces (e.g.: plane)
+Disable when using rotor wings (e.g.: autogyro)</long_desc>
     </parameter>
     <parameter name="FW_BAT_SCALE_EN" default="0" type="INT32" boolean="true">
       <short_desc>Enable throttle scale by battery level</short_desc>
-      <long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.</long_desc>
+      <long_desc>This compensates for voltage drop of the battery over time by attempting to
+normalize performance across the operating range of the battery.</long_desc>
     </parameter>
     <parameter name="FW_DTRIM_P_VMAX" default="0.0" type="FLOAT">
       <short_desc>Pitch trim increment at maximum airspeed</short_desc>
@@ -12914,27 +5012,21 @@
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="FW_FLAPS_LND_SCL" default="1.0" type="FLOAT">
-      <short_desc>Flaps setting during landing</short_desc>
-      <long_desc>Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+    <parameter name="FW_GC_EN" default="1" type="INT32" boolean="true">
+      <short_desc>Enable rate gain compression</short_desc>
     </parameter>
-    <parameter name="FW_FLAPS_TO_SCL" default="0.0" type="FLOAT">
-      <short_desc>Flaps setting during take-off</short_desc>
-      <long_desc>Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.</long_desc>
+    <parameter name="FW_GC_GAIN_MIN" default="0.3" type="FLOAT">
+      <short_desc>Compression gain lower limit</short_desc>
+      <long_desc>The range of the compression gain is between this parameter and 1.0</long_desc>
       <min>0.0</min>
       <max>1.0</max>
-      <unit>norm</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="FW_MAN_P_SC" default="1.0" type="FLOAT">
       <short_desc>Manual pitch scale</short_desc>
-      <long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
+      <long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows
+to adjust the throws of the control surfaces.</long_desc>
       <min>0.0</min>
       <unit>norm</unit>
       <decimal>2</decimal>
@@ -12942,7 +5034,8 @@
     </parameter>
     <parameter name="FW_MAN_R_SC" default="1.0" type="FLOAT">
       <short_desc>Manual roll scale</short_desc>
-      <long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
+      <long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows
+to adjust the throws of the control surfaces.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
       <unit>norm</unit>
@@ -12951,7 +5044,8 @@
     </parameter>
     <parameter name="FW_MAN_Y_SC" default="1.0" type="FLOAT">
       <short_desc>Manual yaw scale</short_desc>
-      <long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
+      <long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
+to adjust the throws of the control surfaces.</long_desc>
       <min>0.0</min>
       <unit>norm</unit>
       <decimal>2</decimal>
@@ -13000,7 +5094,9 @@
     </parameter>
     <parameter name="FW_RLL_TO_YAW_FF" default="0.0" type="FLOAT">
       <short_desc>Roll control to yaw control feedforward gain</short_desc>
-      <long_desc>This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.</long_desc>
+      <long_desc>This gain can be used to counteract the "adverse yaw" effect for fixed wings.
+When the plane enters a roll it will tend to yaw the nose out of the turn.
+This gain enables the use of a yaw actuator to counteract this effect.</long_desc>
       <min>0.0</min>
       <decimal>1</decimal>
       <increment>0.01</increment>
@@ -13056,7 +5152,11 @@
     </parameter>
     <parameter name="FW_USE_AIRSPD" default="1" type="INT32" boolean="true">
       <short_desc>Use airspeed for control</short_desc>
-      <long_desc>If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic</long_desc>
+      <long_desc>If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
+- Rate controller: output scaling
+- Attitude controller: coordinated turn controller
+- Position controller: airspeed setpoint tracking, takeoff logic
+- VTOL: transition logic</long_desc>
     </parameter>
     <parameter name="FW_YR_D" default="0.0" type="FLOAT">
       <short_desc>Yaw rate derivative gain</short_desc>
@@ -13099,251 +5199,37 @@
       <increment>0.005</increment>
     </parameter>
   </group>
-  <group name="FW TECS">
-    <parameter name="FW_GND_SPD_MIN" default="5.0" type="FLOAT">
-      <short_desc>Minimum groundspeed</short_desc>
-      <long_desc>The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.</long_desc>
-      <min>0.0</min>
-      <max>40</max>
-      <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_P_LIM_MAX" default="30.0" type="FLOAT">
-      <short_desc>Maximum pitch angle setpoint</short_desc>
-      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
-      <min>0.0</min>
-      <max>60.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_P_LIM_MIN" default="-30.0" type="FLOAT">
-      <short_desc>Minimum pitch angle setpoint</short_desc>
-      <long_desc>Applies in any altitude controlled flight mode.</long_desc>
-      <min>-60.0</min>
-      <max>0.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_THR_IDLE" default="0.0" type="FLOAT">
-      <short_desc>Idle throttle</short_desc>
-      <long_desc>This is the minimum throttle while on the ground ("landed") in auto modes.</long_desc>
-      <min>0.0</min>
-      <max>0.4</max>
-      <unit>norm</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_THR_MAX" default="1.0" type="FLOAT">
-      <short_desc>Throttle limit max</short_desc>
-      <long_desc>Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_THR_MIN" default="0.0" type="FLOAT">
-      <short_desc>Throttle limit min</short_desc>
-      <long_desc>Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_THR_SLEW_MAX" default="0.0" type="FLOAT">
-      <short_desc>Throttle max slew rate</short_desc>
-      <long_desc>Maximum slew rate for the commanded throttle</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_TKO_AIRSPD" default="-1.0" type="FLOAT">
-      <short_desc>Takeoff Airspeed</short_desc>
-      <long_desc>The calibrated airspeed setpoint during the takeoff climbout. If set &lt;= 0, FW_AIRSPD_MIN will be set by default.</long_desc>
-      <min>-1.0</min>
-      <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_T_ALT_TC" default="5.0" type="FLOAT">
-      <short_desc>Altitude error time constant</short_desc>
-      <min>2.0</min>
-      <decimal>2</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_T_CLMB_R_SP" default="3.0" type="FLOAT">
-      <short_desc>Default target climbrate</short_desc>
-      <long_desc>In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.</long_desc>
-      <min>0.5</min>
-      <max>15</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_T_F_ALT_ERR" default="-1.0" type="FLOAT">
-      <short_desc>Fast descend: minimum altitude error</short_desc>
-      <long_desc>Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.</long_desc>
-      <min>-1.0</min>
-      <decimal>0</decimal>
-    </parameter>
-    <parameter name="FW_T_HRATE_FF" default="0.3" type="FLOAT">
-      <short_desc>Height rate feed forward</short_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
-    <parameter name="FW_T_I_GAIN_PIT" default="0.1" type="FLOAT">
-      <short_desc>Integrator gain pitch</short_desc>
-      <long_desc>Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</long_desc>
-      <min>0.0</min>
-      <max>2.0</max>
-      <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
-    <parameter name="FW_T_PTCH_DAMP" default="0.1" type="FLOAT">
-      <short_desc>Pitch damping gain</short_desc>
-      <min>0.0</min>
-      <max>2.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_T_RLL2THR" default="15.0" type="FLOAT">
-      <short_desc>Roll -&gt; Throttle feedforward</short_desc>
-      <long_desc>Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.</long_desc>
-      <min>0.0</min>
-      <max>20.0</max>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_T_SEB_R_FF" default="1.0" type="FLOAT">
-      <short_desc>Specific total energy balance rate feedforward gain</short_desc>
-      <min>0.5</min>
-      <max>3</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_T_SINK_MAX" default="5.0" type="FLOAT">
-      <short_desc>Maximum descent rate</short_desc>
-      <min>1.0</min>
-      <max>15.0</max>
-      <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_T_SINK_R_SP" default="2.0" type="FLOAT">
-      <short_desc>Default target sinkrate</short_desc>
-      <long_desc>In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.</long_desc>
-      <min>0.5</min>
-      <max>15</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_T_SPDWEIGHT" default="1.0" type="FLOAT">
-      <short_desc>Speed &lt;--&gt; Altitude weight</short_desc>
-      <long_desc>Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -&gt; control height only 2 -&gt; control speed only (gliders)</long_desc>
-      <min>0.0</min>
-      <max>2.0</max>
-      <decimal>1</decimal>
-      <increment>1.0</increment>
-    </parameter>
-    <parameter name="FW_T_SPD_DEV_STD" default="0.2" type="FLOAT">
-      <short_desc>Airspeed rate measurement standard deviation</short_desc>
-      <long_desc>For the airspeed filter in TECS.</long_desc>
-      <min>0.01</min>
-      <max>10.0</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_T_SPD_PRC_STD" default="0.2" type="FLOAT">
-      <short_desc>Process noise standard deviation for the airspeed rate</short_desc>
-      <long_desc>This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.</long_desc>
-      <min>0.01</min>
-      <max>10.0</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_T_SPD_STD" default="0.07" type="FLOAT">
-      <short_desc>Airspeed measurement standard deviation</short_desc>
-      <long_desc>For the airspeed filter in TECS.</long_desc>
-      <min>0.01</min>
-      <max>10.0</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="FW_T_STE_R_TC" default="0.4" type="FLOAT">
-      <short_desc>Specific total energy rate first order filter time constant</short_desc>
-      <long_desc>This filter is applied to the specific total energy rate used for throttle damping.</long_desc>
-      <min>0.0</min>
-      <max>2</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+  <group name="Failure Detector">
+    <parameter name="FD_ACT_EN" default="0" type="INT32" boolean="true">
+      <short_desc>Enable Actuator Failure check</short_desc>
+      <long_desc>If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle
+level is being consumed.
+Otherwise this indicates an motor failure.</long_desc>
+      <reboot_required>true</reboot_required>
     </parameter>
-    <parameter name="FW_T_TAS_TC" default="5.0" type="FLOAT">
-      <short_desc>True airspeed error time constant</short_desc>
-      <min>2.0</min>
+    <parameter name="FD_ACT_HIGH_OFF" default="10." type="FLOAT">
+      <short_desc>Overcurrent motor failure limit offset</short_desc>
+      <long_desc>threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF</long_desc>
+      <min>0</min>
+      <max>30</max>
+      <unit>A</unit>
       <decimal>2</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_T_THR_DAMPING" default="0.05" type="FLOAT">
-      <short_desc>Throttle damping factor</short_desc>
-      <long_desc>This is the damping gain for the throttle demand loop.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>3</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="FW_T_THR_INTEG" default="0.02" type="FLOAT">
-      <short_desc>Integrator gain throttle</short_desc>
-      <long_desc>Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>3</decimal>
-      <increment>0.005</increment>
-    </parameter>
-    <parameter name="FW_T_THR_LOW_HGT" default="-1." type="FLOAT">
-      <short_desc>Low-height threshold for tighter altitude tracking</short_desc>
-      <long_desc>Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable.</long_desc>
-      <min>-1</min>
-      <unit>m</unit>
-      <decimal>0</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter name="FW_T_VERT_ACC" default="7.0" type="FLOAT">
-      <short_desc>Maximum vertical acceleration</short_desc>
-      <long_desc>This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.</long_desc>
-      <min>1.0</min>
-      <max>10.0</max>
-      <unit>m/s^2</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="FW_WIND_ARSP_SC" default="0." type="FLOAT">
-      <short_desc>Wind-based airspeed scaling factor</short_desc>
-      <long_desc>Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.</long_desc>
+    <parameter name="FD_ACT_LOW_OFF" default="10." type="FLOAT">
+      <short_desc>Undercurrent motor failure limit offset</short_desc>
+      <long_desc>threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF</long_desc>
       <min>0</min>
+      <max>30</max>
+      <unit>A</unit>
       <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-  </group>
-  <group name="Failure Detector">
-    <parameter name="FD_ACT_EN" default="1" type="INT32" boolean="true">
-      <short_desc>Enable Actuator Failure check</short_desc>
-      <long_desc>If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.</long_desc>
-      <reboot_required>true</reboot_required>
+      <increment>1</increment>
     </parameter>
-    <parameter name="FD_ACT_MOT_C2T" default="2.0" type="FLOAT">
-      <short_desc>Motor Failure Current/Throttle Threshold</short_desc>
-      <long_desc>Motor failure triggers only below this current value</long_desc>
+    <parameter name="FD_ACT_MOT_C2T" default="35." type="FLOAT">
+      <short_desc>Motor Failure Current/Throttle Scale</short_desc>
+      <long_desc>Determines the slope between expected steady state current and linearized, normalized thrust command.
+E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
+FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.</long_desc>
       <min>0.0</min>
       <max>50.0</max>
       <unit>A/%</unit>
@@ -13351,17 +5237,18 @@
       <increment>1</increment>
     </parameter>
     <parameter name="FD_ACT_MOT_THR" default="0.2" type="FLOAT">
-      <short_desc>Motor Failure Throttle Threshold</short_desc>
-      <long_desc>Motor failure triggers only above this throttle value.</long_desc>
+      <short_desc>Motor Failure Thrust Threshold</short_desc>
+      <long_desc>Failure detection per motor only triggers above this thrust value.
+Set to 1 to disable the detection.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
       <unit>norm</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="FD_ACT_MOT_TOUT" default="100" type="INT32">
-      <short_desc>Motor Failure Time Threshold</short_desc>
-      <long_desc>Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.</long_desc>
+    <parameter name="FD_ACT_MOT_TOUT" default="1000" type="INT32">
+      <short_desc>Motor Failure Hysteresis Time</short_desc>
+      <long_desc>Motor failure only triggers after current thresholds are exceeded for this time.</long_desc>
       <min>10</min>
       <max>10000</max>
       <unit>ms</unit>
@@ -13369,11 +5256,13 @@
     </parameter>
     <parameter name="FD_ESCS_EN" default="1" type="INT32" boolean="true">
       <short_desc>Enable checks on ESCs that report their arming state</short_desc>
-      <long_desc>If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.</long_desc>
+      <long_desc>If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state.
+Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.</long_desc>
     </parameter>
     <parameter name="FD_EXT_ATS_EN" default="0" type="INT32" boolean="true">
       <short_desc>Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)</short_desc>
-      <long_desc>Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.</long_desc>
+      <long_desc>Enabled on either AUX5 or MAIN5 depending on board.
+External ATS is required by ASTM F3322-18.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="FD_EXT_ATS_TRIG" default="1900" type="INT32">
@@ -13384,7 +5273,12 @@
     </parameter>
     <parameter name="FD_FAIL_P" default="60" type="INT32">
       <short_desc>FailureDetector Max Pitch</short_desc>
-      <long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
+      <long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag.
+The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
+which sets outputs to their failsafe values.
+On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
+which disarms motors but does not set outputs to failsafe values.
+Setting this parameter to 0 disables the check</long_desc>
       <min>0</min>
       <max>180</max>
       <unit>deg</unit>
@@ -13399,7 +5293,12 @@
     </parameter>
     <parameter name="FD_FAIL_R" default="60" type="INT32">
       <short_desc>FailureDetector Max Roll</short_desc>
-      <long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
+      <long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag.
+The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
+which sets outputs to their failsafe values.
+On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
+which disarms motors but does not set outputs to failsafe values.
+Setting this parameter to 0 disables the check</long_desc>
       <min>0</min>
       <max>180</max>
       <unit>deg</unit>
@@ -13414,7 +5313,9 @@
     </parameter>
     <parameter name="FD_IMB_PROP_THR" default="30" type="INT32">
       <short_desc>Imbalanced propeller check threshold</short_desc>
-      <long_desc>Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.</long_desc>
+      <long_desc>Value at which the imbalanced propeller metric (based on horizontal and
+vertical acceleration variance) triggers a failure
+Setting this value to 0 disables the feature.</long_desc>
       <min>0</min>
       <max>1000</max>
       <increment>1</increment>
@@ -13436,14 +5337,17 @@
         <value code="1">Hold Initial Heading</value>
         <value code="2">Uncontrolled</value>
         <value code="3">Hold Front Tangent to Circle</value>
-        <value code="4">RC Controlled</value>
+        <value code="4">Manually (yaw stick) Controlled</value>
       </values>
     </parameter>
   </group>
   <group name="Follow target">
     <parameter name="FLW_TGT_ALT_M" default="0" type="INT32">
       <short_desc>Altitude control mode</short_desc>
-      <long_desc>Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.</long_desc>
+      <long_desc>Maintain altitude or track target's altitude. When maintaining the altitude,
+the drone can crash into terrain when the target moves uphill. When tracking
+the target's altitude, the follow altitude FLW_TGT_HT should be high enough
+to prevent terrain collisions due to GPS inaccuracies of the target.</long_desc>
       <values>
         <value code="0">2D Tracking: Maintain constant altitude relative to home and track XY position only</value>
         <value code="1">2D + Terrain: Maintain constant altitude relative to terrain below and track XY position</value>
@@ -13458,7 +5362,11 @@
     </parameter>
     <parameter name="FLW_TGT_FA" default="180.0" type="FLOAT">
       <short_desc>Follow Angle setting in degrees</short_desc>
-      <long_desc>Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -&gt; 120) in the range to gracefully handle the out of range.</long_desc>
+      <long_desc>Angle to follow the target from. 0.0 Equals straight in front of the target's
+course (direction of motion) and the angle increases in clockwise direction,
+meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees
+Note: When the user force sets the angle out of the min/max range, it will be
+wrapped (e.g. 480 -&gt; 120) in the range to gracefully handle the out of range.</long_desc>
       <min>-180.0</min>
       <max>180.0</max>
     </parameter>
@@ -13470,7 +5378,8 @@
     </parameter>
     <parameter name="FLW_TGT_MAX_VEL" default="5.0" type="FLOAT">
       <short_desc>Maximum tangential velocity setting for generating the follow orbit trajectory</short_desc>
-      <long_desc>This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.</long_desc>
+      <long_desc>This is the maximum tangential velocity the drone will circle around the target whenever
+an orbit angle setpoint changes. Higher value means more aggressive follow behavior.</long_desc>
       <min>0.0</min>
       <max>20.0</max>
       <decimal>1</decimal>
@@ -13482,30 +5391,21 @@
       <max>1.0</max>
       <decimal>2</decimal>
     </parameter>
-  </group>
-  <group name="GPS">
-    <parameter name="GPS_1_CONFIG" default="201" type="INT32">
-      <short_desc>Serial Configuration for Main GPS</short_desc>
-      <long_desc>Configure on which serial port to run Main GPS.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
+  </group>
+  <group name="GPS">
     <parameter name="GPS_1_GNSS" default="0" type="INT32">
       <short_desc>GNSS Systems for Primary GPS (integer bitmask)</short_desc>
-      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</long_desc>
+      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your
+receiver's documentation on how many systems are supported to be used in parallel.
+Currently this functionality is just implemented for u-blox receivers.
+When no bits are set, the receiver's default configuration should be used.
+Set bits true to enable:
+0 : Use GPS (with QZSS)
+1 : Use SBAS (multiple GPS augmentation systems)
+2 : Use Galileo
+3 : Use BeiDou
+4 : Use GLONASS
+5 : Use NAVIC</long_desc>
       <min>0</min>
       <max>63</max>
       <reboot_required>true</reboot_required>
@@ -13520,7 +5420,8 @@
     </parameter>
     <parameter name="GPS_1_PROTOCOL" default="1" type="INT32">
       <short_desc>Protocol for Main GPS</short_desc>
-      <long_desc>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
+      <long_desc>Select the GPS protocol over serial.
+Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
       <min>0</min>
       <max>7</max>
       <reboot_required>true</reboot_required>
@@ -13534,28 +5435,19 @@
         <value code="6">NMEA (generic)</value>
       </values>
     </parameter>
-    <parameter name="GPS_2_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Secondary GPS</short_desc>
-      <long_desc>Configure on which serial port to run Secondary GPS.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
     <parameter name="GPS_2_GNSS" default="0" type="INT32">
       <short_desc>GNSS Systems for Secondary GPS (integer bitmask)</short_desc>
-      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</long_desc>
+      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your
+receiver's documentation on how many systems are supported to be used in parallel.
+Currently this functionality is just implemented for u-blox receivers.
+When no bits are set, the receiver's default configuration should be used.
+Set bits true to enable:
+0 : Use GPS (with QZSS)
+1 : Use SBAS (multiple GPS augmentation systems)
+2 : Use Galileo
+3 : Use BeiDou
+4 : Use GLONASS
+5 : Use NAVIC</long_desc>
       <min>0</min>
       <max>63</max>
       <reboot_required>true</reboot_required>
@@ -13570,7 +5462,8 @@
     </parameter>
     <parameter name="GPS_2_PROTOCOL" default="1" type="INT32">
       <short_desc>Protocol for Secondary GPS</short_desc>
-      <long_desc>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
+      <long_desc>Select the GPS protocol over serial.
+Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
       <min>0</min>
       <max>6</max>
       <reboot_required>true</reboot_required>
@@ -13584,9 +5477,21 @@
         <value code="6">NMEA (generic)</value>
       </values>
     </parameter>
+    <parameter name="GPS_CFG_WIPE" default="0" type="INT32" boolean="true">
+      <short_desc>Wipes the flash config of UBX modules</short_desc>
+      <long_desc>Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start.
+PX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH.
+However, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight.
+To avoid these kind of problems a clean config can be reached by wiping the FLASH on boot.
+Note: Currently only supported on UBX.</long_desc>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter name="GPS_DUMP_COMM" default="0" type="INT32">
       <short_desc>Log GPS communication data</short_desc>
-      <long_desc>If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.</long_desc>
+      <long_desc>If this is set to 1, all GPS communication data will be published via uORB,
+and written to the log file as gps_dump message.
+If this is set to 2, the main GPS is configured to output RTCM data,
+which is then logged as gps_dump and can be used for PPK.</long_desc>
       <min>0</min>
       <max>2</max>
       <values>
@@ -13597,12 +5502,15 @@
     </parameter>
     <parameter name="GPS_SAT_INFO" default="0" type="INT32" boolean="true">
       <short_desc>Enable sat info (if available)</short_desc>
-      <long_desc>Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.</long_desc>
+      <long_desc>Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
+Not available on MTK.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="GPS_UBX_BAUD2" default="230400" type="INT32">
       <short_desc>u-blox F9P UART2 Baudrate</short_desc>
-      <long_desc>Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.</long_desc>
+      <long_desc>Select a baudrate for the F9P's UART2 port.
+In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.
+Set this to 57600 if you want to attach a telemetry radio on UART2.</long_desc>
       <min>0</min>
       <unit>B/s</unit>
       <reboot_required>true</reboot_required>
@@ -13621,9 +5529,18 @@
         <bit index="5">Enable I2C output protocol RTCM3X</bit>
       </bitmask>
     </parameter>
+    <parameter name="GPS_UBX_DGNSS_TO" default="0" type="INT32">
+      <short_desc>u-blox GPS DGNSS timeout</short_desc>
+      <long_desc>When set to 0 (default), default DGNSS timeout set by u-blox will be used.</long_desc>
+      <min>0</min>
+      <max>255</max>
+      <unit>s</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter name="GPS_UBX_DYNMODEL" default="7" type="INT32">
       <short_desc>u-blox GPS dynamic platform model</short_desc>
-      <long_desc>u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.</long_desc>
+      <long_desc>u-blox receivers support different dynamic platform models to adjust the navigation engine to
+the expected application environment.</long_desc>
       <min>0</min>
       <max>9</max>
       <reboot_required>true</reboot_required>
@@ -13635,9 +5552,42 @@
         <value code="8">airborne with &lt;4g acceleration</value>
       </values>
     </parameter>
+    <parameter name="GPS_UBX_JAM_DET" default="1" type="INT32" boolean="true">
+      <short_desc>u-blox GPS jamming detection high sensitivity mode</short_desc>
+      <long_desc>Enables or disables the high sensitivity mode for the u-blox jamming detection
+(CFG-SEC-JAMDET_SENSITIVITY_HI). When enabled, the receiver uses a
+more sensitive algorithm to detect jamming. Disabling this may reduce false
+positives in electrically noisy environments.</long_desc>
+      <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="GPS_UBX_MIN_CNO" default="0" type="INT32">
+      <short_desc>u-blox GPS minimum satellite signal level for navigation</short_desc>
+      <long_desc>When set to 0 (default), default minimum satellite signal level set by u-blox wll be used.</long_desc>
+      <min>0</min>
+      <max>255</max>
+      <unit>dBHz</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="GPS_UBX_MIN_ELEV" default="0" type="INT32">
+      <short_desc>u-blox GPS minimum elevation for a GNSS satellite to be used in navigation</short_desc>
+      <long_desc>When set to 0 (default), default minimum elevation set by u-blox will be used.</long_desc>
+      <min>0</min>
+      <max>127</max>
+      <unit>deg</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter name="GPS_UBX_MODE" default="0" type="INT32">
       <short_desc>u-blox GPS Mode</short_desc>
-      <long_desc>Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.</long_desc>
+      <long_desc>Select the u-blox configuration setup. Most setups will use the default, including RTK and
+dual GPS without heading.
+If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.
+The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output
+heading information, whereas the secondary will act as moving base.
+Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
+F9P units are connected to each other.
+Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
+RTK is still possible with this setup.
+Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).</long_desc>
       <min>0</min>
       <max>1</max>
       <reboot_required>true</reboot_required>
@@ -13648,27 +5598,49 @@
         <value code="3">Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</value>
         <value code="4">Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</value>
         <value code="5">Rover with Static Base on UART2 (similar to Default, except coming in on UART2)</value>
+        <value code="6">Ground Control Station (UART2 outputs NMEA)</value>
       </values>
     </parameter>
+    <parameter name="GPS_UBX_PPK" default="0" type="INT32" boolean="true">
+      <short_desc>Enable MSM7 message output for PPK workflow</short_desc>
+      <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="GPS_UBX_RATE" default="0" type="INT32">
+      <short_desc>u-blox GPS output rate</short_desc>
+      <long_desc>Configure the output rate of u-blox GPS receivers (protocol v27+).
+When set to 0, automatic rate selection is used based on the receiver model.
+Default rates: M9N=8Hz, F9P L1L2=5Hz, F9P L1L5=5Hz, Others=10Hz.
+Note: Higher rates reduce satellite count (e.g., &gt;8Hz limits to 16 SVs on M9N).
+Max rates vary by model and RTK mode: F9P L1L2=5-7Hz, F9P L1L5=7-8Hz, X20=25Hz.
+High rates at 115200 baud may cause dropouts.</long_desc>
+      <min>0</min>
+      <max>25</max>
+      <unit>Hz</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
     <parameter name="GPS_YAW_OFFSET" default="0." type="FLOAT">
       <short_desc>Heading/Yaw offset for dual antenna GPS</short_desc>
-      <long_desc>Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).</long_desc>
+      <long_desc>Heading offset angle for dual antenna GPS setups that support heading estimation.
+Set this to 0 if the antennas are parallel to the forward-facing direction
+of the vehicle and the rover (or Unicore primary) antenna is in front.
+The offset angle increases clockwise.
+Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
+antenna is placed on the right side of the vehicle and the moving base
+antenna is on the left side.
+(Note: the Unicore primary antenna is the one connected on the right as seen
+from the top).</long_desc>
       <min>0</min>
       <max>360</max>
       <unit>deg</unit>
       <decimal>3</decimal>
       <reboot_required>true</reboot_required>
     </parameter>
-    <parameter name="PPS_CAP_ENABLE" default="0" type="INT32" boolean="true">
-      <short_desc>PPS Capture Enable</short_desc>
-      <long_desc>Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
   </group>
   <group name="Geofence">
     <parameter name="GF_ACTION" default="2" type="INT32">
       <short_desc>Geofence violation action</short_desc>
-      <long_desc>Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.</long_desc>
+      <long_desc>Note: Setting this value to 4 enables flight termination,
+which will kill the vehicle on violation of the fence.</long_desc>
       <min>0</min>
       <max>5</max>
       <values>
@@ -13682,7 +5654,8 @@
     </parameter>
     <parameter name="GF_MAX_HOR_DIST" default="0.0" type="FLOAT">
       <short_desc>Max horizontal distance from Home</short_desc>
-      <long_desc>Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</long_desc>
+      <long_desc>Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action.
+Disabled if 0.</long_desc>
       <min>0</min>
       <max>10000</max>
       <unit>m</unit>
@@ -13690,7 +5663,8 @@
     </parameter>
     <parameter name="GF_MAX_VER_DIST" default="0.0" type="FLOAT">
       <short_desc>Max vertical distance from Home</short_desc>
-      <long_desc>Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</long_desc>
+      <long_desc>Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action.
+Disabled if 0.</long_desc>
       <min>0</min>
       <max>10000</max>
       <unit>m</unit>
@@ -13698,11 +5672,16 @@
     </parameter>
     <parameter name="GF_PREDICT" default="0" type="INT32" boolean="true">
       <short_desc>[EXPERIMENTAL] Use Pre-emptive geofence triggering</short_desc>
-      <long_desc>WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).</long_desc>
+      <long_desc>WARNING: This experimental feature may cause flyaways. Use at your own risk.
+Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory
+would result in a breach happening before the vehicle can make evasive maneuvers.
+The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).</long_desc>
     </parameter>
     <parameter name="GF_SOURCE" default="0" type="INT32">
       <short_desc>Geofence source</short_desc>
-      <long_desc>Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS</long_desc>
+      <long_desc>Select which position source should be used. Selecting GPS instead of global position makes sure that there is
+no dependence on the position estimator
+0 = global position, 1 = GPS</long_desc>
       <min>0</min>
       <max>1</max>
       <values>
@@ -13714,7 +5693,9 @@
   <group name="Geometry">
     <parameter name="CA_AIRFRAME" default="0" type="INT32">
       <short_desc>Airframe selection</short_desc>
-      <long_desc>Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.</long_desc>
+      <long_desc>Defines which mixer implementation to use.
+Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
+'Custom' should only be used if noting else can be used.</long_desc>
       <values>
         <value code="0">Multirotor</value>
         <value code="1">Fixed-wing</value>
@@ -13730,11 +5711,30 @@
         <value code="11">Helicopter (tail Servo)</value>
         <value code="12">Helicopter (Coaxial)</value>
         <value code="13">Rover (Mecanum)</value>
+        <value code="14">Spacecraft 2D</value>
+        <value code="15">Spacecraft 3D</value>
       </values>
     </parameter>
+    <parameter name="CA_CS_LAUN_LK" default="0" type="INT32">
+      <short_desc>Control surface launch lock enabled</short_desc>
+      <long_desc>If actuator launch lock is enabled, this surface is kept at the disarmed value.</long_desc>
+      <min>0</min>
+      <max>255</max>
+      <bitmask>
+        <bit index="0">Control Surface 1</bit>
+        <bit index="1">Control Surface 2</bit>
+        <bit index="2">Control Surface 3</bit>
+        <bit index="3">Control Surface 4</bit>
+        <bit index="4">Control Surface 5</bit>
+        <bit index="5">Control Surface 6</bit>
+        <bit index="6">Control Surface 7</bit>
+        <bit index="7">Control Surface 8</bit>
+      </bitmask>
+    </parameter>
     <parameter name="CA_FAILURE_MODE" default="0" type="INT32">
       <short_desc>Motor failure handling mode</short_desc>
-      <long_desc>This is used to specify how to handle motor failures reported by failure detector.</long_desc>
+      <long_desc>This is used to specify how to handle motor failures
+reported by failure detector.</long_desc>
       <values>
         <value code="0">Ignore</value>
         <value code="1">Remove first failed motor from effectiveness</value>
@@ -13742,7 +5742,8 @@
     </parameter>
     <parameter name="CA_HELI_PITCH_C0" default="-0.05" type="FLOAT">
       <short_desc>Collective pitch curve at position 0</short_desc>
-      <long_desc>Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
+      <long_desc>Defines the collective pitch at the interval position 0 for a given thrust setpoint.
+Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -13750,7 +5751,8 @@
     </parameter>
     <parameter name="CA_HELI_PITCH_C1" default="0.0725" type="FLOAT">
       <short_desc>Collective pitch curve at position 1</short_desc>
-      <long_desc>Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
+      <long_desc>Defines the collective pitch at the interval position 1 for a given thrust setpoint.
+Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -13758,7 +5760,8 @@
     </parameter>
     <parameter name="CA_HELI_PITCH_C2" default="0.2" type="FLOAT">
       <short_desc>Collective pitch curve at position 2</short_desc>
-      <long_desc>Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
+      <long_desc>Defines the collective pitch at the interval position 2 for a given thrust setpoint.
+Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -13766,7 +5769,8 @@
     </parameter>
     <parameter name="CA_HELI_PITCH_C3" default="0.325" type="FLOAT">
       <short_desc>Collective pitch curve at position 3</short_desc>
-      <long_desc>Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
+      <long_desc>Defines the collective pitch at the interval position 3 for a given thrust setpoint.
+Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -13774,12 +5778,38 @@
     </parameter>
     <parameter name="CA_HELI_PITCH_C4" default="0.45" type="FLOAT">
       <short_desc>Collective pitch curve at position 4</short_desc>
-      <long_desc>Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
+      <long_desc>Defines the collective pitch at the interval position 4 for a given thrust setpoint.
+Use negative values if the swash plate needs to move down to provide upwards thrust.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
       <increment>0.1</increment>
     </parameter>
+    <parameter name="CA_HELI_RPM_I" default="0.0" type="FLOAT">
+      <short_desc>Integral gain for rpm control</short_desc>
+      <long_desc>Same definition as the proportional gain but for integral.</long_desc>
+      <min>0</min>
+      <max>10</max>
+      <decimal>3</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="CA_HELI_RPM_P" default="0.0" type="FLOAT">
+      <short_desc>Proportional gain for rpm control</short_desc>
+      <long_desc>Ratio between rpm error devided by 1000 to how much normalized output gets added to correct for it.
+motor_command = throttle_curve + CA_HELI_RPM_P * (rpm_setpoint - rpm_measurement) / 1000</long_desc>
+      <min>0</min>
+      <max>10</max>
+      <decimal>3</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="CA_HELI_RPM_SP" default="1500" type="FLOAT">
+      <short_desc>Setpoint for main rotor rpm</short_desc>
+      <long_desc>Requires rpm feedback for the controller.</long_desc>
+      <min>100</min>
+      <max>10000</max>
+      <decimal>0</decimal>
+      <increment>1</increment>
+    </parameter>
     <parameter name="CA_HELI_THR_C0" default="1" type="FLOAT">
       <short_desc>Throttle curve at position 0</short_desc>
       <long_desc>Defines the output throttle at the interval position 0.</long_desc>
@@ -13822,11 +5852,19 @@
     </parameter>
     <parameter name="CA_HELI_YAW_CCW" default="0" type="INT32" boolean="true">
       <short_desc>Main rotor turns counter-clockwise</short_desc>
-      <long_desc>Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.</long_desc>
+      <long_desc>Default configuration is for a clockwise turning main rotor and
+positive thrust of the tail rotor is expected to rotate the vehicle clockwise.
+Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction
+which is mostly the case when the main rotor turns counter-clockwise.</long_desc>
     </parameter>
     <parameter name="CA_HELI_YAW_CP_O" default="0.0" type="FLOAT">
       <short_desc>Offset for yaw compensation based on collective pitch</short_desc>
-      <long_desc>This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0° collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</long_desc>
+      <long_desc>This allows to specify which collective pitch command results in the least amount of rotor drag.
+This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch
+by aligning the lowest rotor drag with zero compensation.
+For symmetric profile blades this is the command that results in exactly 0° collective blade angle.
+For lift profile blades this is typically a command resulting in slightly negative collective blade angle.
+tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</long_desc>
       <min>-2</min>
       <max>2</max>
       <decimal>3</decimal>
@@ -13834,7 +5872,9 @@
     </parameter>
     <parameter name="CA_HELI_YAW_CP_S" default="0.0" type="FLOAT">
       <short_desc>Scale for yaw compensation based on collective pitch</short_desc>
-      <long_desc>This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</long_desc>
+      <long_desc>This allows to add a proportional factor of the collective pitch command to the yaw command.
+A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
+tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</long_desc>
       <min>-2</min>
       <max>2</max>
       <decimal>3</decimal>
@@ -13842,15 +5882,39 @@
     </parameter>
     <parameter name="CA_HELI_YAW_TH_S" default="0.0" type="FLOAT">
       <short_desc>Scale for yaw compensation based on throttle</short_desc>
-      <long_desc>This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle</long_desc>
+      <long_desc>This allows to add a proportional factor of the throttle command to the yaw command.
+A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
+tail_output += CA_HELI_YAW_TH_S * throttle</long_desc>
       <min>-2</min>
       <max>2</max>
       <decimal>3</decimal>
       <increment>0.1</increment>
     </parameter>
+    <parameter name="CA_ICE_PERIOD" default="0.0" type="FLOAT">
+      <short_desc>Ice shedding cycle period</short_desc>
+      <long_desc>Ice shedding prevents ice buildup in VTOL aircraft motors by periodically spinning inactive rotors.
+When enabled (period &gt; 0), every cycle lasts for the defined period and includes a 2-second spin at 0.01 motor output.
+If period &lt;= 0, the feature is disabled.</long_desc>
+      <min>0.0</min>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="CA_MAX_SVO_THROW" default="0.0" type="FLOAT">
+      <short_desc>Throw angle of swashplate servo at maximum commands for linearization</short_desc>
+      <long_desc>Used to linearize mechanical output of swashplate servos to avoid axis coupling and binding with 4 servo redundancy.
+This requires a symmetric setup where the servo horn is exactly centered with a 0 command.
+Setting to zero disables feature.</long_desc>
+      <min>0</min>
+      <max>75</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
     <parameter name="CA_METHOD" default="2" type="INT32">
       <short_desc>Control allocation method</short_desc>
-      <long_desc>Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).</long_desc>
+      <long_desc>Selects the algorithm and desaturation method.
+If set to Automatic, the selection is based on the airframe (CA_AIRFRAME).</long_desc>
       <values>
         <value code="0">Pseudo-inverse with output clipping</value>
         <value code="1">Pseudo-inverse with sequential desaturation technique</value>
@@ -13859,97 +5923,133 @@
     </parameter>
     <parameter name="CA_R0_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 0 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R10_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 10 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R11_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 11 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R1_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 1 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R2_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 2 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R3_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 3 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R4_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 4 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R5_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 5 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R6_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 6 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R7_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 7 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R8_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 8 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="CA_R9_SLEW" default="0.0" type="FLOAT">
       <short_desc>Motor 9 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the motor output signal to take at least the configured time (in seconds)
+to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
@@ -13979,7 +6079,9 @@
     </parameter>
     <parameter name="CA_ROTOR0_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 0</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -13987,7 +6089,9 @@
     </parameter>
     <parameter name="CA_ROTOR0_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 0</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14054,7 +6158,9 @@
     </parameter>
     <parameter name="CA_ROTOR10_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 10</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14062,7 +6168,9 @@
     </parameter>
     <parameter name="CA_ROTOR10_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 10</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14129,7 +6237,9 @@
     </parameter>
     <parameter name="CA_ROTOR11_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 11</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14137,7 +6247,9 @@
     </parameter>
     <parameter name="CA_ROTOR11_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 11</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14204,7 +6316,9 @@
     </parameter>
     <parameter name="CA_ROTOR1_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 1</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14212,7 +6326,9 @@
     </parameter>
     <parameter name="CA_ROTOR1_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 1</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14279,7 +6395,9 @@
     </parameter>
     <parameter name="CA_ROTOR2_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 2</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14287,7 +6405,9 @@
     </parameter>
     <parameter name="CA_ROTOR2_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 2</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14354,7 +6474,9 @@
     </parameter>
     <parameter name="CA_ROTOR3_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 3</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14362,7 +6484,9 @@
     </parameter>
     <parameter name="CA_ROTOR3_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 3</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14429,7 +6553,9 @@
     </parameter>
     <parameter name="CA_ROTOR4_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 4</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14437,7 +6563,9 @@
     </parameter>
     <parameter name="CA_ROTOR4_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 4</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14504,7 +6632,9 @@
     </parameter>
     <parameter name="CA_ROTOR5_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 5</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14512,7 +6642,9 @@
     </parameter>
     <parameter name="CA_ROTOR5_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 5</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14579,7 +6711,9 @@
     </parameter>
     <parameter name="CA_ROTOR6_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 6</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14587,7 +6721,9 @@
     </parameter>
     <parameter name="CA_ROTOR6_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 6</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14654,7 +6790,9 @@
     </parameter>
     <parameter name="CA_ROTOR7_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 7</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14662,7 +6800,9 @@
     </parameter>
     <parameter name="CA_ROTOR7_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 7</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14729,7 +6869,9 @@
     </parameter>
     <parameter name="CA_ROTOR8_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 8</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14737,7 +6879,9 @@
     </parameter>
     <parameter name="CA_ROTOR8_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 8</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14804,7 +6948,9 @@
     </parameter>
     <parameter name="CA_ROTOR9_CT" default="6.5" type="FLOAT">
       <short_desc>Thrust coefficient of rotor 9</short_desc>
-      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</long_desc>
+      <long_desc>The thrust coefficient if defined as Thrust = CT * u^2,
+where u (with value between actuator minimum and maximum)
+is the output signal sent to the motor controller.</long_desc>
       <min>0</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -14812,7 +6958,9 @@
     </parameter>
     <parameter name="CA_ROTOR9_KM" default="0.05" type="FLOAT">
       <short_desc>Moment coefficient of rotor 9</short_desc>
-      <long_desc>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
+      <long_desc>The moment coefficient if defined as Torque = KM * Thrust.
+Use a positive value for a rotor with CCW rotation.
+Use a negative value for a rotor with CW rotation.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>3</decimal>
@@ -14969,65 +7117,89 @@
     </parameter>
     <parameter name="CA_SV0_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 0 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV1_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 1 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV2_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 2 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV3_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 3 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV4_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 4 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV5_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 5 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV6_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 6 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
     <parameter name="CA_SV7_SLEW" default="0.0" type="FLOAT">
       <short_desc>Servo 7 slew rate limit</short_desc>
-      <long_desc>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
+      <long_desc>Forces the servo output signal to take at least the configured time (in seconds)
+to traverse its full range [-100%, 100%].
+Zero means that slew rate limiting is disabled.</long_desc>
       <min>0</min>
       <max>10</max>
+      <unit>s</unit>
       <decimal>2</decimal>
       <increment>0.05</increment>
     </parameter>
@@ -15045,7 +7217,9 @@
     </parameter>
     <parameter name="CA_SV_CS0_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 0 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15100,7 +7274,9 @@
     </parameter>
     <parameter name="CA_SV_CS1_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 1 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15155,7 +7331,9 @@
     </parameter>
     <parameter name="CA_SV_CS2_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 2 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15210,7 +7388,9 @@
     </parameter>
     <parameter name="CA_SV_CS3_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 3 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15265,7 +7445,9 @@
     </parameter>
     <parameter name="CA_SV_CS4_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 4 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15320,7 +7502,9 @@
     </parameter>
     <parameter name="CA_SV_CS5_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 5 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15375,7 +7559,9 @@
     </parameter>
     <parameter name="CA_SV_CS6_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 6 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15430,7 +7616,9 @@
     </parameter>
     <parameter name="CA_SV_CS7_TRIM" default="0.0" type="FLOAT">
       <short_desc>Control Surface 7 trim</short_desc>
-      <long_desc>Can be used to add an offset to the servo control.</long_desc>
+      <long_desc>Can be used to add an offset to the servo control.
+NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
+This parameter can only be set if all PWM Center parameters are set to default.</long_desc>
       <min>-1.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
@@ -15485,6 +7673,12 @@
         <value code="8">8</value>
       </values>
     </parameter>
+    <parameter name="CA_SV_FLAP_SLEW" default="0.5" type="FLOAT">
+      <short_desc>Control Surface slew rate for normalized flaps setpoint</short_desc>
+      <min>0.0</min>
+      <max>5.0</max>
+      <decimal>1</decimal>
+    </parameter>
     <parameter name="CA_SV_TL0_CT" default="1" type="INT32">
       <short_desc>Tilt 0 is used for control</short_desc>
       <long_desc>Define if this servo is used for additional control.</long_desc>
@@ -15497,7 +7691,8 @@
     </parameter>
     <parameter name="CA_SV_TL0_MAXA" default="90.0" type="FLOAT">
       <short_desc>Tilt Servo 0 Tilt Angle at Maximum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the maximum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15505,7 +7700,8 @@
     </parameter>
     <parameter name="CA_SV_TL0_MINA" default="0.0" type="FLOAT">
       <short_desc>Tilt Servo 0 Tilt Angle at Minimum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the minimum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15513,7 +7709,9 @@
     </parameter>
     <parameter name="CA_SV_TL0_TD" default="0" type="INT32">
       <short_desc>Tilt Servo 0 Tilt Direction</short_desc>
-      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
+      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
+For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
+the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
       <min>0</min>
       <max>359</max>
       <values>
@@ -15533,7 +7731,8 @@
     </parameter>
     <parameter name="CA_SV_TL1_MAXA" default="90.0" type="FLOAT">
       <short_desc>Tilt Servo 1 Tilt Angle at Maximum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the maximum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15541,7 +7740,8 @@
     </parameter>
     <parameter name="CA_SV_TL1_MINA" default="0.0" type="FLOAT">
       <short_desc>Tilt Servo 1 Tilt Angle at Minimum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the minimum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15549,7 +7749,9 @@
     </parameter>
     <parameter name="CA_SV_TL1_TD" default="0" type="INT32">
       <short_desc>Tilt Servo 1 Tilt Direction</short_desc>
-      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
+      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
+For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
+the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
       <min>0</min>
       <max>359</max>
       <values>
@@ -15569,7 +7771,8 @@
     </parameter>
     <parameter name="CA_SV_TL2_MAXA" default="90.0" type="FLOAT">
       <short_desc>Tilt Servo 2 Tilt Angle at Maximum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the maximum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15577,7 +7780,8 @@
     </parameter>
     <parameter name="CA_SV_TL2_MINA" default="0.0" type="FLOAT">
       <short_desc>Tilt Servo 2 Tilt Angle at Minimum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the minimum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15585,7 +7789,9 @@
     </parameter>
     <parameter name="CA_SV_TL2_TD" default="0" type="INT32">
       <short_desc>Tilt Servo 2 Tilt Direction</short_desc>
-      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
+      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
+For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
+the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
       <min>0</min>
       <max>359</max>
       <values>
@@ -15605,7 +7811,8 @@
     </parameter>
     <parameter name="CA_SV_TL3_MAXA" default="90.0" type="FLOAT">
       <short_desc>Tilt Servo 3 Tilt Angle at Maximum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the maximum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15613,7 +7820,8 @@
     </parameter>
     <parameter name="CA_SV_TL3_MINA" default="0.0" type="FLOAT">
       <short_desc>Tilt Servo 3 Tilt Angle at Minimum</short_desc>
-      <long_desc>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</long_desc>
+      <long_desc>Defines the tilt angle when the servo is at the minimum.
+An angle of zero means upwards.</long_desc>
       <min>-90.0</min>
       <max>90.0</max>
       <unit>deg</unit>
@@ -15621,7 +7829,9 @@
     </parameter>
     <parameter name="CA_SV_TL3_TD" default="0" type="INT32">
       <short_desc>Tilt Servo 3 Tilt Direction</short_desc>
-      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
+      <long_desc>Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
+For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
+the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</long_desc>
       <min>0</min>
       <max>359</max>
       <values>
@@ -15643,7 +7853,8 @@
   <group name="Hover Thrust Estimator">
     <parameter name="HTE_ACC_GATE" default="3.0" type="FLOAT">
       <short_desc>Gate size for acceleration fusion</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <long_desc>Sets the number of standard deviations used
+by the innovation consistency test.</long_desc>
       <min>1.0</min>
       <max>10.0</max>
       <unit>SD</unit>
@@ -15651,7 +7862,8 @@
     </parameter>
     <parameter name="HTE_HT_ERR_INIT" default="0.1" type="FLOAT">
       <short_desc>1-sigma initial hover thrust uncertainty</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <long_desc>Sets the number of standard deviations used
+by the innovation consistency test.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
       <unit>normalized_thrust</unit>
@@ -15659,7 +7871,9 @@
     </parameter>
     <parameter name="HTE_HT_NOISE" default="0.0036" type="FLOAT">
       <short_desc>Hover thrust process noise</short_desc>
-      <long_desc>Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.</long_desc>
+      <long_desc>Reduce to make the hover thrust estimate
+more stable, increase if the real hover thrust
+is expected to change quickly over time.</long_desc>
       <min>0.0001</min>
       <max>1.0</max>
       <unit>normalized_thrust/s</unit>
@@ -15667,7 +7881,10 @@
     </parameter>
     <parameter name="HTE_THR_RANGE" default="0.2" type="FLOAT">
       <short_desc>Max deviation from MPC_THR_HOVER</short_desc>
-      <long_desc>Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).</long_desc>
+      <long_desc>Defines the range of the hover thrust estimate around MPC_THR_HOVER.
+A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7].
+Set to a large value if the vehicle operates in varying physical conditions that
+affect the required hover thrust strongly (e.g. differently sized payloads).</long_desc>
       <min>0.01</min>
       <max>0.4</max>
       <unit>normalized_thrust</unit>
@@ -15675,7 +7892,9 @@
     </parameter>
     <parameter name="HTE_VXY_THR" default="10.0" type="FLOAT">
       <short_desc>Horizontal velocity threshold for sensitivity reduction</short_desc>
-      <long_desc>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.</long_desc>
+      <long_desc>Above this speed, the measurement noise is linearly increased
+to reduce the sensitivity of the estimator from biased measurement.
+Set to a low value on vehicles with large lifting surfaces.</long_desc>
       <min>1.0</min>
       <max>20.0</max>
       <unit>m/s</unit>
@@ -15683,62 +7902,31 @@
     </parameter>
     <parameter name="HTE_VZ_THR" default="2.0" type="FLOAT">
       <short_desc>Vertical velocity threshold for sensitivity reduction</short_desc>
-      <long_desc>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.</long_desc>
+      <long_desc>Above this speed, the measurement noise is linearly increased
+to reduce the sensitivity of the estimator from biased measurement.
+Set to a low value on vehicles affected by air drag when climbing or descending.</long_desc>
       <min>1.0</min>
       <max>10.0</max>
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
   </group>
-  <group name="Iridium SBD">
-    <parameter name="ISBD_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Iridium (with MAVLink)</short_desc>
-      <long_desc>Configure on which serial port to run Iridium (with MAVLink).</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="ISBD_READ_INT" default="0" type="INT32">
-      <short_desc>Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call</short_desc>
-      <min>0</min>
-      <max>5000</max>
-      <unit>s</unit>
-    </parameter>
-    <parameter name="ISBD_SBD_TIMEOUT" default="60" type="INT32">
-      <short_desc>Iridium SBD session timeout</short_desc>
-      <min>0</min>
-      <max>300</max>
-      <unit>s</unit>
-    </parameter>
-    <parameter name="ISBD_STACK_TIME" default="0" type="INT32">
-      <short_desc>Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message</short_desc>
-      <long_desc>Value 0 turns the functionality off</long_desc>
-      <min>0</min>
-      <max>500</max>
-      <unit>ms</unit>
-    </parameter>
-  </group>
   <group name="Land Detector">
     <parameter name="LNDFW_AIRSPD_MAX" default="6.00" type="FLOAT">
       <short_desc>Fixed-wing land detector: Max airspeed</short_desc>
       <long_desc>Maximum airspeed allowed in the landed state</long_desc>
       <min>2</min>
-      <max>20</max>
+      <max>30</max>
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
+    <parameter name="LNDFW_ROT_MAX" default="0.5" type="FLOAT">
+      <short_desc>Fixed-wing land detector: max rotational speed</short_desc>
+      <long_desc>Maximum allowed norm of the angular velocity in the landed state.
+Only used if neither airspeed nor groundspeed can be used for landing detection.</long_desc>
+      <unit>deg/s</unit>
+      <decimal>1</decimal>
+    </parameter>
     <parameter name="LNDFW_TRIG_TIME" default="2." type="FLOAT">
       <short_desc>Fixed-wing land detection trigger time</short_desc>
       <long_desc>Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.</long_desc>
@@ -15749,9 +7937,11 @@
     </parameter>
     <parameter name="LNDFW_VEL_XY_MAX" default="5.0" type="FLOAT">
       <short_desc>Fixed-wing land detector: Max horizontal velocity threshold</short_desc>
-      <long_desc>Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).</long_desc>
+      <long_desc>Maximum horizontal velocity allowed in the landed state.
+A factor of 0.7 is applied in case of airspeed-less flying
+(either because no sensor is present or sensor data got invalid in flight).</long_desc>
       <min>0.5</min>
-      <max>10</max>
+      <max>20</max>
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
@@ -15767,31 +7957,24 @@
       <short_desc>Fixed-wing land detector: Max horizontal acceleration</short_desc>
       <long_desc>Maximum horizontal (x,y body axes) acceleration allowed in the landed state</long_desc>
       <min>2</min>
-      <max>15</max>
+      <max>30</max>
       <unit>m/s^2</unit>
       <decimal>1</decimal>
     </parameter>
     <parameter name="LNDMC_ALT_GND" default="2." type="FLOAT">
       <short_desc>Ground effect altitude for multicopters</short_desc>
-      <long_desc>The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.</long_desc>
+      <long_desc>The height above ground below which ground effect creates barometric altitude errors.
+A negative value indicates no ground effect.</long_desc>
       <min>-1</min>
       <unit>m</unit>
       <decimal>2</decimal>
     </parameter>
     <parameter name="LNDMC_ROT_MAX" default="20.0" type="FLOAT">
-      <short_desc>Multicopter max rotation</short_desc>
-      <long_desc>Maximum allowed angular velocity around each axis allowed in the landed state.</long_desc>
+      <short_desc>Multicopter max rotational speed</short_desc>
+      <long_desc>Maximum allowed norm of the angular velocity (roll, pitch) in the landed state.</long_desc>
       <unit>deg/s</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="LNDMC_TRIG_TIME" default="1.0" type="FLOAT">
-      <short_desc>Multicopter land detection trigger time</short_desc>
-      <long_desc>Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.</long_desc>
-      <min>0.1</min>
-      <max>10.0</max>
-      <unit>s</unit>
-      <decimal>1</decimal>
-    </parameter>
     <parameter name="LNDMC_XY_VEL_MAX" default="1.5" type="FLOAT">
       <short_desc>Multicopter max horizontal velocity</short_desc>
       <long_desc>Maximum horizontal velocity allowed in the landed state</long_desc>
@@ -15800,39 +7983,48 @@
     </parameter>
     <parameter name="LNDMC_Z_VEL_MAX" default="0.25" type="FLOAT">
       <short_desc>Multicopter vertical velocity threshold</short_desc>
-      <long_desc>Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.</long_desc>
+      <long_desc>Vertical velocity threshold to detect landing.
+Has to be set lower than the expected minimal speed for landing,
+which is either MPC_LAND_SPEED or MPC_LAND_CRWL.
+This is enforced by an automatic check.</long_desc>
       <min>0</min>
       <unit>m/s</unit>
       <decimal>2</decimal>
     </parameter>
     <parameter name="LND_FLIGHT_T_HI" default="0" type="INT32" volatile="true" category="System">
       <short_desc>Total flight time in microseconds</short_desc>
-      <long_desc>Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
+      <long_desc>Total flight time of this autopilot. Higher 32 bits of the value.
+Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
       <min>0</min>
     </parameter>
     <parameter name="LND_FLIGHT_T_LO" default="0" type="INT32" volatile="true" category="System">
       <short_desc>Total flight time in microseconds</short_desc>
-      <long_desc>Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
+      <long_desc>Total flight time of this autopilot. Lower 32 bits of the value.
+Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
       <min>0</min>
     </parameter>
   </group>
   <group name="Landing Target Estimator">
     <parameter name="LTEST_ACC_UNC" default="10.0" type="FLOAT">
       <short_desc>Acceleration uncertainty</short_desc>
-      <long_desc>Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection</long_desc>
+      <long_desc>Variance of acceleration measurement used for landing target position prediction.
+Higher values results in tighter following of the measurements and more lenient outlier rejection</long_desc>
       <min>0.01</min>
       <unit>(m/s^2)^2</unit>
       <decimal>2</decimal>
     </parameter>
     <parameter name="LTEST_MEAS_UNC" default="0.005" type="FLOAT">
       <short_desc>Landing target measurement uncertainty</short_desc>
-      <long_desc>Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.</long_desc>
+      <long_desc>Variance of the landing target measurement from the driver.
+Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.</long_desc>
       <unit>tan(rad)^2</unit>
       <decimal>4</decimal>
     </parameter>
     <parameter name="LTEST_MODE" default="0" type="INT32">
       <short_desc>Landing target mode</short_desc>
-      <long_desc>Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.</long_desc>
+      <long_desc>Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation.
+Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning.
+Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.</long_desc>
       <min>0</min>
       <max>1</max>
       <values>
@@ -15905,7 +8097,8 @@
   <group name="Local Position Estimator">
     <parameter name="LPE_ACC_XY" default="0.012" type="FLOAT">
       <short_desc>Accelerometer xy noise density</short_desc>
-      <long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.</long_desc>
+      <long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
+Larger than data sheet to account for tilt error.</long_desc>
       <min>0.00001</min>
       <max>2</max>
       <unit>m/s^2/sqrt(Hz)</unit>
@@ -15991,7 +8184,16 @@
     </parameter>
     <parameter name="LPE_FUSION" default="145" type="INT32">
       <short_desc>Integer bitmask controlling data fusion</short_desc>
-      <long_desc>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)</long_desc>
+      <long_desc>Set bits in the following positions to enable:
+0 : Set to true to fuse GPS data if available, also requires GPS for altitude init
+1 : Set to true to fuse optical flow data if available
+2 : Set to true to fuse vision position
+3 : Set to true to enable landing target
+4 : Set to true to fuse land detector
+5 : Set to true to publish AGL as local position down component
+6 : Set to true to enable flow gyro compensation
+7 : Set to true to enable baro fusion
+default (145 - GPS, baro, land detector)</long_desc>
       <min>0</min>
       <max>255</max>
       <bitmask>
@@ -16099,7 +8301,8 @@
     </parameter>
     <parameter name="LPE_PN_P" default="0.1" type="FLOAT">
       <short_desc>Position propagation noise density</short_desc>
-      <long_desc>Increase to trust measurements more. Decrease to trust model more.</long_desc>
+      <long_desc>Increase to trust measurements more.
+Decrease to trust model more.</long_desc>
       <min>0</min>
       <max>1</max>
       <unit>m/s/sqrt(Hz)</unit>
@@ -16114,7 +8317,8 @@
     </parameter>
     <parameter name="LPE_PN_V" default="0.1" type="FLOAT">
       <short_desc>Velocity propagation noise density</short_desc>
-      <long_desc>Increase to trust measurements more. Decrease to trust model more.</long_desc>
+      <long_desc>Increase to trust measurements more.
+Decrease to trust model more.</long_desc>
       <min>0</min>
       <max>1</max>
       <unit>m/s^2/sqrt(Hz)</unit>
@@ -16196,36 +8400,18 @@
   <group name="MAVLink">
     <parameter name="MAV_0_BROADCAST" default="1" type="INT32">
       <short_desc>Broadcast heartbeats on local network for MAVLink instance 0</short_desc>
-      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
+      <long_desc>This allows a ground control station to automatically find the drone
+on the local network.</long_desc>
       <values>
         <value code="0">Never broadcast</value>
         <value code="1">Always broadcast</value>
         <value code="2">Only multicast</value>
       </values>
     </parameter>
-    <parameter name="MAV_0_CONFIG" default="101" type="INT32">
-      <short_desc>Serial Configuration for MAVLink (instance 0)</short_desc>
-      <long_desc>Configure on which serial port to run MAVLink.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-        <value code="1000">Ethernet</value>
-      </values>
-    </parameter>
     <parameter name="MAV_0_FLOW_CTRL" default="2" type="INT32">
       <short_desc>Enable serial flow control for instance 0</short_desc>
-      <long_desc>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</long_desc>
+      <long_desc>This is used to force flow control on or off for the the mavlink
+instance. By default it is auto detected. Use when auto detection fails.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Force off</value>
@@ -16235,12 +8421,17 @@
     </parameter>
     <parameter name="MAV_0_FORWARD" default="1" type="INT32" boolean="true">
       <short_desc>Enable MAVLink Message forwarding for instance 0</short_desc>
-      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
+      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+message is either broadcast or the target is not the autopilot.
+This allows for example a GCS to talk to a camera that is connected to the
+autopilot via MAVLink (on a different link than the GCS).</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_0_HL_FREQ" default="0.015" type="FLOAT">
       <short_desc>Configures the frequency of HIGH_LATENCY2 stream for instance 0</short_desc>
-      <long_desc>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 0, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</long_desc>
+      <long_desc>Positive real value that configures the transmission frequency of the
+HIGH_LATENCY2 stream for instance 0, configured in iridium mode.
+This parameter has no effect if the instance mode is different from iridium.</long_desc>
       <min>0.0</min>
       <max>50.0</max>
       <unit>Hz</unit>
@@ -16250,7 +8441,8 @@
     </parameter>
     <parameter name="MAV_0_MODE" default="0" type="INT32">
       <short_desc>MAVLink Mode for instance 0</short_desc>
-      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
+      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the
+vehicle's attitude) and their sending rates.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Normal</value>
@@ -16264,62 +8456,54 @@
         <value code="10">Gimbal</value>
         <value code="11">Onboard Low Bandwidth</value>
         <value code="12">uAvionix</value>
+        <value code="13">Low Bandwidth</value>
       </values>
     </parameter>
     <parameter name="MAV_0_RADIO_CTL" default="1" type="INT32" boolean="true">
       <short_desc>Enable software throttling of mavlink on instance 0</short_desc>
-      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
+      <long_desc>If enabled, MAVLink messages will be throttled according to
+`txbuf` field reported by radio_status.
+Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_0_RATE" default="1200" type="INT32">
       <short_desc>Maximum MAVLink sending rate for instance 0</short_desc>
-      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
+      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+If the configured streams exceed the maximum rate, the sending rate of
+each stream is automatically decreased.
+If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
+This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on
+8N1-configured links).</long_desc>
       <min>0</min>
       <unit>B/s</unit>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_0_REMOTE_PRT" default="14550" type="INT32">
       <short_desc>MAVLink Remote Port for instance 0</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0,
+selected remote port will be set and used in MAVLink instance 0.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_0_UDP_PRT" default="14556" type="INT32">
       <short_desc>MAVLink Network Port for instance 0</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0,
+selected udp port will be set and used in MAVLink instance 0.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_1_BROADCAST" default="0" type="INT32">
       <short_desc>Broadcast heartbeats on local network for MAVLink instance 1</short_desc>
-      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
+      <long_desc>This allows a ground control station to automatically find the drone
+on the local network.</long_desc>
       <values>
         <value code="0">Never broadcast</value>
         <value code="1">Always broadcast</value>
         <value code="2">Only multicast</value>
       </values>
     </parameter>
-    <parameter name="MAV_1_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for MAVLink (instance 1)</short_desc>
-      <long_desc>Configure on which serial port to run MAVLink.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-        <value code="1000">Ethernet</value>
-      </values>
-    </parameter>
     <parameter name="MAV_1_FLOW_CTRL" default="2" type="INT32">
       <short_desc>Enable serial flow control for instance 1</short_desc>
-      <long_desc>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</long_desc>
+      <long_desc>This is used to force flow control on or off for the the mavlink
+instance. By default it is auto detected. Use when auto detection fails.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Force off</value>
@@ -16329,12 +8513,17 @@
     </parameter>
     <parameter name="MAV_1_FORWARD" default="0" type="INT32" boolean="true">
       <short_desc>Enable MAVLink Message forwarding for instance 1</short_desc>
-      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
+      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+message is either broadcast or the target is not the autopilot.
+This allows for example a GCS to talk to a camera that is connected to the
+autopilot via MAVLink (on a different link than the GCS).</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_1_HL_FREQ" default="0.015" type="FLOAT">
       <short_desc>Configures the frequency of HIGH_LATENCY2 stream for instance 1</short_desc>
-      <long_desc>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 1, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</long_desc>
+      <long_desc>Positive real value that configures the transmission frequency of the
+HIGH_LATENCY2 stream for instance 1, configured in iridium mode.
+This parameter has no effect if the instance mode is different from iridium.</long_desc>
       <min>0.0</min>
       <max>50.0</max>
       <unit>Hz</unit>
@@ -16344,7 +8533,8 @@
     </parameter>
     <parameter name="MAV_1_MODE" default="2" type="INT32">
       <short_desc>MAVLink Mode for instance 1</short_desc>
-      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
+      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the
+vehicle's attitude) and their sending rates.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Normal</value>
@@ -16358,62 +8548,54 @@
         <value code="10">Gimbal</value>
         <value code="11">Onboard Low Bandwidth</value>
         <value code="12">uAvionix</value>
+        <value code="13">Low Bandwidth</value>
       </values>
     </parameter>
     <parameter name="MAV_1_RADIO_CTL" default="1" type="INT32" boolean="true">
       <short_desc>Enable software throttling of mavlink on instance 1</short_desc>
-      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
+      <long_desc>If enabled, MAVLink messages will be throttled according to
+`txbuf` field reported by radio_status.
+Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_1_RATE" default="0" type="INT32">
       <short_desc>Maximum MAVLink sending rate for instance 1</short_desc>
-      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
+      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+If the configured streams exceed the maximum rate, the sending rate of
+each stream is automatically decreased.
+If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
+This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on
+8N1-configured links).</long_desc>
       <min>0</min>
       <unit>B/s</unit>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_1_REMOTE_PRT" default="0" type="INT32">
       <short_desc>MAVLink Remote Port for instance 1</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1,
+selected remote port will be set and used in MAVLink instance 1.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_1_UDP_PRT" default="0" type="INT32">
       <short_desc>MAVLink Network Port for instance 1</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1,
+selected udp port will be set and used in MAVLink instance 1.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_2_BROADCAST" default="0" type="INT32">
       <short_desc>Broadcast heartbeats on local network for MAVLink instance 2</short_desc>
-      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
+      <long_desc>This allows a ground control station to automatically find the drone
+on the local network.</long_desc>
       <values>
         <value code="0">Never broadcast</value>
         <value code="1">Always broadcast</value>
         <value code="2">Only multicast</value>
       </values>
     </parameter>
-    <parameter name="MAV_2_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for MAVLink (instance 2)</short_desc>
-      <long_desc>Configure on which serial port to run MAVLink.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-        <value code="1000">Ethernet</value>
-      </values>
-    </parameter>
     <parameter name="MAV_2_FLOW_CTRL" default="2" type="INT32">
       <short_desc>Enable serial flow control for instance 2</short_desc>
-      <long_desc>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</long_desc>
+      <long_desc>This is used to force flow control on or off for the the mavlink
+instance. By default it is auto detected. Use when auto detection fails.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Force off</value>
@@ -16423,12 +8605,17 @@
     </parameter>
     <parameter name="MAV_2_FORWARD" default="0" type="INT32" boolean="true">
       <short_desc>Enable MAVLink Message forwarding for instance 2</short_desc>
-      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
+      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+message is either broadcast or the target is not the autopilot.
+This allows for example a GCS to talk to a camera that is connected to the
+autopilot via MAVLink (on a different link than the GCS).</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_2_HL_FREQ" default="0.015" type="FLOAT">
       <short_desc>Configures the frequency of HIGH_LATENCY2 stream for instance 2</short_desc>
-      <long_desc>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 2, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</long_desc>
+      <long_desc>Positive real value that configures the transmission frequency of the
+HIGH_LATENCY2 stream for instance 2, configured in iridium mode.
+This parameter has no effect if the instance mode is different from iridium.</long_desc>
       <min>0.0</min>
       <max>50.0</max>
       <unit>Hz</unit>
@@ -16438,7 +8625,8 @@
     </parameter>
     <parameter name="MAV_2_MODE" default="0" type="INT32">
       <short_desc>MAVLink Mode for instance 2</short_desc>
-      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
+      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the
+vehicle's attitude) and their sending rates.</long_desc>
       <reboot_required>True</reboot_required>
       <values>
         <value code="0">Normal</value>
@@ -16452,28 +8640,38 @@
         <value code="10">Gimbal</value>
         <value code="11">Onboard Low Bandwidth</value>
         <value code="12">uAvionix</value>
+        <value code="13">Low Bandwidth</value>
       </values>
     </parameter>
     <parameter name="MAV_2_RADIO_CTL" default="1" type="INT32" boolean="true">
       <short_desc>Enable software throttling of mavlink on instance 2</short_desc>
-      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
+      <long_desc>If enabled, MAVLink messages will be throttled according to
+`txbuf` field reported by radio_status.
+Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_2_RATE" default="0" type="INT32">
       <short_desc>Maximum MAVLink sending rate for instance 2</short_desc>
-      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
+      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+If the configured streams exceed the maximum rate, the sending rate of
+each stream is automatically decreased.
+If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
+This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on
+8N1-configured links).</long_desc>
       <min>0</min>
       <unit>B/s</unit>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_2_REMOTE_PRT" default="0" type="INT32">
       <short_desc>MAVLink Remote Port for instance 2</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2,
+selected remote port will be set and used in MAVLink instance 2.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_2_UDP_PRT" default="0" type="INT32">
       <short_desc>MAVLink Network Port for instance 2</short_desc>
-      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.</long_desc>
+      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2,
+selected udp port will be set and used in MAVLink instance 2.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="MAV_COMP_ID" default="1" type="INT32">
@@ -16484,34 +8682,49 @@
     </parameter>
     <parameter name="MAV_FWDEXTSP" default="1" type="INT32" boolean="true">
       <short_desc>Forward external setpoint messages</short_desc>
-      <long_desc>If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode</long_desc>
+      <long_desc>If set to 1 incoming external setpoint messages will be directly forwarded
+to the controllers if in offboard control mode</long_desc>
     </parameter>
     <parameter name="MAV_HASH_CHK_EN" default="1" type="INT32" boolean="true">
       <short_desc>Parameter hash check</short_desc>
-      <long_desc>Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.</long_desc>
+      <long_desc>Disabling the parameter hash check functionality will make the mavlink instance
+stream parameters continuously.</long_desc>
     </parameter>
     <parameter name="MAV_HB_FORW_EN" default="1" type="INT32" boolean="true">
       <short_desc>Heartbeat message forwarding</short_desc>
-      <long_desc>The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</long_desc>
+      <long_desc>The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'.
+The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</long_desc>
     </parameter>
-    <parameter name="MAV_PROTO_VER" default="0" type="INT32">
+    <parameter name="MAV_PROTO_VER" default="2" type="INT32">
       <short_desc>MAVLink protocol version</short_desc>
       <values>
-        <value code="0">Default to 1, switch to 2 if GCS sends version 2</value>
-        <value code="1">Always use version 1</value>
-        <value code="2">Always use version 2</value>
+        <value code="1">Version 1 with auto-upgrade to v2 if detected</value>
+        <value code="2">Version 2</value>
       </values>
     </parameter>
     <parameter name="MAV_RADIO_TOUT" default="5" type="INT32">
       <short_desc>Timeout in seconds for the RADIO_STATUS reports coming in</short_desc>
-      <long_desc>If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.</long_desc>
+      <long_desc>If the connected radio stops reporting RADIO_STATUS for a certain time,
+a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow
+control is reset.</long_desc>
       <min>1</min>
       <max>250</max>
       <unit>s</unit>
     </parameter>
+    <parameter name="MAV_SIGN_CFG" default="0" type="INT32">
+      <short_desc>MAVLink protocol signing</short_desc>
+      <values>
+        <value code="0">Message signing disabled</value>
+        <value code="1">Signing enabled except on USB</value>
+        <value code="2">Signing always enabled</value>
+      </values>
+    </parameter>
     <parameter name="MAV_SIK_RADIO_ID" default="0" type="INT32">
       <short_desc>MAVLink SiK Radio ID</short_desc>
-      <long_desc>When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio</long_desc>
+      <long_desc>When non-zero the MAVLink app will attempt to configure the
+SiK radio to this ID and re-set the parameter to 0. If the value
+is negative it will reset the complete radio config to
+factory defaults. Only applies if this mavlink instance is going through a SiK radio</long_desc>
       <min>-1</min>
       <max>240</max>
     </parameter>
@@ -16521,6 +8734,25 @@
       <max>250</max>
       <reboot_required>true</reboot_required>
     </parameter>
+    <parameter name="MAV_S_FORWARD" default="0" type="INT32" boolean="true">
+      <short_desc>Enable MAVLink forwarding on TELEM2</short_desc>
+      <long_desc>TELEM2 on Skynode only.</long_desc>
+      <reboot_required>True</reboot_required>
+    </parameter>
+    <parameter name="MAV_S_MODE" default="11" type="INT32">
+      <short_desc>MAVLink Mode for SOM to FMU communication channel</short_desc>
+      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the
+vehicle's attitude) and their sending rates.</long_desc>
+      <reboot_required>True</reboot_required>
+      <values>
+        <value code="0">Normal</value>
+        <value code="2">Onboard</value>
+        <value code="5">Config</value>
+        <value code="7">Minimal</value>
+        <value code="11">Onboard Low Bandwidth</value>
+        <value code="13">Low Bandwidth</value>
+      </values>
+    </parameter>
     <parameter name="MAV_TYPE" default="0" type="INT32">
       <short_desc>MAVLink airframe type</short_desc>
       <min>0</min>
@@ -16551,50 +8783,17 @@
       <long_desc>If set to 1 incoming HIL GPS messages are parsed.</long_desc>
     </parameter>
   </group>
-  <group name="Magnetometer">
-    <parameter name="BMM350_AVG" default="1" type="INT32">
-      <short_desc>BMM350 data averaging</short_desc>
-      <long_desc>Defines which averaging mode to use during data polling.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="0">No averaging</value>
-        <value code="1">2 sample averaging</value>
-        <value code="2">4 sample averaging</value>
-        <value code="3">8 sample averaging</value>
-      </values>
-    </parameter>
-    <parameter name="BMM350_DRIVE" default="7" type="INT32">
-      <short_desc>BMM350 pad drive strength setting</short_desc>
-      <long_desc>This setting helps avoid signal problems like overshoot or undershoot.</long_desc>
-      <min>0</min>
-      <max>7</max>
-    </parameter>
-    <parameter name="BMM350_ODR" default="3" type="INT32">
-      <short_desc>BMM350 ODR rate</short_desc>
-      <long_desc>Defines which ODR rate to use during data polling.</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="0">400 Hz</value>
-        <value code="1">200 Hz</value>
-        <value code="2">100 Hz</value>
-        <value code="3">50 Hz</value>
-        <value code="4">25 Hz</value>
-        <value code="5">12.5 Hz</value>
-        <value code="6">6.25 Hz</value>
-        <value code="7">3.125 Hz</value>
-        <value code="8">1.5625 Hz</value>
-      </values>
-    </parameter>
-  </group>
   <group name="Magnetometer Bias Estimator">
     <parameter name="MBE_ENABLE" default="1" type="INT32" boolean="true">
       <short_desc>Enable online mag bias calibration</short_desc>
-      <long_desc>This enables continuous calibration of the magnetometers before takeoff using gyro data.</long_desc>
+      <long_desc>This enables continuous calibration of the magnetometers
+before takeoff using gyro data.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="MBE_LEARN_GAIN" default="18." type="FLOAT">
       <short_desc>Mag bias estimator learning gain</short_desc>
-      <long_desc>Increase to make the estimator more responsive Decrease to make the estimator more robust to noise</long_desc>
+      <long_desc>Increase to make the estimator more responsive
+Decrease to make the estimator more robust to noise</long_desc>
       <min>0.1</min>
       <max>100</max>
       <decimal>1</decimal>
@@ -16604,11 +8803,26 @@
   <group name="Manual Control">
     <parameter name="MAN_ARM_GESTURE" default="1" type="INT32" boolean="true">
       <short_desc>Enable arm/disarm stick gesture</short_desc>
-      <long_desc>This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.</long_desc>
+      <long_desc>This determines if moving the left stick to the lower right
+arms and to the lower left disarms the vehicle.</long_desc>
+    </parameter>
+    <parameter name="MAN_DEADZONE" default="0.1" type="FLOAT">
+      <short_desc>Deadzone for sticks (only specific use cases)</short_desc>
+      <long_desc>Range around stick center ignored to prevent
+vehicle drift from stick hardware inaccuracy.
+Does not apply to any precise constant input like
+throttle and attitude or rate piloting.</long_desc>
+      <min>0</min>
+      <max>1</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
     </parameter>
     <parameter name="MAN_KILL_GEST_T" default="-1." type="FLOAT">
       <short_desc>Trigger time for kill stick gesture</short_desc>
-      <long_desc>The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.</long_desc>
+      <long_desc>The timeout for holding the left stick to the lower left
+and the right stick to the lower right at the same time until the gesture
+kills the actuators one-way.
+A negative value disables the feature.</long_desc>
       <min>-1</min>
       <max>15</max>
       <unit>s</unit>
@@ -16616,32 +8830,24 @@
     </parameter>
   </group>
   <group name="Mission">
-    <parameter name="FW_GPSF_LT" default="30" type="INT32">
-      <short_desc>GPS failure loiter time</short_desc>
-      <long_desc>The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.</long_desc>
-      <min>0</min>
-      <max>3600</max>
-      <unit>s</unit>
-    </parameter>
-    <parameter name="FW_GPSF_R" default="15.0" type="FLOAT">
-      <short_desc>GPS failure fixed roll angle</short_desc>
-      <long_desc>Roll angle in GPS failure loiter mode.</long_desc>
-      <min>0.0</min>
-      <max>30.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
     <parameter name="MIS_COMMAND_TOUT" default="0." type="FLOAT">
       <short_desc>Timeout to allow the payload to execute the mission command</short_desc>
-      <long_desc>Ensure: gripper: NAV_CMD_DO_GRIPPER has released before continuing mission. winch: CMD_DO_WINCH has delivered before continuing mission. gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW has reached the commanded orientation before beginning to take pictures.</long_desc>
+      <long_desc>Ensure:
+gripper: NAV_CMD_DO_GRIPPER
+has released before continuing mission.
+winch: CMD_DO_WINCH
+has delivered before continuing mission.
+gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW
+has reached the commanded orientation before beginning to take pictures.</long_desc>
       <min>0</min>
       <unit>s</unit>
       <decimal>1</decimal>
     </parameter>
     <parameter name="MIS_DIST_1WP" default="10000" type="FLOAT">
       <short_desc>Maximal horizontal distance from Home to first waypoint</short_desc>
-      <long_desc>There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home. Has no effect on mission validity. Set a value of zero or less to disable.</long_desc>
+      <long_desc>There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home.
+Has no effect on mission validity.
+Set a value of zero or less to disable.</long_desc>
       <min>-1</min>
       <max>100000</max>
       <unit>m</unit>
@@ -16650,13 +8856,16 @@
     </parameter>
     <parameter name="MIS_LND_ABRT_ALT" default="30" type="INT32">
       <short_desc>Landing abort min altitude</short_desc>
-      <long_desc>Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.</long_desc>
+      <long_desc>Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
+Then vehicle will loiter in this altitude until further command is received.
+Only applies to fixed-wing vehicles.</long_desc>
       <min>0</min>
       <unit>m</unit>
     </parameter>
     <parameter name="MIS_MNT_YAW_CTL" default="0" type="INT32">
       <short_desc>Enable yaw control of the mount. (Only affects multicopters and ROI mission items)</short_desc>
-      <long_desc>If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.</long_desc>
+      <long_desc>If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction.
+If disabled, the vehicle will yaw towards the ROI.</long_desc>
       <min>0</min>
       <max>1</max>
       <values>
@@ -16666,7 +8875,8 @@
     </parameter>
     <parameter name="MIS_TAKEOFF_ALT" default="2.5" type="FLOAT">
       <short_desc>Default take-off altitude</short_desc>
-      <long_desc>This is the relative altitude the system will take off to if not otherwise specified.</long_desc>
+      <long_desc>This is the relative altitude the system will take off to
+if not otherwise specified.</long_desc>
       <min>0</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -16674,7 +8884,8 @@
     </parameter>
     <parameter name="MIS_TKO_LAND_REQ" default="0" type="INT32">
       <short_desc>Mission takeoff/landing required</short_desc>
-      <long_desc>Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.</long_desc>
+      <long_desc>Specifies if a mission has to contain a takeoff and/or mission landing.
+Validity of configured takeoffs/landings is checked independently of the setting here.</long_desc>
       <values>
         <value code="0">No requirements</value>
         <value code="1">Require a takeoff</value>
@@ -16694,7 +8905,10 @@
     </parameter>
     <parameter name="MIS_YAW_TMT" default="-1.0" type="FLOAT">
       <short_desc>Time in seconds we wait on reaching target heading at a waypoint if it is forced</short_desc>
-      <long_desc>If set &gt; 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.</long_desc>
+      <long_desc>If set &gt; 0 it will ignore the target heading for normal waypoint acceptance. If the
+waypoint forces the heading the timeout will matter. For example on VTOL forwards transition.
+Mainly useful for VTOLs that have less yaw authority and might not reach target
+yaw in wind. Disabled by default.</long_desc>
       <min>-1</min>
       <max>20</max>
       <unit>s</unit>
@@ -16716,7 +8930,8 @@
     </parameter>
     <parameter name="NAV_ACC_RAD" default="10.0" type="FLOAT">
       <short_desc>Acceptance Radius</short_desc>
-      <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.</long_desc>
+      <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set.
+For fixed wing the npfg switch distance is used for horizontal acceptance.</long_desc>
       <min>0.05</min>
       <max>200.0</max>
       <unit>m</unit>
@@ -16728,7 +8943,8 @@
     </parameter>
     <parameter name="NAV_FW_ALTL_RAD" default="5.0" type="FLOAT">
       <short_desc>FW Altitude Acceptance Radius before a landing</short_desc>
-      <long_desc>Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.</long_desc>
+      <long_desc>Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
+than the standard vertical acceptance because close to the ground higher accuracy is required.</long_desc>
       <min>0.05</min>
       <max>200.0</max>
       <unit>m</unit>
@@ -16745,9 +8961,11 @@
     </parameter>
     <parameter name="NAV_LOITER_RAD" default="80.0" type="FLOAT">
       <short_desc>Loiter radius (FW only)</short_desc>
-      <long_desc>Default value of loiter radius in FW mode (e.g. for Loiter mode).</long_desc>
-      <min>25</min>
-      <max>1000</max>
+      <long_desc>Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode).
+The direction of the loiter can be set via the sign: A positive value for
+clockwise, negative for counter-clockwise.</long_desc>
+      <min>-10000</min>
+      <max>10000</max>
       <unit>m</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
@@ -16763,7 +8981,11 @@
     </parameter>
     <parameter name="NAV_MIN_GND_DIST" default="-1." type="FLOAT">
       <short_desc>Minimum height above ground during Mission and RTL</short_desc>
-      <long_desc>Minimum height above ground the vehicle is allowed to descend to during Mission and RTL, excluding landing commands. Requires a distance sensor to be set up. Note: only prevents the vehicle from descending further, but does not force it to climb. Set to a negative value to disable.</long_desc>
+      <long_desc>Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,
+excluding landing commands.
+Requires a distance sensor to be set up.
+Note: only prevents the vehicle from descending further, but does not force it to climb.
+Set to a negative value to disable.</long_desc>
       <min>-1</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -16771,7 +8993,10 @@
     </parameter>
     <parameter name="NAV_MIN_LTR_ALT" default="-1." type="FLOAT">
       <short_desc>Minimum Loiter altitude</short_desc>
-      <long_desc>This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.</long_desc>
+      <long_desc>This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
+mode without specifying an altitude (e.g. through Loiter switch on RC).
+Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
+Set to a negative value to disable.</long_desc>
       <min>-1</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -16779,7 +9004,8 @@
     </parameter>
     <parameter name="NAV_TRAFF_AVOID" default="1" type="INT32">
       <short_desc>Set traffic avoidance mode</short_desc>
-      <long_desc>Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders</long_desc>
+      <long_desc>Enabling this will allow the system to respond
+to transponder data from e.g. ADSB transponders</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Warn only</value>
@@ -16802,7 +9028,8 @@
     </parameter>
     <parameter name="NAV_TRAFF_COLL_T" default="60" type="INT32">
       <short_desc>Estimated time until collision</short_desc>
-      <long_desc>Minimum acceptable time until collsion. Assumes constant speed over 3d distance.</long_desc>
+      <long_desc>Minimum acceptable time until collsion.
+Assumes constant speed over 3d distance.</long_desc>
       <min>1</min>
       <max>900000000</max>
       <unit>s</unit>
@@ -16811,7 +9038,11 @@
   <group name="Mixer Output">
     <parameter name="MC_AIRMODE" default="0" type="INT32">
       <short_desc>Multicopter air-mode</short_desc>
-      <long_desc>The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.</long_desc>
+      <long_desc>The air-mode enables the mixer to increase the total thrust of the multirotor
+in order to keep attitude and rate control even at low and high throttle.
+This function should be disabled during tuning as it will help the controller
+to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).
+Enabling air-mode for yaw requires the use of an arming switch.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Roll/Pitch</value>
@@ -16819,23 +9050,17 @@
       </values>
     </parameter>
   </group>
-  <group name="ModalAI Custom Configuration">
-    <parameter name="MODALAI_CONFIG" default="0" type="INT32">
-      <short_desc>Custom configuration for ModalAI drones</short_desc>
-      <long_desc>This can be set to indicate that drone behavior needs to be changed to match a custom setting</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-  </group>
   <group name="Mount">
     <parameter name="MNT_DO_STAB" default="0" type="INT32">
       <short_desc>Stabilize the mount</short_desc>
-      <long_desc>Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.</long_desc>
-      <min>0</min>
-      <max>2</max>
+      <long_desc>Set to true for servo gimbal, false for passthrough.
+This is required for a gimbal which is not capable of stabilizing itself
+and relies on the IMU's attitude estimation.</long_desc>
       <values>
         <value code="0">Disable</value>
         <value code="1">Stabilize all axis</value>
         <value code="2">Stabilize yaw for absolute/lock mode.</value>
+        <value code="3">Stabilize pitch for absolute/lock mode.</value>
       </values>
     </parameter>
     <parameter name="MNT_LND_P_MAX" default="90.0" type="FLOAT">
@@ -16902,9 +9127,23 @@
       <short_desc>Mavlink System ID of the mount</short_desc>
       <long_desc>If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.</long_desc>
     </parameter>
+    <parameter name="MNT_MAX_PITCH" default="45.0" type="FLOAT">
+      <short_desc>Max positive angle of pitch setpoint (only in MNT_MODE_OUT=AUX)</short_desc>
+      <long_desc>Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).</long_desc>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="MNT_MIN_PITCH" default="-45.0" type="FLOAT">
+      <short_desc>Min negative angle of pitch setpoint (only in MNT_MODE_OUT=AUX)</short_desc>
+      <long_desc>Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).</long_desc>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+    </parameter>
     <parameter name="MNT_MODE_IN" default="-1" type="INT32">
       <short_desc>Mount input mode</short_desc>
-      <long_desc>This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.</long_desc>
+      <long_desc>This is the protocol used between the ground station and the autopilot.
+Recommended is Auto, RC only or MAVLink gimbal protocol v2.
+The rest will be deprecated.</long_desc>
       <min>-1</min>
       <max>4</max>
       <reboot_required>true</reboot_required>
@@ -16919,7 +9158,8 @@
     </parameter>
     <parameter name="MNT_MODE_OUT" default="0" type="INT32">
       <short_desc>Mount output mode</short_desc>
-      <long_desc>This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.</long_desc>
+      <long_desc>This is the protocol used between the autopilot and a connected gimbal.
+Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.</long_desc>
       <min>0</min>
       <max>2</max>
       <reboot_required>true</reboot_required>
@@ -16929,43 +9169,17 @@
         <value code="2">MAVLink gimbal protocol v2</value>
       </values>
     </parameter>
-    <parameter name="MNT_OFF_PITCH" default="0.0" type="FLOAT">
-      <short_desc>Offset for pitch channel output in degrees</short_desc>
-      <min>-360.0</min>
-      <max>360.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-    </parameter>
-    <parameter name="MNT_OFF_ROLL" default="0.0" type="FLOAT">
-      <short_desc>Offset for roll channel output in degrees</short_desc>
-      <min>-360.0</min>
-      <max>360.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-    </parameter>
-    <parameter name="MNT_OFF_YAW" default="0.0" type="FLOAT">
-      <short_desc>Offset for yaw channel output in degrees</short_desc>
-      <min>-360.0</min>
-      <max>360.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-    </parameter>
-    <parameter name="MNT_RANGE_PITCH" default="90.0" type="FLOAT">
-      <short_desc>Range of pitch channel output in degrees (only in AUX output mode)</short_desc>
-      <min>1.0</min>
-      <max>720.0</max>
-      <unit>deg</unit>
-      <decimal>1</decimal>
-    </parameter>
     <parameter name="MNT_RANGE_ROLL" default="90.0" type="FLOAT">
-      <short_desc>Range of roll channel output in degrees (only in AUX output mode)</short_desc>
+      <short_desc>Range of roll channel output (only in MNT_MODE_OUT=AUX)</short_desc>
+      <long_desc>Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.</long_desc>
       <min>1.0</min>
       <max>720.0</max>
       <unit>deg</unit>
       <decimal>1</decimal>
     </parameter>
     <parameter name="MNT_RANGE_YAW" default="360.0" type="FLOAT">
-      <short_desc>Range of yaw channel output in degrees (only in AUX output mode)</short_desc>
+      <short_desc>Range of yaw channel output (only in MNT_MODE_OUT=AUX)</short_desc>
+      <long_desc>Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.</long_desc>
       <min>1.0</min>
       <max>720.0</max>
       <unit>deg</unit>
@@ -16994,18 +9208,29 @@
         <value code="1">Angular rate</value>
       </values>
     </parameter>
+    <parameter name="MNT_TAU" default="0.3" type="FLOAT">
+      <short_desc>Alpha filter time constant defining the convergence rate (in seconds) for open-loop AUX mount control</short_desc>
+      <long_desc>Use when no angular position feedback is available.
+With MNT_MODE_OUT set to AUX, the mount operates in open-loop and directly commands the servo output.
+Parameters must be tuned for the specific servo to approximate its speed and response.</long_desc>
+      <min>0.0</min>
+    </parameter>
   </group>
   <group name="Multicopter Acro Mode">
     <parameter name="MC_ACRO_EXPO" default="0." type="FLOAT">
       <short_desc>Acro mode roll, pitch expo factor</short_desc>
-      <long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
+      <long_desc>Exponential factor for tuning the input curve shape.
+0 Purely linear input curve
+1 Purely cubic input curve</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
     </parameter>
     <parameter name="MC_ACRO_EXPO_Y" default="0." type="FLOAT">
       <short_desc>Acro mode yaw expo factor</short_desc>
-      <long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
+      <long_desc>Exponential factor for tuning the input curve shape.
+0 Purely linear input curve
+1 Purely cubic input curve</long_desc>
       <min>0</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -17030,14 +9255,20 @@
     </parameter>
     <parameter name="MC_ACRO_SUPEXPO" default="0." type="FLOAT">
       <short_desc>Acro mode roll, pitch super expo factor</short_desc>
-      <long_desc>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
+      <long_desc>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO.
+0 Pure Expo function
+0.7 reasonable shape enhancement for intuitive stick feel
+0.95 very strong bent input curve only near maxima have effect</long_desc>
       <min>0</min>
       <max>0.95</max>
       <decimal>2</decimal>
     </parameter>
     <parameter name="MC_ACRO_SUPEXPOY" default="0." type="FLOAT">
       <short_desc>Acro mode yaw super expo factor</short_desc>
-      <long_desc>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
+      <long_desc>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.
+0 Pure Expo function
+0.7 reasonable shape enhancement for intuitive stick feel
+0.95 very strong bent input curve only near maxima have effect</long_desc>
       <min>0</min>
       <max>0.95</max>
       <decimal>2</decimal>
@@ -17055,14 +9286,18 @@
   <group name="Multicopter Attitude Control">
     <parameter name="MC_PITCHRATE_MAX" default="220.0" type="FLOAT">
       <short_desc>Max pitch rate</short_desc>
-      <long_desc>Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
+      <long_desc>Limit for pitch rate in manual and auto modes (except acro).
+Has effect for large rotations in autonomous mode, to avoid large control
+output and mixer saturation.
+This is not only limited by the vehicle's properties, but also by the maximum
+measurement rate of the gyro.</long_desc>
       <min>0.0</min>
       <max>1800.0</max>
       <unit>deg/s</unit>
       <decimal>1</decimal>
       <increment>5</increment>
     </parameter>
-    <parameter name="MC_PITCH_P" default="6.5" type="FLOAT">
+    <parameter name="MC_PITCH_P" default="4.0" type="FLOAT">
       <short_desc>Pitch P gain</short_desc>
       <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
       <min>0.0</min>
@@ -17072,14 +9307,18 @@
     </parameter>
     <parameter name="MC_ROLLRATE_MAX" default="220.0" type="FLOAT">
       <short_desc>Max roll rate</short_desc>
-      <long_desc>Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
+      <long_desc>Limit for roll rate in manual and auto modes (except acro).
+Has effect for large rotations in autonomous mode, to avoid large control
+output and mixer saturation.
+This is not only limited by the vehicle's properties, but also by the maximum
+measurement rate of the gyro.</long_desc>
       <min>0.0</min>
       <max>1800.0</max>
       <unit>deg/s</unit>
       <decimal>1</decimal>
       <increment>5</increment>
     </parameter>
-    <parameter name="MC_ROLL_P" default="6.5" type="FLOAT">
+    <parameter name="MC_ROLL_P" default="4.0" type="FLOAT">
       <short_desc>Roll P gain</short_desc>
       <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
       <min>0.0</min>
@@ -17105,24 +9344,30 @@
     </parameter>
     <parameter name="MC_YAW_WEIGHT" default="0.4" type="FLOAT">
       <short_desc>Yaw weight</short_desc>
-      <long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.</long_desc>
+      <long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
+Deprioritizing yaw is necessary because multicopters have much less control authority
+in yaw compared to the other axes and it makes sense because yaw is not critical for
+stable hovering or 3D navigation.
+For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
       <decimal>2</decimal>
       <increment>0.1</increment>
     </parameter>
-    <parameter name="MPC_YAWRAUTO_ACC" default="60." type="FLOAT">
+    <parameter name="MPC_YAWRAUTO_ACC" default="20." type="FLOAT">
       <short_desc>Maximum yaw acceleration in autonomous modes</short_desc>
-      <long_desc>Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.</long_desc>
+      <long_desc>Limits the acceleration of the yaw setpoint to avoid large
+control output and mixer saturation.</long_desc>
       <min>5</min>
       <max>360</max>
       <unit>deg/s^2</unit>
       <decimal>0</decimal>
       <increment>5</increment>
     </parameter>
-    <parameter name="MPC_YAWRAUTO_MAX" default="45." type="FLOAT">
+    <parameter name="MPC_YAWRAUTO_MAX" default="60." type="FLOAT">
       <short_desc>Maximum yaw rate in autonomous modes</short_desc>
-      <long_desc>Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.</long_desc>
+      <long_desc>Limits the rate of change of the yaw setpoint to avoid large
+control output and mixer saturation.</long_desc>
       <min>5</min>
       <max>360</max>
       <unit>deg/s</unit>
@@ -17166,7 +9411,9 @@
     </parameter>
     <parameter name="MPC_ACC_DECOUPLE" default="1" type="INT32" boolean="true">
       <short_desc>Acceleration to tilt coupling</short_desc>
-      <long_desc>Set to decouple tilt from vertical acceleration. This provides smoother flight but slightly worse tracking in position and auto modes. Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.</long_desc>
+      <long_desc>Set to decouple tilt from vertical acceleration.
+This provides smoother flight but slightly worse tracking in position and auto modes.
+Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.</long_desc>
     </parameter>
     <parameter name="MPC_ACC_DOWN_MAX" default="3." type="FLOAT">
       <short_desc>Maximum downwards acceleration in climb rate controlled modes</short_desc>
@@ -17187,7 +9434,9 @@
     </parameter>
     <parameter name="MPC_ACC_HOR_MAX" default="5." type="FLOAT">
       <short_desc>Maximum horizontal acceleration</short_desc>
-      <long_desc>MPC_POS_MODE 1 just deceleration 4 not used, use MPC_ACC_HOR instead</long_desc>
+      <long_desc>MPC_POS_MODE
+1 just deceleration
+4 not used, use MPC_ACC_HOR instead</long_desc>
       <min>2</min>
       <max>15</max>
       <unit>m/s^2</unit>
@@ -17204,7 +9453,13 @@
     </parameter>
     <parameter name="MPC_ALT_MODE" default="2" type="INT32">
       <short_desc>Altitude reference mode</short_desc>
-      <long_desc>Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.</long_desc>
+      <long_desc>Control height
+0: relative earth frame origin which may drift due to sensors
+1: relative to ground (requires distance sensor) which changes with terrain variation.
+It will revert to relative earth frame if the distance to ground estimate becomes invalid.
+2: relative to ground (requires distance sensor) when stationary
+and relative to earth frame when moving horizontally.
+The speed threshold is MPC_HOLD_MAX_XY</long_desc>
       <min>0</min>
       <max>2</max>
       <values>
@@ -17213,14 +9468,6 @@
         <value code="2">Terrain hold</value>
       </values>
     </parameter>
-    <parameter name="MPC_HOLD_DZ" default="0.1" type="FLOAT">
-      <short_desc>Deadzone for sticks in manual piloted modes</short_desc>
-      <long_desc>Does not apply to manual throttle and direct attitude piloting by stick.</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
     <parameter name="MPC_HOLD_MAX_XY" default="0.8" type="FLOAT">
       <short_desc>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</short_desc>
       <long_desc>Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2</long_desc>
@@ -17239,7 +9486,8 @@
     </parameter>
     <parameter name="MPC_JERK_AUTO" default="4." type="FLOAT">
       <short_desc>Jerk limit in autonomous modes</short_desc>
-      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.</long_desc>
+      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change).
+A lower value leads to smoother vehicle motions but also limited agility.</long_desc>
       <min>1</min>
       <max>80</max>
       <unit>m/s^3</unit>
@@ -17248,7 +9496,10 @@
     </parameter>
     <parameter name="MPC_JERK_MAX" default="8." type="FLOAT">
       <short_desc>Maximum horizontal and vertical jerk in Position/Altitude mode</short_desc>
-      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with MPC_POS_MODE Acceleration based.</long_desc>
+      <long_desc>Limit the maximum jerk (acceleration change) of the vehicle.
+A lower value leads to smoother motions but limits agility.
+Setting this to the maximum value essentially disables the limit.
+Only used with MPC_POS_MODE Acceleration based.</long_desc>
       <min>0.5</min>
       <max>500</max>
       <unit>m/s^3</unit>
@@ -17257,7 +9508,9 @@
     </parameter>
     <parameter name="MPC_LAND_ALT1" default="10." type="FLOAT">
       <short_desc>Altitude for 1. step of slow landing (descend)</short_desc>
-      <long_desc>Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
+      <long_desc>Below this altitude descending velocity gets limited to a value
+between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
+Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
       <min>0</min>
       <max>122</max>
       <unit>m</unit>
@@ -17265,7 +9518,9 @@
     </parameter>
     <parameter name="MPC_LAND_ALT2" default="5." type="FLOAT">
       <short_desc>Altitude for 2. step of slow landing (landing)</short_desc>
-      <long_desc>Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
+      <long_desc>Below this altitude descending velocity gets
+limited to "MPC_LAND_SPEED"
+Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
       <min>0</min>
       <max>122</max>
       <unit>m</unit>
@@ -17273,7 +9528,8 @@
     </parameter>
     <parameter name="MPC_LAND_ALT3" default="1." type="FLOAT">
       <short_desc>Altitude for 3. step of slow landing</short_desc>
-      <long_desc>Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available</long_desc>
+      <long_desc>If a valid distance sensor measurement to the ground is available,
+limit descending velocity to "MPC_LAND_CRWL" below this altitude.</long_desc>
       <min>0</min>
       <max>122</max>
       <unit>m</unit>
@@ -17286,17 +9542,26 @@
       <unit>m/s</unit>
       <decimal>1</decimal>
     </parameter>
-    <parameter name="MPC_LAND_RADIUS" default="1000." type="FLOAT">
+    <parameter name="MPC_LAND_RADIUS" default="-1.0" type="FLOAT">
       <short_desc>User assisted landing radius</short_desc>
-      <long_desc>When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.</long_desc>
-      <min>0</min>
+      <long_desc>When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum
+allowed horizontal displacement from the original landing point.
+- If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.
+- If outside of the radius, only allow nudging inputs that move the vehicle back towards it.
+Set it to -1 for infinite radius.</long_desc>
+      <min>-1</min>
       <unit>m</unit>
       <decimal>0</decimal>
       <increment>1</increment>
     </parameter>
     <parameter name="MPC_LAND_RC_HELP" default="0" type="INT32">
       <short_desc>Enable nudging based on user input during autonomous land routine</short_desc>
-      <long_desc>Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</long_desc>
+      <long_desc>Using stick input the vehicle can be moved horizontally and yawed.
+The descend speed is amended:
+stick full up - 0
+stick centered - MPC_LAND_SPEED
+stick full down - 2 * MPC_LAND_SPEED
+Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</long_desc>
       <min>0</min>
       <max>1</max>
       <values>
@@ -17312,7 +9577,9 @@
     </parameter>
     <parameter name="MPC_MANTHR_MIN" default="0.08" type="FLOAT">
       <short_desc>Minimum collective thrust in Stabilized mode</short_desc>
-      <long_desc>The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).</long_desc>
+      <long_desc>The value is mapped to the lowest throttle stick position in Stabilized mode.
+Too low collective thrust leads to loss of roll/pitch/yaw torque control authority.
+Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).</long_desc>
       <min>0</min>
       <max>1</max>
       <unit>norm</unit>
@@ -17320,7 +9587,7 @@
       <increment>0.01</increment>
     </parameter>
     <parameter name="MPC_MAN_TILT_MAX" default="35." type="FLOAT">
-      <short_desc>Maximal tilt angle in Stabilized or Altitude mode</short_desc>
+      <short_desc>Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode</short_desc>
       <min>1</min>
       <max>70</max>
       <unit>deg</unit>
@@ -17337,7 +9604,8 @@
     </parameter>
     <parameter name="MPC_MAN_Y_TAU" default="0.08" type="FLOAT">
       <short_desc>Manual yaw rate input filter time constant</short_desc>
-      <long_desc>Not used in Stabilized mode Setting this parameter to 0 disables the filter</long_desc>
+      <long_desc>Not used in Stabilized mode
+Setting this parameter to 0 disables the filter</long_desc>
       <min>0</min>
       <max>5</max>
       <unit>s</unit>
@@ -17346,7 +9614,13 @@
     </parameter>
     <parameter name="MPC_POS_MODE" default="4" type="INT32">
       <short_desc>Position/Altitude mode variant</short_desc>
-      <long_desc>The supported sub-modes are: - "Direct velocity": Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. - "Acceleration based": Sticks map to acceleration and there's a virtual brake drag</long_desc>
+      <long_desc>The supported sub-modes are:
+Direct velocity:
+Sticks directly map to velocity setpoints without smoothing.
+Also applies to vertical direction and Altitude mode.
+Useful for velocity control tuning.
+Acceleration based:
+Sticks map to acceleration and there's a virtual brake drag</long_desc>
       <values>
         <value code="0">Direct velocity</value>
         <value code="4">Acceleration based</value>
@@ -17354,15 +9628,27 @@
     </parameter>
     <parameter name="MPC_THR_CURVE" default="0" type="INT32">
       <short_desc>Thrust curve mapping in Stabilized Mode</short_desc>
-      <long_desc>This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</long_desc>
+      <long_desc>Defines how the throttle stick is mapped to collective thrust in Stabilized mode.
+Rescale to hover thrust estimate:
+Stick input is linearly rescaled, such that a centered throttle stick corresponds to the hover thrust estimator's output.
+No rescale:
+Directly map the stick 1:1 to the output.
+Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive.
+Rescale to hover thrust parameter:
+Similar to rescaling to the hover thrust estimate, but it uses the hover thrust parameter value (see MPC_THR_HOVER) instead of estimated value.
+With MPC_THR_HOVER 0.5 it's equivalent to No rescale.</long_desc>
       <values>
-        <value code="0">Rescale to hover thrust</value>
-        <value code="1">No Rescale</value>
+        <value code="0">Rescale to estimate</value>
+        <value code="1">No rescale</value>
+        <value code="2">Rescale to parameter</value>
       </values>
     </parameter>
     <parameter name="MPC_THR_HOVER" default="0.5" type="FLOAT">
       <short_desc>Vertical thrust required to hover</short_desc>
-      <long_desc>Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.</long_desc>
+      <long_desc>Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).
+Used for initialization of the hover thrust estimator.
+The estimated hover thrust is used as base for zero vertical acceleration in altitude control.
+The hover thrust is important for land detection to work correctly.</long_desc>
       <min>0.1</min>
       <max>0.8</max>
       <unit>norm</unit>
@@ -17380,7 +9666,9 @@
     </parameter>
     <parameter name="MPC_THR_MIN" default="0.12" type="FLOAT">
       <short_desc>Minimum collective thrust in climb rate controlled modes</short_desc>
-      <long_desc>Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).</long_desc>
+      <long_desc>Too low thrust leads to loss of roll/pitch/yaw torque control authority.
+With airmode enabled this parameters can be set to 0
+while still keeping torque authority (see MC_AIRMODE).</long_desc>
       <min>0.05</min>
       <max>0.5</max>
       <unit>norm</unit>
@@ -17389,7 +9677,8 @@
     </parameter>
     <parameter name="MPC_THR_XY_MARG" default="0.3" type="FLOAT">
       <short_desc>Horizontal thrust margin</short_desc>
-      <long_desc>Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.</long_desc>
+      <long_desc>Margin that is kept for horizontal control when higher priority vertical thrust is saturated.
+To avoid completely starving horizontal control with high vertical error.</long_desc>
       <min>0</min>
       <max>0.5</max>
       <unit>norm</unit>
@@ -17398,7 +9687,8 @@
     </parameter>
     <parameter name="MPC_TILTMAX_AIR" default="45." type="FLOAT">
       <short_desc>Maximum tilt angle in air</short_desc>
-      <long_desc>Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.</long_desc>
+      <long_desc>Absolute maximum for all velocity or acceleration controlled modes.
+Any higher value is truncated.</long_desc>
       <min>20</min>
       <max>89</max>
       <unit>deg</unit>
@@ -17416,7 +9706,9 @@
     </parameter>
     <parameter name="MPC_TKO_RAMP_T" default="3." type="FLOAT">
       <short_desc>Smooth takeoff ramp time constant</short_desc>
-      <long_desc>Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</long_desc>
+      <long_desc>Increasing this value will make climb rate controlled takeoff slower.
+If it's too slow the drone might scratch the ground and tip over.
+A time constant of 0 disables the ramp</long_desc>
       <min>0</min>
       <max>5</max>
       <unit>s</unit>
@@ -17428,10 +9720,6 @@
       <unit>m/s</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="MPC_USE_HTE" default="1" type="INT32" boolean="true">
-      <short_desc>Hover thrust estimator</short_desc>
-      <long_desc>Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator</long_desc>
-    </parameter>
     <parameter name="MPC_VELD_LP" default="5.0" type="FLOAT">
       <short_desc>Velocity derivative low pass cutoff frequency</short_desc>
       <long_desc>A value of 0 disables the filter.</long_desc>
@@ -17452,7 +9740,9 @@
     </parameter>
     <parameter name="MPC_VEL_MANUAL" default="10." type="FLOAT">
       <short_desc>Maximum horizontal velocity setpoint in Position mode</short_desc>
-      <long_desc>Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</long_desc>
+      <long_desc>Must be smaller than MPC_XY_VEL_MAX.
+The maximum sideways and backward speed can be set differently
+using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</long_desc>
       <min>3</min>
       <max>20</max>
       <unit>m/s</unit>
@@ -17461,7 +9751,8 @@
     </parameter>
     <parameter name="MPC_VEL_MAN_BACK" default="-1." type="FLOAT">
       <short_desc>Maximum backward velocity in Position mode</short_desc>
-      <long_desc>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</long_desc>
+      <long_desc>If set to a negative value or larger than
+MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</long_desc>
       <min>-1</min>
       <max>20</max>
       <unit>m/s</unit>
@@ -17470,7 +9761,8 @@
     </parameter>
     <parameter name="MPC_VEL_MAN_SIDE" default="-1." type="FLOAT">
       <short_desc>Maximum sideways velocity in Position mode</short_desc>
-      <long_desc>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</long_desc>
+      <long_desc>If set to a negative value or larger than
+MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</long_desc>
       <min>-1</min>
       <max>20</max>
       <unit>m/s</unit>
@@ -17488,7 +9780,8 @@
     </parameter>
     <parameter name="MPC_VEL_NF_FRQ" default="0.0" type="FLOAT">
       <short_desc>Velocity notch filter frequency</short_desc>
-      <long_desc>The center frequency for the 2nd order notch filter on the velocity. A value of 0 disables the filter.</long_desc>
+      <long_desc>The center frequency for the 2nd order notch filter on the velocity.
+A value of 0 disables the filter.</long_desc>
       <min>0</min>
       <max>50</max>
       <unit>Hz</unit>
@@ -17506,20 +9799,17 @@
     </parameter>
     <parameter name="MPC_XY_ERR_MAX" default="2." type="FLOAT">
       <short_desc>Maximum horizontal error allowed by the trajectory generator</short_desc>
-      <long_desc>The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.</long_desc>
+      <long_desc>The integration speed of the trajectory setpoint is linearly
+reduced with the horizontal position tracking error. When the
+error is above this parameter, the integration of the
+trajectory is stopped to wait for the drone.
+This value can be adjusted depending on the tracking
+capabilities of the vehicle.</long_desc>
       <min>0.1</min>
       <max>10</max>
       <decimal>1</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter name="MPC_XY_MAN_EXPO" default="0.6" type="FLOAT">
-      <short_desc>Manual position control stick exponential curve sensitivity</short_desc>
-      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
     <parameter name="MPC_XY_P" default="0.95" type="FLOAT">
       <short_desc>Proportional gain for horizontal position error</short_desc>
       <long_desc>Defined as corrective velocity in m/s per m position error</long_desc>
@@ -17537,7 +9827,9 @@
     </parameter>
     <parameter name="MPC_XY_VEL_ALL" default="-10." type="FLOAT">
       <short_desc>Overall Horizontal Velocity Limit</short_desc>
-      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.</long_desc>
+      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as
+MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
+If set to a negative value, the existing individual parameters are used.</long_desc>
       <min>-20</min>
       <max>20</max>
       <decimal>1</decimal>
@@ -17553,7 +9845,8 @@
     </parameter>
     <parameter name="MPC_XY_VEL_I_ACC" default="0.4" type="FLOAT">
       <short_desc>Integral gain for horizontal velocity error</short_desc>
-      <long_desc>Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.</long_desc>
+      <long_desc>Defined as correction acceleration in m/s^2 per m velocity integral
+Allows to eliminate steady state errors in disturbances like wind.</long_desc>
       <min>0</min>
       <max>60</max>
       <decimal>2</decimal>
@@ -17561,7 +9854,8 @@
     </parameter>
     <parameter name="MPC_XY_VEL_MAX" default="12." type="FLOAT">
       <short_desc>Maximum horizontal velocity</short_desc>
-      <long_desc>Absolute maximum for all velocity controlled modes. Any higher value is truncated.</long_desc>
+      <long_desc>Absolute maximum for all velocity controlled modes.
+Any higher value is truncated.</long_desc>
       <min>0</min>
       <max>20</max>
       <unit>m/s</unit>
@@ -17576,22 +9870,6 @@
       <decimal>2</decimal>
       <increment>0.1</increment>
     </parameter>
-    <parameter name="MPC_YAW_EXPO" default="0.6" type="FLOAT">
-      <short_desc>Manual control stick yaw rotation exponential curve</short_desc>
-      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="MPC_Z_MAN_EXPO" default="0.6" type="FLOAT">
-      <short_desc>Manual control stick vertical exponential curve</short_desc>
-      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
     <parameter name="MPC_Z_P" default="1." type="FLOAT">
       <short_desc>Proportional gain for vertical position error</short_desc>
       <long_desc>Defined as corrective velocity in m/s per m position error</long_desc>
@@ -17602,7 +9880,9 @@
     </parameter>
     <parameter name="MPC_Z_VEL_ALL" default="-3." type="FLOAT">
       <short_desc>Overall Vertical Velocity Limit</short_desc>
-      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.</long_desc>
+      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as
+MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
+If set to a negative value, the existing individual parameters are used.</long_desc>
       <min>-3</min>
       <max>8</max>
       <decimal>1</decimal>
@@ -17626,7 +9906,9 @@
     </parameter>
     <parameter name="MPC_Z_VEL_MAX_DN" default="1.5" type="FLOAT">
       <short_desc>Maximum descent velocity</short_desc>
-      <long_desc>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
+      <long_desc>Absolute maximum for all climb rate controlled modes.
+In manually piloted modes full stick deflection commands this velocity.
+For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
       <min>0.5</min>
       <max>4</max>
       <unit>m/s</unit>
@@ -17635,7 +9917,9 @@
     </parameter>
     <parameter name="MPC_Z_VEL_MAX_UP" default="3." type="FLOAT">
       <short_desc>Maximum ascent velocity</short_desc>
-      <long_desc>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
+      <long_desc>Absolute maximum for all climb rate controlled modes.
+In manually piloted modes full stick deflection commands this velocity.
+For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
       <min>0.5</min>
       <max>8</max>
       <unit>m/s</unit>
@@ -17670,7 +9954,11 @@
     </parameter>
     <parameter name="SYS_VEHICLE_RESP" default="-0.4" type="FLOAT">
       <short_desc>Responsiveness</short_desc>
-      <long_desc>Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.</long_desc>
+      <long_desc>Changes the overall responsiveness of the vehicle.
+The higher the value, the faster the vehicle will react.
+If set to a value greater than zero, other parameters are automatically set (such as
+the acceleration or jerk limits).
+If set to a negative value, the existing individual parameters are used.</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -17695,7 +9983,9 @@
   <group name="Multicopter Position Slow Mode">
     <parameter name="MC_SLOW_DEF_HVEL" default="3." type="FLOAT">
       <short_desc>Default horizontal velocity limit</short_desc>
-      <long_desc>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</long_desc>
+      <long_desc>This value is used in slow mode if
+no aux channel is mapped and
+no limit is commanded through MAVLink.</long_desc>
       <min>0.1</min>
       <unit>m/s</unit>
       <decimal>2</decimal>
@@ -17703,7 +9993,9 @@
     </parameter>
     <parameter name="MC_SLOW_DEF_VVEL" default="1." type="FLOAT">
       <short_desc>Default vertical velocity limit</short_desc>
-      <long_desc>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</long_desc>
+      <long_desc>This value is used in slow mode if
+no aux channel is mapped and
+no limit is commanded through MAVLink.</long_desc>
       <min>0.1</min>
       <unit>m/s</unit>
       <decimal>2</decimal>
@@ -17711,7 +10003,9 @@
     </parameter>
     <parameter name="MC_SLOW_DEF_YAWR" default="45." type="FLOAT">
       <short_desc>Default yaw rate limit</short_desc>
-      <long_desc>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</long_desc>
+      <long_desc>This value is used in slow mode if
+no aux channel is mapped and
+no limit is commanded through MAVLink.</long_desc>
       <min>1</min>
       <unit>deg/s</unit>
       <decimal>0</decimal>
@@ -17729,6 +10023,18 @@
         <value code="6">AUX6</value>
       </values>
     </parameter>
+    <parameter name="MC_SLOW_MAP_PTCH" default="0" type="INT32">
+      <short_desc>RC_MAP_AUX{N} to allow for gimbal pitch rate control in position slow mode</short_desc>
+      <values>
+        <value code="0">No pitch rate input</value>
+        <value code="1">AUX1</value>
+        <value code="2">AUX2</value>
+        <value code="3">AUX3</value>
+        <value code="4">AUX4</value>
+        <value code="5">AUX5</value>
+        <value code="6">AUX6</value>
+      </values>
+    </parameter>
     <parameter name="MC_SLOW_MAP_VVEL" default="0" type="INT32">
       <short_desc>Manual input mapped to scale vertical velocity in position slow mode</short_desc>
       <values>
@@ -17781,7 +10087,11 @@
   <group name="Multicopter Rate Control">
     <parameter name="MC_BAT_SCALE_EN" default="0" type="INT32" boolean="true">
       <short_desc>Battery power level scaler</short_desc>
-      <long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
+      <long_desc>This compensates for voltage drop of the battery over time by attempting to
+normalize performance across the operating range of the battery. The copter
+should constantly behave as if it was fully charged with reduced max acceleration
+at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
+it will still be 0.5 at 60% battery.</long_desc>
     </parameter>
     <parameter name="MC_PITCHRATE_D" default="0.003" type="FLOAT">
       <short_desc>Pitch rate D gain</short_desc>
@@ -17805,7 +10115,13 @@
     </parameter>
     <parameter name="MC_PITCHRATE_K" default="1.0" type="FLOAT">
       <short_desc>Pitch rate controller gain</short_desc>
-      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
+      <long_desc>Global gain of the controller.
+This gain scales the P, I and D terms of the controller:
+output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error
++ MC_PITCHRATE_I * error_integral
++ MC_PITCHRATE_D * error_derivative)
+Set MC_PITCHRATE_P=1 to implement a PID in the ideal form.
+Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
       <min>0.01</min>
       <max>5.0</max>
       <decimal>4</decimal>
@@ -17849,7 +10165,13 @@
     </parameter>
     <parameter name="MC_ROLLRATE_K" default="1.0" type="FLOAT">
       <short_desc>Roll rate controller gain</short_desc>
-      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
+      <long_desc>Global gain of the controller.
+This gain scales the P, I and D terms of the controller:
+output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error
++ MC_ROLLRATE_I * error_integral
++ MC_ROLLRATE_D * error_derivative)
+Set MC_ROLLRATE_P=1 to implement a PID in the ideal form.
+Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
       <min>0.01</min>
       <max>5.0</max>
       <decimal>4</decimal>
@@ -17874,27 +10196,32 @@
       <short_desc>Yaw rate D gain</short_desc>
       <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
       <min>0.0</min>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+      <decimal>4</decimal>
+      <increment>0.0005</increment>
     </parameter>
     <parameter name="MC_YAWRATE_FF" default="0.0" type="FLOAT">
       <short_desc>Yaw rate feedforward</short_desc>
       <long_desc>Improves tracking performance.</long_desc>
       <min>0.0</min>
       <decimal>4</decimal>
-      <increment>0.01</increment>
     </parameter>
     <parameter name="MC_YAWRATE_I" default="0.1" type="FLOAT">
       <short_desc>Yaw rate I gain</short_desc>
       <long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
       <min>0.0</min>
-      <decimal>2</decimal>
+      <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="MC_YAWRATE_K" default="1.0" type="FLOAT">
       <short_desc>Yaw rate controller gain</short_desc>
-      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</long_desc>
-      <min>0.0</min>
+      <long_desc>Global gain of the controller.
+This gain scales the P, I and D terms of the controller:
+output = MC_YAWRATE_K * (MC_YAWRATE_P * error
++ MC_YAWRATE_I * error_integral
++ MC_YAWRATE_D * error_derivative)
+Set MC_YAWRATE_P=1 to implement a PID in the ideal form.
+Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</long_desc>
+      <min>0.01</min>
       <max>5.0</max>
       <decimal>4</decimal>
       <increment>0.0005</increment>
@@ -17904,9 +10231,18 @@
       <long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
       <min>0.0</min>
       <max>0.6</max>
-      <decimal>2</decimal>
+      <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
+    <parameter name="MC_YAW_TQ_CUTOFF" default="2." type="FLOAT">
+      <short_desc>Low pass filter cutoff frequency for yaw torque setpoint</short_desc>
+      <long_desc>Reduces vibrations by lowering high frequency torque caused by rotor acceleration.
+0 disables the filter</long_desc>
+      <min>0</min>
+      <max>10</max>
+      <unit>Hz</unit>
+      <decimal>3</decimal>
+    </parameter>
     <parameter name="MC_YR_INT_LIM" default="0.30" type="FLOAT">
       <short_desc>Yaw rate integrator limit</short_desc>
       <long_desc>Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</long_desc>
@@ -17916,38 +10252,11 @@
     </parameter>
   </group>
   <group name="OSD">
-    <parameter name="MSP_OSD_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for MSP OSD</short_desc>
-      <long_desc>Configure on which serial port to run MSP OSD.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="OSD_ATXXXX_CFG" default="0" type="INT32">
-      <short_desc>Enable/Disable the ATXXX OSD Chip</short_desc>
-      <long_desc>Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">NTSC</value>
-        <value code="2">PAL</value>
-      </values>
-    </parameter>
     <parameter name="OSD_CH_HEIGHT" default="0" type="INT32">
       <short_desc>OSD Crosshairs Height</short_desc>
-      <long_desc>Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon</long_desc>
+      <long_desc>Controls the vertical position of the crosshair display.
+Resolution is limited by OSD to 15 discrete values. Negative
+values will display the crosshairs below the horizon</long_desc>
       <min>-8</min>
       <max>8</max>
     </parameter>
@@ -17961,9 +10270,16 @@
       <short_desc>OSD Warning Level</short_desc>
       <long_desc>Minimum security of log level to display on the OSD.</long_desc>
     </parameter>
+    <parameter name="OSD_RC_STICK" default="1" type="INT32">
+      <short_desc>OSD RC Stick commands</short_desc>
+      <long_desc>Forward RC stick input to VTX when disarmed</long_desc>
+      <min>0</min>
+      <max>1</max>
+    </parameter>
     <parameter name="OSD_SCROLL_RATE" default="125" type="INT32">
       <short_desc>OSD Scroll Rate (ms)</short_desc>
-      <long_desc>Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.</long_desc>
+      <long_desc>Scroll rate in milliseconds for OSD messages longer than available character width.
+This is lower-bounded by the nominal loop rate of this module.</long_desc>
       <min>100</min>
       <max>1000</max>
     </parameter>
@@ -17999,13 +10315,13 @@
     </parameter>
   </group>
   <group name="PWM Outputs">
-    <parameter name="PWM_SBUS_MODE" default="0" type="INT32" boolean="true">
-      <short_desc>S.BUS out</short_desc>
-      <long_desc>Set to 1 to enable S.BUS version 1 output instead of RSSI.</long_desc>
-    </parameter>
     <parameter name="THR_MDL_FAC" default="0.0" type="FLOAT">
       <short_desc>Thrust to motor control signal model parameter</short_desc>
-      <long_desc>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</long_desc>
+      <long_desc>Parameter used to model the nonlinear relationship between
+motor control signal (e.g. PWM) and static thrust.
+The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal,
+where rel_thrust is the normalized thrust between 0 and 1, and
+rel_signal is the relative motor control signal between 0 and 1.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
       <decimal>1</decimal>
@@ -18013,13 +10329,12 @@
     </parameter>
   </group>
   <group name="Payload Deliverer">
-    <parameter name="PD_GRIPPER_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Enable Gripper actuation in Payload Deliverer</short_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="PD_GRIPPER_TO" default="3" type="FLOAT">
+    <parameter name="PD_GRIPPER_TO" default="1" type="FLOAT">
       <short_desc>Timeout for successful gripper actuation acknowledgement</short_desc>
-      <long_desc>Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action</long_desc>
+      <long_desc>Maximum time Gripper will wait while the successful griper actuation isn't recognised.
+If the gripper has no feedback sensor, it will simply wait for
+this time before considering gripper actuation successful and publish a
+'VehicleCommandAck' signaling successful gripper action</long_desc>
       <min>0</min>
       <unit>s</unit>
     </parameter>
@@ -18087,7 +10402,7 @@
     </parameter>
   </group>
   <group name="Pure Pursuit">
-    <parameter name="PP_LOOKAHD_GAIN" default="1" type="FLOAT">
+    <parameter name="PP_LOOKAHD_GAIN" default="1.0" type="FLOAT">
       <short_desc>Tuning parameter for the pure pursuit controller</short_desc>
       <long_desc>Lower value -&gt; More aggressive controller (beware overshoot/oscillations)</long_desc>
       <min>0.1</min>
@@ -18095,7 +10410,7 @@
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="PP_LOOKAHD_MAX" default="10" type="FLOAT">
+    <parameter name="PP_LOOKAHD_MAX" default="10.0" type="FLOAT">
       <short_desc>Maximum lookahead distance for the pure pursuit controller</short_desc>
       <min>0.1</min>
       <max>100</max>
@@ -18103,7 +10418,7 @@
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="PP_LOOKAHD_MIN" default="1" type="FLOAT">
+    <parameter name="PP_LOOKAHD_MIN" default="1.0" type="FLOAT">
       <short_desc>Minimum lookahead distance for the pure pursuit controller</short_desc>
       <min>0.1</min>
       <max>100</max>
@@ -18112,42 +10427,7 @@
       <increment>0.01</increment>
     </parameter>
   </group>
-  <group name="RC">
-    <parameter name="RC_CRSF_TEL_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Crossfire RC telemetry enable</short_desc>
-      <long_desc>Crossfire telemetry enable</long_desc>
-    </parameter>
-    <parameter name="RC_GHST_TEL_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Ghost RC telemetry enable</short_desc>
-      <long_desc>Ghost telemetry enable</long_desc>
-    </parameter>
-  </group>
-  <group name="RC Input">
-    <parameter name="RC_INPUT_PROTO" default="-1" type="INT32" category="System">
-      <short_desc>RC input protocol</short_desc>
-      <long_desc>Select your RC input protocol or auto to scan.</long_desc>
-      <min>-1</min>
-      <max>7</max>
-      <values>
-        <value code="-1">Auto</value>
-        <value code="0">None</value>
-        <value code="1">PPM</value>
-        <value code="2">SBUS</value>
-        <value code="3">DSM</value>
-        <value code="4">ST24</value>
-        <value code="5">SUMD</value>
-        <value code="6">CRSF</value>
-        <value code="7">GHST</value>
-      </values>
-    </parameter>
-  </group>
   <group name="Radio Calibration">
-    <parameter name="RC10_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 10 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC10_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 10 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18179,12 +10459,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC11_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 11 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC11_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 11 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18216,12 +10490,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC12_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 12 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC12_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 12 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18253,12 +10521,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC13_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 13 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC13_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 13 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18290,12 +10552,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC14_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 14 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC14_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 14 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18327,12 +10583,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC15_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 15 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC15_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 15 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18364,12 +10614,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC16_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 16 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC16_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 16 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18401,12 +10645,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC17_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 17 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC17_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 17 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18438,12 +10676,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC18_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 18 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC18_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 18 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18475,13 +10707,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC1_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 1 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>us</unit>
-    </parameter>
     <parameter name="RC1_MAX" default="2000.0" type="FLOAT">
       <short_desc>RC channel 1 maximum</short_desc>
       <long_desc>Maximum value for RC channel 1</long_desc>
@@ -18513,13 +10738,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC2_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 2 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>us</unit>
-    </parameter>
     <parameter name="RC2_MAX" default="2000.0" type="FLOAT">
       <short_desc>RC channel 2 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18551,13 +10769,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC3_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 3 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>us</unit>
-    </parameter>
     <parameter name="RC3_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 3 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18589,13 +10800,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC4_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 4 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <unit>us</unit>
-    </parameter>
     <parameter name="RC4_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 4 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18627,12 +10831,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC5_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 5 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC5_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 5 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18664,12 +10862,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC6_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 6 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC6_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 6 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18701,12 +10893,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC7_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 7 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC7_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 7 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18738,12 +10924,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC8_DZ" default="10.0" type="FLOAT">
-      <short_desc>RC channel 8 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC8_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 8 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18775,12 +10955,6 @@
       <max>2200.0</max>
       <unit>us</unit>
     </parameter>
-    <parameter name="RC9_DZ" default="0.0" type="FLOAT">
-      <short_desc>RC channel 9 dead zone</short_desc>
-      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-    </parameter>
     <parameter name="RC9_MAX" default="2000" type="FLOAT">
       <short_desc>RC channel 9 maximum</short_desc>
       <long_desc>Maximum value for this channel.</long_desc>
@@ -18814,20 +10988,25 @@
     </parameter>
     <parameter name="RC_CHAN_CNT" default="0" type="INT32">
       <short_desc>RC channel count</short_desc>
-      <long_desc>This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.</long_desc>
+      <long_desc>This parameter is used by Ground Station software to save the number
+of channels which were used during RC calibration. It is only meant
+for ground station use.</long_desc>
       <min>0</min>
       <max>18</max>
     </parameter>
     <parameter name="RC_FAILS_THR" default="0" type="INT32">
       <short_desc>Failsafe channel PWM threshold</short_desc>
-      <long_desc>Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).</long_desc>
+      <long_desc>Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold.
+By default this is the throttle channel.
+Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event,
+but below the minimum PWM value for the channel during normal operation.
+Note: The default value of 0 disables the feature (it is below the expected range).</long_desc>
       <min>0</min>
       <max>2200</max>
       <unit>us</unit>
     </parameter>
     <parameter name="RC_MAP_AUX1" default="0" type="INT32">
       <short_desc>AUX1 Passthrough RC channel</short_desc>
-      <long_desc>Default function: Camera pitch</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -18854,7 +11033,6 @@
     </parameter>
     <parameter name="RC_MAP_AUX2" default="0" type="INT32">
       <short_desc>AUX2 Passthrough RC channel</short_desc>
-      <long_desc>Default function: Camera roll</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -18881,7 +11059,6 @@
     </parameter>
     <parameter name="RC_MAP_AUX3" default="0" type="INT32">
       <short_desc>AUX3 Passthrough RC channel</short_desc>
-      <long_desc>Default function: Camera azimuth / yaw</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19012,7 +11189,11 @@
     </parameter>
     <parameter name="RC_MAP_FAILSAFE" default="0" type="INT32">
       <short_desc>Failsafe channel mapping</short_desc>
-      <long_desc>Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.</long_desc>
+      <long_desc>Configures which RC channel is used by the receiver to indicate the signal was lost
+(on receivers that use output a fixed signal value to report lost signal).
+If set to 0, the channel mapped to throttle is used.
+Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below
+the expected range and hence disabled.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19039,7 +11220,8 @@
     </parameter>
     <parameter name="RC_MAP_PARAM1" default="0" type="INT32">
       <short_desc>PARAM1 tuning channel</short_desc>
-      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</long_desc>
+      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
+Set to 0 to deactivate *</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19066,7 +11248,8 @@
     </parameter>
     <parameter name="RC_MAP_PARAM2" default="0" type="INT32">
       <short_desc>PARAM2 tuning channel</short_desc>
-      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</long_desc>
+      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
+Set to 0 to deactivate *</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19093,7 +11276,8 @@
     </parameter>
     <parameter name="RC_MAP_PARAM3" default="0" type="INT32">
       <short_desc>PARAM3 tuning channel</short_desc>
-      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</long_desc>
+      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
+Set to 0 to deactivate *</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19120,7 +11304,9 @@
     </parameter>
     <parameter name="RC_MAP_PITCH" default="0" type="INT32">
       <short_desc>Pitch control channel mapping</short_desc>
-      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.</long_desc>
+      <long_desc>The channel index (starting from 1 for channel 1) indicates
+which channel should be used for reading pitch inputs from.
+A value of zero indicates the switch is not assigned.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19147,7 +11333,9 @@
     </parameter>
     <parameter name="RC_MAP_ROLL" default="0" type="INT32">
       <short_desc>Roll control channel mapping</short_desc>
-      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.</long_desc>
+      <long_desc>The channel index (starting from 1 for channel 1) indicates
+which channel should be used for reading roll inputs from.
+A value of zero indicates the switch is not assigned.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19174,7 +11362,9 @@
     </parameter>
     <parameter name="RC_MAP_THROTTLE" default="0" type="INT32">
       <short_desc>Throttle control channel mapping</short_desc>
-      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.</long_desc>
+      <long_desc>The channel index (starting from 1 for channel 1) indicates
+which channel should be used for reading throttle inputs from.
+A value of zero indicates the switch is not assigned.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19201,7 +11391,9 @@
     </parameter>
     <parameter name="RC_MAP_YAW" default="0" type="INT32">
       <short_desc>Yaw control channel mapping</short_desc>
-      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.</long_desc>
+      <long_desc>The channel index (starting from 1 for channel 1) indicates
+which channel should be used for reading yaw inputs from.
+A value of zero indicates the switch is not assigned.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19228,7 +11420,9 @@
     </parameter>
     <parameter name="RC_RSSI_PWM_CHAN" default="0" type="INT32">
       <short_desc>PWM input channel that provides RSSI</short_desc>
-      <long_desc>0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</long_desc>
+      <long_desc>0: do not read RSSI from input channel
+1-18: read RSSI from specified input channel
+Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19267,7 +11461,8 @@
     </parameter>
     <parameter name="TRIM_PITCH" default="0.0" type="FLOAT">
       <short_desc>Pitch trim</short_desc>
-      <long_desc>The trim value is the actuator control value the system needs for straight and level flight.</long_desc>
+      <long_desc>The trim value is the actuator control value the system needs
+for straight and level flight.</long_desc>
       <min>-0.5</min>
       <max>0.5</max>
       <decimal>2</decimal>
@@ -19275,7 +11470,8 @@
     </parameter>
     <parameter name="TRIM_ROLL" default="0.0" type="FLOAT">
       <short_desc>Roll trim</short_desc>
-      <long_desc>The trim value is the actuator control value the system needs for straight and level flight.</long_desc>
+      <long_desc>The trim value is the actuator control value the system needs
+for straight and level flight.</long_desc>
       <min>-0.5</min>
       <max>0.5</max>
       <decimal>2</decimal>
@@ -19283,7 +11479,8 @@
     </parameter>
     <parameter name="TRIM_YAW" default="0.0" type="FLOAT">
       <short_desc>Yaw trim</short_desc>
-      <long_desc>The trim value is the actuator control value the system needs for straight and level flight.</long_desc>
+      <long_desc>The trim value is the actuator control value the system needs
+for straight and level flight.</long_desc>
       <min>-0.5</min>
       <max>0.5</max>
       <decimal>2</decimal>
@@ -19293,37 +11490,68 @@
   <group name="Radio Switches">
     <parameter name="RC_ARMSWITCH_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for the arm switch</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_ENG_MOT_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for selecting main motor engage</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_GEAR_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for the landing gear switch</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_KILLSWITCH_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for the kill switch</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_LOITER_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for selecting loiter mode</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_MAP_ARM_SW" default="0" type="INT32">
       <short_desc>Arm switch channel</short_desc>
-      <long_desc>Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.</long_desc>
+      <long_desc>Use it to arm/disarm via switch instead of default throttle stick. If this is
+assigned, arming and disarming via stick is disabled.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19376,7 +11604,8 @@
     </parameter>
     <parameter name="RC_MAP_FLTMODE" default="0" type="INT32">
       <short_desc>Single channel flight mode selection</short_desc>
-      <long_desc>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</long_desc>
+      <long_desc>If this parameter is non-zero, flight modes are only selected
+by this channel and are assigned to six slots.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19403,7 +11632,11 @@
     </parameter>
     <parameter name="RC_MAP_FLTM_BTN" default="0" type="INT32">
       <short_desc>Button flight mode selection</short_desc>
-      <long_desc>This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.</long_desc>
+      <long_desc>This bitmask allows to specify multiple channels for changing flight modes using
+momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1).
+The resulting modes for each slot X is defined by the COM_FLTMODEX parameters.
+The functionality can be used only if RC_MAP_FLTMODE is disabled.
+The maximum number of available slots and hence bits set in the mask is 6.</long_desc>
       <min>0</min>
       <max>258048</max>
       <bitmask>
@@ -19455,6 +11688,9 @@
     </parameter>
     <parameter name="RC_MAP_KILL_SW" default="0" type="INT32">
       <short_desc>Emergency Kill switch channel</short_desc>
+      <long_desc>This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.
+Unlike termination this can be undone. Quickly flipping the switch back restores control.
+System auto-disarms after COM_KILL_DISARM seconds, preflight checks and re-arming are then required.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19507,7 +11743,10 @@
     </parameter>
     <parameter name="RC_MAP_MODE_SW" default="0" type="INT32">
       <short_desc>Mode switch channel mapping (deprecated)</short_desc>
-      <long_desc>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</long_desc>
+      <long_desc>This is the main flight mode selector.
+The channel index (starting from 1 for channel 1) indicates
+which channel should be used for deciding about the main mode.
+A value of zero indicates the switch is not assigned.</long_desc>
       <min>0</min>
       <max>18</max>
       <values>
@@ -19610,6 +11849,36 @@
         <value code="18">Channel 18</value>
       </values>
     </parameter>
+    <parameter name="RC_MAP_TERM_SW" default="0" type="INT32">
+      <short_desc>Termination switch channel</short_desc>
+      <long_desc>This channel triggers irreversible flight termination:
+All outputs are disabled and set to their failsafe values (disarmed by default)
+and MAVLink parachutes are triggered.
+Unlike a kill switch, this cannot be undone until system reboot. Use with caution.</long_desc>
+      <min>0</min>
+      <max>18</max>
+      <values>
+        <value code="0">Unassigned</value>
+        <value code="1">Channel 1</value>
+        <value code="2">Channel 2</value>
+        <value code="3">Channel 3</value>
+        <value code="4">Channel 4</value>
+        <value code="5">Channel 5</value>
+        <value code="6">Channel 6</value>
+        <value code="7">Channel 7</value>
+        <value code="8">Channel 8</value>
+        <value code="9">Channel 9</value>
+        <value code="10">Channel 10</value>
+        <value code="11">Channel 11</value>
+        <value code="12">Channel 12</value>
+        <value code="13">Channel 13</value>
+        <value code="14">Channel 14</value>
+        <value code="15">Channel 15</value>
+        <value code="16">Channel 16</value>
+        <value code="17">Channel 17</value>
+        <value code="18">Channel 18</value>
+      </values>
+    </parameter>
     <parameter name="RC_MAP_TRANS_SW" default="0" type="INT32">
       <short_desc>VTOL transition switch channel mapping</short_desc>
       <min>0</min>
@@ -19638,33 +11907,70 @@
     </parameter>
     <parameter name="RC_OFFB_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for selecting offboard mode</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
+      <min>-1</min>
+      <max>1</max>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="RC_PAYLOAD_MIDTH" default="0.25" type="FLOAT">
+      <short_desc>Threshold for mid position of payload power switch</short_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_PAYLOAD_TH" default="0.75" type="FLOAT">
-      <short_desc>Threshold for selecting payload power switch</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <short_desc>Threshold for on position of payload power switch</short_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_RETURN_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for selecting return to launch mode</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="RC_TRANS_TH" default="0.75" type="FLOAT">
       <short_desc>Threshold for the VTOL transition switch</short_desc>
-      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
+      <long_desc>0-1 indicate where in the full channel range the threshold sits
+0 : min
+1 : max
+sign indicates polarity of comparison
+positive : true when channel&gt;th
+negative : true when channel&lt;th</long_desc>
       <min>-1</min>
       <max>1</max>
+      <decimal>2</decimal>
     </parameter>
   </group>
   <group name="Return Mode">
     <parameter name="RTL_CONE_ANG" default="45" type="INT32">
       <short_desc>Half-angle of the return mode altitude cone</short_desc>
-      <long_desc>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</long_desc>
+      <long_desc>Defines the half-angle of a cone centered around the destination position that
+affects the altitude at which the vehicle returns.</long_desc>
       <min>0</min>
       <max>90</max>
       <unit>deg</unit>
@@ -19679,7 +11985,9 @@
     </parameter>
     <parameter name="RTL_DESCEND_ALT" default="30." type="FLOAT">
       <short_desc>Return mode loiter altitude</short_desc>
-      <long_desc>Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.</long_desc>
+      <long_desc>Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY.
+Land (i.e. slowly descend) from this altitude if autolanding allowed.
+VTOLs do transition to hover in this altitdue above the landing point.</long_desc>
       <min>0</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -19687,7 +11995,8 @@
     </parameter>
     <parameter name="RTL_LAND_DELAY" default="0.0" type="FLOAT">
       <short_desc>Return mode delay</short_desc>
-      <long_desc>Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</long_desc>
+      <long_desc>Delay before landing (after initial descent) in Return mode.
+If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</long_desc>
       <min>-1</min>
       <unit>s</unit>
       <decimal>1</decimal>
@@ -19703,7 +12012,8 @@
     </parameter>
     <parameter name="RTL_MIN_DIST" default="10.0" type="FLOAT">
       <short_desc>Horizontal radius from return point within which special rules for return mode apply</short_desc>
-      <long_desc>The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.</long_desc>
+      <long_desc>The return altitude will be calculated based on RTL_CONE_ANG parameter.
+The yaw setpoint will switch to the one defined by corresponding waypoint.</long_desc>
       <min>0.5</min>
       <unit>m</unit>
       <decimal>1</decimal>
@@ -19711,7 +12021,8 @@
     </parameter>
     <parameter name="RTL_PLD_MD" default="0" type="INT32">
       <short_desc>RTL precision land mode</short_desc>
-      <long_desc>Use precision landing when doing an RTL landing phase.</long_desc>
+      <long_desc>Use precision landing when doing an RTL landing phase.
+This setting does not apply for RTL destinations planned as part of a mission.</long_desc>
       <values>
         <value code="0">No precision landing</value>
         <value code="1">Opportunistic precision landing</value>
@@ -19719,316 +12030,119 @@
       </values>
     </parameter>
     <parameter name="RTL_RETURN_ALT" default="60." type="FLOAT">
-      <short_desc>Return mode return altitude</short_desc>
-      <long_desc>Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.</long_desc>
-      <min>0</min>
-      <unit>m</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="RTL_TYPE" default="0" type="INT32">
-      <short_desc>Return type</short_desc>
-      <long_desc>Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)</long_desc>
-      <values>
-        <value code="0">Return to closest safe point (home or rally point) via direct path.</value>
-        <value code="1">Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.</value>
-        <value code="2">Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.</value>
-        <value code="3">Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.</value>
-      </values>
-    </parameter>
-  </group>
-  <group name="Return To Land">
-    <parameter name="RTL_APPR_FORCE" default="0" type="INT32" boolean="true">
-      <short_desc>RTL force approach landing</short_desc>
-      <long_desc>Only consider RTL point, if it has an approach defined.</long_desc>
-    </parameter>
-    <parameter name="RTL_TIME_FACTOR" default="1.1" type="FLOAT">
-      <short_desc>RTL time estimate safety margin factor</short_desc>
-      <long_desc>Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
-      <min>1.0</min>
-      <max>2.0</max>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="RTL_TIME_MARGIN" default="100" type="INT32">
-      <short_desc>RTL time estimate safety margin offset</short_desc>
-      <long_desc>Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
-      <min>0</min>
-      <max>3600</max>
-      <unit>s</unit>
-      <decimal>1</decimal>
-      <increment>1</increment>
-    </parameter>
-  </group>
-  <group name="Roboclaw">
-    <parameter name="RBCLW_SER_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Roboclaw Driver</short_desc>
-      <long_desc>Configure on which serial port to run Roboclaw Driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-  </group>
-  <group name="Roboclaw Driver">
-    <parameter name="RBCLW_ADDRESS" default="128" type="INT32">
-      <short_desc>Address of the ESC on the bus</short_desc>
-      <long_desc>The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.</long_desc>
-      <min>128</min>
-      <max>135</max>
-      <values>
-        <value code="128">0x80</value>
-        <value code="129">0x81</value>
-        <value code="130">0x82</value>
-        <value code="131">0x83</value>
-        <value code="132">0x84</value>
-        <value code="133">0x85</value>
-        <value code="134">0x86</value>
-        <value code="135">0x87</value>
-      </values>
-    </parameter>
-    <parameter name="RBCLW_COUNTS_REV" default="1200" type="INT32">
-      <short_desc>Number of encoder counts for one wheel revolution</short_desc>
-      <long_desc>The default value of 1200 corresponds to the default configuration of the Aion R1 rover.</long_desc>
-      <min>1</min>
-    </parameter>
-  </group>
-  <group name="Rover Ackermann">
-    <parameter name="RA_ACC_RAD_GAIN" default="2" type="FLOAT">
-      <short_desc>Tuning parameter for corner cutting</short_desc>
-      <long_desc>The geometric ideal acceptance radius is multiplied by this factor to account for kinematic and dynamic effects. Higher value -&gt; The rover starts to cut the corner earlier.</long_desc>
-      <min>1</min>
-      <max>100</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_ACC_RAD_MAX" default="3" type="FLOAT">
-      <short_desc>Maximum acceptance radius for the waypoints</short_desc>
-      <long_desc>The controller scales the acceptance radius based on the angle between the previous, current and next waypoint. Higher value -&gt; smoother trajectory at the cost of how close the rover gets to the waypoint (Set to -1 to disable corner cutting).</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_LAT_ACCEL_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for lateral acceleration controller</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>3</decimal>
-      <increment>0.001</increment>
-    </parameter>
-    <parameter name="RA_LAT_ACCEL_P" default="0" type="FLOAT">
-      <short_desc>Proportional gain for lateral acceleration controller</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_ACCEL" default="-1" type="FLOAT">
-      <short_desc>Maximum acceleration for the rover</short_desc>
-      <long_desc>This is used for the acceleration slew rate.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_DECEL" default="-1" type="FLOAT">
-      <short_desc>Maximum deceleration for the rover</short_desc>
-      <long_desc>This is used for the deceleration slew rate, the feed-forward term for the speed controller during missions and the corner slow down effect. Note: For the corner slow down effect RA_MAX_JERK also has to be set.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_JERK" default="-1" type="FLOAT">
-      <short_desc>Maximum jerk</short_desc>
-      <long_desc>Limit for forwards acc/deceleration change. This is used for the corner slow down effect. Note: RA_MAX_DECEL also has to be set for this to be enabled.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s^3</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_LAT_ACCEL" default="0.01" type="FLOAT">
-      <short_desc>Maximum allowed lateral acceleration</short_desc>
-      <long_desc>This parameter is used to cap the lateral acceleration and map controller inputs to desired lateral acceleration in Acro, Stabilized and Position mode.</long_desc>
-      <min>0.01</min>
-      <max>1000</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_SPEED" default="-1" type="FLOAT">
-      <short_desc>Maximum allowed speed</short_desc>
-      <long_desc>This is the maximum allowed speed setpoint when driving in a mode that uses closed loop speed control.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_STR_ANG" default="0.5236" type="FLOAT">
-      <short_desc>Maximum steering angle</short_desc>
-      <long_desc>The maximum angle that the rover can steer</long_desc>
-      <min>0.1</min>
-      <max>1.5708</max>
-      <unit>rad</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_STR_RATE" default="-1" type="FLOAT">
-      <short_desc>Maximum steering rate for the rover</short_desc>
-      <min>-1</min>
-      <max>1000</max>
-      <unit>deg/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_MAX_THR_SPEED" default="-1" type="FLOAT">
-      <short_desc>Speed the rover drives at maximum throttle</short_desc>
-      <long_desc>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_SPEED_I" default="1" type="FLOAT">
-      <short_desc>Integral gain for ground speed controller</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>3</decimal>
-      <increment>0.001</increment>
-    </parameter>
-    <parameter name="RA_SPEED_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for ground speed controller</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RA_WHEEL_BASE" default="0.5" type="FLOAT">
-      <short_desc>Wheel base</short_desc>
-      <long_desc>Distance from the front to the rear axle</long_desc>
-      <min>0.001</min>
-      <max>100</max>
+      <short_desc>Return mode return altitude</short_desc>
+      <long_desc>Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight.
+The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already.
+This is affected by RTL_MIN_DIST and RTL_CONE_ANG.</long_desc>
+      <min>0</min>
       <unit>m</unit>
-      <decimal>3</decimal>
-      <increment>0.001</increment>
+      <decimal>1</decimal>
+      <increment>0.5</increment>
+    </parameter>
+    <parameter name="RTL_TYPE" default="0" type="INT32">
+      <short_desc>Return type</short_desc>
+      <long_desc>Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)</long_desc>
+      <values>
+        <value code="0">Return to closest safe point (home or rally point) via direct path.</value>
+        <value code="1">Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always choose closest safe landing point if vehicle is a VTOL in hover mode.</value>
+        <value code="2">Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.</value>
+        <value code="3">Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.</value>
+        <value code="4">Return to the planned mission landing, or to home via the reverse mission path, whichever is closer by counting waypoints. Do not consider rally points.</value>
+        <value code="5">Return directly to safe landing point (do not consider mission landing and Home)</value>
+      </values>
     </parameter>
   </group>
-  <group name="Rover Differential">
-    <parameter name="RD_MAX_ACCEL" default="0.5" type="FLOAT">
-      <short_desc>Maximum acceleration</short_desc>
-      <long_desc>Maximum acceleration is used to limit the acceleration of the rover</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+  <group name="Return To Land">
+    <parameter name="RTL_APPR_FORCE" default="0" type="INT32" boolean="true">
+      <short_desc>RTL force approach landing</short_desc>
+      <long_desc>Only consider RTL point, if it has an approach defined.</long_desc>
     </parameter>
-    <parameter name="RD_MAX_DECEL" default="-1" type="FLOAT">
-      <short_desc>Maximum deceleration</short_desc>
-      <long_desc>Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: This disables the slow down effect in auto modes.</long_desc>
-      <min>-1</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+    <parameter name="RTL_TIME_FACTOR" default="1.1" type="FLOAT">
+      <short_desc>RTL time estimate safety margin factor</short_desc>
+      <long_desc>Safety factor that is used to scale the actual RTL time estimate.
+Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
+      <min>1.0</min>
+      <max>2.0</max>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
     </parameter>
-    <parameter name="RD_MAX_JERK" default="0.5" type="FLOAT">
-      <short_desc>Maximum jerk</short_desc>
-      <long_desc>Limit for forwards acc/deceleration change.</long_desc>
+    <parameter name="RTL_TIME_MARGIN" default="100" type="INT32">
+      <short_desc>RTL time estimate safety margin offset</short_desc>
+      <long_desc>Margin that is added to the time estimate, after it has already been scaled
+Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
       <min>0</min>
-      <max>100</max>
-      <unit>m/s^3</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+      <max>3600</max>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>1</increment>
     </parameter>
-    <parameter name="RD_MAX_SPEED" default="1" type="FLOAT">
-      <short_desc>Maximum speed setpoint</short_desc>
-      <long_desc>This parameter is used to cap desired forward speed and map controller inputs to desired speeds in Position mode.</long_desc>
-      <min>0</min>
+  </group>
+  <group name="Rover Ackermann">
+    <parameter name="RA_ACC_RAD_GAIN" default="1" type="FLOAT">
+      <short_desc>Tuning parameter for corner cutting</short_desc>
+      <long_desc>The geometric ideal acceptance radius is multiplied by this factor
+to account for kinematic and dynamic effects.
+Higher value -&gt; The rover starts to cut the corner earlier.</long_desc>
+      <min>1</min>
       <max>100</max>
-      <unit>m/s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_MAX_THR_SPD" default="1" type="FLOAT">
-      <short_desc>Speed the rover drives at maximum throttle</short_desc>
-      <long_desc>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</long_desc>
-      <min>0</min>
+    <parameter name="RA_ACC_RAD_MAX" default="-1" type="FLOAT">
+      <short_desc>Maximum acceptance radius for the waypoints</short_desc>
+      <long_desc>The controller scales the acceptance radius based on the angle between
+the previous, current and next waypoint.
+Higher value -&gt; smoother trajectory at the cost of how close the rover gets
+to the waypoint (Set to -1 to disable corner cutting).</long_desc>
+      <min>-1</min>
       <max>100</max>
-      <unit>m/s</unit>
+      <unit>m</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_MAX_THR_YAW_R" default="2" type="FLOAT">
-      <short_desc>Yaw rate turning left/right wheels at max speed in opposite directions</short_desc>
-      <long_desc>This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.</long_desc>
+    <parameter name="RA_MAX_STR_ANG" default="0" type="FLOAT">
+      <short_desc>Maximum steering angle</short_desc>
       <min>0</min>
-      <max>100</max>
-      <unit>m/s</unit>
+      <max>1.5708</max>
+      <unit>rad</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_MAX_YAW_ACCEL" default="-1" type="FLOAT">
-      <short_desc>Maximum allowed yaw acceleration for the rover</short_desc>
-      <long_desc>This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.</long_desc>
+    <parameter name="RA_STR_RATE_LIM" default="-1" type="FLOAT">
+      <short_desc>Steering rate limit</short_desc>
+      <long_desc>Set to -1 to disable.</long_desc>
       <min>-1</min>
       <max>1000</max>
-      <unit>deg/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RD_MAX_YAW_RATE" default="90" type="FLOAT">
-      <short_desc>Maximum allowed yaw rate for the rover</short_desc>
-      <long_desc>This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in Acro,Stabilized and Position mode.</long_desc>
-      <min>0.01</min>
-      <max>1000</max>
       <unit>deg/s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_MISS_SPD_GAIN" default="1" type="FLOAT">
-      <short_desc>Tuning parameter for the speed reduction during waypoint transition</short_desc>
-      <long_desc>The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -&gt; [0, 1]. Higher value -&gt; More speed reduction during waypoint transitions.</long_desc>
-      <min>0.05</min>
-      <max>100</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RD_SPEED_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for closed loop forward speed controller</short_desc>
+    <parameter name="RA_WHEEL_BASE" default="0" type="FLOAT">
+      <short_desc>Wheel base</short_desc>
+      <long_desc>Distance from the front to the rear axle.</long_desc>
       <min>0</min>
       <max>100</max>
+      <unit>m</unit>
       <decimal>3</decimal>
-      <increment>0.01</increment>
+      <increment>0.001</increment>
     </parameter>
-    <parameter name="RD_SPEED_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for closed loop forward speed controller</short_desc>
+  </group>
+  <group name="Rover Attitude Control">
+    <parameter name="RO_YAW_P" default="0." type="FLOAT">
+      <short_desc>Proportional gain for closed loop yaw controller</short_desc>
       <min>0</min>
       <max>100</max>
       <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
+  </group>
+  <group name="Rover Differential">
     <parameter name="RD_TRANS_DRV_TRN" default="0.174533" type="FLOAT">
       <short_desc>Yaw error threshhold to switch from driving to spot turning</short_desc>
-      <long_desc>This threshold is used for the state machine to switch from driving to turning based on the error between the desired and actual yaw. It is also used as the threshold whether the rover should come to a smooth stop at the next waypoint. This slow down effect is active if the angle between the line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.</long_desc>
+      <long_desc>This threshold is used for the state machine to switch from driving to turning based on the
+error between the desired and actual yaw. It is also used as the threshold whether the rover should come
+to a smooth stop at the next waypoint. This slow down effect is active if the angle between the
+line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.</long_desc>
       <min>0.001</min>
       <max>3.14159</max>
       <unit>rad</unit>
@@ -20037,367 +12151,264 @@
     </parameter>
     <parameter name="RD_TRANS_TRN_DRV" default="0.0872665" type="FLOAT">
       <short_desc>Yaw error threshhold to switch from spot turning to driving</short_desc>
+      <long_desc>This threshold is used for the state machine to switch from turning to driving based on the
+error between the desired and actual yaw.</long_desc>
       <min>0.001</min>
       <max>3.14159</max>
       <unit>rad</unit>
       <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_WHEEL_TRACK" default="0.5" type="FLOAT">
+    <parameter name="RD_WHEEL_TRACK" default="0" type="FLOAT">
       <short_desc>Wheel track</short_desc>
-      <long_desc>Distance from the center of the right wheel to the center of the left wheel</long_desc>
-      <min>0.001</min>
+      <long_desc>Distance from the center of the right wheel to the center of the left wheel.</long_desc>
+      <min>0</min>
       <max>100</max>
       <unit>m</unit>
       <decimal>3</decimal>
       <increment>0.001</increment>
     </parameter>
-    <parameter name="RD_YAW_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for closed loop yaw controller</short_desc>
-      <min>0</min>
-      <max>100</max>
+    <parameter name="RD_YAW_STK_GAIN" default="1" type="FLOAT">
+      <short_desc>Yaw stick gain for Manual mode</short_desc>
+      <long_desc>Assign value &lt;1.0 to decrease stick response for yaw control.</long_desc>
+      <min>0.1</min>
+      <max>1</max>
       <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_YAW_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for closed loop yaw controller</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>3</decimal>
+  </group>
+  <group name="Rover Mecanum">
+    <parameter name="RM_COURSE_CTL_TH" default="0.17" type="FLOAT">
+      <short_desc>Threshold to update course control in manual position mode</short_desc>
+      <long_desc>Threshold for the angle between the active cruise direction and the cruise direction given
+by the stick inputs.
+This can be understood as a deadzone for the combined stick inputs for forward/backwards
+and lateral speed which defines a course direction.</long_desc>
+      <min>0</min>
+      <max>3.14</max>
+      <unit>rad</unit>
+      <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RD_YAW_RATE_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for closed loop yaw rate controller</short_desc>
+    <parameter name="RM_WHEEL_TRACK" default="0" type="FLOAT">
+      <short_desc>Wheel track</short_desc>
+      <long_desc>Distance from the center of the right wheel to the center of the left wheel.</long_desc>
       <min>0</min>
       <max>100</max>
+      <unit>m</unit>
       <decimal>3</decimal>
-      <increment>0.01</increment>
+      <increment>0.001</increment>
     </parameter>
-    <parameter name="RD_YAW_RATE_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for closed loop yaw rate controller</short_desc>
-      <min>0</min>
-      <max>100</max>
+    <parameter name="RM_YAW_STK_GAIN" default="1" type="FLOAT">
+      <short_desc>Yaw stick gain for Manual mode</short_desc>
+      <long_desc>Assign value &lt;1.0 to decrease stick response for yaw control.</long_desc>
+      <min>0.1</min>
+      <max>1</max>
       <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
   </group>
-  <group name="Rover Mecanum">
-    <parameter name="RM_MAX_ACCEL" default="0.5" type="FLOAT">
-      <short_desc>Maximum acceleration</short_desc>
-      <long_desc>Maximum acceleration is used to limit the acceleration of the rover</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
+  <group name="Rover Rate Control">
+    <parameter name="RO_YAW_ACCEL_LIM" default="-1." type="FLOAT">
+      <short_desc>Yaw acceleration limit</short_desc>
+      <long_desc>Used to cap how quickly the magnitude of yaw rate setpoints can increase.
+Set to -1 to disable.</long_desc>
+      <min>-1</min>
+      <max>10000</max>
+      <unit>deg/s^2</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MAX_DECEL" default="-1" type="FLOAT">
-      <short_desc>Maximum deceleration</short_desc>
-      <long_desc>Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: Disabling the deceleration limit also disables the slow down effect in auto modes.</long_desc>
+    <parameter name="RO_YAW_DECEL_LIM" default="-1." type="FLOAT">
+      <short_desc>Yaw deceleration limit</short_desc>
+      <long_desc>Used to cap how quickly the magnitude of yaw rate setpoints can decrease.
+Set to -1 to disable.</long_desc>
       <min>-1</min>
-      <max>100</max>
-      <unit>m/s^2</unit>
+      <max>10000</max>
+      <unit>deg/s^2</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MAX_JERK" default="0.5" type="FLOAT">
-      <short_desc>Maximum jerk</short_desc>
-      <long_desc>Limit for forwards acc/deceleration change.</long_desc>
+    <parameter name="RO_YAW_EXPO" default="0." type="FLOAT">
+      <short_desc>Yaw rate expo factor</short_desc>
+      <long_desc>Exponential factor for tuning the input curve shape.
+0 Purely linear input curve
+1 Purely cubic input curve</long_desc>
       <min>0</min>
-      <max>100</max>
-      <unit>m/s^3</unit>
+      <max>1</max>
       <decimal>2</decimal>
-      <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MAX_SPEED" default="7" type="FLOAT">
-      <short_desc>Maximum speed the rover is allowed to drive</short_desc>
-      <long_desc>This parameter is used cap the maximum speed the rover is allowed to drive and to map stick inputs to desired speeds in position mode.</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>m/s</unit>
+    <parameter name="RO_YAW_RATE_CORR" default="1." type="FLOAT">
+      <short_desc>Yaw rate correction factor</short_desc>
+      <long_desc>Multiplicative correction factor for the feedforward mapping of the yaw rate controller.
+Increase this value (x &gt; 1) if the measured yaw rate is lower than the setpoint, decrease (0 &lt; x &lt; 1) otherwise.
+Note: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes
+that cause a lot of friction when turning.</long_desc>
+      <min>0.01</min>
+      <max>10000</max>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MAX_THR_SPD" default="1" type="FLOAT">
-      <short_desc>Speed the rover drives at maximum throttle</short_desc>
-      <long_desc>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</long_desc>
+    <parameter name="RO_YAW_RATE_I" default="0." type="FLOAT">
+      <short_desc>Integral gain for closed loop yaw rate controller</short_desc>
       <min>0</min>
       <max>100</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
+      <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MAX_THR_YAW_R" default="2" type="FLOAT">
-      <short_desc>Yaw rate turning left/right wheels at max speed in opposite directions</short_desc>
-      <long_desc>This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.</long_desc>
+    <parameter name="RO_YAW_RATE_LIM" default="0." type="FLOAT">
+      <short_desc>Yaw rate limit</short_desc>
+      <long_desc>Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints
+in Acro, Stabilized and Position mode.</long_desc>
       <min>0</min>
-      <max>100</max>
-      <unit>m/s</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RM_MAX_YAW_ACCEL" default="-1" type="FLOAT">
-      <short_desc>Maximum allowed yaw acceleration for the rover</short_desc>
-      <long_desc>This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.</long_desc>
-      <min>-1</min>
-      <max>1000</max>
-      <unit>deg/s^2</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RM_MAX_YAW_RATE" default="90" type="FLOAT">
-      <short_desc>Maximum allowed yaw rate for the rover</short_desc>
-      <long_desc>This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.</long_desc>
-      <min>0.01</min>
-      <max>1000</max>
+      <max>10000</max>
       <unit>deg/s</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_MISS_VEL_GAIN" default="1" type="FLOAT">
-      <short_desc>Tuning parameter for the velocity reduction during waypoint transition</short_desc>
-      <long_desc>The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -&gt; [0, 1]. Higher value -&gt; More velocity reduction during cornering.</long_desc>
-      <min>0.05</min>
-      <max>100</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="RM_SPEED_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for ground speed controller</short_desc>
+    <parameter name="RO_YAW_RATE_P" default="0." type="FLOAT">
+      <short_desc>Proportional gain for closed loop yaw rate controller</short_desc>
       <min>0</min>
       <max>100</max>
       <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_SPEED_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for speed controller</short_desc>
+    <parameter name="RO_YAW_RATE_TH" default="3." type="FLOAT">
+      <short_desc>Yaw rate measurement threshold</short_desc>
+      <long_desc>The minimum threshold for the yaw rate measurement not to be interpreted as zero.</long_desc>
       <min>0</min>
       <max>100</max>
-      <decimal>3</decimal>
+      <unit>deg/s</unit>
+      <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_WHEEL_TRACK" default="0.5" type="FLOAT">
-      <short_desc>Wheel track</short_desc>
-      <long_desc>Distance from the center of the right wheels to the center of the left wheels.</long_desc>
-      <min>0.001</min>
-      <max>100</max>
-      <unit>m</unit>
-      <decimal>3</decimal>
-      <increment>0.001</increment>
-    </parameter>
-    <parameter name="RM_YAW_I" default="0.1" type="FLOAT">
-      <short_desc>Integral gain for closed loop yaw controller</short_desc>
+    <parameter name="RO_YAW_STICK_DZ" default="0.1" type="FLOAT">
+      <short_desc>Yaw stick deadzone</short_desc>
+      <long_desc>Percentage of stick input range that will be interpreted as zero around the stick centered value.</long_desc>
       <min>0</min>
-      <max>100</max>
+      <max>1</max>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_YAW_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for closed loop yaw controller</short_desc>
+    <parameter name="RO_YAW_SUPEXPO" default="0." type="FLOAT">
+      <short_desc>Yaw rate super expo factor</short_desc>
+      <long_desc>"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
+0 Pure Expo function
+0.7 reasonable shape enhancement for intuitive stick feel
+0.95 very strong bent input curve only near maxima have effect</long_desc>
       <min>0</min>
-      <max>100</max>
+      <max>0.95</max>
       <decimal>2</decimal>
-      <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_YAW_RATE_I" default="0" type="FLOAT">
-      <short_desc>Integral gain for the closed-loop yaw rate controller</short_desc>
-      <min>0</min>
+  </group>
+  <group name="Rover Velocity Control">
+    <parameter name="RO_ACCEL_LIM" default="-1." type="FLOAT">
+      <short_desc>Acceleration limit</short_desc>
+      <long_desc>Set to -1 to disable.
+For mecanum rovers this limit is used for longitudinal and lateral acceleration.</long_desc>
+      <min>-1</min>
       <max>100</max>
+      <unit>m/s^2</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RM_YAW_RATE_P" default="1" type="FLOAT">
-      <short_desc>Proportional gain for the closed-loop yaw rate controller</short_desc>
-      <min>0</min>
+    <parameter name="RO_DECEL_LIM" default="-1." type="FLOAT">
+      <short_desc>Deceleration limit</short_desc>
+      <long_desc>Set to -1 to disable.
+Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
+For mecanum rovers this limit is used for longitudinal and lateral deceleration.</long_desc>
+      <min>-1</min>
       <max>100</max>
+      <unit>m/s^2</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-  </group>
-  <group name="Rover Position Control">
-    <parameter name="GND_L1_DAMPING" default="0.75" type="FLOAT">
-      <short_desc>L1 damping</short_desc>
-      <long_desc>Damping factor for L1 control.</long_desc>
-      <min>0.6</min>
-      <max>0.9</max>
+    <parameter name="RO_JERK_LIM" default="-1." type="FLOAT">
+      <short_desc>Jerk limit</short_desc>
+      <long_desc>Set to -1 to disable.
+Note that if it is disabled the rover will not slow down when approaching waypoints in auto modes.
+For mecanum rovers this limit is used for longitudinal and lateral jerk.</long_desc>
+      <min>-1</min>
+      <max>100</max>
+      <unit>m/s^3</unit>
       <decimal>2</decimal>
-      <increment>0.05</increment>
-    </parameter>
-    <parameter name="GND_L1_DIST" default="1.0" type="FLOAT">
-      <short_desc>L1 distance</short_desc>
-      <long_desc>This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).</long_desc>
-      <min>1.0</min>
-      <max>50.0</max>
-      <unit>m</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="GND_L1_PERIOD" default="5.0" type="FLOAT">
-      <short_desc>L1 period</short_desc>
-      <long_desc>This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.</long_desc>
-      <min>0.5</min>
-      <max>50.0</max>
-      <unit>m</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="GND_MAN_Y_MAX" default="150.0" type="FLOAT">
-      <short_desc>Max manual yaw rate</short_desc>
-      <min>0.0</min>
-      <max>400</max>
-      <unit>deg/s</unit>
-      <decimal>1</decimal>
-    </parameter>
-    <parameter name="GND_MAX_ANG" default="0.7854" type="FLOAT">
-      <short_desc>Maximum turn angle for Ackerman steering</short_desc>
-      <long_desc>At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.</long_desc>
-      <min>0.0</min>
-      <max>3.14159</max>
-      <unit>rad</unit>
-      <decimal>3</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="GND_SPEED_D" default="0.001" type="FLOAT">
-      <short_desc>Speed proportional gain</short_desc>
-      <long_desc>This is the derivative gain for the speed closed loop controller</long_desc>
-      <min>0.00</min>
-      <max>50.0</max>
-      <unit>%m/s</unit>
-      <decimal>3</decimal>
-      <increment>0.005</increment>
-    </parameter>
-    <parameter name="GND_SPEED_I" default="3.0" type="FLOAT">
-      <short_desc>Speed Integral gain</short_desc>
-      <long_desc>This is the integral gain for the speed closed loop controller</long_desc>
-      <min>0.00</min>
-      <max>50.0</max>
-      <unit>%m/s</unit>
-      <decimal>3</decimal>
-      <increment>0.005</increment>
-    </parameter>
-    <parameter name="GND_SPEED_IMAX" default="1.0" type="FLOAT">
-      <short_desc>Speed integral maximum value</short_desc>
-      <long_desc>This is the maxim value the integral can reach to prevent wind-up.</long_desc>
-      <min>0.005</min>
-      <max>50.0</max>
-      <unit>%m/s</unit>
-      <decimal>3</decimal>
-      <increment>0.005</increment>
-    </parameter>
-    <parameter name="GND_SPEED_MAX" default="10.0" type="FLOAT">
-      <short_desc>Maximum ground speed</short_desc>
-      <min>0.0</min>
-      <max>40</max>
+    <parameter name="RO_MAX_THR_SPEED" default="0." type="FLOAT">
+      <short_desc>Speed the rover drives at maximum throttle</short_desc>
+      <long_desc>Used to linearly map speeds [m/s] to throttle values [-1. 1].</long_desc>
+      <min>0</min>
+      <max>100</max>
       <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="GND_SPEED_P" default="2.0" type="FLOAT">
-      <short_desc>Speed proportional gain</short_desc>
-      <long_desc>This is the proportional gain for the speed closed loop controller</long_desc>
-      <min>0.005</min>
-      <max>50.0</max>
-      <unit>%m/s</unit>
-      <decimal>3</decimal>
-      <increment>0.005</increment>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
     </parameter>
-    <parameter name="GND_SPEED_THR_SC" default="1.0" type="FLOAT">
-      <short_desc>Speed to throttle scaler</short_desc>
-      <long_desc>This is a gain to map the speed control output to the throttle linearly.</long_desc>
-      <min>0.005</min>
-      <max>50.0</max>
-      <unit>%m/s</unit>
+    <parameter name="RO_SPEED_I" default="0." type="FLOAT">
+      <short_desc>Integral gain for ground speed controller</short_desc>
+      <min>0</min>
+      <max>100</max>
       <decimal>3</decimal>
-      <increment>0.005</increment>
+      <increment>0.001</increment>
     </parameter>
-    <parameter name="GND_SPEED_TRIM" default="3.0" type="FLOAT">
-      <short_desc>Trim ground speed</short_desc>
-      <min>0.0</min>
-      <max>40</max>
+    <parameter name="RO_SPEED_LIM" default="-1." type="FLOAT">
+      <short_desc>Speed limit</short_desc>
+      <long_desc>Used to cap speed setpoints and map controller inputs to speed setpoints in Position mode.</long_desc>
+      <min>-1</min>
+      <max>100</max>
       <unit>m/s</unit>
-      <decimal>1</decimal>
-      <increment>0.5</increment>
-    </parameter>
-    <parameter name="GND_SP_CTRL_MODE" default="1" type="INT32">
-      <short_desc>Control mode for speed</short_desc>
-      <long_desc>This allows the user to choose between closed loop gps speed or open loop cruise throttle speed</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <values>
-        <value code="0">open loop control</value>
-        <value code="1">close the loop with gps speed</value>
-      </values>
-    </parameter>
-    <parameter name="GND_THR_CRUISE" default="0.1" type="FLOAT">
-      <short_desc>Cruise throttle</short_desc>
-      <long_desc>This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="GND_THR_MAX" default="0.3" type="FLOAT">
-      <short_desc>Throttle limit max</short_desc>
-      <long_desc>This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
+    <parameter name="RO_SPEED_P" default="0." type="FLOAT">
+      <short_desc>Proportional gain for ground speed controller</short_desc>
+      <min>0</min>
+      <max>100</max>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="GND_THR_MIN" default="0.0" type="FLOAT">
-      <short_desc>Throttle limit min</short_desc>
-      <long_desc>This is the minimum throttle % that can be used by the controller. Set to 0 for rover</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>norm</unit>
+    <parameter name="RO_SPEED_RED" default="-1." type="FLOAT">
+      <short_desc>Tuning parameter for the speed reduction based on the course error</short_desc>
+      <long_desc>Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)
+The normalized course error is the angle between the current course and the bearing setpoint
+interpolated from [0, 180] -&gt; [0, 1].
+Higher value -&gt; More speed reduction.
+Note: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.
+Set to -1 to disable bearing error based speed reduction.</long_desc>
+      <min>-1</min>
+      <max>100</max>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="GND_WHEEL_BASE" default="0.31" type="FLOAT">
-      <short_desc>Distance from front axle to rear axle</short_desc>
-      <long_desc>A value of 0.31 is typical for 1/10 RC cars.</long_desc>
-      <min>0.0</min>
-      <unit>m</unit>
-      <decimal>3</decimal>
+    <parameter name="RO_SPEED_TH" default="0.1" type="FLOAT">
+      <short_desc>Speed measurement threshold</short_desc>
+      <long_desc>Set to -1 to disable.
+The minimum threshold for the speed measurement not to be interpreted as zero.</long_desc>
+      <min>0</min>
+      <max>100</max>
+      <unit>m/s</unit>
+      <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
   </group>
   <group name="Runway Takeoff">
-    <parameter name="RWTO_HDG" default="0" type="INT32">
-      <short_desc>Specifies which heading should be held during the runway takeoff ground roll</short_desc>
-      <long_desc>0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <values>
-        <value code="0">Airframe</value>
-        <value code="1">Runway</value>
-      </values>
-    </parameter>
     <parameter name="RWTO_MAX_THR" default="1.0" type="FLOAT">
-      <short_desc>Max throttle during runway takeoff</short_desc>
+      <short_desc>Throttle during runway takeoff</short_desc>
       <min>0.0</min>
       <max>1.0</max>
       <unit>norm</unit>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
-    <parameter name="RWTO_NPFG_PERIOD" default="5.0" type="FLOAT">
-      <short_desc>NPFG period while steering on runway</short_desc>
-      <min>1.0</min>
-      <max>100.0</max>
-      <unit>s</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
     <parameter name="RWTO_NUDGE" default="1" type="INT32" boolean="true">
       <short_desc>Enable use of yaw stick for nudging the wheel during runway ground roll</short_desc>
-      <long_desc>This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.</long_desc>
+      <long_desc>This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course.
+Particularly useful for skinny runways or if the wheel servo is a bit off trim.</long_desc>
     </parameter>
     <parameter name="RWTO_PSP" default="0.0" type="FLOAT">
       <short_desc>Pitch setpoint during taxi / before takeoff rotation airspeed is reached</short_desc>
-      <long_desc>A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.</long_desc>
+      <long_desc>A taildragger with steerable wheel might need to pitch up
+a little to keep its wheel on the ground before airspeed
+to takeoff is reached.</long_desc>
       <min>-10.0</min>
       <max>20.0</max>
       <unit>deg</unit>
@@ -20414,7 +12425,9 @@
     </parameter>
     <parameter name="RWTO_ROT_AIRSPD" default="-1.0" type="FLOAT">
       <short_desc>Takeoff rotation airspeed</short_desc>
-      <long_desc>The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set &lt;= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)</long_desc>
+      <long_desc>The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up).
+Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD).
+If set &lt;= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)</long_desc>
       <min>-1.0</min>
       <unit>m/s</unit>
       <decimal>1</decimal>
@@ -20433,13 +12446,16 @@
     </parameter>
   </group>
   <group name="SD Logging">
-    <parameter name="SDLOG_ALGORITHM" default="2" type="INT32">
-      <short_desc>Logfile Encryption algorithm</short_desc>
-      <long_desc>Selects the algorithm used for logfile encryption</long_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="2">XChaCha20</value>
-      </values>
+    <parameter name="SDLOG_BACKEND" default="3" type="INT32">
+      <short_desc>Logging Backend (integer bitmask)</short_desc>
+      <long_desc>If no logging is set the logger will not be started. Set bits true to enable: 0: SD card logging 1: Mavlink logging</long_desc>
+      <min>0</min>
+      <max>3</max>
+      <reboot_required>True</reboot_required>
+      <bitmask>
+        <bit index="0">SD card logging</bit>
+        <bit index="1">Mavlink logging</bit>
+      </bitmask>
     </parameter>
     <parameter name="SDLOG_BOOT_BAT" default="0" type="INT32" boolean="true">
       <short_desc>Battery-only Logging</short_desc>
@@ -20450,24 +12466,12 @@
       <long_desc>If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.</long_desc>
       <min>0</min>
       <max>1000</max>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SDLOG_EXCH_KEY" default="1" type="INT32">
-      <short_desc>Logfile Encryption key exchange key</short_desc>
-      <long_desc>If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.</long_desc>
-      <min>0</min>
-      <max>255</max>
-    </parameter>
-    <parameter name="SDLOG_KEY" default="2" type="INT32">
-      <short_desc>Logfile Encryption key index</short_desc>
-      <long_desc>Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY</long_desc>
-      <min>0</min>
-      <max>255</max>
+      <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="SDLOG_MISSION" default="0" type="INT32">
       <short_desc>Mission Log</short_desc>
       <long_desc>If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).</long_desc>
-      <reboot_required>true</reboot_required>
+      <reboot_required>True</reboot_required>
       <values>
         <value code="0">Disabled</value>
         <value code="1">All mission messages</value>
@@ -20476,10 +12480,9 @@
     </parameter>
     <parameter name="SDLOG_MODE" default="0" type="INT32">
       <short_desc>Logging Mode</short_desc>
-      <long_desc>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.</long_desc>
-      <reboot_required>true</reboot_required>
+      <long_desc>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. Note: The logging start/end points that can be configured here only apply to SD logging. The mavlink backend is started/stopped independently of these points.</long_desc>
+      <reboot_required>True</reboot_required>
       <values>
-        <value code="-1">disabled</value>
         <value code="0">when armed until disarm (default)</value>
         <value code="1">from boot until disarm</value>
         <value code="2">from boot until shutdown</value>
@@ -20489,10 +12492,10 @@
     </parameter>
     <parameter name="SDLOG_PROFILE" default="1" type="INT32">
       <short_desc>Logging topic profile (integer bitmask)</short_desc>
-      <long_desc>This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)</long_desc>
+      <long_desc>This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision prevention 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)</long_desc>
       <min>0</min>
-      <max>2047</max>
-      <reboot_required>true</reboot_required>
+      <max>4095</max>
+      <reboot_required>True</reboot_required>
       <bitmask>
         <bit index="0">Default set (general log analysis)</bit>
         <bit index="1">Estimator replay (EKF2)</bit>
@@ -20505,6 +12508,7 @@
         <bit index="8">Raw FIFO high-rate IMU (Gyro)</bit>
         <bit index="9">Raw FIFO high-rate IMU (Accel)</bit>
         <bit index="10">Mavlink tunnel message logging</bit>
+        <bit index="11">High rate sensors</bit>
       </bitmask>
     </parameter>
     <parameter name="SDLOG_UTC_OFFSET" default="0" type="INT32">
@@ -20518,238 +12522,39 @@
       <short_desc>Log UUID</short_desc>
       <long_desc>If set to 1, add an ID to the log, which uniquely identifies the vehicle</long_desc>
     </parameter>
-  </group>
-  <group name="SITL">
-    <parameter name="SIM_BAT_DRAIN" default="60" type="FLOAT">
-      <short_desc>Simulator Battery drain interval</short_desc>
-      <min>1</min>
-      <max>86400</max>
-      <unit>s</unit>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="SIM_BAT_ENABLE" default="1" type="INT32" boolean="true">
-      <short_desc>Simulator Battery enabled</short_desc>
-      <long_desc>Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.</long_desc>
-    </parameter>
-    <parameter name="SIM_BAT_MIN_PCT" default="50.0" type="FLOAT">
-      <short_desc>Simulator Battery minimal percentage</short_desc>
-      <long_desc>Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>%</unit>
-      <increment>0.1</increment>
-    </parameter>
-  </group>
-  <group name="Sensor Calibration">
-    <parameter name="CAL_ACC0_ID" default="0" type="INT32" category="System">
-      <short_desc>Accelerometer 0 calibration device ID</short_desc>
-      <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 0 priority</short_desc>
-      <decimal>3</decimal>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_ACC0_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 0 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
-      <min>-1</min>
-      <max>40</max>
-      <values>
-        <value code="-1">Internal</value>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-        <value code="8">Roll 180°</value>
-        <value code="9">Roll 180°, Yaw 45°</value>
-        <value code="10">Roll 180°, Yaw 90°</value>
-        <value code="11">Roll 180°, Yaw 135°</value>
-        <value code="12">Pitch 180°</value>
-        <value code="13">Roll 180°, Yaw 225°</value>
-        <value code="14">Roll 180°, Yaw 270°</value>
-        <value code="15">Roll 180°, Yaw 315°</value>
-        <value code="16">Roll 90°</value>
-        <value code="17">Roll 90°, Yaw 45°</value>
-        <value code="18">Roll 90°, Yaw 90°</value>
-        <value code="19">Roll 90°, Yaw 135°</value>
-        <value code="20">Roll 270°</value>
-        <value code="21">Roll 270°, Yaw 45°</value>
-        <value code="22">Roll 270°, Yaw 90°</value>
-        <value code="23">Roll 270°, Yaw 135°</value>
-        <value code="24">Pitch 90°</value>
-        <value code="25">Pitch 270°</value>
-        <value code="26">Pitch 180°, Yaw 90°</value>
-        <value code="27">Pitch 180°, Yaw 270°</value>
-        <value code="28">Roll 90°, Pitch 90°</value>
-        <value code="29">Roll 180°, Pitch 90°</value>
-        <value code="30">Roll 270°, Pitch 90°</value>
-        <value code="31">Roll 90°, Pitch 180°</value>
-        <value code="32">Roll 270°, Pitch 180°</value>
-        <value code="33">Roll 90°, Pitch 270°</value>
-        <value code="34">Roll 180°, Pitch 270°</value>
-        <value code="35">Roll 270°, Pitch 270°</value>
-        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
-        <value code="37">Roll 90°, Yaw 270°</value>
-        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
-        <value code="39">Pitch 315°</value>
-        <value code="40">Roll 90°, Pitch 315°</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_ACC0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 X-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 Y-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 Z-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 0 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC1_ID" default="0" type="INT32" category="System">
-      <short_desc>Accelerometer 1 calibration device ID</short_desc>
-      <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC1_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 1 priority</short_desc>
-      <decimal>3</decimal>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_ACC1_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 1 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
-      <min>-1</min>
-      <max>40</max>
-      <values>
-        <value code="-1">Internal</value>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-        <value code="8">Roll 180°</value>
-        <value code="9">Roll 180°, Yaw 45°</value>
-        <value code="10">Roll 180°, Yaw 90°</value>
-        <value code="11">Roll 180°, Yaw 135°</value>
-        <value code="12">Pitch 180°</value>
-        <value code="13">Roll 180°, Yaw 225°</value>
-        <value code="14">Roll 180°, Yaw 270°</value>
-        <value code="15">Roll 180°, Yaw 315°</value>
-        <value code="16">Roll 90°</value>
-        <value code="17">Roll 90°, Yaw 45°</value>
-        <value code="18">Roll 90°, Yaw 90°</value>
-        <value code="19">Roll 90°, Yaw 135°</value>
-        <value code="20">Roll 270°</value>
-        <value code="21">Roll 270°, Yaw 45°</value>
-        <value code="22">Roll 270°, Yaw 90°</value>
-        <value code="23">Roll 270°, Yaw 135°</value>
-        <value code="24">Pitch 90°</value>
-        <value code="25">Pitch 270°</value>
-        <value code="26">Pitch 180°, Yaw 90°</value>
-        <value code="27">Pitch 180°, Yaw 270°</value>
-        <value code="28">Roll 90°, Pitch 90°</value>
-        <value code="29">Roll 180°, Pitch 90°</value>
-        <value code="30">Roll 270°, Pitch 90°</value>
-        <value code="31">Roll 90°, Pitch 180°</value>
-        <value code="32">Roll 270°, Pitch 180°</value>
-        <value code="33">Roll 90°, Pitch 270°</value>
-        <value code="34">Roll 180°, Pitch 270°</value>
-        <value code="35">Roll 270°, Pitch 270°</value>
-        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
-        <value code="37">Roll 90°, Yaw 270°</value>
-        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
-        <value code="39">Pitch 315°</value>
-        <value code="40">Roll 90°, Pitch 315°</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_ACC1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 X-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 Y-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
+  </group>
+  <group name="SITL">
+    <parameter name="SIM_BAT_DRAIN" default="60" type="FLOAT">
+      <short_desc>Simulator Battery drain interval</short_desc>
+      <min>1</min>
+      <max>86400</max>
+      <unit>s</unit>
+      <increment>1</increment>
     </parameter>
-    <parameter name="CAL_ACC1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 Z-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
+    <parameter name="SIM_BAT_ENABLE" default="1" type="INT32" boolean="true">
+      <short_desc>Simulator Battery enabled</short_desc>
+      <long_desc>Enable or disable the internal battery simulation. This is useful
+when the battery is simulated externally and interfaced with PX4
+through MAVLink for example.</long_desc>
     </parameter>
-    <parameter name="CAL_ACC1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 1 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
+    <parameter name="SIM_BAT_MIN_PCT" default="50.0" type="FLOAT">
+      <short_desc>Simulator Battery minimal percentage</short_desc>
+      <long_desc>Can be used to alter the battery level during SITL- or HITL-simulation on the fly.
+Particularly useful for testing different low-battery behaviour.</long_desc>
+      <min>0</min>
+      <max>100</max>
+      <unit>%</unit>
+      <increment>0.1</increment>
     </parameter>
-    <parameter name="CAL_ACC2_ID" default="0" type="INT32" category="System">
-      <short_desc>Accelerometer 2 calibration device ID</short_desc>
+  </group>
+  <group name="Sensor Calibration">
+    <parameter name="CAL_ACC0_ID" default="0" type="INT32" category="System">
+      <short_desc>Accelerometer 0 calibration device ID</short_desc>
       <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 2 priority</short_desc>
+    <parameter name="CAL_ACC0_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 0 priority</short_desc>
       <decimal>3</decimal>
       <values>
         <value code="-1">Uninitialized</value>
@@ -20761,8 +12566,8 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_ACC2_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 2 rotation relative to airframe</short_desc>
+    <parameter name="CAL_ACC0_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 0 rotation relative to airframe</short_desc>
       <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
       <max>40</max>
@@ -20811,46 +12616,46 @@
         <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="CAL_ACC2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 X-axis offset</short_desc>
+    <parameter name="CAL_ACC0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 X-axis offset</short_desc>
       <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 X-axis scaling factor</short_desc>
+    <parameter name="CAL_ACC0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 X-axis scaling factor</short_desc>
       <min>0.1</min>
       <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 Y-axis offset</short_desc>
+    <parameter name="CAL_ACC0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 Y-axis offset</short_desc>
       <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 Y-axis scaling factor</short_desc>
+    <parameter name="CAL_ACC0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 Y-axis scaling factor</short_desc>
       <min>0.1</min>
       <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 Z-axis offset</short_desc>
+    <parameter name="CAL_ACC0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 Z-axis offset</short_desc>
       <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 2 Z-axis scaling factor</short_desc>
+    <parameter name="CAL_ACC0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 0 Z-axis scaling factor</short_desc>
       <min>0.1</min>
       <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC3_ID" default="0" type="INT32" category="System">
-      <short_desc>Accelerometer 3 calibration device ID</short_desc>
+    <parameter name="CAL_ACC1_ID" default="0" type="INT32" category="System">
+      <short_desc>Accelerometer 1 calibration device ID</short_desc>
       <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC3_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 3 priority</short_desc>
+    <parameter name="CAL_ACC1_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 1 priority</short_desc>
       <decimal>3</decimal>
       <values>
         <value code="-1">Uninitialized</value>
@@ -20862,8 +12667,8 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_ACC3_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Accelerometer 3 rotation relative to airframe</short_desc>
+    <parameter name="CAL_ACC1_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 1 rotation relative to airframe</short_desc>
       <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
       <max>40</max>
@@ -20912,206 +12717,47 @@
         <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="CAL_ACC3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 X-axis offset</short_desc>
-      <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 Y-axis offset</short_desc>
+    <parameter name="CAL_ACC1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 X-axis offset</short_desc>
       <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 Y-axis scaling factor</short_desc>
+    <parameter name="CAL_ACC1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 X-axis scaling factor</short_desc>
       <min>0.1</min>
       <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_ACC3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 Z-axis offset</short_desc>
+    <parameter name="CAL_ACC1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 Y-axis offset</short_desc>
       <unit>m/s^2</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_ACC3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Accelerometer 3 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_BARO0_ID" default="0" type="INT32" category="System">
-      <short_desc>Barometer 0 calibration device ID</short_desc>
-      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_BARO0_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Barometer 0 offset</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_BARO0_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Barometer 0 priority</short_desc>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_BARO1_ID" default="0" type="INT32" category="System">
-      <short_desc>Barometer 1 calibration device ID</short_desc>
-      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_BARO1_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Barometer 1 offset</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_BARO1_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Barometer 1 priority</short_desc>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_BARO2_ID" default="0" type="INT32" category="System">
-      <short_desc>Barometer 2 calibration device ID</short_desc>
-      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_BARO2_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Barometer 2 offset</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_BARO2_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Barometer 2 priority</short_desc>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_BARO3_ID" default="0" type="INT32" category="System">
-      <short_desc>Barometer 3 calibration device ID</short_desc>
-      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_BARO3_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Barometer 3 offset</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_BARO3_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Barometer 3 priority</short_desc>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_GYRO0_ID" default="0" type="INT32" category="System">
-      <short_desc>Gyroscope 0 calibration device ID</short_desc>
-      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_GYRO0_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 0 priority</short_desc>
-      <values>
-        <value code="-1">Uninitialized</value>
-        <value code="0">Disabled</value>
-        <value code="1">Min</value>
-        <value code="25">Low</value>
-        <value code="50">Medium (Default)</value>
-        <value code="75">High</value>
-        <value code="100">Max</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_GYRO0_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 0 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
-      <min>-1</min>
-      <max>40</max>
-      <values>
-        <value code="-1">Internal</value>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-        <value code="8">Roll 180°</value>
-        <value code="9">Roll 180°, Yaw 45°</value>
-        <value code="10">Roll 180°, Yaw 90°</value>
-        <value code="11">Roll 180°, Yaw 135°</value>
-        <value code="12">Pitch 180°</value>
-        <value code="13">Roll 180°, Yaw 225°</value>
-        <value code="14">Roll 180°, Yaw 270°</value>
-        <value code="15">Roll 180°, Yaw 315°</value>
-        <value code="16">Roll 90°</value>
-        <value code="17">Roll 90°, Yaw 45°</value>
-        <value code="18">Roll 90°, Yaw 90°</value>
-        <value code="19">Roll 90°, Yaw 135°</value>
-        <value code="20">Roll 270°</value>
-        <value code="21">Roll 270°, Yaw 45°</value>
-        <value code="22">Roll 270°, Yaw 90°</value>
-        <value code="23">Roll 270°, Yaw 135°</value>
-        <value code="24">Pitch 90°</value>
-        <value code="25">Pitch 270°</value>
-        <value code="26">Pitch 180°, Yaw 90°</value>
-        <value code="27">Pitch 180°, Yaw 270°</value>
-        <value code="28">Roll 90°, Pitch 90°</value>
-        <value code="29">Roll 180°, Pitch 90°</value>
-        <value code="30">Roll 270°, Pitch 90°</value>
-        <value code="31">Roll 90°, Pitch 180°</value>
-        <value code="32">Roll 270°, Pitch 180°</value>
-        <value code="33">Roll 90°, Pitch 270°</value>
-        <value code="34">Roll 180°, Pitch 270°</value>
-        <value code="35">Roll 270°, Pitch 270°</value>
-        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
-        <value code="37">Roll 90°, Yaw 270°</value>
-        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
-        <value code="39">Pitch 315°</value>
-        <value code="40">Roll 90°, Pitch 315°</value>
-      </values>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 0 X-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 0 Y-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 Z-axis offset</short_desc>
+      <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 0 Z-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 1 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO1_ID" default="0" type="INT32" category="System">
-      <short_desc>Gyroscope 1 calibration device ID</short_desc>
-      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
+    <parameter name="CAL_ACC2_ID" default="0" type="INT32" category="System">
+      <short_desc>Accelerometer 2 calibration device ID</short_desc>
+      <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO1_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 1 priority</short_desc>
+    <parameter name="CAL_ACC2_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 2 priority</short_desc>
+      <decimal>3</decimal>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21122,8 +12768,8 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO1_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 1 rotation relative to airframe</short_desc>
+    <parameter name="CAL_ACC2_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 2 rotation relative to airframe</short_desc>
       <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
       <max>40</max>
@@ -21172,27 +12818,47 @@
         <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 1 X-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 X-axis offset</short_desc>
+      <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 1 Y-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 X-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 1 Z-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 Y-axis offset</short_desc>
+      <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO2_ID" default="0" type="INT32" category="System">
-      <short_desc>Gyroscope 2 calibration device ID</short_desc>
-      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
+    <parameter name="CAL_ACC2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO2_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 2 priority</short_desc>
+    <parameter name="CAL_ACC2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 Z-axis offset</short_desc>
+      <unit>m/s^2</unit>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_ACC2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 2 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_ACC3_ID" default="0" type="INT32" category="System">
+      <short_desc>Accelerometer 3 calibration device ID</short_desc>
+      <long_desc>Device ID of the accelerometer this calibration applies to.</long_desc>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_ACC3_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 3 priority</short_desc>
+      <decimal>3</decimal>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21203,8 +12869,8 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO2_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 2 rotation relative to airframe</short_desc>
+    <parameter name="CAL_ACC3_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Accelerometer 3 rotation relative to airframe</short_desc>
       <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
       <max>40</max>
@@ -21253,27 +12919,125 @@
         <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 2 X-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 X-axis offset</short_desc>
+      <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 2 Y-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 X-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 2 Z-axis offset</short_desc>
-      <unit>rad/s</unit>
+    <parameter name="CAL_ACC3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 Y-axis offset</short_desc>
+      <unit>m/s^2</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO3_ID" default="0" type="INT32" category="System">
-      <short_desc>Gyroscope 3 calibration device ID</short_desc>
+    <parameter name="CAL_ACC3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_ACC3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 Z-axis offset</short_desc>
+      <unit>m/s^2</unit>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_ACC3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Accelerometer 3 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_BARO0_ID" default="0" type="INT32" category="System">
+      <short_desc>Barometer 0 calibration device ID</short_desc>
+      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
+    </parameter>
+    <parameter name="CAL_BARO0_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Barometer 0 offset</short_desc>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_BARO0_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Barometer 0 priority</short_desc>
+      <values>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
+      </values>
+    </parameter>
+    <parameter name="CAL_BARO1_ID" default="0" type="INT32" category="System">
+      <short_desc>Barometer 1 calibration device ID</short_desc>
+      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
+    </parameter>
+    <parameter name="CAL_BARO1_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Barometer 1 offset</short_desc>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_BARO1_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Barometer 1 priority</short_desc>
+      <values>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
+      </values>
+    </parameter>
+    <parameter name="CAL_BARO2_ID" default="0" type="INT32" category="System">
+      <short_desc>Barometer 2 calibration device ID</short_desc>
+      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
+    </parameter>
+    <parameter name="CAL_BARO2_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Barometer 2 offset</short_desc>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_BARO2_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Barometer 2 priority</short_desc>
+      <values>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
+      </values>
+    </parameter>
+    <parameter name="CAL_BARO3_ID" default="0" type="INT32" category="System">
+      <short_desc>Barometer 3 calibration device ID</short_desc>
+      <long_desc>Device ID of the barometer this calibration applies to.</long_desc>
+    </parameter>
+    <parameter name="CAL_BARO3_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Barometer 3 offset</short_desc>
+      <decimal>3</decimal>
+    </parameter>
+    <parameter name="CAL_BARO3_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Barometer 3 priority</short_desc>
+      <values>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
+      </values>
+    </parameter>
+    <parameter name="CAL_GYRO0_ID" default="0" type="INT32" category="System">
+      <short_desc>Gyroscope 0 calibration device ID</short_desc>
       <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="CAL_GYRO3_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 3 priority</short_desc>
+    <parameter name="CAL_GYRO0_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 0 priority</short_desc>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21284,8 +13048,8 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO3_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Gyroscope 3 rotation relative to airframe</short_desc>
+    <parameter name="CAL_GYRO0_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 0 rotation relative to airframe</short_desc>
       <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
       <max>40</max>
@@ -21334,34 +13098,27 @@
         <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="CAL_GYRO3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 3 X-axis offset</short_desc>
+    <parameter name="CAL_GYRO0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 0 X-axis offset</short_desc>
       <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 3 Y-axis offset</short_desc>
+    <parameter name="CAL_GYRO0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 0 Y-axis offset</short_desc>
       <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_GYRO3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Gyroscope 3 Z-axis offset</short_desc>
+    <parameter name="CAL_GYRO0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 0 Z-axis offset</short_desc>
       <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG0_ID" default="0" type="INT32" category="System">
-      <short_desc>Magnetometer 0 calibration device ID</short_desc>
-      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_MAG0_PITCH" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 0 Custom Euler Pitch Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
+    <parameter name="CAL_GYRO1_ID" default="0" type="INT32" category="System">
+      <short_desc>Gyroscope 1 calibration device ID</short_desc>
+      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="CAL_MAG0_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 0 priority</short_desc>
+    <parameter name="CAL_GYRO1_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 1 priority</short_desc>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21371,19 +13128,12 @@
         <value code="75">High</value>
         <value code="100">Max</value>
       </values>
-    </parameter>
-    <parameter name="CAL_MAG0_ROLL" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 0 Custom Euler Roll Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG0_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 0 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.</long_desc>
+    </parameter>
+    <parameter name="CAL_GYRO1_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 1 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
-      <max>100</max>
+      <max>40</max>
       <values>
         <value code="-1">Internal</value>
         <value code="0">No rotation</value>
@@ -21427,88 +13177,29 @@
         <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
         <value code="39">Pitch 315°</value>
         <value code="40">Roll 90°, Pitch 315°</value>
-        <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG0_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 X Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 X-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 X-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_YAW" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 0 Custom Euler Yaw Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG0_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Y Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Y-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Y-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG0_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Z Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
+    <parameter name="CAL_GYRO1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 1 X-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG0_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Z-axis off diagonal scale factor</short_desc>
-    </parameter>
-    <parameter name="CAL_MAG0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Z-axis offset</short_desc>
-      <unit>gauss</unit>
+    <parameter name="CAL_GYRO1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 1 Y-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 0 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
+    <parameter name="CAL_GYRO1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 1 Z-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG1_ID" default="0" type="INT32" category="System">
-      <short_desc>Magnetometer 1 calibration device ID</short_desc>
-      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_MAG1_PITCH" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 1 Custom Euler Pitch Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
+    <parameter name="CAL_GYRO2_ID" default="0" type="INT32" category="System">
+      <short_desc>Gyroscope 2 calibration device ID</short_desc>
+      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="CAL_MAG1_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 1 priority</short_desc>
+    <parameter name="CAL_GYRO2_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 2 priority</short_desc>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21519,18 +13210,11 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG1_ROLL" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 1 Custom Euler Roll Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG1_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 1 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.</long_desc>
+    <parameter name="CAL_GYRO2_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 2 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
-      <max>100</max>
+      <max>40</max>
       <values>
         <value code="-1">Internal</value>
         <value code="0">No rotation</value>
@@ -21574,88 +13258,29 @@
         <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
         <value code="39">Pitch 315°</value>
         <value code="40">Roll 90°, Pitch 315°</value>
-        <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG1_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 X Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 X-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 X-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_YAW" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 1 Custom Euler Yaw Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG1_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Y Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Y-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Y-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG1_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Z Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
+    <parameter name="CAL_GYRO2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 2 X-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG1_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Z-axis off diagonal scale factor</short_desc>
-    </parameter>
-    <parameter name="CAL_MAG1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Z-axis offset</short_desc>
-      <unit>gauss</unit>
+    <parameter name="CAL_GYRO2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 2 Y-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 1 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
+    <parameter name="CAL_GYRO2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 2 Z-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG2_ID" default="0" type="INT32" category="System">
-      <short_desc>Magnetometer 2 calibration device ID</short_desc>
-      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
-    </parameter>
-    <parameter name="CAL_MAG2_PITCH" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 2 Custom Euler Pitch Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
+    <parameter name="CAL_GYRO3_ID" default="0" type="INT32" category="System">
+      <short_desc>Gyroscope 3 calibration device ID</short_desc>
+      <long_desc>Device ID of the gyroscope this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="CAL_MAG2_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 2 priority</short_desc>
+    <parameter name="CAL_GYRO3_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 3 priority</short_desc>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21666,18 +13291,11 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG2_ROLL" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 2 Custom Euler Roll Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG2_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 2 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.</long_desc>
+    <parameter name="CAL_GYRO3_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Gyroscope 3 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</long_desc>
       <min>-1</min>
-      <max>100</max>
+      <max>40</max>
       <values>
         <value code="-1">Internal</value>
         <value code="0">No rotation</value>
@@ -21721,88 +13339,36 @@
         <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
         <value code="39">Pitch 315°</value>
         <value code="40">Roll 90°, Pitch 315°</value>
-        <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG2_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 X Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 X-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 X-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 X-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_YAW" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 2 Custom Euler Yaw Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
-      <min>-180</min>
-      <max>180</max>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="CAL_MAG2_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Y Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Y-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Y-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Z Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG2_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Z-axis off diagonal scale factor</short_desc>
+    <parameter name="CAL_GYRO3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 3 X-axis offset</short_desc>
+      <unit>rad/s</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Z-axis offset</short_desc>
-      <unit>gauss</unit>
+    <parameter name="CAL_GYRO3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 3 Y-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 2 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
+    <parameter name="CAL_GYRO3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Gyroscope 3 Z-axis offset</short_desc>
+      <unit>rad/s</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_ID" default="0" type="INT32" category="System">
-      <short_desc>Magnetometer 3 calibration device ID</short_desc>
+    <parameter name="CAL_MAG0_ID" default="0" type="INT32" category="System">
+      <short_desc>Magnetometer 0 calibration device ID</short_desc>
       <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="CAL_MAG3_PITCH" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 3 Custom Euler Pitch Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+    <parameter name="CAL_MAG0_PITCH" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 0 Custom Euler Pitch Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
       <min>-180</min>
       <max>180</max>
       <unit>deg</unit>
     </parameter>
-    <parameter name="CAL_MAG3_PRIO" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 3 priority</short_desc>
+    <parameter name="CAL_MAG0_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 0 priority</short_desc>
       <values>
         <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
@@ -21813,16 +13379,17 @@
         <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG3_ROLL" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 3 Custom Euler Roll Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+    <parameter name="CAL_MAG0_ROLL" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 0 Custom Euler Roll Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
       <min>-180</min>
       <max>180</max>
       <unit>deg</unit>
     </parameter>
-    <parameter name="CAL_MAG3_ROT" default="-1" type="INT32" category="System">
-      <short_desc>Magnetometer 3 rotation relative to airframe</short_desc>
-      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.</long_desc>
+    <parameter name="CAL_MAG0_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 0 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.</long_desc>
       <min>-1</min>
       <max>100</max>
       <values>
@@ -21871,498 +13438,282 @@
         <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="CAL_MAG3_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 X Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
+    <parameter name="CAL_MAG0_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 X Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+X component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 X-axis off diagonal scale factor</short_desc>
+    <parameter name="CAL_MAG0_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 X-axis off diagonal scale factor</short_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 X-axis offset</short_desc>
+    <parameter name="CAL_MAG0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 X-axis offset</short_desc>
       <unit>gauss</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 X-axis scaling factor</short_desc>
+    <parameter name="CAL_MAG0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 X-axis scaling factor</short_desc>
       <min>0.1</min>
       <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_YAW" default="0.0" type="FLOAT" category="System">
-      <short_desc>Magnetometer 3 Custom Euler Yaw Angle</short_desc>
-      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+    <parameter name="CAL_MAG0_YAW" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 0 Custom Euler Yaw Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</long_desc>
       <min>-180</min>
       <max>180</max>
       <unit>deg</unit>
     </parameter>
-    <parameter name="CAL_MAG3_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Y Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG3_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Y-axis off diagonal scale factor</short_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Y-axis offset</short_desc>
-      <unit>gauss</unit>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Y-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG3_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Z Axis throttle compensation</short_desc>
-      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
-      <decimal>3</decimal>
-    </parameter>
-    <parameter name="CAL_MAG3_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Z-axis off diagonal scale factor</short_desc>
-    </parameter>
-    <parameter name="CAL_MAG3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Z-axis offset</short_desc>
-      <unit>gauss</unit>
+    <parameter name="CAL_MAG0_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Y Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Y component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Magnetometer 3 Z-axis scaling factor</short_desc>
-      <min>0.1</min>
-      <max>3.0</max>
+    <parameter name="CAL_MAG0_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Y-axis off diagonal scale factor</short_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="CAL_MAG_COMP_TYP" default="0" type="INT32" category="System">
-      <short_desc>Type of magnetometer compensation</short_desc>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Throttle-based compensation</value>
-        <value code="2">Current-based compensation (battery_status instance 0)</value>
-        <value code="3">Current-based compensation (battery_status instance 1)</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_DPRES_ANSC" default="0" type="FLOAT">
-      <short_desc>Differential pressure sensor analog scaling</short_desc>
-      <long_desc>Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</long_desc>
-    </parameter>
-    <parameter name="SENS_DPRES_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
-      <short_desc>Differential pressure sensor offset</short_desc>
-      <long_desc>The offset (zero-reading) in Pascal</long_desc>
-    </parameter>
-    <parameter name="SENS_FLOW_MAXHGT" default="100." type="FLOAT">
-      <short_desc>Maximum height above ground when reliant on optical flow</short_desc>
-      <long_desc>This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.</long_desc>
-      <min>1.0</min>
-      <max>100.0</max>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="SENS_FLOW_MAXR" default="8." type="FLOAT">
-      <short_desc>Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor</short_desc>
-      <long_desc>Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.</long_desc>
-      <min>1.0</min>
-      <unit>rad/s</unit>
-      <decimal>2</decimal>
-    </parameter>
-    <parameter name="SENS_FLOW_MINHGT" default="0.08" type="FLOAT">
-      <short_desc>Minimum height above ground when reliant on optical flow</short_desc>
-      <long_desc>This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.</long_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-  </group>
-  <group name="Sensors">
-    <parameter name="ADC_ADS1115_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Enable external ADS1115 ADC</short_desc>
-      <long_desc>If enabled, the internal ADC is not used.</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="BAT1_C_MULT" default="1.0" type="FLOAT">
-      <short_desc>Capacity/current multiplier for high-current capable SMBUS battery</short_desc>
-      <decimal>1</decimal>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="BAT1_SMBUS_MODEL" default="0" type="INT32">
-      <short_desc>Battery device model</short_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">AutoDetect</value>
-        <value code="1">BQ40Z50 based</value>
-        <value code="2">BQ40Z80 based</value>
-      </values>
-    </parameter>
-    <parameter name="BATMON_ADDR_DFLT" default="11" type="INT32">
-      <short_desc>I2C address for BatMon battery 1</short_desc>
-      <decimal>1</decimal>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="BATMON_DRIVER_EN" default="0" type="INT32">
-      <short_desc>Parameter to enable BatMon module</short_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Start on default I2C addr(BATMON_ADDR_DFLT)</value>
-        <value code="2">Autodetect I2C address (TODO)</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_AIR_CMODEL" default="0" type="INT32">
-      <short_desc>Airspeed sensor compensation model for the SDP3x</short_desc>
-      <long_desc>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</long_desc>
-      <values>
-        <value code="0">Model with Pitot</value>
-        <value code="1">Model without Pitot (1.5 mm tubes)</value>
-        <value code="2">Tube Pressure Drop</value>
-      </values>
-    </parameter>
-    <parameter name="CAL_AIR_TUBED_MM" default="1.5" type="FLOAT">
-      <short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
-      <min>1.5</min>
-      <max>100</max>
-      <unit>mm</unit>
-    </parameter>
-    <parameter name="CAL_AIR_TUBELEN" default="0.2" type="FLOAT">
-      <short_desc>Airspeed sensor tube length</short_desc>
-      <long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
-      <min>0.01</min>
-      <max>2.00</max>
-      <unit>m</unit>
-    </parameter>
-    <parameter name="CAL_MAG_SIDES" default="63" type="INT32" category="Developer">
-      <short_desc>For legacy QGC support only</short_desc>
-      <long_desc>Use SENS_MAG_SIDES instead</long_desc>
-    </parameter>
-    <parameter name="IMU_ACCEL_CUTOFF" default="30.0" type="FLOAT">
-      <short_desc>Low pass filter cutoff frequency for accel</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="IMU_DGYRO_CUTOFF" default="30.0" type="FLOAT">
-      <short_desc>Cutoff frequency for angular acceleration (D-Term filter)</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="IMU_GYRO_CAL_EN" default="1" type="INT32" boolean="true">
-      <short_desc>IMU gyro auto calibration enable</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="IMU_GYRO_CUTOFF" default="40.0" type="FLOAT">
-      <short_desc>Low pass filter cutoff frequency for gyro</short_desc>
-      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="IMU_GYRO_DNF_BW" default="15." type="FLOAT">
-      <short_desc>IMU gyro ESC notch filter bandwidth</short_desc>
-      <long_desc>Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.</long_desc>
-      <min>5</min>
-      <max>30</max>
-      <unit>Hz</unit>
-    </parameter>
-    <parameter name="IMU_GYRO_DNF_EN" default="0" type="INT32">
-      <short_desc>IMU gyro dynamic notch filtering</short_desc>
-      <long_desc>Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <bitmask>
-        <bit index="0">ESC RPM</bit>
-        <bit index="1">FFT</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="IMU_GYRO_DNF_HMC" default="3" type="INT32">
-      <short_desc>IMU gyro dynamic notch filter harmonics</short_desc>
-      <long_desc>ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.</long_desc>
-      <min>1</min>
-      <max>7</max>
-    </parameter>
-    <parameter name="IMU_GYRO_DNF_MIN" default="25." type="FLOAT">
-      <short_desc>IMU gyro dynamic notch filter minimum frequency</short_desc>
-      <long_desc>Minimum notch filter frequency in Hz.</long_desc>
-      <unit>Hz</unit>
-    </parameter>
-    <parameter name="IMU_GYRO_FFT_EN" default="0" type="INT32" boolean="true">
-      <short_desc>IMU gyro FFT enable</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="IMU_GYRO_FFT_LEN" default="512" type="INT32">
-      <short_desc>IMU gyro FFT length</short_desc>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="256">256</value>
-        <value code="512">512</value>
-        <value code="1024">1024</value>
-        <value code="4096">4096</value>
-      </values>
-    </parameter>
-    <parameter name="IMU_GYRO_FFT_MAX" default="150." type="FLOAT">
-      <short_desc>IMU gyro FFT maximum frequency</short_desc>
-      <min>1</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Y-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="IMU_GYRO_FFT_MIN" default="30." type="FLOAT">
-      <short_desc>IMU gyro FFT minimum frequency</short_desc>
-      <min>1</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="IMU_GYRO_FFT_SNR" default="10." type="FLOAT">
-      <short_desc>IMU gyro FFT SNR</short_desc>
-      <min>1</min>
-      <max>30</max>
+    <parameter name="CAL_MAG0_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Z Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Z component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="IMU_GYRO_NF0_BW" default="20.0" type="FLOAT">
-      <short_desc>Notch filter bandwidth for gyro</short_desc>
-      <long_desc>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG0_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Z-axis off diagonal scale factor</short_desc>
     </parameter>
-    <parameter name="IMU_GYRO_NF0_FRQ" default="0.0" type="FLOAT">
-      <short_desc>Notch filter frequency for gyro</short_desc>
-      <long_desc>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Z-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="IMU_GYRO_NF1_BW" default="20.0" type="FLOAT">
-      <short_desc>Notch filter 1 bandwidth for gyro</short_desc>
-      <long_desc>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</long_desc>
-      <min>0</min>
-      <max>100</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 0 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="IMU_GYRO_NF1_FRQ" default="0.0" type="FLOAT">
-      <short_desc>Notch filter 2 frequency for gyro</short_desc>
-      <long_desc>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</long_desc>
-      <min>0</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG1_ID" default="0" type="INT32" category="System">
+      <short_desc>Magnetometer 1 calibration device ID</short_desc>
+      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="IMU_GYRO_RATEMAX" default="400" type="INT32">
-      <short_desc>Gyro control data maximum publication rate (inner loop rate)</short_desc>
-      <long_desc>The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.</long_desc>
-      <min>100</min>
-      <max>2000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="100">100 Hz</value>
-        <value code="250">250 Hz</value>
-        <value code="400">400 Hz</value>
-        <value code="800">800 Hz</value>
-        <value code="1000">1000 Hz</value>
-        <value code="2000">2000 Hz</value>
-      </values>
+    <parameter name="CAL_MAG1_PITCH" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 1 Custom Euler Pitch Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="IMU_INTEG_RATE" default="200" type="INT32">
-      <short_desc>IMU integration rate</short_desc>
-      <long_desc>The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).</long_desc>
-      <min>100</min>
-      <max>1000</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG1_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 1 priority</short_desc>
       <values>
-        <value code="100">100 Hz</value>
-        <value code="200">200 Hz</value>
-        <value code="250">250 Hz</value>
-        <value code="400">400 Hz</value>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="INA220_CONFIG" default="8607" type="INT32">
-      <short_desc>INA220 Power Monitor Config</short_desc>
-      <min>0</min>
-      <max>65535</max>
-      <decimal>1</decimal>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="INA220_CUR_BAT" default="164.0" type="FLOAT">
-      <short_desc>INA220 Power Monitor Battery Max Current</short_desc>
-      <min>0.1</min>
-      <max>500.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
+    <parameter name="CAL_MAG1_ROLL" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 1 Custom Euler Roll Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="INA220_CUR_REG" default="164.0" type="FLOAT">
-      <short_desc>INA220 Power Monitor Regulator Max Current</short_desc>
-      <min>0.1</min>
-      <max>500.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
+    <parameter name="CAL_MAG1_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 1 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.</long_desc>
+      <min>-1</min>
+      <max>100</max>
+      <values>
+        <value code="-1">Internal</value>
+        <value code="0">No rotation</value>
+        <value code="1">Yaw 45°</value>
+        <value code="2">Yaw 90°</value>
+        <value code="3">Yaw 135°</value>
+        <value code="4">Yaw 180°</value>
+        <value code="5">Yaw 225°</value>
+        <value code="6">Yaw 270°</value>
+        <value code="7">Yaw 315°</value>
+        <value code="8">Roll 180°</value>
+        <value code="9">Roll 180°, Yaw 45°</value>
+        <value code="10">Roll 180°, Yaw 90°</value>
+        <value code="11">Roll 180°, Yaw 135°</value>
+        <value code="12">Pitch 180°</value>
+        <value code="13">Roll 180°, Yaw 225°</value>
+        <value code="14">Roll 180°, Yaw 270°</value>
+        <value code="15">Roll 180°, Yaw 315°</value>
+        <value code="16">Roll 90°</value>
+        <value code="17">Roll 90°, Yaw 45°</value>
+        <value code="18">Roll 90°, Yaw 90°</value>
+        <value code="19">Roll 90°, Yaw 135°</value>
+        <value code="20">Roll 270°</value>
+        <value code="21">Roll 270°, Yaw 45°</value>
+        <value code="22">Roll 270°, Yaw 90°</value>
+        <value code="23">Roll 270°, Yaw 135°</value>
+        <value code="24">Pitch 90°</value>
+        <value code="25">Pitch 270°</value>
+        <value code="26">Pitch 180°, Yaw 90°</value>
+        <value code="27">Pitch 180°, Yaw 270°</value>
+        <value code="28">Roll 90°, Pitch 90°</value>
+        <value code="29">Roll 180°, Pitch 90°</value>
+        <value code="30">Roll 270°, Pitch 90°</value>
+        <value code="31">Roll 90°, Pitch 180°</value>
+        <value code="32">Roll 270°, Pitch 180°</value>
+        <value code="33">Roll 90°, Pitch 270°</value>
+        <value code="34">Roll 180°, Pitch 270°</value>
+        <value code="35">Roll 270°, Pitch 270°</value>
+        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
+        <value code="37">Roll 90°, Yaw 270°</value>
+        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
+        <value code="39">Pitch 315°</value>
+        <value code="40">Roll 90°, Pitch 315°</value>
+        <value code="100">Custom Euler Angle</value>
+      </values>
     </parameter>
-    <parameter name="INA220_SHUNT_BAT" default="0.0005" type="FLOAT">
-      <short_desc>INA220 Power Monitor Battery Shunt</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
+    <parameter name="CAL_MAG1_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 X Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+X component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA220_SHUNT_REG" default="0.0005" type="FLOAT">
-      <short_desc>INA220 Power Monitor Regulator Shunt</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
+    <parameter name="CAL_MAG1_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 X-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA226_CONFIG" default="18139" type="INT32">
-      <short_desc>INA226 Power Monitor Config</short_desc>
-      <min>0</min>
-      <max>65535</max>
-      <decimal>1</decimal>
-      <increment>1</increment>
+    <parameter name="CAL_MAG1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 X-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA226_CURRENT" default="164.0" type="FLOAT">
-      <short_desc>INA226 Power Monitor Max Current</short_desc>
+    <parameter name="CAL_MAG1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 X-axis scaling factor</short_desc>
       <min>0.1</min>
-      <max>200.0</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA226_SHUNT" default="0.0005" type="FLOAT">
-      <short_desc>INA226 Power Monitor Shunt</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
+    <parameter name="CAL_MAG1_YAW" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 1 Custom Euler Yaw Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="INA228_CONFIG" default="63779" type="INT32">
-      <short_desc>INA228 Power Monitor Config</short_desc>
-      <min>0</min>
-      <max>65535</max>
-      <decimal>1</decimal>
-      <increment>1</increment>
+    <parameter name="CAL_MAG1_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Y Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Y component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA228_CURRENT" default="327.68" type="FLOAT">
-      <short_desc>INA228 Power Monitor Max Current</short_desc>
-      <min>0.1</min>
-      <max>327.68</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
+    <parameter name="CAL_MAG1_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Y-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA228_SHUNT" default="0.0005" type="FLOAT">
-      <short_desc>INA228 Power Monitor Shunt</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
+    <parameter name="CAL_MAG1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Y-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="INA238_CURRENT" default="327.68" type="FLOAT">
-      <short_desc>INA238 Power Monitor Max Current</short_desc>
+    <parameter name="CAL_MAG1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Y-axis scaling factor</short_desc>
       <min>0.1</min>
-      <max>327.68</max>
-      <decimal>2</decimal>
-      <increment>0.1</increment>
-    </parameter>
-    <parameter name="INA238_SHUNT" default="0.0003" type="FLOAT">
-      <short_desc>INA238 Power Monitor Shunt</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="PCF8583_MAGNET" default="2" type="INT32">
-      <short_desc>PCF8583 rotorfreq (i2c) pulse count</short_desc>
-      <long_desc>Nmumber of signals per rotation of actuator</long_desc>
-      <min>1</min>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG1_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Z Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Z component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="PCF8583_POOL" default="1000000" type="INT32">
-      <short_desc>PCF8583 rotorfreq (i2c) pool interval</short_desc>
-      <long_desc>Determines how often the sensor is read out.</long_desc>
-      <unit>us</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG1_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Z-axis off diagonal scale factor</short_desc>
     </parameter>
-    <parameter name="PCF8583_RESET" default="500000" type="INT32">
-      <short_desc>PCF8583 rotorfreq (i2c) pulse reset value</short_desc>
-      <long_desc>Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Z-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_AFBR_HYSTER" default="1" type="INT32">
-      <short_desc>AFBR Rangefinder Short/Long Range Threshold Hysteresis</short_desc>
-      <long_desc>This parameter defines the hysteresis for switching between short and long range mode.</long_desc>
-      <min>1</min>
-      <max>10</max>
-      <unit>m</unit>
+    <parameter name="CAL_MAG1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 1 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_AFBR_L_RATE" default="25" type="INT32">
-      <short_desc>AFBR Rangefinder Long Range Rate</short_desc>
-      <long_desc>This parameter defines measurement rate of the AFBR Rangefinder in long range mode.</long_desc>
-      <min>1</min>
-      <max>100</max>
+    <parameter name="CAL_MAG2_ID" default="0" type="INT32" category="System">
+      <short_desc>Magnetometer 2 calibration device ID</short_desc>
+      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
     </parameter>
-    <parameter name="SENS_AFBR_MODE" default="0" type="INT32">
-      <short_desc>AFBR Rangefinder Mode</short_desc>
-      <long_desc>This parameter defines the mode of the AFBR Rangefinder.</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_PITCH" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 2 Custom Euler Pitch Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
+    </parameter>
+    <parameter name="CAL_MAG2_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 2 priority</short_desc>
       <values>
-        <value code="0">Short Range Mode</value>
-        <value code="1">Long Range Mode</value>
-        <value code="2">High Speed Short Range Mode</value>
-        <value code="3">High Speed Long Range Mode</value>
+        <value code="-1">Uninitialized</value>
+        <value code="0">Disabled</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="SENS_AFBR_S_RATE" default="50" type="INT32">
-      <short_desc>AFBR Rangefinder Short Range Rate</short_desc>
-      <long_desc>This parameter defines measurement rate of the AFBR Rangefinder in short range mode.</long_desc>
-      <min>1</min>
-      <max>100</max>
-    </parameter>
-    <parameter name="SENS_AFBR_THRESH" default="4" type="INT32">
-      <short_desc>AFBR Rangefinder Short/Long Range Threshold</short_desc>
-      <long_desc>This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.</long_desc>
-      <min>1</min>
-      <max>50</max>
-      <unit>m</unit>
-    </parameter>
-    <parameter name="SENS_BARO_QNH" default="1013.25" type="FLOAT">
-      <short_desc>QNH for barometer</short_desc>
-      <min>500</min>
-      <max>1500</max>
-      <unit>hPa</unit>
-    </parameter>
-    <parameter name="SENS_BARO_RATE" default="20.0" type="FLOAT">
-      <short_desc>Baro max rate</short_desc>
-      <long_desc>Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.</long_desc>
-      <min>1</min>
-      <max>200</max>
-      <unit>Hz</unit>
+    <parameter name="CAL_MAG2_ROLL" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 2 Custom Euler Roll Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="SENS_BOARD_ROT" default="0" type="INT32">
-      <short_desc>Board rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the FMU board relative to the platform.</long_desc>
+    <parameter name="CAL_MAG2_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 2 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.</long_desc>
       <min>-1</min>
-      <max>40</max>
-      <reboot_required>true</reboot_required>
+      <max>100</max>
       <values>
+        <value code="-1">Internal</value>
         <value code="0">No rotation</value>
         <value code="1">Yaw 45°</value>
         <value code="2">Yaw 90°</value>
@@ -22404,362 +13755,125 @@
         <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
         <value code="39">Pitch 315°</value>
         <value code="40">Roll 90°, Pitch 315°</value>
+        <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="SENS_BOARD_X_OFF" default="0.0" type="FLOAT">
-      <short_desc>Board rotation X (Roll) offset</short_desc>
-      <long_desc>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="SENS_BOARD_Y_OFF" default="0.0" type="FLOAT">
-      <short_desc>Board rotation Y (Pitch) offset</short_desc>
-      <long_desc>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="SENS_BOARD_Z_OFF" default="0.0" type="FLOAT">
-      <short_desc>Board rotation Z (YAW) offset</short_desc>
-      <long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
-      <unit>deg</unit>
-    </parameter>
-    <parameter name="SENS_CM8JL65_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Lanbao PSK-CM8JL65-CC5</short_desc>
-      <long_desc>Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_CM8JL65_R_0" default="25" type="INT32">
-      <short_desc>Distance Sensor Rotation</short_desc>
-      <long_desc>Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="0">ROTATION_FORWARD_FACING</value>
-        <value code="2">ROTATION_RIGHT_FACING</value>
-        <value code="4">ROTATION_BACKWARD_FACING</value>
-        <value code="6">ROTATION_LEFT_FACING</value>
-        <value code="24">ROTATION_UPWARD_FACING</value>
-        <value code="25">ROTATION_DOWNWARD_FACING</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_ADIS164X" default="0" type="INT32">
-      <short_desc>Analog Devices ADIS16448 IMU (external SPI)</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_ADIS165X" default="0" type="INT32" boolean="true">
-      <short_desc>Analog Devices ADIS16507 IMU (external SPI)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_AGPSIM" default="0" type="INT32">
-      <short_desc>Simulate Aux Global Position (AGP)</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_ARSPDSIM" default="0" type="INT32">
-      <short_desc>Enable simulated airspeed sensor instance</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_ASP5033" default="0" type="INT32" boolean="true">
-      <short_desc>ASP5033 differential pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_AUAVX" default="0" type="INT32">
-      <short_desc>Amphenol AUAV differential / absolute pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Sensor disabled, when explicitly started treated as AUAV L05D</value>
-        <value code="1">AUAV L05D</value>
-        <value code="2">AUAV L10D</value>
-        <value code="3">AUAV L30D</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_BAROSIM" default="0" type="INT32">
-      <short_desc>Enable simulated barometer sensor instance</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_BATT" default="0" type="INT32" boolean="true">
-      <short_desc>SMBUS Smart battery driver BQ40Z50 and BQ40Z80</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_ETSASPD" default="0" type="INT32" boolean="true">
-      <short_desc>Eagle Tree airspeed sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_GPSSIM" default="0" type="INT32">
-      <short_desc>Enable simulated GPS sinstance</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_INA220" default="0" type="INT32" boolean="true">
-      <short_desc>Enable INA220 Power Monitor</short_desc>
-      <long_desc>For systems a INA220 Power Monitor, this should be set to true</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_INA226" default="0" type="INT32" boolean="true">
-      <short_desc>Enable INA226 Power Monitor</short_desc>
-      <long_desc>For systems a INA226 Power Monitor, this should be set to true</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_INA228" default="0" type="INT32" boolean="true">
-      <short_desc>Enable INA228 Power Monitor</short_desc>
-      <long_desc>For systems a INA228 Power Monitor, this should be set to true</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_INA238" default="0" type="INT32" boolean="true">
-      <short_desc>Enable INA238 Power Monitor</short_desc>
-      <long_desc>For systems a INA238 Power Monitor, this should be set to true</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_IRLOCK" default="0" type="INT32" boolean="true">
-      <short_desc>IR-LOCK Sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_LL40LS" default="0" type="INT32">
-      <short_desc>Lidar-Lite (LL40LS)</short_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">PWM</value>
-        <value code="2">I2C</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_MAGSIM" default="0" type="INT32">
-      <short_desc>Enable simulated magnetometer sensor instance</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_MB12XX" default="0" type="INT32" boolean="true">
-      <short_desc>Maxbotix Sonar (mb12xx)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_MPDT" default="0" type="INT32">
-      <short_desc>Enable Mappydot rangefinder (i2c)</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Autodetect</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_MS4515" default="0" type="INT32" boolean="true">
-      <short_desc>TE MS4515 differential pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_MS4525DO" default="0" type="INT32" boolean="true">
-      <short_desc>TE MS4525DO differential pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_MS5525DS" default="0" type="INT32" boolean="true">
-      <short_desc>TE MS5525DSO differential pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_PAA3905" default="0" type="INT32" boolean="true">
-      <short_desc>PAA3905 Optical Flow</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_PAW3902" default="0" type="INT32" boolean="true">
-      <short_desc>PAW3902/PAW3903 Optical Flow</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_PCF8583" default="0" type="INT32">
-      <short_desc>PCF8583 eneable driver</short_desc>
-      <long_desc>Run PCF8583 driver automatically</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Eneabled</value>
-      </values>
+    <parameter name="CAL_MAG2_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 X Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+X component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_PGA460" default="0" type="INT32" boolean="true">
-      <short_desc>PGA460 Ultrasonic driver (PGA460)</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 X-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_PMW3901" default="0" type="INT32" boolean="true">
-      <short_desc>PMW3901 Optical Flow</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 X-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_PX4FLOW" default="0" type="INT32" boolean="true">
-      <short_desc>PX4 Flow Optical Flow</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 X-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SCH16T" default="0" type="INT32">
-      <short_desc>Murata SCH16T IMU (external SPI)</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-      </values>
+    <parameter name="CAL_MAG2_YAW" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 2 Custom Euler Yaw Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="SENS_EN_SDP3X" default="0" type="INT32" boolean="true">
-      <short_desc>Sensirion SDP3X differential pressure sensor (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Y Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Y component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SF0X" default="1" type="INT32">
-      <short_desc>Lightware Laser Rangefinder hardware model (serial)</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="1">SF02</value>
-        <value code="2">SF10/a</value>
-        <value code="3">SF10/b</value>
-        <value code="4">SF10/c</value>
-        <value code="5">SF11/c</value>
-        <value code="6">SF30/b</value>
-        <value code="7">SF30/c</value>
-        <value code="8">LW20/c</value>
-      </values>
+    <parameter name="CAL_MAG2_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Y-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SF1XX" default="0" type="INT32">
-      <short_desc>Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)</short_desc>
-      <min>0</min>
-      <max>6</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">SF10/a</value>
-        <value code="2">SF10/b</value>
-        <value code="3">SF10/c</value>
-        <value code="4">SF11/c</value>
-        <value code="5">SF/LW20/b</value>
-        <value code="6">SF/LW20/c</value>
-        <value code="7">SF/LW30/d</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_SF45_CFG" default="102" type="INT32">
-      <short_desc>Serial Configuration for Lightware SF45 Rangefinder (serial)</short_desc>
-      <long_desc>Configure on which serial port to run Lightware SF45 Rangefinder (serial).</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_EN_SHT3X" default="0" type="INT32" boolean="true">
-      <short_desc>SHT3x temperature and hygrometer</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Y-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SPA06" default="0" type="INT32" boolean="true">
-      <short_desc>Goertek SPA06 Barometer (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SPL06" default="0" type="INT32" boolean="true">
-      <short_desc>Goertek SPL06 Barometer (external I2C)</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Z Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Z component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_SR05" default="0" type="INT32" boolean="true">
-      <short_desc>HY-SRF05 / HC-SR05</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Z-axis off diagonal scale factor</short_desc>
     </parameter>
-    <parameter name="SENS_EN_TF02PRO" default="0" type="INT32" boolean="true">
-      <short_desc>TF02 Pro Distance Sensor (i2c)</short_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Z-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_THERMAL" default="-1" type="INT32" category="System">
-      <short_desc>Thermal control of sensor temperature</short_desc>
-      <values>
-        <value code="-1">Thermal control unavailable</value>
-        <value code="0">Thermal control off</value>
-        <value code="1">Thermal control enabled</value>
-      </values>
+    <parameter name="CAL_MAG2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 2 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_EN_TRANGER" default="0" type="INT32">
-      <short_desc>TeraRanger Rangefinder (i2c)</short_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG3_ID" default="0" type="INT32" category="System">
+      <short_desc>Magnetometer 3 calibration device ID</short_desc>
+      <long_desc>Device ID of the magnetometer this calibration applies to.</long_desc>
+    </parameter>
+    <parameter name="CAL_MAG3_PITCH" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 3 Custom Euler Pitch Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
+    </parameter>
+    <parameter name="CAL_MAG3_PRIO" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 3 priority</short_desc>
       <values>
+        <value code="-1">Uninitialized</value>
         <value code="0">Disabled</value>
-        <value code="1">Autodetect</value>
-        <value code="2">TROne</value>
-        <value code="3">TREvo60m</value>
-        <value code="4">TREvo600Hz</value>
-        <value code="5">TREvo3m</value>
+        <value code="1">Min</value>
+        <value code="25">Low</value>
+        <value code="50">Medium (Default)</value>
+        <value code="75">High</value>
+        <value code="100">Max</value>
       </values>
     </parameter>
-    <parameter name="SENS_EN_VL53L0X" default="0" type="INT32" boolean="true">
-      <short_desc>VL53L0X Distance Sensor</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EN_VL53L1X" default="0" type="INT32" boolean="true">
-      <short_desc>VL53L1X Distance Sensor</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="SENS_EXT_I2C_PRB" default="1" type="INT32" boolean="true" category="System">
-      <short_desc>External I2C probe</short_desc>
-      <long_desc>Probe for optional external I2C devices.</long_desc>
-    </parameter>
-    <parameter name="SENS_FLOW_RATE" default="70.0" type="FLOAT">
-      <short_desc>Optical flow max rate</short_desc>
-      <long_desc>Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.</long_desc>
-      <min>1</min>
-      <max>200</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG3_ROLL" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 3 Custom Euler Roll Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="SENS_FLOW_ROT" default="0" type="INT32">
-      <short_desc>Optical flow rotation</short_desc>
-      <long_desc>This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.</long_desc>
+    <parameter name="CAL_MAG3_ROT" default="-1" type="INT32" category="System">
+      <short_desc>Magnetometer 3 rotation relative to airframe</short_desc>
+      <long_desc>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.</long_desc>
+      <min>-1</min>
+      <max>100</max>
       <values>
+        <value code="-1">Internal</value>
         <value code="0">No rotation</value>
         <value code="1">Yaw 45°</value>
         <value code="2">Yaw 90°</value>
@@ -22768,421 +13882,432 @@
         <value code="5">Yaw 225°</value>
         <value code="6">Yaw 270°</value>
         <value code="7">Yaw 315°</value>
+        <value code="8">Roll 180°</value>
+        <value code="9">Roll 180°, Yaw 45°</value>
+        <value code="10">Roll 180°, Yaw 90°</value>
+        <value code="11">Roll 180°, Yaw 135°</value>
+        <value code="12">Pitch 180°</value>
+        <value code="13">Roll 180°, Yaw 225°</value>
+        <value code="14">Roll 180°, Yaw 270°</value>
+        <value code="15">Roll 180°, Yaw 315°</value>
+        <value code="16">Roll 90°</value>
+        <value code="17">Roll 90°, Yaw 45°</value>
+        <value code="18">Roll 90°, Yaw 90°</value>
+        <value code="19">Roll 90°, Yaw 135°</value>
+        <value code="20">Roll 270°</value>
+        <value code="21">Roll 270°, Yaw 45°</value>
+        <value code="22">Roll 270°, Yaw 90°</value>
+        <value code="23">Roll 270°, Yaw 135°</value>
+        <value code="24">Pitch 90°</value>
+        <value code="25">Pitch 270°</value>
+        <value code="26">Pitch 180°, Yaw 90°</value>
+        <value code="27">Pitch 180°, Yaw 270°</value>
+        <value code="28">Roll 90°, Pitch 90°</value>
+        <value code="29">Roll 180°, Pitch 90°</value>
+        <value code="30">Roll 270°, Pitch 90°</value>
+        <value code="31">Roll 90°, Pitch 180°</value>
+        <value code="32">Roll 270°, Pitch 180°</value>
+        <value code="33">Roll 90°, Pitch 270°</value>
+        <value code="34">Roll 180°, Pitch 270°</value>
+        <value code="35">Roll 270°, Pitch 270°</value>
+        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
+        <value code="37">Roll 90°, Yaw 270°</value>
+        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
+        <value code="39">Pitch 315°</value>
+        <value code="40">Roll 90°, Pitch 315°</value>
+        <value code="100">Custom Euler Angle</value>
       </values>
     </parameter>
-    <parameter name="SENS_FLOW_SCALE" default="1." type="FLOAT">
-      <short_desc>Optical flow scale factor</short_desc>
-      <min>0.5</min>
-      <max>1.5</max>
-      <decimal>2</decimal>
-    </parameter>
-    <parameter name="SENS_FTX_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for FT Technologies Digital Wind Sensor (serial)</short_desc>
-      <long_desc>Configure on which serial port to run FT Technologies Digital Wind Sensor (serial).</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
+    <parameter name="CAL_MAG3_XCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 X Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+X component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_GPS_MASK" default="7" type="INT32">
-      <short_desc>Multi GPS Blending Control Mask</short_desc>
-      <long_desc>Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy</long_desc>
-      <min>0</min>
-      <max>7</max>
-      <bitmask>
-        <bit index="0">use speed accuracy</bit>
-        <bit index="1">use hpos accuracy</bit>
-        <bit index="2">use vpos accuracy</bit>
-      </bitmask>
+    <parameter name="CAL_MAG3_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 X-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_GPS_PRIME" default="0" type="INT32">
-      <short_desc>Multi GPS primary instance</short_desc>
-      <long_desc>When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.</long_desc>
-      <min>-1</min>
-      <max>1</max>
+    <parameter name="CAL_MAG3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 X-axis offset</short_desc>
+      <unit>gauss</unit>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_GPS_TAU" default="10.0" type="FLOAT">
-      <short_desc>Multi GPS Blending Time Constant</short_desc>
-      <long_desc>Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.</long_desc>
-      <min>1.0</min>
-      <max>100.0</max>
-      <unit>s</unit>
-      <decimal>1</decimal>
+    <parameter name="CAL_MAG3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 X-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_AUTOCAL" default="1" type="INT32" boolean="true" category="System">
-      <short_desc>IMU auto calibration</short_desc>
-      <long_desc>Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.</long_desc>
+    <parameter name="CAL_MAG3_YAW" default="0.0" type="FLOAT" category="System">
+      <short_desc>Magnetometer 3 Custom Euler Yaw Angle</short_desc>
+      <long_desc>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</long_desc>
+      <min>-180</min>
+      <max>180</max>
+      <unit>deg</unit>
     </parameter>
-    <parameter name="SENS_IMU_CLPNOTI" default="1" type="INT32" boolean="true" category="System">
-      <short_desc>IMU notify clipping</short_desc>
-      <long_desc>Notify the user if the IMU is clipping</long_desc>
+    <parameter name="CAL_MAG3_YCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Y Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Y component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_MODE" default="1" type="INT32" category="System">
-      <short_desc>Sensors hub IMU mode</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Publish primary IMU selection</value>
-      </values>
+    <parameter name="CAL_MAG3_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Y-axis off diagonal scale factor</short_desc>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_TEMP" default="55.0" type="FLOAT" category="System">
-      <short_desc>Target IMU temperature</short_desc>
-      <min>0</min>
-      <max>85.0</max>
-      <unit>celcius</unit>
+    <parameter name="CAL_MAG3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Y-axis offset</short_desc>
+      <unit>gauss</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_TEMP_FF" default="0.05" type="FLOAT" category="System">
-      <short_desc>IMU heater controller feedforward value</short_desc>
-      <min>0</min>
-      <max>1.0</max>
-      <unit>%</unit>
+    <parameter name="CAL_MAG3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Y-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_TEMP_I" default="0.025" type="FLOAT" category="System">
-      <short_desc>IMU heater controller integrator gain value</short_desc>
-      <min>0</min>
-      <max>1.0</max>
-      <unit>us/C</unit>
+    <parameter name="CAL_MAG3_ZCOMP" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Z Axis throttle compensation</short_desc>
+      <long_desc>Coefficient describing linear relationship between
+Z component of magnetometer in body frame axis
+and either current or throttle depending on value of CAL_MAG_COMP_TYP.
+Unit for throttle-based compensation is [G] and
+for current-based compensation [G/kA]</long_desc>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_IMU_TEMP_P" default="1.0" type="FLOAT" category="System">
-      <short_desc>IMU heater controller proportional gain value</short_desc>
-      <min>0</min>
-      <max>2.0</max>
-      <unit>us/C</unit>
+    <parameter name="CAL_MAG3_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Z-axis off diagonal scale factor</short_desc>
+    </parameter>
+    <parameter name="CAL_MAG3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Z-axis offset</short_desc>
+      <unit>gauss</unit>
       <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_INT_BARO_EN" default="1" type="INT32" boolean="true" category="System">
-      <short_desc>Enable internal barometers</short_desc>
-      <long_desc>For systems with an external barometer, this should be set to false to make sure that the external is used.</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Magnetometer 3 Z-axis scaling factor</short_desc>
+      <min>0.1</min>
+      <max>3.0</max>
+      <decimal>3</decimal>
     </parameter>
-    <parameter name="SENS_LEDDAR1_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for LeddarOne Rangefinder</short_desc>
-      <long_desc>Configure on which serial port to run LeddarOne Rangefinder.</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="CAL_MAG_COMP_TYP" default="0" type="INT32" category="System">
+      <short_desc>Type of magnetometer compensation</short_desc>
       <values>
         <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
+        <value code="1">Throttle-based compensation</value>
+        <value code="2">Current-based compensation (battery_status instance 0)</value>
+        <value code="3">Current-based compensation (battery_status instance 1)</value>
       </values>
     </parameter>
-    <parameter name="SENS_MAG_AUTOCAL" default="1" type="INT32" boolean="true" category="System">
-      <short_desc>Magnetometer auto calibration</short_desc>
-      <long_desc>Automatically initialize magnetometer calibration from bias estimate if available.</long_desc>
+    <parameter name="SENS_DPRES_ANSC" default="0" type="FLOAT">
+      <short_desc>Differential pressure sensor analog scaling</short_desc>
+      <long_desc>Pick the appropriate scaling from the datasheet.
+this number defines the (linear) conversion from voltage
+to Pascal (pa). For the MPXV7002DP this is 1000.
+NOTE: If the sensor always registers zero, try switching
+the static and dynamic tubes.</long_desc>
     </parameter>
-    <parameter name="SENS_MAG_AUTOROT" default="1" type="INT32" boolean="true">
-      <short_desc>Automatically set external rotations</short_desc>
-      <long_desc>During calibration attempt to automatically determine the rotation of external magnetometers.</long_desc>
+    <parameter name="SENS_DPRES_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
+      <short_desc>Differential pressure sensor offset</short_desc>
+      <long_desc>The offset (zero-reading) in Pascal</long_desc>
     </parameter>
-    <parameter name="SENS_MAG_MODE" default="1" type="INT32" category="System">
-      <short_desc>Sensors hub mag mode</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Publish all magnetometers</value>
-        <value code="1">Publish primary magnetometer</value>
-      </values>
+    <parameter name="SENS_DPRES_REV" default="0" type="INT32" boolean="true" category="System">
+      <short_desc>Reverse differential pressure sensor readings</short_desc>
+      <long_desc>Reverse the raw measurements of all differential pressure sensors.
+This can be enabled if the sensors have static and dynamic ports swapped.</long_desc>
     </parameter>
-    <parameter name="SENS_MAG_RATE" default="15.0" type="FLOAT">
-      <short_desc>Magnetometer max rate</short_desc>
-      <long_desc>Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.</long_desc>
-      <min>1</min>
-      <max>200</max>
-      <unit>Hz</unit>
-      <reboot_required>true</reboot_required>
+    <parameter name="SENS_FLOW_MAXHGT" default="100." type="FLOAT">
+      <short_desc>Maximum height above ground when reliant on optical flow</short_desc>
+      <long_desc>This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.
+The height setpoint will be limited to be no greater than this value when the navigation system
+is completely reliant on optical flow data and the height above ground estimate is valid.
+The sensor may be usable above this height, but accuracy will progressively degrade.</long_desc>
+      <min>1.0</min>
+      <max>100.0</max>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
     </parameter>
-    <parameter name="SENS_MAG_SIDES" default="63" type="INT32">
-      <short_desc>Bitfield selecting mag sides for calibration</short_desc>
-      <long_desc>If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32</long_desc>
-      <min>34</min>
-      <max>63</max>
-      <values>
-        <value code="34">Two side calibration</value>
-        <value code="38">Three side calibration</value>
-        <value code="63">Six side calibration</value>
-      </values>
+    <parameter name="SENS_FLOW_MAXR" default="8." type="FLOAT">
+      <short_desc>Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor</short_desc>
+      <long_desc>Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and
+control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground
+is less than 50% of this value.</long_desc>
+      <min>1.0</min>
+      <unit>rad/s</unit>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="SENS_MB12_0_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 0 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+    <parameter name="SENS_FLOW_MINHGT" default="0.08" type="FLOAT">
+      <short_desc>Minimum height above ground when reliant on optical flow</short_desc>
+      <long_desc>This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.
+The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.</long_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <unit>m</unit>
+      <decimal>2</decimal>
+      <increment>0.1</increment>
     </parameter>
-    <parameter name="SENS_MB12_10_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 10 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
+  </group>
+  <group name="Sensors">
+    <parameter name="CAL_AIR_CMODEL" default="0" type="INT32">
+      <short_desc>Airspeed sensor compensation model for the SDP3x</short_desc>
+      <long_desc>Model with Pitot
+CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
+CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
+Model without Pitot (1.5 mm tubes)
+CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
+CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
+Tube Pressure Drop
+CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.
+CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</long_desc>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Model with Pitot</value>
+        <value code="1">Model without Pitot (1.5 mm tubes)</value>
+        <value code="2">Tube Pressure Drop</value>
       </values>
     </parameter>
-    <parameter name="SENS_MB12_11_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 12 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+    <parameter name="CAL_AIR_TUBED_MM" default="1.5" type="FLOAT">
+      <short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
+      <min>1.5</min>
+      <max>100</max>
+      <unit>mm</unit>
+    </parameter>
+    <parameter name="CAL_AIR_TUBELEN" default="0.2" type="FLOAT">
+      <short_desc>Airspeed sensor tube length</short_desc>
+      <long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
+      <min>0.01</min>
+      <max>2.00</max>
+      <unit>m</unit>
+    </parameter>
+    <parameter name="CAL_MAG_SIDES" default="63" type="INT32" category="Developer">
+      <short_desc>For legacy QGC support only</short_desc>
+      <long_desc>Use SENS_MAG_SIDES instead</long_desc>
     </parameter>
-    <parameter name="SENS_MB12_1_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 1 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_ACCEL_CUTOFF" default="30.0" type="FLOAT">
+      <short_desc>Low pass filter cutoff frequency for accel</short_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer.
+This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1000</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
     </parameter>
-    <parameter name="SENS_MB12_2_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 2 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_DGYRO_CUTOFF" default="20.0" type="FLOAT">
+      <short_desc>Cutoff frequency for angular acceleration (D-Term filter)</short_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter used on
+the time derivative of the measured angular velocity, also known as
+the D-term filter in the rate controller. The D-term uses the derivative of
+the rate and thus is the most susceptible to noise. Therefore, using
+a D-term filter allows to increase IMU_GYRO_CUTOFF, which
+leads to reduced control latency and permits to increase the P gains.
+A value of 0 disables the filter.</long_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1000</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
+    </parameter>
+    <parameter name="IMU_GYRO_CAL_EN" default="1" type="INT32" boolean="true">
+      <short_desc>IMU gyro auto calibration enable</short_desc>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
     </parameter>
-    <parameter name="SENS_MB12_3_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 3 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_CUTOFF" default="40.0" type="FLOAT">
+      <short_desc>Low pass filter cutoff frequency for gyro</short_desc>
+      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary gyro.
+This only affects the angular velocity sent to the controllers, not the estimators.
+It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF.
+A value of 0 disables the filter.</long_desc>
       <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+      <max>1000</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
+    </parameter>
+    <parameter name="IMU_GYRO_DNF_BW" default="15." type="FLOAT">
+      <short_desc>IMU gyro ESC notch filter bandwidth</short_desc>
+      <long_desc>Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.</long_desc>
+      <min>5</min>
+      <max>30</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
     </parameter>
-    <parameter name="SENS_MB12_4_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 4 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_DNF_EN" default="0" type="INT32">
+      <short_desc>IMU gyro dynamic notch filtering</short_desc>
+      <long_desc>Enable bank of dynamically updating notch filters.
+Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).</long_desc>
       <min>0</min>
+      <max>3</max>
+      <bitmask>
+        <bit index="0">ESC RPM</bit>
+        <bit index="1">FFT</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="IMU_GYRO_DNF_HMC" default="3" type="INT32">
+      <short_desc>IMU gyro dynamic notch filter harmonics</short_desc>
+      <long_desc>ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.</long_desc>
+      <min>1</min>
       <max>7</max>
+    </parameter>
+    <parameter name="IMU_GYRO_DNF_MIN" default="25." type="FLOAT">
+      <short_desc>IMU gyro dynamic notch filter minimum frequency</short_desc>
+      <long_desc>Minimum notch filter frequency in Hz.</long_desc>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="IMU_GYRO_FFT_EN" default="0" type="INT32" boolean="true">
+      <short_desc>IMU gyro FFT enable</short_desc>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
     </parameter>
-    <parameter name="SENS_MB12_5_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 5 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="IMU_GYRO_FFT_LEN" default="512" type="INT32">
+      <short_desc>IMU gyro FFT length</short_desc>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="256">256</value>
+        <value code="512">512</value>
+        <value code="1024">1024</value>
+        <value code="4096">4096</value>
       </values>
     </parameter>
-    <parameter name="SENS_MB12_6_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 6 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="IMU_GYRO_FFT_MAX" default="150." type="FLOAT">
+      <short_desc>IMU gyro FFT maximum frequency</short_desc>
+      <min>1</min>
+      <max>1000</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
     </parameter>
-    <parameter name="SENS_MB12_7_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 7 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="IMU_GYRO_FFT_MIN" default="30." type="FLOAT">
+      <short_desc>IMU gyro FFT minimum frequency</short_desc>
+      <min>1</min>
+      <max>1000</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
     </parameter>
-    <parameter name="SENS_MB12_8_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 8 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_FFT_SNR" default="10." type="FLOAT">
+      <short_desc>IMU gyro FFT SNR</short_desc>
+      <min>1</min>
+      <max>30</max>
+    </parameter>
+    <parameter name="IMU_GYRO_NF0_BW" default="20.0" type="FLOAT">
+      <short_desc>Notch filter bandwidth for gyro</short_desc>
+      <long_desc>The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
+See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency.
+Applies to both angular velocity and angular acceleration sent to the controllers.</long_desc>
       <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+      <max>100</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
     </parameter>
-    <parameter name="SENS_MB12_9_ROT" default="0" type="INT32">
-      <short_desc>MaxBotix MB12XX Sensor 9 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_NF0_FRQ" default="0.0" type="FLOAT">
+      <short_desc>Notch filter frequency for gyro</short_desc>
+      <long_desc>The center frequency for the 2nd order notch filter on the primary gyro.
+This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
+This only affects the signal sent to the controllers, not the estimators.
+Applies to both angular velocity and angular acceleration sent to the controllers.
+See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter.
+A value of 0 disables the filter.</long_desc>
       <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+      <max>1000</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
     </parameter>
-    <parameter name="SENS_MPDT0_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 0 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_NF1_BW" default="20.0" type="FLOAT">
+      <short_desc>Notch filter 1 bandwidth for gyro</short_desc>
+      <long_desc>The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
+See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency.
+Applies to both angular velocity and angular acceleration sent to the controllers.</long_desc>
       <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+      <max>100</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
     </parameter>
-    <parameter name="SENS_MPDT10_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 10 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="IMU_GYRO_NF1_FRQ" default="0.0" type="FLOAT">
+      <short_desc>Notch filter 2 frequency for gyro</short_desc>
+      <long_desc>The center frequency for the 2nd order notch filter on the primary gyro.
+This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
+This only affects the signal sent to the controllers, not the estimators.
+Applies to both angular velocity and angular acceleration sent to the controllers.
+See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter.
+A value of 0 disables the filter.</long_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1000</max>
+      <unit>Hz</unit>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+      <reboot_required>false</reboot_required>
+    </parameter>
+    <parameter name="IMU_GYRO_RATEMAX" default="400" type="INT32">
+      <short_desc>Gyro control data maximum publication rate (inner loop rate)</short_desc>
+      <long_desc>The maximum rate the gyro control data (vehicle_angular_velocity) will be
+allowed to publish at. This is the loop rate for the rate controller and outputs.
+Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.</long_desc>
+      <min>100</min>
+      <max>2000</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="100">100 Hz</value>
+        <value code="250">250 Hz</value>
+        <value code="400">400 Hz</value>
+        <value code="800">800 Hz</value>
+        <value code="1000">1000 Hz</value>
+        <value code="2000">2000 Hz</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT11_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 12 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="IMU_INTEG_RATE" default="200" type="INT32">
+      <short_desc>IMU integration rate</short_desc>
+      <long_desc>The rate at which raw IMU data is integrated to produce delta angles and delta velocities.
+Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).</long_desc>
+      <min>100</min>
+      <max>1000</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="100">100 Hz</value>
+        <value code="200">200 Hz</value>
+        <value code="250">250 Hz</value>
+        <value code="400">400 Hz</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT1_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 1 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="SENS_BARO_QNH" default="1013.25" type="FLOAT">
+      <short_desc>QNH for barometer</short_desc>
+      <min>500</min>
+      <max>1500</max>
+      <unit>hPa</unit>
+    </parameter>
+    <parameter name="SENS_BARO_RATE" default="20.0" type="FLOAT">
+      <short_desc>Baro max rate</short_desc>
+      <long_desc>Barometric air data maximum publication rate. This is an upper bound,
+actual barometric data rate is still dependent on the sensor.</long_desc>
+      <min>1</min>
+      <max>200</max>
+      <unit>Hz</unit>
+    </parameter>
+    <parameter name="SENS_BAR_AUTOCAL" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>Barometer auto calibration</short_desc>
+      <long_desc>Automatically calibrate barometer based on the GNSS height</long_desc>
+    </parameter>
+    <parameter name="SENS_BOARD_ROT" default="0" type="INT32">
+      <short_desc>Board rotation</short_desc>
+      <long_desc>This parameter defines the rotation of the FMU board relative to the platform.</long_desc>
+      <min>-1</min>
+      <max>40</max>
       <reboot_required>true</reboot_required>
       <values>
         <value code="0">No rotation</value>
@@ -23193,116 +14318,145 @@
         <value code="5">Yaw 225°</value>
         <value code="6">Yaw 270°</value>
         <value code="7">Yaw 315°</value>
+        <value code="8">Roll 180°</value>
+        <value code="9">Roll 180°, Yaw 45°</value>
+        <value code="10">Roll 180°, Yaw 90°</value>
+        <value code="11">Roll 180°, Yaw 135°</value>
+        <value code="12">Pitch 180°</value>
+        <value code="13">Roll 180°, Yaw 225°</value>
+        <value code="14">Roll 180°, Yaw 270°</value>
+        <value code="15">Roll 180°, Yaw 315°</value>
+        <value code="16">Roll 90°</value>
+        <value code="17">Roll 90°, Yaw 45°</value>
+        <value code="18">Roll 90°, Yaw 90°</value>
+        <value code="19">Roll 90°, Yaw 135°</value>
+        <value code="20">Roll 270°</value>
+        <value code="21">Roll 270°, Yaw 45°</value>
+        <value code="22">Roll 270°, Yaw 90°</value>
+        <value code="23">Roll 270°, Yaw 135°</value>
+        <value code="24">Pitch 90°</value>
+        <value code="25">Pitch 270°</value>
+        <value code="26">Pitch 180°, Yaw 90°</value>
+        <value code="27">Pitch 180°, Yaw 270°</value>
+        <value code="28">Roll 90°, Pitch 90°</value>
+        <value code="29">Roll 180°, Pitch 90°</value>
+        <value code="30">Roll 270°, Pitch 90°</value>
+        <value code="31">Roll 90°, Pitch 180°</value>
+        <value code="32">Roll 270°, Pitch 180°</value>
+        <value code="33">Roll 90°, Pitch 270°</value>
+        <value code="34">Roll 180°, Pitch 270°</value>
+        <value code="35">Roll 270°, Pitch 270°</value>
+        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
+        <value code="37">Roll 90°, Yaw 270°</value>
+        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
+        <value code="39">Pitch 315°</value>
+        <value code="40">Roll 90°, Pitch 315°</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT2_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 2 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_BOARD_X_OFF" default="0.0" type="FLOAT">
+      <short_desc>Board rotation X (roll) offset</short_desc>
+      <long_desc>Rotation from flight controller board to vehicle body frame.
+This parameter gets set during the "level horizon" calibration or can be
+set manually.</long_desc>
+      <min>-45.0</min>
+      <max>45.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="SENS_BOARD_Y_OFF" default="0.0" type="FLOAT">
+      <short_desc>Board rotation Y (pitch) offset</short_desc>
+      <long_desc>Rotation from flight controller board to vehicle body frame.
+This parameter gets set during the "level horizon" calibration or can be
+set manually.</long_desc>
+      <min>-45.0</min>
+      <max>45.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="SENS_BOARD_Z_OFF" default="0.0" type="FLOAT">
+      <short_desc>Board rotation Z (yaw) offset</short_desc>
+      <long_desc>Rotation from flight controller board to vehicle body frame.
+Has to be set manually (not set by any calibration).</long_desc>
+      <min>-45.0</min>
+      <max>45.0</max>
+      <unit>deg</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="SENS_EN_AGPSIM" default="0" type="INT32">
+      <short_desc>Simulate Aux Global Position (AGP)</short_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Disabled</value>
+        <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT3_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 3 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_EN_ARSPDSIM" default="0" type="INT32">
+      <short_desc>Enable simulated airspeed sensor instance</short_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Disabled</value>
+        <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT4_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 4 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_EN_BAROSIM" default="0" type="INT32">
+      <short_desc>Enable simulated barometer sensor instance</short_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Disabled</value>
+        <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT5_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 5 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_EN_GPSSIM" default="0" type="INT32">
+      <short_desc>Enable simulated GPS sinstance</short_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Disabled</value>
+        <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT6_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 6 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_EN_MAGSIM" default="0" type="INT32">
+      <short_desc>Enable simulated magnetometer sensor instance</short_desc>
       <min>0</min>
-      <max>7</max>
+      <max>1</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="0">Disabled</value>
+        <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT7_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 7 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
-      <reboot_required>true</reboot_required>
+    <parameter name="SENS_EN_THERMAL" default="-1" type="INT32" category="System">
+      <short_desc>Thermal control of sensor temperature</short_desc>
       <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
+        <value code="-1">Thermal control unavailable</value>
+        <value code="0">Thermal control off</value>
+        <value code="1">Thermal control enabled</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT8_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 8 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
-      <min>0</min>
-      <max>7</max>
+    <parameter name="SENS_EXT_I2C_PRB" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>External I2C probe</short_desc>
+      <long_desc>Probe for optional external I2C devices.</long_desc>
+    </parameter>
+    <parameter name="SENS_FLOW_RATE" default="70.0" type="FLOAT">
+      <short_desc>Optical flow max rate</short_desc>
+      <long_desc>Optical flow data maximum publication rate. This is an upper bound,
+actual optical flow data rate is still dependent on the sensor.</long_desc>
+      <min>1</min>
+      <max>200</max>
+      <unit>Hz</unit>
       <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="SENS_FLOW_ROT" default="0" type="INT32">
+      <short_desc>Optical flow rotation</short_desc>
+      <long_desc>This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame.
+Zero rotation is defined as X on flow board pointing towards front of vehicle.</long_desc>
       <values>
         <value code="0">No rotation</value>
         <value code="1">Yaw 45°</value>
@@ -23314,168 +14468,113 @@
         <value code="7">Yaw 315°</value>
       </values>
     </parameter>
-    <parameter name="SENS_MPDT9_ROT" default="0" type="INT32">
-      <short_desc>MappyDot Sensor 9 Rotation</short_desc>
-      <long_desc>This parameter defines the rotation of the Mappydot sensor relative to the platform.</long_desc>
+    <parameter name="SENS_FLOW_SCALE" default="1." type="FLOAT">
+      <short_desc>Optical flow scale factor</short_desc>
+      <min>0.5</min>
+      <max>1.5</max>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="SENS_GPS_MASK" default="7" type="INT32">
+      <short_desc>Multi GPS Blending Control Mask</short_desc>
+      <long_desc>Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance.
+0 : Set to true to use speed accuracy
+1 : Set to true to use horizontal position accuracy
+2 : Set to true to use vertical position accuracy</long_desc>
       <min>0</min>
       <max>7</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">No rotation</value>
-        <value code="1">Yaw 45°</value>
-        <value code="2">Yaw 90°</value>
-        <value code="3">Yaw 135°</value>
-        <value code="4">Yaw 180°</value>
-        <value code="5">Yaw 225°</value>
-        <value code="6">Yaw 270°</value>
-        <value code="7">Yaw 315°</value>
-      </values>
+      <bitmask>
+        <bit index="0">use speed accuracy</bit>
+        <bit index="1">use hpos accuracy</bit>
+        <bit index="2">use vpos accuracy</bit>
+      </bitmask>
+    </parameter>
+    <parameter name="SENS_GPS_PRIME" default="0" type="INT32">
+      <short_desc>Multi GPS primary instance</short_desc>
+      <long_desc>When no blending is active, this defines the preferred GPS receiver instance.
+The GPS selection logic waits until the primary receiver is available to
+send data to the EKF even if a secondary instance is already available.
+The secondary instance is then only used if the primary one times out.
+Accepted values:
+-1 : Auto (equal priority for all instances)
+0 : Main serial GPS instance
+1 : Secondary serial GPS instance
+2-127 : UAVCAN module node ID
+This parameter has no effect if blending is active.</long_desc>
+      <min>-1</min>
+      <max>127</max>
+    </parameter>
+    <parameter name="SENS_GPS_TAU" default="10.0" type="FLOAT">
+      <short_desc>Multi GPS Blending Time Constant</short_desc>
+      <long_desc>Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.</long_desc>
+      <min>1.0</min>
+      <max>100.0</max>
+      <unit>s</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter name="SENS_IMU_AUTOCAL" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>IMU auto calibration</short_desc>
+      <long_desc>Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.</long_desc>
     </parameter>
-    <parameter name="SENS_OR_ADIS164X" default="0" type="INT32">
-      <short_desc>Analog Devices ADIS16448 IMU Orientation(external SPI)</short_desc>
-      <min>0</min>
-      <max>101</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">ROTATION_NONE</value>
-        <value code="4">ROTATION_YAW_180</value>
-      </values>
+    <parameter name="SENS_IMU_CLPNOTI" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>IMU notify clipping</short_desc>
+      <long_desc>Notify the user if the IMU is clipping</long_desc>
     </parameter>
-    <parameter name="SENS_SF0X_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Lightware Laser Rangefinder (serial)</short_desc>
-      <long_desc>Configure on which serial port to run Lightware Laser Rangefinder (serial).</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_TEMP_ID" default="0" type="INT32" category="System">
-      <short_desc>Target IMU device ID to regulate temperature</short_desc>
-    </parameter>
-    <parameter name="SENS_TFLOW_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for ThoneFlow-3901U optical flow sensor</short_desc>
-      <long_desc>Configure on which serial port to run ThoneFlow-3901U optical flow sensor.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_TFMINI_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Benewake TFmini Rangefinder</short_desc>
-      <long_desc>Configure on which serial port to run Benewake TFmini Rangefinder.</long_desc>
+    <parameter name="SENS_IMU_MODE" default="1" type="INT32" category="System">
+      <short_desc>Sensors hub IMU mode</short_desc>
       <reboot_required>true</reboot_required>
       <values>
         <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_ULAND_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for uLanding Radar</short_desc>
-      <long_desc>Configure on which serial port to run uLanding Radar.</long_desc>
+        <value code="1">Publish primary IMU selection</value>
+      </values>
+    </parameter>
+    <parameter name="SENS_INT_BARO_EN" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>Enable internal barometers</short_desc>
+      <long_desc>For systems with an external barometer, this should be set to false to make sure that the external is used.</long_desc>
       <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SENS_VN_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for VectorNav (VN-100, VN-200, VN-300)</short_desc>
-      <long_desc>Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).</long_desc>
+    </parameter>
+    <parameter name="SENS_MAG_AUTOCAL" default="1" type="INT32" boolean="true" category="System">
+      <short_desc>Magnetometer auto calibration</short_desc>
+      <long_desc>Automatically initialize magnetometer calibration from bias estimate if available.</long_desc>
+    </parameter>
+    <parameter name="SENS_MAG_AUTOROT" default="1" type="INT32" boolean="true">
+      <short_desc>Automatically set external rotations</short_desc>
+      <long_desc>During calibration attempt to automatically determine the rotation of external magnetometers.</long_desc>
+    </parameter>
+    <parameter name="SENS_MAG_MODE" default="1" type="INT32" category="System">
+      <short_desc>Sensors hub mag mode</short_desc>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SF45_ORIENT_CFG" default="24" type="INT32">
-      <short_desc>Orientation upright or facing downward</short_desc>
-      <long_desc>The SF45 mounted facing upward or downward on the frame</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="24">Rotation upward</value>
-        <value code="25">Rotation downward</value>
+        <value code="0">Publish all magnetometers</value>
+        <value code="1">Publish primary magnetometer</value>
       </values>
     </parameter>
-    <parameter name="SF45_UPDATE_CFG" default="5" type="INT32">
-      <short_desc>Update rate in Hz</short_desc>
-      <long_desc>The SF45 sets the update rate in Hz to allow greater resolution</long_desc>
-      <reboot_required>True</reboot_required>
-      <values>
-        <value code="1">50hz</value>
-        <value code="2">100hz</value>
-        <value code="3">200hz</value>
-        <value code="4">400hz</value>
-        <value code="5">500hz</value>
-        <value code="6">625hz</value>
-        <value code="7">1000hz</value>
-        <value code="8">1250hz</value>
-        <value code="9">1538hz</value>
-        <value code="10">2000hz</value>
-        <value code="11">2500hz</value>
-        <value code="12">5000hz</value>
-      </values>
-    </parameter>
-    <parameter name="SF45_YAW_CFG" default="0" type="INT32">
-      <short_desc>Sensor facing forward or backward</short_desc>
-      <long_desc>The usb port on the sensor indicates 180deg, opposite usb is forward facing</long_desc>
-      <reboot_required>True</reboot_required>
+    <parameter name="SENS_MAG_RATE" default="15.0" type="FLOAT">
+      <short_desc>Magnetometer max rate</short_desc>
+      <long_desc>Magnetometer data maximum publication rate. This is an upper bound,
+actual magnetometer data rate is still dependent on the sensor.</long_desc>
+      <min>1</min>
+      <max>200</max>
+      <unit>Hz</unit>
+      <reboot_required>true</reboot_required>
+    </parameter>
+    <parameter name="SENS_MAG_SIDES" default="63" type="INT32">
+      <short_desc>Bitfield selecting mag sides for calibration</short_desc>
+      <long_desc>If set to two side calibration, only the offsets are estimated, the scale
+calibration is left unchanged. Thus an initial six side calibration is
+recommended.
+Bits:
+ORIENTATION_TAIL_DOWN = 1
+ORIENTATION_NOSE_DOWN = 2
+ORIENTATION_LEFT = 4
+ORIENTATION_RIGHT = 8
+ORIENTATION_UPSIDE_DOWN = 16
+ORIENTATION_RIGHTSIDE_UP = 32</long_desc>
+      <min>34</min>
+      <max>63</max>
       <values>
-        <value code="0">Rotation forward</value>
-        <value code="2">Rotation right</value>
-        <value code="4">Rotation backward</value>
-        <value code="6">Rotation left</value>
+        <value code="34">Two side calibration</value>
+        <value code="38">Three side calibration</value>
+        <value code="63">Six side calibration</value>
       </values>
     </parameter>
     <parameter name="SIM_ARSPD_FAIL" default="0" type="INT32">
@@ -23488,40 +14587,19 @@
         <value code="1">Enabled</value>
       </values>
     </parameter>
-    <parameter name="VN_MODE" default="0" type="INT32" category="System">
-      <short_desc>VectorNav driver mode</short_desc>
-      <long_desc>INS or sensors</long_desc>
-      <values>
-        <value code="0">Sensors Only (default)</value>
-        <value code="1">INS</value>
-      </values>
-    </parameter>
-    <parameter name="VOXLPM_SHUNT_BAT" default="0.00063" type="FLOAT">
-      <short_desc>VOXL Power Monitor Shunt, Battery</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="VOXLPM_SHUNT_REG" default="0.0056" type="FLOAT">
-      <short_desc>VOXL Power Monitor Shunt, Regulator</short_desc>
-      <min>0.000000001</min>
-      <max>0.1</max>
-      <decimal>10</decimal>
-      <increment>.000000001</increment>
-      <reboot_required>true</reboot_required>
-    </parameter>
   </group>
   <group name="Septentrio">
     <parameter name="SEP_AUTO_CONFIG" default="1" type="INT32" boolean="true">
       <short_desc>Toggle automatic receiver configuration</short_desc>
-      <long_desc>By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.</long_desc>
+      <long_desc>By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes.
+If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration.
+A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="SEP_CONST_USAGE" default="0" type="INT32">
       <short_desc>Usage of different constellations</short_desc>
-      <long_desc>Choice of which constellations the receiver should use for PVT computation. When this is 0, the constellation usage isn't changed.</long_desc>
+      <long_desc>Choice of which constellations the receiver should use for PVT computation.
+When this is 0, the constellation usage isn't changed.</long_desc>
       <min>0</min>
       <max>63</max>
       <reboot_required>True</reboot_required>
@@ -23535,7 +14613,8 @@
     </parameter>
     <parameter name="SEP_DUMP_COMM" default="0" type="INT32">
       <short_desc>Log GPS communication data</short_desc>
-      <long_desc>Log raw communication between the driver and connected receivers. For example, "To receiver" will log all commands and corrections sent by the driver to the receiver.</long_desc>
+      <long_desc>Log raw communication between the driver and connected receivers.
+For example, "To receiver" will log all commands and corrections sent by the driver to the receiver.</long_desc>
       <min>0</min>
       <max>3</max>
       <values>
@@ -23547,7 +14626,9 @@
     </parameter>
     <parameter name="SEP_HARDW_SETUP" default="0" type="INT32">
       <short_desc>Setup and expected use of the hardware</short_desc>
-      <long_desc>Setup and expected use of the hardware. - Default: Use two receivers as completely separate instances. - Moving base: Use two receivers in a rover &amp; moving base setup for heading.</long_desc>
+      <long_desc>Setup and expected use of the hardware.
+- Default: Use two receivers as completely separate instances.
+- Moving base: Use two receivers in a rover &amp; moving base setup for heading.</long_desc>
       <min>0</min>
       <max>1</max>
       <reboot_required>True</reboot_required>
@@ -23609,51 +14690,17 @@
     </parameter>
     <parameter name="SEP_PITCH_OFFS" default="0" type="FLOAT">
       <short_desc>Pitch offset for dual antenna GPS</short_desc>
-      <long_desc>Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.</long_desc>
+      <long_desc>Vertical offsets can be compensated for by adjusting the Pitch offset.
+Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis.
+This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame.
+Since pitch is defined as the right-handed rotation about the vehicle Y axis,
+a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.</long_desc>
       <min>-90</min>
       <max>90</max>
       <unit>deg</unit>
       <decimal>3</decimal>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="SEP_PORT1_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for GPS Port</short_desc>
-      <long_desc>Configure on which serial port to run GPS Port.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SEP_PORT2_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Secondary GPS port</short_desc>
-      <long_desc>Configure on which serial port to run Secondary GPS port.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
     <parameter name="SEP_SAT_INFO" default="0" type="INT32" boolean="true">
       <short_desc>Enable sat info</short_desc>
       <long_desc>Enable publication of satellite info (ORB_ID(satellite_info)) if possible.</long_desc>
@@ -23661,21 +14708,28 @@
     </parameter>
     <parameter name="SEP_STREAM_LOG" default="2" type="INT32">
       <short_desc>Logging stream used during automatic configuration</short_desc>
-      <long_desc>The stream the autopilot sets up on the receiver to output the logging data. Set this to another value if the default stream is already used for another purpose.</long_desc>
+      <long_desc>The stream the autopilot sets up on the receiver to output the logging data.
+Set this to another value if the default stream is already used for another purpose.</long_desc>
       <min>1</min>
       <max>10</max>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="SEP_STREAM_MAIN" default="1" type="INT32">
       <short_desc>Main stream used during automatic configuration</short_desc>
-      <long_desc>The stream the autopilot sets up on the receiver to output the main data. Set this to another value if the default stream is already used for another purpose.</long_desc>
+      <long_desc>The stream the autopilot sets up on the receiver to output the main data.
+Set this to another value if the default stream is already used for another purpose.</long_desc>
       <min>1</min>
       <max>10</max>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="SEP_YAW_OFFS" default="0" type="FLOAT">
       <short_desc>Heading/Yaw offset for dual antenna GPS</short_desc>
-      <long_desc>Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.</long_desc>
+      <long_desc>Heading offset angle for dual antenna GPS setups that support heading estimation.
+Set this to 0 if the antennas are parallel to the forward-facing direction
+of the vehicle and the rover antenna is in front.
+The offset angle increases clockwise.
+Set this to 90 if the rover antenna is placed on the
+right side of the vehicle and the moving base antenna is on the left side.</long_desc>
       <min>-360</min>
       <max>360</max>
       <unit>deg</unit>
@@ -23683,486 +14737,6 @@
       <reboot_required>True</reboot_required>
     </parameter>
   </group>
-  <group name="Serial">
-    <parameter name="RC_CRSF_PRT_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for CRSF RC Input Driver</short_desc>
-      <long_desc>Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="RC_DSM_PRT_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for DSM RC Input Driver</short_desc>
-      <long_desc>Configure on which serial port to run DSM RC Input Driver. DSM RC (Spektrum) driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="RC_GHST_PRT_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for GHST RC Input Driver</short_desc>
-      <long_desc>Configure on which serial port to run GHST RC Input Driver. Ghost (GHST) RC driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="RC_PORT_CONFIG" default="300" type="INT32">
-      <short_desc>Serial Configuration for RC Input Driver</short_desc>
-      <long_desc>Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="RC_SBUS_PRT_CFG" default="300" type="INT32">
-      <short_desc>Serial Configuration for SBUS RC Input Driver</short_desc>
-      <long_desc>Configure on which serial port to run SBUS RC Input Driver. SBUS RC driver.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="SER_EXT2_BAUD" default="57600" type="INT32">
-      <short_desc>Baudrate for the EXT2 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_GPS1_BAUD" default="0" type="INT32">
-      <short_desc>Baudrate for the GPS 1 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_GPS2_BAUD" default="0" type="INT32">
-      <short_desc>Baudrate for the GPS 2 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_GPS3_BAUD" default="0" type="INT32">
-      <short_desc>Baudrate for the GPS 3 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_MXS_BAUD" default="5" type="INT32">
-      <short_desc>MXS Serial Communication Baud rate</short_desc>
-      <long_desc>Baudrate for the Serial Port connected to the MXS Transponder</long_desc>
-      <min>0</min>
-      <max>10</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">38400</value>
-        <value code="1">600</value>
-        <value code="2">4800</value>
-        <value code="3">9600</value>
-        <value code="4">RESERVED</value>
-        <value code="5">57600</value>
-        <value code="6">115200</value>
-        <value code="7">230400</value>
-        <value code="8">19200</value>
-        <value code="9">460800</value>
-        <value code="10">921600</value>
-      </values>
-    </parameter>
-    <parameter name="SER_RC_BAUD" default="0" type="INT32">
-      <short_desc>Baudrate for the Radio Controller Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_TEL1_BAUD" default="57600" type="INT32">
-      <short_desc>Baudrate for the TELEM 1 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_TEL2_BAUD" default="921600" type="INT32">
-      <short_desc>Baudrate for the TELEM 2 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_TEL3_BAUD" default="57600" type="INT32">
-      <short_desc>Baudrate for the TELEM 3 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_TEL4_BAUD" default="57600" type="INT32">
-      <short_desc>Baudrate for the TELEM/SERIAL 4 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_URT6_BAUD" default="57600" type="INT32">
-      <short_desc>Baudrate for the UART 6 Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-    <parameter name="SER_WIFI_BAUD" default="1" type="INT32">
-      <short_desc>Baudrate for the Wifi Port Serial Port</short_desc>
-      <long_desc>Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="50">50 8N1</value>
-        <value code="75">75 8N1</value>
-        <value code="110">110 8N1</value>
-        <value code="134">134 8N1</value>
-        <value code="150">150 8N1</value>
-        <value code="200">200 8N1</value>
-        <value code="300">300 8N1</value>
-        <value code="600">600 8N1</value>
-        <value code="1200">1200 8N1</value>
-        <value code="1800">1800 8N1</value>
-        <value code="2400">2400 8N1</value>
-        <value code="4800">4800 8N1</value>
-        <value code="9600">9600 8N1</value>
-        <value code="19200">19200 8N1</value>
-        <value code="38400">38400 8N1</value>
-        <value code="57600">57600 8N1</value>
-        <value code="115200">115200 8N1</value>
-        <value code="230400">230400 8N1</value>
-        <value code="460800">460800 8N1</value>
-        <value code="500000">500000 8N1</value>
-        <value code="921600">921600 8N1</value>
-        <value code="1000000">1000000 8N1</value>
-        <value code="1500000">1500000 8N1</value>
-        <value code="2000000">2000000 8N1</value>
-        <value code="3000000">3000000 8N1</value>
-      </values>
-    </parameter>
-  </group>
   <group name="Simulation In Hardware">
     <parameter name="SIH_DISTSNSR_MAX" default="100.0" type="FLOAT">
       <short_desc>distance sensor maximum range</short_desc>
@@ -24187,7 +14761,8 @@
     </parameter>
     <parameter name="SIH_IXX" default="0.025" type="FLOAT">
       <short_desc>Vehicle inertia about X axis</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
       <min>0.0</min>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
@@ -24195,21 +14770,24 @@
     </parameter>
     <parameter name="SIH_IXY" default="0.0" type="FLOAT">
       <short_desc>Vehicle cross term inertia xy</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
       <increment>0.005</increment>
     </parameter>
     <parameter name="SIH_IXZ" default="0.0" type="FLOAT">
       <short_desc>Vehicle cross term inertia xz</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
       <increment>0.005</increment>
     </parameter>
     <parameter name="SIH_IYY" default="0.025" type="FLOAT">
       <short_desc>Vehicle inertia about Y axis</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
       <min>0.0</min>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
@@ -24217,14 +14795,16 @@
     </parameter>
     <parameter name="SIH_IYZ" default="0.0" type="FLOAT">
       <short_desc>Vehicle cross term inertia yz</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
       <increment>0.005</increment>
     </parameter>
     <parameter name="SIH_IZZ" default="0.030" type="FLOAT">
       <short_desc>Vehicle inertia about Z axis</short_desc>
-      <long_desc>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
+      <long_desc>The inertia is a 3 by 3 symmetric matrix.
+It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
       <min>0.0</min>
       <unit>kg m^2</unit>
       <decimal>3</decimal>
@@ -24232,7 +14812,10 @@
     </parameter>
     <parameter name="SIH_KDV" default="1.0" type="FLOAT">
       <short_desc>First order drag coefficient</short_desc>
-      <long_desc>Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]</long_desc>
+      <long_desc>Physical coefficient representing the friction with air particules.
+The greater this value, the slower the quad will move.
+Drag force function of velocity: D=-KDV*V.
+The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]</long_desc>
       <min>0.0</min>
       <unit>N/(m/s)</unit>
       <decimal>2</decimal>
@@ -24240,7 +14823,10 @@
     </parameter>
     <parameter name="SIH_KDW" default="0.025" type="FLOAT">
       <short_desc>First order angular damper coefficient</short_desc>
-      <long_desc>Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.</long_desc>
+      <long_desc>Physical coefficient representing the friction with air particules during rotations.
+The greater this value, the slower the quad will rotate.
+Aerodynamic moment function of body rate: Ma=-KDW*W_B.
+This value can be set to 0 if unknown.</long_desc>
       <min>0.0</min>
       <unit>Nm/(rad/s)</unit>
       <decimal>3</decimal>
@@ -24248,7 +14834,11 @@
     </parameter>
     <parameter name="SIH_LOC_H0" default="489.4" type="FLOAT">
       <short_desc>Initial AMSL ground altitude</short_desc>
-      <long_desc>This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
+      <long_desc>This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins.
+If using FlightGear as a visual animation,
+this value can be tweaked such that the vehicle lies on the ground at takeoff.
+LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
+to represent a physical ground location on Earth.</long_desc>
       <min>-420.0</min>
       <max>8848.0</max>
       <unit>m</unit>
@@ -24257,21 +14847,27 @@
     </parameter>
     <parameter name="SIH_LOC_LAT0" default="47.397742" type="FLOAT">
       <short_desc>Initial geodetic latitude</short_desc>
-      <long_desc>This value represents the North-South location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
+      <long_desc>This value represents the North-South location on Earth where the simulation begins.
+LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
+to represent a physical ground location on Earth.</long_desc>
       <min>-90</min>
       <max>90</max>
       <unit>deg</unit>
     </parameter>
     <parameter name="SIH_LOC_LON0" default="8.545594" type="FLOAT">
       <short_desc>Initial geodetic longitude</short_desc>
-      <long_desc>This value represents the East-West location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
+      <long_desc>This value represents the East-West location on Earth where the simulation begins.
+LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
+to represent a physical ground location on Earth.</long_desc>
       <min>-180</min>
       <max>180</max>
       <unit>deg</unit>
     </parameter>
     <parameter name="SIH_L_PITCH" default="0.2" type="FLOAT">
       <short_desc>Pitch arm length</short_desc>
-      <long_desc>This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.</long_desc>
+      <long_desc>This is the arm length generating the pitching moment
+This value can be measured with a ruler.
+This corresponds to half the distance between the front and rear motors.</long_desc>
       <min>0.0</min>
       <unit>m</unit>
       <decimal>2</decimal>
@@ -24279,7 +14875,9 @@
     </parameter>
     <parameter name="SIH_L_ROLL" default="0.2" type="FLOAT">
       <short_desc>Roll arm length</short_desc>
-      <long_desc>This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.</long_desc>
+      <long_desc>This is the arm length generating the rolling moment
+This value can be measured with a ruler.
+This corresponds to half the distance between the left and right motors.</long_desc>
       <min>0.0</min>
       <unit>m</unit>
       <decimal>2</decimal>
@@ -24295,7 +14893,9 @@
     </parameter>
     <parameter name="SIH_Q_MAX" default="0.1" type="FLOAT">
       <short_desc>Max propeller torque</short_desc>
-      <long_desc>This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.</long_desc>
+      <long_desc>This is the maximum torque delivered by one propeller
+when the motor is running at full speed.
+This value is usually about few percent of the maximum thrust force.</long_desc>
       <min>0.0</min>
       <unit>Nm</unit>
       <decimal>3</decimal>
@@ -24303,7 +14903,9 @@
     </parameter>
     <parameter name="SIH_T_MAX" default="5.0" type="FLOAT">
       <short_desc>Max propeller thrust force</short_desc>
-      <long_desc>This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.</long_desc>
+      <long_desc>This is the maximum force delivered by one propeller
+when the motor is running at full speed.
+This value is usually about 5 times the mass of the quadrotor.</long_desc>
       <min>0.0</min>
       <unit>N</unit>
       <decimal>2</decimal>
@@ -24318,16 +14920,28 @@
       <short_desc>Vehicle type</short_desc>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="0">Multicopter</value>
+        <value code="0">Quadcopter</value>
         <value code="1">Fixed-Wing</value>
         <value code="2">Tailsitter</value>
+        <value code="3">Standard VTOL</value>
+        <value code="4">Hexacopter</value>
+        <value code="5">Rover Ackermann</value>
       </values>
     </parameter>
+    <parameter name="SIH_WIND_E" default="0.0" type="FLOAT">
+      <short_desc>Wind velocity from east direction</short_desc>
+      <unit>m/s</unit>
+    </parameter>
+    <parameter name="SIH_WIND_N" default="0.0" type="FLOAT">
+      <short_desc>Wind velocity from north direction</short_desc>
+      <unit>m/s</unit>
+    </parameter>
   </group>
   <group name="Simulator">
     <parameter name="SIM_AGP_FAIL" default="0" type="INT32">
       <short_desc>AGP failure mode</short_desc>
-      <long_desc>Stuck: freeze the measurement to the current location Drift: add a linearly growing bias to the sensor data</long_desc>
+      <long_desc>Stuck: freeze the measurement to the current location
+Drift: add a linearly growing bias to the sensor data</long_desc>
       <min>0</min>
       <max>3</max>
       <bitmask>
@@ -24363,7 +14977,9 @@
   <group name="System">
     <parameter name="SYS_AUTOCONFIG" default="0" type="INT32">
       <short_desc>Automatically configure default values</short_desc>
-      <long_desc>Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.</long_desc>
+      <long_desc>Set to 1 to reset parameters on next system startup (setting defaults).
+Platform-specific values are used if available.
+RC* parameters are preserved.</long_desc>
       <values>
         <value code="0">Keep parameters</value>
         <value code="1">Reset parameters to airframe defaults</value>
@@ -24378,30 +14994,49 @@
     </parameter>
     <parameter name="SYS_BL_UPDATE" default="0" type="INT32" boolean="true">
       <short_desc>Bootloader update</short_desc>
-      <long_desc>If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card</long_desc>
+      <long_desc>If enabled, update the bootloader on the next boot.
+WARNING: do not cut the power during an update process, otherwise you will
+have to recover using some alternative method (e.g. JTAG).
+Instructions:
+- Insert an SD card
+- Enable this parameter
+- Reboot the board (plug the power or send a reboot command)
+- Wait until the board comes back up (or at least 2 minutes)
+- If it does not come back, check the file bootlog.txt on the SD card</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="SYS_CAL_ACCEL" default="0" type="INT32">
       <short_desc>Enable auto start of accelerometer thermal calibration at the next power up</short_desc>
-      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
+      <long_desc>0 : Set to 0 to do nothing
+1 : Set to 1 to start a calibration at next boot
+This parameter is reset to zero when the temperature calibration starts.
+default (0, no calibration)</long_desc>
       <min>0</min>
       <max>1</max>
     </parameter>
     <parameter name="SYS_CAL_BARO" default="0" type="INT32">
       <short_desc>Enable auto start of barometer thermal calibration at the next power up</short_desc>
-      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
+      <long_desc>0 : Set to 0 to do nothing
+1 : Set to 1 to start a calibration at next boot
+This parameter is reset to zero when the temperature calibration starts.
+default (0, no calibration)</long_desc>
       <min>0</min>
       <max>1</max>
     </parameter>
     <parameter name="SYS_CAL_GYRO" default="0" type="INT32">
       <short_desc>Enable auto start of rate gyro thermal calibration at the next power up</short_desc>
-      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
+      <long_desc>0 : Set to 0 to do nothing
+1 : Set to 1 to start a calibration at next boot
+This parameter is reset to zero when the temperature calibration starts.
+default (0, no calibration)</long_desc>
       <min>0</min>
       <max>1</max>
     </parameter>
     <parameter name="SYS_CAL_TDEL" default="24" type="INT32">
       <short_desc>Required temperature rise during thermal calibration</short_desc>
-      <long_desc>A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</long_desc>
+      <long_desc>A temperature increase greater than this value is required during calibration.
+Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
+If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</long_desc>
       <min>10</min>
       <unit>celcius</unit>
     </parameter>
@@ -24417,16 +15052,21 @@
     </parameter>
     <parameter name="SYS_DM_BACKEND" default="0" type="INT32" boolean="true">
       <short_desc>Dataman storage backend</short_desc>
+      <long_desc>If the board supports persistent storage (i.e., the KConfig variable DATAMAN_PERSISTENT_STORAGE is set),
+the 'Default storage' backend uses a file on persistent storage. If not supported, this backend uses
+non-persistent storage in RAM.</long_desc>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="-1">Disabled</value>
-        <value code="0">default (SD card)</value>
-        <value code="1">RAM (not persistent)</value>
+        <value code="-1">Dataman disabled</value>
+        <value code="0">Default storage</value>
+        <value code="1">RAM storage</value>
       </values>
     </parameter>
     <parameter name="SYS_FAC_CAL_MODE" default="0" type="INT32">
       <short_desc>Enable factory calibration mode</short_desc>
-      <long_desc>If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.</long_desc>
+      <long_desc>If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
+Note: this is only supported on boards with a separate calibration storage
+/fs/mtd_caldata.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">All sensors</value>
@@ -24435,38 +15075,59 @@
     </parameter>
     <parameter name="SYS_FAILURE_EN" default="0" type="INT32" boolean="true">
       <short_desc>Enable failure injection</short_desc>
-      <long_desc>If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!</long_desc>
+      <long_desc>If enabled allows MAVLink INJECT_FAILURE commands.
+WARNING: the failures can easily cause crashes and are to be used with caution!</long_desc>
     </parameter>
     <parameter name="SYS_HAS_BARO" default="1" type="INT32" boolean="true">
       <short_desc>Control if the vehicle has a barometer</short_desc>
-      <long_desc>Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.</long_desc>
+      <long_desc>Disable this if the board has no barometer, such as some of the Omnibus
+F4 SD variants.
+If disabled, the preflight checks will not check for the presence of a
+barometer.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="SYS_HAS_GPS" default="1" type="INT32" boolean="true">
       <short_desc>Control if the vehicle has a GPS</short_desc>
-      <long_desc>Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.</long_desc>
+      <long_desc>Disable this if the system has no GPS.
+If disabled, the sensors hub will not process sensor_gps,
+and GPS will not be available for the rest of the system.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="SYS_HAS_MAG" default="1" type="INT32">
-      <short_desc>Control if the vehicle has a magnetometer</short_desc>
-      <long_desc>Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.</long_desc>
+      <short_desc>Control if and how many magnetometers are expected</short_desc>
+      <long_desc>0: System has no magnetometer, preflight checks should pass without one.
+1-N: Require the presence of N magnetometer sensors for check to pass.</long_desc>
       <reboot_required>true</reboot_required>
     </parameter>
     <parameter name="SYS_HAS_NUM_ASPD" default="0" type="INT32">
       <short_desc>Control if the vehicle has an airspeed sensor</short_desc>
-      <long_desc>Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.</long_desc>
+      <long_desc>Set this to 0 if the board has no airspeed sensor.
+If set to 0, the preflight checks will not check for the presence of an
+airspeed sensor.</long_desc>
       <min>0</min>
       <max>1</max>
     </parameter>
     <parameter name="SYS_HAS_NUM_DIST" default="0" type="INT32">
       <short_desc>Number of distance sensors to check being available</short_desc>
-      <long_desc>The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.</long_desc>
+      <long_desc>The preflight check will fail if fewer than this number of distance sensors with valid data is present.
+Disable the check with 0.</long_desc>
       <min>0</min>
       <max>4</max>
     </parameter>
+    <parameter name="SYS_HAS_NUM_OF" default="0" type="INT32">
+      <short_desc>Number of optical flow sensors required to be available</short_desc>
+      <long_desc>The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.</long_desc>
+      <min>0</min>
+      <max>1</max>
+    </parameter>
     <parameter name="SYS_HITL" default="0" type="INT32">
       <short_desc>Enable HITL/SIH mode on next boot</short_desc>
-      <long_desc>While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).</long_desc>
+      <long_desc>While enabled the system will boot in Hardware-In-The-Loop (HITL)
+or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
+When disabled the same vehicle can be flown normally.
+Set to 'external HITL', if the system should perform as if it were a real
+vehicle (the only difference to a real system is then only the parameter
+value, which can be used for log analysis).</long_desc>
       <reboot_required>true</reboot_required>
       <values>
         <value code="-1">external HITL</value>
@@ -24477,7 +15138,10 @@
     </parameter>
     <parameter name="SYS_PARAM_VER" default="1" type="INT32">
       <short_desc>Parameter version</short_desc>
-      <long_desc>This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters are reset and reloaded from the airframe configuration.</long_desc>
+      <long_desc>This is used internally only: an airframe configuration might set an expected
+parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup
+against SYS_PARAM_VER, and if they do not match, parameters are reset and
+reloaded from the airframe configuration.</long_desc>
       <min>0</min>
     </parameter>
     <parameter name="SYS_RGB_MAXBRT" default="1." type="FLOAT">
@@ -24489,51 +15153,6 @@
       <short_desc>Enable stack checking</short_desc>
     </parameter>
   </group>
-  <group name="Telemetry">
-    <parameter name="TEL_BST_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Blacksheep telemetry Enable</short_desc>
-      <long_desc>If true, the FMU will try to connect to Blacksheep telemetry on start up</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="TEL_FRSKY_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for FrSky Telemetry</short_desc>
-      <long_desc>Configure on which serial port to run FrSky Telemetry.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="TEL_HOTT_CONFIG" default="0" type="INT32">
-      <short_desc>Serial Configuration for HoTT Telemetry</short_desc>
-      <long_desc>Configure on which serial port to run HoTT Telemetry.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-  </group>
   <group name="Testing">
     <parameter name="TEST_1" default="2" type="INT32">
       <short_desc>TEST_1</short_desc>
@@ -25304,307 +15923,60 @@
       <reboot_required>true</reboot_required>
     </parameter>
   </group>
-  <group name="Transponder">
-    <parameter name="MXS_EXT_CFG" default="0" type="INT32" boolean="true">
-      <short_desc>Sagetech External Configuration Mode</short_desc>
-      <long_desc>Disables auto-configuration mode enabling MXS config through external software.</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="MXS_OP_MODE" default="0" type="INT32">
-      <short_desc>Sagetech MXS mode configuration</short_desc>
-      <long_desc>This parameter defines the operating mode of the MXS</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>false</reboot_required>
-      <values>
-        <value code="0">Off</value>
-        <value code="1">On</value>
-        <value code="2">Standby</value>
-        <value code="3">Alt</value>
-      </values>
-    </parameter>
-    <parameter name="MXS_SER_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Sagetech MXS Serial Port</short_desc>
-      <long_desc>Configure on which serial port to run Sagetech MXS Serial Port.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="MXS_TARG_PORT" default="1" type="INT32">
-      <short_desc>Sagetech MXS Participant Configuration</short_desc>
-      <long_desc>The MXS communication port to receive Target data from</long_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>false</reboot_required>
-      <values>
-        <value code="0">Auto</value>
-        <value code="1">COM0</value>
-        <value code="2">COM1</value>
-      </values>
-    </parameter>
-  </group>
-  <group name="UAVCAN">
-    <parameter name="CANNODE_BITRATE" default="1000000" type="INT32">
-      <short_desc>UAVCAN CAN bus bitrate</short_desc>
-      <min>20000</min>
-      <max>1000000</max>
-    </parameter>
-    <parameter name="CANNODE_PUB_MBD" default="0" type="INT32" boolean="true">
-      <short_desc>Enable MovingBaselineData publication</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CANNODE_SUB_MBD" default="0" type="INT32" boolean="true">
-      <short_desc>Enable MovingBaselineData subscription</short_desc>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CANNODE_SUB_RTCM" default="0" type="INT32" boolean="true">
-      <short_desc>Enable RTCM subscription</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="CANNODE_TERM" default="0" type="INT32" boolean="true">
-      <short_desc>CAN built-in bus termination</short_desc>
-      <max>1</max>
-    </parameter>
-    <parameter name="SIM_GZ_EN" default="0" type="INT32" boolean="true">
-      <short_desc>Simulator Gazebo bridge enable</short_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_BITRATE" default="1000000" type="INT32">
-      <short_desc>UAVCAN CAN bus bitrate</short_desc>
-      <min>20000</min>
-      <max>1000000</max>
-      <unit>bit/s</unit>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_ECU_FUELT" default="1" type="INT32">
-      <short_desc>UAVCAN fuel tank fuel type</short_desc>
-      <long_desc>This parameter defines the type of fuel used in the vehicle's fuel tank. 0: Unknown 1: Liquid (e.g., gasoline, diesel) 2: Gas (e.g., hydrogen, methane, propane)</long_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Unknown</value>
-        <value code="1">Liquid</value>
-        <value code="2">Gas</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_ECU_MAXF" default="15.0" type="FLOAT">
-      <short_desc>UAVCAN fuel tank maximum capacity</short_desc>
-      <long_desc>This parameter defines the maximum fuel capacity of the vehicle's fuel tank.</long_desc>
-      <min>0.0</min>
-      <max>100000.0</max>
-      <unit>liters</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_ENABLE" default="0" type="INT32">
-      <short_desc>UAVCAN mode</short_desc>
-      <long_desc>0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Sensors Manual Config</value>
-        <value code="2">Sensors Automatic Config</value>
-        <value code="3">Sensors and Actuators (ESCs) Automatic Config</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_LGT_ANTCL" default="2" type="INT32">
-      <short_desc>UAVCAN ANTI_COLLISION light operating mode</short_desc>
-      <long_desc>This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Always off</value>
-        <value code="1">When autopilot is armed</value>
-        <value code="2">When autopilot is prearmed</value>
-        <value code="3">Always on</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_LGT_LAND" default="0" type="INT32">
-      <short_desc>UAVCAN LIGHT_ID_LANDING light operating mode</short_desc>
-      <long_desc>This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Always off</value>
-        <value code="1">When autopilot is armed</value>
-        <value code="2">When autopilot is prearmed</value>
-        <value code="3">Always on</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_LGT_NAV" default="3" type="INT32">
-      <short_desc>UAVCAN RIGHT_OF_WAY light operating mode</short_desc>
-      <long_desc>This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</long_desc>
-      <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Always off</value>
-        <value code="1">When autopilot is armed</value>
-        <value code="2">When autopilot is prearmed</value>
-        <value code="3">Always on</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_LGT_STROB" default="1" type="INT32">
-      <short_desc>UAVCAN STROBE light operating mode</short_desc>
-      <long_desc>This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</long_desc>
+  <group name="UUV Attitude Control">
+    <parameter name="UUV_HGT_B_DOWN" default="12" type="INT32">
+      <short_desc>Height rc-button down</short_desc>
       <min>0</min>
-      <max>3</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Always off</value>
-        <value code="1">When autopilot is armed</value>
-        <value code="2">When autopilot is prearmed</value>
-        <value code="3">Always on</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_NODE_ID" default="1" type="INT32">
-      <short_desc>UAVCAN Node ID</short_desc>
-      <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
-      <min>1</min>
-      <max>125</max>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_PUB_ARM" default="0" type="INT32" boolean="true">
-      <short_desc>publish Arming Status stream</short_desc>
-      <long_desc>Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_PUB_MBD" default="0" type="INT32" boolean="true">
-      <short_desc>publish moving baseline data RTCM stream</short_desc>
-      <long_desc>Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_PUB_RTCM" default="0" type="INT32" boolean="true">
-      <short_desc>publish RTCM stream</short_desc>
-      <long_desc>Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_RNG_MAX" default="200.0" type="FLOAT">
-      <short_desc>UAVCAN rangefinder maximum range</short_desc>
-      <long_desc>This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.</long_desc>
-      <unit>m</unit>
-    </parameter>
-    <parameter name="UAVCAN_RNG_MIN" default="0.3" type="FLOAT">
-      <short_desc>UAVCAN rangefinder minimum range</short_desc>
-      <long_desc>This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.</long_desc>
-      <unit>m</unit>
-    </parameter>
-    <parameter name="UAVCAN_SUB_ASPD" default="0" type="INT32" boolean="true">
-      <short_desc>subscription airspeed</short_desc>
-      <long_desc>Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_BARO" default="0" type="INT32" boolean="true">
-      <short_desc>subscription barometer</short_desc>
-      <long_desc>Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature</long_desc>
-      <reboot_required>true</reboot_required>
+      <max>16</max>
     </parameter>
-    <parameter name="UAVCAN_SUB_BAT" default="0" type="INT32">
-      <short_desc>subscription battery</short_desc>
-      <long_desc>Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library</long_desc>
+    <parameter name="UUV_HGT_B_UP" default="11" type="INT32">
+      <short_desc>Height rc-button up</short_desc>
       <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disable</value>
-        <value code="1">Raw data</value>
-        <value code="2">Filter data</value>
-      </values>
-    </parameter>
-    <parameter name="UAVCAN_SUB_BTN" default="0" type="INT32" boolean="true">
-      <short_desc>subscription button</short_desc>
-      <long_desc>Enable UAVCAN button subscription. ardupilot::indication::Button</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_DPRES" default="0" type="INT32" boolean="true">
-      <short_desc>subscription differential pressure</short_desc>
-      <long_desc>Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_FLOW" default="0" type="INT32" boolean="true">
-      <short_desc>subscription flow</short_desc>
-      <long_desc>Enable UAVCAN optical flow subscription.</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_FUEL" default="0" type="INT32" boolean="true">
-      <short_desc>subscription fuel tank</short_desc>
-      <long_desc>Enable UAVCAN fuel tank status subscription.</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_GPS" default="1" type="INT32" boolean="true">
-      <short_desc>subscription GPS</short_desc>
-      <long_desc>Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary</long_desc>
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter name="UAVCAN_SUB_GPS_R" default="1" type="INT32" boolean="true">
-      <short_desc>subscription GPS Relative</short_desc>
-      <long_desc>Enable UAVCAN GPS Relative subscription. ardupilot::gnss::RelPosHeading</long_desc>
-      <reboot_required>true</reboot_required>
+      <max>16</max>
     </parameter>
-    <parameter name="UAVCAN_SUB_HYGRO" default="0" type="INT32" boolean="true">
-      <short_desc>subscription hygrometer</short_desc>
-      <long_desc>Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_HGT_D" default="1.0" type="FLOAT">
+      <short_desc>Height differential gain</short_desc>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UAVCAN_SUB_ICE" default="0" type="INT32" boolean="true">
-      <short_desc>subscription ICE</short_desc>
-      <long_desc>Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_HGT_I" default="0.2" type="FLOAT">
+      <short_desc>Height integrational gain</short_desc>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UAVCAN_SUB_IMU" default="0" type="INT32" boolean="true">
-      <short_desc>subscription IMU</short_desc>
-      <long_desc>Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_HGT_I_SPD" default="1.0" type="FLOAT">
+      <short_desc>sum speed of error for integrational gain</short_desc>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UAVCAN_SUB_MAG" default="1" type="INT32" boolean="true">
-      <short_desc>subscription magnetometer</short_desc>
-      <long_desc>Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_HGT_MAX_DIFF" default="0.3" type="FLOAT">
+      <short_desc>maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that</short_desc>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UAVCAN_SUB_RNG" default="0" type="INT32" boolean="true">
-      <short_desc>subscription range finder</short_desc>
-      <long_desc>Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_HGT_P" default="1.0" type="FLOAT">
+      <short_desc>Height proportional gain</short_desc>
+      <decimal>2</decimal>
     </parameter>
-  </group>
-  <group name="UUV Attitude Control">
-    <parameter name="UUV_DIRCT_PITCH" default="0.0" type="FLOAT">
-      <short_desc>Direct pitch input</short_desc>
+    <parameter name="UUV_HGT_STR" default="1.0" type="FLOAT">
+      <short_desc>Height change strength from manual input</short_desc>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UUV_DIRCT_ROLL" default="0.0" type="FLOAT">
-      <short_desc>Direct roll input</short_desc>
+    <parameter name="UUV_MGM_PITCH" default="0.05" type="FLOAT">
+      <short_desc>Pitch gain for manual inputs in manual control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UUV_DIRCT_THRUST" default="0.0" type="FLOAT">
-      <short_desc>Direct thrust input</short_desc>
+    <parameter name="UUV_MGM_ROLL" default="0.05" type="FLOAT">
+      <short_desc>Roll gain for manual inputs in manual control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UUV_DIRCT_YAW" default="0.0" type="FLOAT">
-      <short_desc>Direct yaw input</short_desc>
+    <parameter name="UUV_MGM_THRTL" default="0.1" type="FLOAT">
+      <short_desc>Throttle gain for manual inputs in manual control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
     </parameter>
-    <parameter name="UUV_INPUT_MODE" default="0" type="INT32">
-      <short_desc>Select Input Mode</short_desc>
-      <values>
-        <value code="0">use Attitude Setpoints</value>
-        <value code="1">Direct Feedthrough</value>
-      </values>
+    <parameter name="UUV_MGM_YAW" default="0.05" type="FLOAT">
+      <short_desc>Yaw gain for manual inputs in manual control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
     </parameter>
     <parameter name="UUV_PITCH_D" default="2.0" type="FLOAT">
       <short_desc>Pitch differential gain</short_desc>
@@ -25614,6 +15986,26 @@
       <short_desc>Pitch proportional gain</short_desc>
       <decimal>2</decimal>
     </parameter>
+    <parameter name="UUV_RGM_PITCH" default="100.0" type="FLOAT">
+      <short_desc>Pitch gain for manual inputs in rate control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_RGM_ROLL" default="100.0" type="FLOAT">
+      <short_desc>Roll gain for manual inputs in rate control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_RGM_THRTL" default="10.0" type="FLOAT">
+      <short_desc>Throttle gain for manual inputs in rate control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_RGM_YAW" default="100.0" type="FLOAT">
+      <short_desc>Yaw gain for manual inputs in rate control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
     <parameter name="UUV_ROLL_D" default="1.5" type="FLOAT">
       <short_desc>Roll differential gain</short_desc>
       <decimal>2</decimal>
@@ -25622,6 +16014,46 @@
       <short_desc>Roll proportional gain</short_desc>
       <decimal>2</decimal>
     </parameter>
+    <parameter name="UUV_SGM_PITCH" default="0.5" type="FLOAT">
+      <short_desc>Pitch gain for manual inputs in attitude control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_SGM_ROLL" default="0.5" type="FLOAT">
+      <short_desc>Roll gain for manual inputs in attitude control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_SGM_THRTL" default="0.1" type="FLOAT">
+      <short_desc>Throttle gain for manual inputs in attitude control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_SGM_YAW" default="0.5" type="FLOAT">
+      <short_desc>Yaw gain for manual inputs in attitude control mode</short_desc>
+      <min>0.0</min>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_SP_MAX_AGE" default="2.0" type="FLOAT">
+      <short_desc>Maximum time (in seconds) before resetting setpoint</short_desc>
+    </parameter>
+    <parameter name="UUV_STICK_MODE" default="0" type="INT32">
+      <short_desc>Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control)</short_desc>
+      <min>0</min>
+      <max>1</max>
+    </parameter>
+    <parameter name="UUV_THRUST_SAT" default="0.1" type="FLOAT">
+      <short_desc>UUV Thrust setpoint Saturation</short_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter name="UUV_TORQUE_SAT" default="0.3" type="FLOAT">
+      <short_desc>UUV Torque setpoint Saturation</short_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <decimal>2</decimal>
+    </parameter>
     <parameter name="UUV_YAW_D" default="2.0" type="FLOAT">
       <short_desc>Yaw differential gain</short_desc>
       <decimal>2</decimal>
@@ -25650,149 +16082,78 @@
     <parameter name="UUV_GAIN_Z_P" default="1.0" type="FLOAT">
       <short_desc>Gain of P controller Z</short_desc>
     </parameter>
-    <parameter name="UUV_STAB_MODE" default="1" type="INT32">
+    <parameter name="UUV_PGM_VEL" default="0.5" type="FLOAT">
+      <short_desc>Gain for position control velocity setpoint update</short_desc>
+    </parameter>
+    <parameter name="UUV_POS_MODE" default="1" type="INT32">
       <short_desc>Stabilization mode(1) or Position Control(0)</short_desc>
       <values>
-        <value code="0">Position Control</value>
-        <value code="1">Stabilization Mode</value>
+        <value code="0">Moves position setpoint in world frame</value>
+        <value code="1">Moves position setpoint in body frame</value>
       </values>
     </parameter>
-  </group>
-  <group name="UWB">
-    <parameter name="UWB_INIT_OFF_X" default="0.0" type="FLOAT">
-      <short_desc>UWB sensor X offset in body frame</short_desc>
-      <long_desc>UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o</long_desc>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="UWB_INIT_OFF_Y" default="0.0" type="FLOAT">
-      <short_desc>UWB sensor Y offset in body frame</short_desc>
-      <long_desc>UWB sensor positioning in relation to Drone in NED. Y offset.</long_desc>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-    </parameter>
-    <parameter name="UWB_INIT_OFF_Z" default="0.0" type="FLOAT">
-      <short_desc>UWB sensor Z offset in body frame</short_desc>
-      <long_desc>UWB sensor positioning in relation to Drone in NED. Z offset.</long_desc>
-      <unit>m</unit>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
+    <parameter name="UUV_POS_STICK_DB" default="0.1" type="FLOAT">
+      <short_desc>Deadband for changing position setpoint</short_desc>
     </parameter>
-    <parameter name="UWB_PORT_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Ultrawideband position sensor driver</short_desc>
-      <long_desc>Configure on which serial port to run Ultrawideband position sensor driver.</long_desc>
-      <reboot_required>true</reboot_required>
+    <parameter name="UUV_STAB_MODE" default="1" type="INT32">
+      <short_desc>Stabilization mode(1) or Position Control(0)</short_desc>
       <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="UWB_SENS_ROT" default="0" type="INT32">
-      <short_desc>UWB sensor orientation</short_desc>
-      <long_desc>The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.</long_desc>
-      <values>
-        <value code="0">ROTATION_NONE</value>
-        <value code="1">ROTATION_YAW_45</value>
-        <value code="2">ROTATION_YAW_90</value>
-        <value code="3">ROTATION_YAW_135</value>
-        <value code="4">ROTATION_YAW_180</value>
-        <value code="5">ROTATION_YAW_225</value>
-        <value code="6">ROTATION_YAW_270</value>
-        <value code="7">ROTATION_YAW_315</value>
-        <value code="8">ROTATION_ROLL_180</value>
-        <value code="9">ROTATION_ROLL_180_YAW_45</value>
-        <value code="10">ROTATION_ROLL_180_YAW_90</value>
-        <value code="11">ROTATION_ROLL_180_YAW_135</value>
-        <value code="12">ROTATION_PITCH_180</value>
-        <value code="13">ROTATION_ROLL_180_YAW_225</value>
-        <value code="14">ROTATION_ROLL_180_YAW_270</value>
-        <value code="15">ROTATION_ROLL_180_YAW_315</value>
-        <value code="16">ROTATION_ROLL_90</value>
-        <value code="17">ROTATION_ROLL_90_YAW_45</value>
-        <value code="18">ROTATION_ROLL_90_YAW_90</value>
-        <value code="19">ROTATION_ROLL_90_YAW_135</value>
-        <value code="20">ROTATION_ROLL_270</value>
-        <value code="21">ROTATION_ROLL_270_YAW_45</value>
-        <value code="22">ROTATION_ROLL_270_YAW_90</value>
-        <value code="23">ROTATION_ROLL_270_YAW_135</value>
-        <value code="24">ROTATION_PITCH_90</value>
-        <value code="25">ROTATION_PITCH_270</value>
-        <value code="26">ROTATION_PITCH_180_YAW_90</value>
-        <value code="27">ROTATION_PITCH_180_YAW_270</value>
-        <value code="28">ROTATION_ROLL_90_PITCH_90</value>
-        <value code="29">ROTATION_ROLL_180_PITCH_90</value>
-        <value code="30">ROTATION_ROLL_270_PITCH_90</value>
-        <value code="31">ROTATION_ROLL_90_PITCH_180</value>
-        <value code="32">ROTATION_ROLL_270_PITCH_180</value>
-        <value code="33">ROTATION_ROLL_90_PITCH_270</value>
-        <value code="34">ROTATION_ROLL_180_PITCH_270</value>
-        <value code="35">ROTATION_ROLL_270_PITCH_270</value>
-        <value code="36">ROTATION_ROLL_90_PITCH_180_YAW_90</value>
-        <value code="37">ROTATION_ROLL_90_YAW_270</value>
-        <value code="38">ROTATION_ROLL_90_PITCH_68_YAW_293</value>
-        <value code="39">ROTATION_PITCH_315</value>
-        <value code="40">ROTATION_ROLL_90_PITCH_315</value>
+        <value code="0">Tracks previous attitude setpoint</value>
+        <value code="1">Tracks horizontal attitude (allows yaw change)</value>
       </values>
     </parameter>
   </group>
   <group name="UXRCE-DDS Client">
     <parameter name="UXRCE_DDS_AG_IP" default="2130706433" type="INT32">
       <short_desc>uXRCE-DDS Agent IP address</short_desc>
-      <long_desc>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.</long_desc>
+      <long_desc>If ethernet is enabled and is the selected configuration for uXRCE-DDS,
+the selected Agent IP address will be set and used.
+Decimal dot notation is not supported. IP address must be provided
+in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
+127.0.0.1 is mapped to 2130706433.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
-    <parameter name="UXRCE_DDS_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for UXRCE-DDS Client</short_desc>
-      <long_desc>Configure on which serial port to run UXRCE-DDS Client.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-        <value code="1000">Ethernet</value>
-      </values>
-    </parameter>
     <parameter name="UXRCE_DDS_DOM_ID" default="0" type="INT32" category="System">
       <short_desc>uXRCE-DDS domain ID</short_desc>
       <long_desc>uXRCE-DDS domain ID</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
+    <parameter name="UXRCE_DDS_FLCTRL" default="0" type="INT32" boolean="true" category="System">
+      <short_desc>Enable serial flow control for UXRCE interface</short_desc>
+      <long_desc>This is used to enable flow control for the serial uXRCE instance.
+Used for reliable high bandwidth communication.</long_desc>
+      <reboot_required>True</reboot_required>
+    </parameter>
     <parameter name="UXRCE_DDS_KEY" default="1" type="INT32" category="System">
       <short_desc>uXRCE-DDS session key</short_desc>
-      <long_desc>uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.</long_desc>
+      <long_desc>uXRCE-DDS key, must be different from zero.
+In a single agent - multi client configuration, each client
+must have a unique session key.</long_desc>
+      <reboot_required>True</reboot_required>
+    </parameter>
+    <parameter name="UXRCE_DDS_NS_IDX" default="-1" type="INT32" category="System">
+      <short_desc>Define an index-based message namespace</short_desc>
+      <long_desc>Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
+A value less than zero leaves the namespace empty</long_desc>
+      <min>-1</min>
+      <max>9999</max>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="UXRCE_DDS_PRT" default="8888" type="INT32">
       <short_desc>uXRCE-DDS UDP port</short_desc>
-      <long_desc>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.</long_desc>
+      <long_desc>If ethernet is enabled and is the selected configuration for uXRCE-DDS,
+the selected UDP port will be set and used.</long_desc>
       <min>0</min>
       <max>65535</max>
       <reboot_required>True</reboot_required>
     </parameter>
     <parameter name="UXRCE_DDS_PTCFG" default="0" type="INT32" category="System">
       <short_desc>uXRCE-DDS participant configuration</short_desc>
-      <long_desc>Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name "px4_participant".</long_desc>
+      <long_desc>Set the participant configuration on the Agent's system.
+0: Use the default configuration.
+1: Restrict messages to localhost
+(use in combination with ROS_LOCALHOST_ONLY=1).
+2: Use a custom participant with the profile name "px4_participant".</long_desc>
       <min>0</min>
       <max>2</max>
       <reboot_required>True</reboot_required>
@@ -25802,6 +16163,13 @@
         <value code="2">Custom participant</value>
       </values>
     </parameter>
+    <parameter name="UXRCE_DDS_RX_TO" default="-1" type="INT32" category="System">
+      <short_desc>RX rate timeout configuration</short_desc>
+      <long_desc>Specifies after how many seconds without receiving data the DDS connection is reestablished.
+A value less than one disables the RX rate timeout.</long_desc>
+      <unit>s</unit>
+      <reboot_required>True</reboot_required>
+    </parameter>
     <parameter name="UXRCE_DDS_SYNCC" default="0" type="INT32" boolean="true" category="System">
       <short_desc>Enable uXRCE-DDS system clock synchronization</short_desc>
       <long_desc>When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.</long_desc>
@@ -25812,171 +16180,12 @@
       <long_desc>When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.</long_desc>
       <reboot_required>True</reboot_required>
     </parameter>
-  </group>
-  <group name="VOXL ESC">
-    <parameter name="VOXL_ESC_BAUD" default="250000" type="INT32">
-      <short_desc>UART ESC baud rate</short_desc>
-      <long_desc>Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.</long_desc>
-      <unit>bit/s</unit>
-    </parameter>
-    <parameter name="VOXL_ESC_CONFIG" default="0" type="INT32">
-      <short_desc>UART ESC configuration</short_desc>
-      <long_desc>Selects what type of UART ESC, if any, is being used.</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- Disabled</value>
-        <value code="1">- VOXL ESC</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_MODE" default="0" type="INT32">
-      <short_desc>UART ESC Mode</short_desc>
-      <long_desc>Selects what type of mode is enabled, if any</long_desc>
-      <min>0</min>
-      <max>2</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- None</value>
-        <value code="1">- Turtle Mode enabled via AUX1</value>
-        <value code="2">- Turtle Mode enabled via AUX2</value>
-        <value code="3">- UART Passthrough Mode</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_PUB_BST" default="1" type="INT32">
-      <short_desc>UART ESC Enable publishing of battery status</short_desc>
-      <long_desc>Only applicable to ESCs that report total battery voltage and current</long_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- Disabled</value>
-        <value code="1">- Enabled</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_RPM_MAX" default="15000" type="INT32">
-      <short_desc>UART ESC RPM Max</short_desc>
-      <long_desc>Maximum RPM for ESC</long_desc>
-      <unit>rpm</unit>
-    </parameter>
-    <parameter name="VOXL_ESC_RPM_MIN" default="5500" type="INT32">
-      <short_desc>UART ESC RPM Min</short_desc>
-      <long_desc>Minimum RPM for ESC</long_desc>
-      <unit>rpm</unit>
-    </parameter>
-    <parameter name="VOXL_ESC_SDIR1" default="0" type="INT32">
-      <short_desc>UART ESC ID 1 Spin Direction Flag</short_desc>
-      <values>
-        <value code="0">- Default</value>
-        <value code="1">- Reverse</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_SDIR2" default="0" type="INT32">
-      <short_desc>UART ESC ID 2 Spin Direction Flag</short_desc>
-      <values>
-        <value code="0">- Default</value>
-        <value code="1">- Reverse</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_SDIR3" default="0" type="INT32">
-      <short_desc>UART ESC ID 3 Spin Direction Flag</short_desc>
-      <values>
-        <value code="0">- Default</value>
-        <value code="1">- Reverse</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_SDIR4" default="0" type="INT32">
-      <short_desc>UART ESC ID 4 Spin Direction Flag</short_desc>
-      <values>
-        <value code="0">- Default</value>
-        <value code="1">- Reverse</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_T_COSP" default="0.990" type="FLOAT">
-      <short_desc>UART ESC Turtle Mode Cosphi</short_desc>
-      <min>0.000</min>
-      <max>1.000</max>
-      <decimal>10</decimal>
-      <increment>0.001</increment>
-    </parameter>
-    <parameter name="VOXL_ESC_T_DEAD" default="20" type="INT32">
-      <short_desc>UART ESC Turtle Mode Crash Flip Motor Deadband</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>10</decimal>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="VOXL_ESC_T_EXPO" default="35" type="INT32">
-      <short_desc>UART ESC Turtle Mode Crash Flip Motor expo</short_desc>
-      <min>0</min>
-      <max>100</max>
-      <decimal>10</decimal>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="VOXL_ESC_T_MINF" default="0.15" type="FLOAT">
-      <short_desc>UART ESC Turtle Mode Crash Flip Motor STICK_MINF</short_desc>
-      <min>0.0</min>
-      <max>100.0</max>
-      <decimal>10</decimal>
-      <increment>1.0</increment>
-    </parameter>
-    <parameter name="VOXL_ESC_T_OVER" default="0" type="INT32">
-      <short_desc>UART ESC Over-Temperature Threshold (Degrees C)</short_desc>
-      <long_desc>Only applicable to ESCs that report temperature</long_desc>
-      <min>0</min>
-      <max>200</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- Disabled</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_T_PERC" default="90" type="INT32">
-      <short_desc>UART ESC Turtle Mode Crash Flip Motor Percent</short_desc>
-      <min>1</min>
-      <max>100</max>
-      <decimal>10</decimal>
-      <increment>1</increment>
-    </parameter>
-    <parameter name="VOXL_ESC_T_WARN" default="0" type="INT32">
-      <short_desc>UART ESC Temperature Warning Threshold (Degrees C)</short_desc>
-      <long_desc>Only applicable to ESCs that report temperature</long_desc>
-      <min>0</min>
-      <max>200</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- Disabled</value>
-      </values>
-    </parameter>
-    <parameter name="VOXL_ESC_VLOG" default="0" type="INT32">
-      <short_desc>UART ESC verbose logging</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">- Disabled</value>
-        <value code="1">- Enabled</value>
-      </values>
-    </parameter>
-  </group>
-  <group name="VOXL2 IO">
-    <parameter name="VOXL2_IO_BAUD" default="921600" type="INT32">
-      <short_desc>UART M0065 baud rate</short_desc>
-      <long_desc>Default rate is 921600, which is used for communicating with M0065.</long_desc>
-      <unit>bit/s</unit>
-    </parameter>
-    <parameter name="VOXL2_IO_MAX" default="2000" type="INT32">
-      <short_desc>M0065 PWM Max</short_desc>
-      <long_desc>Maximum duration (microseconds) for M0065 PWM</long_desc>
-      <min>0</min>
-      <max>2000</max>
-      <unit>us</unit>
-    </parameter>
-    <parameter name="VOXL2_IO_MIN" default="1000" type="INT32">
-      <short_desc>M0065 PWM Min</short_desc>
-      <long_desc>Minimum duration (microseconds) for M0065 PWM</long_desc>
-      <min>0</min>
-      <max>2000</max>
-      <unit>us</unit>
+    <parameter name="UXRCE_DDS_TX_TO" default="3" type="INT32" category="System">
+      <short_desc>TX rate timeout configuration</short_desc>
+      <long_desc>Specifies after how many seconds without sending data the DDS connection is reestablished.
+A value less than one disables the TX rate timeout.</long_desc>
+      <unit>s</unit>
+      <reboot_required>True</reboot_required>
     </parameter>
   </group>
   <group name="VTOL Attitude Control">
@@ -26008,7 +16217,7 @@
       <increment>0.1</increment>
     </parameter>
     <parameter name="VT_B_DEC_I" default="0.1" type="FLOAT">
-      <short_desc>Backtransition deceleration setpoint to pitch I gain</short_desc>
+      <short_desc>Backtransition deceleration setpoint to tilt I gain</short_desc>
       <min>0</min>
       <max>0.3</max>
       <unit>rad s/m</unit>
@@ -26017,7 +16226,8 @@
     </parameter>
     <parameter name="VT_B_DEC_MSS" default="2.0" type="FLOAT">
       <short_desc>Approximate deceleration during back transition</short_desc>
-      <long_desc>Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.</long_desc>
+      <long_desc>Used to calculate back transition distance in an auto mode.
+For standard vtol and tiltrotors a controller is used to track this value during the transition.</long_desc>
       <min>0.5</min>
       <max>10</max>
       <unit>m/s^2</unit>
@@ -26048,28 +16258,36 @@
     </parameter>
     <parameter name="VT_FWD_THRUST_EN" default="0" type="INT32">
       <short_desc>Use fixed-wing actuation in hover to accelerate forward</short_desc>
-      <long_desc>This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.</long_desc>
+      <long_desc>Prevents downforce from pitching the body down when facing wind.
+Uses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead.
+Only active if demanded pitch  is below VT_PITCH_MIN.
+Use VT_FWD_THRUST_SC to tune it.
+Descend mode is treated as Landing too.
+Only active (if enabled) in height-rate controlled modes.</long_desc>
       <values>
         <value code="0">Disabled</value>
         <value code="1">Enabled (except LANDING)</value>
-        <value code="2">Enabled if distance to ground above MPC_LAND_ALT1</value>
-        <value code="3">Enabled if distance to ground above MPC_LAND_ALT2</value>
+        <value code="2">Enabled if above MPC_LAND_ALT1</value>
+        <value code="3">Enabled if above MPC_LAND_ALT2</value>
         <value code="4">Enabled constantly</value>
-        <value code="5">Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)</value>
-        <value code="6">Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)</value>
+        <value code="5">Enabled if above MPC_LAND_ALT1 (except LANDING)</value>
+        <value code="6">Enabled if above MPC_LAND_ALT2 (except LANDING)</value>
       </values>
     </parameter>
     <parameter name="VT_FWD_THRUST_SC" default="0.7" type="FLOAT">
-      <short_desc>Fixed-wing actuation thrust scale for hover forward flight</short_desc>
-      <long_desc>Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.</long_desc>
+      <short_desc>Fixed-wing actuation thrust scale in hover</short_desc>
+      <long_desc>Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode.
+Enabled via VT_FWD_THRUST_EN.</long_desc>
       <min>0.0</min>
-      <max>2.0</max>
+      <max>5.0</max>
       <decimal>2</decimal>
       <increment>0.01</increment>
     </parameter>
     <parameter name="VT_FW_DIFTHR_EN" default="0" type="INT32">
       <short_desc>Differential thrust in forwards flight</short_desc>
-      <long_desc>Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.</long_desc>
+      <long_desc>Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode.
+The effectiveness of differential thrust around the corresponding axis can be
+tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.</long_desc>
       <min>0</min>
       <max>7</max>
       <bitmask>
@@ -26104,7 +16322,9 @@
     </parameter>
     <parameter name="VT_FW_MIN_ALT" default="0.0" type="FLOAT">
       <short_desc>Quad-chute altitude</short_desc>
-      <long_desc>Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.</long_desc>
+      <long_desc>Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode
+and the altitude drops below this altitude (relative altitude above local origin),
+it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.</long_desc>
       <min>0.0</min>
       <max>200.0</max>
       <unit>m</unit>
@@ -26113,21 +16333,27 @@
     </parameter>
     <parameter name="VT_FW_QC_HMAX" default="0" type="INT32">
       <short_desc>Quad-chute maximum height</short_desc>
-      <long_desc>Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.</long_desc>
+      <long_desc>Maximum height above the ground (if available, otherwise above
+Home if available, otherwise above the local origin) where triggering a quad-chute is possible.
+At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.</long_desc>
       <min>0</min>
       <unit>m</unit>
       <increment>1</increment>
     </parameter>
     <parameter name="VT_FW_QC_P" default="0" type="INT32">
       <short_desc>Quad-chute max pitch threshold</short_desc>
-      <long_desc>Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.</long_desc>
+      <long_desc>Absolute pitch threshold for quad-chute triggering in FW mode.
+Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
+Set to 0 do disable this threshold.</long_desc>
       <min>0</min>
       <max>180</max>
       <unit>deg</unit>
     </parameter>
     <parameter name="VT_FW_QC_R" default="0" type="INT32">
       <short_desc>Quad-chute max roll threshold</short_desc>
-      <long_desc>Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.</long_desc>
+      <long_desc>Absolute roll threshold for quad-chute triggering in FW mode.
+Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
+Set to 0 do disable this threshold.</long_desc>
       <min>0</min>
       <max>180</max>
       <unit>deg</unit>
@@ -26150,25 +16376,29 @@
     </parameter>
     <parameter name="VT_F_TR_OL_TM" default="6.0" type="FLOAT">
       <short_desc>Airspeed-less front transition time (open loop)</short_desc>
-      <long_desc>The duration of the front transition when there is no airspeed feedback available.</long_desc>
+      <long_desc>The duration of the front transition when there is no airspeed feedback available.
+When airspeed is used, transition timeout is declared if airspeed does not
+reach VT_ARSP_BLEND after this time.</long_desc>
       <min>1.0</min>
       <max>30.0</max>
       <unit>s</unit>
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
-    <parameter name="VT_LND_PITCH_MIN" default="-5.0" type="FLOAT">
+    <parameter name="VT_LND_PITCH_MIN" default="0.0" type="FLOAT">
       <short_desc>Minimum pitch angle during hover landing</short_desc>
-      <long_desc>Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.</long_desc>
+      <long_desc>Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
+During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.</long_desc>
       <min>-10.0</min>
       <max>45.0</max>
       <unit>deg</unit>
       <decimal>1</decimal>
       <increment>0.1</increment>
     </parameter>
-    <parameter name="VT_PITCH_MIN" default="-5.0" type="FLOAT">
+    <parameter name="VT_PITCH_MIN" default="0.0" type="FLOAT">
       <short_desc>Minimum pitch angle during hover</short_desc>
-      <long_desc>Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.</long_desc>
+      <long_desc>Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if
+VT_FWD_TRHUST_EN is set.</long_desc>
       <min>-10.0</min>
       <max>45.0</max>
       <unit>deg</unit>
@@ -26177,7 +16407,9 @@
     </parameter>
     <parameter name="VT_PSHER_SLEW" default="0.33" type="FLOAT">
       <short_desc>Pusher throttle ramp up slew rate</short_desc>
-      <long_desc>Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.</long_desc>
+      <long_desc>Defines the slew rate of the puller/pusher throttle during transitions.
+Zero will deactivate the slew rate limiting and thus produce an instant throttle
+rise to the transition throttle VT_F_TRANS_THR.</long_desc>
       <min>0</min>
       <unit>1/s</unit>
       <decimal>2</decimal>
@@ -26185,7 +16417,11 @@
     </parameter>
     <parameter name="VT_QC_ALT_LOSS" default="0.0" type="FLOAT">
       <short_desc>Quad-chute uncommanded descent threshold</short_desc>
-      <long_desc>Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.</long_desc>
+      <long_desc>Altitude error threshold for quad-chute triggering during fixed-wing flight.
+The check is only active if altitude is controlled and the vehicle is below the current altitude reference.
+The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current
+altitude reference.
+Set to 0 do disable.</long_desc>
       <min>0.0</min>
       <max>200.0</max>
       <unit>m</unit>
@@ -26194,7 +16430,12 @@
     </parameter>
     <parameter name="VT_QC_T_ALT_LOSS" default="20.0" type="FLOAT">
       <short_desc>Quad-chute transition altitude loss threshold</short_desc>
-      <long_desc>Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.</long_desc>
+      <long_desc>Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight
+in altitude-controlled flight modes.
+Active until 5s after completing transition to fixed-wing.
+If the current altitude is more than this value below the altitude at the beginning of the
+transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
+Set to 0 do disable this threshold.</long_desc>
       <min>0</min>
       <max>50</max>
       <unit>m</unit>
@@ -26250,7 +16491,7 @@
     </parameter>
     <parameter name="VT_TRANS_TIMEOUT" default="15.0" type="FLOAT">
       <short_desc>Front transition timeout</short_desc>
-      <long_desc>Time in seconds after which transition will be cancelled. Disabled if set to 0.</long_desc>
+      <long_desc>Time in seconds after which transition will be cancelled.</long_desc>
       <min>0.1</min>
       <max>30.00</max>
       <unit>s</unit>
@@ -26289,290 +16530,4 @@
       <increment>1</increment>
     </parameter>
   </group>
-  <group name="Vertiq IO">
-    <parameter name="VERTIQ_IO_CFG" default="0" type="INT32">
-      <short_desc>Serial Configuration for Vertiq IO</short_desc>
-      <long_desc>Configure on which serial port to run Vertiq IO.</long_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="6">UART 6</value>
-        <value code="101">TELEM 1</value>
-        <value code="102">TELEM 2</value>
-        <value code="103">TELEM 3</value>
-        <value code="104">TELEM/SERIAL 4</value>
-        <value code="201">GPS 1</value>
-        <value code="202">GPS 2</value>
-        <value code="203">GPS 3</value>
-        <value code="300">Radio Controller</value>
-        <value code="301">Wifi Port</value>
-        <value code="401">EXT2</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_ARM_BEHAVE" default="0" type="INT32">
-      <short_desc>The triggered behavior on PX4 arm</short_desc>
-      <long_desc>The behavior triggered when the flight controller arms. You have the option to use your motors' arming behaviors, or to force all of your motors to arm</long_desc>
-      <values>
-        <value code="0">Use Motor Arm Behavior</value>
-        <value code="1">Send Explicit Arm Command</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_BAUD" default="115200" type="INT32">
-      <short_desc>The IQUART driver's baud rate</short_desc>
-      <long_desc>The baud rate (in bits per second) used by the serial port connected with IQUART communication</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="VTQ_CONTROL_MODE" default="0" type="INT32">
-      <short_desc>Module Param - The module's control mechanism</short_desc>
-      <long_desc>PWM Mode: Commands a fraction of battery voltage. This changes as the battery voltage changes. This is the least safe mode because the upper throttle limit is determined by the battery voltage. Voltage Mode: Commands a voltage. The motor will behave the same way throughout the life of a battery, assuming the commanded voltage is less than the battery voltage. You must set the MAX_VOLTS parameter. Velocity Mode: Closed-loop, commands a velocity. The controller will adjust the applied voltage so that the motor spins at the commanded velocity. This mode has faster reaction times. Only use this if you know the properties of your propeller. You must set the MAX_VELOCITY parameter.</long_desc>
-      <values>
-        <value code="0">PWM</value>
-        <value code="1">Voltage</value>
-        <value code="2">Velocity</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_DISARM_TRIG" default="0" type="INT32">
-      <short_desc>The triggered behavior sent to the motors on PX4 disarm</short_desc>
-      <long_desc>The behavior triggered when the flight controller disarms. You have the option to trigger your motors' disarm behaviors, set all motors to coast, or set a predefined throttle setpoint</long_desc>
-      <values>
-        <value code="0">Send Explicit Disarm</value>
-        <value code="1">Coast Motors</value>
-        <value code="2">Set Predefined Velocity Setpoint</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_DISARM_VELO" default="0" type="INT32">
-      <short_desc>Velocity sent when DISARM_TRIGGER is Set Predefined Velocity Setpoint</short_desc>
-      <long_desc>This is the velocity that will be sent to all motors when PX4 is disarmed and DISARM_TRIGGER is Set Predefined Velocity Setpoint</long_desc>
-      <min>0</min>
-      <max>100</max>
-    </parameter>
-    <parameter name="VTQ_FC_DIR" default="0" type="INT32">
-      <short_desc>Module Param - If the flight controller uses 2D or 3D communication</short_desc>
-      <long_desc>The FC and the ESC must agree upon the meaning of the signal coming out of the ESC. When FCs are in 3D mode they re-map negative signals. This parameter keeps the FC and ESC in agreement.</long_desc>
-      <values>
-        <value code="0">2D</value>
-        <value code="1">3D</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_MAX_VELOCITY" default="0" type="FLOAT">
-      <short_desc>Module Param - Maximum velocity when CONTROL_MODE is set to Velocity</short_desc>
-      <long_desc>Only relevant in Velocity Mode. This is the velocity the controller will command at full throttle.</long_desc>
-    </parameter>
-    <parameter name="VTQ_MAX_VOLTS" default="0" type="FLOAT">
-      <short_desc>Module Param - Maximum voltage when CONTROL_MODE is set to Voltage</short_desc>
-      <long_desc>Only relevant in Voltage Mode. This is the voltage the controller will command at full throttle.</long_desc>
-    </parameter>
-    <parameter name="VTQ_MOTOR_DIR" default="0" type="INT32">
-      <short_desc>Module Param - The direction that the module should spin</short_desc>
-      <long_desc>Set the targeted motor's spinning direction (clockwise vs. counter clockwise) and flight mode (2D non-reversible vs. 3D reversible)</long_desc>
-      <values>
-        <value code="0">Unconfigured</value>
-        <value code="1">3D Counter Clockwise</value>
-        <value code="2">3D Clockwise</value>
-        <value code="3">2D Counter Clockwise</value>
-        <value code="4">2D Clockwise</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_NUM_CVS" default="0" type="INT32">
-      <short_desc>The number of Vertiq IFCI parameters to use</short_desc>
-      <long_desc>The total number of IFCI control variables being used across all connected modules</long_desc>
-      <min>0</min>
-      <max>16</max>
-      <reboot_required>True</reboot_required>
-    </parameter>
-    <parameter name="VTQ_PULSE_V_LIM" default="0" type="FLOAT">
-      <short_desc>Module Param - Max pulsing voltage limit when in Voltage Limit Mode</short_desc>
-      <long_desc>This sets the max pulsing voltage limit when in Voltage Limit Mode.</long_desc>
-    </parameter>
-    <parameter name="VTQ_PULSE_V_MODE" default="0" type="INT32">
-      <short_desc>Module Param - 0 = Supply Voltage Mode, 1 = Voltage Limit Mode</short_desc>
-      <long_desc>Supply Voltage Mode means that the maximum voltage applied to pulsing is the supplied voltage. Voltage Limit Mode indicates that PULSE_VOLT_LIM is the maximum allowed voltage to apply towards pulsing.</long_desc>
-      <values>
-        <value code="0">Supply Voltage Mode</value>
-        <value code="1">Voltage Limit Mode</value>
-      </values>
-    </parameter>
-    <parameter name="VTQ_REDO_READ" default="0" type="INT32" boolean="true">
-      <short_desc>Reinitialize the target module's values into the PX4 parameters</short_desc>
-      <long_desc>Setting this value to true will reinitialize PX4's IQUART connected parameters to the value stored on the currently targeted motor. This is especially useful if your flight controller powered on before your connected modules</long_desc>
-    </parameter>
-    <parameter name="VTQ_TELEM_IDS_1" default="0" type="INT32">
-      <short_desc>Module IDs [0, 31] that you would like to request telemetry from</short_desc>
-      <long_desc>The module IDs [0, 31] that should be asked for telemetry. The data received from these IDs will be published via the esc_status topic.</long_desc>
-      <min>0</min>
-      <max>4294967295</max>
-      <reboot_required>True</reboot_required>
-      <bitmask>
-        <bit index="0">Module ID 0</bit>
-        <bit index="1">Module ID 1</bit>
-        <bit index="2">Module ID 2</bit>
-        <bit index="3">Module ID 3</bit>
-        <bit index="4">Module ID 4</bit>
-        <bit index="5">Module ID 5</bit>
-        <bit index="6">Module ID 6</bit>
-        <bit index="7">Module ID 7</bit>
-        <bit index="8">Module ID 8</bit>
-        <bit index="9">Module ID 9</bit>
-        <bit index="10">Module ID 10</bit>
-        <bit index="11">Module ID 11</bit>
-        <bit index="12">Module ID 12</bit>
-        <bit index="13">Module ID 13</bit>
-        <bit index="14">Module ID 14</bit>
-        <bit index="15">Module ID 15</bit>
-        <bit index="16">Module ID 16</bit>
-        <bit index="17">Module ID 17</bit>
-        <bit index="18">Module ID 18</bit>
-        <bit index="19">Module ID 19</bit>
-        <bit index="20">Module ID 20</bit>
-        <bit index="21">Module ID 21</bit>
-        <bit index="22">Module ID 22</bit>
-        <bit index="23">Module ID 23</bit>
-        <bit index="24">Module ID 24</bit>
-        <bit index="25">Module ID 25</bit>
-        <bit index="26">Module ID 26</bit>
-        <bit index="27">Module ID 27</bit>
-        <bit index="28">Module ID 28</bit>
-        <bit index="29">Module ID 29</bit>
-        <bit index="30">Module ID 30</bit>
-        <bit index="31">Module ID 31</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="VTQ_TELEM_IDS_2" default="0" type="INT32">
-      <short_desc>Module IDs [32, 62] that you would like to request telemetry from</short_desc>
-      <long_desc>The module IDs [32, 62] that should be asked for telemetry. The data received from these IDs will be published via the esc_status topic.</long_desc>
-      <min>0</min>
-      <max>2147483647</max>
-      <reboot_required>True</reboot_required>
-      <bitmask>
-        <bit index="0">Module ID 32</bit>
-        <bit index="1">Module ID 33</bit>
-        <bit index="2">Module ID 34</bit>
-        <bit index="3">Module ID 35</bit>
-        <bit index="4">Module ID 36</bit>
-        <bit index="5">Module ID 37</bit>
-        <bit index="6">Module ID 38</bit>
-        <bit index="7">Module ID 39</bit>
-        <bit index="8">Module ID 40</bit>
-        <bit index="9">Module ID 41</bit>
-        <bit index="10">Module ID 42</bit>
-        <bit index="11">Module ID 43</bit>
-        <bit index="12">Module ID 44</bit>
-        <bit index="13">Module ID 45</bit>
-        <bit index="14">Module ID 46</bit>
-        <bit index="15">Module ID 47</bit>
-        <bit index="16">Module ID 48</bit>
-        <bit index="17">Module ID 49</bit>
-        <bit index="18">Module ID 50</bit>
-        <bit index="19">Module ID 51</bit>
-        <bit index="20">Module ID 52</bit>
-        <bit index="21">Module ID 53</bit>
-        <bit index="22">Module ID 54</bit>
-        <bit index="23">Module ID 55</bit>
-        <bit index="24">Module ID 56</bit>
-        <bit index="25">Module ID 57</bit>
-        <bit index="26">Module ID 58</bit>
-        <bit index="27">Module ID 59</bit>
-        <bit index="28">Module ID 60</bit>
-        <bit index="29">Module ID 61</bit>
-        <bit index="30">Module ID 62</bit>
-      </bitmask>
-    </parameter>
-    <parameter name="VTQ_THROTTLE_CVI" default="0" type="INT32">
-      <short_desc>Module Param - The module's Throttle Control Value Index</short_desc>
-      <long_desc>This represents the Control Value Index where the targeted module will look for throttle commands</long_desc>
-      <min>0</min>
-      <max>255</max>
-    </parameter>
-    <parameter name="VTQ_TQUE_OFF_ANG" default="0" type="FLOAT">
-      <short_desc>Module Param - Offsets pulse angle to allow for mechanical properties</short_desc>
-      <long_desc>This offsets where the pulse starts around the motor to allow for propeller mechanical properties.</long_desc>
-    </parameter>
-    <parameter name="VTQ_TRGT_MOD_ID" default="0" type="INT32">
-      <short_desc>The Module ID of the module you would like to communicate with</short_desc>
-      <long_desc>This is the value used as the target module ID of all configuration parameters (not operational parameters). The Vertiq module with the module ID matching this value will react to all get and set requests from PX4. Any Vertiq client made with dynamic object IDs should use this value to instantiate itself.</long_desc>
-    </parameter>
-    <parameter name="VTQ_VELO_CUTOFF" default="0" type="FLOAT">
-      <short_desc>Module Param - The minimum velocity required to allow pulsing</short_desc>
-      <long_desc>This is the velocity at which pulsing is allowed. Any velocity between VELOCITY_CUTOFF and -VELOCITY_CUTOFF will not pulse.</long_desc>
-    </parameter>
-    <parameter name="VTQ_X_CVI" default="0" type="INT32">
-      <short_desc>Module Param - CVI for the X rectangular coordinate</short_desc>
-      <long_desc>This represents the Control Value Index where the targeted module will look for the X rectangular coordinate.</long_desc>
-      <min>0</min>
-      <max>255</max>
-    </parameter>
-    <parameter name="VTQ_Y_CVI" default="0" type="INT32">
-      <short_desc>Module Param - CVI for the Y rectangular coordinate</short_desc>
-      <long_desc>This represents the Control Value Index where the targeted module will look for the Y rectangular coordinate.</long_desc>
-      <min>0</min>
-      <max>255</max>
-    </parameter>
-    <parameter name="VTQ_ZERO_ANGLE" default="0" type="FLOAT">
-      <short_desc>Module Param - The encoder angle at which theta is zero</short_desc>
-      <long_desc>The encoder angle at which theta is zero. Adjust this number to change the location of 0 phase when pulsing.</long_desc>
-    </parameter>
-  </group>
-  <group name="Zenoh">
-    <parameter name="ZENOH_ENABLE" default="0" type="INT32" category="System">
-      <short_desc>Zenoh Enable</short_desc>
-      <long_desc>Zenoh</long_desc>
-      <reboot_required>True</reboot_required>
-    </parameter>
-  </group>
-  <group name="Miscellaneous">
-    <parameter name="SCH16T_ACC_FILT" default="6" type="INT32">
-      <short_desc>Accel filter settings</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">13 Hz</value>
-        <value code="1">30 Hz</value>
-        <value code="2">68 Hz</value>
-        <value code="3">235 Hz</value>
-        <value code="4">280 Hz</value>
-        <value code="5">370 Hz</value>
-        <value code="6">No filter</value>
-      </values>
-    </parameter>
-    <parameter name="SCH16T_DECIM" default="4" type="INT32">
-      <short_desc>Gyro and Accel decimation settings</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">None</value>
-        <value code="1">5900 Hz</value>
-        <value code="2">2950 Hz</value>
-        <value code="3">1475 Hz</value>
-        <value code="4">738 Hz</value>
-      </values>
-    </parameter>
-    <parameter name="SCH16T_GYRO_FILT" default="2" type="INT32">
-      <short_desc>Gyro filter settings</short_desc>
-      <reboot_required>true</reboot_required>
-      <values>
-        <value code="0">13 Hz</value>
-        <value code="1">30 Hz</value>
-        <value code="2">68 Hz</value>
-        <value code="3">235 Hz</value>
-        <value code="4">280 Hz</value>
-        <value code="5">370 Hz</value>
-        <value code="6">No filter</value>
-      </values>
-    </parameter>
-    <parameter name="SF1XX_MODE" default="1" type="INT32">
-      <short_desc>Lightware SF1xx/SF20/LW20 Operation Mode</short_desc>
-      <min>0</min>
-      <max>2</max>
-      <values>
-        <value code="0">Disabled</value>
-        <value code="1">Enabled</value>
-        <value code="2">Enabled in VTOL MC mode, listen to request from system in FW mode</value>
-      </values>
-    </parameter>
-    <parameter name="UUV_SKIP_CTRL" default="0" type="INT32">
-      <short_desc>Skip the controller</short_desc>
-      <values>
-        <value code="0">use the module's controller</value>
-        <value code="1">skip the controller and feedthrough the setpoints</value>
-      </values>
-    </parameter>
-  </group>
 </parameters>
diff --git a/src/FlightMap/FlightMap.qml b/src/FlightMap/FlightMap.qml
index 0786c2e174e0..58c9ed2a792b 100644
--- a/src/FlightMap/FlightMap.qml
+++ b/src/FlightMap/FlightMap.qml
@@ -229,7 +229,7 @@ Map {
     MapQuickItem {
         anchorPoint.x:  sourceItem.width / 2
         anchorPoint.y:  sourceItem.height / 2
-        visible:        gcsPosition.isValid
+        visible:        gcsPosition.isValid && !planView
         coordinate:     gcsPosition
 
         sourceItem: Image {
diff --git a/src/FlightMap/MapItems/MissionItemIndicator.qml b/src/FlightMap/MapItems/MissionItemIndicator.qml
index 8f1e3efddd08..76e53fa1220d 100644
--- a/src/FlightMap/MapItems/MissionItemIndicator.qml
+++ b/src/FlightMap/MapItems/MissionItemIndicator.qml
@@ -3,6 +3,7 @@ import QtLocation
 
 import QGroundControl
 import QGroundControl.Controls
+import QGroundControl.PlanView
 
 /// Marker for displaying a mission item on the map
 MapQuickItem {
diff --git a/src/FlightMap/MapItems/PlanMapItems.qml b/src/FlightMap/MapItems/PlanMapItems.qml
index 329312cd9aad..8a37f7030ca3 100644
--- a/src/FlightMap/MapItems/PlanMapItems.qml
+++ b/src/FlightMap/MapItems/PlanMapItems.qml
@@ -5,6 +5,7 @@ import QtPositioning
 import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlightMap
+import QGroundControl.PlanView
 
 // Adds visual items associated with the Flight Plan to the map.
 // Currently only used by Fly View even though it's called PlanMapItems!
diff --git a/src/FlightMap/MapItems/QGCMapPolygonVisuals.qml b/src/FlightMap/MapItems/QGCMapPolygonVisuals.qml
index c54b9c540831..55c93e00a855 100644
--- a/src/FlightMap/MapItems/QGCMapPolygonVisuals.qml
+++ b/src/FlightMap/MapItems/QGCMapPolygonVisuals.qml
@@ -8,6 +8,7 @@ import QtQuick.Layouts
 import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlightMap
+import QGroundControl.PlanView
 
 /// QGCMapPolygon map visuals
 Item {
@@ -26,7 +27,6 @@ Item {
     property real   _circleRadius
     property bool   _circleRadiusDrag:          false
     property var    _circleRadiusDragCoord:     QtPositioning.coordinate()
-    property bool   _editCircleRadius:          false
     property string _instructionText:           _polygonToolsText
     property var    _savedVertices:             [ ]
     property bool   _savedCircleMode
@@ -251,7 +251,7 @@ Item {
         QGCMenuItem {
             text:           qsTr("Set radius..." )
             visible:        _circleMode
-            onTriggered:    _editCircleRadius = true
+            onTriggered:    editCircleRadiusDialogFactory.open()
         }
 
         QGCMenuItem {
@@ -273,9 +273,10 @@ Item {
         MapPolygon {
             color:          mapPolygon.showAltColor ? altColor : interiorColor
             opacity:        interiorOpacity
-            border.color:   borderColor
-            border.width:   borderWidth
-            path:           mapPolygon.path
+            visible:        _root.visible
+            border.color:   mapPolygon.vertexDrag ? "orange" : borderColor
+            border.width:   mapPolygon.vertexDrag ? 3 : borderWidth
+            path:           mapPolygon.vertexDrag ? mapPolygon.dragPath : mapPolygon.path
         }
     }
 
@@ -309,19 +310,24 @@ Item {
 
             delegate: Item {
                 property var _edgeLengthHandle
-                property var _vertices:     mapPolygon.path
 
                 function _setHandlePosition() {
+                    var vertices = mapPolygon.vertexDrag ? mapPolygon.dragPath : mapPolygon.path
                     var nextIndex = index + 1
-                    if (nextIndex > _vertices.length - 1) {
+                    if (nextIndex > vertices.length - 1) {
                         nextIndex = 0
                     }
-                    var distance = _vertices[index].distanceTo(_vertices[nextIndex])
-                    var azimuth = _vertices[index].azimuthTo(_vertices[nextIndex])
-                    _edgeLengthHandle.coordinate =_vertices[index].atDistanceAndAzimuth(distance / 3, azimuth)
+                    var distance = vertices[index].distanceTo(vertices[nextIndex])
+                    var azimuth = vertices[index].azimuthTo(vertices[nextIndex])
+                    _edgeLengthHandle.coordinate = vertices[index].atDistanceAndAzimuth(distance / 2, azimuth)
                     _edgeLengthHandle.distance = distance
                 }
 
+                Connections {
+                    target: mapPolygon
+                    function onDragPathChanged() { _setHandlePosition() }
+                }
+
                 Component.onCompleted: {
                     _edgeLengthHandle = edgeLengthHandleComponent.createObject(mapControl)
                     _edgeLengthHandle.vertexIndex = index
@@ -345,7 +351,7 @@ Item {
             id:             mapQuickItem
             anchorPoint.x:  sourceItem.width / 2
             anchorPoint.y:  sourceItem.height / 2
-            visible:        !_circleMode
+            visible:        !_circleMode && !_isVertexBeingDragged && !mapPolygon.centerDrag
 
             property int vertexIndex
 
@@ -401,8 +407,8 @@ Item {
             mapControl:     _root.mapControl
             z:              _zorderDragHandle
             visible:        !_circleMode
-            onDragStart:    _isVertexBeingDragged = true
-            onDragStop:     { _isVertexBeingDragged = false; mapPolygon.verifyClockwiseWinding() }
+            onDragStart:    { _isVertexBeingDragged = true; mapPolygon.vertexDrag = true }
+            onDragStop:     { _isVertexBeingDragged = false; mapPolygon.vertexDrag = false; mapPolygon.verifyClockwiseWinding() }
 
             property int polygonVertex
 
@@ -428,6 +434,7 @@ Item {
             anchorPoint.x:  dragHandle.width  * 0.5
             anchorPoint.y:  dragHandle.height * 0.5
             z:              _zorderDragHandle
+            visible:        !_isVertexBeingDragged
             sourceItem: Rectangle {
                 id:             dragHandle
                 width:          ScreenTools.defaultFontPixelHeight * 1.5
@@ -458,7 +465,7 @@ Item {
             anchorPoint.x:  dragHandle.width  / 2
             anchorPoint.y:  dragHandle.height / 2
             z:              _zorderDragHandle
-            visible:        !_circleMode
+            visible:        !_circleMode && !mapPolygon.centerDrag
 
             property int polygonVertex
 
@@ -505,6 +512,56 @@ Item {
         }
     }
 
+    QGCPopupDialogFactory {
+        id: editCircleRadiusDialogFactory
+
+        dialogComponent: editCircleRadiusDialog
+    }
+
+    Component {
+        id: editCircleRadiusDialog
+
+        QGCPopupDialog {
+            id:         popupDialog
+            title:      qsTr("Set Radius")
+            buttons:    Dialog.Save | Dialog.Cancel
+
+            onAccepted: {
+                const appRadius = Number(radiusField.text)
+                if (!isNaN(appRadius) && appRadius > 0) {
+                    const radiusMeters = QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsToMeters(appRadius)
+                    _createCircularPolygon(mapPolygon.center, radiusMeters)
+                } else {
+                    preventClose = true
+                }
+            }
+
+            ColumnLayout {
+                width:      ScreenTools.defaultFontPixelWidth * 30
+                spacing:    ScreenTools.defaultFontPixelHeight
+
+                QGCLabel {
+                    Layout.fillWidth:   true
+                    text:               qsTr("Enter circle radius.")
+                    wrapMode:           Text.WordWrap
+                }
+
+                QGCTextField {
+                    id:                 radiusField
+                    Layout.fillWidth:   true
+                    text:               QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(_circleRadius).toFixed(1)
+                    validator:          DoubleValidator { bottom: 0.1; notation: DoubleValidator.StandardNotation }
+                    inputMethodHints:   Qt.ImhFormattedNumbersOnly
+                }
+
+                QGCLabel {
+                    Layout.fillWidth:   true
+                    text:               QGroundControl.unitsConversion.appSettingsHorizontalDistanceUnitsString
+                }
+            }
+        }
+    }
+
     QGCPopupDialogFactory {
         id: editCenterPositionDialogFactory
 
@@ -553,8 +610,9 @@ Item {
             mapControl:                 _root.mapControl
             z:                          _zorderCenterHandle
             onItemCoordinateChanged:    mapPolygon.center = itemCoordinate
-            onDragStart:                mapPolygon.centerDrag = true
-            onDragStop:                 mapPolygon.centerDrag = false
+            onDragStart:                { mapPolygon.centerDrag = true; mapPolygon.vertexDrag = true }
+            onDragStop:                 { mapPolygon.centerDrag = false; mapPolygon.vertexDrag = false }
+            onClicked:                  if(_root.interactive) menu.popupCenter()
         }
     }
 
@@ -567,7 +625,7 @@ Item {
 
             Component.onCompleted: {
                 dragHandle = centerDragHandle.createObject(mapControl)
-                dragHandle.coordinate = Qt.binding(function() { return mapPolygon.center })
+                dragHandle.coordinate = Qt.binding(function() { return mapPolygon.centerDrag ? mapPolygon.dragCenter : mapPolygon.center })
                 mapControl.addMapItem(dragHandle)
                 dragArea = centerDragAreaComponent.createObject(mapControl, { "itemIndicator": dragHandle, "itemCoordinate": mapPolygon.center })
             }
@@ -654,6 +712,7 @@ Item {
             anchorPoint.x:  dragHandle.width / 2
             anchorPoint.y:  dragHandle.height / 2
             z:              QGroundControl.zOrderMapItems + 2
+            visible:        !mapPolygon.centerDrag
 
             sourceItem: Rectangle {
                 id:         dragHandle
@@ -689,8 +748,19 @@ Item {
 
         MissionItemIndicatorDrag {
             mapControl: _root.mapControl
+            onDragStart: {
+                _circleRadiusDrag = true
+                mapPolygon.vertexDrag = true
+            }
+            onDragStop: {
+                _circleRadiusDrag = false
+                mapPolygon.vertexDrag = false
+            }
 
             onItemCoordinateChanged: {
+                // Keep the handle visually attached to the cursor while radius updates are de-bounced.
+                _circleRadiusDragCoord = itemCoordinate
+
                 var radius = mapPolygon.center.distanceTo(itemCoordinate)
 
                 if (Math.abs(radius - _circleRadius) > 0.1) {
diff --git a/src/FlightMap/MapItems/QGCMapPolylineVisuals.qml b/src/FlightMap/MapItems/QGCMapPolylineVisuals.qml
index bd11283becdc..7238024172cd 100644
--- a/src/FlightMap/MapItems/QGCMapPolylineVisuals.qml
+++ b/src/FlightMap/MapItems/QGCMapPolylineVisuals.qml
@@ -7,6 +7,7 @@ import QtQuick.Dialogs
 import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlightMap
+import QGroundControl.PlanView
 
 /// QGCMapPolyline map visuals
 Item {
@@ -24,6 +25,8 @@ Item {
     property real   _zorderDragHandle:      QGroundControl.zOrderMapItems + 3   // Highest to prevent splitting when items overlap
     property real   _zorderSplitHandle:     QGroundControl.zOrderMapItems + 2
     property var    _savedVertices:         [ ]
+    property bool   _isVertexBeingDragged:  false
+    property bool   dragging:               _isVertexBeingDragged
 
     readonly property string _corridorToolsText:    qsTr("Polyline Tools")
     readonly property string _traceText:            qsTr("Click in the map to add vertices. Click 'Done Tracing' when finished.")
@@ -36,7 +39,7 @@ Item {
 
     function _addInteractiveVisuals() {
         if (_objMgrInteractiveVisuals.empty) {
-            _objMgrInteractiveVisuals.createObjects([ dragHandlesComponent, splitHandlesComponent, toolbarComponent ], mapControl)
+            _objMgrInteractiveVisuals.createObjects([ dragHandlesComponent, splitHandlesComponent, edgeLengthHandlesComponent, toolbarComponent ], mapControl)
         }
     }
 
@@ -161,9 +164,9 @@ Item {
         id: polylineComponent
 
         MapPolyline {
-            line.width: lineWidth
-            line.color: lineColor
-            path:       mapPolyline.path
+            line.width: mapPolyline.vertexDrag ? 3 : lineWidth
+            line.color: mapPolyline.vertexDrag ? "orange" : lineColor
+            path:       mapPolyline.vertexDrag ? mapPolyline.dragPath : mapPolyline.path
             visible:    _root.visible
             opacity:    _root.opacity
         }
@@ -178,6 +181,7 @@ Item {
             anchorPoint.y:  sourceItem.height / 2
             z:              _zorderSplitHandle
             opacity:        _root.opacity
+            visible:        !mapPolyline.vertexDrag
 
             property int vertexIndex
 
@@ -224,6 +228,71 @@ Item {
         }
     }
 
+    Component {
+        id: edgeLengthHandleComponent
+
+        MapQuickItem {
+            id:             edgeLengthMapItem
+            anchorPoint.x:  sourceItem.width / 2
+            anchorPoint.y:  sourceItem.height / 2
+
+            property int vertexIndex
+            property real distance
+
+            property var _unitsConversion: QGroundControl.unitsConversion
+
+            sourceItem: Text {
+                text:   _unitsConversion.metersToAppSettingsHorizontalDistanceUnits(distance).toFixed(1) + " " +
+                        _unitsConversion.appSettingsHorizontalDistanceUnitsString
+                color:  "white"
+            }
+        }
+    }
+
+    Component {
+        id: edgeLengthHandlesComponent
+
+        Repeater {
+            model: _isVertexBeingDragged ? mapPolyline.path : undefined
+
+            delegate: Item {
+                property var _edgeLengthHandle
+
+                function _setHandlePosition() {
+                    var vertices = mapPolyline.vertexDrag ? mapPolyline.dragPath : mapPolyline.path
+                    var nextIndex = index + 1
+                    if (nextIndex > vertices.length - 1) {
+                        return
+                    }
+                    var distance = vertices[index].distanceTo(vertices[nextIndex])
+                    var azimuth = vertices[index].azimuthTo(vertices[nextIndex])
+                    _edgeLengthHandle.coordinate = vertices[index].atDistanceAndAzimuth(distance / 2, azimuth)
+                    _edgeLengthHandle.distance = distance
+                }
+
+                Connections {
+                    target: mapPolyline
+                    function onDragPathChanged() { _setHandlePosition() }
+                }
+
+                Component.onCompleted: {
+                    if (index + 1 <= mapPolyline.path.length - 1) {
+                        _edgeLengthHandle = edgeLengthHandleComponent.createObject(mapControl)
+                        _edgeLengthHandle.vertexIndex = index
+                        _setHandlePosition()
+                        mapControl.addMapItem(_edgeLengthHandle)
+                    }
+                }
+
+                Component.onDestruction: {
+                    if (_edgeLengthHandle) {
+                        _edgeLengthHandle.destroy()
+                    }
+                }
+            }
+        }
+    }
+
     // Control which is used to drag polygon vertices
     Component {
         id: dragAreaComponent
@@ -233,6 +302,8 @@ Item {
             id:         dragArea
             z:          _zorderDragHandle
             opacity:    _root.opacity
+            onDragStart: { _isVertexBeingDragged = true; mapPolyline.vertexDrag = true }
+            onDragStop:  { _isVertexBeingDragged = false; mapPolyline.vertexDrag = false }
 
             property int polylineVertex
 
diff --git a/src/FlightMap/Widgets/CenterMapDropButton.qml b/src/FlightMap/Widgets/CenterMapDropButton.qml
index d8fd38f8f8f2..eb3ad652a0c0 100644
--- a/src/FlightMap/Widgets/CenterMapDropButton.qml
+++ b/src/FlightMap/Widgets/CenterMapDropButton.qml
@@ -175,7 +175,7 @@ DropButton {
             }
 
             QGCButton {
-                text:               qsTr("Launch")
+                text:               qsTr("Home")
                 Layout.fillWidth:   true
                 enabled:            !followVehicleCheckBox.checked
 
diff --git a/src/FlightMap/Widgets/CenterMapDropPanel.qml b/src/FlightMap/Widgets/CenterMapDropPanel.qml
index fe5528f3975f..372ce85c4ee2 100644
--- a/src/FlightMap/Widgets/CenterMapDropPanel.qml
+++ b/src/FlightMap/Widgets/CenterMapDropPanel.qml
@@ -40,7 +40,7 @@ ColumnLayout {
     }
 
     QGCButton {
-        text:               qsTr("Launch")
+        text:               qsTr("Home")
         Layout.fillWidth:   true
 
         onClicked: {
diff --git a/src/FlightMap/Widgets/CompassDial.qml b/src/FlightMap/Widgets/CompassDial.qml
index 253b316eca3f..0e9d23f3f4f6 100644
--- a/src/FlightMap/Widgets/CompassDial.qml
+++ b/src/FlightMap/Widgets/CompassDial.qml
@@ -21,6 +21,7 @@ Item {
     QGCLabel {
         anchors.centerIn:   parent
         text:               "N"
+        rotation:           _lockNoseUpCompass ? _heading : 0
 
         transform: Translate {
             x: translateCenterToAngleX(control.offsetRadius, 0)
@@ -31,6 +32,7 @@ Item {
     QGCLabel {
         anchors.centerIn:   parent
         text:               "E"
+        rotation:           _lockNoseUpCompass ? _heading : 0
 
         transform: Translate {
             x: translateCenterToAngleX(control.offsetRadius, 90)
@@ -41,6 +43,7 @@ Item {
     QGCLabel {
         anchors.centerIn:   parent
         text:               "S"
+        rotation:           _lockNoseUpCompass ? _heading : 0
 
         transform: Translate {
             x: translateCenterToAngleX(control.offsetRadius, 180)
@@ -51,6 +54,7 @@ Item {
     QGCLabel {
         anchors.centerIn:   parent
         text:               "W"
+        rotation:           _lockNoseUpCompass ? _heading : 0
 
         transform: Translate {
             x: translateCenterToAngleX(control.offsetRadius, 270)
diff --git a/src/FlightMap/Widgets/PhotoVideoControl.qml b/src/FlightMap/Widgets/PhotoVideoControl.qml
index bedac2ec0874..5e9f23339155 100644
--- a/src/FlightMap/Widgets/PhotoVideoControl.qml
+++ b/src/FlightMap/Widgets/PhotoVideoControl.qml
@@ -21,10 +21,10 @@ Rectangle {
     property var _activeVehicle: globals.activeVehicle
     property var _cameraManager: _activeVehicle.cameraManager
     property var _camera: _cameraManager.currentCameraInstance
-    property bool _cameraInPhotoMode: _camera.cameraMode === MavlinkCameraControl.CAM_MODE_PHOTO || _camera.cameraMode === MavlinkCameraControl.CAM_MODE_SURVEY
+    property bool _cameraInPhotoMode: _camera.cameraMode === MavlinkCameraControlInterface.CAM_MODE_PHOTO || _camera.cameraMode === MavlinkCameraControlInterface.CAM_MODE_SURVEY
     property bool _cameraInVideoMode: !_cameraInPhotoMode
-    property bool _videoCaptureIdle: _camera.captureVideoState === MavlinkCameraControl.CaptureVideoStateIdle
-    property bool _photoCaptureIdle: _camera.capturePhotosState === MavlinkCameraControl.CapturePhotosStateIdle
+    property bool _videoCaptureIdle: _camera.captureVideoState === MavlinkCameraControlInterface.CaptureVideoStateIdle
+    property bool _photoCaptureIdle: _camera.capturePhotosState === MavlinkCameraControlInterface.CapturePhotosStateIdle
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
@@ -151,7 +151,7 @@ Rectangle {
                     border.width: 1
                     border.color: videoCaptureButtonPalette.buttonBorder
                     visible: (_camera.hasModes && _cameraInVideoMode) || (!_camera.hasModes && _camera.capturesVideo)
-                    enabled: _camera.captureVideoState !== MavlinkCameraControl.CaptureVideoStateDisabled
+                    enabled: _camera.captureVideoState !== MavlinkCameraControlInterface.CaptureVideoStateDisabled
 
                     QGCPalette { id: videoCaptureButtonPalette; colorGroupEnabled: videoCaptureButton.enabled }
 
@@ -174,7 +174,7 @@ Rectangle {
                         border.width: 1
                         border.color: videoCaptureButtonPalette.buttonBorder
 
-                        property bool _isCapturing: _camera.captureVideoState === MavlinkCameraControl.CaptureVideoStateCapturing
+                        property bool _isCapturing: _camera.captureVideoState === MavlinkCameraControlInterface.CaptureVideoStateCapturing
                     }
 
                     MouseArea {
@@ -227,7 +227,7 @@ Rectangle {
                     border.width: 1
                     border.color: photoCaptureButtonPalette.buttonBorder
                     visible: (_camera.hasModes && _cameraInPhotoMode) || (!_camera.hasModes && (_camera.hasVideoStream || _camera.capturesPhotos))
-                    enabled: _camera.capturePhotosState !== MavlinkCameraControl.CapturePhotosStateDisabled
+                    enabled: _camera.capturePhotosState !== MavlinkCameraControlInterface.CapturePhotosStateDisabled
 
                     QGCPalette { id: photoCaptureButtonPalette; colorGroupEnabled: photoCaptureButton.enabled }
 
@@ -250,16 +250,16 @@ Rectangle {
                         border.width: 1
                         border.color: photoCaptureButtonPalette.buttonBorder
 
-                        property bool _isCapturing: _camera.capturePhotosState === MavlinkCameraControl.CapturePhotosStateCapturingSinglePhoto ||
-                                                        _camera.capturePhotosState === MavlinkCameraControl.CapturePhotosStateCapturingMultiplePhotos
+                        property bool _isCapturing: _camera.capturePhotosState === MavlinkCameraControlInterface.CapturePhotosStateCapturingSinglePhoto ||
+                                                        _camera.capturePhotosState === MavlinkCameraControlInterface.CapturePhotosStateCapturingMultiplePhotos
                     }
 
                     MouseArea {
                         anchors.fill: parent
                         onClicked: {
-                            if (_camera.capturePhotosState === MavlinkCameraControl.CapturePhotosStateCapturingMultiplePhotos) {
+                            if (_camera.capturePhotosState === MavlinkCameraControlInterface.CapturePhotosStateCapturingMultiplePhotos) {
                                 _camera.stopTakePhoto()
-                            } else if (_camera.capturePhotosState === MavlinkCameraControl.CapturePhotosStateIdle) {
+                            } else if (_camera.capturePhotosState === MavlinkCameraControlInterface.CapturePhotosStateIdle) {
                                 _camera.takePhoto()
                             }
                         }
@@ -304,7 +304,7 @@ Rectangle {
                     Layout.alignment: Qt.AlignHCenter
                     text: qsTr("Free: ") + _camera.storageFreeStr
                     font.pointSize: ScreenTools.defaultFontPointSize
-                    visible: _camera.storageStatus === MavlinkCameraControl.STORAGE_READY
+                    visible: _camera.storageStatus === MavlinkCameraControlInterface.STORAGE_READY
                 }
 
                 QGCLabel {
@@ -390,7 +390,7 @@ Rectangle {
 
                 property bool _multipleMavlinkCameras: _cameraManager.cameras.count > 1
                 property bool _multipleMavlinkCameraStreams: _camera.streamLabels.length > 1
-                property bool _cameraStorageSupported: _camera.storageStatus !== MavlinkCameraControl.STORAGE_NOT_SUPPORTED
+                property bool _cameraStorageSupported: _camera.storageStatus !== MavlinkCameraControlInterface.STORAGE_NOT_SUPPORTED
                 property var _videoSettings: QGroundControl.settingsManager.videoSettings
 
                 ColumnLayout {
@@ -424,7 +424,7 @@ Rectangle {
 
                         QGCLabel {
                             text: qsTr("Blend Opacity")
-                            visible: _camera.thermalStreamInstance && _camera.thermalMode === MavlinkCameraControl.THERMAL_BLEND
+                            visible: _camera.thermalStreamInstance && _camera.thermalMode === MavlinkCameraControlInterface.THERMAL_BLEND
                             onVisibleChanged: gridLayout.dynamicRows += visible ? 1 : -1
                         }
 
@@ -445,7 +445,7 @@ Rectangle {
 
                         QGCLabel {
                             text: qsTr("Photo Interval (seconds)")
-                            visible: _camera.capturesPhotos && _camera.photoCaptureMode === MavlinkCameraControl.PHOTO_CAPTURE_TIMELAPSE
+                            visible: _camera.capturesPhotos && _camera.photoCaptureMode === MavlinkCameraControlInterface.PHOTO_CAPTURE_TIMELAPSE
                             onVisibleChanged: gridLayout.dynamicRows += visible ? 1 : -1
                         }
 
@@ -506,7 +506,7 @@ Rectangle {
                             from: 0
                             value: _camera.thermalOpacity
                             live: true
-                            visible: _camera.thermalStreamInstance && _camera.thermalMode === MavlinkCameraControl.THERMAL_BLEND
+                            visible: _camera.thermalStreamInstance && _camera.thermalMode === MavlinkCameraControlInterface.THERMAL_BLEND
                             onValueChanged: _camera.thermalOpacity = value
                         }
 
@@ -582,7 +582,7 @@ Rectangle {
                             value: _camera.photoLapse
                             displayValue: true
                             live: true
-                            visible: _camera.capturesPhotos && _camera.photoCaptureMode === MavlinkCameraControl.PHOTO_CAPTURE_TIMELAPSE
+                            visible: _camera.capturesPhotos && _camera.photoCaptureMode === MavlinkCameraControlInterface.PHOTO_CAPTURE_TIMELAPSE
                             onValueChanged: _camera.photoLapse = value
                         }
 
diff --git a/src/FlightMap/Widgets/QGCCompassWidget.qml b/src/FlightMap/Widgets/QGCCompassWidget.qml
index 4f7616ce00c8..cd8890b71cc9 100644
--- a/src/FlightMap/Widgets/QGCCompassWidget.qml
+++ b/src/FlightMap/Widgets/QGCCompassWidget.qml
@@ -58,12 +58,7 @@ Rectangle {
     Item {
         id:             rotationParent
         anchors.fill:   parent
-
-        transform: Rotation {
-            origin.x:       rotationParent.width  / 2
-            origin.y:       rotationParent.height / 2
-            angle:         _lockNoseUpCompass ? -_heading : 0
-        }
+        rotation:           _lockNoseUpCompass ? -_heading : 0
 
         CompassDial {
             anchors.fill:   parent
@@ -84,12 +79,7 @@ Rectangle {
             anchors.fill:       parent
             sourceSize.height:  parent.height
             visible:            showCOG()
-
-            transform: Rotation {
-                origin.x:   cogPointer.width  / 2
-                origin.y:   cogPointer.height / 2
-                angle:      _courseOverGround
-            }
+            rotation:           _courseOverGround
         }
 
         Image {
@@ -100,12 +90,7 @@ Rectangle {
             anchors.fill:       parent
             sourceSize.height:  parent.height
             visible:            showHeadingToNextWP()
-
-            transform: Rotation {
-                origin.x:   nextWPPointer.width  / 2
-                origin.y:   nextWPPointer.height / 2
-                angle:      _headingToNextWP
-            }
+            rotation:           _headingToNextWP
         }
 
         // Launch location indicator
@@ -123,13 +108,15 @@ Rectangle {
                 font.bold:          true
                 color:              qgcPal.text
                 anchors.centerIn:   parent
+                rotation:           _lockNoseUpCompass ? _heading : 0
             }
 
             transform: Translate {
-                property double _angle: _headingToHome
+                property double _angle:        _headingToHome
+                property real   _labelOffset:  root.width / 2 + ScreenTools.defaultFontPixelHeight / 2
 
-                x: translateCenterToAngleX(parent.width / 2, _angle)
-                y: translateCenterToAngleY(parent.height / 2, _angle)
+                x: translateCenterToAngleX(_labelOffset, _angle)
+                y: translateCenterToAngleY(_labelOffset, _angle)
             }
         }
     }
diff --git a/src/FlyView/CMakeLists.txt b/src/FlyView/CMakeLists.txt
index 2f77718c32fe..752b54e294ac 100644
--- a/src/FlyView/CMakeLists.txt
+++ b/src/FlyView/CMakeLists.txt
@@ -52,6 +52,7 @@ qt_add_qml_module(FlyViewModule
         ObstacleDistanceOverlay.qml
         ObstacleDistanceOverlayMap.qml
         ObstacleDistanceOverlayVideo.qml
+        OnScreenCameraTrackingController.qml
         OnScreenGimbalController.qml
         PreFlightBatteryCheck.qml
         PreFlightCheckList.qml
diff --git a/src/FlyView/FlightDisplayViewUVC.qml b/src/FlyView/FlightDisplayViewUVC.qml
index dbb2812a5a4b..3b78b99445de 100644
--- a/src/FlyView/FlightDisplayViewUVC.qml
+++ b/src/FlyView/FlightDisplayViewUVC.qml
@@ -7,6 +7,8 @@ Rectangle {
     id:                 _root
     width:              parent.width
     height:             parent.height
+    implicitWidth:      videoOutput.implicitWidth
+    implicitHeight:     videoOutput.implicitHeight   
     color:              Qt.rgba(0,0,0,0.75)
     clip:               true
     anchors.centerIn:   parent
diff --git a/src/FlyView/FlightDisplayViewVideo.qml b/src/FlyView/FlightDisplayViewVideo.qml
index f9efb19c385f..5c3b5e8c935f 100644
--- a/src/FlyView/FlightDisplayViewVideo.qml
+++ b/src/FlyView/FlightDisplayViewVideo.qml
@@ -12,9 +12,11 @@ Item {
 
     property bool useSmallFont: true
 
-    property double _ar:                QGroundControl.videoManager.gstreamerEnabled
-                                            ? QGroundControl.videoManager.videoSize.width / QGroundControl.videoManager.videoSize.height
-                                            : QGroundControl.videoManager.aspectRatio
+    property double _ar:                (cameraLoader.visible && cameraLoader.status === Loader.Ready)
+                                            ? cameraLoader.item.implicitWidth / cameraLoader.item.implicitHeight
+                                            : QGroundControl.videoManager.gstreamerEnabled
+                                                ? QGroundControl.videoManager.videoSize.width / QGroundControl.videoManager.videoSize.height
+                                                : QGroundControl.videoManager.aspectRatio
     property bool   _showGrid:          QGroundControl.settingsManager.videoSettings.gridLines.rawValue
     property var    _dynamicCameras:    globals.activeVehicle ? globals.activeVehicle.cameraManager : null
     property bool   _connected:         globals.activeVehicle ? !globals.activeVehicle.communicationLost : false
@@ -23,6 +25,8 @@ Item {
     property var    _camera:            _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex) : null
     property bool   _hasZoom:           _camera && _camera.hasZoom
     property int    _fitMode:           QGroundControl.settingsManager.videoSettings.videoFit.rawValue
+    property bool   _showStreamLoader:  QGroundControl.videoManager.decoding
+    property bool   _showUvcLoader:     QGroundControl.videoManager.isUvc
 
     property bool   _isMode_FIT_WIDTH:  _fitMode === 0
     property bool   _isMode_FIT_HEIGHT: _fitMode === 1
@@ -43,7 +47,7 @@ Item {
             anchors.fill:   parent
             source:         "/res/NoVideoBackground.jpg"
             fillMode:       Image.PreserveAspectCrop
-            visible:        !(QGroundControl.videoManager.decoding)
+            visible:        !_showStreamLoader && !_showUvcLoader
 
             Rectangle {
                 anchors.centerIn:   parent
@@ -68,7 +72,7 @@ Item {
         id:             videoBackground
         anchors.fill:   parent
         color:          "black"
-        visible:        QGroundControl.videoManager.decoding
+        visible:        _showStreamLoader || _showUvcLoader
         function getWidth() {
             if(_ar != 0.0){
                 if(_isMode_FIT_HEIGHT
@@ -116,59 +120,76 @@ Item {
                     }
                 }
 
+            }
+        }
+        Loader {
+            // GStreamer is causing crashes on Lenovo laptop OpenGL Intel drivers. In order to workaround this
+            // we don't load a QGCVideoBackground object when video is disabled. This prevents any video rendering
+            // code from running. Hence the Loader to completely remove it.
+            id:                 videoStreamLoader
+            anchors.fill:       videoContentArea
+            visible:            _showStreamLoader
+            sourceComponent:    videoBackgroundComponent
+
+            property bool videoDisabled: QGroundControl.settingsManager.videoSettings.videoSource.rawValue === QGroundControl.settingsManager.videoSettings.disabledVideoSource
+        }
+        //-- UVC Video (USB Camera or Video Device)
+        Loader {
+            id:             cameraLoader
+            anchors.fill:   videoContentArea
+            visible:        _showUvcLoader
+            source:         QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/QGroundControl/FlyView/FlightDisplayViewUVC.qml" : "qrc:/qml/QGroundControl/FlyView//FlightDisplayViewDummy.qml"
+        }
+
+        Item {
+            id:                 videoContentArea
+            height:             parent.getHeight()
+            width:              parent.getWidth()
+            anchors.centerIn:   parent
+            visible:           _showStreamLoader || _showUvcLoader
+
+            // grid lines
+            Item {
+                anchors.fill:   parent
+                visible:        _showGrid && !QGroundControl.videoManager.fullScreen
+
                 Rectangle {
                     color:  Qt.rgba(1,1,1,0.5)
                     height: parent.height
                     width:  1
                     x:      parent.width * 0.33
-                    visible: _showGrid && !QGroundControl.videoManager.fullScreen
                 }
                 Rectangle {
                     color:  Qt.rgba(1,1,1,0.5)
                     height: parent.height
                     width:  1
                     x:      parent.width * 0.66
-                    visible: _showGrid && !QGroundControl.videoManager.fullScreen
                 }
                 Rectangle {
                     color:  Qt.rgba(1,1,1,0.5)
                     width:  parent.width
                     height: 1
                     y:      parent.height * 0.33
-                    visible: _showGrid && !QGroundControl.videoManager.fullScreen
                 }
                 Rectangle {
                     color:  Qt.rgba(1,1,1,0.5)
                     width:  parent.width
                     height: 1
                     y:      parent.height * 0.66
-                    visible: _showGrid && !QGroundControl.videoManager.fullScreen
                 }
             }
         }
-        Loader {
-            // GStreamer is causing crashes on Lenovo laptop OpenGL Intel drivers. In order to workaround this
-            // we don't load a QGCVideoBackground object when video is disabled. This prevents any video rendering
-            // code from running. Hence the Loader to completely remove it.
-            height:             parent.getHeight()
-            width:              parent.getWidth()
-            anchors.centerIn:   parent
-            visible:            QGroundControl.videoManager.decoding
-            sourceComponent:    videoBackgroundComponent
-
-            property bool videoDisabled: QGroundControl.settingsManager.videoSettings.videoSource.rawValue === QGroundControl.settingsManager.videoSettings.disabledVideoSource
-        }
 
         //-- Thermal Image
         Item {
             id:                 thermalItem
             width:              height * QGroundControl.videoManager.thermalAspectRatio
-            height:             _camera ? (_camera.thermalMode === MavlinkCameraControl.THERMAL_FULL ? parent.height : (_camera.thermalMode === MavlinkCameraControl.THERMAL_PIP ? ScreenTools.defaultFontPixelHeight * 12 : parent.height * _thermalHeightFactor)) : 0
+            height:             _camera ? (_camera.thermalMode === MavlinkCameraControlInterface.THERMAL_FULL ? parent.height : (_camera.thermalMode === MavlinkCameraControlInterface.THERMAL_PIP ? ScreenTools.defaultFontPixelHeight * 12 : parent.height * _thermalHeightFactor)) : 0
             anchors.centerIn:   parent
-            visible:            QGroundControl.videoManager.hasThermal && _camera.thermalMode !== MavlinkCameraControl.THERMAL_OFF
+            visible:            QGroundControl.videoManager.hasThermal && _camera.thermalMode !== MavlinkCameraControlInterface.THERMAL_OFF
             function pipOrNot() {
                 if(_camera) {
-                    if(_camera.thermalMode === MavlinkCameraControl.THERMAL_PIP) {
+                    if(_camera.thermalMode === MavlinkCameraControlInterface.THERMAL_PIP) {
                         anchors.centerIn    = undefined
                         anchors.top         = parent.top
                         anchors.topMargin   = mainWindow.header.height + (ScreenTools.defaultFontPixelHeight * 0.5)
@@ -194,7 +215,7 @@ Item {
                 id:             thermalVideo
                 objectName:     "thermalVideo"
                 anchors.fill:   parent
-                opacity:        _camera ? (_camera.thermalMode === MavlinkCameraControl.THERMAL_BLEND ? _camera.thermalOpacity / 100 : 1.0) : 0
+                opacity:        _camera ? (_camera.thermalMode === MavlinkCameraControlInterface.THERMAL_BLEND ? _camera.thermalOpacity / 100 : 1.0) : 0
             }
         }
         //-- Zoom
diff --git a/src/FlyView/FlyView.qml b/src/FlyView/FlyView.qml
index a58896c9d590..b617922cfd90 100644
--- a/src/FlyView/FlyView.qml
+++ b/src/FlyView/FlyView.qml
@@ -12,6 +12,7 @@ import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlyView
 import QGroundControl.FlightMap
+import QGroundControl.Toolbar
 import QGroundControl.Viewer3D
 
 Item {
diff --git a/src/FlyView/FlyViewMap.qml b/src/FlyView/FlyViewMap.qml
index 5b9dbf47b613..d6eacc939377 100644
--- a/src/FlyView/FlyViewMap.qml
+++ b/src/FlyView/FlyViewMap.qml
@@ -9,6 +9,7 @@ import QGroundControl
 import QGroundControl.Controls
 import QGroundControl.FlyView
 import QGroundControl.FlightMap
+import QGroundControl.PlanView
 
 FlightMap {
     id:                         _root
@@ -650,7 +651,7 @@ FlightMap {
                         Layout.fillWidth:   true
                         text:               qsTr("Edit Position")
                         onClicked: {
-                            roiEditPositionDialogFactory.open({ showSetPositionFromVehicle: false })
+                            roiEditPositionDialogFactory.open()
                             roiEditDropPanel.close()
                         }
                     }
@@ -680,8 +681,11 @@ FlightMap {
                             gotoLocationItem.show(mapClickCoord)
 
                             if ((_activeVehicle.flightMode == _activeVehicle.gotoFlightMode) && !_flyViewSettings.goToLocationRequiresConfirmInGuided.value) {
-                                globals.guidedControllerFlyView.executeAction(globals.guidedControllerFlyView.actionGoto, mapClickCoord, gotoLocationItem)
-                                gotoLocationItem.actionConfirmed() // Still need to call this to commit the new coordinate and radius
+                                if (globals.guidedControllerFlyView.executeAction(globals.guidedControllerFlyView.actionGoto, mapClickCoord)) {
+                                    gotoLocationItem.actionConfirmed() // Still need to call this to commit the new coordinate and radius
+                                } else {
+                                    gotoLocationItem.actionCancelled()
+                                }
                             } else {
                                 globals.guidedControllerFlyView.confirmAction(globals.guidedControllerFlyView.actionGoto, mapClickCoord, gotoLocationItem)
                             }
@@ -771,8 +775,5 @@ FlightMap {
         anchors.top:        parent.top
         mapControl:         _root
         visible:            !ScreenTools.isTinyScreen && QGroundControl.corePlugin.options.flyView.showMapScale && mapControl.pipState.state === mapControl.pipState.windowState
-
-        property real centerInset: visible ? parent.height - y : 0
     }
-
 }
diff --git a/src/FlyView/FlyViewVideo.qml b/src/FlyView/FlyViewVideo.qml
index 78d9fcdb7499..0b5e95a465a1 100644
--- a/src/FlyView/FlyViewVideo.qml
+++ b/src/FlyView/FlyViewVideo.qml
@@ -9,9 +9,6 @@ Item {
     property Item pipView
     property Item pipState: videoPipState
 
-    property int    _track_rec_x:       0
-    property int    _track_rec_y:       0
-
     PipState {
         id:         videoPipState
         pipView:    _root.pipView
@@ -47,20 +44,13 @@ Item {
         id:             videoStreaming
         anchors.fill:   parent
         useSmallFont:   _root.pipState.state !== _root.pipState.fullState
-        visible:        QGroundControl.videoManager.isStreamSource
-    }
-    //-- UVC Video (USB Camera or Video Device)
-    Loader {
-        id:             cameraLoader
-        anchors.fill:   parent
-        visible:        QGroundControl.videoManager.isUvc
-        source:         QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/QGroundControl/FlyView/FlightDisplayViewUVC.qml" : "qrc:/qml/QGroundControl/FlyView//FlightDisplayViewDummy.qml"
+        visible:        QGroundControl.videoManager.isStreamSource || QGroundControl.videoManager.isUvc
     }
 
     QGCLabel {
         text: qsTr("Double-click to exit full screen")
         font.pointSize: ScreenTools.largeFontPointSize
-        visible: QGroundControl.videoManager.fullScreen && flyViewVideoMouseArea.containsMouse
+        visible: QGroundControl.videoManager.fullScreen
         anchors.centerIn: parent
 
         onVisibleChanged: {
@@ -81,159 +71,56 @@ Item {
     OnScreenGimbalController {
         id:                      onScreenGimbalController
         anchors.fill:            parent
-        screenX:                 flyViewVideoMouseArea.mouseX
-        screenY:                 flyViewVideoMouseArea.mouseY
-        cameraTrackingEnabled:   videoStreaming._camera && videoStreaming._camera.trackingEnabled
+        cameraTrackingEnabled:   !!(videoStreaming._camera && videoStreaming._camera.trackingEnabled)
+    }
+
+    OnScreenCameraTrackingController {
+        id:                      cameraTrackingController
+        anchors.fill:            parent
+        camera:                  videoStreaming._camera
+        videoWidth:              videoStreaming.getWidth()
+        videoHeight:             videoStreaming.getHeight()
     }
 
     MouseArea {
         id:                         flyViewVideoMouseArea
         anchors.fill:               parent
         enabled:                    pipState.state === pipState.fullState
-        hoverEnabled:               true
-
-        property double x0:         0
-        property double x1:         0
-        property double y0:         0
-        property double y1:         0
-        property double offset_x:   0
-        property double offset_y:   0
-        property double radius:     20
-        property var trackingROI:   null
-        property var trackingStatus: trackingStatusComponent.createObject(flyViewVideoMouseArea, {})
-
-        onClicked:       onScreenGimbalController.clickControl()
-        onDoubleClicked: QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
-
-        onPressed:(mouse) => {
-            onScreenGimbalController.pressControl()
-
-            _track_rec_x = mouse.x
-            _track_rec_y = mouse.y
 
-            //create a new rectangle at the wanted position
-            if(videoStreaming._camera) {
-                if (videoStreaming._camera.trackingEnabled) {
-                    trackingROI = trackingROIComponent.createObject(flyViewVideoMouseArea, {
-                        "x": mouse.x,
-                        "y": mouse.y
-                    });
-                }
-            }
-        }
-        onPositionChanged: (mouse) => {
-            //on move, update the width of rectangle
-            if (trackingROI !== null) {
-                if (mouse.x < trackingROI.x) {
-                    trackingROI.x = mouse.x
-                    trackingROI.width = Math.abs(mouse.x - _track_rec_x)
-                } else {
-                    trackingROI.width = Math.abs(mouse.x - trackingROI.x)
-                }
-                if (mouse.y < trackingROI.y) {
-                    trackingROI.y = mouse.y
-                    trackingROI.height = Math.abs(mouse.y - _track_rec_y)
-                } else {
-                    trackingROI.height = Math.abs(mouse.y - trackingROI.y)
-                }
-            }
-        }
-        onReleased: (mouse) => {
-            onScreenGimbalController.releaseControl()
+        property real _pressX:      0
+        property real _pressY:      0
+        property bool _dragging:    false
+        readonly property real _dragThreshold: 10
 
-            //if there is already a selection, delete it
-            if (trackingROI !== null) {
-                trackingROI.destroy();
-            }
+        onDoubleClicked: QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
 
-            if(videoStreaming._camera) {
-                if (videoStreaming._camera.trackingEnabled) {
-                    // order coordinates --> top/left and bottom/right
-                    x0 = Math.min(_track_rec_x, mouse.x)
-                    x1 = Math.max(_track_rec_x, mouse.x)
-                    y0 = Math.min(_track_rec_y, mouse.y)
-                    y1 = Math.max(_track_rec_y, mouse.y)
-
-                    //calculate offset between video stream rect and background (black stripes)
-                    offset_x = (parent.width - videoStreaming.getWidth()) / 2
-                    offset_y = (parent.height - videoStreaming.getHeight()) / 2
-
-                    //convert absolute coords in background to absolute video stream coords
-                    x0 = x0 - offset_x
-                    x1 = x1 - offset_x
-                    y0 = y0 - offset_y
-                    y1 = y1 - offset_y
-
-                    //convert absolute to relative coordinates and limit range to 0...1
-                    x0 = Math.max(Math.min(x0 / videoStreaming.getWidth(), 1.0), 0.0)
-                    x1 = Math.max(Math.min(x1 / videoStreaming.getWidth(), 1.0), 0.0)
-                    y0 = Math.max(Math.min(y0 / videoStreaming.getHeight(), 1.0), 0.0)
-                    y1 = Math.max(Math.min(y1 / videoStreaming.getHeight(), 1.0), 0.0)
-
-                    //use point message if rectangle is very small
-                    if (Math.abs(_track_rec_x - mouse.x) < 10 && Math.abs(_track_rec_y - mouse.y) < 10) {
-                        var pt  = Qt.point(x0, y0)
-                        videoStreaming._camera.startTracking(pt, radius / videoStreaming.getWidth())
-                    } else {
-                        var rec = Qt.rect(x0, y0, x1 - x0, y1 - y0)
-                        videoStreaming._camera.startTracking(rec)
-                    }
-                    _track_rec_x = 0
-                    _track_rec_y = 0
-                }
-            }
+        onPressed: (mouse) => {
+            _pressX = mouse.x
+            _pressY = mouse.y
+            _dragging = false
         }
 
-        Component {
-            id: trackingROIComponent
-
-            Rectangle {
-                color:              Qt.rgba(0.1,0.85,0.1,0.25)
-                border.color:       "green"
-                border.width:       1
+        onPositionChanged: (mouse) => {
+            if (!_dragging && (Math.abs(mouse.x - _pressX) >= _dragThreshold || Math.abs(mouse.y - _pressY) >= _dragThreshold)) {
+                _dragging = true
+                onScreenGimbalController.mouseDragStart(_pressX, _pressY)
+                cameraTrackingController.mouseDragStart(_pressX, _pressY)
             }
-        }
-
-        Component {
-            id: trackingStatusComponent
-
-            Rectangle {
-                color:              "transparent"
-                border.color:       "red"
-                border.width:       5
-                radius:             5
+            if (_dragging) {
+                onScreenGimbalController.mouseDragPositionChanged(mouse.x, mouse.y)
+                cameraTrackingController.mouseDragPositionChanged(mouse.x, mouse.y)
             }
         }
 
-        Timer {
-            id: trackingStatusTimer
-            interval:               50
-            repeat:                 true
-            running:                true
-            onTriggered: {
-                if (videoStreaming._camera) {
-                    if (videoStreaming._camera.trackingEnabled && videoStreaming._camera.trackingImageStatus) {
-                        var margin_hor = (parent.parent.width - videoStreaming.getWidth()) / 2
-                        var margin_ver = (parent.parent.height - videoStreaming.getHeight()) / 2
-                        var left = margin_hor + videoStreaming.getWidth() * videoStreaming._camera.trackingImageRect.left
-                        var top = margin_ver + videoStreaming.getHeight() * videoStreaming._camera.trackingImageRect.top
-                        var right = margin_hor + videoStreaming.getWidth() * videoStreaming._camera.trackingImageRect.right
-                        var bottom = margin_ver + !isNaN(videoStreaming._camera.trackingImageRect.bottom) ? videoStreaming.getHeight() * videoStreaming._camera.trackingImageRect.bottom : top + (right - left)
-                        var width = right - left
-                        var height = bottom - top
-
-                        flyViewVideoMouseArea.trackingStatus.x = left
-                        flyViewVideoMouseArea.trackingStatus.y = top
-                        flyViewVideoMouseArea.trackingStatus.width = width
-                        flyViewVideoMouseArea.trackingStatus.height = height
-                    } else {
-                        flyViewVideoMouseArea.trackingStatus.x = 0
-                        flyViewVideoMouseArea.trackingStatus.y = 0
-                        flyViewVideoMouseArea.trackingStatus.width = 0
-                        flyViewVideoMouseArea.trackingStatus.height = 0
-                    }
-                }
+        onReleased: (mouse) => {
+            if (_dragging) {
+                onScreenGimbalController.mouseDragEnd()
+                cameraTrackingController.mouseDragEnd(mouse.x, mouse.y)
+            } else {
+                onScreenGimbalController.mouseClicked(mouse.x, mouse.y)
+                cameraTrackingController.mouseClicked(mouse.x, mouse.y)
             }
+            _dragging = false
         }
     }
 
diff --git a/src/FlyView/FlyViewWidgetLayer.qml b/src/FlyView/FlyViewWidgetLayer.qml
index b18a2f8bd85c..f79499a123d7 100644
--- a/src/FlyView/FlyViewWidgetLayer.qml
+++ b/src/FlyView/FlyViewWidgetLayer.qml
@@ -166,6 +166,7 @@ Item {
     MapScale {
         id:                 mapScale
         anchors.left:       toolStrip.right
+        anchors.leftMargin: _toolsMargin
         anchors.top:        parent.top
         mapControl:         _mapControl
         autoHide:           true
diff --git a/src/FlyView/GuidedActionConfirm.qml b/src/FlyView/GuidedActionConfirm.qml
index b08ceb43af42..0f58cb85249e 100644
--- a/src/FlyView/GuidedActionConfirm.qml
+++ b/src/FlyView/GuidedActionConfirm.qml
@@ -90,9 +90,13 @@ Item {
                     guidedValueSlider.visible = false
                 }
                 hideTrigger = false
-                guidedController.executeAction(control.action, control.actionData, sliderOutputValue, control.optionChecked)
+                let success = guidedController.executeAction(control.action, control.actionData, sliderOutputValue, control.optionChecked)
                 if (mapIndicator) {
-                    mapIndicator.actionConfirmed()
+                    if (success) {
+                        mapIndicator.actionConfirmed()
+                    } else {
+                        mapIndicator.actionCancelled()
+                    }
                     mapIndicator = undefined
                 }
             }
diff --git a/src/FlyView/GuidedActionsController.qml b/src/FlyView/GuidedActionsController.qml
index 1909f25d01c2..570eab6629e8 100644
--- a/src/FlyView/GuidedActionsController.qml
+++ b/src/FlyView/GuidedActionsController.qml
@@ -125,15 +125,15 @@ Item {
     property bool showArm:                  _guidedActionsEnabled && !_vehicleArmed && _canArm
     property bool showForceArm:             _guidedActionsEnabled && !_vehicleArmed
     property bool showDisarm:               _guidedActionsEnabled && _vehicleArmed && !_vehicleFlying
-    property bool showRTL:                  _guidedActionsEnabled && _vehicleArmed && _activeVehicle.guidedModeSupported && _vehicleFlying && !_vehicleInRTLMode
-    property bool showTakeoff:              _guidedActionsEnabled && _activeVehicle.takeoffVehicleSupported && !_vehicleFlying && _canTakeoff
-    property bool showLand:                 _guidedActionsEnabled && _activeVehicle.guidedModeSupported && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
+    property bool showRTL:                  _guidedActionsEnabled && _vehicleArmed && _activeVehicle.supports.guidedMode && _vehicleFlying && !_vehicleInRTLMode
+    property bool showTakeoff:              _guidedActionsEnabled && (_activeVehicle.supports.guidedTakeoffWithAltitude || _activeVehicle.supports.guidedTakeoffWithoutAltitude) && !_vehicleFlying && _canTakeoff
+    property bool showLand:                 _guidedActionsEnabled && _activeVehicle.supports.guidedMode && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode
     property bool showStartMission:         _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying && _canStartMission
     property bool showContinueMission:      _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
-    property bool showPause:                _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
-    property bool showChangeAlt:            _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
-    property bool showChangeLoiterRadius:   _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive && _vehicleInFwdFlight && fwdFlightGotoMapCircle.visible
-    property bool showChangeSpeed:          _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive && _speedLimitsAvailable
+    property bool showPause:                _guidedActionsEnabled && _vehicleArmed && _activeVehicle.supports.pauseVehicle && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
+    property bool showChangeAlt:            _guidedActionsEnabled && _vehicleFlying && _activeVehicle.supports.guidedMode && _vehicleArmed && !_missionActive
+    property bool showChangeLoiterRadius:   _guidedActionsEnabled && _vehicleFlying && _activeVehicle.supports.guidedMode && _vehicleArmed && !_missionActive && _vehicleInFwdFlight && fwdFlightGotoMapCircle.visible
+    property bool showChangeSpeed:          _guidedActionsEnabled && _vehicleFlying && _activeVehicle.supports.guidedMode && _vehicleArmed && !_missionActive && _speedLimitsAvailable
     property bool showOrbit:                _guidedActionsEnabled && _vehicleFlying && __orbitSupported && !_missionActive && _activeVehicle.homePosition.isValid && !isNaN(_activeVehicle.homePosition.altitude)
     property bool showROI:                  _guidedActionsEnabled && _vehicleFlying && __roiSupported
     property bool showLandAbort:            _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
@@ -176,10 +176,10 @@ Item {
     property bool  _speedLimitsAvailable:   _activeVehicle && ((_vehicleInFwdFlight && _activeVehicle.haveFWSpeedLimits) || (!_vehicleInFwdFlight && _activeVehicle.haveMRSpeedLimits))
 
     // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
-    property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false
-    property bool __pauseVehicleSupported:  _activeVehicle ? _activeVehicle.pauseVehicleSupported : false
-    property bool __roiSupported:           _activeVehicle ? !_hideROI && _activeVehicle.roiModeSupported : false
-    property bool __orbitSupported:         _activeVehicle ? !_hideOrbit && _activeVehicle.orbitModeSupported : false
+    property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.supports.guidedMode : false
+    property bool __pauseVehicleSupported:  _activeVehicle ? _activeVehicle.supports.pauseVehicle : false
+    property bool __roiSupported:           _activeVehicle ? !_hideROI && _activeVehicle.supports.roiMode : false
+    property bool __orbitSupported:         _activeVehicle ? !_hideOrbit && _activeVehicle.supports.orbitMode : false
     property bool __flightMode:             _flightMode
 
     // Allow custom builds to add custom actions by overriding CustomGuidedActionsController.qml
@@ -218,8 +218,8 @@ Item {
                 guidedValueSlider.setupSlider(
                     GuidedValueSlider.SliderType.Speed,
                     _unitsConversion.metersSecondToAppSettingsSpeedUnits(0.1).toFixed(1),
-                    _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotor()).toFixed(1),
-                    _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotor()/2).toFixed(1),
+                    _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotorMetersSecond()).toFixed(1),
+                    _unitsConversion.metersSecondToAppSettingsSpeedUnits(_activeVehicle.maximumHorizontalSpeedMultirotorMetersSecond()/2).toFixed(1),
                     qsTr("Speed"))
             } else {
                 console.error("setupSlider called for inapproproate change speed action", _vehicleInFwdFlight, _activeVehicle.haveMRSpeedLimits)
@@ -426,7 +426,7 @@ Item {
             confirmDialog.title = takeoffTitle
             confirmDialog.message = takeoffMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff })
-            guidedValueSlider.visible = _activeVehicle.guidedTakeoffSupported
+            guidedValueSlider.visible = _activeVehicle.supports.guidedTakeoffWithAltitude
             break;
         case actionStartMission:
             showImmediate = false
@@ -461,7 +461,7 @@ Item {
         case actionRTL:
             confirmDialog.title = rtlTitle
             confirmDialog.message = rtlMessage
-            if (_activeVehicle.supportsSmartRTL) {
+            if (_activeVehicle.supports.smartRTL) {
                 confirmDialog.optionText = qsTr("Smart RTL")
                 confirmDialog.optionChecked = false
             }
@@ -549,6 +549,7 @@ Item {
     }
 
     // Executes the specified action
+    // Returns false if the action failed and any associated map indicator should be restored
     function executeAction(actionCode, actionData, sliderOutputValue, optionChecked) {
         var i;
         var selectedVehicles;
@@ -560,7 +561,7 @@ Item {
             _activeVehicle.guidedModeLand()
             break
         case actionTakeoff:
-            if (_activeVehicle.guidedTakeoffSupported) {
+            if (_activeVehicle.supports.guidedTakeoffWithAltitude) {
                 var valueInMeters = _unitsConversion.appSettingsVerticalDistanceUnitsToMeters(sliderOutputValue)
                 _activeVehicle.guidedModeTakeoff(valueInMeters)
             } else {
@@ -614,19 +615,23 @@ Item {
             _activeVehicle.guidedModeChangeAltitude(altitudeChangeInMeters, false /* pauseVehicle */)
             break
         case actionChangeLoiterRadius:
-            _activeVehicle.guidedModeGotoLocation(
+            if (!_activeVehicle.guidedModeGotoLocation(
                 fwdFlightGotoMapCircle.coordinate,
                 (fwdFlightGotoMapCircle.clockwiseRotation ? 1 : -1) *
                         Math.abs(fwdFlightGotoMapCircle.radius.rawValue)
-            )
+            )) {
+                return false
+            }
             break
         case actionGoto:
-            _activeVehicle.guidedModeGotoLocation(
+            if (!_activeVehicle.guidedModeGotoLocation(
                 actionData,
                 _vehicleInFwdFlight /* forwardFlightLoiterRadius */
                     ? _flyViewSettings.forwardFlightGoToLocationLoiterRad.value
                     : 0
-            )
+            )) {
+                return false
+            }
             break
         case actionSetWaypoint:
             _activeVehicle.setCurrentMissionSequence(actionData)
@@ -678,9 +683,10 @@ Item {
         default:
             if (!customController.customExecuteAction(actionCode, actionData, sliderOutputValue, optionChecked)) {
                 console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
-                return
+                return false
             }
             break
         }
+        return true
     }
 }
diff --git a/src/FlyView/MultiVehicleList.qml b/src/FlyView/MultiVehicleList.qml
index 3defc3378eb1..43e25cf07cb6 100644
--- a/src/FlyView/MultiVehicleList.qml
+++ b/src/FlyView/MultiVehicleList.qml
@@ -51,7 +51,7 @@ Item {
     function pauseAvailable() {
         for (var i = 0; i < selectedVehicles.count; i++) {
             var vehicle = selectedVehicles.get(i)
-            if (vehicle.armed === true && vehicle.pauseVehicleSupported) {
+            if (vehicle.armed === true && vehicle.supports.pauseVehicle) {
                 return true
             }
         }
diff --git a/src/FlyView/OnScreenCameraTrackingController.qml b/src/FlyView/OnScreenCameraTrackingController.qml
new file mode 100644
index 000000000000..cb6182358ace
--- /dev/null
+++ b/src/FlyView/OnScreenCameraTrackingController.qml
@@ -0,0 +1,150 @@
+import QtQuick
+
+Item {
+    id: rootItem
+
+    required property var  camera
+    required property real videoWidth
+    required property real videoHeight
+
+    // Drag origin in parent coordinates
+    property real _dragStartX: 0
+    property real _dragStartY: 0
+    property bool _dragging: false
+    property real _dragCurrentX: 0
+    property real _dragCurrentY: 0
+
+    readonly property bool _trackingEnabled: camera && camera.trackingEnabled
+    readonly property bool _canTrackPoint: _trackingEnabled && camera.supportsTrackingPoint
+    readonly property bool _canTrackRect: _trackingEnabled && camera.supportsTrackingRect
+
+    function mouseClicked(mouseX, mouseY) {
+        if (!_canTrackPoint) {
+            return
+        }
+        if (videoWidth <= 0 || videoHeight <= 0) {
+            return
+        }
+        // Click = point tracking
+        var marginH = (width - videoWidth) / 2
+        var marginV = (height - videoHeight) / 2
+        var nx = Math.max(Math.min((mouseX - marginH) / videoWidth, 1.0), 0.0)
+        var ny = Math.max(Math.min((mouseY - marginV) / videoHeight, 1.0), 0.0)
+        var pointRadius = 20
+        camera.startTrackingPoint(Qt.point(nx, ny), Math.min(pointRadius / videoWidth, 1.0))
+    }
+
+    function mouseDragStart(mouseX, mouseY) {
+        if (!_canTrackRect) {
+            return
+        }
+        _dragStartX = mouseX
+        _dragStartY = mouseY
+        _dragCurrentX = mouseX
+        _dragCurrentY = mouseY
+        _dragging = true
+    }
+
+    function mouseDragPositionChanged(mouseX, mouseY) {
+        if (!_dragging) {
+            return
+        }
+        _dragCurrentX = mouseX
+        _dragCurrentY = mouseY
+    }
+
+    function mouseDragEnd(mouseX, mouseY) {
+        _dragging = false
+
+        if (!_canTrackRect) {
+            return
+        }
+        if (videoWidth <= 0 || videoHeight <= 0) {
+            return
+        }
+
+        // Order coordinates: top-left and bottom-right
+        var x0 = Math.min(_dragStartX, mouseX)
+        var x1 = Math.max(_dragStartX, mouseX)
+        var y0 = Math.min(_dragStartY, mouseY)
+        var y1 = Math.max(_dragStartY, mouseY)
+
+        // Letterbox margins (black bars when aspect ratio doesn't match)
+        var marginH = (width - videoWidth) / 2
+        var marginV = (height - videoHeight) / 2
+
+        // Convert from view coordinates to video-relative coordinates
+        x0 = x0 - marginH
+        x1 = x1 - marginH
+        y0 = y0 - marginV
+        y1 = y1 - marginV
+
+        // Normalize to 0..1
+        x0 = Math.max(Math.min(x0 / videoWidth, 1.0), 0.0)
+        x1 = Math.max(Math.min(x1 / videoWidth, 1.0), 0.0)
+        y0 = Math.max(Math.min(y0 / videoHeight, 1.0), 0.0)
+        y1 = Math.max(Math.min(y1 / videoHeight, 1.0), 0.0)
+
+        var w = x1 - x0
+        var h = y1 - y0
+
+        // Ignore degenerate rectangles (e.g. mostly-horizontal/vertical drags)
+        if (w < 0.01 || h < 0.01) {
+            _dragStartX = 0
+            _dragStartY = 0
+            return
+        }
+
+        // Drag = rectangle tracking
+        camera.startTrackingRect(Qt.rect(x0, y0, w, h))
+
+        _dragStartX = 0
+        _dragStartY = 0
+    }
+
+    // --- ROI selection overlay (green rectangle while dragging) ---
+    Rectangle {
+        visible: _dragging
+        color: Qt.rgba(0.1, 0.85, 0.1, 0.25)
+        border.color: "green"
+        border.width: 1
+        x: Math.min(_dragStartX, _dragCurrentX)
+        y: Math.min(_dragStartY, _dragCurrentY)
+        width: Math.abs(_dragCurrentX - _dragStartX)
+        height: Math.abs(_dragCurrentY - _dragStartY)
+    }
+
+    // --- Tracking status overlay (red rectangle/circle from camera feedback) ---
+    // Coordinates are normalized to the video frame (0.0–1.0). Convert to screen
+    // pixels by scaling by the displayed video size and offsetting by letterbox margins.
+    readonly property bool _trackingActive: _trackingEnabled && camera.trackingImageIsActive
+    readonly property bool _isPoint: _trackingActive && camera.trackingImageIsPoint
+    readonly property real _marginH: (rootItem.width - videoWidth) / 2
+    readonly property real _marginV: (rootItem.height - videoHeight) / 2
+
+    Rectangle {
+        id: trackingStatusOverlay
+        color: "transparent"
+        border.color: "red"
+        border.width: 5
+        radius: rootItem._isPoint ? width / 2 : 5
+        visible: rootItem._trackingActive
+
+        x: rootItem._trackingActive
+           ? (rootItem._isPoint ? rootItem._marginH + videoWidth  * (camera.trackingImagePoint.x - camera.trackingImageRadius)
+                                : rootItem._marginH + videoWidth  * camera.trackingImageRect.x)
+           : 0
+        y: rootItem._trackingActive
+           ? (rootItem._isPoint ? rootItem._marginV + videoHeight * (camera.trackingImagePoint.y - camera.trackingImageRadius)
+                                : rootItem._marginV + videoHeight * camera.trackingImageRect.y)
+           : 0
+        width: rootItem._trackingActive
+               ? (rootItem._isPoint ? videoWidth * camera.trackingImageRadius * 2
+                                    : videoWidth * camera.trackingImageRect.width)
+               : 0
+        height: rootItem._trackingActive
+                ? (rootItem._isPoint ? width
+                                     : videoHeight * camera.trackingImageRect.height)
+                : 0
+    }
+}
diff --git a/src/FlyView/OnScreenGimbalController.qml b/src/FlyView/OnScreenGimbalController.qml
index 08d015f30636..dedd1c678296 100644
--- a/src/FlyView/OnScreenGimbalController.qml
+++ b/src/FlyView/OnScreenGimbalController.qml
@@ -4,86 +4,70 @@ import QGroundControl
 import QGroundControl.Controls
 
 Item {
-    id:             rootItem
-    anchors.fill:   parent
+    id: rootItem
+    anchors.fill: parent
 
-    property var screenX
-    property var screenY
-    property var screenXrateInitCoocked
-    property var screenYrateInitCoocked
+    required property bool cameraTrackingEnabled
 
-    property var  activeVehicle:                QGroundControl.multiVehicleManager.activeVehicle
-    property var  gimbalController:             activeVehicle ? activeVehicle.gimbalController : undefined
-    property var  activeGimbal:                 gimbalController ? gimbalController.activeGimbal : undefined
-    property bool gimbalAvailable:              activeGimbal != undefined
-    property var  gimbalControllerSettings:     QGroundControl.settingsManager.gimbalControllerSettings
-    property bool cameraTrackingEnabled:        false // Used to ignore clicks when camera tracking operation is active, otherwise it would collide with these gimbal controls
-    property bool shouldProcessClicks:          gimbalControllerSettings.EnableOnScreenControl.value && activeGimbal && !cameraTrackingEnabled ? true : false
+    property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property var _gimbalController: _activeVehicle ? _activeVehicle.gimbalController : undefined
+    property var _activeGimbal: _gimbalController ? _gimbalController.activeGimbal : undefined
+    property bool _gimbalAvailable: _activeGimbal != undefined
+    property var _gimbalControllerSettings: QGroundControl.settingsManager.gimbalControllerSettings
+    property bool _shouldProcessClicks: _gimbalControllerSettings.enableOnScreenControl.value && _activeGimbal && !cameraTrackingEnabled ? true : false
 
-    function clickControl() {
-        if (!shouldProcessClicks) {
+    property real _mouseX: 0
+    property real _mouseY: 0
+    property real _dragStartNormX: 0
+    property real _dragStartNormY: 0
+
+    function _toNormX(mouseX) { return  ((mouseX / width)  * 2) - 1 }
+    function _toNormY(mouseY) { return -((mouseY / height) * 2) + 1 }
+
+    function mouseClicked(mouseX, mouseY) {
+        if (!_shouldProcessClicks) {
             return
         }
-        // If click and slide control, return, it uses press and release
-        if (!gimbalControllerSettings.ControlType.rawValue == 0) {
+        if (_gimbalControllerSettings.clickAndDrag.rawValue) {
             return
         }
-        clickAndPoint(x, y)
-    }
-
-    // Sends a +-(0-1) xy value to vehicle.gimbalController.gimbalOnScreenControl
-    function clickAndPoint() {
-        if (rootItem.gimbalAvailable) {
-            var xCoocked =  ( (screenX / parent.width)  * 2) - 1
-            var yCoocked = -( (screenY / parent.height) * 2) + 1
-            // console.log("X global: " + x + " Y global: " + y)
-            // console.log("X coocked: " + xCoocked + " Y coocked: " + yCoocked)
-            gimbalController.gimbalOnScreenControl(xCoocked, yCoocked, true, false, false)
-        } else {
-            // We should never be here
-            console.log("gimbal not available")
+        if (rootItem._gimbalAvailable) {
+            _gimbalController.gimbalOnScreenControl(_toNormX(mouseX), _toNormY(mouseY), true, false, false)
         }
     }
 
-    function pressControl() {
-        if (!shouldProcessClicks) {
+    function mouseDragStart(mouseX, mouseY) {
+        if (!_shouldProcessClicks) {
             return
         }
-        // If click and point control return, that is handled exclusively on clickAndPoint()
-        if (!gimbalControllerSettings.ControlType.rawValue == 1) {
+        if (!_gimbalControllerSettings.clickAndDrag.rawValue) {
             return
         }
+        _mouseX = mouseX
+        _mouseY = mouseY
+        _dragStartNormX = _toNormX(mouseX)
+        _dragStartNormY = _toNormY(mouseY)
         sendRateTimer.start()
-        screenXrateInitCoocked =  ( ( screenX / parent.width)  * 2) - 1
-        screenYrateInitCoocked = -( ( screenY / parent.height) * 2) + 1
     }
 
-    function releaseControl() {
-        if (!shouldProcessClicks) {
-            return
-        }
-        // If click and point control return, that is handled exclusively on clickAndPoint()
-        if (!gimbalControllerSettings.ControlType.rawValue == 1) {
-            return
-        }
+    function mouseDragPositionChanged(mouseX, mouseY) {
+        _mouseX = mouseX
+        _mouseY = mouseY
+    }
+
+    function mouseDragEnd() {
         sendRateTimer.stop()
-        screenXrateInitCoocked = null
-        screenYrateInitCoocked = null
     }
 
     Timer {
-        id:             sendRateTimer
-        interval:       100
-        repeat:         true
+        id: sendRateTimer
+        interval: 100
+        repeat: true
         onTriggered: {
-            if (rootItem.gimbalAvailable) {
-                var xCoocked =  ( ( screenX / parent.width)  * 2) - 1
-                var yCoocked = -( ( screenY / parent.height) * 2) + 1
-                xCoocked -= screenXrateInitCoocked
-                yCoocked -= screenYrateInitCoocked
-                gimbalController.gimbalOnScreenControl(xCoocked, yCoocked, false, true, true)
-            } else {
-                console.log("gimbal not available")
+            if (rootItem._gimbalAvailable) {
+                var dx = rootItem._toNormX(rootItem._mouseX) - rootItem._dragStartNormX
+                var dy = rootItem._toNormY(rootItem._mouseY) - rootItem._dragStartNormY
+                _gimbalController.gimbalOnScreenControl(dx, dy, false, true, true)
             }
         }
     }
diff --git a/src/GPS/CMakeLists.txt b/src/GPS/CMakeLists.txt
index 7a3aba76de22..902a62e6e255 100644
--- a/src/GPS/CMakeLists.txt
+++ b/src/GPS/CMakeLists.txt
@@ -18,8 +18,6 @@ target_sources(${CMAKE_PROJECT_NAME}
         GPSRtk.h
         GPSRTKFactGroup.cc
         GPSRTKFactGroup.h
-        NTRIP.cc
-        NTRIP.h
         RTCMMavlink.cc
         RTCMMavlink.h
         satellite_info.h
@@ -31,6 +29,11 @@ target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE Qt6::Core)
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 
+# ----------------------------------------------------------------------------
+# NTRIP Subsystem
+# ----------------------------------------------------------------------------
+add_subdirectory(NTRIP)
+
 # ============================================================================
 # PX4 GPS Drivers Integration
 # ============================================================================
diff --git a/src/GPS/NTRIP.cc b/src/GPS/NTRIP.cc
deleted file mode 100644
index 77b922c1f141..000000000000
--- a/src/GPS/NTRIP.cc
+++ /dev/null
@@ -1,1303 +0,0 @@
-#include "NTRIP.h"
-#include "NTRIPSettings.h"
-#include "Fact.h"
-#include "FactGroup.h"
-#include "QGCApplication.h"
-#include "QGCLoggingCategory.h"
-#include "RTCMMavlink.h"
-#include "SettingsManager.h"
-#include <QtNetwork/QSslSocket>
-#include <QtNetwork/QSslError>
-
-#include "MultiVehicleManager.h"
-#include "Vehicle.h"
-#include "PositionManager.h"
-#include <QtPositioning/QGeoCoordinate>
-#include <QtCore/QDateTime>
-
-#include <QtCore/QCoreApplication>
-#include <QtCore/QDebug>
-#include <QtCore/QtGlobal>
-
-#include <QtQml/QQmlEngine>
-#include <QtQml/QJSEngine>
-
-QGC_LOGGING_CATEGORY(NTRIPLog, "qgc.ntrip")
-
-// Register the QML type without constructing the singleton up-front.
-// This avoids creating NTRIPManager during a temporary Q(Core)Application
-// used for command-line parsing, which could lead to it being destroyed
-// early and leaving a dangling static pointer.
-static QObject* _ntripManagerQmlProvider(QQmlEngine*, QJSEngine*)
-{
-    return NTRIPManager::instance();
-}
-
-static void _ntripManagerRegisterQmlTypes()
-{
-    qmlRegisterSingletonType<NTRIPManager>("QGroundControl.NTRIP", 1, 0, "NTRIPManager", _ntripManagerQmlProvider);
-}
-Q_COREAPP_STARTUP_FUNCTION(_ntripManagerRegisterQmlTypes)
-
-NTRIPManager* NTRIPManager::_instance = nullptr;
-
-// constructor
-NTRIPManager::NTRIPManager(QObject* parent)
-    : QObject(parent)
-    , _ntripStatus(tr("Disconnected"))
-{
-    qCDebug(NTRIPLog) << "NTRIPManager created";
-    _startupTimer.start();
-
-    _rtcmMavlink = qgcApp() ? qgcApp()->findChild<RTCMMavlink*>() : nullptr;
-    if (!_rtcmMavlink) {
-        QObject* parentObj = qgcApp() ? static_cast<QObject*>(qgcApp()) : static_cast<QObject*>(this);
-        // Ensure an RTCMMavlink helper exists for forwarding RTCM messages
-        _rtcmMavlink = new RTCMMavlink(parentObj);
-        _rtcmMavlink->setObjectName(QStringLiteral("RTCMMavlink"));
-        qCDebug(NTRIPLog) << "NTRIP Created RTCMMavlink helper";
-    }
-
-    // Force NTRIP checkbox OFF during app startup and keep it OFF until first settings tick.
-    {
-        NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
-        if (settings && settings->ntripServerConnectEnabled()) {
-            Fact* fact = settings->ntripServerConnectEnabled();
-
-            // Force OFF immediately
-            fact->setRawValue(false);
-
-            // While !_forcedOffOnce, if something tries to flip it ON, flip it back OFF.
-            _ntripEnableConn = connect(fact, &Fact::rawValueChanged,
-                                       this, [this, fact]() {
-                if (!_forcedOffOnce) {
-                    const bool wantOn = fact->rawValue().toBool();
-                    if (wantOn) {
-                        qCDebug(NTRIPLog) << "NTRIP Startup: coercing ntripServerConnectEnabled back to false";
-                        fact->setRawValue(false);
-                    }
-                }
-            });
-        }
-    }
-
-    // Check settings periodically
-    _settingsCheckTimer = new QTimer(this);
-    connect(_settingsCheckTimer, &QTimer::timeout, this, &NTRIPManager::_checkSettings);
-    _settingsCheckTimer->start(1000); // Check every second
-
-    _ggaTimer = new QTimer(this);
-    _ggaTimer->setInterval(5000);
-    connect(_ggaTimer, &QTimer::timeout, this, &NTRIPManager::_sendGGA);
-
-    connect(qApp, &QCoreApplication::aboutToQuit, this, &NTRIPManager::stopNTRIP, Qt::QueuedConnection);
-
-    _checkSettings();
-}
-
-// destructor
-NTRIPManager::~NTRIPManager()
-{
-    qCDebug(NTRIPLog) << "NTRIPManager destroyed";
-    stopNTRIP();
-    // Clear singleton pointer in case we were destroyed (e.g., if created under
-    // a short-lived Q(Core)Application).
-    if (_instance == this) {
-        _instance = nullptr;
-    }
-}
-
-RTCMParser::RTCMParser()
-{
-    reset();
-}
-
-void RTCMParser::reset()
-{
-    _state = WaitingForPreamble;
-    _messageLength = 0;
-    _bytesRead = 0;
-    _lengthBytesRead = 0;
-    _crcBytesRead = 0;
-}
-
-bool RTCMParser::addByte(uint8_t byte)
-{
-    switch (_state) {
-    case WaitingForPreamble:
-        if (byte == RTCM3_PREAMBLE) {
-            _buffer[0] = byte;
-            _bytesRead = 1;
-            _state = ReadingLength;
-            _lengthBytesRead = 0;
-        }
-        break;
-
-    case ReadingLength:
-        _lengthBytes[_lengthBytesRead++] = byte;
-        _buffer[_bytesRead++] = byte;
-        if (_lengthBytesRead == 2) {
-            // Extract 10-bit length from bytes (6 reserved bits + 10 length bits)
-            _messageLength = ((_lengthBytes[0] & 0x03) << 8) | _lengthBytes[1];
-            if (_messageLength > 0 && _messageLength < 1021) { // Valid RTCM3 length
-                _state = ReadingMessage;
-            } else {
-                reset(); // Invalid length, restart
-            }
-        }
-        break;
-
-    case ReadingMessage:
-        _buffer[_bytesRead++] = byte;
-        if (_bytesRead >= _messageLength + 3) { // +3 for header
-            _state = ReadingCRC;
-            _crcBytesRead = 0;
-        }
-        break;
-
-    case ReadingCRC:
-        _crcBytes[_crcBytesRead++] = byte;
-        if (_crcBytesRead == 3) {
-            // Message complete - for simplicity, we'll skip CRC validation
-            return true;
-        }
-        break;
-    }
-    return false;
-}
-
-uint16_t RTCMParser::messageId()
-{
-    if (_messageLength >= 2) {
-        // Message ID is in bits 14-25 of the message (after the 24-bit header)
-        return ((_buffer[3] << 4) | (_buffer[4] >> 4)) & 0xFFF;
-    }
-    return 0;
-}
-
-NTRIPTCPLink::NTRIPTCPLink(const QString& hostAddress,
-                           int port,
-                           const QString& username,
-                           const QString& password,
-                           const QString& mountpoint,
-                           const QString& whitelist,
-                           bool useSpartn,
-                           bool autoStart,
-                           QObject* parent)
-    : QObject(parent)
-    , _hostAddress(hostAddress)
-    , _port(port)
-    , _username(username)
-    , _password(password)
-    , _mountpoint(mountpoint)
-    , _useSpartn(useSpartn)
-{
-
-
-    if (_useSpartn) {
-        // SPARTN path does not use RTCM whitelist or parser
-        if (!whitelist.isEmpty()) {
-            qCDebug(NTRIPLog) << "NTRIP SPARTN enabled; ignoring RTCM whitelist:" << whitelist;
-        }
-        // Initialize SPARTN header-strip guard
-        _spartnBuf.clear();
-        _spartnNeedHeaderStrip = true;
-
-        // Helpful hint if user left the default RTCM port
-        if (_port != 2102) {
-            qCWarning(NTRIPLog) << "NTRIP SPARTN is enabled but port is" << _port << "(expected 2102 for TLS)";
-        }
-    } else {
-        // RTCM path: build whitelist and parser as before
-        for (const auto& msg : whitelist.split(',')) {
-            int msg_int = msg.toInt();
-            if (msg_int)
-                _whitelist.append(msg_int);
-        }
-        qCDebug(NTRIPLog) << "NTRIP whitelist:" << _whitelist;
-        if (_whitelist.empty()) {
-            qCDebug(NTRIPLog) << "NTRIP whitelist is empty; all RTCM message IDs will be forwarded.";
-        }
-        if (!_rtcmParser) {
-            _rtcmParser = new RTCMParser();
-        }
-        _rtcmParser->reset();
-    }
-
-    _state = NTRIPState::uninitialised;
-
-    // Start only when requested so unit tests can exercise parser behavior without sockets.
-    if (autoStart) {
-        start();
-    }
-}
-
-NTRIPTCPLink::~NTRIPTCPLink()
-{
-    _stopping.store(true);
-
-    if (_socket) {
-        QObject::disconnect(_readyReadConn);
-        _socket->disconnectFromHost();
-        _socket->close();
-        delete _socket;
-        _socket = nullptr;
-    }
-
-    if (_rtcmParser) {
-        delete _rtcmParser;
-        _rtcmParser = nullptr;
-    }
-}
-
-void NTRIPTCPLink::start()
-{
-    // This runs in the worker thread after QThread::started is emitted
-    _hardwareConnect();
-}
-
-void NTRIPTCPLink::_hardwareConnect()
-{
-    if (_stopping.load()) {
-        return;
-    }
-
-    qCDebug(NTRIPLog) << "NTRIP connectToHost" << _hostAddress << ":" << _port << " mount=" << _mountpoint
-                       << " tls=" << (_useSpartn ? "yes" : "no");
-
-    // allocate the appropriate socket type
-    // SPARTN selection (TLS on 2102 or when explicitly enabled)
-    if (_useSpartn) {
-        QSslSocket* sslSocket = new QSslSocket(this);
-        _socket = sslSocket;
-    } else {
-        _socket = new QTcpSocket(this);
-    }
-
-    _socket->setSocketOption(QAbstractSocket::KeepAliveOption, 1);
-    _socket->setSocketOption(QAbstractSocket::LowDelayOption, 1);
-    _socket->setReadBufferSize(0);
-
-    QObject::connect(_socket, &QTcpSocket::errorOccurred, this, [this](QAbstractSocket::SocketError code) {
-        // Suppress errors generated during intentional shutdown
-        if (_stopping.load() || !_socket) {
-            qCDebug(NTRIPLog) << "NTRIP suppressing socket error during intentional stop:" << int(code);
-            return;
-        }
-
-        QString msg = _socket->errorString();
-
-        // If the peer closes before we receive any HTTP headers, try to give a helpful hint.
-        if (code == QAbstractSocket::RemoteHostClosedError && _state == NTRIPState::waiting_for_http_response) {
-            const QByteArray leftover = _socket->readAll();
-            if (!leftover.isEmpty()) {
-                qCWarning(NTRIPLog) << "NTRIP peer closed; trailing bytes before close:" << leftover;
-                msg += QString(" (peer closed after %1 bytes)").arg(leftover.size());
-            } else {
-                if (_port == 2102) {
-                    msg += " (hint: port 2102 expects HTTPS/TLS; current socket is plain TCP)";
-                } else if (!_mountpoint.isEmpty()) {
-                    msg += " (peer closed before HTTP response; check mountpoint and credentials)";
-                }
-            }
-        }
-
-        qCWarning(NTRIPLog) << "NTRIP socket error code:" << int(code)
-                            << " msg:" << msg
-                            << " state:" << int(_socket->state())
-                            << " peer:"  << _socket->peerAddress().toString() << ":" << _socket->peerPort()
-                            << " local:" << _socket->localAddress().toString() << ":" << _socket->localPort();
-        emit error(msg);
-    }, Qt::DirectConnection);
-
-    // If the server cleanly disconnects, capture reason and emit error so NTRIPManager updates status
-    QObject::connect(_socket, &QTcpSocket::disconnected, this, [this]() {
-        // Suppress disconnect noise during intentional shutdown
-        if (_stopping.load() || !_socket) {
-            qCDebug(NTRIPLog) << "NTRIP suppressing disconnect signal during intentional stop";
-            return;
-        }
-
-        const QByteArray trailing = _socket->readAll();
-        QString reason;
-        if (!trailing.isEmpty()) {
-            reason = QString::fromUtf8(trailing).trimmed();
-            qCWarning(NTRIPLog) << "NTRIP disconnected; trailing bytes:" << trailing;
-        } else {
-            reason = "Server disconnected";
-            qCWarning(NTRIPLog) << "NTRIP disconnected cleanly by server";
-        }
-        // Emit richer context on disconnect
-        const qint64 t0 = this->property("ntrip_postok_t0_ms").toLongLong();
-        const bool saw = this->property("ntrip_saw_rtcm").toBool();
-        const qint64 dt = (t0 > 0) ? (QDateTime::currentMSecsSinceEpoch() - t0) : -1;
-        qCWarning(NTRIPLog) << "NTRIP disconnect context:"
-                            << "rtcm_received_first_byte=" << (saw ? "yes" : "no")
-                            << "ms_since_200=" << dt
-                            << "peer=" << _socket->peerAddress().toString() << ":" << _socket->peerPort()
-                            << "local=" << _socket->localAddress().toString() << ":" << _socket->localPort();
-        emit error(reason);  // Will call NTRIPManager::_tcpError()
-    }, Qt::DirectConnection);
-
-    _readyReadConn = QObject::connect(_socket, &QTcpSocket::readyRead,this, &NTRIPTCPLink::_readBytes,Qt::DirectConnection);
-
-    auto sendHttpRequest = [this]() {
-        if (!_mountpoint.isEmpty()) {
-            qCDebug(NTRIPLog) << "NTRIP Sending HTTP request";
-            const QByteArray authB64 = QString(_username + ":" + _password).toUtf8().toBase64();
-            QString query =
-                "GET /%1 HTTP/1.1\r\n"
-                "Host: %2\r\n"
-                "Ntrip-Version: Ntrip/2.0\r\n"
-                "User-Agent: QGC-NTRIP\r\n"
-                "Connection: keep-alive\r\n"
-                "Accept: */*\r\n"
-                "Authorization: Basic %3\r\n"
-                "\r\n";
-            const QByteArray req = query.arg(_mountpoint).arg(_hostAddress).arg(QString::fromUtf8(authB64)).toUtf8();
-            const qint64 written = _socket->write(req);
-            _socket->flush();
-
-            // Extra diagnostics: request line and auth presence (length only)
-            const QString reqStr = QString::fromUtf8(req);
-            const int cr = reqStr.indexOf("\r");
-            const QString firstLine = (cr > 0) ? reqStr.left(cr).trimmed() : QString();
-            const int authIdx = reqStr.indexOf("Authorization: Basic ");
-            int b64Len = -1;
-            if (authIdx >= 0) {
-                const int eol = reqStr.indexOf("\r\n", authIdx);
-                if (eol > authIdx) b64Len = eol - (authIdx + 21);
-            }
-            qCDebug(NTRIPLog) << "NTRIP HTTP request first line:" << firstLine;
-            qCDebug(NTRIPLog) << "NTRIP HTTP auth present:" << (authIdx >= 0) << "auth_b64_len:" << b64Len;
-
-            qCDebug(NTRIPLog) << "NTRIP HTTP request bytes written:" << written;
-            _state = NTRIPState::waiting_for_http_response;
-        }
-        else {
-            _state = NTRIPState::waiting_for_rtcm_header;
-            emit connected();
-        }
-        qCDebug(NTRIPLog) << "NTRIP Socket connected"
-                           << "local" << _socket->localAddress().toString() << ":" << _socket->localPort()
-                           << "-> peer" << _socket->peerAddress().toString() << ":" << _socket->peerPort();
-    };
-
-    if (_useSpartn) {
-        QSslSocket* sslSocket = qobject_cast<QSslSocket*>(_socket);
-        Q_ASSERT(sslSocket);
-
-        QObject::connect(sslSocket, &QSslSocket::encrypted, this, [sendHttpRequest]() {
-            qCDebug(NTRIPLog) << "SPARTN TLS connection established";
-            sendHttpRequest();
-        }, Qt::DirectConnection);
-
-        QObject::connect(sslSocket, QOverload<const QList<QSslError>&>::of(&QSslSocket::sslErrors),
-                         this, [](const QList<QSslError> &errors) {
-            for (const QSslError &e : errors) {
-                qCWarning(NTRIPLog) << "TLS Error:" << e.errorString();
-            }
-        }, Qt::DirectConnection);
-
-        sslSocket->connectToHostEncrypted(_hostAddress, static_cast<quint16>(_port));
-
-        if (!sslSocket->waitForEncrypted(10000)) {
-            qCDebug(NTRIPLog) << "NTRIP TLS socket failed to establish encryption";
-            emit error(_socket->errorString());
-            delete _socket;
-            _socket = nullptr;
-            return;
-        }
-
-        if (sslSocket->isEncrypted()) {
-            sendHttpRequest();
-        }
-    } else {
-        QTcpSocket* tcpSocket = qobject_cast<QTcpSocket*>(_socket);
-        Q_ASSERT(tcpSocket);
-
-        tcpSocket->connectToHost(_hostAddress, static_cast<quint16>(_port));
-
-        if (!tcpSocket->waitForConnected(10000)) {
-            qCDebug(NTRIPLog) << "NTRIP Socket failed to connect";
-            emit error(_socket->errorString());
-            delete _socket;
-            _socket = nullptr;
-            return;
-        }
-
-        sendHttpRequest();
-    }
-}
-
-void NTRIPTCPLink::_parse(const QByteArray& buffer)
-{
-    if (_stopping.load()) {
-        return;
-    }
-
-    static bool logged_empty_once = false;
-    if (!logged_empty_once && _whitelist.empty()) {
-        qCDebug(NTRIPLog) << "NTRIP whitelist is empty at runtime; forwarding all RTCM messages.";
-        logged_empty_once = true;
-    }
-
-    // RTCM v3 transport sizes
-    constexpr int kRtcmHeaderSize = 3;  // preamble (1) + length (2)
-
-    for (char ch : buffer) {
-        const uint8_t byte = static_cast<uint8_t>(static_cast<unsigned char>(ch));
-
-        if (_state == NTRIPState::waiting_for_rtcm_header) {
-            if (byte != RTCM3_PREAMBLE) {
-                continue;
-            }
-            _state = NTRIPState::accumulating_rtcm_packet;
-        }
-
-        if (_rtcmParser->addByte(byte)) {
-            _state = NTRIPState::waiting_for_rtcm_header;
-
-            // Build exact on-wire frame: [D3 | len(2) | payload | CRC(3)]
-            const int payload_len = static_cast<int>(_rtcmParser->messageLength());
-            QByteArray message(reinterpret_cast<const char*>(_rtcmParser->message()),
-                               kRtcmHeaderSize + payload_len);
-
-            const uint8_t* crc_ptr = _rtcmParser->crcBytes();
-            const int crc_len = _rtcmParser->crcSize();
-            message.append(reinterpret_cast<const char*>(crc_ptr), crc_len);
-
-            const uint16_t id = _rtcmParser->messageId();
-
-            if (_whitelist.empty() || _whitelist.contains(id)) {
-                qCDebug(NTRIPLog) << "NTRIP RTCM packet id" << id << "len" << message.length();
-                emit RTCMDataUpdate(message);
-                qCDebug(NTRIPLog) << "NTRIP Sending" << id << "of size" << message.length();
-            } else {
-                qCDebug(NTRIPLog) << "NTRIP Ignoring" << id;
-            }
-
-            _rtcmParser->reset();
-        }
-    }
-}
-
-void NTRIPTCPLink::_handleSpartnData(const QByteArray& dataIn)
-{
-    if (dataIn.isEmpty()) {
-        return;
-    }
-
-    // Accumulate so we can remove a response header exactly once if it ever appears here.
-    _spartnBuf.append(dataIn);
-
-    if (_spartnNeedHeaderStrip) {
-        const bool looksHttp = _spartnBuf.startsWith("HTTP/") || _spartnBuf.startsWith("ICY ");
-        if (looksHttp) {
-            const int headerEnd = _spartnBuf.indexOf("\r\n\r\n");
-            if (headerEnd < 0) {
-                // Header incomplete; cap buffer to avoid growth on a bad stream.
-                if (_spartnBuf.size() > 32768) {
-                    _spartnBuf = _spartnBuf.right(32768);
-                }
-                return;
-            }
-            // Drop the header and keep the payload.
-            _spartnBuf.remove(0, headerEnd + 4);
-        }
-        _spartnNeedHeaderStrip = false;
-    }
-
-    if (_spartnBuf.isEmpty()) {
-        return;
-    }
-
-    // Deliver raw SPARTN bytes to whoever is consuming them (e.g., a GNSS forwarder).
-    emit SPARTNDataUpdate(_spartnBuf);
-
-    // Clear after handing off.
-    _spartnBuf.clear();
-}
-
-void NTRIPTCPLink::_readBytes()
-{
-    if (_stopping.load()) {
-        return;
-    }
-
-    // SPARTN path: after HTTP 200 OK, feed raw bytes through the SPARTN handler
-    if (_socket && _state == NTRIPState::waiting_for_spartn_data) {
-        const QByteArray bytes = _socket->readAll();
-        if (!bytes.isEmpty()) {
-            _handleSpartnData(bytes);
-        }
-        return;
-    }
-
-    if (!_socket) {
-        return;
-    }
-
-    // Static counters and flags scoped to this function (no header changes needed)
-    static quint64 s_totalRtcm = 0;
-
-    if (_state == NTRIPState::waiting_for_http_response) {
-        QByteArray responseData = _socket->readAll();
-        if (responseData.isEmpty()) {
-            return;
-        }
-
-        QString response = QString::fromUtf8(responseData);
-        qCDebug(NTRIPLog) << "NTRIP HTTP response received:" << response.left(200);
-
-        // Dump full headers once for diagnostics
-        const int hdrEnd = response.indexOf("\r\n\r\n");
-        const QString headers = (hdrEnd >= 0) ? response.left(hdrEnd) : response;
-        qCDebug(NTRIPLog) << "NTRIP HTTP response headers BEGIN >>>";
-        for (const QString& line : headers.split("\r\n")) {
-            if (!line.isEmpty()) qCDebug(NTRIPLog) << line;
-        }
-        qCDebug(NTRIPLog) << "NTRIP HTTP response headers <<< END";
-
-        // Parse status line
-        QStringList lines = response.split('\n');
-        bool foundOkResponse = false;
-        for (const QString& line : lines) {
-            const QString trimmed = line.trimmed();
-            if ((trimmed.startsWith("HTTP/") || trimmed.startsWith("ICY ")) &&
-                (trimmed.contains(" 200 ") || trimmed.contains(" 201 "))) {
-                foundOkResponse = true;
-                qCDebug(NTRIPLog) << "NTRIP: Found OK response:" << trimmed;
-                break;
-            } else if ((trimmed.startsWith("HTTP/") || trimmed.startsWith("ICY ")) &&
-                       (trimmed.contains(" 4") || trimmed.contains(" 5"))) {
-                qCWarning(NTRIPLog) << "NTRIP: Server error response:" << trimmed;
-                emit error(QString("NTRIP HTTP error: %1").arg(trimmed));
-
-                // Null out _socket before disconnectFromHost() so the
-                // synchronous 'disconnected' handler bails via !_socket guard.
-                QTcpSocket* sock = _socket;
-                _socket = nullptr;
-                _state = NTRIPState::uninitialised;
-
-                QObject::disconnect(_readyReadConn);
-                sock->disconnectFromHost();
-                sock->close();
-                sock->deleteLater();
-
-                if (!_stopping.load()) {
-                    QTimer::singleShot(3000, this, [this]() {
-                        if (!_stopping.load()) {
-                            _hardwareConnect();
-                        }
-                    });
-                }
-                return;
-            }
-        }
-
-        if (foundOkResponse) {
-            // Mark the 200 OK time and reset first-RTCM flag using QObject properties.
-            const qint64 nowMs = QDateTime::currentMSecsSinceEpoch();
-            this->setProperty("ntrip_postok_t0_ms", nowMs);
-            this->setProperty("ntrip_saw_rtcm", false);
-            this->setProperty("ntrip_watchdog_fired", false);
-
-            // Fire a one-shot watchdog that only logs if no RTCM arrives by ~28s.
-            QTimer::singleShot(28000, this, [this]() {
-                if (this->property("ntrip_watchdog_fired").toBool()) return;
-                const bool saw = this->property("ntrip_saw_rtcm").toBool();
-                if (!saw) {
-                    this->setProperty("ntrip_watchdog_fired", true);
-                    qCWarning(NTRIPLog)
-                        << "NTRIP no RTCM received 28s after 200 OK. Likely caster timeout."
-                        << "Check: duplicate login, entitlement/region, GGA validity.";
-                }
-            });
-
-            _state = _useSpartn ? NTRIPState::waiting_for_spartn_data
-                                : NTRIPState::waiting_for_rtcm_header;
-
-            qCDebug(NTRIPLog) << "NTRIP: HTTP handshake complete, transitioning to data state";
-            emit connected();
-
-            // Process any remaining data after the headers
-            if (hdrEnd >= 0) {
-                QByteArray remainingData = responseData.mid(hdrEnd + 4);
-                if (!remainingData.isEmpty()) {
-                    qCDebug(NTRIPLog) << "NTRIP: Processing data after HTTP headers:" << remainingData.size() << "bytes";
-                    if (_useSpartn) {
-                        _handleSpartnData(remainingData);
-                    } else {
-                        _parse(remainingData);
-                    }
-                }
-            }
-        } else {
-            qCDebug(NTRIPLog) << "NTRIP: Waiting for complete HTTP response...";
-        }
-
-        return; // done with HTTP response handling
-    }
-
-    // Data after handshake (RTCM path)
-    QByteArray bytes = _socket->readAll();
-    if (!bytes.isEmpty()) {
-        // Mark first RTCM arrival and log timing/sample
-        if (!this->property("ntrip_saw_rtcm").toBool()) {
-            this->setProperty("ntrip_saw_rtcm", true);
-            const qint64 t0 = this->property("ntrip_postok_t0_ms").toLongLong();
-            const qint64 dt = (t0 > 0) ? (QDateTime::currentMSecsSinceEpoch() - t0) : -1;
-            const QByteArray sample = bytes.left(48);
-            const unsigned char b0 = static_cast<unsigned char>(sample.isEmpty() ? 0 : sample[0]);
-            qCDebug(NTRIPLog) << "NTRIP first RTCM bytes at" << dt << "ms after 200 OK";
-            qCDebug(NTRIPLog) << "NTRIP rx sample (hex, first 48B):" << sample.toHex(' ');
-            qCDebug(NTRIPLog) << "NTRIP preamble_check first_byte=0x" << QByteArray::number(b0, 16);
-        }
-
-        s_totalRtcm += static_cast<quint64>(bytes.size());
-        qCDebug(NTRIPLog) << "NTRIP rx bytes:" << bytes.size()
-                           << "total:" << s_totalRtcm
-                           << "bytesAvailable:" << _socket->bytesAvailable();
-
-        _parse(bytes);
-    }
-}
-
-void NTRIPTCPLink::debugFetchSourceTable()
-{
-    // Build request (include Authorization so the caster can tailor the table to your creds)
-    const QByteArray authB64 = QString(_username + ":" + _password).toUtf8().toBase64();
-    const QByteArray req =
-        QByteArray("GET / HTTP/1.1\r\n")
-        + "Host: " + _hostAddress.toUtf8() + "\r\n"
-        + "User-Agent: QGC-NTRIP\r\n"
-        + "Ntrip-Version: Ntrip/2.0\r\n"
-        + "Accept: */*\r\n"
-        + "Authorization: Basic " + authB64 + "\r\n"
-        + "Connection: close\r\n\r\n";
-
-    QByteArray all;
-
-    if (_useSpartn || _port == 2102) {
-        // TLS (e.g., SPARTN/2102)
-        QSslSocket sock;
-        sock.connectToHostEncrypted(_hostAddress, static_cast<quint16>(_port));
-        if (!sock.waitForEncrypted(7000)) {
-            qCWarning(NTRIPLog) << "SOURCETABLE TLS connect failed:" << sock.errorString();
-            return;
-        }
-        if (sock.write(req) <= 0 || !sock.waitForBytesWritten(3000)) {
-            qCWarning(NTRIPLog) << "SOURCETABLE TLS write failed:" << sock.errorString();
-            return;
-        }
-        while (sock.waitForReadyRead(3000)) {
-            all += sock.readAll();
-            if (sock.bytesAvailable() == 0 && sock.state() != QAbstractSocket::ConnectedState) break;
-        }
-        sock.close();
-    } else {
-        // Plain TCP (e.g., RTCM/2101)
-        QTcpSocket sock;
-        sock.connectToHost(_hostAddress, static_cast<quint16>(_port));
-        if (!sock.waitForConnected(5000)) {
-            qCWarning(NTRIPLog) << "SOURCETABLE connect failed:" << sock.errorString();
-            return;
-        }
-        if (sock.write(req) <= 0 || !sock.waitForBytesWritten(3000)) {
-            qCWarning(NTRIPLog) << "SOURCETABLE write failed:" << sock.errorString();
-            return;
-        }
-        while (sock.waitForReadyRead(3000)) {
-            all += sock.readAll();
-            if (sock.bytesAvailable() == 0 && sock.state() != QAbstractSocket::ConnectedState) break;
-        }
-        sock.close();
-    }
-
-    // Split headers/body and dump the body (the sourcetable)
-    const int hdrEnd = all.indexOf("\r\n\r\n");
-    const QByteArray body = (hdrEnd >= 0) ? all.mid(hdrEnd + 4) : all;
-
-    qCDebug(NTRIPLog) << "----- NTRIP SOURCETABLE BEGIN -----";
-    for (const QByteArray& line : body.split('\n')) {
-        const QByteArray l = line.trimmed();
-        if (!l.isEmpty()) qCDebug(NTRIPLog) << l;
-    }
-    qCDebug(NTRIPLog) << "------ NTRIP SOURCETABLE END ------";
-}
-
-void NTRIPTCPLink::sendNMEA(const QByteArray& sentence)
-{
-    if (_stopping.load()) {
-        return;
-    }
-    if (!_socket || _socket->state() != QAbstractSocket::ConnectedState) {
-        return;
-    }
-
-    QByteArray line = sentence;
-
-    // Validate or repair checksum in the form $CORE*XX
-    if (line.size() >= 5 && line.at(0) == '$') {
-        int star = line.lastIndexOf('*');
-        if (star > 1) {
-            // Calculate checksum over bytes between '$' and '*'
-            quint8 calc = 0;
-            for (int i = 1; i < star; ++i) {
-                calc ^= static_cast<quint8>(line.at(i));
-            }
-
-            // Format calculated checksum as two uppercase hex digits
-            QByteArray calcCks = QByteArray::number(calc, 16)
-                                     .rightJustified(2, '0')
-                                     .toUpper();
-
-            bool needsRepair = false;
-            if (star + 3 > line.size()) {
-                // Not enough chars after '*', definitely needs repair
-                needsRepair = true;
-            } else {
-                QByteArray txCks = line.mid(star + 1, 2).toUpper();
-                if (txCks != calcCks) {
-                    needsRepair = true;
-                }
-            }
-
-            if (needsRepair) {
-                // Remove any existing checksum and replace with correct one
-                line = line.left(star + 1) + calcCks;
-            }
-        } else {
-            // No '*' found, append one and correct checksum
-            quint8 calc = 0;
-            for (int i = 1; i < line.size(); ++i) {
-                calc ^= static_cast<quint8>(line.at(i));
-            }
-            QByteArray calcCks = QByteArray::number(calc, 16)
-                                     .rightJustified(2, '0')
-                                     .toUpper();
-            line.append('*').append(calcCks);
-        }
-    }
-
-    // Ensure CRLF termination
-    if (!line.endsWith("\r\n")) {
-        line.append("\r\n");
-    }
-
-    qCDebug(NTRIPLog) << "NTRIP Sent NMEA:" << QString::fromUtf8(line.trimmed());
-
-    const qint64 written = _socket->write(line);
-    _socket->flush();
-
-    qCDebug(NTRIPLog) << "NTRIP Socket state:" << (_socket ? _socket->state() : -1);
-    qCDebug(NTRIPLog) << "NTRIP Bytes written:" << written;
-}
-
-
-void NTRIPTCPLink::requestStop()
-{
-    _stopping.store(true);
-
-    if (_socket) {
-        QObject::disconnect(_readyReadConn);
-        _socket->disconnectFromHost();
-        _socket->close();
-        delete _socket;
-        _socket = nullptr;
-    }
-
-    emit finished();   // let NTRIPManager's QThread quit in response
-}
-
-NTRIPManager* NTRIPManager::instance()
-{
-    if (!_instance) {
-        // Prefer QGCApplication as parent if available, otherwise fall back to qApp
-        QObject* parent = qgcApp() ? static_cast<QObject*>(qgcApp()) : static_cast<QObject*>(qApp);
-        _instance = new NTRIPManager(parent);
-    }
-    return _instance;
-}
-
-void NTRIPManager::startNTRIP()
-{
-    if (_startStopBusy) {
-        return;
-    }
-    _startStopBusy = true;   // guard begin
-
-    qCDebug(NTRIPLog) << "startNTRIP: begin";
-
-    if (_tcpLink) {
-        _startStopBusy = false;  // already started; release guard
-        return;
-    }
-
-    _ntripStatus = tr("Connecting...");
-    emit ntripStatusChanged();
-
-
-    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
-    QString host;
-    int port = 2101;
-    QString user;
-    QString pass;
-    QString mount;
-    QString whitelist;
-
-    if (settings) {
-        if (settings->ntripServerHostAddress()) host = settings->ntripServerHostAddress()->rawValue().toString();
-        if (settings->ntripServerPort())        port = settings->ntripServerPort()->rawValue().toInt();
-        if (settings->ntripUsername())          user = settings->ntripUsername()->rawValue().toString();
-        if (settings->ntripPassword())          pass = settings->ntripPassword()->rawValue().toString();
-        if (settings->ntripMountpoint())        mount = settings->ntripMountpoint()->rawValue().toString();
-        if (settings->ntripWhitelist())         whitelist = settings->ntripWhitelist()->rawValue().toString();
-        if (settings->ntripUseSpartn())         _useSpartn = settings->ntripUseSpartn()->rawValue().toBool();
-    } else {
-        qCWarning(NTRIPLog) << "NTRIP settings group is null; starting with defaults";
-    }
-
-    qCDebug(NTRIPLog) << "startNTRIP: host=" << host
-                      << " port=" << port
-                      << " mount=" << mount
-                      << " userIsEmpty=" << user.isEmpty();
-
-    _tcpThread = new QThread(this);
-    NTRIPTCPLink* link = new NTRIPTCPLink(host, port, user, pass, mount, whitelist, _useSpartn);
-    _tcpLink = link;
-
-    link->moveToThread(_tcpThread);
-
-    connect(_tcpThread, &QThread::started, link, &NTRIPTCPLink::start);
-    connect(link, &NTRIPTCPLink::finished, _tcpThread, &QThread::quit);
-    connect(_tcpThread, &QThread::finished, _tcpThread, &QObject::deleteLater);
-    connect(_tcpThread, &QThread::finished, link, &QObject::deleteLater);
-
-    // Surface errors (including server disconnect reasons) to status/UI
-    connect(_tcpLink, &NTRIPTCPLink::error,
-            this, &NTRIPManager::_tcpError,
-            Qt::QueuedConnection);
-
-    connect(_tcpLink, &NTRIPTCPLink::connected, this, [this]() {
-        _casterStatus = CasterStatus::Connected;
-        emit casterStatusChanged(_casterStatus);
-
-        const QString want = _useSpartn ? tr("Connected (SPARTN)") : tr("Connected");
-        if (_ntripStatus != want) {
-            _ntripStatus = want;
-            emit ntripStatusChanged();
-        }
-
-        // >>> ONE-SHOT SOURCETABLE DUMP (enable with env var QGC_NTRIP_DUMP_TABLE=1)
-        if (qEnvironmentVariableIsSet("QGC_NTRIP_DUMP_TABLE")) {
-            static bool dumped = false;
-            if (!dumped && _tcpLink) {
-                dumped = true;
-                QMetaObject::invokeMethod(_tcpLink, "debugFetchSourceTable", Qt::QueuedConnection);
-            }
-        }
-        // <<<
-
-        // Start rapid 1 Hz GGA until we get the first valid coord
-        if (_ggaTimer && !_ggaTimer->isActive()) {
-            _ggaTimer->setInterval(1000); // 1 Hz while waiting for fix
-            _sendGGA();                   // try immediately
-            _ggaTimer->start();
-        }
-
-    }, Qt::QueuedConnection);
-
-    if (_useSpartn) {
-        connect(_tcpLink, &NTRIPTCPLink::SPARTNDataUpdate, this, [this](const QByteArray& data){
-            static uint32_t spartn_count = 0;
-            if ((spartn_count++ % 50) == 0) {
-                qCDebug(NTRIPLog) << "SPARTN bytes flowing:" << data.size();
-            }
-            if (_ntripStatus != tr("Connected (SPARTN)")) {
-                _ntripStatus = tr("Connected (SPARTN)");
-                emit ntripStatusChanged();
-            }
-            _casterStatus = CasterStatus::Connected;
-            emit casterStatusChanged(_casterStatus);
-
-            _rtcmDataReceived(data);
-        }, Qt::QueuedConnection);
-    } else {
-        connect(_tcpLink, &NTRIPTCPLink::RTCMDataUpdate, this, &NTRIPManager::_rtcmDataReceived, Qt::QueuedConnection);
-    }
-
-    _tcpThread->start();
-    qCDebug(NTRIPLog) << "NTRIP started";
-
-    _startStopBusy = false;  // guard end
-}
-
-void NTRIPManager::stopNTRIP()
-{
-    if (_startStopBusy) {
-        return;
-    }
-    _startStopBusy = true;   // guard begin
-
-    if (_tcpLink) {
-        // Prevent spurious "NTRIP error: ..." toasts during user-initiated shutdown
-        disconnect(_tcpLink, &NTRIPTCPLink::error, this, &NTRIPManager::_tcpError);
-
-        // Ask the worker to stop in its own thread
-        QMetaObject::invokeMethod(_tcpLink, "requestStop", Qt::QueuedConnection);
-
-        // If we still own the thread, stop and wait for it
-        if (_tcpThread) {
-            _tcpThread->quit();   // or just rely on 'finished' from requestStop()
-            _tcpThread->wait();
-            _tcpThread = nullptr;
-        }
-
-        // _tcpLink will be deleted via deleteLater() when the thread finishes
-        _tcpLink = nullptr;
-
-        _ntripStatus = tr("Disconnected");
-        emit ntripStatusChanged();
-        qCDebug(NTRIPLog) << "NTRIP stopped";
-    }
-
-    if (_ggaTimer && _ggaTimer->isActive()) {
-        _ggaTimer->stop();
-    }
-
-    _startStopBusy = false;  // guard end
-}
-
-void NTRIPManager::_tcpError(const QString& errorMsg)
-{
-    qCWarning(NTRIPLog) << "NTRIP Server Error:" << errorMsg;
-    _ntripStatus = errorMsg;
-    emit ntripStatusChanged();
-    _startStopBusy = false;  // make sure guard clears on error
-
-    // Check for specific "no location provided" disconnect reason
-    if (errorMsg.contains("NO_LOCATION_PROVIDED", Qt::CaseInsensitive)) {
-        _onCasterDisconnected(errorMsg);
-    } else {
-        _casterStatus = CasterStatus::OtherError;
-        emit casterStatusChanged(_casterStatus);
-    }
-
-    // Show error to user via QGC notification (toast)
-    if (qgcApp()) {
-        qgcApp()->showAppMessage(tr("NTRIP error: %1").arg(errorMsg));
-    }
-}
-
-void NTRIPManager::_rtcmDataReceived(const QByteArray& data)
-{
-
-    qCDebug(NTRIPLog) << "NTRIP Forwarding RTCM to vehicle:" << data.size() << "bytes";
-
-    // Lazily resolve the tool if we don't have it yet
-    if (!_rtcmMavlink && qgcApp()) {
-        _rtcmMavlink = qgcApp()->findChild<RTCMMavlink*>();
-    }
-
-    if (_rtcmMavlink) {
-        // Forward raw RTCM bytes to the autopilot via MAVLink GPS_RTCM_DATA
-        _rtcmMavlink->RTCMDataUpdate(data);
-
-        if (_ntripStatus != tr("Connected")) {
-            _ntripStatus = tr("Connected");
-            emit ntripStatusChanged();
-        }
-    } else {
-        // Tool not constructed yet — avoid crash, keep status, and don't spam
-        static uint32_t drop_warn_counter = 0;
-        if ((drop_warn_counter++ % 50) == 0) {
-            qCWarning(NTRIPLog) << "RTCMMavlink tool not ready; dropping RTCM bytes:" << data.size();
-        }
-    }
-
-    _startStopBusy = false;  // guard clears once bytes flow (or we tried)
-}
-
-static QByteArray _makeGGA(const QGeoCoordinate& coord, double altitude_msl)
-{
-    // UTC time hhmmss format
-    const QTime utc = QDateTime::currentDateTimeUtc().time();
-    const QString hhmmss = QString("%1%2%3")
-        .arg(utc.hour(),   2, 10, QChar('0'))
-        .arg(utc.minute(), 2, 10, QChar('0'))
-        .arg(utc.second(), 2, 10, QChar('0'));
-
-    // Convert decimal degrees to NMEA DMM with zero-padded minutes:
-    // lat:  ddmm.mmmm, lon: dddmm.mmmm
-    auto dmm = [](double deg, bool lat) -> QString {
-        double a = qFabs(deg);
-        int d = int(a);
-        double m = (a - d) * 60.0;
-
-        // Round to 4 decimals and handle 59.99995 -> 60.0000 carry into degrees
-        int m10000 = int(m * 10000.0 + 0.5);
-        double m_rounded = m10000 / 10000.0;
-        if (m_rounded >= 60.0) {
-            m_rounded -= 60.0;
-            d += 1;
-        }
-
-        // Ensure minutes have two digits before the decimal (e.g. 08.1234)
-        QString mm = QString::number(m_rounded, 'f', 4);
-        if (m_rounded < 10.0) {
-            mm.prepend("0");
-        }
-
-        if (lat) {
-            return QString("%1%2").arg(d, 2, 10, QChar('0')).arg(mm);
-        } else {
-            return QString("%1%2").arg(d, 3, 10, QChar('0')).arg(mm);
-        }
-    };
-
-    const bool latNorth = coord.latitude() >= 0.0;
-    const bool lonEast  = coord.longitude() >= 0.0;
-
-    const QString latField = dmm(coord.latitude(), true);
-    const QString lonField = dmm(coord.longitude(), false);
-
-    // IMPORTANT: include geoid separation as 0.0 and unit 'M'
-    // Fields: time,lat,N,lon,E,fix,nsat,hdop,alt,M,geoid,M,age,station
-    const QString core = QString("GPGGA,%1,%2,%3,%4,%5,1,12,1.0,%6,M,0.0,M,,")
-        .arg(hhmmss)
-        .arg(latField)
-        .arg(latNorth ? "N" : "S")
-        .arg(lonField)
-        .arg(lonEast  ? "E" : "W")
-        .arg(QString::number(altitude_msl, 'f', 1));
-
-    // NMEA checksum over bytes between '$' and '*'
-    quint8 cksum = 0;
-    const QByteArray coreBytes = core.toUtf8();
-    for (char ch : coreBytes) {
-        cksum ^= static_cast<quint8>(ch);
-    }
-
-    const QString cks = QString("%1").arg(cksum, 2, 16, QChar('0')).toUpper();
-    const QByteArray sentence = QByteArray("$") + coreBytes + QByteArray("*") + cks.toUtf8();
-    return sentence;
-}
-
-void NTRIPManager::_sendGGA()
-{
-    if (!_tcpLink) {
-        return;
-    }
-
-    QGeoCoordinate coord;
-    double alt_msl = 0.0;
-    bool validCoord = false;
-    QString srcUsed;
-
-    if (qgcApp()) {
-        // PRIORITY 1: Raw GPS data from vehicle GPS facts (most important for RTK)
-        MultiVehicleManager* mvm = MultiVehicleManager::instance();
-        if (mvm) {
-            if (Vehicle* veh = mvm->activeVehicle()) {
-                FactGroup* gps = veh->gpsFactGroup();
-                if (gps) {
-                    // Try common GPS fact names
-                    Fact* latF = gps->getFact(QStringLiteral("lat"));
-                    Fact* lonF = gps->getFact(QStringLiteral("lon"));
-
-                    // If "lat"/"lon" don't work, try alternative names
-                    if (!latF) latF = gps->getFact(QStringLiteral("latitude"));
-                    if (!lonF) lonF = gps->getFact(QStringLiteral("longitude"));
-                    if (!latF) latF = gps->getFact(QStringLiteral("lat_deg"));
-                    if (!lonF) lonF = gps->getFact(QStringLiteral("lon_deg"));
-                    if (!latF) latF = gps->getFact(QStringLiteral("latitude_deg"));
-                    if (!lonF) lonF = gps->getFact(QStringLiteral("longitude_deg"));
-
-                    if (latF && lonF) {
-                        const double glat = latF->rawValue().toDouble();
-                        const double glon = lonF->rawValue().toDouble();
-
-                        // GPS coordinates might be in 1e-7 degrees format (int32 scaled)
-                        double lat_deg = glat;
-                        double lon_deg = glon;
-
-                        // Check if values look like scaled integers (> 1000 suggests 1e-7 format)
-                        if (qAbs(glat) > 1000.0 || qAbs(glon) > 1000.0) {
-                            lat_deg = glat * 1e-7;
-                            lon_deg = glon * 1e-7;
-                        }
-
-                        if (qIsFinite(lat_deg) && qIsFinite(lon_deg) &&
-                            !(lat_deg == 0.0 && lon_deg == 0.0) &&
-                            qAbs(lat_deg) <= 90.0 && qAbs(lon_deg) <= 180.0) {
-
-                            coord = QGeoCoordinate(lat_deg, lon_deg);
-                            validCoord = true;
-
-                            // Get altitude from GPS if available
-                            Fact* altF = gps->getFact(QStringLiteral("alt"));
-                            if (!altF) altF = gps->getFact(QStringLiteral("altitude"));
-                            if (altF) {
-                                double raw_alt = altF->rawValue().toDouble();
-                                // Altitude might be in mm or cm, convert to meters
-                                if (qAbs(raw_alt) > 10000.0) {  // > 10km suggests mm format
-                                    alt_msl = raw_alt * 1e-3;   // mm to meters
-                                } else if (qAbs(raw_alt) > 1000.0) {  // > 1km suggests cm format
-                                    alt_msl = raw_alt * 1e-2;   // cm to meters
-                                } else {
-                                    alt_msl = raw_alt;          // already in meters
-                                }
-                                if (!qIsFinite(alt_msl)) alt_msl = 0.0;
-                            }
-
-                            srcUsed = QStringLiteral("GPS Raw");
-                            qCDebug(NTRIPLog) << "NTRIP: Using raw GPS data for GGA"
-                                              << "lat:" << lat_deg << "lon:" << lon_deg << "alt:" << alt_msl;
-                        }
-                    }
-                } else {
-                    // Vehicle exists but no GPS FactGroup yet
-                    qCDebug(NTRIPLog) << "NTRIP: Vehicle found but no GPS FactGroup available yet";
-                }
-            } else {
-                // MultiVehicleManager exists but no active vehicle yet
-                static int no_vehicle_count = 0;
-                if ((no_vehicle_count++ % 10) == 0) { // Log every 10th time to avoid spam
-                    qCDebug(NTRIPLog) << "NTRIP: MultiVehicleManager found but no active vehicle yet";
-                }
-            }
-        } else {
-            // MultiVehicleManager not found yet - this is normal during early startup
-            static int no_mvm_count = 0;
-            if ((no_mvm_count++ % 10) == 0) { // Log every 10th time to avoid spam
-                qCDebug(NTRIPLog) << "NTRIP: MultiVehicleManager not available yet (startup)";
-            }
-        }
-
-        // PRIORITY 2: Vehicle global position estimate (EKF output)
-        if (!validCoord) {
-            MultiVehicleManager* mvm2 = MultiVehicleManager::instance();
-            if (mvm2) {
-                if (Vehicle* veh2 = mvm2->activeVehicle()) {
-                    coord = veh2->coordinate();
-                    if (coord.isValid() && !(coord.latitude() == 0.0 && coord.longitude() == 0.0)) {
-                        validCoord = true;
-                        double a = coord.altitude();
-                        alt_msl = qIsFinite(a) ? a : 0.0;
-                        srcUsed = QStringLiteral("Vehicle EKF");
-                        qCDebug(NTRIPLog) << "NTRIP: Using vehicle EKF position for GGA" << coord;
-                    }
-                }
-            }
-        }
-
-    }
-
-    if (!validCoord) {
-        qCDebug(NTRIPLog) << "NTRIP: No valid position available, skipping GGA.";
-        return;
-    }
-
-    // Once we have a real valid coord, slow down GGA to 5 seconds
-    if (_ggaTimer && _ggaTimer->interval() != 5000) {
-        _ggaTimer->setInterval(5000);
-        qCDebug(NTRIPLog) << "NTRIP: Real position acquired, reducing GGA frequency to 5s";
-    }
-
-    const QByteArray gga = _makeGGA(coord, alt_msl);
-
-    // Debug: Log the GGA sentence being sent (but reduce spam)
-    static int gga_send_count = 0;
-    if ((gga_send_count++ % 5) == 0) { // Log every 5th GGA to reduce spam
-        qCDebug(NTRIPLog) << "NTRIP: Sending GGA:" << gga;
-        qCDebug(NTRIPLog) << "NTRIP: GGA coord:" << coord << "alt:" << alt_msl << "source:" << srcUsed;
-    }
-
-    QMetaObject::invokeMethod(_tcpLink, "sendNMEA",
-                              Qt::QueuedConnection,
-                              Q_ARG(QByteArray, gga));
-
-    // Update GGA source for UI display
-    if (!srcUsed.isEmpty() && srcUsed != _ggaSource) {
-        _ggaSource = srcUsed;
-        emit ggaSourceChanged();
-    }
-}
-
-void NTRIPManager::_checkSettings()
-{
-    if (_startStopBusy) {
-        qCDebug(NTRIPLog) << "NTRIP _checkSettings: busy, skipping";
-        return;
-    }
-
-    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
-    Fact* enableFact = nullptr;
-    if (settings && settings->ntripServerConnectEnabled()) {
-        enableFact = settings->ntripServerConnectEnabled();
-    }
-
-    // During startup, keep forcing OFF until we observe the Fact stable at false
-    // for 2 consecutive ticks. This defeats late restores from QML/settings.
-    if (_startupSuppress) {
-        if (enableFact) {
-            if (enableFact->rawValue().toBool()) {
-                qCDebug(NTRIPLog) << "NTRIP Startup: coercing OFF (late restore detected)";
-                enableFact->setRawValue(false);
-                _startupStableTicks = 0;   // reset stability counter on any true
-            } else {
-                _startupStableTicks++;
-            }
-        } else {
-            _startupStableTicks = 0;       // no fact yet, not stable
-        }
-
-        // Release once we have seen false for 2 ticks
-        if (_startupStableTicks >= 2) {
-            _startupSuppress = false;
-            if (!_forcedOffOnce) {
-                _forcedOffOnce = true;
-                if (_ntripEnableConn) {
-                    disconnect(_ntripEnableConn);
-                }
-            }
-            qCDebug(NTRIPLog) << "NTRIP Startup: suppression released; honoring user setting from now on";
-        } else {
-            return; // keep suppressing this tick
-        }
-    }
-
-    bool shouldBeRunning = false;
-    if (enableFact) {
-        shouldBeRunning = enableFact->rawValue().toBool();
-    } else {
-        qCWarning(NTRIPLog) << "NTRIP settings missing; defaulting to disabled";
-    }
-
-    bool isRunning = (_tcpLink != nullptr);
-
-    qCDebug(NTRIPLog) << "NTRIP _checkSettings:"
-                      << " isRunning=" << isRunning
-                      << " shouldBeRunning=" << shouldBeRunning;
-
-    if (shouldBeRunning && !isRunning) {
-        qCDebug(NTRIPLog) << "NTRIP _checkSettings: calling startNTRIP()";
-        startNTRIP();
-    } else if (!shouldBeRunning && isRunning) {
-        qCDebug(NTRIPLog) << "NTRIP _checkSettings: calling stopNTRIP()";
-        stopNTRIP();
-    }
-}
-
-void NTRIPManager::_onCasterDisconnected(const QString& reason)
-{
-    qWarning() << "NTRIP: Disconnected by server:" << reason;
-    if (reason.contains("NO_LOCATION_PROVIDED", Qt::CaseInsensitive)) {
-        _casterStatus = CasterStatus::NoLocationError;
-    } else {
-        _casterStatus = CasterStatus::OtherError;
-    }
-    emit casterStatusChanged(_casterStatus);
-}
diff --git a/src/GPS/NTRIP.h b/src/GPS/NTRIP.h
deleted file mode 100644
index 5c580af0b3d8..000000000000
--- a/src/GPS/NTRIP.h
+++ /dev/null
@@ -1,187 +0,0 @@
-#pragma once
-
-#include <atomic>
-
-#include <QtCore/QElapsedTimer>
-#include <QtCore/QLoggingCategory>
-#include <QtCore/QObject>
-#include <QtCore/QThread>
-#include <QtCore/QTimer>
-#include <QtNetwork/QTcpSocket>
-#include <QtPositioning/QGeoCoordinate>
-
-Q_DECLARE_LOGGING_CATEGORY(NTRIPLog)
-
-class RTCMMavlink;
-class NTRIPSettings;
-class Vehicle;
-class MultiVehicleManager;
-class GpsTest;
-
-#define RTCM3_PREAMBLE 0xD3
-
-class RTCMParser
-{
-public:
-    RTCMParser();
-    void reset();
-    bool addByte(uint8_t byte);
-    uint8_t* message() { return _buffer; }
-    uint16_t messageLength() { return _messageLength; }
-    uint16_t messageId();
-    const uint8_t* crcBytes() const { return _crcBytes; }
-    int crcSize() const { return 3; }
-
-private:
-    enum State {
-        WaitingForPreamble,
-        ReadingLength,
-        ReadingMessage,
-        ReadingCRC
-    };
-
-    State _state;
-    uint8_t _buffer[1024];
-    uint16_t _messageLength;
-    uint16_t _bytesRead;
-    uint16_t _lengthBytesRead;
-    uint8_t _lengthBytes[2];
-    uint16_t _crcBytesRead;
-    uint8_t _crcBytes[3];
-};
-
-class NTRIPTCPLink : public QObject
-{
-    Q_OBJECT
-
-public:
-#ifdef QGC_UNITTEST_BUILD
-    friend class GpsTest;
-#endif
-
-    NTRIPTCPLink(const QString& hostAddress,
-                 int port,
-                 const QString& username,
-                 const QString& password,
-                 const QString& mountpoint,
-                 const QString& whitelist,
-                 bool useSpartn,
-                 bool autoStart = true,
-                 QObject* parent = nullptr);
-
-    Q_INVOKABLE void debugFetchSourceTable();
-
-    ~NTRIPTCPLink();
-
-public slots:
-    void start();
-    void requestStop();
-    void sendNMEA(const QByteArray& sentence);
-
-signals:
-    void finished();
-    void error(const QString& errorMsg);
-    void RTCMDataUpdate(const QByteArray& message);
-    // Called when SPARTN corrections are received from the NTRIPTCPLink
-    // These corrections are forwarded to the connected vehicle (PX4/ArduPilot)
-    // using the same path as RTCM corrections via _rtcmDataReceived().
-    void SPARTNDataUpdate(const QByteArray& message);
-    void connected();
-
-
-private slots:
-    void _readBytes();
-
-private:
-    enum class NTRIPState {
-        uninitialised,
-        waiting_for_http_response,
-        waiting_for_spartn_data,
-        waiting_for_rtcm_header,
-        accumulating_rtcm_packet,
-    };
-
-    void _hardwareConnect();
-    void _parse(const QByteArray& buffer);
-    void _handleSpartnData(const QByteArray& data);
-
-    QTcpSocket* _socket = nullptr;
-
-    QString _hostAddress;
-    int _port;
-    QString _username;
-    QString _password;
-    QString _mountpoint;
-    bool _useSpartn = false;
-    QVector<int> _whitelist;
-
-    RTCMParser* _rtcmParser = nullptr;
-    NTRIPState _state;
-
-    std::atomic<bool> _stopping{false};
-    QMetaObject::Connection _readyReadConn;
-
-    // Small buffer to strip a response header only once if needed
-    QByteArray _spartnBuf;
-    bool _spartnNeedHeaderStrip = true;
-
-};
-
-class NTRIPManager : public QObject
-{
-    Q_OBJECT
-    Q_PROPERTY(QString ntripStatus READ ntripStatus NOTIFY ntripStatusChanged)
-    Q_PROPERTY(CasterStatus casterStatus READ casterStatus NOTIFY casterStatusChanged)
-    Q_PROPERTY(QString ggaSource READ ggaSource NOTIFY ggaSourceChanged)
-
-public:
-    enum class CasterStatus { Connected, NoLocationError, OtherError };
-
-    NTRIPManager(QObject* parent = nullptr);
-    ~NTRIPManager();
-
-    static NTRIPManager* instance();
-
-    QString ntripStatus() const { return _ntripStatus; }
-    CasterStatus casterStatus() const { return _casterStatus; }
-    QString ggaSource() const { return _ggaSource; }
-
-    void startNTRIP();
-    void stopNTRIP();
-
-signals:
-    void ntripStatusChanged();
-    void casterStatusChanged(CasterStatus status);
-    void ggaSourceChanged();
-
-public slots:
-    void _tcpError(const QString& errorMsg);
-    void _rtcmDataReceived(const QByteArray& data);
-
-private:
-    void _checkSettings();
-    void _sendGGA();
-    void _onCasterDisconnected(const QString& reason);
-
-    QTimer* _ggaTimer = nullptr;
-
-    QString _ntripStatus;
-    QString _ggaSource;
-    QMetaObject::Connection _ntripEnableConn;
-
-    NTRIPTCPLink* _tcpLink = nullptr;
-    QThread* _tcpThread = nullptr;
-    RTCMMavlink* _rtcmMavlink = nullptr;
-    QTimer* _settingsCheckTimer = nullptr;
-    bool _startStopBusy = false;
-    bool _forcedOffOnce = false;
-    bool _useSpartn = false;
-
-    QElapsedTimer _startupTimer;
-    bool _startupSuppress = true;
-    int  _startupStableTicks = 0;
-
-    CasterStatus _casterStatus = CasterStatus::OtherError;
-
-    static NTRIPManager* _instance;
-};
diff --git a/src/GPS/NTRIP/CMakeLists.txt b/src/GPS/NTRIP/CMakeLists.txt
new file mode 100644
index 000000000000..e8a891d846f5
--- /dev/null
+++ b/src/GPS/NTRIP/CMakeLists.txt
@@ -0,0 +1,18 @@
+# ============================================================================
+# NTRIP Module
+# NTRIP client, RTCM parsing, and correction streaming
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        NTRIPHttpTransport.cc
+        NTRIPHttpTransport.h
+        NTRIPManager.cc
+        NTRIPManager.h
+        NTRIPSourceTable.cc
+        NTRIPSourceTable.h
+        RTCMParser.cc
+        RTCMParser.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/GPS/NTRIP/NTRIPHttpTransport.cc b/src/GPS/NTRIP/NTRIPHttpTransport.cc
new file mode 100644
index 000000000000..5a202dba1542
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPHttpTransport.cc
@@ -0,0 +1,416 @@
+#include "NTRIPHttpTransport.h"
+#include "QGCLoggingCategory.h"
+
+#include <QtCore/QDateTime>
+#include <QtCore/QRegularExpression>
+#include <QtNetwork/QSslError>
+#include <QtNetwork/QSslSocket>
+
+QGC_LOGGING_CATEGORY(NTRIPHttpTransportLog, "GPS.NTRIPHttpTransport")
+
+NTRIPHttpTransport::NTRIPHttpTransport(const NTRIPTransportConfig& config, QObject* parent)
+    : QObject(parent)
+    , _hostAddress(config.host)
+    , _port(config.port)
+    , _username(config.username)
+    , _password(config.password)
+    , _mountpoint(config.mountpoint)
+    , _useTls(config.useTls)
+{
+    for (const auto& msg : config.whitelist.split(',')) {
+        int msg_int = msg.toInt();
+        if (msg_int)
+            _whitelist.append(msg_int);
+    }
+    qCDebug(NTRIPHttpTransportLog) << "RTCM message filter:" << _whitelist;
+    if (_whitelist.empty()) {
+        qCDebug(NTRIPHttpTransportLog) << "Message filter empty; all RTCM message IDs will be forwarded.";
+    }
+
+    _connectTimeoutTimer = new QTimer(this);
+    _connectTimeoutTimer->setSingleShot(true);
+    connect(_connectTimeoutTimer, &QTimer::timeout, this, [this]() {
+        qCWarning(NTRIPHttpTransportLog) << "Connection timeout";
+        emit error(QStringLiteral("Connection timeout"));
+    });
+
+    _dataWatchdogTimer = new QTimer(this);
+    _dataWatchdogTimer->setSingleShot(true);
+    _dataWatchdogTimer->setInterval(kDataWatchdogMs);
+    connect(_dataWatchdogTimer, &QTimer::timeout, this, [this]() {
+        qCWarning(NTRIPHttpTransportLog) << "No data received for" << kDataWatchdogMs / 1000 << "seconds";
+        emit error(tr("No data received for %1 seconds").arg(kDataWatchdogMs / 1000));
+    });
+}
+
+NTRIPHttpTransport::~NTRIPHttpTransport()
+{
+    stop();
+}
+
+void NTRIPHttpTransport::start()
+{
+    _stopped = false;
+    _connect();
+}
+
+void NTRIPHttpTransport::stop()
+{
+    _stopped = true;
+    _connectTimeoutTimer->stop();
+    _dataWatchdogTimer->stop();
+
+    if (_socket) {
+        _socket->disconnect(this);
+        _socket->disconnectFromHost();
+        _socket->close();
+        _socket->deleteLater();
+        _socket = nullptr;
+    }
+
+    emit finished();
+}
+
+void NTRIPHttpTransport::_sendHttpRequest()
+{
+    if (!_socket || _stopped) {
+        return;
+    }
+
+    if (!_mountpoint.isEmpty()) {
+        static const QRegularExpression controlChars(QStringLiteral("[\\r\\n\\x00-\\x1f]"));
+        if (_mountpoint.contains(controlChars)) {
+            qCWarning(NTRIPHttpTransportLog) << "Mountpoint contains control characters, rejecting";
+            emit error(tr("Invalid mountpoint name (contains control characters)"));
+            return;
+        }
+
+        qCDebug(NTRIPHttpTransportLog) << "Sending HTTP request";
+        QByteArray req;
+        req += "GET /" + _mountpoint.toUtf8() + " HTTP/1.0\r\n";
+        req += "Host: " + _hostAddress.toUtf8() + "\r\n";
+        req += "Ntrip-Version: Ntrip/2.0\r\n";
+        req += "User-Agent: NTRIP QGroundControl/1.0\r\n";
+
+        if (!_username.isEmpty() || !_password.isEmpty()) {
+            const QByteArray authB64 = (_username + ":" + _password).toUtf8().toBase64();
+            req += "Authorization: Basic " + authB64 + "\r\n";
+        }
+
+        req += "\r\n";
+        _socket->write(req);
+        _socket->flush();
+
+        qCDebug(NTRIPHttpTransportLog) << "HTTP request sent for mount:" << _mountpoint;
+    } else {
+        _httpHandshakeDone = true;
+        emit connected();
+        _dataWatchdogTimer->start();
+    }
+
+    qCDebug(NTRIPHttpTransportLog) << "Socket connected"
+                       << "local" << _socket->localAddress().toString() << ":" << _socket->localPort()
+                       << "-> peer" << _socket->peerAddress().toString() << ":" << _socket->peerPort();
+}
+
+void NTRIPHttpTransport::_connect()
+{
+    if (_stopped) {
+        return;
+    }
+
+    if (_socket) {
+        qCWarning(NTRIPHttpTransportLog) << "Socket already exists, aborting connect";
+        return;
+    }
+
+    qCDebug(NTRIPHttpTransportLog) << "connectToHost" << _hostAddress << ":" << _port << " mount=" << _mountpoint;
+
+    _httpHandshakeDone = false;
+    _httpResponseBuf.clear();
+    _rtcmParser.reset();
+
+    if (_useTls) {
+        QSslSocket* sslSocket = new QSslSocket(this);
+        _socket = sslSocket;
+        connect(sslSocket, QOverload<const QList<QSslError>&>::of(&QSslSocket::sslErrors),
+                this, [](const QList<QSslError>& errors) {
+            for (const QSslError& e : errors) {
+                qCWarning(NTRIPHttpTransportLog) << "TLS error:" << e.errorString();
+            }
+        });
+    } else {
+        _socket = new QTcpSocket(this);
+    }
+    _socket->setSocketOption(QAbstractSocket::KeepAliveOption, 1);
+    _socket->setSocketOption(QAbstractSocket::LowDelayOption, 1);
+    _socket->setReadBufferSize(0);
+
+    connect(_socket, &QTcpSocket::errorOccurred, this, [this](QAbstractSocket::SocketError code) {
+        if (_stopped || !_socket) {
+            return;
+        }
+        _connectTimeoutTimer->stop();
+
+        QString msg = _socket->errorString();
+        if (code == QAbstractSocket::RemoteHostClosedError && !_httpHandshakeDone) {
+            if (!_mountpoint.isEmpty()) {
+                msg += " (peer closed before HTTP response; check mountpoint and credentials)";
+            }
+        }
+
+        qCWarning(NTRIPHttpTransportLog) << "Socket error code:" << int(code) << " msg:" << msg;
+        emit error(msg);
+    });
+
+    connect(_socket, &QTcpSocket::disconnected, this, [this]() {
+        if (_stopped || !_socket) {
+            return;
+        }
+        _connectTimeoutTimer->stop();
+
+        const QByteArray trailing = _socket->readAll();
+        QString reason;
+        if (!trailing.isEmpty()) {
+            reason = QString::fromUtf8(trailing).trimmed();
+        } else {
+            reason = QStringLiteral("Server disconnected");
+        }
+
+        qCWarning(NTRIPHttpTransportLog) << "Disconnected:"
+                             << "reason=" << reason
+                             << "ms_since_200=" << (_postOkTimestampMs > 0 ? QDateTime::currentMSecsSinceEpoch() - _postOkTimestampMs : -1);
+        emit error(reason);
+    });
+
+    connect(_socket, &QTcpSocket::readyRead, this, &NTRIPHttpTransport::_readBytes);
+
+    if (_useTls) {
+        QSslSocket* sslSocket = qobject_cast<QSslSocket*>(_socket);
+        connect(sslSocket, &QSslSocket::encrypted, this, [this]() {
+            _connectTimeoutTimer->stop();
+            _sendHttpRequest();
+        });
+        sslSocket->connectToHostEncrypted(_hostAddress, static_cast<quint16>(_port));
+    } else {
+        connect(_socket, &QTcpSocket::connected, this, [this]() {
+            _connectTimeoutTimer->stop();
+            _sendHttpRequest();
+        });
+        _socket->connectToHost(_hostAddress, static_cast<quint16>(_port));
+    }
+    _connectTimeoutTimer->start(kConnectTimeoutMs);
+}
+
+void NTRIPHttpTransport::_parseRtcm(const QByteArray& buffer)
+{
+    if (_stopped) {
+        return;
+    }
+
+    for (char ch : buffer) {
+        const uint8_t byte = static_cast<uint8_t>(static_cast<unsigned char>(ch));
+
+        if (!_rtcmParser.addByte(byte)) {
+            continue;
+        }
+
+        if (!_rtcmParser.validateCrc()) {
+            qCWarning(NTRIPHttpTransportLog) << "RTCM CRC mismatch, dropping message id" << _rtcmParser.messageId();
+            _rtcmParser.reset();
+            continue;
+        }
+
+        constexpr int kRtcmHeaderSize = 3;
+        const int payload_len = static_cast<int>(_rtcmParser.messageLength());
+        QByteArray message(reinterpret_cast<const char*>(_rtcmParser.message()),
+                           kRtcmHeaderSize + payload_len);
+
+        const uint8_t* crc_ptr = _rtcmParser.crcBytes();
+        message.append(reinterpret_cast<const char*>(crc_ptr), RTCMParser::kCrcSize);
+
+        const uint16_t id = _rtcmParser.messageId();
+
+        if (_whitelist.empty() || _whitelist.contains(id)) {
+            qCDebug(NTRIPHttpTransportLog) << "RTCM packet id" << id << "len" << message.length();
+            emit RTCMDataUpdate(message);
+        } else {
+            qCDebug(NTRIPHttpTransportLog) << "Ignoring RTCM" << id;
+        }
+
+        _rtcmParser.reset();
+    }
+}
+
+void NTRIPHttpTransport::_readBytes()
+{
+    if (_stopped || !_socket) {
+        return;
+    }
+
+    if (!_httpHandshakeDone) {
+        _httpResponseBuf.append(_socket->readAll());
+        if (_httpResponseBuf.isEmpty()) {
+            return;
+        }
+
+        const int hdrEnd = _httpResponseBuf.indexOf("\r\n\r\n");
+        if (hdrEnd < 0) {
+            if (_httpResponseBuf.size() > kMaxHttpHeaderSize) {
+                qCWarning(NTRIPHttpTransportLog) << "HTTP response header too large, dropping";
+                _httpResponseBuf.clear();
+                emit error(tr("HTTP response header too large"));
+            }
+            return;
+        }
+
+        const QString header = QString::fromUtf8(_httpResponseBuf.left(hdrEnd));
+        qCDebug(NTRIPHttpTransportLog) << "HTTP response received:" << header.left(200);
+
+        const QStringList lines = header.split('\n');
+        for (const QString& line : lines) {
+            const HttpStatus status = parseHttpStatusLine(line);
+            if (!status.valid) {
+                continue;
+            }
+
+            if (isHttpSuccess(status.code)) {
+                qCDebug(NTRIPHttpTransportLog) << "HTTP" << status.code << status.reason;
+                _postOkTimestampMs = QDateTime::currentMSecsSinceEpoch();
+                _httpHandshakeDone = true;
+
+                qCDebug(NTRIPHttpTransportLog) << "HTTP handshake complete";
+                emit connected();
+
+                _dataWatchdogTimer->start();
+
+                const QByteArray remainingData = _httpResponseBuf.mid(hdrEnd + 4);
+                _httpResponseBuf.clear();
+
+                if (!remainingData.isEmpty()) {
+                    qCDebug(NTRIPHttpTransportLog) << "Processing trailing data:" << remainingData.size() << "bytes";
+                    _parseRtcm(remainingData);
+                }
+                return;
+            }
+
+            const QString body = QString::fromUtf8(_httpResponseBuf.mid(hdrEnd + 4)).trimmed();
+            _httpResponseBuf.clear();
+
+            if (status.code == 401) {
+                qCWarning(NTRIPHttpTransportLog) << "Authentication failed:" << status.reason;
+                emit error(tr("Authentication failed (401): check username and password"));
+                return;
+            }
+
+            qCWarning(NTRIPHttpTransportLog) << "HTTP error" << status.code << status.reason
+                                             << "body:" << body.left(200);
+            QString msg = status.reason.isEmpty()
+                ? tr("HTTP %1").arg(status.code)
+                : tr("HTTP %1: %2").arg(status.code).arg(status.reason);
+            if (!body.isEmpty()) {
+                QString cleanBody = body.left(500);
+                static const QRegularExpression htmlTags(QStringLiteral("<[^>]*>"));
+                cleanBody.remove(htmlTags);
+                cleanBody = cleanBody.simplified().left(200);
+                if (!cleanBody.isEmpty()) {
+                    msg += QStringLiteral(" — ") + cleanBody;
+                }
+            }
+            emit error(msg);
+            return;
+        }
+
+        qCWarning(NTRIPHttpTransportLog) << "No HTTP status line found in response. First line:"
+                                       << (lines.isEmpty() ? QStringLiteral("(empty)") : lines.first().left(120));
+        _httpResponseBuf.clear();
+        emit error(tr("Invalid HTTP response from caster"));
+        return;
+    }
+
+    QByteArray bytes = _socket->readAll();
+    if (!bytes.isEmpty()) {
+        _dataWatchdogTimer->start();
+        qCDebug(NTRIPHttpTransportLog) << "rx bytes:" << bytes.size();
+        _parseRtcm(bytes);
+    }
+}
+
+void NTRIPHttpTransport::sendNMEA(const QByteArray& nmea)
+{
+    if (_stopped) {
+        return;
+    }
+    if (!_socket || _socket->state() != QAbstractSocket::ConnectedState) {
+        return;
+    }
+
+    const QByteArray line = repairNmeaChecksum(nmea);
+    qCDebug(NTRIPHttpTransportLog) << "Sent NMEA:" << QString::fromUtf8(line.trimmed());
+    _socket->write(line);
+    _socket->flush();
+}
+
+NTRIPHttpTransport::HttpStatus NTRIPHttpTransport::parseHttpStatusLine(const QString& line)
+{
+    static const QRegularExpression re(QStringLiteral("^\\S+\\s+(\\d{3})(?:\\s+(.*))?$"));
+    const QRegularExpressionMatch match = re.match(line.trimmed());
+
+    if (!match.hasMatch()) {
+        return HttpStatus{0, {}, false};
+    }
+
+    return HttpStatus{
+        match.captured(1).toInt(),
+        match.captured(2).trimmed(),
+        true
+    };
+}
+
+QByteArray NTRIPHttpTransport::repairNmeaChecksum(const QByteArray& sentence)
+{
+    QByteArray line = sentence;
+
+    if (line.size() >= 5 && line.at(0) == '$') {
+        int star = line.lastIndexOf('*');
+        if (star > 1) {
+            quint8 calc = 0;
+            for (int i = 1; i < star; ++i) {
+                calc ^= static_cast<quint8>(line.at(i));
+            }
+
+            QByteArray calcCks = QByteArray::number(calc, 16)
+                                     .rightJustified(2, '0')
+                                     .toUpper();
+
+            bool needsRepair = false;
+            if (star + 3 > line.size()) {
+                needsRepair = true;
+            } else {
+                QByteArray txCks = line.mid(star + 1, 2).toUpper();
+                if (txCks != calcCks) {
+                    needsRepair = true;
+                }
+            }
+
+            if (needsRepair) {
+                line = line.left(star + 1) + calcCks;
+            }
+        } else {
+            quint8 calc = 0;
+            for (int i = 1; i < line.size(); ++i) {
+                calc ^= static_cast<quint8>(line.at(i));
+            }
+            QByteArray calcCks = QByteArray::number(calc, 16)
+                                     .rightJustified(2, '0')
+                                     .toUpper();
+            line.append('*').append(calcCks);
+        }
+    }
+
+    if (!line.endsWith("\r\n")) {
+        line.append("\r\n");
+    }
+
+    return line;
+}
diff --git a/src/GPS/NTRIP/NTRIPHttpTransport.h b/src/GPS/NTRIP/NTRIPHttpTransport.h
new file mode 100644
index 000000000000..522d387c9467
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPHttpTransport.h
@@ -0,0 +1,90 @@
+#pragma once
+
+#include <QtCore/QLoggingCategory>
+#include <QtCore/QObject>
+#include <QtCore/QTimer>
+#include <QtNetwork/QSslSocket>
+#include <QtNetwork/QTcpSocket>
+
+#include "RTCMParser.h"
+
+Q_DECLARE_LOGGING_CATEGORY(NTRIPHttpTransportLog)
+
+struct NTRIPTransportConfig {
+    QString host;
+    int port = 2101;
+    QString username;
+    QString password;
+    QString mountpoint;
+    QString whitelist;
+    bool useTls = false;
+
+    bool operator==(const NTRIPTransportConfig& other) const {
+        return host == other.host && port == other.port &&
+               username == other.username && password == other.password &&
+               mountpoint == other.mountpoint && whitelist == other.whitelist &&
+               useTls == other.useTls;
+    }
+    bool operator!=(const NTRIPTransportConfig& other) const { return !(*this == other); }
+};
+
+class NTRIPHttpTransport : public QObject
+{
+    Q_OBJECT
+    friend class NTRIPHttpTransportTest;
+
+public:
+    static constexpr int kConnectTimeoutMs   = 10000;
+    static constexpr int kDataWatchdogMs     = 30000;
+    static constexpr int kMaxHttpHeaderSize  = 32768;
+
+    explicit NTRIPHttpTransport(const NTRIPTransportConfig& config, QObject* parent = nullptr);
+    ~NTRIPHttpTransport() override;
+
+    void start();
+    void stop();
+    void sendNMEA(const QByteArray& nmea);
+
+signals:
+    void connected();
+    void error(const QString& errorMsg);
+    void RTCMDataUpdate(const QByteArray& message);
+    void finished();
+
+protected:
+    struct HttpStatus {
+        int code = 0;
+        QString reason;
+        bool valid = false;
+    };
+
+    static HttpStatus parseHttpStatusLine(const QString& line);
+    static QByteArray repairNmeaChecksum(const QByteArray& sentence);
+    static bool isHttpSuccess(int code) { return code >= 200 && code < 300; }
+
+private:
+    void _connect();
+    void _sendHttpRequest();
+    void _readBytes();
+    void _parseRtcm(const QByteArray& buffer);
+
+    QTcpSocket* _socket = nullptr;
+    QTimer* _connectTimeoutTimer = nullptr;
+    QTimer* _dataWatchdogTimer = nullptr;
+
+    QString _hostAddress;
+    int _port;
+    QString _username;
+    QString _password;
+    QString _mountpoint;
+    QVector<int> _whitelist;
+
+    RTCMParser _rtcmParser;
+    bool _httpHandshakeDone = false;
+    bool _useTls = false;
+    bool _stopped = false;
+
+    qint64 _postOkTimestampMs = 0;
+
+    QByteArray _httpResponseBuf;
+};
diff --git a/src/GPS/NTRIP/NTRIPManager.cc b/src/GPS/NTRIP/NTRIPManager.cc
new file mode 100644
index 000000000000..081d22cb1236
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPManager.cc
@@ -0,0 +1,630 @@
+#include "NTRIPManager.h"
+#include "NTRIPHttpTransport.h"
+#include "NTRIPSourceTable.h"
+#include "NTRIPSettings.h"
+#include "QmlObjectListModel.h"
+#include "Fact.h"
+#include "FactGroup.h"
+#include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
+#include "RTCMMavlink.h"
+#include "SettingsManager.h"
+
+#include "MultiVehicleManager.h"
+#include "PositionManager.h"
+#include "Vehicle.h"
+#include <QtPositioning/QGeoCoordinate>
+#include <QtCore/QDateTime>
+
+#include <QtCore/QApplicationStatic>
+#include <QtCore/QCoreApplication>
+#include <QtCore/QDebug>
+#include <QtCore/QtGlobal>
+
+QGC_LOGGING_CATEGORY(NTRIPManagerLog, "GPS.NTRIPManager")
+
+Q_APPLICATION_STATIC(NTRIPManager, _ntripManagerInstance);
+
+NTRIPManager* NTRIPManager::instance()
+{
+    return _ntripManagerInstance();
+}
+
+NTRIPManager::NTRIPManager(QObject* parent)
+    : QObject(parent)
+{
+    qCDebug(NTRIPManagerLog) << "NTRIPManager created";
+
+    _rtcmMavlink = qgcApp() ? qgcApp()->findChild<RTCMMavlink*>() : nullptr;
+    if (!_rtcmMavlink) {
+        QObject* parentObj = qgcApp() ? static_cast<QObject*>(qgcApp()) : static_cast<QObject*>(this);
+        _rtcmMavlink = new RTCMMavlink(parentObj);
+        _rtcmMavlink->setObjectName(QStringLiteral("RTCMMavlink"));
+    }
+
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    if (settings) {
+        auto connectSetting = [this](Fact* fact) {
+            if (fact) {
+                connect(fact, &Fact::rawValueChanged, this, &NTRIPManager::_onSettingChanged);
+            }
+        };
+        connectSetting(settings->ntripServerConnectEnabled());
+        connectSetting(settings->ntripServerHostAddress());
+        connectSetting(settings->ntripServerPort());
+        connectSetting(settings->ntripUsername());
+        connectSetting(settings->ntripPassword());
+        connectSetting(settings->ntripMountpoint());
+        connectSetting(settings->ntripWhitelist());
+        connectSetting(settings->ntripUseTls());
+        connectSetting(settings->ntripUdpForwardEnabled());
+        connectSetting(settings->ntripUdpTargetAddress());
+        connectSetting(settings->ntripUdpTargetPort());
+    }
+
+    // Check initial state (handles connect-on-start)
+    QTimer::singleShot(0, this, &NTRIPManager::_onSettingChanged);
+
+    _ggaTimer = new QTimer(this);
+    _ggaTimer->setInterval(5000);
+    connect(_ggaTimer, &QTimer::timeout, this, &NTRIPManager::_sendGGA);
+
+    _dataRateTimer = new QTimer(this);
+    _dataRateTimer->setInterval(1000);
+    connect(_dataRateTimer, &QTimer::timeout, this, [this]() {
+        const double rate = static_cast<double>(_bytesReceived - _dataRatePrevBytes);
+        _dataRatePrevBytes = _bytesReceived;
+        if (!qFuzzyCompare(_dataRateBytesPerSec + 1.0, rate + 1.0)) {
+            _dataRateBytesPerSec = rate;
+            emit dataRateChanged();
+        }
+        emit bytesReceivedChanged();
+        emit messagesReceivedChanged();
+    });
+
+    connect(qApp, &QCoreApplication::aboutToQuit, this, &NTRIPManager::stopNTRIP, Qt::QueuedConnection);
+}
+
+NTRIPManager::~NTRIPManager()
+{
+    qCDebug(NTRIPManagerLog) << "NTRIPManager destroyed";
+    stopNTRIP();
+}
+
+void NTRIPManager::_setStatus(ConnectionStatus status, const QString& msg)
+{
+    bool changed = false;
+
+    if (_connectionStatus != status) {
+        _connectionStatus = status;
+        changed = true;
+        emit connectionStatusChanged();
+    }
+
+    if (_statusMessage != msg) {
+        _statusMessage = msg;
+        changed = true;
+        emit statusMessageChanged();
+    }
+
+    if (changed) {
+        qCDebug(NTRIPManagerLog) << "NTRIP status:" << static_cast<int>(status) << msg;
+    }
+}
+
+NTRIPTransportConfig NTRIPManager::_configFromSettings() const
+{
+    NTRIPTransportConfig config;
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    if (!settings) {
+        return config;
+    }
+
+    if (settings->ntripServerHostAddress()) config.host = settings->ntripServerHostAddress()->rawValue().toString();
+    if (settings->ntripServerPort())        config.port = settings->ntripServerPort()->rawValue().toInt();
+    if (settings->ntripUsername())          config.username = settings->ntripUsername()->rawValue().toString();
+    if (settings->ntripPassword())          config.password = settings->ntripPassword()->rawValue().toString();
+    if (settings->ntripMountpoint())        config.mountpoint = settings->ntripMountpoint()->rawValue().toString();
+    if (settings->ntripWhitelist())         config.whitelist = settings->ntripWhitelist()->rawValue().toString();
+    if (settings->ntripUseTls())            config.useTls = settings->ntripUseTls()->rawValue().toBool();
+
+    return config;
+}
+
+void NTRIPManager::startNTRIP()
+{
+    if (_startStopBusy || _transport) {
+        if (_startStopBusy) {
+            qCWarning(NTRIPManagerLog) << "startNTRIP called while start/stop in progress";
+        }
+        return;
+    }
+    _startStopBusy = true;
+
+    if (_reconnectTimer) {
+        _reconnectTimer->stop();
+    }
+
+    NTRIPTransportConfig config = _configFromSettings();
+
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    if (settings && settings->ntripUdpForwardEnabled()) {
+        _udpForwardEnabled = settings->ntripUdpForwardEnabled()->rawValue().toBool();
+    }
+
+    if (_udpForwardEnabled && settings) {
+        const QString udpAddr = settings->ntripUdpTargetAddress()->rawValue().toString();
+        const quint16 udpPort = static_cast<quint16>(settings->ntripUdpTargetPort()->rawValue().toUInt());
+        const QHostAddress parsedAddr(udpAddr);
+        if (!udpAddr.isEmpty() && !parsedAddr.isNull() && udpPort > 0) {
+            _udpTargetAddress = parsedAddr;
+            _udpTargetPort = udpPort;
+            if (!_udpSocket) {
+                _udpSocket = new QUdpSocket(this);
+            }
+            qCDebug(NTRIPManagerLog) << "NTRIP UDP forwarding enabled:" << udpAddr << ":" << udpPort;
+        } else {
+            qCWarning(NTRIPManagerLog) << "NTRIP UDP forwarding enabled but address/port invalid";
+            _udpForwardEnabled = false;
+        }
+    }
+
+    if (config.host.isEmpty()) {
+        qCWarning(NTRIPManagerLog) << "NTRIP host address is empty";
+        _setStatus(ConnectionStatus::Error, tr("No host address"));
+        _startStopBusy = false;
+        return;
+    }
+
+    if (config.port <= 0 || config.port > 65535) {
+        qCWarning(NTRIPManagerLog) << "NTRIP port is invalid:" << config.port;
+        _setStatus(ConnectionStatus::Error, tr("Invalid port"));
+        _startStopBusy = false;
+        return;
+    }
+
+    qCDebug(NTRIPManagerLog) << "startNTRIP: host=" << config.host << " port=" << config.port
+                             << " mount=" << config.mountpoint;
+
+    _setStatus(ConnectionStatus::Connecting, tr("Connecting to %1:%2...").arg(config.host).arg(config.port));
+
+    _bytesReceived = 0;
+    _messagesReceived = 0;
+    _dataRateBytesPerSec = 0.0;
+    _dataRatePrevBytes = 0;
+    emit bytesReceivedChanged();
+    emit messagesReceivedChanged();
+    emit dataRateChanged();
+
+    _runningConfig = config;
+    _runningUdpForward = _udpForwardEnabled;
+    _runningUdpAddr = _udpForwardEnabled ? _udpTargetAddress.toString() : QString();
+    _runningUdpPort = _udpForwardEnabled ? _udpTargetPort : 0;
+
+    _transport = new NTRIPHttpTransport(config, this);
+
+    connect(_transport, &NTRIPHttpTransport::error,
+            this, &NTRIPManager::_tcpError);
+
+    connect(_transport, &NTRIPHttpTransport::connected, this, [this]() {
+        _reconnectAttempts = 0;
+        _casterStatus = CasterStatus::CasterConnected;
+        emit casterStatusChanged(_casterStatus);
+
+        _setStatus(ConnectionStatus::Connected, tr("Connected"));
+
+        if (_ggaTimer && !_ggaTimer->isActive()) {
+            _ggaTimer->setInterval(1000);
+            _sendGGA();
+            _ggaTimer->start();
+        }
+        _dataRateTimer->start();
+    });
+
+    connect(_transport, &NTRIPHttpTransport::RTCMDataUpdate, this, &NTRIPManager::_rtcmDataReceived);
+
+    _transport->start();
+    qCDebug(NTRIPManagerLog) << "NTRIP started";
+
+    _startStopBusy = false;
+}
+
+void NTRIPManager::stopNTRIP()
+{
+    if (_startStopBusy) {
+        qCWarning(NTRIPManagerLog) << "stopNTRIP called while start/stop in progress";
+        return;
+    }
+    _startStopBusy = true;
+
+    if (_reconnectTimer) {
+        _reconnectTimer->stop();
+    }
+
+    if (_transport) {
+        disconnect(_transport, &NTRIPHttpTransport::error, this, &NTRIPManager::_tcpError);
+        _transport->stop();
+        _transport->deleteLater();
+        _transport = nullptr;
+
+        _runningConfig = {};
+        _runningUdpForward = false;
+        _runningUdpAddr.clear();
+        _runningUdpPort = 0;
+
+        _setStatus(ConnectionStatus::Disconnected, tr("Disconnected"));
+        qCDebug(NTRIPManagerLog) << "NTRIP stopped";
+    }
+
+    if (_ggaTimer && _ggaTimer->isActive()) {
+        _ggaTimer->stop();
+    }
+    _dataRateTimer->stop();
+    if (_dataRateBytesPerSec != 0.0) {
+        _dataRateBytesPerSec = 0.0;
+        _dataRatePrevBytes = 0;
+        emit dataRateChanged();
+    }
+
+    if (_udpSocket) {
+        _udpSocket->close();
+        delete _udpSocket;
+        _udpSocket = nullptr;
+    }
+    _udpForwardEnabled = false;
+
+    _startStopBusy = false;
+}
+
+void NTRIPManager::_tcpError(const QString& errorMsg)
+{
+    qCWarning(NTRIPManagerLog) << "NTRIP error:" << errorMsg;
+    _setStatus(ConnectionStatus::Error, errorMsg);
+
+    if (errorMsg.contains("NO_LOCATION_PROVIDED", Qt::CaseInsensitive)) {
+        _casterStatus = CasterStatus::CasterNoLocation;
+    } else {
+        _casterStatus = CasterStatus::CasterError;
+    }
+    emit casterStatusChanged(_casterStatus);
+
+    _scheduleReconnect();
+}
+
+void NTRIPManager::_scheduleReconnect()
+{
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    bool shouldRun = settings && settings->ntripServerConnectEnabled() &&
+                     settings->ntripServerConnectEnabled()->rawValue().toBool();
+    if (!shouldRun) {
+        return;
+    }
+
+    stopNTRIP();
+
+    int backoffMs = qMin(kMinReconnectMs * (1 << qMin(_reconnectAttempts, 4)), kMaxReconnectMs);
+    _reconnectAttempts = qMin(_reconnectAttempts + 1, kMaxReconnectAttempts);
+
+    qCDebug(NTRIPManagerLog) << "NTRIP reconnecting in" << backoffMs << "ms (attempt" << _reconnectAttempts << ")";
+
+    _setStatus(ConnectionStatus::Reconnecting, tr("Reconnecting in %1s...").arg(backoffMs / 1000));
+
+    if (!_reconnectTimer) {
+        _reconnectTimer = new QTimer(this);
+        _reconnectTimer->setSingleShot(true);
+        connect(_reconnectTimer, &QTimer::timeout, this, [this]() {
+            if (!_transport) {
+                startNTRIP();
+            }
+        });
+    }
+
+    _reconnectTimer->start(backoffMs);
+}
+
+void NTRIPManager::_rtcmDataReceived(const QByteArray& data)
+{
+    _bytesReceived += static_cast<quint64>(data.size());
+    _messagesReceived++;
+
+    qCDebug(NTRIPManagerLog) << "NTRIP Forwarding RTCM to vehicle:" << data.size() << "bytes";
+
+    if (!_rtcmMavlink && qgcApp()) {
+        _rtcmMavlink = qgcApp()->findChild<RTCMMavlink*>();
+    }
+
+    if (_rtcmMavlink) {
+        _rtcmMavlink->RTCMDataUpdate(data);
+
+        if (_connectionStatus != ConnectionStatus::Connected) {
+            _setStatus(ConnectionStatus::Connected, tr("Connected"));
+        }
+    } else {
+        qCWarning(NTRIPManagerLog) << "RTCMMavlink not ready; dropping" << data.size() << "bytes";
+    }
+
+    if (_udpForwardEnabled && _udpSocket && _udpTargetPort > 0) {
+        const qint64 sent = _udpSocket->writeDatagram(data, _udpTargetAddress, _udpTargetPort);
+        if (sent < 0) {
+            qCWarning(NTRIPManagerLog) << "NTRIP UDP forward failed:" << _udpSocket->errorString();
+        }
+    }
+}
+
+QByteArray NTRIPManager::makeGGA(const QGeoCoordinate& coord, double altitude_msl)
+{
+    const QTime utc = QDateTime::currentDateTimeUtc().time();
+    const QString hhmmss = QString("%1%2%3")
+        .arg(utc.hour(),   2, 10, QChar('0'))
+        .arg(utc.minute(), 2, 10, QChar('0'))
+        .arg(utc.second(), 2, 10, QChar('0'));
+
+    auto dmm = [](double deg, bool lat) -> QString {
+        double a = qFabs(deg);
+        int d = int(a);
+        double m = (a - d) * 60.0;
+
+        int m10000 = int(m * 10000.0 + 0.5);
+        double m_rounded = m10000 / 10000.0;
+        if (m_rounded >= 60.0) {
+            m_rounded -= 60.0;
+            d += 1;
+        }
+
+        QString mm = QString::number(m_rounded, 'f', 4);
+        if (m_rounded < 10.0) {
+            mm.prepend("0");
+        }
+
+        if (lat) {
+            return QString("%1%2").arg(d, 2, 10, QChar('0')).arg(mm);
+        } else {
+            return QString("%1%2").arg(d, 3, 10, QChar('0')).arg(mm);
+        }
+    };
+
+    const bool latNorth = coord.latitude() >= 0.0;
+    const bool lonEast  = coord.longitude() >= 0.0;
+
+    const QString latField = dmm(coord.latitude(), true);
+    const QString lonField = dmm(coord.longitude(), false);
+
+    const QString core = QString("GPGGA,%1,%2,%3,%4,%5,1,12,1.0,%6,M,0.0,M,,")
+        .arg(hhmmss)
+        .arg(latField)
+        .arg(latNorth ? "N" : "S")
+        .arg(lonField)
+        .arg(lonEast  ? "E" : "W")
+        .arg(QString::number(altitude_msl, 'f', 1));
+
+    quint8 cksum = 0;
+    const QByteArray coreBytes = core.toUtf8();
+    for (char ch : coreBytes) {
+        cksum ^= static_cast<quint8>(ch);
+    }
+
+    const QString cks = QString("%1").arg(cksum, 2, 16, QChar('0')).toUpper();
+    const QByteArray sentence = QByteArray("$") + coreBytes + QByteArray("*") + cks.toUtf8();
+    return sentence;
+}
+
+QPair<QGeoCoordinate, QString> NTRIPManager::_getBestPosition() const
+{
+    MultiVehicleManager* mvm = MultiVehicleManager::instance();
+    if (mvm) {
+        if (Vehicle* veh = mvm->activeVehicle()) {
+            FactGroup* gps = veh->gpsFactGroup();
+            if (gps) {
+                Fact* latF = gps->getFact(QStringLiteral("lat"));
+                Fact* lonF = gps->getFact(QStringLiteral("lon"));
+
+                if (latF && lonF) {
+                    const double lat = latF->rawValue().toDouble();
+                    const double lon = lonF->rawValue().toDouble();
+
+                    if (qIsFinite(lat) && qIsFinite(lon) &&
+                        !(lat == 0.0 && lon == 0.0) &&
+                        qAbs(lat) <= 90.0 && qAbs(lon) <= 180.0) {
+
+                        return {QGeoCoordinate(lat, lon, veh->coordinate().altitude()),
+                                QStringLiteral("GPS Raw")};
+                    }
+                }
+            }
+
+            QGeoCoordinate coord = veh->coordinate();
+            if (coord.isValid() && !(coord.latitude() == 0.0 && coord.longitude() == 0.0)) {
+                return {coord, QStringLiteral("Vehicle EKF")};
+            }
+        }
+    }
+
+    QGCPositionManager* posMgr = QGCPositionManager::instance();
+    if (posMgr) {
+        QGeoCoordinate coord = posMgr->gcsPosition();
+        if (coord.isValid() && !(coord.latitude() == 0.0 && coord.longitude() == 0.0)) {
+            return {coord, QStringLiteral("GCS Position")};
+        }
+    }
+
+    return {QGeoCoordinate(), QString()};
+}
+
+void NTRIPManager::_sendGGA()
+{
+    if (!_transport) {
+        return;
+    }
+
+    const auto [coord, srcUsed] = _getBestPosition();
+
+    if (!coord.isValid()) {
+        qCDebug(NTRIPManagerLog) << "NTRIP: No valid position, skipping GGA";
+        return;
+    }
+
+    if (_ggaTimer && _ggaTimer->interval() != 5000) {
+        _ggaTimer->setInterval(5000);
+        qCDebug(NTRIPManagerLog) << "NTRIP: Position acquired, reducing GGA to 5s";
+    }
+
+    double alt_msl = coord.altitude();
+    if (!qIsFinite(alt_msl)) {
+        alt_msl = 0.0;
+    }
+
+    const QByteArray gga = makeGGA(coord, alt_msl);
+    _transport->sendNMEA(gga);
+
+    if (!srcUsed.isEmpty() && srcUsed != _ggaSource) {
+        _ggaSource = srcUsed;
+        emit ggaSourceChanged();
+    }
+}
+
+void NTRIPManager::_onSettingChanged()
+{
+    if (_startStopBusy) {
+        return;
+    }
+
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    bool shouldRun = settings && settings->ntripServerConnectEnabled() &&
+                     settings->ntripServerConnectEnabled()->rawValue().toBool();
+    bool isRunning = (_transport != nullptr);
+
+    if (shouldRun && isRunning && settings) {
+        NTRIPTransportConfig config = _configFromSettings();
+        const bool udpFwd = settings->ntripUdpForwardEnabled()->rawValue().toBool();
+        const QString udpAddr = settings->ntripUdpTargetAddress()->rawValue().toString();
+        const quint16 udpPort = static_cast<quint16>(settings->ntripUdpTargetPort()->rawValue().toUInt());
+
+        if (config != _runningConfig ||
+            udpFwd != _runningUdpForward || udpAddr != _runningUdpAddr || udpPort != _runningUdpPort) {
+            qCDebug(NTRIPManagerLog) << "NTRIP settings changed while running, restarting";
+            stopNTRIP();
+            startNTRIP();
+            return;
+        }
+    }
+
+    const bool reconnectPending = _reconnectTimer && _reconnectTimer->isActive();
+
+    if (shouldRun && !isRunning && !reconnectPending) {
+        startNTRIP();
+    } else if (!shouldRun) {
+        if (_reconnectTimer) {
+            _reconnectTimer->stop();
+        }
+        if (isRunning) {
+            stopNTRIP();
+        } else if (reconnectPending) {
+            _reconnectAttempts = 0;
+            _setStatus(ConnectionStatus::Disconnected, tr("Disconnected"));
+        }
+    }
+}
+
+QmlObjectListModel* NTRIPManager::mountpointModel() const
+{
+    if (_sourceTableModel) {
+        return _sourceTableModel->mountpoints();
+    }
+    return nullptr;
+}
+
+void NTRIPManager::fetchMountpoints()
+{
+    if (_mountpointFetchStatus == MountpointFetchStatus::FetchInProgress) {
+        return;
+    }
+
+    if (_sourceTableModel && _sourceTableModel->count() > 0 && _sourceTableFetchedAtMs > 0) {
+        const qint64 age = QDateTime::currentMSecsSinceEpoch() - _sourceTableFetchedAtMs;
+        if (age < kSourceTableCacheTtlMs) {
+            qCDebug(NTRIPManagerLog) << "Source table cache hit, age:" << age << "ms";
+            _mountpointFetchStatus = MountpointFetchStatus::FetchSuccess;
+            emit mountpointFetchStatusChanged();
+            return;
+        }
+    }
+
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    if (!settings) {
+        return;
+    }
+
+    const QString host = settings->ntripServerHostAddress()->rawValue().toString();
+    const int port = settings->ntripServerPort()->rawValue().toInt();
+    const QString user = settings->ntripUsername()->rawValue().toString();
+    const QString pass = settings->ntripPassword()->rawValue().toString();
+    const bool useTls = settings->ntripUseTls() ? settings->ntripUseTls()->rawValue().toBool() : false;
+
+    if (host.isEmpty()) {
+        _mountpointFetchError = tr("Host address is empty");
+        _mountpointFetchStatus = MountpointFetchStatus::FetchError;
+        emit mountpointFetchErrorChanged();
+        emit mountpointFetchStatusChanged();
+        return;
+    }
+
+    if (!_sourceTableModel) {
+        _sourceTableModel = new NTRIPSourceTableModel(this);
+        emit mountpointModelChanged();
+    }
+
+    if (_sourceTableFetcher) {
+        _sourceTableFetcher->deleteLater();
+        _sourceTableFetcher = nullptr;
+    }
+
+    _mountpointFetchStatus = MountpointFetchStatus::FetchInProgress;
+    _mountpointFetchError.clear();
+    emit mountpointFetchStatusChanged();
+    emit mountpointFetchErrorChanged();
+
+    _sourceTableFetcher = new NTRIPSourceTableFetcher(host, port, user, pass, useTls, this);
+
+    connect(_sourceTableFetcher, &NTRIPSourceTableFetcher::sourceTableReceived, this, [this](const QString& table) {
+        _sourceTableModel->parseSourceTable(table);
+        _sourceTableFetchedAtMs = QDateTime::currentMSecsSinceEpoch();
+
+        MultiVehicleManager* mvm = MultiVehicleManager::instance();
+        if (mvm) {
+            if (Vehicle* veh = mvm->activeVehicle()) {
+                QGeoCoordinate coord = veh->coordinate();
+                if (coord.isValid()) {
+                    _sourceTableModel->updateDistances(coord);
+                }
+            }
+        }
+
+        _mountpointFetchStatus = MountpointFetchStatus::FetchSuccess;
+        emit mountpointFetchStatusChanged();
+        qCDebug(NTRIPManagerLog) << "NTRIP source table fetched:" << _sourceTableModel->count() << "mountpoints";
+    });
+
+    connect(_sourceTableFetcher, &NTRIPSourceTableFetcher::error, this, [this](const QString& errorMsg) {
+        _mountpointFetchError = errorMsg;
+        _mountpointFetchStatus = MountpointFetchStatus::FetchError;
+        emit mountpointFetchErrorChanged();
+        emit mountpointFetchStatusChanged();
+        qCWarning(NTRIPManagerLog) << "NTRIP source table fetch error:" << errorMsg;
+    });
+
+    connect(_sourceTableFetcher, &NTRIPSourceTableFetcher::finished, this, [this]() {
+        _sourceTableFetcher->deleteLater();
+        _sourceTableFetcher = nullptr;
+    });
+
+    _sourceTableFetcher->fetch();
+}
+
+void NTRIPManager::selectMountpoint(const QString& mountpoint)
+{
+    NTRIPSettings* settings = SettingsManager::instance()->ntripSettings();
+    if (settings && settings->ntripMountpoint()) {
+        settings->ntripMountpoint()->setRawValue(mountpoint);
+        qCDebug(NTRIPManagerLog) << "NTRIP mountpoint selected:" << mountpoint;
+    }
+}
diff --git a/src/GPS/NTRIP/NTRIPManager.h b/src/GPS/NTRIP/NTRIPManager.h
new file mode 100644
index 000000000000..0ed8bc2b5ffc
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPManager.h
@@ -0,0 +1,149 @@
+#pragma once
+
+#include "NTRIPHttpTransport.h"
+
+#include <QtCore/QLoggingCategory>
+#include <QtCore/QObject>
+#include <QtCore/QTimer>
+#include <QtNetwork/QHostAddress>
+#include <QtNetwork/QUdpSocket>
+#include <QtPositioning/QGeoCoordinate>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+Q_DECLARE_LOGGING_CATEGORY(NTRIPManagerLog)
+
+class RTCMMavlink;
+class NTRIPSettings;
+class Vehicle;
+class MultiVehicleManager;
+class NTRIPSourceTableModel;
+class NTRIPSourceTableFetcher;
+class QmlObjectListModel;
+
+class NTRIPManager : public QObject
+{
+    Q_OBJECT
+    QML_ELEMENT
+    QML_UNCREATABLE("")
+    Q_MOC_INCLUDE("QmlObjectListModel.h")
+    Q_PROPERTY(ConnectionStatus connectionStatus READ connectionStatus NOTIFY connectionStatusChanged)
+    Q_PROPERTY(QString statusMessage READ statusMessage NOTIFY statusMessageChanged)
+    Q_PROPERTY(CasterStatus casterStatus READ casterStatus NOTIFY casterStatusChanged)
+    Q_PROPERTY(QString ggaSource READ ggaSource NOTIFY ggaSourceChanged)
+    Q_PROPERTY(QmlObjectListModel* mountpointModel READ mountpointModel NOTIFY mountpointModelChanged)
+    Q_PROPERTY(MountpointFetchStatus mountpointFetchStatus READ mountpointFetchStatus NOTIFY mountpointFetchStatusChanged)
+    Q_PROPERTY(QString mountpointFetchError READ mountpointFetchError NOTIFY mountpointFetchErrorChanged)
+    Q_PROPERTY(quint64 bytesReceived READ bytesReceived NOTIFY bytesReceivedChanged)
+    Q_PROPERTY(quint32 messagesReceived READ messagesReceived NOTIFY messagesReceivedChanged)
+    Q_PROPERTY(double dataRateBytesPerSec READ dataRateBytesPerSec NOTIFY dataRateChanged)
+
+public:
+    enum class ConnectionStatus {
+        Disconnected,
+        Connecting,
+        Connected,
+        Reconnecting,
+        Error
+    };
+    Q_ENUM(ConnectionStatus)
+
+    enum class CasterStatus { CasterConnected, CasterNoLocation, CasterError };
+    Q_ENUM(CasterStatus)
+
+    enum class MountpointFetchStatus {
+        FetchIdle,
+        FetchInProgress,
+        FetchSuccess,
+        FetchError
+    };
+    Q_ENUM(MountpointFetchStatus)
+
+    static constexpr int kMinReconnectMs = 1000;
+    static constexpr int kMaxReconnectMs = 30000;
+    static constexpr int kMaxReconnectAttempts = 100;
+    static constexpr int kSourceTableCacheTtlMs = 60000;
+
+    explicit NTRIPManager(QObject* parent = nullptr);
+    ~NTRIPManager() override;
+
+    static NTRIPManager* instance();
+
+    ConnectionStatus connectionStatus() const { return _connectionStatus; }
+    QString statusMessage() const { return _statusMessage; }
+    CasterStatus casterStatus() const { return _casterStatus; }
+    QString ggaSource() const { return _ggaSource; }
+    QmlObjectListModel* mountpointModel() const;
+    MountpointFetchStatus mountpointFetchStatus() const { return _mountpointFetchStatus; }
+    QString mountpointFetchError() const { return _mountpointFetchError; }
+    quint64 bytesReceived() const { return _bytesReceived; }
+    quint32 messagesReceived() const { return _messagesReceived; }
+    double dataRateBytesPerSec() const { return _dataRateBytesPerSec; }
+
+    Q_INVOKABLE void fetchMountpoints();
+    Q_INVOKABLE void selectMountpoint(const QString& mountpoint);
+
+    void startNTRIP();
+    void stopNTRIP();
+
+    static QByteArray makeGGA(const QGeoCoordinate& coord, double altitude_msl);
+
+signals:
+    void connectionStatusChanged();
+    void statusMessageChanged();
+    void casterStatusChanged(CasterStatus status);
+    void ggaSourceChanged();
+    void mountpointFetchStatusChanged();
+    void mountpointModelChanged();
+    void mountpointFetchErrorChanged();
+    void bytesReceivedChanged();
+    void messagesReceivedChanged();
+    void dataRateChanged();
+
+private:
+    void _tcpError(const QString& errorMsg);
+    void _rtcmDataReceived(const QByteArray& data);
+    void _onSettingChanged();
+    void _sendGGA();
+    void _scheduleReconnect();
+    void _setStatus(ConnectionStatus status, const QString& msg = {});
+
+    NTRIPTransportConfig _configFromSettings() const;
+    QPair<QGeoCoordinate, QString> _getBestPosition() const;
+
+    QTimer* _ggaTimer = nullptr;
+
+    ConnectionStatus _connectionStatus = ConnectionStatus::Disconnected;
+    QString _statusMessage;
+    QString _ggaSource;
+
+    NTRIPHttpTransport* _transport = nullptr;
+    RTCMMavlink* _rtcmMavlink = nullptr;
+    QTimer* _reconnectTimer = nullptr;
+    int _reconnectAttempts = 0;
+    bool _startStopBusy = false;
+
+    CasterStatus _casterStatus = CasterStatus::CasterError;
+
+    QUdpSocket* _udpSocket = nullptr;
+    QHostAddress _udpTargetAddress;
+    quint16 _udpTargetPort = 0;
+    bool _udpForwardEnabled = false;
+
+    NTRIPTransportConfig _runningConfig;
+    bool _runningUdpForward = false;
+    QString _runningUdpAddr;
+    quint16 _runningUdpPort = 0;
+
+    NTRIPSourceTableModel* _sourceTableModel = nullptr;
+    NTRIPSourceTableFetcher* _sourceTableFetcher = nullptr;
+    MountpointFetchStatus _mountpointFetchStatus = MountpointFetchStatus::FetchIdle;
+    QString _mountpointFetchError;
+
+    quint64 _bytesReceived = 0;
+    quint32 _messagesReceived = 0;
+    double _dataRateBytesPerSec = 0.0;
+    quint64 _dataRatePrevBytes = 0;
+    QTimer* _dataRateTimer = nullptr;
+
+    qint64 _sourceTableFetchedAtMs = 0;
+};
diff --git a/src/GPS/NTRIP/NTRIPSourceTable.cc b/src/GPS/NTRIP/NTRIPSourceTable.cc
new file mode 100644
index 000000000000..9439e50e455b
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPSourceTable.cc
@@ -0,0 +1,202 @@
+#include "NTRIPSourceTable.h"
+#include "QGCLoggingCategory.h"
+#include "QGCNetworkHelper.h"
+#include "QmlObjectListModel.h"
+
+#include <algorithm>
+#include <QtNetwork/QNetworkAccessManager>
+
+QGC_LOGGING_CATEGORY(NTRIPSourceTableLog, "GPS.NTRIPSourceTable")
+
+NTRIPMountpointModel* NTRIPMountpointModel::fromSourceTableLine(const QString& line, QObject* parent)
+{
+    const QStringList fields = line.split(';');
+    if (fields.size() < 18 || fields.at(0).trimmed().toUpper() != QStringLiteral("STR")) {
+        return nullptr;
+    }
+
+    auto* model = new NTRIPMountpointModel(parent);
+    model->_mountpoint     = fields.at(1).trimmed();
+    model->_identifier     = fields.at(2).trimmed();
+    model->_format         = fields.at(3).trimmed();
+    model->_formatDetails  = fields.at(4).trimmed();
+    model->_carrier        = fields.at(5).trimmed().toInt();
+    model->_navSystem      = fields.at(6).trimmed();
+    model->_network        = fields.at(7).trimmed();
+    model->_country        = fields.at(8).trimmed();
+    model->_latitude       = fields.at(9).trimmed().toDouble();
+    model->_longitude      = fields.at(10).trimmed().toDouble();
+    model->_nmea           = fields.at(11).trimmed() == QStringLiteral("1");
+    model->_solution       = fields.at(12).trimmed() == QStringLiteral("1");
+    model->_generator      = fields.at(13).trimmed();
+    model->_compression    = fields.at(14).trimmed();
+    model->_authentication = fields.at(15).trimmed();
+    model->_fee            = fields.at(16).trimmed() == QStringLiteral("Y");
+    model->_bitrate        = fields.at(17).trimmed().toInt();
+
+    return model;
+}
+
+void NTRIPMountpointModel::updateDistance(const QGeoCoordinate& from)
+{
+    if (!from.isValid() || (_latitude == 0.0 && _longitude == 0.0)) {
+        return;
+    }
+
+    const QGeoCoordinate mountCoord(_latitude, _longitude);
+    const double dist = from.distanceTo(mountCoord) / 1000.0;
+    if (qFuzzyCompare(_distanceKm, dist)) {
+        return;
+    }
+    _distanceKm = dist;
+    emit distanceKmChanged();
+}
+
+// ---------------------------------------------------------------------------
+// NTRIPSourceTableModel
+// ---------------------------------------------------------------------------
+
+NTRIPSourceTableModel::NTRIPSourceTableModel(QObject* parent)
+    : QObject(parent)
+    , _mountpoints(new QmlObjectListModel(this))
+{
+}
+
+int NTRIPSourceTableModel::count() const
+{
+    return _mountpoints ? _mountpoints->count() : 0;
+}
+
+void NTRIPSourceTableModel::parseSourceTable(const QString& raw)
+{
+    clear();
+
+    const QStringList lines = raw.split('\n');
+    for (const QString& line : lines) {
+        const QString trimmed = line.trimmed();
+        if (trimmed.isEmpty() || trimmed.startsWith(QStringLiteral("ENDSOURCETABLE"))) {
+            continue;
+        }
+        NTRIPMountpointModel* mp = NTRIPMountpointModel::fromSourceTableLine(trimmed, _mountpoints);
+        if (mp) {
+            _mountpoints->append(mp);
+        }
+    }
+
+    emit countChanged();
+}
+
+void NTRIPSourceTableModel::updateDistances(const QGeoCoordinate& from)
+{
+    if (!_mountpoints) {
+        return;
+    }
+    for (int i = 0; i < _mountpoints->count(); ++i) {
+        auto* mp = qobject_cast<NTRIPMountpointModel*>(_mountpoints->get(i));
+        if (mp) {
+            mp->updateDistance(from);
+        }
+    }
+    sortByDistance();
+}
+
+void NTRIPSourceTableModel::sortByDistance()
+{
+    if (!_mountpoints || _mountpoints->count() < 2) {
+        return;
+    }
+
+    QObjectList sorted = *_mountpoints->objectList();
+    std::sort(sorted.begin(), sorted.end(), [](QObject* a, QObject* b) {
+        auto* ma = qobject_cast<NTRIPMountpointModel*>(a);
+        auto* mb = qobject_cast<NTRIPMountpointModel*>(b);
+        if (!ma || !mb) return false;
+        const double da = ma->distanceKm();
+        const double db = mb->distanceKm();
+        if (da < 0 && db < 0) return false;
+        if (da < 0) return false;
+        if (db < 0) return true;
+        return da < db;
+    });
+    _mountpoints->swapObjectList(sorted);
+}
+
+void NTRIPSourceTableModel::clear()
+{
+    if (_mountpoints) {
+        _mountpoints->clearAndDeleteContents();
+        emit countChanged();
+    }
+}
+
+// ---------------------------------------------------------------------------
+// NTRIPSourceTableFetcher
+// ---------------------------------------------------------------------------
+
+NTRIPSourceTableFetcher::NTRIPSourceTableFetcher(const QString& host, int port,
+                                                   const QString& username, const QString& password,
+                                                   bool useTls,
+                                                   QObject* parent)
+    : QObject(parent)
+    , _host(host)
+    , _port(port)
+    , _username(username)
+    , _password(password)
+    , _useTls(useTls)
+{
+    _networkManager = QGCNetworkHelper::createNetworkManager(this);
+}
+
+void NTRIPSourceTableFetcher::fetch()
+{
+    QUrl url;
+    url.setScheme(_useTls ? QStringLiteral("https") : QStringLiteral("http"));
+    url.setHost(_host);
+    url.setPort(_port);
+    url.setPath(QStringLiteral("/"));
+
+    QGCNetworkHelper::RequestConfig config;
+    config.timeoutMs = kFetchTimeoutMs;
+    config.userAgent = QStringLiteral("QGC-NTRIP");
+    config.http2Allowed = false;
+    config.cacheEnabled = false;
+
+    QNetworkRequest request = QGCNetworkHelper::createRequest(url, config);
+    request.setRawHeader("Ntrip-Version", "Ntrip/2.0");
+    if (!_username.isEmpty() || !_password.isEmpty()) {
+        QGCNetworkHelper::setBasicAuth(request, _username, _password);
+    }
+
+    _reply = _networkManager->get(request);
+    connect(_reply, &QNetworkReply::finished, this, &NTRIPSourceTableFetcher::_onReplyFinished);
+}
+
+void NTRIPSourceTableFetcher::_onReplyFinished()
+{
+    if (!_reply) {
+        emit error(tr("No reply received"));
+        emit finished();
+        return;
+    }
+
+    const QString body = QString::fromUtf8(_reply->readAll());
+
+    if (_reply->error() != QNetworkReply::NoError && !body.contains(QStringLiteral("ENDSOURCETABLE"))) {
+        emit error(QGCNetworkHelper::errorMessage(_reply));
+        _reply->deleteLater();
+        _reply = nullptr;
+        emit finished();
+        return;
+    }
+    _reply->deleteLater();
+    _reply = nullptr;
+
+    if (!body.contains(QStringLiteral("ENDSOURCETABLE"))) {
+        emit error(tr("Response does not contain a valid source table"));
+        emit finished();
+        return;
+    }
+
+    emit sourceTableReceived(body);
+    emit finished();
+}
diff --git a/src/GPS/NTRIP/NTRIPSourceTable.h b/src/GPS/NTRIP/NTRIPSourceTable.h
new file mode 100644
index 000000000000..1804a1dd5849
--- /dev/null
+++ b/src/GPS/NTRIP/NTRIPSourceTable.h
@@ -0,0 +1,146 @@
+#pragma once
+
+#include <QtCore/QLoggingCategory>
+#include <QtCore/QObject>
+#include <QtNetwork/QNetworkReply>
+#include <QtPositioning/QGeoCoordinate>
+
+Q_DECLARE_LOGGING_CATEGORY(NTRIPSourceTableLog)
+
+class QmlObjectListModel;
+class QNetworkAccessManager;
+
+class NTRIPMountpointModel : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(QString mountpoint   READ mountpoint   CONSTANT)
+    Q_PROPERTY(QString identifier   READ identifier   CONSTANT)
+    Q_PROPERTY(QString format       READ format       CONSTANT)
+    Q_PROPERTY(QString formatDetails READ formatDetails CONSTANT)
+    Q_PROPERTY(int     carrier      READ carrier      CONSTANT)
+    Q_PROPERTY(QString navSystem    READ navSystem    CONSTANT)
+    Q_PROPERTY(QString network      READ network      CONSTANT)
+    Q_PROPERTY(QString country      READ country      CONSTANT)
+    Q_PROPERTY(double  latitude     READ latitude     CONSTANT)
+    Q_PROPERTY(double  longitude    READ longitude    CONSTANT)
+    Q_PROPERTY(bool    nmea         READ nmea         CONSTANT)
+    Q_PROPERTY(bool    solution     READ solution     CONSTANT)
+    Q_PROPERTY(QString generator    READ generator    CONSTANT)
+    Q_PROPERTY(QString compression  READ compression  CONSTANT)
+    Q_PROPERTY(QString authentication READ authentication CONSTANT)
+    Q_PROPERTY(bool    fee          READ fee          CONSTANT)
+    Q_PROPERTY(int     bitrate      READ bitrate      CONSTANT)
+    Q_PROPERTY(double  distanceKm   READ distanceKm   NOTIFY distanceKmChanged)
+
+public:
+    explicit NTRIPMountpointModel(QObject* parent = nullptr) : QObject(parent) {}
+
+    QString mountpoint()     const { return _mountpoint; }
+    QString identifier()     const { return _identifier; }
+    QString format()         const { return _format; }
+    QString formatDetails()  const { return _formatDetails; }
+    int     carrier()        const { return _carrier; }
+    QString navSystem()      const { return _navSystem; }
+    QString network()        const { return _network; }
+    QString country()        const { return _country; }
+    double  latitude()       const { return _latitude; }
+    double  longitude()      const { return _longitude; }
+    bool    nmea()           const { return _nmea; }
+    bool    solution()       const { return _solution; }
+    QString generator()      const { return _generator; }
+    QString compression()    const { return _compression; }
+    QString authentication() const { return _authentication; }
+    bool    fee()            const { return _fee; }
+    int     bitrate()        const { return _bitrate; }
+    double  distanceKm()     const { return _distanceKm; }
+
+    static NTRIPMountpointModel* fromSourceTableLine(const QString& line, QObject* parent = nullptr);
+    void updateDistance(const QGeoCoordinate& from);
+
+signals:
+    void distanceKmChanged();
+
+private:
+    QString _mountpoint;
+    QString _identifier;
+    QString _format;
+    QString _formatDetails;
+    int     _carrier = 0;
+    QString _navSystem;
+    QString _network;
+    QString _country;
+    double  _latitude = 0.0;
+    double  _longitude = 0.0;
+    bool    _nmea = false;
+    bool    _solution = false;
+    QString _generator;
+    QString _compression;
+    QString _authentication;
+    bool    _fee = false;
+    int     _bitrate = 0;
+    double  _distanceKm = -1.0;
+};
+
+// ---------------------------------------------------------------------------
+// NTRIPSourceTableModel
+// ---------------------------------------------------------------------------
+
+class NTRIPSourceTableModel : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(QmlObjectListModel* mountpoints READ mountpoints CONSTANT)
+    Q_PROPERTY(int count READ count NOTIFY countChanged)
+
+public:
+    explicit NTRIPSourceTableModel(QObject* parent = nullptr);
+
+    QmlObjectListModel* mountpoints() const { return _mountpoints; }
+    int count() const;
+
+    void parseSourceTable(const QString& raw);
+    void updateDistances(const QGeoCoordinate& from);
+    void sortByDistance();
+    void clear();
+
+signals:
+    void countChanged();
+
+private:
+    QmlObjectListModel* _mountpoints = nullptr;
+};
+
+// ---------------------------------------------------------------------------
+// NTRIPSourceTableFetcher
+// ---------------------------------------------------------------------------
+
+class NTRIPSourceTableFetcher : public QObject
+{
+    Q_OBJECT
+
+public:
+    static constexpr int kFetchTimeoutMs = 10000;
+
+    NTRIPSourceTableFetcher(const QString& host, int port,
+                            const QString& username, const QString& password,
+                            bool useTls = false,
+                            QObject* parent = nullptr);
+    ~NTRIPSourceTableFetcher() override = default;
+
+    void fetch();
+
+signals:
+    void sourceTableReceived(const QString& table);
+    void error(const QString& errorMsg);
+    void finished();
+
+private:
+    void _onReplyFinished();
+
+    QNetworkAccessManager* _networkManager = nullptr;
+    QNetworkReply* _reply = nullptr;
+    QString _host;
+    int _port;
+    QString _username;
+    QString _password;
+    bool _useTls = false;
+};
diff --git a/src/GPS/NTRIP/RTCMParser.cc b/src/GPS/NTRIP/RTCMParser.cc
new file mode 100644
index 000000000000..b0eaef98b1e8
--- /dev/null
+++ b/src/GPS/NTRIP/RTCMParser.cc
@@ -0,0 +1,97 @@
+#include "RTCMParser.h"
+
+RTCMParser::RTCMParser()
+{
+    reset();
+}
+
+void RTCMParser::reset()
+{
+    _state = WaitingForPreamble;
+    _messageLength = 0;
+    _bytesRead = 0;
+    _lengthBytesRead = 0;
+    _crcBytesRead = 0;
+}
+
+bool RTCMParser::addByte(uint8_t byte)
+{
+    switch (_state) {
+    case WaitingForPreamble:
+        if (byte == RTCM3_PREAMBLE) {
+            _buffer[0] = byte;
+            _bytesRead = 1;
+            _state = ReadingLength;
+            _lengthBytesRead = 0;
+        }
+        break;
+
+    case ReadingLength:
+        _lengthBytes[_lengthBytesRead++] = byte;
+        _buffer[_bytesRead++] = byte;
+        if (_lengthBytesRead == 2) {
+            _messageLength = ((_lengthBytes[0] & 0x03) << 8) | _lengthBytes[1];
+            if (_messageLength > 0 && _messageLength <= kMaxPayloadLength) {
+                _state = ReadingMessage;
+            } else {
+                reset();
+            }
+        }
+        break;
+
+    case ReadingMessage:
+        if (_bytesRead < kHeaderSize + kMaxPayloadLength) {
+            _buffer[_bytesRead++] = byte;
+        }
+        if (_bytesRead >= _messageLength + kHeaderSize) {
+            _state = ReadingCRC;
+            _crcBytesRead = 0;
+        }
+        break;
+
+    case ReadingCRC:
+        _crcBytes[_crcBytesRead++] = byte;
+        if (_crcBytesRead == kCrcSize) {
+            return true;
+        }
+        break;
+    }
+    return false;
+}
+
+uint16_t RTCMParser::messageId() const
+{
+    if (_messageLength >= 2) {
+        return ((_buffer[3] << 4) | (_buffer[4] >> 4)) & 0xFFF;
+    }
+    return 0;
+}
+
+uint32_t RTCMParser::crc24q(const uint8_t* data, size_t len)
+{
+    static constexpr uint32_t kPoly = 0x1864CFB;
+    uint32_t crc = 0;
+    for (size_t i = 0; i < len; i++) {
+        crc ^= static_cast<uint32_t>(data[i]) << 16;
+        for (int j = 0; j < 8; j++) {
+            crc <<= 1;
+            if (crc & 0x1000000) {
+                crc ^= kPoly;
+            }
+        }
+    }
+    return crc & 0xFFFFFF;
+}
+
+bool RTCMParser::validateCrc() const
+{
+    if (_messageLength == 0 || _bytesRead < kHeaderSize + _messageLength) {
+        return false;
+    }
+
+    const uint32_t computed = crc24q(_buffer, kHeaderSize + _messageLength);
+    const uint32_t received = (static_cast<uint32_t>(_crcBytes[0]) << 16) |
+                              (static_cast<uint32_t>(_crcBytes[1]) << 8) |
+                               static_cast<uint32_t>(_crcBytes[2]);
+    return computed == received;
+}
diff --git a/src/GPS/NTRIP/RTCMParser.h b/src/GPS/NTRIP/RTCMParser.h
new file mode 100644
index 000000000000..23dd6df05f1e
--- /dev/null
+++ b/src/GPS/NTRIP/RTCMParser.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+static constexpr uint8_t RTCM3_PREAMBLE = 0xD3;
+
+class RTCMParser
+{
+public:
+    RTCMParser();
+    void reset();
+    bool addByte(uint8_t byte);
+    uint8_t* message() { return _buffer; }
+    uint16_t messageLength() const { return _messageLength; }
+    uint16_t messageId() const;
+    const uint8_t* crcBytes() const { return _crcBytes; }
+    static constexpr int kCrcSize = 3;
+
+    bool validateCrc() const;
+    static uint32_t crc24q(const uint8_t* data, size_t len);
+
+private:
+    enum State {
+        WaitingForPreamble,
+        ReadingLength,
+        ReadingMessage,
+        ReadingCRC
+    };
+
+    static constexpr uint16_t kMaxPayloadLength = 1023;
+    static constexpr int kHeaderSize = 3;
+
+    State _state;
+    uint8_t _buffer[kHeaderSize + kMaxPayloadLength];
+    uint16_t _messageLength;
+    uint16_t _bytesRead;
+    uint16_t _lengthBytesRead;
+    uint8_t _lengthBytes[2];
+    uint16_t _crcBytesRead;
+    uint8_t _crcBytes[3];
+};
diff --git a/src/GPS/RTCMMavlink.cc b/src/GPS/RTCMMavlink.cc
index 1853608080ca..9ec7c75bdf3e 100644
--- a/src/GPS/RTCMMavlink.cc
+++ b/src/GPS/RTCMMavlink.cc
@@ -21,9 +21,7 @@ RTCMMavlink::~RTCMMavlink()
 
 void RTCMMavlink::RTCMDataUpdate(QByteArrayView data)
 {
-#ifdef QT_DEBUG
     _calculateBandwith(data.size());
-#endif
 
     mavlink_gps_rtcm_data_t gpsRtcmData{};
 
diff --git a/src/Gimbal/GimbalController.cc b/src/Gimbal/GimbalController.cc
index 2122369b41e6..8826cf9baf7b 100644
--- a/src/Gimbal/GimbalController.cc
+++ b/src/Gimbal/GimbalController.cc
@@ -39,7 +39,7 @@ void GimbalController::_initialConnectCompleted()
 void GimbalController::setActiveGimbal(Gimbal *gimbal)
 {
     if (!gimbal) {
-        qCDebug(GimbalControllerLog) << "Set active gimbal: attempted to set a nullptr, returning";
+        qCCritical(GimbalControllerLog) << "Set active gimbal: attempted to set a nullptr, returning";
         return;
     }
 
@@ -344,7 +344,7 @@ void GimbalController::_checkComplete(Gimbal &gimbal, GimbalPairId pairId)
 bool GimbalController::_tryGetGimbalControl()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "_tryGetGimbalControl: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "_tryGetGimbalControl: active gimbal is nullptr, returning";
         return false;
     }
 
@@ -375,7 +375,7 @@ bool GimbalController::_yawInVehicleFrame(uint32_t flags)
 void GimbalController::gimbalPitchStart(int direction)
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalPitchStart: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalPitchStart: active gimbal is nullptr, returning";
         return;
     }
 
@@ -388,7 +388,7 @@ void GimbalController::gimbalPitchStart(int direction)
 void GimbalController::gimbalYawStart(int direction)
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalYawStart: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalYawStart: active gimbal is nullptr, returning";
         return;
     }
 
@@ -400,7 +400,7 @@ void GimbalController::gimbalYawStart(int direction)
 void GimbalController::gimbalPitchStop()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalPitchStop: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalPitchStop: active gimbal is nullptr, returning";
         return;
     }
 
@@ -411,7 +411,7 @@ void GimbalController::gimbalPitchStop()
 void GimbalController::gimbalYawStop()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalYawStop: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalYawStop: active gimbal is nullptr, returning";
         return;
     }
 
@@ -422,7 +422,7 @@ void GimbalController::gimbalYawStop()
 void GimbalController::centerGimbal()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalYawStep: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalYawStep: active gimbal is nullptr, returning";
         return;
     }
     sendPitchBodyYaw(0.0, 0.0, true);
@@ -433,13 +433,13 @@ void GimbalController::gimbalOnScreenControl(float panPct, float tiltPct, bool c
     // Pan and tilt comes as +-(0-1)
 
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "gimbalOnScreenControl: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "gimbalOnScreenControl: active gimbal is nullptr, returning";
         return;
     }
 
     if (clickAndPoint) { // based on FOV
-        const float hFov = SettingsManager::instance()->gimbalControllerSettings()->CameraHFov()->rawValue().toFloat();
-        const float vFov = SettingsManager::instance()->gimbalControllerSettings()->CameraVFov()->rawValue().toFloat();
+        const float hFov = SettingsManager::instance()->gimbalControllerSettings()->cameraHFov()->rawValue().toFloat();
+        const float vFov = SettingsManager::instance()->gimbalControllerSettings()->cameraVFov()->rawValue().toFloat();
 
         const float panIncDesired = panPct * hFov * 0.5f;
         const float tiltIncDesired = tiltPct * vFov * 0.5f;
@@ -456,7 +456,7 @@ void GimbalController::gimbalOnScreenControl(float panPct, float tiltPct, bool c
         // Should send rate commands, but it seems for some reason it is not working on AP side.
         // Pitch works ok but yaw doesn't stop, it keeps like inertia, like if it was buffering the messages.
         // So we do a workaround with angle targets
-        const float maxSpeed = SettingsManager::instance()->gimbalControllerSettings()->CameraSlideSpeed()->rawValue().toFloat();
+        const float maxSpeed = SettingsManager::instance()->gimbalControllerSettings()->cameraSlideSpeed()->rawValue().toFloat();
 
         const float panIncDesired = panPct * maxSpeed * 0.1f;
         const float tiltIncDesired = tiltPct * maxSpeed * 0.1f;
@@ -686,7 +686,7 @@ void GimbalController::sendPitchYawFlags(uint32_t flags)
 void GimbalController::acquireGimbalControl()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "acquireGimbalControl: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "acquireGimbalControl: active gimbal is nullptr, returning";
         return;
     }
 
@@ -706,7 +706,7 @@ void GimbalController::acquireGimbalControl()
 void GimbalController::releaseGimbalControl()
 {
     if (!_activeGimbal) {
-        qCDebug(GimbalControllerLog) << "releaseGimbalControl: active gimbal is nullptr, returning";
+        qCCritical(GimbalControllerLog) << "releaseGimbalControl: active gimbal is nullptr, returning";
         return;
     }
 
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index b7e996aa7769..83f6409e7ba4 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -9,6 +9,7 @@
 #include "QmlObjectListModel.h"
 #include "SettingsManager.h"
 #include "Vehicle.h"
+#include "VehicleSupports.h"
 #include "JoystickManager.h"
 #include "MultiVehicleManager.h"
 
@@ -1001,8 +1002,8 @@ void Joystick::_handleAxis()
         }
 
         // Adjust throttle to 0:1 range
-        if (throttleModeCenterZero && vehicle->supportsThrottleModeCenterZero()) {
-            if (!vehicle->supportsNegativeThrust() || !negativeThrust) {
+        if (throttleModeCenterZero && vehicle->supports()->throttleModeCenterZero()) {
+            if (!vehicle->supports()->negativeThrust() || !negativeThrust) {
                 throttle = std::max(0.0f, throttle);
             }
         } else {
diff --git a/src/MAVLink/CMakeLists.txt b/src/MAVLink/CMakeLists.txt
index c31b7b55196d..5bf39bd94f07 100644
--- a/src/MAVLink/CMakeLists.txt
+++ b/src/MAVLink/CMakeLists.txt
@@ -12,6 +12,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         MAVLinkLib.h
         MAVLinkSigning.cc
         MAVLinkSigning.h
+        MAVLinkSigningKeys.cc
+        MAVLinkSigningKeys.h
         MAVLinkStreamConfig.cc
         MAVLinkStreamConfig.h
         QGCMAVLink.cc
diff --git a/src/MAVLink/ImageProtocolManager.cc b/src/MAVLink/ImageProtocolManager.cc
index fb60b80bb674..593e2e84ff72 100644
--- a/src/MAVLink/ImageProtocolManager.cc
+++ b/src/MAVLink/ImageProtocolManager.cc
@@ -1,6 +1,8 @@
 #include "ImageProtocolManager.h"
 #include "QGCLoggingCategory.h"
 
+#include <cstring>
+
 QGC_LOGGING_CATEGORY(ImageProtocolManagerLog, "MAVLink.ImageProtocolManager")
 
 ImageProtocolManager::ImageProtocolManager(QObject *parent)
@@ -49,6 +51,27 @@ void ImageProtocolManager::mavlinkMessageReceived(const mavlink_message_t &messa
         _imageBytes.clear();
         mavlink_msg_data_transmission_handshake_decode(&message, &_imageHandshake);
         qCDebug(ImageProtocolManagerLog) << QStringLiteral("DATA_TRANSMISSION_HANDSHAKE: type(%1) width(%2) height (%3)").arg(_imageHandshake.type).arg(_imageHandshake.width).arg(_imageHandshake.height);
+
+        // Validate handshake fields to prevent out-of-bounds writes on subsequent ENCAPSULATED_DATA
+        static constexpr uint32_t kMaxImageSize = 1u * 1024u * 1024u; // 1 MB upper bound (optical flow images are typically small grayscale frames)
+        if (_imageHandshake.size == 0 || _imageHandshake.payload == 0 || _imageHandshake.packets == 0) {
+            qCWarning(ImageProtocolManagerLog) << "DATA_TRANSMISSION_HANDSHAKE: Invalid field(s) - size:" << _imageHandshake.size
+                                               << "payload:" << _imageHandshake.payload << "packets:" << _imageHandshake.packets;
+            _imageHandshake = {};
+            break;
+        }
+        if (_imageHandshake.size > kMaxImageSize) {
+            qCWarning(ImageProtocolManagerLog) << "DATA_TRANSMISSION_HANDSHAKE: Image size exceeds limit. size:" << _imageHandshake.size;
+            _imageHandshake = {};
+            break;
+        }
+        if (_imageHandshake.payload > sizeof(mavlink_encapsulated_data_t::data)) {
+            qCWarning(ImageProtocolManagerLog) << "DATA_TRANSMISSION_HANDSHAKE: payload exceeds ENCAPSULATED_DATA data field size. payload:" << _imageHandshake.payload;
+            _imageHandshake = {};
+            break;
+        }
+
+        _imageBytes.resize(_imageHandshake.size, '\0');
         break;
     }
     case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
@@ -61,16 +84,17 @@ void ImageProtocolManager::mavlinkMessageReceived(const mavlink_message_t &messa
         mavlink_encapsulated_data_t encapsulatedData;
         mavlink_msg_encapsulated_data_decode(&message, &encapsulatedData);
 
-        uint32_t bytePosition = encapsulatedData.seqnr * _imageHandshake.payload;
+        const uint32_t bytePosition = static_cast<uint32_t>(encapsulatedData.seqnr) * _imageHandshake.payload;
         if (bytePosition >= _imageHandshake.size) {
             qCWarning(ImageProtocolManagerLog) << "ENCAPSULATED_DATA: seqnr is past end of image size. seqnr:" << encapsulatedData.seqnr << "_imageHandshake.size:" << _imageHandshake.size;
             break;
         }
 
-        for (uint8_t i = 0; i < _imageHandshake.payload; i++) {
-            _imageBytes[bytePosition] = encapsulatedData.data[i];
-            bytePosition++;
-        }
+        // Clamp the number of bytes to copy so we never write past the declared image size
+        const uint32_t bytesRemaining = _imageHandshake.size - bytePosition;
+        const uint32_t bytesToCopy = qMin(static_cast<uint32_t>(_imageHandshake.payload), bytesRemaining);
+
+        (void) memcpy(_imageBytes.data() + bytePosition, encapsulatedData.data, bytesToCopy);
 
         // We use the packets field to track completion
         _imageHandshake.packets--;
diff --git a/src/MAVLink/MAVLinkSigning.cc b/src/MAVLink/MAVLinkSigning.cc
index d9cd8794f8aa..b420ab8b2d9c 100644
--- a/src/MAVLink/MAVLinkSigning.cc
+++ b/src/MAVLink/MAVLinkSigning.cc
@@ -1,12 +1,18 @@
 #include "MAVLinkSigning.h"
+#include "MAVLinkSigningKeys.h"
 #include "QGCMAVLink.h"
-#include "DeviceInfo.h"
+#include "QmlObjectListModel.h"
 
+#include <QtCore/QCryptographicHash>
 #include <QtCore/QDateTime>
 
 namespace
 {
 
+// Per-channel cache of the last key name that successfully matched.
+// Empty means no cached hint. Avoids O(n) SHA-256 on every incoming signed packet.
+static QString s_channelKeyHint[MAVLINK_COMM_NUM_BUFFERS];
+
 mavlink_signing_t* _getChannelSigning(uint8_t channel)
 {
     mavlink_status_t* const status = mavlink_get_channel_status(channel);
@@ -22,16 +28,10 @@ mavlink_channel_t _getMessageChannel(const mavlink_message_t &message)
     return static_cast<mavlink_channel_t>(message.signature[0]);
 }
 
-void _setSigningKey(mavlink_signing_t *signing, QByteArrayView key, bool randomize = false)
+void _setSigningKey(mavlink_signing_t *signing, QByteArrayView key)
 {
-    if (randomize) {
-        const size_t key_size = sizeof(signing->secret_key) / 4;
-        uint32_t secret_key[key_size];
-        QRandomGenerator::global()->fillRange(secret_key, key_size);
-        (void) memcpy(signing->secret_key, secret_key, sizeof(signing->secret_key));
-    } else if (!key.isEmpty()) {
-        const QByteArray hash = QCryptographicHash::hash(key, QCryptographicHash::Sha256);
-        (void) memcpy(signing->secret_key, hash.constData(), sizeof(signing->secret_key));
+    if (!key.isEmpty() && key.size() >= static_cast<qsizetype>(sizeof(signing->secret_key))) {
+        (void) memcpy(signing->secret_key, key.constData(), sizeof(signing->secret_key));
     } else {
         (void) memset(signing->secret_key, 0, sizeof(signing->secret_key));
     }
@@ -50,7 +50,7 @@ void _setSigningTimestamp(mavlink_signing_t *signing)
 namespace MAVLinkSigning
 {
 
-bool secureConnectionAccceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id)
+bool secureConnectionAcceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id)
 {
     Q_UNUSED(status);
     Q_UNUSED(message_id);
@@ -58,7 +58,7 @@ bool secureConnectionAccceptUnsignedCallback(const mavlink_status_t *status, uin
     return true;
 }
 
-bool insecureConnectionAccceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id)
+bool insecureConnectionAcceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id)
 {
     Q_UNUSED(status);
 
@@ -85,6 +85,7 @@ bool initSigning(mavlink_channel_t channel, QByteArrayView key, mavlink_accept_u
     if (key.isEmpty()) {
         status->signing = nullptr;
         status->signing_streams = nullptr;
+        s_channelKeyHint[channel].clear();
     } else {
         static mavlink_signing_t s_signing[MAVLINK_COMM_NUM_BUFFERS];
         static mavlink_signing_streams_t s_signing_streams;
@@ -115,19 +116,112 @@ bool checkSigningLinkId(mavlink_channel_t channel, const mavlink_message_t &mess
     return (signing->link_id == _getMessageChannel(message));
 }
 
-/// Create a setup signing message for a target system.
-/// Assumes that signing has already been initialized for the channel.
-void createSetupSigning(mavlink_channel_t channel, mavlink_system_t target_system, mavlink_setup_signing_t &setup_signing)
+void createSetupSigning(mavlink_channel_t channel, mavlink_system_t target_system, QByteArrayView keyBytes, mavlink_setup_signing_t &setup_signing)
 {
     (void) memset(&setup_signing, 0, sizeof(setup_signing));
     setup_signing.target_system = target_system.sysid;
     setup_signing.target_component = target_system.compid;
 
+    if (!keyBytes.isEmpty() && keyBytes.size() >= static_cast<qsizetype>(sizeof(setup_signing.secret_key))) {
+        const mavlink_signing_t* const signing = _getChannelSigning(channel);
+        if (signing) {
+            setup_signing.initial_timestamp = signing->timestamp;
+        } else {
+            static const QDateTime offset_time = QDateTime(QDate(2015, 1, 1).startOfDay());
+            setup_signing.initial_timestamp = static_cast<uint64_t>(offset_time.msecsTo(QDateTime::currentDateTimeUtc())) * 100;
+        }
+        (void) memcpy(setup_signing.secret_key, keyBytes.constData(), sizeof(setup_signing.secret_key));
+    }
+}
+
+bool isSigningEnabled(mavlink_channel_t channel)
+{
     const mavlink_signing_t* const signing = _getChannelSigning(channel);
-    if (signing) {
-        setup_signing.initial_timestamp = signing->timestamp;
-        (void) memcpy(setup_signing.secret_key, signing->secret_key, sizeof(setup_signing.secret_key));
+    return (signing != nullptr);
+}
+
+void createDisableSigning(mavlink_system_t target_system, mavlink_setup_signing_t &setup_signing)
+{
+    (void) memset(&setup_signing, 0, sizeof(setup_signing));
+    setup_signing.target_system = target_system.sysid;
+    setup_signing.target_component = target_system.compid;
+}
+
+bool isMessageSigned(const mavlink_message_t &message)
+{
+    return (message.incompat_flags & MAVLINK_IFLAG_SIGNED) != 0;
+}
+
+bool verifySignature(QByteArrayView key, const mavlink_message_t &message)
+{
+    if (key.size() < 32) {
+        return false;
+    }
+
+    // Replicate the C library's signature computation:
+    //   SHA-256(secret_key + header_bytes + payload + CRC + link_id + timestamp)
+    // Then compare first 6 bytes with message.signature[7..12]
+
+    const uint8_t* header = reinterpret_cast<const uint8_t*>(&message.magic);
+    const char* payload = reinterpret_cast<const char*>(&message.payload64[0]);
+    const uint8_t* crc = reinterpret_cast<const uint8_t*>(payload + message.len);
+    const uint8_t* sig = message.signature; // [link_id(1), timestamp(6), hash(6)]
+
+    QCryptographicHash sha256(QCryptographicHash::Sha256);
+    sha256.addData(key.first(32));
+    sha256.addData(QByteArrayView(reinterpret_cast<const char*>(header), MAVLINK_NUM_HEADER_BYTES));
+    sha256.addData(QByteArrayView(payload, message.len));
+    sha256.addData(QByteArrayView(reinterpret_cast<const char*>(crc), 2));
+    sha256.addData(QByteArrayView(reinterpret_cast<const char*>(sig), 7)); // link_id + timestamp
+
+    const QByteArray hash = sha256.result();
+    return (memcmp(hash.constData(), sig + 7, 6) == 0);
+}
+
+QString tryDetectKey(mavlink_channel_t channel, const mavlink_message_t &message)
+{
+    if (!isMessageSigned(message)) {
+        return QString();
+    }
+
+    // If signing is already configured on this channel, the C library already verified it
+    if (isSigningEnabled(channel)) {
+        return QString();
+    }
+
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+    const auto* keys = signingKeys->keys();
+    const int keyCount = keys->count();
+
+    // Try the cached hint for this channel first
+    const QString& hintName = s_channelKeyHint[channel];
+    if (!hintName.isEmpty()) {
+        const QByteArray keyBytes = signingKeys->keyBytesByName(hintName);
+        if (!keyBytes.isEmpty() && verifySignature(keyBytes, message)) {
+            if (initSigning(channel, keyBytes, insecureConnectionAcceptUnsignedCallback)) {
+                qCInfo(QGCMAVLinkLog) << "Auto-detected signing key" << hintName << "on channel" << channel << "(cached hint)";
+                return hintName;
+            }
+        }
+    }
+
+    // Fall back to trying all keys
+    for (int i = 0; i < keyCount; ++i) {
+        const QString name = signingKeys->keyNameAt(i);
+        if (name == hintName) {
+            continue; // already tried above
+        }
+        const QByteArray keyBytes = signingKeys->keyBytesAt(i);
+        if (verifySignature(keyBytes, message)) {
+            if (initSigning(channel, keyBytes, insecureConnectionAcceptUnsignedCallback)) {
+                s_channelKeyHint[channel] = name;
+                qCInfo(QGCMAVLinkLog) << "Auto-detected signing key" << name << "on channel" << channel;
+                return name;
+            }
+        }
     }
+
+    return QString();
 }
 
 } // namespace MAVLinkSigning
diff --git a/src/MAVLink/MAVLinkSigning.h b/src/MAVLink/MAVLinkSigning.h
index 4f5947138d35..75b161c5e076 100644
--- a/src/MAVLink/MAVLinkSigning.h
+++ b/src/MAVLink/MAVLinkSigning.h
@@ -1,15 +1,31 @@
 #pragma once
 
 #include <QtCore/QObject>
+#include <QtCore/QByteArray>
 #include <QtCore/QByteArrayView>
 
 #include "MAVLinkLib.h"
 
 namespace MAVLinkSigning
 {
-    bool secureConnectionAccceptUnsignedCallback(const mavlink_status_t *s0tatus, uint32_t message_id);
-    bool insecureConnectionAccceptUnsignedCallback(const mavlink_status_t *s0tatus, uint32_t message_id);
+    bool secureConnectionAcceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id);
+    bool insecureConnectionAcceptUnsignedCallback(const mavlink_status_t *status, uint32_t message_id);
     bool initSigning(mavlink_channel_t channel, QByteArrayView key, mavlink_accept_unsigned_t callback);
     bool checkSigningLinkId(mavlink_channel_t channel, const mavlink_message_t &message);
-    void createSetupSigning(mavlink_channel_t channel, mavlink_system_t target_system, mavlink_setup_signing_t &setup_signing);
+    bool isSigningEnabled(mavlink_channel_t channel);
+
+    /// Create a SETUP_SIGNING payload using the given key bytes directly.
+    void createSetupSigning(mavlink_channel_t channel, mavlink_system_t target_system, QByteArrayView keyBytes, mavlink_setup_signing_t &setup_signing);
+    void createDisableSigning(mavlink_system_t target_system, mavlink_setup_signing_t &setup_signing);
+
+    /// Returns true if the message has a MAVLink2 signature.
+    bool isMessageSigned(const mavlink_message_t &message);
+
+    /// Verify a key against a signed message's signature.
+    bool verifySignature(QByteArrayView key, const mavlink_message_t &message);
+
+    /// Try all stored signing keys against a signed message. If a match is found,
+    /// configure signing on the channel with that key.
+    /// Returns the matching key name, or empty string if no match.
+    QString tryDetectKey(mavlink_channel_t channel, const mavlink_message_t &message);
 }; // namespace MAVLinkSigning
diff --git a/src/MAVLink/MAVLinkSigningKeys.cc b/src/MAVLink/MAVLinkSigningKeys.cc
new file mode 100644
index 000000000000..a33a20f2946c
--- /dev/null
+++ b/src/MAVLink/MAVLinkSigningKeys.cc
@@ -0,0 +1,170 @@
+#include "MAVLinkSigningKeys.h"
+#include "QGCLoggingCategory.h"
+#include "QmlObjectListModel.h"
+#include "MultiVehicleManager.h"
+#include "Vehicle.h"
+
+#include <QtCore/QCryptographicHash>
+#include <QtCore/QSettings>
+
+QGC_LOGGING_CATEGORY(MAVLinkSigningKeysLog, "MAVLink.SigningKeys")
+
+Q_APPLICATION_STATIC(MAVLinkSigningKeys, _mavlinkSigningKeysInstance);
+
+// ── MAVLinkSigningKey ──────────────────────────────────────────────────────
+
+MAVLinkSigningKey::MAVLinkSigningKey(const QString& name, const QByteArray& keyBytes, QObject* parent)
+    : QObject(parent)
+    , _name(name)
+    , _keyBytes(keyBytes)
+{
+}
+
+// ── MAVLinkSigningKeys ─────────────────────────────────────────────────────
+
+MAVLinkSigningKeys* MAVLinkSigningKeys::instance()
+{
+    return _mavlinkSigningKeysInstance();
+}
+
+MAVLinkSigningKeys::MAVLinkSigningKeys(QObject* parent)
+    : QObject(parent)
+    , _keys(new QmlObjectListModel(this))
+{
+    _load();
+
+    auto* mvm = MultiVehicleManager::instance();
+    connect(mvm, &MultiVehicleManager::vehicleAdded, this, &MAVLinkSigningKeys::_connectVehicle);
+    connect(mvm, &MultiVehicleManager::vehicleRemoved, this, &MAVLinkSigningKeys::_disconnectVehicle);
+
+    // Wire any vehicles that already exist (in case singleton was created late)
+    for (int i = 0; i < mvm->vehicles()->count(); ++i) {
+        _connectVehicle(mvm->vehicles()->value<Vehicle*>(i));
+    }
+}
+
+MAVLinkSigningKeys::~MAVLinkSigningKeys()
+{
+}
+
+bool MAVLinkSigningKeys::isKeyInUse(const QString& name) const
+{
+    auto* mvm = MultiVehicleManager::instance();
+    for (int i = 0; i < mvm->vehicles()->count(); ++i) {
+        const auto* vehicle = mvm->vehicles()->value<Vehicle*>(i);
+        if (vehicle && vehicle->mavlinkSigningKeyName() == name) {
+            return true;
+        }
+    }
+    return false;
+}
+
+void MAVLinkSigningKeys::_connectVehicle(Vehicle* vehicle)
+{
+    connect(vehicle, &Vehicle::mavlinkSigningChanged, this, &MAVLinkSigningKeys::keyUsageChanged);
+    emit keyUsageChanged();
+}
+
+void MAVLinkSigningKeys::_disconnectVehicle(Vehicle* vehicle)
+{
+    disconnect(vehicle, &Vehicle::mavlinkSigningChanged, this, &MAVLinkSigningKeys::keyUsageChanged);
+    emit keyUsageChanged();
+}
+
+QByteArray MAVLinkSigningKeys::keyBytesAt(int index) const
+{
+    if (index >= 0 && index < _keys->count()) {
+        return _keys->value<MAVLinkSigningKey*>(index)->keyBytes();
+    }
+    return QByteArray();
+}
+
+QString MAVLinkSigningKeys::keyNameAt(int index) const
+{
+    if (index >= 0 && index < _keys->count()) {
+        return _keys->value<MAVLinkSigningKey*>(index)->name();
+    }
+    return QString();
+}
+
+QByteArray MAVLinkSigningKeys::keyBytesByName(const QString& name) const
+{
+    for (int i = 0; i < _keys->count(); ++i) {
+        const auto* key = _keys->value<MAVLinkSigningKey*>(i);
+        if (key->name() == name) {
+            return key->keyBytes();
+        }
+    }
+    return QByteArray();
+}
+
+void MAVLinkSigningKeys::addKey(const QString& name, const QString& passphrase)
+{
+    if (name.isEmpty() || passphrase.isEmpty()) {
+        qCWarning(MAVLinkSigningKeysLog) << "Name and passphrase must not be empty";
+        return;
+    }
+
+    // Check for duplicate name
+    for (int i = 0; i < _keys->count(); ++i) {
+        if (_keys->value<MAVLinkSigningKey*>(i)->name() == name) {
+            qCWarning(MAVLinkSigningKeysLog) << "Key with name already exists:" << name;
+            return;
+        }
+    }
+
+    const QByteArray hash = QCryptographicHash::hash(passphrase.toUtf8(), QCryptographicHash::Sha256);
+
+    auto* key = new MAVLinkSigningKey(name, hash, _keys);
+    _keys->append(key);
+
+    _save();
+    emit keysChanged();
+}
+
+void MAVLinkSigningKeys::removeKey(int index)
+{
+    if (index < 0 || index >= _keys->count()) {
+        return;
+    }
+
+    _keys->removeAt(index)->deleteLater();
+    _save();
+    emit keysChanged();
+}
+
+void MAVLinkSigningKeys::_save()
+{
+    QSettings settings;
+    settings.beginGroup(kSettingsGroup);
+
+    settings.beginWriteArray(kKeysArrayKey);
+    for (int i = 0; i < _keys->count(); ++i) {
+        settings.setArrayIndex(i);
+        const auto* key = _keys->value<MAVLinkSigningKey*>(i);
+        settings.setValue(kNameKey, key->name());
+        settings.setValue(kKeyBytesKey, key->keyBytes().toHex());
+    }
+    settings.endArray();
+
+    settings.endGroup();
+}
+
+void MAVLinkSigningKeys::_load()
+{
+    QSettings settings;
+    settings.beginGroup(kSettingsGroup);
+
+    const int count = settings.beginReadArray(kKeysArrayKey);
+    for (int i = 0; i < count; ++i) {
+        settings.setArrayIndex(i);
+        const QString name = settings.value(kNameKey).toString();
+        const QByteArray keyBytes = QByteArray::fromHex(settings.value(kKeyBytesKey).toByteArray());
+        if (!name.isEmpty() && keyBytes.size() == 32) {
+            _keys->append(new MAVLinkSigningKey(name, keyBytes, _keys));
+        }
+    }
+    settings.endArray();
+
+    settings.endGroup();
+}
diff --git a/src/MAVLink/MAVLinkSigningKeys.h b/src/MAVLink/MAVLinkSigningKeys.h
new file mode 100644
index 000000000000..d76ed11bb658
--- /dev/null
+++ b/src/MAVLink/MAVLinkSigningKeys.h
@@ -0,0 +1,83 @@
+#pragma once
+
+#include <QtCore/QByteArray>
+#include <QtCore/QObject>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+class QmlObjectListModel;
+class Vehicle;
+
+/// A single named signing key entry
+class MAVLinkSigningKey : public QObject
+{
+    Q_OBJECT
+    QML_ELEMENT
+    QML_UNCREATABLE("")
+
+    Q_PROPERTY(QString name     READ name     CONSTANT)
+
+public:
+    explicit MAVLinkSigningKey(const QString& name, const QByteArray& keyBytes, QObject* parent = nullptr);
+
+    QString    name()     const { return _name; }
+    QByteArray keyBytes() const { return _keyBytes; }
+
+private:
+    QString    _name;
+    QByteArray _keyBytes; // 32-byte SHA-256 hash
+};
+
+/// Manages the collection of named MAVLink signing keys.
+/// There is no "active key" concept. Keys are stored as a bag. The correct key
+/// for each vehicle is auto-detected from incoming signed packets.
+class MAVLinkSigningKeys : public QObject
+{
+    Q_OBJECT
+    QML_ANONYMOUS
+
+    Q_PROPERTY(QmlObjectListModel* keys READ keys CONSTANT)
+
+public:
+    static MAVLinkSigningKeys* instance();
+
+    explicit MAVLinkSigningKeys(QObject* parent = nullptr);
+    ~MAVLinkSigningKeys() override;
+
+    QmlObjectListModel* keys() const { return _keys; }
+
+    /// Add a new named key. The passphrase is SHA-256 hashed; only the hash is stored.
+    Q_INVOKABLE void addKey(const QString& name, const QString& passphrase);
+
+    /// Remove a key by index
+    Q_INVOKABLE void removeKey(int index);
+
+    /// Returns true if any connected vehicle is using the key with the given name
+    Q_INVOKABLE bool isKeyInUse(const QString& name) const;
+
+    /// Returns the key bytes for a key at the given index, or empty if invalid
+    QByteArray keyBytesAt(int index) const;
+
+    /// Returns the key bytes for the key with the given name, or empty if not found
+    QByteArray keyBytesByName(const QString& name) const;
+
+    /// Returns the key name at the given index, or empty if invalid
+    QString keyNameAt(int index) const;
+
+signals:
+    void keysChanged();
+    void keyUsageChanged();
+
+private:
+    void _save();
+    void _load();
+    void _connectVehicle(Vehicle* vehicle);
+    void _disconnectVehicle(Vehicle* vehicle);
+
+    QmlObjectListModel* _keys = nullptr;
+
+    static constexpr const char* kSettingsGroup = "MAVLinkSigningKeys";
+    static constexpr const char* kKeysArrayKey  = "keys";
+    static constexpr const char* kNameKey       = "name";
+    static constexpr const char* kKeyBytesKey   = "keyBytes";
+};
+
diff --git a/src/MissionManager/CMakeLists.txt b/src/MissionManager/CMakeLists.txt
index 3a86a95c481b..5c2d25c40b94 100644
--- a/src/MissionManager/CMakeLists.txt
+++ b/src/MissionManager/CMakeLists.txt
@@ -37,6 +37,9 @@ target_sources(${CMAKE_PROJECT_NAME}
         MissionCommandUIInfo.h
         MissionController.cc
         MissionController.h
+        MissionFlightStatus.h
+        MissionFlightStatusCalculator.cc
+        MissionFlightStatusCalculator.h
         MissionItem.cc
         MissionItem.h
         MissionManager.cc
diff --git a/src/MissionManager/CameraCalc.cc b/src/MissionManager/CameraCalc.cc
index 17fe3c72bf57..78522a0b238f 100644
--- a/src/MissionManager/CameraCalc.cc
+++ b/src/MissionManager/CameraCalc.cc
@@ -8,7 +8,7 @@
 
 CameraCalc::CameraCalc(PlanMasterController* masterController, const QString& settingsGroup, QObject* parent)
     : CameraSpec                    (settingsGroup, parent)
-    , _distanceMode                 (masterController->missionController()->globalAltitudeModeDefault())
+    , _distanceMode                 (masterController->missionController()->globalAltitudeFrameDefault())
     , _knownCameraList              (masterController->controllerVehicle()->staticCameraList())
     , _metaDataMap                  (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CameraCalc.FactMetaData.json"), this))
     , _cameraNameFact               (settingsGroup, _metaDataMap[cameraNameName])
@@ -110,9 +110,9 @@ void CameraCalc::_cameraNameChanged(void)
     }
 
     _recalcTriggerDistance();
-    if (!isManualCamera() && distanceMode() == QGroundControlQmlGlobal::AltitudeModeAbsolute) {
+    if (!isManualCamera() && distanceMode() == QGroundControlQmlGlobal::AltitudeFrameAbsolute) {
         // Manual grids support absolute alts whereas nothing else does. Make sure we are not left in absolute
-        setDistanceMode(QGroundControlQmlGlobal::AltitudeModeRelative);
+        setDistanceMode(QGroundControlQmlGlobal::AltitudeFrameRelative);
     }
 }
 
@@ -203,11 +203,11 @@ bool CameraCalc::load(const QJsonObject& originalJson, bool deprecatedFollowTerr
     if (version == 1) {
         // Version 1->2 differences:
         //  - _jsonDistanceToSurfaceRelativeKeyDeprecated changed to distanceMode
-        //  - deprecatedFollowTerrain value was loaded from upper level callers and represents AltitudeModeCalcAboveTerrain. AtitudeModeTerrainFrame was not supported yet.
+        //  - deprecatedFollowTerrain value was loaded from upper level callers and represents AltitudeFrameCalcAboveTerrain. AltitudeFrameTerrain was not supported yet.
         if (deprecatedFollowTerrain) {
-            json[distanceModeName] = QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain;
+            json[distanceModeName] = QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain;
         } else {
-            json[distanceModeName] = json[_jsonDistanceToSurfaceRelativeKeyDeprecated].toBool() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
+            json[distanceModeName] = json[_jsonDistanceToSurfaceRelativeKeyDeprecated].toBool() ? QGroundControlQmlGlobal::AltitudeFrameRelative : QGroundControlQmlGlobal::AltitudeFrameAbsolute;
         }
         json.remove(_jsonDistanceToSurfaceRelativeKeyDeprecated);
         version = 2;
@@ -235,7 +235,7 @@ bool CameraCalc::load(const QJsonObject& originalJson, bool deprecatedFollowTerr
     QString canonicalCameraName = _validCanonicalCameraName(json[cameraNameName].toString());
     _cameraNameFact.setRawValue(canonicalCameraName);
 
-    setDistanceMode(static_cast<QGroundControlQmlGlobal::AltMode>(json[distanceModeName].toInt()));
+    setDistanceMode(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(json[distanceModeName].toInt()));
 
     _adjustedFootprintSideFact.setRawValue      (json[adjustedFootprintSideName].toDouble());
     _adjustedFootprintFrontalFact.setRawValue   (json[adjustedFootprintFrontalName].toDouble());
@@ -293,10 +293,10 @@ QString CameraCalc::xlatManualCameraName(void)
     return tr("Manual (no camera specs)");
 }
 
-void CameraCalc::setDistanceMode(QGroundControlQmlGlobal::AltMode altMode)
+void CameraCalc::setDistanceMode(QGroundControlQmlGlobal::AltitudeFrame altFrame)
 {
-    if (altMode != _distanceMode) {
-        _distanceMode = altMode;
+    if (altFrame != _distanceMode) {
+        _distanceMode = altFrame;
         emit distanceModeChanged(_distanceMode);
     }
 }
diff --git a/src/MissionManager/CameraCalc.h b/src/MissionManager/CameraCalc.h
index 2308e3177f13..054297ceef4c 100644
--- a/src/MissionManager/CameraCalc.h
+++ b/src/MissionManager/CameraCalc.h
@@ -38,7 +38,7 @@ class CameraCalc : public CameraSpec
     //  grid altitude mode -    distanceMode
     //  trigger distance -      adjustedFootprintFrontal
     //  transect spacing -      adjustedFootprintSide
-    Q_PROPERTY(QGroundControlQmlGlobal::AltMode distanceMode READ distanceMode WRITE setDistanceMode NOTIFY distanceModeChanged)
+    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame distanceMode READ distanceMode WRITE setDistanceMode NOTIFY distanceModeChanged)
 
     // The following values are calculated from the camera properties
     Q_PROPERTY(double imageFootprintSide    READ imageFootprintSide     NOTIFY imageFootprintSideChanged)       ///< Size of image size side in meters
@@ -69,9 +69,9 @@ class CameraCalc : public CameraSpec
     bool    isCustomCamera              (void) const { return _cameraNameFact.rawValue().toString() == canonicalCustomCameraName(); }
     double  imageFootprintSide          (void) const { return _imageFootprintSide; }
     double  imageFootprintFrontal       (void) const { return _imageFootprintFrontal; }
-    QGroundControlQmlGlobal::AltMode distanceMode(void) const { return _distanceMode; }
+    QGroundControlQmlGlobal::AltitudeFrame distanceMode(void) const { return _distanceMode; }
 
-    void setDistanceMode                (QGroundControlQmlGlobal::AltMode altMode);
+    void setDistanceMode                (QGroundControlQmlGlobal::AltitudeFrame altFrame);
     void setCameraBrand                 (const QString& cameraBrand);
     void setCameraModel                 (const QString& cameraModel);
 
@@ -93,7 +93,7 @@ class CameraCalc : public CameraSpec
 signals:
     void imageFootprintSideChanged          (double imageFootprintSide);
     void imageFootprintFrontalChanged       (double imageFootprintFrontal);
-    void distanceModeChanged                (int altMode);
+    void distanceModeChanged                (int altFrame);
     void isManualCameraChanged              (void);
     void isCustomCameraChanged              (void);
     void cameraBrandChanged                 (void);
@@ -116,7 +116,7 @@ private slots:
     QString                             _cameraModel;
     QStringList                         _cameraBrandList;
     QStringList                         _cameraModelList;
-    QGroundControlQmlGlobal::AltMode    _distanceMode               = QGroundControlQmlGlobal::AltitudeModeRelative;
+    QGroundControlQmlGlobal::AltitudeFrame    _distanceMode               = QGroundControlQmlGlobal::AltitudeFrameRelative;
     double                              _imageFootprintSide         = 0;
     double                              _imageFootprintFrontal      = 0;
     QVariantList                        _knownCameraList;
diff --git a/src/MissionManager/CorridorScanComplexItem.cc b/src/MissionManager/CorridorScanComplexItem.cc
index 8a64cb7e5555..91c748cb09d5 100644
--- a/src/MissionManager/CorridorScanComplexItem.cc
+++ b/src/MissionManager/CorridorScanComplexItem.cc
@@ -18,7 +18,7 @@ CorridorScanComplexItem::CorridorScanComplexItem(PlanMasterController* masterCon
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CorridorScan.SettingsGroup.json"), this))
     , _corridorWidthFact        (settingsGroup, _metaDataMap[corridorWidthName])
 {
-    _editorQml = "qrc:/qml/QGroundControl/Controls/CorridorScanEditor.qml";
+    _editorQml = "qrc:/qml/QGroundControl/PlanView/CorridorScanEditor.qml";
 
     // We override the altitude to the mission default
     if (_cameraCalc.isManualCamera() || !_cameraCalc.valueSetIsDistance()->rawValue().toBool()) {
@@ -154,6 +154,25 @@ bool CorridorScanComplexItem::specifiesCoordinate(void) const
     return _corridorPolyline.count() > 1;
 }
 
+void CorridorScanComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (!coordinate.isValid() || !_entryCoordinate.isValid() || _corridorPolyline.count() < 2) {
+        return;
+    }
+
+    const double distanceMeters = _entryCoordinate.distanceTo(coordinate);
+    const double azimuthDegrees = _entryCoordinate.azimuthTo(coordinate);
+    const QList<QGeoCoordinate> vertices = _corridorPolyline.coordinateList();
+
+    QList<QGeoCoordinate> translatedVertices;
+    translatedVertices.reserve(vertices.count());
+    for (const QGeoCoordinate& vertex: vertices) {
+        translatedVertices.append(vertex.atDistanceAndAzimuth(distanceMeters, azimuthDegrees));
+    }
+
+    _corridorPolyline.setPath(translatedVertices);
+}
+
 int CorridorScanComplexItem::_calcTransectCount(void) const
 {
     double fullWidth = _corridorWidthFact.rawValue().toDouble();
diff --git a/src/MissionManager/CorridorScanComplexItem.h b/src/MissionManager/CorridorScanComplexItem.h
index 4030db4480fa..c061070ad56f 100644
--- a/src/MissionManager/CorridorScanComplexItem.h
+++ b/src/MissionManager/CorridorScanComplexItem.h
@@ -52,6 +52,7 @@ class CorridorScanComplexItem : public TransectStyleComplexItem
     QString             commandDescription  (void) const final { return tr("Corridor Scan"); }
     QString             commandName         (void) const final { return tr("Corridor Scan"); }
     QString             abbreviation        (void) const final { return tr("C"); }
+    void                setCoordinate       (const QGeoCoordinate& coordinate) final;
     ReadyForSaveState   readyForSaveState   (void) const final;
     double              additionalTimeDelay (void) const final { return 0; }
 
diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc
index f65cf7ecb7c9..58c2c325463a 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.cc
+++ b/src/MissionManager/FixedWingLandingComplexItem.cc
@@ -29,7 +29,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* m
     , _stopTakingVideoFact      (settingsGroup, _metaDataMap[stopTakingVideoName])
     , _valueSetIsDistanceFact   (settingsGroup, _metaDataMap[valueSetIsDistanceName])
 {
-    _editorQml      = "qrc:/qml/QGroundControl/Controls/FWLandingPatternEditor.qml";
+    _editorQml      = "qrc:/qml/QGroundControl/PlanView/FWLandingPatternEditor.qml";
     _isIncomplete   = false;
 
     _init();
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
index 799aedbdb82b..8e60144206a8 100644
--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -215,9 +215,9 @@ void GeoFenceController::removeAll(void)
 void GeoFenceController::removeAllFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while offline";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while syncInProgress";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while syncInProgress";
     } else {
         _geoFenceManager->removeAll();
     }
@@ -226,9 +226,9 @@ void GeoFenceController::removeAllFromVehicle(void)
 void GeoFenceController::loadFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while offline";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while syncInProgress";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while syncInProgress";
     } else {
         _itemsRequested = true;
         _geoFenceManager->loadFromVehicle();
@@ -238,9 +238,9 @@ void GeoFenceController::loadFromVehicle(void)
 void GeoFenceController::sendToVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while offline";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while syncInProgress";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle";
         _geoFenceManager->sendToVehicle(_breachReturnPoint, _polygons, _circles);
@@ -357,7 +357,7 @@ bool GeoFenceController::showPlanFromManagerVehicle(void)
 {
     qCDebug(GeoFenceControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
     if (_masterController->offline()) {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::showPlanFromManagerVehicle called while offline";
+        qCCritical(GeoFenceControllerLog) << "GeoFenceController::showPlanFromManagerVehicle called while offline";
         return true;    // stops further propagation of showPlanFromManagerVehicle due to error
     } else {
         _itemsRequested = true;
diff --git a/src/MissionManager/LandingComplexItem.cc b/src/MissionManager/LandingComplexItem.cc
index a84ba3b85fb8..98aad80b41a9 100644
--- a/src/MissionManager/LandingComplexItem.cc
+++ b/src/MissionManager/LandingComplexItem.cc
@@ -41,6 +41,12 @@ void LandingComplexItem::_init(void)
 
     connect(useLoiterToAlt(),           &Fact::rawValueChanged,                             this, &LandingComplexItem::_recalcFromApproachModeChange);
 
+    connect(this,                       &LandingComplexItem::finalApproachCoordinateChanged,this, &LandingComplexItem::entryCoordinateChanged);
+    connect(this,                       &LandingComplexItem::landingCoordinateChanged,      this, &LandingComplexItem::exitCoordinateChanged);
+
+    // The main coordinate is aliased to the exit (landing point) because that's the core of this complex item and the master for all transformations
+    connect(this,                       &LandingComplexItem::exitCoordinateChanged,         this, &LandingComplexItem::coordinateChanged);
+
     connect(this,                       &LandingComplexItem::finalApproachCoordinateChanged,this, &LandingComplexItem::_recalcFromCoordinateChange);
     connect(this,                       &LandingComplexItem::landingCoordinateChanged,      this, &LandingComplexItem::_recalcFromCoordinateChange);
 
@@ -109,11 +115,9 @@ void LandingComplexItem::setLandingCoordinate(const QGeoCoordinate& coordinate)
     if (coordinate != _landingCoordinate) {
         _landingCoordinate = coordinate;
         if (_landingCoordSet) {
-            emit exitCoordinateChanged(coordinate);
             emit landingCoordinateChanged(coordinate);
         } else {
             _ignoreRecalcSignals = true;
-            emit exitCoordinateChanged(coordinate);
             emit landingCoordinateChanged(coordinate);
             _ignoreRecalcSignals = false;
             _landingCoordSet = true;
@@ -127,7 +131,6 @@ void LandingComplexItem::setFinalApproachCoordinate(const QGeoCoordinate& coordi
 {
     if (coordinate != _finalApproachCoordinate) {
         _finalApproachCoordinate = coordinate;
-        emit coordinateChanged(coordinate);
         emit finalApproachCoordinateChanged(coordinate);
     }
 }
@@ -176,7 +179,6 @@ void LandingComplexItem::_recalcFromHeadingAndDistanceChange(void)
         _ignoreRecalcSignals = true;
         emit slopeStartCoordinateChanged(_slopeStartCoordinate);
         emit finalApproachCoordinateChanged(_finalApproachCoordinate);
-        emit coordinateChanged(_finalApproachCoordinate);
         _calcGlideSlope();
         _ignoreRecalcSignals = false;
     }
@@ -219,7 +221,6 @@ void LandingComplexItem::_recalcFromRadiusChange(void)
 
             _ignoreRecalcSignals = true;
             emit finalApproachCoordinateChanged(_finalApproachCoordinate);
-            emit coordinateChanged(_finalApproachCoordinate);
             _ignoreRecalcSignals = false;
         }
     }
@@ -252,7 +253,6 @@ void LandingComplexItem::_recalcFromApproachModeChange(void)
 
         _ignoreRecalcSignals = true;
         emit finalApproachCoordinateChanged(_finalApproachCoordinate);
-        emit coordinateChanged(_finalApproachCoordinate);
         _calcGlideSlope();
         _ignoreRecalcSignals = false;
     }
@@ -656,6 +656,11 @@ void LandingComplexItem::setSequenceNumber(int sequenceNumber)
     }
 }
 
+double LandingComplexItem::editableAlt() const
+{
+    return finalApproachAltitude()->rawValue().toDouble();
+}
+
 double LandingComplexItem::amslEntryAlt(void) const
 {
     return finalApproachAltitude()->rawValue().toDouble() + (_altitudesAreRelative ? _missionController->plannedHomePosition().altitude() : 0);
@@ -676,7 +681,6 @@ void LandingComplexItem::_updateFinalApproachCoodinateAltitudeFromFact(void)
 {
     _finalApproachCoordinate.setAltitude(finalApproachAltitude()->rawValue().toDouble());
     emit finalApproachCoordinateChanged(_finalApproachCoordinate);
-    emit coordinateChanged(_finalApproachCoordinate);
 }
 
 void LandingComplexItem::_updateLandingCoodinateAltitudeFromFact(void)
@@ -822,7 +826,9 @@ bool LandingComplexItem::_load(const QJsonObject& complexObject, int sequenceNum
     _ignoreRecalcSignals    = false;
 
     _recalcFromCoordinateChange();
-    emit coordinateChanged(this->coordinate());    // This will kick off terrain query
+    // These will kick off terrain query
+    emit finalApproachCoordinateChanged(_finalApproachCoordinate);
+    emit landingCoordinateChanged(_landingCoordinate);
 
     return true;
 }
diff --git a/src/MissionManager/LandingComplexItem.h b/src/MissionManager/LandingComplexItem.h
index edebb2fad4dd..602e7748fc56 100644
--- a/src/MissionManager/LandingComplexItem.h
+++ b/src/MissionManager/LandingComplexItem.h
@@ -89,7 +89,8 @@ class LandingComplexItem : public ComplexMissionItem
     QString             commandDescription          (void) const final { return "Landing Pattern"; }
     QString             commandName                 (void) const final { return "Landing Pattern"; }
     QString             abbreviation                (void) const final { return "L"; }
-    QGeoCoordinate      coordinate                  (void) const final { return _finalApproachCoordinate; }
+    QGeoCoordinate      coordinate                  (void) const final { return exitCoordinate(); }
+    QGeoCoordinate      entryCoordinate             (void) const final { return _finalApproachCoordinate; }
     QGeoCoordinate      exitCoordinate              (void) const final { return _landingCoordinate; }
     int                 sequenceNumber              (void) const final { return _sequenceNumber; }
     double              specifiedFlightSpeed        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
@@ -103,6 +104,7 @@ class LandingComplexItem : public ComplexMissionItem
     void                setDirty                    (bool dirty) final;
     void                setCoordinate               (const QGeoCoordinate& coordinate) final;
     void                setSequenceNumber           (int sequenceNumber) final;
+    double              editableAlt                 (void) const final;
     double              amslEntryAlt                (void) const final;
     double              amslExitAlt                 (void) const final;
     double              minAMSLAltitude             (void) const final { return amslExitAlt(); }
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 9af6fcffff83..73675d9f1baa 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1,5 +1,6 @@
 #include "MissionController.h"
 #include "Vehicle.h"
+#include "VehicleSupports.h"
 #include "MissionManager.h"
 #include "FlightPathSegment.h"
 #include "FirmwarePlugin.h"
@@ -26,6 +27,7 @@
 
 #include <QtCore/QJsonArray>
 #include <QtCore/QJsonDocument>
+#include <QtMath>
 
 #define UPDATE_TIMEOUT 5000 ///< How often we check for bounding box changes
 
@@ -66,35 +68,8 @@ MissionController::~MissionController()
 
 void MissionController::_resetMissionFlightStatus(void)
 {
-    _missionFlightStatus.totalDistance =        0.0;
-    _missionFlightStatus.plannedDistance =      0.0;
-    _missionFlightStatus.maxTelemetryDistance = 0.0;
-    _missionFlightStatus.totalTime =            0.0;
-    _missionFlightStatus.hoverTime =            0.0;
-    _missionFlightStatus.cruiseTime =           0.0;
-    _missionFlightStatus.hoverDistance =        0.0;
-    _missionFlightStatus.cruiseDistance =       0.0;
-    _missionFlightStatus.cruiseSpeed =          _controllerVehicle->defaultCruiseSpeed();
-    _missionFlightStatus.hoverSpeed =           _controllerVehicle->defaultHoverSpeed();
-    _missionFlightStatus.vehicleSpeed =         _controllerVehicle->multiRotor() || _managerVehicle->vtol() ? _missionFlightStatus.hoverSpeed : _missionFlightStatus.cruiseSpeed;
-    _missionFlightStatus.vehicleYaw =           qQNaN();
-    _missionFlightStatus.gimbalYaw =            qQNaN();
-    _missionFlightStatus.gimbalPitch =          qQNaN();
-    _missionFlightStatus.mAhBattery =           0;
-    _missionFlightStatus.hoverAmps =            0;
-    _missionFlightStatus.cruiseAmps =           0;
-    _missionFlightStatus.ampMinutesAvailable =  0;
-    _missionFlightStatus.hoverAmpsTotal =       0;
-    _missionFlightStatus.cruiseAmpsTotal =      0;
-    _missionFlightStatus.batteryChangePoint =   -1;
-    _missionFlightStatus.batteriesRequired =    -1;
-    _missionFlightStatus.vtolMode =             _missionContainsVTOLTakeoff ? QGCMAVLink::VehicleClassMultiRotor : QGCMAVLink::VehicleClassFixedWing;
-
-    _controllerVehicle->firmwarePlugin()->batteryConsumptionData(_controllerVehicle, _missionFlightStatus.mAhBattery, _missionFlightStatus.hoverAmps, _missionFlightStatus.cruiseAmps);
-    if (_missionFlightStatus.mAhBattery != 0) {
-        double batteryPercentRemainingAnnounce = SettingsManager::instance()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
-        _missionFlightStatus.ampMinutesAvailable = static_cast<double>(_missionFlightStatus.mAhBattery) / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
-    }
+    _flightStatusCalc.reset(_controllerVehicle, _managerVehicle, _missionContainsVTOLTakeoff);
+    _missionFlightStatus = _flightStatusCalc.status();
 
     emit missionPlannedDistanceChanged(_missionFlightStatus.plannedDistance);
     emit missionTimeChanged();
@@ -105,7 +80,6 @@ void MissionController::_resetMissionFlightStatus(void)
     emit missionMaxTelemetryChanged(_missionFlightStatus.maxTelemetryDistance);
     emit batteryChangePointChanged(_missionFlightStatus.batteryChangePoint);
     emit batteriesRequiredChanged(_missionFlightStatus.batteriesRequired);
-
 }
 
 void MissionController::start(bool flyView)
@@ -123,6 +97,10 @@ void MissionController::_init(void)
 {
     // We start with an empty mission
     _addMissionSettings(_visualItems);
+
+    // Set up the tree model structure once (groups + static children)
+    _setupTreeModel();
+
     _initAllVisualItems();
 }
 
@@ -143,29 +121,17 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
         //      - A load from vehicle was manually requested
         //      - The initial automatic load from a vehicle completed and the current editor is empty
 
-        _deinitAllVisualItems();
-        _visualItems->clearAndDeleteContents();
-        _visualItems->deleteLater();
-        _visualItems  = nullptr;
-        _settingsItem = nullptr;
-        _takeoffMissionItem = nullptr;
-        _updateContainsItems(); // This will clear containsItems which will be set again below. This will re-pop Start Mission confirmation.
+        _setupNewVisualItems();
 
-        QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
         const QList<MissionItem*>& newMissionItems = _missionManager->missionItems();
         qCDebug(MissionControllerLog) << "loading from vehicle: count"<< newMissionItems.count();
 
-        _missionItemCount = newMissionItems.count();
-        emit missionItemCountChanged(_missionItemCount);
-
-        MissionSettingsItem* settingsItem = _addMissionSettings(newControllerMissionItems);
-
         int i=0;
         if (_controllerVehicle->firmwarePlugin()->sendHomePositionToVehicle() && newMissionItems.count() != 0) {
             // First item is fake home position
             MissionItem* fakeHomeItem = newMissionItems[0];
             if (fakeHomeItem->coordinate().latitude() != 0 || fakeHomeItem->coordinate().longitude() != 0) {
-                settingsItem->setInitialHomePosition(fakeHomeItem->coordinate());
+                _settingsItem->setCoordinate(fakeHomeItem->coordinate());
             }
             i = 1;
         }
@@ -177,25 +143,24 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
             SimpleMissionItem* simpleItem = new SimpleMissionItem(_masterController, _flyView, *missionItem);
             if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(simpleItem->command()))) {
                 // This needs to be a TakeoffMissionItem
-                _takeoffMissionItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, settingsItem, false /* forLoad */);
+                _takeoffMissionItem = new TakeoffMissionItem(*missionItem, _masterController, _flyView, _settingsItem, false /* forLoad */);
                 _takeoffMissionItem->setWizardMode(false);
                 simpleItem->deleteLater();
                 simpleItem = _takeoffMissionItem;
             }
-            newControllerMissionItems->append(simpleItem);
+            _visualItems->append(simpleItem);
         }
 
-        _visualItems = newControllerMissionItems;
-        _settingsItem = settingsItem;
-
-        // We set Altitude mode to mixed, otherwise if we need a non relative altitude frame we won't be able to change it
-        setGlobalAltitudeMode(weHaveItemsFromVehicle ? QGroundControlQmlGlobal::AltitudeModeMixed : QGroundControlQmlGlobal::AltitudeModeRelative);
+        // We set Altitude frame to mixed, otherwise if we need a non relative altitude frame we won't be able to change it
+        setGlobalAltitudeFrame(weHaveItemsFromVehicle ? QGroundControlQmlGlobal::AltitudeFrameMixed : QGroundControlQmlGlobal::AltitudeFrameRelative);
 
         MissionController::_scanForAdditionalSettings(_visualItems, _masterController);
 
         _initAllVisualItems();
-        _updateContainsItems();
+
         emit newItemsFromVehicle();
+
+        emit containsItemsChanged();
     }
     _itemsRequested = false;
 }
@@ -203,9 +168,9 @@ void MissionController::_newMissionItemsAvailableFromVehicle(bool removeAllReque
 void MissionController::loadFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while offline";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while syncInProgress";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::loadFromVehicle called while syncInProgress";
     } else {
         _itemsRequested = true;
         _managerVehicle->missionManager()->loadFromVehicle();
@@ -215,9 +180,9 @@ void MissionController::loadFromVehicle(void)
 void MissionController::sendToVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while offline";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while syncInProgress";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(MissionControllerLog) << "MissionControllerLog::sendToVehicle";
         if (_visualItems->count() == 1) {
@@ -309,13 +274,13 @@ VisualMissionItem* MissionController::_insertSimpleMissionItemWorker(QGeoCoordin
     if (newItem->specifiesAltitude()) {
         if (!MissionCommandTree::instance()->isLandCommand(command)) {
             double                              prevAltitude;
-            QGroundControlQmlGlobal::AltMode    prevAltMode;
+            QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
 
-            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
+            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
                 newItem->altitude()->setRawValue(prevAltitude);
-                if (globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeMixed) {
-                    // We are in mixed altitude modes, so copy from previous. Otherwise alt mode will be set from global setting.
-                    newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltMode>(prevAltMode));
+                if (globalAltitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+                    // We are in mixed altitude frames, so copy from previous. Otherwise altitude frame will be set from global setting.
+                    newItem->setAltitudeFrame(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(prevAltFrame));
                 }
             }
         }
@@ -353,11 +318,11 @@ VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordin
 
     if (_takeoffMissionItem->specifiesAltitude()) {
         double                              prevAltitude;
-        QGroundControlQmlGlobal::AltMode    prevAltMode;
+        QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
 
-        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
+        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
             _takeoffMissionItem->altitude()->setRawValue(prevAltitude);
-            _takeoffMissionItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltMode>(prevAltMode));
+            _takeoffMissionItem->setAltitudeFrame(static_cast<QGroundControlQmlGlobal::AltitudeFrame>(prevAltFrame));
         }
     }
     if (visualItemIndex == -1) {
@@ -406,7 +371,6 @@ VisualMissionItem* MissionController::insertROIMissionItem(QGeoCoordinate coordi
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_LOCATION);
     }
-    _recalcROISpecialVisuals();
     return simpleItem;
 }
 
@@ -418,7 +382,6 @@ VisualMissionItem* MissionController::insertCancelROIMissionItem(int visualItemI
         simpleItem->setCommand(MAV_CMD_DO_SET_ROI)  ;
         simpleItem->missionItem().setParam1(MAV_ROI_NONE);
     }
-    _recalcROISpecialVisuals();
     return simpleItem;
 }
 
@@ -431,11 +394,11 @@ VisualMissionItem* MissionController::insertComplexMissionItem(QString itemName,
         newItem->setCoordinate(mapCenterCoordinate);
 
         double                              prevAltitude;
-        QGroundControlQmlGlobal::AltMode    prevAltMode;
-        if (globalAltitudeMode() == QGroundControlQmlGlobal::AltitudeModeMixed) {
-            // We are in mixed altitude modes, so copy from previous. Otherwise alt mode will be set from global setting in constructor.
-            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltMode)) {
-                qobject_cast<SurveyComplexItem*>(newItem)->cameraCalc()->setDistanceMode(prevAltMode);
+        QGroundControlQmlGlobal::AltitudeFrame    prevAltFrame;
+        if (globalAltitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+            // We are in mixed altitude frames, so copy from previous. Otherwise alt mode will be set from global setting in constructor.
+            if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltFrame)) {
+                qobject_cast<SurveyComplexItem*>(newItem)->cameraCalc()->setDistanceMode(prevAltFrame);
             }
         }
     } else if (itemName == FixedWingLandingComplexItem::name) {
@@ -533,6 +496,11 @@ void MissionController::_insertComplexMissionItemWorker(const QGeoCoordinate& ma
     _firstItemAdded();
 }
 
+int MissionController::visualItemIndexForObject(QObject* object) const
+{
+    return _visualItems ? _visualItems->indexOf(object) : -1;
+}
+
 void MissionController::removeVisualItem(int viIndex)
 {
     if (viIndex <= 0 || viIndex >= _visualItems->count()) {
@@ -595,123 +563,44 @@ void MissionController::removeVisualItem(int viIndex)
     }
 }
 
-void MissionController::removeAll(void)
+void MissionController::_setupNewVisualItems(QmlObjectListModel* newItems)
 {
-    if (_visualItems) {
-        _deinitAllVisualItems();
-        _visualItems->clearAndDeleteContents();
-        _visualItems->deleteLater();
-        _settingsItem = nullptr;
-        _takeoffMissionItem = nullptr;
-        _visualItems = new QmlObjectListModel(this);
-        _addMissionSettings(_visualItems);
-        _initAllVisualItems();
-        setDirty(true);
-        _resetMissionFlightStatus();
-        _allItemsRemoved();
-    }
-}
+    QmlObjectListModel* oldItems = _visualItems;
 
-bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
-{
-    // Validate root object keys
-    QList<JsonHelper::KeyValidateInfo> rootKeyInfoList = {
-        { _jsonPlannedHomePositionKey,      QJsonValue::Object, true },
-        { _jsonItemsKey,                    QJsonValue::Array,  true },
-        { _jsonMavAutopilotKey,             QJsonValue::Double, false },
-        { _jsonComplexItemsKey,             QJsonValue::Array,  true },
-    };
-    if (!JsonHelper::validateKeys(json, rootKeyInfoList, errorString)) {
-        return false;
-    }
-
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
-
-    // Read complex items
-    QList<SurveyComplexItem*> surveyItems;
-    QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
-    qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
-    for (int i=0; i<complexArray.count(); i++) {
-        const QJsonValue& itemValue = complexArray[i];
-
-        if (!itemValue.isObject()) {
-            errorString = QStringLiteral("Mission item is not an object");
-            return false;
-        }
+    if (oldItems) {
+        _deinitAllVisualItems();
 
-        SurveyComplexItem* item = new SurveyComplexItem(_masterController, _flyView, QString() /* kmlOrShpFile */);
-        const QJsonObject itemObject = itemValue.toObject();
-        if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
-            surveyItems.append(item);
-        } else {
-            return false;
-        }
+        // Destroy old items after a delay — TreeView delegates are torn down
+        // asynchronously during a polish cycle and may still hold bindings.
+        QTimer::singleShot(1000, oldItems, [oldItems] {
+            oldItems->clearAndDeleteContents();
+            oldItems->deleteLater();
+        });
     }
 
-    // Read simple items, interspersing complex items into the full list
+    _settingsItem = nullptr;
+    _takeoffMissionItem = nullptr;
 
-    int nextSimpleItemIndex= 0;
-    int nextComplexItemIndex= 0;
-    int nextSequenceNumber = 1; // Start with 1 since home is in 0
-    QJsonArray itemArray(json[_jsonItemsKey].toArray());
-
-    MissionSettingsItem* settingsItem = _addMissionSettings(visualItems);
-    if (json.contains(_jsonPlannedHomePositionKey)) {
-        SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */);
-        if (item->load(json[_jsonPlannedHomePositionKey].toObject(), 0, errorString)) {
-            settingsItem->setInitialHomePositionFromUser(item->coordinate());
-            item->deleteLater();
+    if (newItems) {
+        _visualItems = newItems;
+        if (_visualItems->count() == 0) {
+            _addMissionSettings(_visualItems);
         } else {
-            return false;
+            _settingsItem = _visualItems->value<MissionSettingsItem*>(0);
         }
+    } else {
+        _visualItems = new QmlObjectListModel(this);
+        _addMissionSettings(_visualItems);
     }
+}
 
-    qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << surveyItems.count();
-    do {
-        qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
-
-        // If there is a complex item that should be next in sequence add it in
-        if (nextComplexItemIndex < surveyItems.count()) {
-            SurveyComplexItem* complexItem = surveyItems[nextComplexItemIndex];
-
-            if (complexItem->sequenceNumber() == nextSequenceNumber) {
-                qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
-                visualItems->append(complexItem);
-                nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
-                nextComplexItemIndex++;
-                continue;
-            }
-        }
-
-        // Add the next available simple item
-        if (nextSimpleItemIndex < itemArray.count()) {
-            const QJsonValue& itemValue = itemArray[nextSimpleItemIndex++];
-
-            if (!itemValue.isObject()) {
-                errorString = QStringLiteral("Mission item is not an object");
-                return false;
-            }
-
-            const QJsonObject itemObject = itemValue.toObject();
-            SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */);
-            if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
-                if (TakeoffMissionItem::isTakeoffCommand(item->mavCommand())) {
-                    // This needs to be a TakeoffMissionItem
-                    TakeoffMissionItem* takeoffItem = new TakeoffMissionItem(_masterController, _flyView, settingsItem, true /* forLoad */);
-                    takeoffItem->load(itemObject, itemObject["id"].toInt(), errorString);
-                    item->deleteLater();
-                    item = takeoffItem;
-                }
-                qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
-                nextSequenceNumber = item->lastSequenceNumber() + 1;
-                visualItems->append(item);
-            } else {
-                return false;
-            }
-        }
-    } while (nextSimpleItemIndex < itemArray.count() || nextComplexItemIndex < surveyItems.count());
-
-    return true;
+void MissionController::removeAll(void)
+{
+    _setupNewVisualItems();
+    _initAllVisualItems();
+    setDirty(true);
+    _resetMissionFlightStatus();
+    _allItemsRemoved();
 }
 
 bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
@@ -730,7 +619,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         return false;
     }
 
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
+    setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameMixed);
 
     qCDebug(MissionControllerLog) << "MissionController::_loadJsonMissionFileV2 itemCount:" << json[_jsonItemsKey].toArray().count();
 
@@ -763,7 +652,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
         appSettings->offlineEditingHoverSpeed()->setRawValue(json[_jsonHoverSpeedKey].toDouble());
     }
     if (json.contains(_jsonGlobalPlanAltitudeModeKey)) {
-        setGlobalAltitudeMode(json[_jsonGlobalPlanAltitudeModeKey].toVariant().value<QGroundControlQmlGlobal::AltMode>());
+        setGlobalAltitudeFrame(json[_jsonGlobalPlanAltitudeModeKey].toVariant().value<QGroundControlQmlGlobal::AltitudeFrame>());
     }
 
     QGeoCoordinate homeCoordinate;
@@ -905,19 +794,6 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
     return true;
 }
 
-bool MissionController::_loadItemsFromJson(const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString)
-{
-    int fileVersion;
-    JsonHelper::validateExternalQGCJsonFile(json,
-                                            _jsonFileTypeValue,    // expected file type
-                                            2,                     // minimum supported version
-                                            2,                     // maximum supported version
-                                            fileVersion,
-                                            errorString);
-
-    return _loadJsonMissionFileV2(json, visualItems, errorString);
-}
-
 bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
 {
     bool firstItem = true;
@@ -946,7 +822,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
             SimpleMissionItem* item = new SimpleMissionItem(_masterController, _flyView, true /* forLoad */);
             if (item->load(stream)) {
                 if (firstItem && plannedHomePositionInFile) {
-                    settingsItem->setInitialHomePositionFromUser(item->coordinate());
+                    settingsItem->setCoordinate(item->coordinate());
                 } else {
                     if (TakeoffMissionItem::isTakeoffCommand(static_cast<MAV_CMD>(item->command()))) {
                         // This needs to be a TakeoffMissionItem
@@ -982,20 +858,7 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
 
 void MissionController::_initLoadedVisualItems(QmlObjectListModel* loadedVisualItems)
 {
-    if (_visualItems) {
-        _deinitAllVisualItems();
-        _visualItems->deleteLater();
-    }
-    _settingsItem = nullptr;
-    _takeoffMissionItem = nullptr;
-
-    _visualItems = loadedVisualItems;
-
-    if (_visualItems->count() == 0) {
-        _addMissionSettings(_visualItems);
-    } else {
-        _settingsItem = _visualItems->value<MissionSettingsItem*>(0);
-    }
+    _setupNewVisualItems(loadedVisualItems);
 
     MissionController::_scanForAdditionalSettings(_visualItems, _masterController);
 
@@ -1030,7 +893,7 @@ bool MissionController::loadTextFile(QFile& file, QString& errorString)
     QByteArray  bytes = file.readAll();
     QTextStream stream(bytes);
 
-    setGlobalAltitudeMode(QGroundControlQmlGlobal::AltitudeModeMixed);
+    setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameMixed);
 
     QmlObjectListModel* loadedVisualItems = new QmlObjectListModel(this);
     if (!_loadTextMissionFile(stream, loadedVisualItems, errorStr)) {
@@ -1073,7 +936,7 @@ void MissionController::save(QJsonObject& json)
     json[_jsonVehicleTypeKey]               = _controllerVehicle->vehicleType();
     json[_jsonCruiseSpeedKey]               = _controllerVehicle->defaultCruiseSpeed();
     json[_jsonHoverSpeedKey]                = _controllerVehicle->defaultHoverSpeed();
-    json[_jsonGlobalPlanAltitudeModeKey]    = _globalAltMode;
+    json[_jsonGlobalPlanAltitudeModeKey]    = _globalAltFrame;
 
     // Save the visual items
 
@@ -1102,29 +965,6 @@ void MissionController::save(QJsonObject& json)
     json[_jsonItemsKey] = rgJsonMissionItems;
 }
 
-void MissionController::_calcPrevWaypointValues(VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
-{
-    QGeoCoordinate  currentCoord =  currentItem->coordinate();
-    QGeoCoordinate  prevCoord =     prevItem->exitCoordinate();
-
-    // Convert to fixed altitudes
-
-    *altDifference = currentItem->amslEntryAlt() - prevItem->amslExitAlt();
-    *distance = prevCoord.distanceTo(currentCoord);
-    *azimuth = prevCoord.azimuthTo(currentCoord);
-}
-
-double MissionController::_calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
-{
-    QGeoCoordinate  currentCoord =  currentItem->coordinate();
-    QGeoCoordinate  homeCoord =     homeItem->exitCoordinate();
-    bool            distanceOk =    false;
-
-    distanceOk = true;
-
-    return distanceOk ? homeCoord.distanceTo(currentCoord) : 0.0;
-}
-
 FlightPathSegment* MissionController::_createFlightPathSegmentWorker(VisualItemPair& pair, bool mavlinkTerrainFrame)
 {
     // The takeoff goes straight up from ground to alt and then over to specified position at same alt. Which means
@@ -1132,7 +972,7 @@ FlightPathSegment* MissionController::_createFlightPathSegmentWorker(VisualItemP
     bool                takeoffStraightUp   = pair.second->isTakeoffItem() && !_controllerVehicle->fixedWing();
 
     QGeoCoordinate      coord1              = pair.first->exitCoordinate();
-    QGeoCoordinate      coord2              = pair.second->coordinate();
+    QGeoCoordinate      coord2              = pair.second->entryCoordinate();
     double              coord2AMSLAlt       = pair.second->amslEntryAlt();
     double              coord1AMSLAlt       = takeoffStraightUp ? coord2AMSLAlt : pair.first->amslExitAlt();
 
@@ -1150,11 +990,12 @@ FlightPathSegment* MissionController::_createFlightPathSegmentWorker(VisualItemP
     } else {
         connect(pair.first, &VisualMissionItem::amslExitAltChanged, segment, &FlightPathSegment::setCoord1AMSLAlt);
     }
-    connect(pair.first,  &VisualMissionItem::exitCoordinateChanged, segment,    &FlightPathSegment::setCoordinate1);
-    connect(pair.second, &VisualMissionItem::coordinateChanged,     segment,    &FlightPathSegment::setCoordinate2);
-    connect(pair.second, &VisualMissionItem::amslEntryAltChanged,   segment,    &FlightPathSegment::setCoord2AMSLAlt);
+    connect(pair.first,  &VisualMissionItem::exitCoordinateChanged,     segment,    &FlightPathSegment::setCoordinate1);
+    connect(pair.second, &VisualMissionItem::entryCoordinateChanged,    segment,    &FlightPathSegment::setCoordinate2);
+    connect(pair.second, &VisualMissionItem::amslEntryAltChanged,       segment,    &FlightPathSegment::setCoord2AMSLAlt);
 
-    connect(pair.second, &VisualMissionItem::coordinateChanged,         this,       &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
+    connect(pair.second, &VisualMissionItem::entryCoordinateChanged,    this,       &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
+    connect(pair.second, &VisualMissionItem::exitCoordinateChanged,     this,       &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
 
     connect(segment,    &FlightPathSegment::totalDistanceChanged,       this,       &MissionController::recalcTerrainProfile,             Qt::QueuedConnection);
     connect(segment,    &FlightPathSegment::coord1AMSLAltChanged,       this,       &MissionController::_recalcMissionFlightStatusSignal, Qt::QueuedConnection);
@@ -1182,39 +1023,6 @@ FlightPathSegment* MissionController::_addFlightPathSegment(FlightPathSegmentHas
     return segment;
 }
 
-void MissionController::_recalcROISpecialVisuals(void)
-{
-    return;
-    VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
-    bool                roiActive =             false;
-
-    for (int i=1; i<_visualItems->count(); i++) {
-        VisualMissionItem*  visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-        SimpleMissionItem*  simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
-        VisualItemPair      viPair;
-
-        if (simpleItem) {
-            if (roiActive) {
-                if (_isROICancelItem(simpleItem)) {
-                    roiActive = false;
-                }
-            } else {
-                if (_isROIBeginItem(simpleItem)) {
-                    roiActive = true;
-                }
-            }
-        }
-
-        if (visualItem->specifiesCoordinate() && !visualItem->isStandaloneCoordinate()) {
-            viPair = VisualItemPair(lastCoordinateItem, visualItem);
-            if (_flightPathSegmentHashTable.contains(viPair)) {
-                _flightPathSegmentHashTable[viPair]->setSpecialVisual(roiActive);
-            }
-            lastCoordinateItem = visualItem;
-        }
-    }
-}
-
 void MissionController::_recalcFlightPathSegments(void)
 {
     VisualItemPair      lastSegmentVisualItemPair;
@@ -1376,9 +1184,9 @@ void MissionController::_recalcFlightPathSegments(void)
             // Create a new segment. Since this is the fly view there is no need to wire change signals or worry about correct SegmentType
             coordVector = new FlightPathSegment(
                         FlightPathSegment::SegmentTypeGeneric,
-                        lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->coordinate() : lastSegmentVisualItemPair.first->exitCoordinate(),
+                        lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->entryCoordinate() : lastSegmentVisualItemPair.first->exitCoordinate(),
                         lastSegmentVisualItemPair.first->isSimpleItem() ? lastSegmentVisualItemPair.first->amslEntryAlt() : lastSegmentVisualItemPair.first->amslExitAlt(),
-                        lastSegmentVisualItemPair.second->coordinate(),
+                        lastSegmentVisualItemPair.second->entryCoordinate(),
                         lastSegmentVisualItemPair.second->amslEntryAlt(),
                         !_flyView /* queryTerrainData */,
                         this);
@@ -1402,317 +1210,18 @@ void MissionController::_recalcFlightPathSegments(void)
     }
 }
 
-void MissionController::_updateBatteryInfo(int waypointIndex)
-{
-    if (_missionFlightStatus.mAhBattery != 0) {
-        _missionFlightStatus.hoverAmpsTotal = (_missionFlightStatus.hoverTime / 60.0) * _missionFlightStatus.hoverAmps;
-        _missionFlightStatus.cruiseAmpsTotal = (_missionFlightStatus.cruiseTime / 60.0) * _missionFlightStatus.cruiseAmps;
-        _missionFlightStatus.batteriesRequired = ceil((_missionFlightStatus.hoverAmpsTotal + _missionFlightStatus.cruiseAmpsTotal) / _missionFlightStatus.ampMinutesAvailable);
-        // FIXME: Battery change point code pretty much doesn't work. The reason is that is treats complex items as a black box. It needs to be able to look
-        // inside complex items in order to determine a swap point that is interior to a complex item. Current the swap point display in PlanToolbar is
-        // disabled to do this problem.
-        if (waypointIndex != -1 && _missionFlightStatus.batteriesRequired == 2 && _missionFlightStatus.batteryChangePoint == -1) {
-            _missionFlightStatus.batteryChangePoint = waypointIndex - 1;
-        }
-    }
-}
-
-void MissionController::_addHoverTime(double hoverTime, double hoverDistance, int waypointIndex)
-{
-    _missionFlightStatus.totalTime += hoverTime;
-    _missionFlightStatus.hoverTime += hoverTime;
-    _missionFlightStatus.hoverDistance += hoverDistance;
-    _missionFlightStatus.plannedDistance += hoverDistance;
-    _updateBatteryInfo(waypointIndex);
-}
-
-void MissionController::_addCruiseTime(double cruiseTime, double cruiseDistance, int waypointIndex)
-{
-    _missionFlightStatus.totalTime += cruiseTime;
-    _missionFlightStatus.cruiseTime += cruiseTime;
-    _missionFlightStatus.cruiseDistance += cruiseDistance;
-    _missionFlightStatus.plannedDistance += cruiseDistance;
-    _updateBatteryInfo(waypointIndex);
-}
-
-/// Adds the specified time to the appropriate hover or cruise time values.
-///     @param vtolInHover true: vtol is currrent in hover mode
-///     @param hoverTime    Amount of time tp add to hover
-///     @param cruiseTime   Amount of time to add to cruise
-///     @param extraTime    Amount of additional time to add to hover/cruise
-///     @param seqNum       Sequence number of waypoint for these values, -1 for no waypoint associated
-void MissionController::_addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum)
-{
-    if (_controllerVehicle->vtol()) {
-        if (vtolInHover) {
-            _addHoverTime(hoverTime, distance, seqNum);
-            _addHoverTime(extraTime, 0, -1);
-        } else {
-            _addCruiseTime(cruiseTime, distance, seqNum);
-            _addCruiseTime(extraTime, 0, -1);
-        }
-    } else {
-        if (_controllerVehicle->multiRotor()) {
-            _addHoverTime(hoverTime, distance, seqNum);
-            _addHoverTime(extraTime, 0, -1);
-        } else {
-            _addCruiseTime(cruiseTime, distance, seqNum);
-            _addCruiseTime(extraTime, 0, -1);
-        }
-    }
-}
-
 void MissionController::_recalcMissionFlightStatus()
 {
     if (!_visualItems->count()) {
         return;
     }
 
-    bool                firstCoordinateItem =           true;
-    VisualMissionItem*  lastFlyThroughVI =   qobject_cast<VisualMissionItem*>(_visualItems->get(0));
-
-    bool homePositionValid = _settingsItem->coordinate().isValid();
-
     qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
 
-    // If home position is valid we can calculate distances between all waypoints.
-    // If home position is not valid we can only calculate distances between waypoints which are
-    // both relative altitude.
-
-    // No values for first item
-    lastFlyThroughVI->setAltDifference(0);
-    lastFlyThroughVI->setAzimuth(0);
-    lastFlyThroughVI->setDistance(0);
-    lastFlyThroughVI->setDistanceFromStart(0);
-
-    _minAMSLAltitude = _maxAMSLAltitude = qQNaN();
-
-    _resetMissionFlightStatus();
-
-    bool   linkStartToHome =            false;
-    bool   foundRTL =                   false;
-    bool   pastLandCommand =            false;
-    double totalHorizontalDistance =    0;
-
-    for (int i=0; i<_visualItems->count(); i++) {
-        VisualMissionItem*  item =          qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-        SimpleMissionItem*  simpleItem =    qobject_cast<SimpleMissionItem*>(item);
-        ComplexMissionItem* complexItem =   qobject_cast<ComplexMissionItem*>(item);
-
-        if (simpleItem && simpleItem->mavCommand() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
-            foundRTL = true;
-        }
-
-        // Assume the worst
-        item->setAzimuth(0);
-        item->setDistance(0);
-        item->setDistanceFromStart(0);
-
-        // Gimbal states reflect the state AFTER executing the item
-
-        // ROI commands cancel out previous gimbal yaw/pitch
-        if (simpleItem) {
-            switch (simpleItem->command()) {
-            case MAV_CMD_NAV_ROI:
-            case MAV_CMD_DO_SET_ROI_LOCATION:
-            case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
-            case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
-                _missionFlightStatus.gimbalYaw      = qQNaN();
-                _missionFlightStatus.gimbalPitch    = qQNaN();
-                break;
-            default:
-                break;
-            }
-        }
-
-        // Look for specific gimbal changes
-        double gimbalYaw = item->specifiedGimbalYaw();
-        if (!qIsNaN(gimbalYaw) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
-            _missionFlightStatus.gimbalYaw = gimbalYaw;
-        }
-        double gimbalPitch = item->specifiedGimbalPitch();
-        if (!qIsNaN(gimbalPitch) || _planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
-            _missionFlightStatus.gimbalPitch = gimbalPitch;
-        }
-
-        // We don't need to do any more processing if:
-        //  Mission Settings Item
-        //  We are after an RTL command
-        if (i != 0 && !foundRTL) {
-            // We must set the mission flight status prior to querying for any values from the item. This is because things like
-            // current speed, gimbal, vtol state  impact the values.
-            item->setMissionFlightStatus(_missionFlightStatus);
-
-            // Link back to home if first item is takeoff and we have home position
-            if (firstCoordinateItem && simpleItem && (simpleItem->mavCommand() == MAV_CMD_NAV_TAKEOFF || simpleItem->mavCommand() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
-                if (homePositionValid) {
-                    linkStartToHome = true;
-                    if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
-                        // We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
-                        double azimuth, distance, altDifference;
-                        _calcPrevWaypointValues(_settingsItem, simpleItem, &azimuth, &distance, &altDifference);
-                        double takeoffTime = qAbs(altDifference) / _appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
-                        _addHoverTime(takeoffTime, 0, -1);
-                    }
-                }
-            }
-
-            if (!pastLandCommand)
-                _addTimeDistance(_missionFlightStatus.vtolMode == QGCMAVLink::VehicleClassMultiRotor, 0, 0, item->additionalTimeDelay(), 0, -1);
-
-            if (item->specifiesCoordinate()) {
-
-                // Keep track of the min/max AMSL altitude for entire mission so we can calculate altitude percentages in terrain status display
-                if (simpleItem) {
-                    double amslAltitude = item->amslEntryAlt();
-                    _minAMSLAltitude = std::fmin(_minAMSLAltitude, amslAltitude);
-                    _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, amslAltitude);
-                } else {
-                    // Complex item
-                    double complexMinAMSLAltitude = complexItem->minAMSLAltitude();
-                    double complexMaxAMSLAltitude = complexItem->maxAMSLAltitude();
-                    _minAMSLAltitude = std::fmin(_minAMSLAltitude, complexMinAMSLAltitude);
-                    _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, complexMaxAMSLAltitude);
-                }
-
-                if (!item->isStandaloneCoordinate()) {
-                    firstCoordinateItem = false;
-
-                    // Update vehicle yaw assuming direction to next waypoint and/or mission item change
-                    if (simpleItem) {
-                        double newVehicleYaw = simpleItem->specifiedVehicleYaw();
-                        if (qIsNaN(newVehicleYaw)) {
-                            // No specific vehicle yaw set. Current vehicle yaw is determined from flight path segment direction.
-                            if (simpleItem != lastFlyThroughVI) {
-                                _missionFlightStatus.vehicleYaw = lastFlyThroughVI->exitCoordinate().azimuthTo(simpleItem->coordinate());
-                            }
-                        } else {
-                            _missionFlightStatus.vehicleYaw = newVehicleYaw;
-                        }
-                        simpleItem->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
-                    }
-
-                    if (lastFlyThroughVI != _settingsItem || linkStartToHome) {
-                        // This is a subsequent waypoint or we are forcing the first waypoint back to home
-                        double azimuth, distance, altDifference;
-
-                        _calcPrevWaypointValues(item, lastFlyThroughVI, &azimuth, &distance, &altDifference);
-
-                        // If the last waypoint was a land command, there's a discontinuity at this point
-                        if (!lastFlyThroughVI->isLandCommand()) {
-                            totalHorizontalDistance += distance;
-                            item->setDistance(distance);
-
-                            if (!pastLandCommand) {
-                                // Calculate time/distance
-                                double hoverTime = distance / _missionFlightStatus.hoverSpeed;
-                                double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-                                _addTimeDistance(_missionFlightStatus.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
-                            }
-                        }
-
-                        item->setAltDifference(altDifference);
-                        item->setAzimuth(azimuth);
-                        item->setDistanceFromStart(totalHorizontalDistance);
-
-                        _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, _calcDistanceToHome(item, _settingsItem));
-                    }
-
-                    if (complexItem) {
-                        // Add in distance/time inside complex items as well
-                        double distance = complexItem->complexDistance();
-                        _missionFlightStatus.maxTelemetryDistance = qMax(_missionFlightStatus.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
-
-                        if (!pastLandCommand) {
-                            double hoverTime = distance / _missionFlightStatus.hoverSpeed;
-                            double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-                            _addTimeDistance(_missionFlightStatus.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
-                        }
-
-                        totalHorizontalDistance += distance;
-                    }
-
-
-                    lastFlyThroughVI = item;
-                }
-            }
-        }
-
-        // Speed, VTOL states changes are processed last since they take affect on the next item
-
-        double newSpeed = item->specifiedFlightSpeed();
-        if (!qIsNaN(newSpeed)) {
-            if (_controllerVehicle->multiRotor()) {
-                _missionFlightStatus.hoverSpeed = newSpeed;
-            } else if (_controllerVehicle->vtol()) {
-                if (_missionFlightStatus.vtolMode == QGCMAVLink::VehicleClassMultiRotor) {
-                    _missionFlightStatus.hoverSpeed = newSpeed;
-                } else {
-                    _missionFlightStatus.cruiseSpeed = newSpeed;
-                }
-            } else {
-                _missionFlightStatus.cruiseSpeed = newSpeed;
-            }
-            _missionFlightStatus.vehicleSpeed = newSpeed;
-        }
-
-        // Update VTOL state
-        if (simpleItem && _controllerVehicle->vtol()) {
-            switch (simpleItem->command()) {
-            case MAV_CMD_NAV_TAKEOFF:       // This will do a fixed wing style takeoff
-            case MAV_CMD_NAV_VTOL_TAKEOFF:  // Vehicle goes straight up and then transitions to FW
-            case MAV_CMD_NAV_LAND:
-                _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
-                break;
-            case MAV_CMD_NAV_VTOL_LAND:
-                _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
-                break;
-            case MAV_CMD_DO_VTOL_TRANSITION:
-            {
-                int transitionState = simpleItem->missionItem().param1();
-                if (transitionState == MAV_VTOL_STATE_MC) {
-                    _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
-                } else if (transitionState == MAV_VTOL_STATE_FW) {
-                    _missionFlightStatus.vtolMode = QGCMAVLink::VehicleClassFixedWing;
-                }
-            }
-                break;
-            default:
-                break;
-            }
-        }
-
-        if (item->isLandCommand()) {
-            pastLandCommand = true;
-        }
-    }
-    lastFlyThroughVI->setMissionVehicleYaw(_missionFlightStatus.vehicleYaw);
-
-    // Add the information for the final segment back to home
-    if (foundRTL && lastFlyThroughVI != _settingsItem && homePositionValid) {
-        double azimuth, distance, altDifference;
-        _calcPrevWaypointValues(lastFlyThroughVI, _settingsItem, &azimuth, &distance, &altDifference);
-
-        if (!pastLandCommand) {
-            // Calculate time/distance
-            double hoverTime = distance / _missionFlightStatus.hoverSpeed;
-            double cruiseTime = distance / _missionFlightStatus.cruiseSpeed;
-            double landTime = qAbs(altDifference) / _appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
-            _addTimeDistance(_missionFlightStatus.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, landTime, distance, -1);
-        }
-    }
-
-    _missionFlightStatus.totalDistance = totalHorizontalDistance;
-
-    if (_missionFlightStatus.mAhBattery != 0 && _missionFlightStatus.batteryChangePoint == -1) {
-        _missionFlightStatus.batteryChangePoint = 0;
-    }
-
-    if (linkStartToHome) {
-        // Home position is taken into account for min/max values
-        _minAMSLAltitude = std::fmin(_minAMSLAltitude, _settingsItem->plannedHomePositionAltitude()->rawValue().toDouble());
-        _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, _settingsItem->plannedHomePositionAltitude()->rawValue().toDouble());
-    }
+    _flightStatusCalc.recalc(_visualItems, _settingsItem, _controllerVehicle, _managerVehicle, _appSettings, _planViewSettings, _missionContainsVTOLTakeoff);
+    _missionFlightStatus = _flightStatusCalc.status();
+    _minAMSLAltitude = _flightStatusCalc.minAMSLAltitude();
+    _maxAMSLAltitude = _flightStatusCalc.maxAMSLAltitude();
 
     emit missionMaxTelemetryChanged     (_missionFlightStatus.maxTelemetryDistance);
     emit missionTotalDistanceChanged    (_missionFlightStatus.totalDistance);
@@ -1727,31 +1236,6 @@ void MissionController::_recalcMissionFlightStatus()
     emit minAMSLAltitudeChanged         (_minAMSLAltitude);
     emit maxAMSLAltitudeChanged         (_maxAMSLAltitude);
 
-    // Walk the list again calculating altitude percentages
-    double altRange = _maxAMSLAltitude - _minAMSLAltitude;
-    for (int i=0; i<_visualItems->count(); i++) {
-        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-
-        if (item->specifiesCoordinate()) {
-            double amslAlt = item->amslEntryAlt();
-            if (altRange == 0.0) {
-                item->setAltPercent(0.0);
-                item->setTerrainPercent(qQNaN());
-                item->setTerrainCollision(false);
-            } else {
-                item->setAltPercent((amslAlt - _minAMSLAltitude) / altRange);
-                double terrainAltitude = item->terrainAltitude();
-                if (qIsNaN(terrainAltitude)) {
-                    item->setTerrainPercent(qQNaN());
-                    item->setTerrainCollision(false);
-                } else {
-                    item->setTerrainPercent((terrainAltitude - _minAMSLAltitude) / altRange);
-                    item->setTerrainCollision(amslAlt < terrainAltitude);
-                }
-            }
-        }
-    }
-
     _updateTimer.start(UPDATE_TIMEOUT);
 
     emit recalcTerrainProfile();
@@ -1804,6 +1288,175 @@ void MissionController::_recalcChildItems(void)
     }
 }
 
+void MissionController::_setupTreeModel(void)
+{
+    _visualItemsTree.beginResetModel();
+
+    _visualItemsTree.clear();
+
+    // ── Plan File group ──
+    _planFileGroupNode.setObjectName(tr("Plan Info"));
+    _visualItemsTree.appendItem(&_planFileGroupNode, QModelIndex(), QStringLiteral("planFileGroup"));
+
+    _planFileInfoMarker.setObjectName(QStringLiteral("planFileInfo"));
+    _visualItemsTree.appendItem(&_planFileInfoMarker,
+        _visualItemsTree.indexForObject(&_planFileGroupNode), QStringLiteral("planFileInfo"));
+
+    // ── Defaults group ──
+    _defaultsGroupNode.setObjectName(tr("Defaults"));
+    _visualItemsTree.appendItem(&_defaultsGroupNode, QModelIndex(), QStringLiteral("defaultsGroup"));
+
+    _defaultsInfoMarker.setObjectName(QStringLiteral("defaultsInfo"));
+    _visualItemsTree.appendItem(&_defaultsInfoMarker,
+        _visualItemsTree.indexForObject(&_defaultsGroupNode), QStringLiteral("defaultsInfo"));
+
+    // ── Mission Items group ──
+    _missionItemsGroupNode.setObjectName(tr("Mission Items"));
+    _visualItemsTree.appendItem(&_missionItemsGroupNode, QModelIndex(), QStringLiteral("missionGroup"));
+
+    // ── GeoFence group ──
+    _fenceGroupNode.setObjectName(tr("GeoFence"));
+    _visualItemsTree.appendItem(&_fenceGroupNode, QModelIndex(), QStringLiteral("fenceGroup"));
+
+    // Single marker child — delegate loads the full GeoFenceEditor
+    _fenceEditorMarker.setObjectName(QStringLiteral("fenceEditor"));
+    _visualItemsTree.appendItem(&_fenceEditorMarker,
+        _visualItemsTree.indexForObject(&_fenceGroupNode), QStringLiteral("fenceEditor"));
+
+    // ── Rally Points group ──
+    _rallyGroupNode.setObjectName(tr("Rally Points"));
+    _visualItemsTree.appendItem(&_rallyGroupNode, QModelIndex(), QStringLiteral("rallyGroup"));
+
+    // Marker child for the rally header / instructions
+    _rallyHeaderMarker.setObjectName(QStringLiteral("rallyHeader"));
+    _visualItemsTree.appendItem(&_rallyHeaderMarker,
+        _visualItemsTree.indexForObject(&_rallyGroupNode), QStringLiteral("rallyHeader"));
+
+    // ── Transform group ──
+    _transformGroupNode.setObjectName(tr("Transform"));
+    _visualItemsTree.appendItem(&_transformGroupNode, QModelIndex(), QStringLiteral("transformGroup"));
+
+    // Single marker child — delegate loads the inline TransformEditor
+    _transformEditorMarker.setObjectName(QStringLiteral("transformEditor"));
+    _visualItemsTree.appendItem(&_transformEditorMarker,
+        _visualItemsTree.indexForObject(&_transformGroupNode), QStringLiteral("transformEditor"));
+
+    _visualItemsTree.endResetModel();
+
+    // Capture persistent indexes after the reset so they aren't invalidated
+    _planFileGroupIndex  = QPersistentModelIndex(_visualItemsTree.indexForObject(&_planFileGroupNode));
+    _defaultsGroupIndex  = QPersistentModelIndex(_visualItemsTree.indexForObject(&_defaultsGroupNode));
+    _missionGroupIndex   = QPersistentModelIndex(_visualItemsTree.indexForObject(&_missionItemsGroupNode));
+    _fenceGroupIndex     = QPersistentModelIndex(_visualItemsTree.indexForObject(&_fenceGroupNode));
+    _rallyGroupIndex     = QPersistentModelIndex(_visualItemsTree.indexForObject(&_rallyGroupNode));
+    _transformGroupIndex = QPersistentModelIndex(_visualItemsTree.indexForObject(&_transformGroupNode));
+}
+
+//-----------------------------------------------------------------------------
+// Incremental tree model sync — Mission Items
+//-----------------------------------------------------------------------------
+
+void MissionController::_syncTreeMissionItemsInserted(const QModelIndex& parent, int first, int last)
+{
+    Q_UNUSED(parent);
+    for (int i = first; i <= last; i++) {
+        auto* item = _visualItems->value<VisualMissionItem*>(i);
+        if (item) {
+            _visualItemsTree.insertItem(i, item, _missionGroupIndex, QStringLiteral("missionItem"));
+        }
+    }
+}
+
+void MissionController::_syncTreeMissionItemsAboutToBeRemoved(const QModelIndex& parent, int first, int last)
+{
+    Q_UNUSED(parent);
+    // Remove in reverse order so indexes stay valid
+    for (int i = last; i >= first; i--) {
+        _visualItemsTree.removeAt(_missionGroupIndex, i);
+    }
+}
+
+void MissionController::_syncTreeMissionItemsReset(void)
+{
+    // removeChildren + appendItem each fire their own row-level signals scoped
+    // to _missionGroupIndex, so persistent indexes for other groups survive.
+    _visualItemsTree.removeChildren(_missionGroupIndex);
+
+    if (_visualItems) {
+        for (int i = 0; i < _visualItems->count(); i++) {
+            auto* item = _visualItems->value<VisualMissionItem*>(i);
+            if (item) {
+                _visualItemsTree.appendItem(item, _missionGroupIndex, QStringLiteral("missionItem"));
+            }
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+// Incremental tree model sync — Rally Points
+//-----------------------------------------------------------------------------
+
+void MissionController::_syncTreeRallyPointsInserted(const QModelIndex& parent, int first, int last)
+{
+    Q_UNUSED(parent);
+    auto* rallyController = _masterController->rallyPointController();
+    if (!rallyController) return;
+
+    // If this is the first rally point, remove the header marker
+    if (first == 0 && _visualItemsTree.rowCount(_rallyGroupIndex) == 1) {
+        const QModelIndex child = _visualItemsTree.index(0, 0, _rallyGroupIndex);
+        if (_visualItemsTree.data(child, QmlObjectTreeModel::NodeTypeRole).toString() == QStringLiteral("rallyHeader")) {
+            _visualItemsTree.removeItem(child);
+        }
+    }
+
+    auto* pts = rallyController->points();
+    for (int i = first; i <= last; i++) {
+        _visualItemsTree.insertItem(i, (*pts)[i], _rallyGroupIndex, QStringLiteral("rallyItem"));
+    }
+}
+
+void MissionController::_syncTreeRallyPointsAboutToBeRemoved(const QModelIndex& parent, int first, int last)
+{
+    Q_UNUSED(parent);
+    for (int i = last; i >= first; i--) {
+        _visualItemsTree.removeAt(_rallyGroupIndex, i);
+    }
+}
+
+void MissionController::_syncTreeRallyPointsRemoved(const QModelIndex& parent, int first, int last)
+{
+    Q_UNUSED(parent);
+    Q_UNUSED(first);
+    Q_UNUSED(last);
+
+    // Re-add the header marker once the source model has finished removing rows
+    auto* rallyController = _masterController->rallyPointController();
+    if (rallyController && rallyController->points()->count() == 0) {
+        _rallyHeaderMarker.setObjectName(QStringLiteral("rallyHeader"));
+        _visualItemsTree.appendItem(&_rallyHeaderMarker, _rallyGroupIndex, QStringLiteral("rallyHeader"));
+    }
+}
+
+void MissionController::_syncTreeRallyPointsReset(void)
+{
+    // removeChildren + appendItem each fire their own row-level signals scoped
+    // to _rallyGroupIndex, so persistent indexes for other groups survive.
+    _visualItemsTree.removeChildren(_rallyGroupIndex);
+
+    // Repopulate — either rally items or the header marker
+    auto* rallyController = _masterController->rallyPointController();
+    if (rallyController && rallyController->points()->count() > 0) {
+        auto* pts = rallyController->points();
+        for (int i = 0; i < pts->count(); i++) {
+            _visualItemsTree.appendItem((*pts)[i], _rallyGroupIndex, QStringLiteral("rallyItem"));
+        }
+    } else {
+        _rallyHeaderMarker.setObjectName(QStringLiteral("rallyHeader"));
+        _visualItemsTree.appendItem(&_rallyHeaderMarker, _rallyGroupIndex, QStringLiteral("rallyHeader"));
+    }
+}
+
 void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate)
 {
     bool foundFirstCoordinate = false;
@@ -1817,9 +1470,9 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoo
     for (int i=1; i<_visualItems->count(); i++) {
         VisualMissionItem* item = _visualItems->value<VisualMissionItem*>(i);
 
-        if (item->specifiesCoordinate() && item->coordinate().isValid()) {
+        if (item->specifiesCoordinate() && item->entryCoordinate().isValid()) {
             foundFirstCoordinate = true;
-            firstCoordinate = item->coordinate();
+            firstCoordinate = item->entryCoordinate();
             break;
         }
     }
@@ -1832,7 +1485,7 @@ void MissionController::_setPlannedHomePositionFromFirstCoordinate(const QGeoCoo
     if (firstCoordinate.isValid()) {
         QGeoCoordinate plannedHomeCoord = firstCoordinate.atDistanceAndAzimuth(30, 0);
         plannedHomeCoord.setAltitude(0);
-        _settingsItem->setInitialHomePositionFromUser(plannedHomeCoord);
+        _settingsItem->setCoordinate(plannedHomeCoord);
     }
 }
 
@@ -1882,11 +1535,34 @@ void MissionController::_initAllVisualItems(void)
     _recalcAll();
 
     connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_visualItemsDirtyChanged);
-    connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
+    connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::containsItemsChanged);
+    connect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::missionItemCountChanged);
+
+    // Connect for incremental tree model sync
+    connect(_visualItems, &QAbstractItemModel::rowsInserted, this, &MissionController::_syncTreeMissionItemsInserted);
+    connect(_visualItems, &QAbstractItemModel::rowsAboutToBeRemoved, this, &MissionController::_syncTreeMissionItemsAboutToBeRemoved);
+    connect(_visualItems, &QAbstractItemModel::modelReset, this, &MissionController::_syncTreeMissionItemsReset);
+
+    // Populate tree's mission group from current _visualItems
+    _syncTreeMissionItemsReset();
+
+    // Connect rally controller for incremental tree model sync
+    auto* rallyController = _masterController->rallyPointController();
+    if (rallyController) {
+        auto* pts = rallyController->points();
+        connect(pts, &QAbstractItemModel::rowsInserted, this, &MissionController::_syncTreeRallyPointsInserted);
+        connect(pts, &QAbstractItemModel::rowsAboutToBeRemoved, this, &MissionController::_syncTreeRallyPointsAboutToBeRemoved);
+        connect(pts, &QAbstractItemModel::rowsRemoved, this, &MissionController::_syncTreeRallyPointsRemoved);
+        connect(pts, &QAbstractItemModel::modelReset, this, &MissionController::_syncTreeRallyPointsReset);
+
+        // Populate any existing rally points
+        _syncTreeRallyPointsReset();
+    }
 
     emit visualItemsChanged();
     emit containsItemsChanged();
     emit plannedHomePositionChanged(plannedHomePosition());
+    emit missionItemCountChanged();
 
     if (!_flyView) {
         setCurrentPlanViewSeqNum(0, true);
@@ -1897,15 +1573,31 @@ void MissionController::_initAllVisualItems(void)
 
 void MissionController::_deinitAllVisualItems(void)
 {
-    disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcAll);
+    disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::_recalcMissionFlightStatus);
     disconnect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &MissionController::plannedHomePositionChanged);
 
     for (int i=0; i<_visualItems->count(); i++) {
         _deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
     }
 
-    disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::dirtyChanged);
-    disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::_updateContainsItems);
+    disconnect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_visualItemsDirtyChanged);
+    disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::containsItemsChanged);
+    disconnect(_visualItems, &QmlObjectListModel::countChanged, this, &MissionController::missionItemCountChanged);
+
+    // Disconnect incremental tree model sync
+    disconnect(_visualItems, &QAbstractItemModel::rowsInserted, this, &MissionController::_syncTreeMissionItemsInserted);
+    disconnect(_visualItems, &QAbstractItemModel::rowsAboutToBeRemoved, this, &MissionController::_syncTreeMissionItemsAboutToBeRemoved);
+    disconnect(_visualItems, &QAbstractItemModel::modelReset, this, &MissionController::_syncTreeMissionItemsReset);
+
+    // Disconnect rally controller tree model sync
+    auto* rallyController = _masterController->rallyPointController();
+    if (rallyController) {
+        auto* pts = rallyController->points();
+        disconnect(pts, &QAbstractItemModel::rowsInserted, this, &MissionController::_syncTreeRallyPointsInserted);
+        disconnect(pts, &QAbstractItemModel::rowsAboutToBeRemoved, this, &MissionController::_syncTreeRallyPointsAboutToBeRemoved);
+        disconnect(pts, &QAbstractItemModel::rowsRemoved, this, &MissionController::_syncTreeRallyPointsRemoved);
+        disconnect(pts, &QAbstractItemModel::modelReset, this, &MissionController::_syncTreeRallyPointsReset);
+    }
 }
 
 void MissionController::_initVisualItem(VisualMissionItem* visualItem)
@@ -1946,8 +1638,10 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
 
 void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
 {
-    // Disconnect all signals
-    disconnect(visualItem, nullptr, nullptr, nullptr);
+    // Disconnect only signals connected to this MissionController, not all receivers.
+    // A full wildcard disconnect(obj, 0, 0, 0) tears out internal destroyed-signal
+    // connections that Qt (and the tree/list models) rely on for cleanup.
+    disconnect(visualItem, nullptr, this, nullptr);
 }
 
 void MissionController::_itemCommandChanged(void)
@@ -1994,11 +1688,11 @@ void MissionController::_inProgressChanged(bool inProgress)
     emit syncInProgressChanged(inProgress);
 }
 
-bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltMode* prevAltitudeMode)
+bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltitudeFrame* prevAltitudeMode)
 {
     bool                                found = false;
     double                              foundAltitude = 0;
-    QGroundControlQmlGlobal::AltMode    foundAltMode = QGroundControlQmlGlobal::AltitudeModeNone;
+    QGroundControlQmlGlobal::AltitudeFrame    foundAltFrame = QGroundControlQmlGlobal::AltitudeFrameNone;
 
     if (newIndex > _visualItems->count()) {
         return false;
@@ -2013,7 +1707,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
                 SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
                 if (simpleItem->specifiesAltitude()) {
                     foundAltitude   = simpleItem->altitude()->rawValue().toDouble();
-                    foundAltMode    = simpleItem->altitudeMode();
+                    foundAltFrame    = simpleItem->altitudeFrame();
                     found           = true;
                     break;
                 }
@@ -2023,7 +1717,7 @@ bool MissionController::_findPreviousAltitude(int newIndex, double* prevAltitude
 
     if (found) {
         *prevAltitude       = foundAltitude;
-        *prevAltitudeMode   = foundAltMode;
+        *prevAltitudeMode   = foundAltFrame;
     }
 
     return found;
@@ -2056,43 +1750,6 @@ MissionSettingsItem* MissionController::_addMissionSettings(QmlObjectListModel*
     return settingsItem;
 }
 
-void MissionController::_centerHomePositionOnMissionItems(QmlObjectListModel *visualItems)
-{
-    qCDebug(MissionControllerLog) << "_centerHomePositionOnMissionItems";
-
-    if (visualItems->count() > 1) {
-        double north = 0.0;
-        double south = 0.0;
-        double east  = 0.0;
-        double west  = 0.0;
-        bool firstCoordSet = false;
-
-        for (int i=1; i<visualItems->count(); i++) {
-            VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
-            if (item->specifiesCoordinate()) {
-                if (firstCoordSet) {
-                    double lat = _normalizeLat(item->coordinate().latitude());
-                    double lon = _normalizeLon(item->coordinate().longitude());
-                    north = fmax(north, lat);
-                    south = fmin(south, lat);
-                    east  = fmax(east, lon);
-                    west  = fmin(west, lon);
-                } else {
-                    firstCoordSet = true;
-                    north = _normalizeLat(item->coordinate().latitude());
-                    south = north;
-                    east  = _normalizeLon(item->coordinate().longitude());
-                    west  = east;
-                }
-            }
-        }
-
-        if (firstCoordSet) {
-            _settingsItem->setInitialHomePositionFromUser(QGeoCoordinate((south + ((north - south) / 2)) - 90.0, (west + ((east - west) / 2)) - 180.0, 0.0));
-        }
-    }
-}
-
 int MissionController::resumeMissionIndex(void) const
 {
 
@@ -2190,11 +1847,6 @@ void MissionController::_scanForAdditionalSettings(QmlObjectListModel* visualIte
     }
 }
 
-void MissionController::_updateContainsItems(void)
-{
-    emit containsItemsChanged();
-}
-
 bool MissionController::containsItems(void) const
 {
     return _visualItems ? _visualItems->count() > 1 : false;
@@ -2203,9 +1855,9 @@ bool MissionController::containsItems(void) const
 void MissionController::removeAllFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while offline";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while syncInProgress";
+        qCCritical(MissionControllerLog) << "MissionControllerLog::removeAllFromVehicle called while syncInProgress";
     } else {
         _itemsRequested = true;
         _missionManager->removeAll();
@@ -2272,7 +1924,7 @@ bool MissionController::showPlanFromManagerVehicle (void)
 {
     qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
     if (_masterController->offline()) {
-        qCWarning(MissionControllerLog) << "MissionController::showPlanFromManagerVehicle called while offline";
+        qCCritical(MissionControllerLog) << "MissionController::showPlanFromManagerVehicle called while offline";
         return true;    // stops further propagation of showPlanFromManagerVehicle due to error
     } else {
         if (!_managerVehicle->initialPlanRequestComplete()) {
@@ -2284,7 +1936,7 @@ bool MissionController::showPlanFromManagerVehicle (void)
             qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: syncInProgress wait for signal";
             return true;
         } else {
-            // Fake a _newMissionItemsAvailable with the current items
+            // Sync has already completed, fake a _newMissionItemsAvailable with the current items
             qCDebug(MissionControllerLog) << "showPlanFromManagerVehicle: sync complete simulate signal";
             _itemsRequested = true;
             _newMissionItemsAvailableFromVehicle(false /* removeAllRequested */);
@@ -2346,7 +1998,7 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _previousCoordinate =           QGeoCoordinate();
 
         bool noItemsAddedYet = _visualItems->count() == 1;
-        if (_masterController->controllerVehicle()->takeoffVehicleSupported() && !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && noItemsAddedYet) {
+        if (_masterController->controllerVehicle()->supports()->takeoffMissionCommand() && !_planViewSettings->takeoffItemNotRequired()->rawValue().toBool() && noItemsAddedYet) {
             _onlyInsertTakeoffValid = true;
         }
 
@@ -2490,20 +2142,162 @@ void MissionController::setCurrentPlanViewSeqNum(int sequenceNumber, bool force)
         _isInsertLandValid =            _isInsertLandValid && !_onlyInsertTakeoffValid;
         _flyThroughCommandsAllowed =    _flyThroughCommandsAllowed && !_onlyInsertTakeoffValid;
 
-        emit currentPlanViewSeqNumChanged();
-        emit currentPlanViewVIIndexChanged();
-        emit currentPlanViewItemChanged();
+        // These 10 properties are all recomputed together above, so a single signal is sufficient.
+        // QML property bindings list planViewStateChanged as their NOTIFY signal which means
+        // one emit re-evaluates all dependent bindings in one pass instead of 10 separate updates.
+        // splitSegmentChanged is kept separate because PlanView.qml has an explicit onSplitSegmentChanged handler.
+        emit planViewStateChanged();
         emit splitSegmentChanged();
-        emit onlyInsertTakeoffValidChanged();
-        emit isInsertTakeoffValidChanged();
-        emit isInsertLandValidChanged();
-        emit isROIActiveChanged();
-        emit isROIBeginCurrentItemChanged();
-        emit flyThroughCommandsAllowedChanged();
-        emit previousCoordinateChanged();
     }
 }
 
+void MissionController::repositionMission(const QGeoCoordinate& newHome,
+                                          bool repositionTakeoffItems,
+                                          bool repositionLandingItems)
+{
+    if (!newHome.isValid()) {
+        qCWarning(MissionControllerLog) << "Cannot reposition mission to an invalid coordinate";
+        return;
+    }
+
+    if (!_settingsItem || !_settingsItem->coordinate().isValid()) {
+        qCWarning(MissionControllerLog) << "Cannot reposition mission while home is invalid";
+        return;
+    }
+
+    const QGeoCoordinate oldHome = _settingsItem->coordinate();
+
+    for (int i = 0; i < _visualItems->count(); ++i) {
+        auto* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        if (!item || !item->specifiesCoordinate() || item->isStandaloneCoordinate()) {
+            continue;
+        }
+
+        if ((!repositionTakeoffItems && item->isTakeoffItem()) ||
+            (!repositionLandingItems && item->isLandCommand())) {
+            continue;
+        }
+
+        const QGeoCoordinate oldCoord = item->coordinate();
+        if (!oldCoord.isValid()) {
+            continue;
+        }
+
+        const double distanceMeters = oldHome.distanceTo(oldCoord);
+        const double azimuthDegrees = oldHome.azimuthTo(oldCoord);
+
+        QGeoCoordinate newCoord = newHome.atDistanceAndAzimuth(distanceMeters, azimuthDegrees);
+        item->setCoordinate(newCoord);
+    }
+
+    setDirty(true);
+}
+
+void MissionController::offsetMission(double eastMeters,
+                                      double northMeters,
+                                      double upMeters,
+                                      bool offsetTakeoffItems,
+                                      bool offsetLandingItems)
+{
+    if (!qFuzzyIsNull(eastMeters) || !qFuzzyIsNull(northMeters)) {
+        const double distanceMeters = qSqrt(eastMeters * eastMeters + northMeters * northMeters);
+        double azimuthDegrees = 0.0;
+        if (!qFuzzyIsNull(distanceMeters)) {
+            const double azimuthRadians = qAtan2(eastMeters, northMeters);
+            azimuthDegrees = qRadiansToDegrees(azimuthRadians);
+        }
+
+        for (int i = 0; i < _visualItems->count(); ++i) {
+            auto* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+            if (!item || !item->specifiesCoordinate() || item->isStandaloneCoordinate()) {
+                continue;
+            }
+
+            if ((!offsetTakeoffItems && item->isTakeoffItem()) ||
+                (!offsetLandingItems && item->isLandCommand())) {
+                continue;
+            }
+
+            const QGeoCoordinate oldCoord = item->coordinate();
+            if (!oldCoord.isValid()) {
+                continue;
+            }
+
+            item->setCoordinate(oldCoord.atDistanceAndAzimuth(distanceMeters, azimuthDegrees));
+        }
+
+        setDirty(true);
+    }
+
+    if (!qFuzzyIsNull(upMeters)) {
+        for (int i = 0; i < _visualItems->count(); ++i) {
+            auto* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+            if (!item || item == _settingsItem) {
+                continue;
+            }
+
+            if ((!offsetTakeoffItems && item->isTakeoffItem()) ||
+                (!offsetLandingItems && item->isLandCommand())) {
+                continue;
+            }
+
+            if (!item->specifiesCoordinate() && !item->specifiesAltitudeOnly()) {
+                continue;
+            }
+
+            if (!qIsNaN(item->editableAlt())) {
+                item->applyNewAltitude(item->editableAlt() + upMeters);
+            }
+        }
+
+        setDirty(true);
+    }
+}
+
+void MissionController::rotateMission(double degreesCW,
+                                      bool rotateTakeoffItems,
+                                      bool rotateLandingItems)
+{
+    if (qFuzzyIsNull(degreesCW)) {
+        return;
+    }
+
+    if (!_settingsItem || !_settingsItem->coordinate().isValid()) {
+        qCWarning(MissionControllerLog) << "Cannot rotate mission while home is invalid";
+        return;
+    }
+
+    const QGeoCoordinate home = _settingsItem->coordinate();
+
+    for (int i = 0; i < _visualItems->count(); ++i) {
+        auto* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        if (!item || !item->specifiesCoordinate() || item->isStandaloneCoordinate()) {
+            continue;
+        }
+
+        if ((!rotateTakeoffItems && item->isTakeoffItem()) ||
+            (!rotateLandingItems && item->isLandCommand())) {
+            continue;
+        }
+
+        const QGeoCoordinate oldCoord = item->coordinate();
+        if (!oldCoord.isValid()) {
+            continue;
+        }
+
+        const double distanceMeters = home.distanceTo(oldCoord);
+        if (qFuzzyIsNull(distanceMeters)) {
+            continue;
+        }
+        const double azimuthDegrees = home.azimuthTo(oldCoord);
+
+        QGeoCoordinate newCoord = home.atDistanceAndAzimuth(distanceMeters, azimuthDegrees + degreesCW);
+        item->setCoordinate(newCoord);
+    }
+
+    setDirty(true);
+}
+
 void MissionController::_updateTimeout()
 {
     QGeoCoordinate firstCoordinate;
@@ -2555,8 +2349,8 @@ void MissionController::_updateTimeout()
             if(pComplexItem) {
                 QGCGeoBoundingCube bc = pComplexItem->boundingCube();
                 if(bc.isValid()) {
-                    if(!firstCoordinate.isValid() && pComplexItem->coordinate().isValid()) {
-                        firstCoordinate = pComplexItem->coordinate();
+                    if(!firstCoordinate.isValid() && pComplexItem->entryCoordinate().isValid()) {
+                        firstCoordinate = pComplexItem->entryCoordinate();
                     }
                     north  = fmax(north, bc.pointNW.latitude()  + 90.0);
                     south  = fmin(south, bc.pointSE.latitude()  + 90.0);
@@ -2662,24 +2456,24 @@ MissionController::SendToVehiclePreCheckState MissionController::sendToVehiclePr
     return SendToVehiclePreCheckStateOk;
 }
 
-QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeMode(void)
+QGroundControlQmlGlobal::AltitudeFrame MissionController::globalAltitudeFrame(void)
 {
-    return _globalAltMode;
+    return _globalAltFrame;
 }
 
-QGroundControlQmlGlobal::AltMode MissionController::globalAltitudeModeDefault(void)
+QGroundControlQmlGlobal::AltitudeFrame MissionController::globalAltitudeFrameDefault(void)
 {
-    if (_globalAltMode == QGroundControlQmlGlobal::AltitudeModeMixed) {
-        return QGroundControlQmlGlobal::AltitudeModeRelative;
+    if (_globalAltFrame == QGroundControlQmlGlobal::AltitudeFrameMixed) {
+        return QGroundControlQmlGlobal::AltitudeFrameRelative;
     } else {
-        return _globalAltMode;
+        return _globalAltFrame;
     }
 }
 
-void MissionController::setGlobalAltitudeMode(QGroundControlQmlGlobal::AltMode altMode)
+void MissionController::setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altFrame)
 {
-    if (_globalAltMode != altMode) {
-        _globalAltMode = altMode;
-        emit globalAltitudeModeChanged();
+    if (_globalAltFrame != altFrame) {
+        _globalAltFrame = altFrame;
+        emit globalAltitudeFrameChanged();
     }
 }
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 8a45f38dbcf9..abb8130c3731 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -3,13 +3,18 @@
 #include <QtCore/QHash>
 #include <QtCore/QFile>
 #include <QtCore/QLoggingCategory>
+#include <QtCore/QPersistentModelIndex>
+#include <QtPositioning/QGeoCoordinate>
 #include <QtQmlIntegration/QtQmlIntegration>
 
 #include "PlanElementController.h"
 #include "QmlObjectListModel.h"
+#include "QmlObjectTreeModel.h"
 #include "QGCGeoBoundingCube.h"
 #include "QGroundControlQmlGlobal.h"
 #include "QGCMAVLink.h"
+#include "MissionFlightStatus.h"
+#include "MissionFlightStatusCalculator.h"
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -43,47 +48,30 @@ class MissionController : public PlanElementController
     MissionController(PlanMasterController* masterController, QObject* parent = nullptr);
     ~MissionController();
 
-    typedef struct {
-        double                      maxTelemetryDistance;
-        double                      totalDistance;
-        double                      plannedDistance;
-        double                      totalTime;
-        double                      hoverDistance;
-        double                      hoverTime;
-        double                      cruiseDistance;
-        double                      cruiseTime;
-        int                         mAhBattery;             ///< 0 for not available
-        double                      hoverAmps;              ///< Amp consumption during hover
-        double                      cruiseAmps;             ///< Amp consumption during cruise
-        double                      ampMinutesAvailable;    ///< Amp minutes available from single battery
-        double                      hoverAmpsTotal;         ///< Total hover amps used
-        double                      cruiseAmpsTotal;        ///< Total cruise amps used
-        int                         batteryChangePoint;     ///< -1 for not supported, 0 for not needed
-        int                         batteriesRequired;      ///< -1 for not supported
-        double                      vehicleYaw;
-        double                      gimbalYaw;              ///< NaN signals yaw was never changed
-        double                      gimbalPitch;            ///< NaN signals pitch was never changed
-        // The following values are the state prior to executing this item
-        QGCMAVLink::VehicleClass_t  vtolMode;               ///< Either VehicleClassFixedWing, VehicleClassMultiRotor, VehicleClassGeneric (mode unknown)
-        double                      cruiseSpeed;
-        double                      hoverSpeed;
-        double                      vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
-    } MissionFlightStatus_t;
+    // Legacy alias kept for source compatibility with external code
+    using MissionFlightStatus_t = ::MissionFlightStatus_t;
 
     Q_PROPERTY(QmlObjectListModel*  visualItems                     READ visualItems                    NOTIFY visualItemsChanged)
+    Q_PROPERTY(QmlObjectTreeModel*  visualItemsTree                 READ visualItemsTree                CONSTANT)                               ///< Tree-structured view of visualItems for TreeView
+    Q_PROPERTY(QPersistentModelIndex planFileGroupIndex              READ planFileGroupIndex              CONSTANT)
+    Q_PROPERTY(QPersistentModelIndex defaultsGroupIndex              READ defaultsGroupIndex              CONSTANT)
+    Q_PROPERTY(QPersistentModelIndex missionGroupIndex               READ missionGroupIndex               CONSTANT)
+    Q_PROPERTY(QPersistentModelIndex fenceGroupIndex                 READ fenceGroupIndex                 CONSTANT)
+    Q_PROPERTY(QPersistentModelIndex rallyGroupIndex                 READ rallyGroupIndex                 CONSTANT)
+    Q_PROPERTY(QPersistentModelIndex transformGroupIndex              READ transformGroupIndex              CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  simpleFlightPathSegments        READ simpleFlightPathSegments       CONSTANT)                               ///< Used by Plan view only for interactive editing
     Q_PROPERTY(QmlObjectListModel*  directionArrows                 READ directionArrows                CONSTANT)
     Q_PROPERTY(QStringList          complexMissionItemNames         READ complexMissionItemNames        NOTIFY complexMissionItemNamesChanged)
     Q_PROPERTY(QGeoCoordinate       plannedHomePosition             READ plannedHomePosition            NOTIFY plannedHomePositionChanged)      ///< Includes AMSL altitude
-    Q_PROPERTY(QGeoCoordinate       previousCoordinate              MEMBER _previousCoordinate          NOTIFY previousCoordinateChanged)
+    Q_PROPERTY(QGeoCoordinate       previousCoordinate              MEMBER _previousCoordinate          NOTIFY planViewStateChanged)
     Q_PROPERTY(FlightPathSegment*   splitSegment                    MEMBER _splitSegment                NOTIFY splitSegmentChanged)             ///< Segment which show show + split ui element
     Q_PROPERTY(double               progressPct                     READ progressPct                    NOTIFY progressPctChanged)
     Q_PROPERTY(int                  missionItemCount                READ missionItemCount               NOTIFY missionItemCountChanged)         ///< True mission item command count (only valid in Fly View)
     Q_PROPERTY(int                  currentMissionIndex             READ currentMissionIndex            NOTIFY currentMissionIndexChanged)
     Q_PROPERTY(int                  resumeMissionIndex              READ resumeMissionIndex             NOTIFY resumeMissionIndexChanged)       ///< Returns the item index two which a mission should be resumed. -1 indicates resume mission not available.
-    Q_PROPERTY(int                  currentPlanViewSeqNum           READ currentPlanViewSeqNum          NOTIFY currentPlanViewSeqNumChanged)
-    Q_PROPERTY(int                  currentPlanViewVIIndex          READ currentPlanViewVIIndex         NOTIFY currentPlanViewVIIndexChanged)
-    Q_PROPERTY(VisualMissionItem*   currentPlanViewItem             READ currentPlanViewItem            NOTIFY currentPlanViewItemChanged)
+    Q_PROPERTY(int                  currentPlanViewSeqNum           READ currentPlanViewSeqNum          NOTIFY planViewStateChanged)
+    Q_PROPERTY(int                  currentPlanViewVIIndex          READ currentPlanViewVIIndex         NOTIFY planViewStateChanged)
+    Q_PROPERTY(VisualMissionItem*   currentPlanViewItem             READ currentPlanViewItem            NOTIFY planViewStateChanged)
     Q_PROPERTY(TakeoffMissionItem*  takeoffMissionItem              READ takeoffMissionItem             NOTIFY takeoffMissionItemChanged)
     Q_PROPERTY(double               missionTotalDistance            READ missionTotalDistance           NOTIFY missionTotalDistanceChanged)
     Q_PROPERTY(double               missionPlannedDistance          READ missionPlannedDistance         NOTIFY missionPlannedDistanceChanged)
@@ -99,22 +87,25 @@ class MissionController : public PlanElementController
     Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
     Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
     Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
-    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY onlyInsertTakeoffValidChanged)
-    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY isInsertTakeoffValidChanged)
-    Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY isInsertLandValidChanged)
+    Q_PROPERTY(bool                 onlyInsertTakeoffValid          MEMBER _onlyInsertTakeoffValid      NOTIFY planViewStateChanged)
+    Q_PROPERTY(bool                 isInsertTakeoffValid            MEMBER _isInsertTakeoffValid        NOTIFY planViewStateChanged)
+    Q_PROPERTY(bool                 isInsertLandValid               MEMBER _isInsertLandValid           NOTIFY planViewStateChanged)
     Q_PROPERTY(bool                 hasLandItem                     MEMBER _hasLandItem                 NOTIFY hasLandItemChanged)
     Q_PROPERTY(bool                 multipleLandPatternsAllowed     READ multipleLandPatternsAllowed    NOTIFY multipleLandPatternsAllowedChanged)
-    Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY isROIActiveChanged)
-    Q_PROPERTY(bool                 isROIBeginCurrentItem           MEMBER _isROIBeginCurrentItem       NOTIFY isROIBeginCurrentItemChanged)
-    Q_PROPERTY(bool                 flyThroughCommandsAllowed       MEMBER _flyThroughCommandsAllowed   NOTIFY flyThroughCommandsAllowedChanged)
+    Q_PROPERTY(bool                 isROIActive                     MEMBER _isROIActive                 NOTIFY planViewStateChanged)
+    Q_PROPERTY(bool                 isROIBeginCurrentItem           MEMBER _isROIBeginCurrentItem       NOTIFY planViewStateChanged)
+    Q_PROPERTY(bool                 flyThroughCommandsAllowed       MEMBER _flyThroughCommandsAllowed   NOTIFY planViewStateChanged)
     Q_PROPERTY(double               minAMSLAltitude                 MEMBER _minAMSLAltitude             NOTIFY minAMSLAltitudeChanged)          ///< Minimum altitude associated with this mission. Used to calculate percentages for terrain status.
     Q_PROPERTY(double               maxAMSLAltitude                 MEMBER _maxAMSLAltitude             NOTIFY maxAMSLAltitudeChanged)          ///< Maximum altitude associated with this mission. Used to calculate percentages for terrain status.
 
-    Q_PROPERTY(QGroundControlQmlGlobal::AltMode globalAltitudeMode         READ globalAltitudeMode         WRITE setGlobalAltitudeMode NOTIFY globalAltitudeModeChanged)
-    Q_PROPERTY(QGroundControlQmlGlobal::AltMode globalAltitudeModeDefault  READ globalAltitudeModeDefault  NOTIFY globalAltitudeModeChanged)                               ///< Default to use for newly created items
+    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame globalAltitudeFrame         READ globalAltitudeFrame         WRITE setGlobalAltitudeFrame NOTIFY globalAltitudeFrameChanged)
+    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame globalAltitudeFrameDefault  READ globalAltitudeFrameDefault  NOTIFY globalAltitudeFrameChanged)                               ///< Default to use for newly created items
 
     Q_INVOKABLE void removeVisualItem(int viIndex);
 
+    /// Returns the visual item index for the given VisualMissionItem object, or -1 if not found
+    Q_INVOKABLE int visualItemIndexForObject(QObject* object) const;
+
     /// Add a new simple mission item to the list
     ///     @param coordinate: Coordinate for item
     ///     @param visualItemIndex: index to insert at, -1 for end of list
@@ -176,6 +167,47 @@ class MissionController : public PlanElementController
     ///     @param force - true: reset internals even if specified item is already selected
     Q_INVOKABLE void setCurrentPlanViewSeqNum(int sequenceNumber, bool force);
 
+    /// Repositions all mission items which specify a coordinate around a new
+    /// home coordinate. Requires a valid planned home position; otherwise the
+    /// mission is not modified and a warning is logged.
+    /// @param newHome New coordinate for the home item
+    /// @param repositionTakeoffItems If true, items identified as takeoff items
+    ///                               (isTakeoffItem) will be repositioned
+    /// @param repositionLandingItems If true, items identified as landing items
+    ///                               (isLandCommand) will be repositioned
+    Q_INVOKABLE void repositionMission(const QGeoCoordinate& newHome,
+                                       bool repositionTakeoffItems = true,
+                                       bool repositionLandingItems = true);
+
+    /// Offsets all mission items which specify a coordinate by the specified
+    /// ENU amounts in meters. Home altitude remains unchanged.
+    /// @param eastMeters Distance to offset items to the east, in meters
+    /// @param northMeters Distance to offset items to the north, in meters
+    /// @param upMeters Distance to offset items upwards, in meters
+    /// @param offsetTakeoffItems If true, items identified as takeoff items
+    ///                           (isTakeoffItem) will be offset
+    /// @param offsetLandingItems If true, items identified as landing items
+    ///                           (isLandCommand) will be offset
+    Q_INVOKABLE void offsetMission(double eastMeters,
+                                   double northMeters,
+                                   double upMeters = 0.0,
+                                   bool offsetTakeoffItems = false,
+                                   bool offsetLandingItems = false);
+
+    /// Rotates all mission items which specify a coordinate around the up axis
+    /// of the home position. Complex items are rotated by moving their
+    /// reference coordinate: their geometry and orientation are not modified.
+    /// Requires a valid planned home position; otherwise the mission is not
+    /// modified and a warning is logged.
+    /// @param degreesCW Angle to rotate items by, in degrees clockwise
+    /// @param rotateTakeoffItems If true, items identified as takeoff items
+    ///                           (isTakeoffItem) will be rotated
+    /// @param rotateLandingItems If true, items identified as landing items
+    ///                           (isLandCommand) will be rotated
+    Q_INVOKABLE void rotateMission(double degreesCW,
+                                   bool rotateTakeoffItems = false,
+                                   bool rotateLandingItems = false);
+
     enum SendToVehiclePreCheckState {
         SendToVehiclePreCheckStateOk,                       // Ok to send plan to vehicle
         SendToVehiclePreCheckStateNoActiveVehicle,          // There is no active vehicle
@@ -220,6 +252,13 @@ class MissionController : public PlanElementController
     // Property accessors
 
     QmlObjectListModel* visualItems                 (void) { return _visualItems; }
+    QmlObjectTreeModel* visualItemsTree             (void) { return &_visualItemsTree; }
+    QPersistentModelIndex planFileGroupIndex         (void) const { return _planFileGroupIndex; }
+    QPersistentModelIndex defaultsGroupIndex         (void) const { return _defaultsGroupIndex; }
+    QPersistentModelIndex missionGroupIndex          (void) const { return _missionGroupIndex; }
+    QPersistentModelIndex fenceGroupIndex            (void) const { return _fenceGroupIndex; }
+    QPersistentModelIndex rallyGroupIndex            (void) const { return _rallyGroupIndex; }
+    QPersistentModelIndex transformGroupIndex         (void) const { return _transformGroupIndex; }
     QmlObjectListModel* simpleFlightPathSegments    (void) { return &_simpleFlightPathSegments; }
     QmlObjectListModel* directionArrows             (void) { return &_directionArrows; }
     QStringList         complexMissionItemNames     (void) const;
@@ -235,7 +274,7 @@ class MissionController : public PlanElementController
     double              minAMSLAltitude             (void) const { return _minAMSLAltitude; }
     double              maxAMSLAltitude             (void) const { return _maxAMSLAltitude; }
 
-    int missionItemCount            (void) const { return _missionItemCount; }
+    int missionItemCount            (void) const { return _visualItems ? _visualItems->count() : 0; }
     int currentMissionIndex         (void) const;
     int resumeMissionIndex          (void) const;
     int currentPlanViewSeqNum       (void) const { return _currentPlanViewSeqNum; }
@@ -256,9 +295,18 @@ class MissionController : public PlanElementController
     bool isFirstLandingComplexItem  (const LandingComplexItem* item) const;
     bool isEmpty                    (void) const;
 
-    QGroundControlQmlGlobal::AltMode globalAltitudeMode(void);
-    QGroundControlQmlGlobal::AltMode globalAltitudeModeDefault(void);
-    void setGlobalAltitudeMode(QGroundControlQmlGlobal::AltMode altMode);
+    QGroundControlQmlGlobal::AltitudeFrame globalAltitudeFrame(void);
+    QGroundControlQmlGlobal::AltitudeFrame globalAltitudeFrameDefault(void);
+    void setGlobalAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altFrame);
+
+    // Top-level group row indices in _visualItemsTree (must match _setupTreeModel order)
+    static constexpr int kPlanFileGroupRow = 0;
+    static constexpr int kDefaultsGroupRow = 1;
+    static constexpr int kMissionGroupRow  = 2;
+    static constexpr int kFenceGroupRow    = 3;
+    static constexpr int kRallyGroupRow    = 4;
+    static constexpr int kTransformGroupRow = 5;
+    static constexpr int kGroupCount       = 6;
 
 signals:
     void visualItemsChanged                 (void);
@@ -281,27 +329,18 @@ class MissionController : public PlanElementController
     void plannedHomePositionChanged         (QGeoCoordinate plannedHomePosition);
     void progressPctChanged                 (double progressPct);
     void currentMissionIndexChanged         (int currentMissionIndex);
-    void currentPlanViewSeqNumChanged       (void);
-    void currentPlanViewVIIndexChanged      (void);
-    void currentPlanViewItemChanged         (void);
+    void planViewStateChanged               (void);  ///< All plan-view properties are recomputed together in setCurrentPlanViewSeqNum, so one signal covers them all
     void takeoffMissionItemChanged          (void);
     void missionBoundingCubeChanged         (void);
-    void missionItemCountChanged            (int missionItemCount);
-    void onlyInsertTakeoffValidChanged      (void);
-    void isInsertTakeoffValidChanged        (void);
-    void isInsertLandValidChanged           (void);
+    void missionItemCountChanged            (void);
     void hasLandItemChanged                 (void);
     void multipleLandPatternsAllowedChanged (void);
-    void isROIActiveChanged                 (void);
-    void isROIBeginCurrentItemChanged       (void);
-    void flyThroughCommandsAllowedChanged   (void);
-    void previousCoordinateChanged          (void);
     void minAMSLAltitudeChanged             (double minAMSLAltitude);
     void maxAMSLAltitudeChanged             (double maxAMSLAltitude);
     void recalcTerrainProfile               (void);
     void _recalcMissionFlightStatusSignal   (void);
     void _recalcFlightPathSegmentsSignal    (void);
-    void globalAltitudeModeChanged          (void);
+    void globalAltitudeFrameChanged          (void);
 
 private slots:
     void _newMissionItemsAvailableFromVehicle   (bool removeAllRequested);
@@ -310,7 +349,6 @@ private slots:
     void _currentMissionIndexChanged            (int sequenceNumber);
     void _recalcFlightPathSegments              (void);
     void _recalcMissionFlightStatus             (void);
-    void _updateContainsItems                   (void);
     void _progressPctChanged                    (double progressPct);
     void _visualItemsDirtyChanged               (bool dirty);
     void _managerSendComplete                   (bool error);
@@ -320,37 +358,37 @@ private slots:
     void _recalcAll                             (void);
     void _managerVehicleChanged                 (Vehicle* managerVehicle);
     void _forceRecalcOfAllowedBits              (void);
-
+    // Incremental tree model sync slots
+    void _syncTreeMissionItemsInserted                (const QModelIndex& parent, int first, int last);
+    void _syncTreeMissionItemsAboutToBeRemoved         (const QModelIndex& parent, int first, int last);
+    void _syncTreeMissionItemsReset                   (void);
+    void _syncTreeRallyPointsInserted                 (const QModelIndex& parent, int first, int last);
+    void _syncTreeRallyPointsAboutToBeRemoved          (const QModelIndex& parent, int first, int last);
+    void _syncTreeRallyPointsRemoved                   (const QModelIndex& parent, int first, int last);
+
+    void _syncTreeRallyPointsReset                    (void);
 private:
     void                    _init                               (void);
+    void                    _setupTreeModel                     (void);
     void                    _recalcSequence                     (void);
     void                    _recalcChildItems                   (void);
     void                    _recalcAllWithCoordinate            (const QGeoCoordinate& coordinate);
-    void                    _recalcROISpecialVisuals            (void);
+    void                    _setupNewVisualItems                (QmlObjectListModel* newItems = nullptr);
     void                    _initAllVisualItems                 (void);
     void                    _deinitAllVisualItems               (void);
     void                    _initVisualItem                     (VisualMissionItem* item);
     void                    _deinitVisualItem                   (VisualMissionItem* item);
     void                    _setupActiveVehicle                 (Vehicle* activeVehicle, bool forceLoadFromVehicle);
-    void                    _calcPrevWaypointValues             (VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
-    bool                    _findPreviousAltitude               (int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltMode* prevAltMode);
+    bool                    _findPreviousAltitude               (int newIndex, double* prevAltitude, QGroundControlQmlGlobal::AltitudeFrame* prevAltFrame);
     MissionSettingsItem*    _addMissionSettings                 (QmlObjectListModel* visualItems);
-    void                    _centerHomePositionOnMissionItems   (QmlObjectListModel* visualItems);
-    bool                    _loadJsonMissionFile                (const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
-    bool                    _loadJsonMissionFileV1              (const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     bool                    _loadJsonMissionFileV2              (const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     bool                    _loadTextMissionFile                (QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int                     _nextSequenceNumber                 (void);
     void                    _scanForAdditionalSettings          (QmlObjectListModel* visualItems, PlanMasterController* masterController);
     void                    _setPlannedHomePositionFromFirstCoordinate(const QGeoCoordinate& clickCoordinate);
     void                    _resetMissionFlightStatus           (void);
-    void                    _addHoverTime                       (double hoverTime, double hoverDistance, int waypointIndex);
-    void                    _addCruiseTime                      (double cruiseTime, double cruiseDistance, int wayPointIndex);
-    void                    _updateBatteryInfo                  (int waypointIndex);
-    bool                    _loadItemsFromJson                  (const QJsonObject& json, QmlObjectListModel* visualItems, QString& errorString);
     void                    _initLoadedVisualItems              (QmlObjectListModel* loadedVisualItems);
     FlightPathSegment*      _addFlightPathSegment               (FlightPathSegmentHashTable& prevItemPairHashTable, VisualItemPair& pair, bool mavlinkTerrainFrame);
-    void                    _addTimeDistance                    (bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     VisualMissionItem*      _insertSimpleMissionItemWorker      (QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
     void                    _insertComplexMissionItemWorker     (const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
     bool                    _isROIBeginItem                     (SimpleMissionItem* simpleItem);
@@ -359,7 +397,6 @@ private slots:
     void                    _allItemsRemoved                    (void);
     void                    _firstItemAdded                     (void);
 
-    static double           _calcDistanceToHome                 (VisualMissionItem* currentItem, VisualMissionItem* homeItem);
     static double           _normalizeLat                       (double lat);
     static double           _normalizeLon                       (double lon);
     static bool             _convertToMissionItems              (QmlObjectListModel* visualMissionItems, QList<MissionItem*>& rgMissionItems, QObject* missionItemParent);
@@ -368,8 +405,25 @@ private slots:
     Vehicle*                    _controllerVehicle =            nullptr;
     Vehicle*                    _managerVehicle =               nullptr;
     MissionManager*             _missionManager =               nullptr;
-    int                         _missionItemCount =             0;
     QmlObjectListModel*         _visualItems =                  nullptr;
+    QPersistentModelIndex       _planFileGroupIndex;            ///< Persistent index for "Plan File" group in tree
+    QPersistentModelIndex       _defaultsGroupIndex;            ///< Persistent index for "Defaults" group in tree
+    QPersistentModelIndex       _missionGroupIndex;             ///< Persistent index for "Mission Items" group in tree
+    QPersistentModelIndex       _fenceGroupIndex;               ///< Persistent index for "GeoFence" group in tree
+    QPersistentModelIndex       _rallyGroupIndex;               ///< Persistent index for "Rally Points" group in tree
+    QPersistentModelIndex       _transformGroupIndex;            ///< Persistent index for "Transform" group in tree
+    QObject                     _planFileGroupNode;             ///< Group node for "Plan File" in tree view
+    QObject                     _planFileInfoMarker;            ///< Marker child for plan file info delegate
+    QObject                     _defaultsGroupNode;             ///< Group node for "Defaults" in tree view
+    QObject                     _defaultsInfoMarker;            ///< Marker child for defaults editor delegate
+    QObject                     _missionItemsGroupNode;         ///< Group node for "Mission Items" in tree view
+    QObject                     _fenceGroupNode;                ///< Group node for "GeoFence" in tree view
+    QObject                     _rallyGroupNode;                ///< Group node for "Rally Points" in tree view
+    QObject                     _transformGroupNode;             ///< Group node for "Transform" in tree view
+    QObject                     _fenceEditorMarker;             ///< Marker child for GeoFenceEditor delegate
+    QObject                     _rallyHeaderMarker;             ///< Marker child for RallyPointEditorHeader delegate
+    QObject                     _transformEditorMarker;          ///< Marker child for TransformEditor delegate
+    QmlObjectTreeModel          _visualItemsTree;               // Must be declared after group nodes so it's destroyed first
     MissionSettingsItem*        _settingsItem =                 nullptr;
     PlanViewSettings*           _planViewSettings =             nullptr;
     QmlObjectListModel          _simpleFlightPathSegments;
@@ -378,6 +432,7 @@ private slots:
     bool                        _firstItemsFromVehicle =        false;
     bool                        _itemsRequested =               false;
     bool                        _inRecalcSequence =             false;
+    MissionFlightStatusCalculator _flightStatusCalc;
     MissionFlightStatus_t       _missionFlightStatus;
     AppSettings*                _appSettings =                  nullptr;
     double                      _progressPct =                  0;
@@ -402,10 +457,9 @@ private slots:
     double                      _maxAMSLAltitude =              0;
     bool                        _missionContainsVTOLTakeoff =   false;
 
-    QGroundControlQmlGlobal::AltMode _globalAltMode = QGroundControlQmlGlobal::AltitudeModeRelative;
+    QGroundControlQmlGlobal::AltitudeFrame _globalAltFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
 
     static constexpr const char* _settingsGroup =                 "MissionController";
-    static constexpr const char* _jsonFileTypeValue =             "Mission";
     static constexpr const char* _jsonItemsKey =                  "items";
     static constexpr const char* _jsonPlannedHomePositionKey =    "plannedHomePosition";
     static constexpr const char* _jsonFirmwareTypeKey =           "firmwareType";
@@ -415,9 +469,5 @@ private slots:
     static constexpr const char* _jsonParamsKey =                 "params";
     static constexpr const char* _jsonGlobalPlanAltitudeModeKey = "globalPlanAltitudeMode";
 
-    // Deprecated V1 format keys
-    static constexpr const char* _jsonComplexItemsKey =           "complexItems";
-    static constexpr const char* _jsonMavAutopilotKey =           "MAV_AUTOPILOT";
-
     static constexpr int   _missionFileVersion =            2;
 };
diff --git a/src/MissionManager/MissionFlightStatus.h b/src/MissionManager/MissionFlightStatus.h
new file mode 100644
index 000000000000..09df427bbf2f
--- /dev/null
+++ b/src/MissionManager/MissionFlightStatus.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "QGCMAVLink.h"
+
+struct MissionFlightStatus_t {
+    double                      maxTelemetryDistance;
+    double                      totalDistance;
+    double                      plannedDistance;
+    double                      totalTime;
+    double                      hoverDistance;
+    double                      hoverTime;
+    double                      cruiseDistance;
+    double                      cruiseTime;
+    int                         mAhBattery;             ///< 0 for not available
+    double                      hoverAmps;              ///< Amp consumption during hover
+    double                      cruiseAmps;             ///< Amp consumption during cruise
+    double                      ampMinutesAvailable;    ///< Amp minutes available from single battery
+    double                      hoverAmpsTotal;         ///< Total hover amps used
+    double                      cruiseAmpsTotal;        ///< Total cruise amps used
+    int                         batteryChangePoint;     ///< -1 for not supported, 0 for not needed
+    int                         batteriesRequired;      ///< -1 for not supported
+    double                      vehicleYaw;
+    double                      gimbalYaw;              ///< NaN signals yaw was never changed
+    double                      gimbalPitch;            ///< NaN signals pitch was never changed
+    // The following values are the state prior to executing this item
+    QGCMAVLink::VehicleClass_t  vtolMode;               ///< Either VehicleClassFixedWing, VehicleClassMultiRotor, VehicleClassGeneric (mode unknown)
+    double                      cruiseSpeed;
+    double                      hoverSpeed;
+    double                      vehicleSpeed;           ///< Either cruise or hover speed based on vehicle type and vtol state
+};
diff --git a/src/MissionManager/MissionFlightStatusCalculator.cc b/src/MissionManager/MissionFlightStatusCalculator.cc
new file mode 100644
index 000000000000..99ebedafff4c
--- /dev/null
+++ b/src/MissionManager/MissionFlightStatusCalculator.cc
@@ -0,0 +1,393 @@
+#include "MissionFlightStatusCalculator.h"
+#include "Vehicle.h"
+#include "FirmwarePlugin.h"
+#include "QmlObjectListModel.h"
+#include "VisualMissionItem.h"
+#include "SimpleMissionItem.h"
+#include "ComplexMissionItem.h"
+#include "MissionSettingsItem.h"
+#include "AppSettings.h"
+#include "PlanViewSettings.h"
+#include "SettingsManager.h"
+
+#include <QtMath>
+
+void MissionFlightStatusCalculator::reset(Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionContainsVTOLTakeoff)
+{
+    _status.totalDistance =        0.0;
+    _status.plannedDistance =      0.0;
+    _status.maxTelemetryDistance = 0.0;
+    _status.totalTime =            0.0;
+    _status.hoverTime =            0.0;
+    _status.cruiseTime =           0.0;
+    _status.hoverDistance =        0.0;
+    _status.cruiseDistance =       0.0;
+    _status.cruiseSpeed =          controllerVehicle->defaultCruiseSpeed();
+    _status.hoverSpeed =           controllerVehicle->defaultHoverSpeed();
+    _status.vehicleSpeed =         controllerVehicle->multiRotor() || managerVehicle->vtol() ? _status.hoverSpeed : _status.cruiseSpeed;
+    _status.vehicleYaw =           qQNaN();
+    _status.gimbalYaw =            qQNaN();
+    _status.gimbalPitch =          qQNaN();
+    _status.mAhBattery =           0;
+    _status.hoverAmps =            0;
+    _status.cruiseAmps =           0;
+    _status.ampMinutesAvailable =  0;
+    _status.hoverAmpsTotal =       0;
+    _status.cruiseAmpsTotal =      0;
+    _status.batteryChangePoint =   -1;
+    _status.batteriesRequired =    -1;
+    _status.vtolMode =             missionContainsVTOLTakeoff ? QGCMAVLink::VehicleClassMultiRotor : QGCMAVLink::VehicleClassFixedWing;
+
+    controllerVehicle->firmwarePlugin()->batteryConsumptionData(controllerVehicle, _status.mAhBattery, _status.hoverAmps, _status.cruiseAmps);
+    if (_status.mAhBattery != 0) {
+        double batteryPercentRemainingAnnounce = SettingsManager::instance()->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toDouble();
+        _status.ampMinutesAvailable = static_cast<double>(_status.mAhBattery) / 1000.0 * 60.0 * ((100.0 - batteryPercentRemainingAnnounce) / 100.0);
+    }
+}
+
+void MissionFlightStatusCalculator::recalc(QmlObjectListModel* visualItems,
+                                            MissionSettingsItem* settingsItem,
+                                            Vehicle* controllerVehicle,
+                                            Vehicle* managerVehicle,
+                                            AppSettings* appSettings,
+                                            PlanViewSettings* planViewSettings,
+                                            bool missionContainsVTOLTakeoff)
+{
+    bool                firstCoordinateItem =           true;
+    VisualMissionItem*  lastFlyThroughVI =   qobject_cast<VisualMissionItem*>(visualItems->get(0));
+
+    bool homePositionValid = settingsItem->coordinate().isValid();
+
+    // If home position is valid we can calculate distances between all waypoints.
+    // If home position is not valid we can only calculate distances between waypoints which are
+    // both relative altitude.
+
+    // No values for first item
+    lastFlyThroughVI->setAltDifference(0);
+    lastFlyThroughVI->setAzimuth(0);
+    lastFlyThroughVI->setDistance(0);
+    lastFlyThroughVI->setDistanceFromStart(0);
+
+    _minAMSLAltitude = _maxAMSLAltitude = qQNaN();
+
+    reset(controllerVehicle, managerVehicle, missionContainsVTOLTakeoff);
+
+    bool   linkStartToHome =            false;
+    bool   foundRTL =                   false;
+    bool   pastLandCommand =            false;
+    double totalHorizontalDistance =    0;
+
+    for (int i=0; i<visualItems->count(); i++) {
+        VisualMissionItem*  item =          qobject_cast<VisualMissionItem*>(visualItems->get(i));
+        SimpleMissionItem*  simpleItem =    qobject_cast<SimpleMissionItem*>(item);
+        ComplexMissionItem* complexItem =   qobject_cast<ComplexMissionItem*>(item);
+
+        if (simpleItem && simpleItem->mavCommand() == MAV_CMD_NAV_RETURN_TO_LAUNCH) {
+            foundRTL = true;
+        }
+
+        // Assume the worst
+        item->setAzimuth(0);
+        item->setDistance(0);
+        item->setDistanceFromStart(0);
+
+        // Gimbal states reflect the state AFTER executing the item
+
+        // ROI commands cancel out previous gimbal yaw/pitch
+        if (simpleItem) {
+            switch (simpleItem->command()) {
+            case MAV_CMD_NAV_ROI:
+            case MAV_CMD_DO_SET_ROI_LOCATION:
+            case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
+            case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
+                _status.gimbalYaw      = qQNaN();
+                _status.gimbalPitch    = qQNaN();
+                break;
+            default:
+                break;
+            }
+        }
+
+        // Look for specific gimbal changes
+        double gimbalYaw = item->specifiedGimbalYaw();
+        if (!qIsNaN(gimbalYaw) || planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
+            _status.gimbalYaw = gimbalYaw;
+        }
+        double gimbalPitch = item->specifiedGimbalPitch();
+        if (!qIsNaN(gimbalPitch) || planViewSettings->showGimbalOnlyWhenSet()->rawValue().toBool()) {
+            _status.gimbalPitch = gimbalPitch;
+        }
+
+        // We don't need to do any more processing if:
+        //  Mission Settings Item
+        //  We are after an RTL command
+        if (i != 0 && !foundRTL) {
+            // We must set the mission flight status prior to querying for any values from the item. This is because things like
+            // current speed, gimbal, vtol state  impact the values.
+            item->setMissionFlightStatus(_status);
+
+            // Link back to home if first item is takeoff and we have home position
+            if (firstCoordinateItem && simpleItem && (simpleItem->mavCommand() == MAV_CMD_NAV_TAKEOFF || simpleItem->mavCommand() == MAV_CMD_NAV_VTOL_TAKEOFF)) {
+                if (homePositionValid) {
+                    linkStartToHome = true;
+                    if (controllerVehicle->multiRotor() || controllerVehicle->vtol()) {
+                        // We have to special case takeoff, assuming vehicle takes off straight up to specified altitude
+                        double azimuth, distance, altDifference;
+                        calcPrevWaypointValues(settingsItem, simpleItem, &azimuth, &distance, &altDifference);
+                        double takeoffTime = qAbs(altDifference) / appSettings->offlineEditingAscentSpeed()->rawValue().toDouble();
+                        _addHoverTime(takeoffTime, 0, -1);
+                    }
+                }
+            }
+
+            if (!pastLandCommand)
+                _addTimeDistance(controllerVehicle, _status.vtolMode == QGCMAVLink::VehicleClassMultiRotor, 0, 0, item->additionalTimeDelay(), 0, -1);
+
+            if (item->specifiesCoordinate()) {
+
+                // Keep track of the min/max AMSL altitude for entire mission so we can calculate altitude percentages in terrain status display
+                if (simpleItem) {
+                    double amslAltitude = item->amslEntryAlt();
+                    _minAMSLAltitude = std::fmin(_minAMSLAltitude, amslAltitude);
+                    _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, amslAltitude);
+                } else {
+                    // Complex item
+                    double complexMinAMSLAltitude = complexItem->minAMSLAltitude();
+                    double complexMaxAMSLAltitude = complexItem->maxAMSLAltitude();
+                    _minAMSLAltitude = std::fmin(_minAMSLAltitude, complexMinAMSLAltitude);
+                    _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, complexMaxAMSLAltitude);
+                }
+
+                if (!item->isStandaloneCoordinate()) {
+                    firstCoordinateItem = false;
+
+                    // Update vehicle yaw assuming direction to next waypoint and/or mission item change
+                    if (simpleItem) {
+                        double newVehicleYaw = simpleItem->specifiedVehicleYaw();
+                        if (qIsNaN(newVehicleYaw)) {
+                            // No specific vehicle yaw set. Current vehicle yaw is determined from flight path segment direction.
+                            if (simpleItem != lastFlyThroughVI) {
+                                _status.vehicleYaw = lastFlyThroughVI->exitCoordinate().azimuthTo(simpleItem->entryCoordinate());
+                            }
+                        } else {
+                            _status.vehicleYaw = newVehicleYaw;
+                        }
+                        simpleItem->setMissionVehicleYaw(_status.vehicleYaw);
+                    }
+
+                    if (lastFlyThroughVI != settingsItem || linkStartToHome) {
+                        // This is a subsequent waypoint or we are forcing the first waypoint back to home
+                        double azimuth, distance, altDifference;
+
+                        calcPrevWaypointValues(item, lastFlyThroughVI, &azimuth, &distance, &altDifference);
+
+                        // If the last waypoint was a land command, there's a discontinuity at this point
+                        if (!lastFlyThroughVI->isLandCommand()) {
+                            totalHorizontalDistance += distance;
+                            item->setDistance(distance);
+
+                            if (!pastLandCommand) {
+                                // Calculate time/distance
+                                double hoverTime = distance / _status.hoverSpeed;
+                                double cruiseTime = distance / _status.cruiseSpeed;
+                                _addTimeDistance(controllerVehicle, _status.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
+                            }
+                        }
+
+                        item->setAltDifference(altDifference);
+                        item->setAzimuth(azimuth);
+                        item->setDistanceFromStart(totalHorizontalDistance);
+
+                        _status.maxTelemetryDistance = qMax(_status.maxTelemetryDistance, calcDistanceToHome(item, settingsItem));
+                    }
+
+                    if (complexItem) {
+                        // Add in distance/time inside complex items as well
+                        double distance = complexItem->complexDistance();
+                        _status.maxTelemetryDistance = qMax(_status.maxTelemetryDistance, complexItem->greatestDistanceTo(complexItem->exitCoordinate()));
+
+                        if (!pastLandCommand) {
+                            double hoverTime = distance / _status.hoverSpeed;
+                            double cruiseTime = distance / _status.cruiseSpeed;
+                            _addTimeDistance(controllerVehicle, _status.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, 0, distance, item->sequenceNumber());
+                        }
+
+                        totalHorizontalDistance += distance;
+                    }
+
+
+                    lastFlyThroughVI = item;
+                }
+            }
+        }
+
+        // Speed, VTOL states changes are processed last since they take affect on the next item
+
+        double newSpeed = item->specifiedFlightSpeed();
+        if (!qIsNaN(newSpeed)) {
+            if (controllerVehicle->multiRotor()) {
+                _status.hoverSpeed = newSpeed;
+            } else if (controllerVehicle->vtol()) {
+                if (_status.vtolMode == QGCMAVLink::VehicleClassMultiRotor) {
+                    _status.hoverSpeed = newSpeed;
+                } else {
+                    _status.cruiseSpeed = newSpeed;
+                }
+            } else {
+                _status.cruiseSpeed = newSpeed;
+            }
+            _status.vehicleSpeed = newSpeed;
+        }
+
+        // Update VTOL state
+        if (simpleItem && controllerVehicle->vtol()) {
+            switch (simpleItem->command()) {
+            case MAV_CMD_NAV_TAKEOFF:       // This will do a fixed wing style takeoff
+            case MAV_CMD_NAV_VTOL_TAKEOFF:  // Vehicle goes straight up and then transitions to FW
+            case MAV_CMD_NAV_LAND:
+                _status.vtolMode = QGCMAVLink::VehicleClassFixedWing;
+                break;
+            case MAV_CMD_NAV_VTOL_LAND:
+                _status.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
+                break;
+            case MAV_CMD_DO_VTOL_TRANSITION:
+            {
+                int transitionState = simpleItem->missionItem().param1();
+                if (transitionState == MAV_VTOL_STATE_MC) {
+                    _status.vtolMode = QGCMAVLink::VehicleClassMultiRotor;
+                } else if (transitionState == MAV_VTOL_STATE_FW) {
+                    _status.vtolMode = QGCMAVLink::VehicleClassFixedWing;
+                }
+            }
+                break;
+            default:
+                break;
+            }
+        }
+
+        if (item->isLandCommand()) {
+            pastLandCommand = true;
+        }
+    }
+    lastFlyThroughVI->setMissionVehicleYaw(_status.vehicleYaw);
+
+    // Add the information for the final segment back to home
+    if (foundRTL && lastFlyThroughVI != settingsItem && homePositionValid) {
+        double azimuth, distance, altDifference;
+        calcPrevWaypointValues(lastFlyThroughVI, settingsItem, &azimuth, &distance, &altDifference);
+
+        if (!pastLandCommand) {
+            // Calculate time/distance
+            double hoverTime = distance / _status.hoverSpeed;
+            double cruiseTime = distance / _status.cruiseSpeed;
+            double landTime = qAbs(altDifference) / appSettings->offlineEditingDescentSpeed()->rawValue().toDouble();
+            _addTimeDistance(controllerVehicle, _status.vtolMode == QGCMAVLink::VehicleClassMultiRotor, hoverTime, cruiseTime, landTime, distance, -1);
+        }
+    }
+
+    _status.totalDistance = totalHorizontalDistance;
+
+    if (_status.mAhBattery != 0 && _status.batteryChangePoint == -1) {
+        _status.batteryChangePoint = 0;
+    }
+
+    if (linkStartToHome) {
+        // Home position is taken into account for min/max values
+        _minAMSLAltitude = std::fmin(_minAMSLAltitude, settingsItem->plannedHomePositionAltitude()->rawValue().toDouble());
+        _maxAMSLAltitude = std::fmax(_maxAMSLAltitude, settingsItem->plannedHomePositionAltitude()->rawValue().toDouble());
+    }
+
+    // Walk the list calculating altitude percentages
+    double altRange = _maxAMSLAltitude - _minAMSLAltitude;
+    for (int i=0; i<visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
+
+        if (item->specifiesCoordinate()) {
+            double amslAlt = item->amslEntryAlt();
+            if (altRange == 0.0) {
+                item->setAltPercent(0.0);
+                item->setTerrainPercent(qQNaN());
+                item->setTerrainCollision(false);
+            } else {
+                item->setAltPercent((amslAlt - _minAMSLAltitude) / altRange);
+                double terrainAltitude = item->terrainAltitude();
+                if (qIsNaN(terrainAltitude)) {
+                    item->setTerrainPercent(qQNaN());
+                    item->setTerrainCollision(false);
+                } else {
+                    item->setTerrainPercent((terrainAltitude - _minAMSLAltitude) / altRange);
+                    item->setTerrainCollision(amslAlt < terrainAltitude);
+                }
+            }
+        }
+    }
+}
+
+void MissionFlightStatusCalculator::calcPrevWaypointValues(VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
+{
+    QGeoCoordinate  currentCoord =  currentItem->entryCoordinate();
+    QGeoCoordinate  prevCoord =     prevItem->exitCoordinate();
+
+    *altDifference = currentItem->amslEntryAlt() - prevItem->amslExitAlt();
+    *distance = prevCoord.distanceTo(currentCoord);
+    *azimuth = prevCoord.azimuthTo(currentCoord);
+}
+
+double MissionFlightStatusCalculator::calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem)
+{
+    QGeoCoordinate  currentCoord =  currentItem->entryCoordinate();
+    QGeoCoordinate  homeCoord =     homeItem->exitCoordinate();
+
+    return homeCoord.distanceTo(currentCoord);
+}
+
+void MissionFlightStatusCalculator::_updateBatteryInfo(int waypointIndex)
+{
+    if (_status.mAhBattery != 0) {
+        _status.hoverAmpsTotal = (_status.hoverTime / 60.0) * _status.hoverAmps;
+        _status.cruiseAmpsTotal = (_status.cruiseTime / 60.0) * _status.cruiseAmps;
+        _status.batteriesRequired = ceil((_status.hoverAmpsTotal + _status.cruiseAmpsTotal) / _status.ampMinutesAvailable);
+        if (waypointIndex != -1 && _status.batteriesRequired == 2 && _status.batteryChangePoint == -1) {
+            _status.batteryChangePoint = waypointIndex - 1;
+        }
+    }
+}
+
+void MissionFlightStatusCalculator::_addHoverTime(double hoverTime, double hoverDistance, int waypointIndex)
+{
+    _status.totalTime += hoverTime;
+    _status.hoverTime += hoverTime;
+    _status.hoverDistance += hoverDistance;
+    _status.plannedDistance += hoverDistance;
+    _updateBatteryInfo(waypointIndex);
+}
+
+void MissionFlightStatusCalculator::_addCruiseTime(double cruiseTime, double cruiseDistance, int waypointIndex)
+{
+    _status.totalTime += cruiseTime;
+    _status.cruiseTime += cruiseTime;
+    _status.cruiseDistance += cruiseDistance;
+    _status.plannedDistance += cruiseDistance;
+    _updateBatteryInfo(waypointIndex);
+}
+
+void MissionFlightStatusCalculator::_addTimeDistance(Vehicle* controllerVehicle, bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum)
+{
+    if (controllerVehicle->vtol()) {
+        if (vtolInHover) {
+            _addHoverTime(hoverTime, distance, seqNum);
+            _addHoverTime(extraTime, 0, -1);
+        } else {
+            _addCruiseTime(cruiseTime, distance, seqNum);
+            _addCruiseTime(extraTime, 0, -1);
+        }
+    } else {
+        if (controllerVehicle->multiRotor()) {
+            _addHoverTime(hoverTime, distance, seqNum);
+            _addHoverTime(extraTime, 0, -1);
+        } else {
+            _addCruiseTime(cruiseTime, distance, seqNum);
+            _addCruiseTime(extraTime, 0, -1);
+        }
+    }
+}
diff --git a/src/MissionManager/MissionFlightStatusCalculator.h b/src/MissionManager/MissionFlightStatusCalculator.h
new file mode 100644
index 000000000000..603c19790d3c
--- /dev/null
+++ b/src/MissionManager/MissionFlightStatusCalculator.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include "MissionFlightStatus.h"
+
+class AppSettings;
+class ComplexMissionItem;
+class MissionSettingsItem;
+class PlanViewSettings;
+class QmlObjectListModel;
+class SimpleMissionItem;
+class Vehicle;
+class VisualMissionItem;
+
+/// Computes mission flight status (distances, times, battery, altitude range)
+/// from a list of visual mission items and vehicle properties.
+/// Extracted from MissionController to reduce its complexity.
+class MissionFlightStatusCalculator
+{
+public:
+    /// Resets the flight status fields to defaults based on vehicle properties.
+    void reset(Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionContainsVTOLTakeoff);
+
+    /// Runs the full recalculation over all visual items, updating per-item
+    /// display properties and computing aggregate flight statistics.
+    void recalc(QmlObjectListModel* visualItems,
+                MissionSettingsItem* settingsItem,
+                Vehicle* controllerVehicle,
+                Vehicle* managerVehicle,
+                AppSettings* appSettings,
+                PlanViewSettings* planViewSettings,
+                bool missionContainsVTOLTakeoff);
+
+    const MissionFlightStatus_t& status() const { return _status; }
+    double minAMSLAltitude() const { return _minAMSLAltitude; }
+    double maxAMSLAltitude() const { return _maxAMSLAltitude; }
+
+    static void calcPrevWaypointValues(VisualMissionItem* currentItem, VisualMissionItem* prevItem,
+                                       double* azimuth, double* distance, double* altDifference);
+    static double calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
+
+private:
+    void _updateBatteryInfo(int waypointIndex);
+    void _addHoverTime(double hoverTime, double hoverDistance, int waypointIndex);
+    void _addCruiseTime(double cruiseTime, double cruiseDistance, int waypointIndex);
+    void _addTimeDistance(Vehicle* controllerVehicle, bool vtolInHover,
+                          double hoverTime, double cruiseTime, double extraTime,
+                          double distance, int seqNum);
+
+    MissionFlightStatus_t _status {};
+    double _minAMSLAltitude = 0;
+    double _maxAMSLAltitude = 0;
+};
diff --git a/src/MissionManager/MissionSettingsItem.cc b/src/MissionManager/MissionSettingsItem.cc
index ec1f92728593..02ba471867db 100644
--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -19,7 +19,7 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
     , _speedSection                     (masterController)
 {
     _isIncomplete = false;
-    _editorQml = "qrc:/qml/QGroundControl/Controls/MissionSettingsEditor.qml";
+    _editorQml = "qrc:/qml/QGroundControl/PlanView/MissionSettingsEditor.qml";
 
     if (_metaDataMap.isEmpty()) {
         _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/MissionSettings.FactMetaData.json"), nullptr /* metaDataParent */);
@@ -41,6 +41,8 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
     connect(&_cameraSection,    &CameraSection::specifiedGimbalYawChanged,              this, &MissionSettingsItem::specifiedGimbalYawChanged);
     connect(&_cameraSection,    &CameraSection::specifiedGimbalPitchChanged,            this, &MissionSettingsItem::specifiedGimbalPitchChanged);
     connect(&_speedSection,     &SpeedSection::specifiedFlightSpeedChanged,             this, &MissionSettingsItem::specifiedFlightSpeedChanged);
+    connect(this,               &MissionSettingsItem::coordinateChanged,                this, &MissionSettingsItem::entryCoordinateChanged);
+    connect(this,               &MissionSettingsItem::coordinateChanged,                this, &MissionSettingsItem::exitCoordinateChanged);
     connect(this,               &MissionSettingsItem::coordinateChanged,                this, &MissionSettingsItem::_amslEntryAltChanged);
     connect(this,               &MissionSettingsItem::amslEntryAltChanged,              this, &MissionSettingsItem::amslExitAltChanged);
     connect(this,               &MissionSettingsItem::amslEntryAltChanged,              this, &MissionSettingsItem::minAMSLAltitudeChanged);
@@ -48,8 +50,8 @@ MissionSettingsItem::MissionSettingsItem(PlanMasterController* masterController,
 
     connect(&_plannedHomePositionAltitudeFact,  &Fact::rawValueChanged,                 this, &MissionSettingsItem::_updateAltitudeInCoordinate);
 
-    connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionSettingsItem::_updateHomePosition);
-    _updateHomePosition(_managerVehicle->homePosition());
+    connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionSettingsItem::_updateFlyViewHomePosition);
+    _updateFlyViewHomePosition(_managerVehicle->homePosition());
 }
 
 int MissionSettingsItem::lastSequenceNumber(void) const
@@ -171,53 +173,11 @@ void MissionSettingsItem::_setDirty(void)
     setDirty(true);
 }
 
-void MissionSettingsItem::_setCoordinateWorker(const QGeoCoordinate& coordinate)
+void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
     if (_plannedHomePositionCoordinate != coordinate) {
         _plannedHomePositionCoordinate = coordinate;
         emit coordinateChanged(coordinate);
-        emit exitCoordinateChanged(coordinate);
-        if (_plannedHomePositionFromVehicle) {
-            _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
-        }
-    }
-}
-
-void MissionSettingsItem::setHomePositionFromVehicle(Vehicle* vehicle)
-{
-    // If the user hasn't moved the planned home position manually we use the value from the vehicle
-    if (!_plannedHomePositionMovedByUser) {
-        QGeoCoordinate coordinate = vehicle->homePosition();
-        // ArduPilot tends to send crap home positions at initial vehicle boot, discard them
-        if (coordinate.isValid() && (coordinate.latitude() != 0 || coordinate.longitude() != 0)) {
-            _plannedHomePositionFromVehicle = true;
-            _setCoordinateWorker(coordinate);
-        }
-    }
-}
-
-void MissionSettingsItem::setInitialHomePosition(const QGeoCoordinate& coordinate)
-{
-    _plannedHomePositionMovedByUser = false;
-    _plannedHomePositionFromVehicle = false;
-    _setCoordinateWorker(coordinate);
-}
-
-void MissionSettingsItem::setInitialHomePositionFromUser(const QGeoCoordinate& coordinate)
-{
-    _plannedHomePositionMovedByUser = true;
-    _plannedHomePositionFromVehicle = false;
-    _setCoordinateWorker(coordinate);
-}
-
-
-void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
-{
-    if (coordinate != this->coordinate()) {
-        // The user is moving the planned home position manually. Stop tracking vehicle home position.
-        _plannedHomePositionMovedByUser = true;
-        _plannedHomePositionFromVehicle = false;
-        _setCoordinateWorker(coordinate);
     }
 }
 
@@ -252,7 +212,6 @@ void MissionSettingsItem::_updateAltitudeInCoordinate(QVariant value)
         qCDebug(MissionSettingsItemLog) << "MissionSettingsItem::_updateAltitudeInCoordinate" << newAltitude;
         _plannedHomePositionCoordinate.setAltitude(newAltitude);
         emit coordinateChanged(_plannedHomePositionCoordinate);
-        emit exitCoordinateChanged(_plannedHomePositionCoordinate);
     }
 }
 
@@ -267,7 +226,7 @@ double MissionSettingsItem::specifiedFlightSpeed(void)
 
 void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
 {
-    if (!_plannedHomePositionFromVehicle && !qIsNaN(terrainAltitude)) {
+    if (!qIsNaN(terrainAltitude)) {
         qCDebug(MissionSettingsItemLog) << "MissionSettingsItem::_setHomeAltFromTerrain" << terrainAltitude;
         _plannedHomePositionAltitudeFact.setRawValue(terrainAltitude);
     }
@@ -275,10 +234,10 @@ void MissionSettingsItem::_setHomeAltFromTerrain(double terrainAltitude)
 
 QString MissionSettingsItem::abbreviation(void) const
 {
-    return _flyView ? tr("L") : tr("Launch");
+    return _flyView ? tr("H") : tr("Home");
 }
 
-void MissionSettingsItem::_updateHomePosition(const QGeoCoordinate& homePosition)
+void MissionSettingsItem::_updateFlyViewHomePosition(const QGeoCoordinate& homePosition)
 {
     if (_flyView) {
         setCoordinate(homePosition);
diff --git a/src/MissionManager/MissionSettingsItem.h b/src/MissionManager/MissionSettingsItem.h
index d03adbca1205..7b03566e6e23 100644
--- a/src/MissionManager/MissionSettingsItem.h
+++ b/src/MissionManager/MissionSettingsItem.h
@@ -38,15 +38,6 @@ class MissionSettingsItem : public ComplexMissionItem
     /// @return true: Mission end action was added
     bool addMissionEndAction(QList<MissionItem*>& items, int seqNum, QObject* missionItemParent);
 
-    /// Called to update home position coordinate when it comes from a connected vehicle
-    void setHomePositionFromVehicle(Vehicle* vehicle);
-
-    // Called to set the initial home position. Vehicle can still update home position after this.
-    void setInitialHomePosition(const QGeoCoordinate& coordinate);
-
-    // Called to set the initial home position specified by user. Vehicle will no longer affect home position.
-    void setInitialHomePositionFromUser(const QGeoCoordinate& coordinate);
-
     // Overrides from ComplexMissionItem
     QString patternName         (void) const final { return QString(); }
     double  complexDistance     (void) const final;
@@ -63,11 +54,12 @@ class MissionSettingsItem : public ComplexMissionItem
     bool            isStandaloneCoordinate      (void) const final { return false; }
     bool            specifiesCoordinate         (void) const final;
     bool            specifiesAltitudeOnly       (void) const final { return false; }
-    QString         commandDescription          (void) const final { return tr("Mission Settings"); }
-    QString         commandName                 (void) const final { return tr("Mission Settings"); }
+    QString         commandDescription          (void) const final { return tr("Initial Camera Settings"); }
+    QString         commandName                 (void) const final { return tr("Initial Camera Settings"); }
     QString         abbreviation                (void) const final;
     QGeoCoordinate  coordinate                  (void) const final { return _plannedHomePositionCoordinate; } // Includes altitude
-    QGeoCoordinate  exitCoordinate              (void) const final { return _plannedHomePositionCoordinate; }
+    QGeoCoordinate  entryCoordinate             (void) const final { return coordinate(); }
+    QGeoCoordinate  exitCoordinate              (void) const final { return coordinate(); }
     int             sequenceNumber              (void) const final { return _sequenceNumber; }
     double          specifiedGimbalYaw          (void) final;
     double          specifiedGimbalPitch        (void) final;
@@ -80,6 +72,7 @@ class MissionSettingsItem : public ComplexMissionItem
     void            setCoordinate               (const QGeoCoordinate& coordinate) final;   // Should only be called if the end user is moving
     void            setSequenceNumber           (int sequenceNumber) final;
     void            save                        (QJsonArray&  missionItems) final;
+    double          editableAlt                 (void) const final { return _plannedHomePositionAltitudeFact.rawValue().toDouble(); }
     double          amslEntryAlt                (void) const final { return _plannedHomePositionCoordinate.altitude(); }
     double          amslExitAlt                 (void) const final { return amslEntryAlt(); }
     double          minAMSLAltitude             (void) const final { return amslEntryAlt(); }
@@ -94,16 +87,13 @@ private slots:
     void _sectionDirtyChanged                   (bool dirty);
     void _updateAltitudeInCoordinate            (QVariant value);
     void _setHomeAltFromTerrain                 (double terrainAltitude);
-    void _setCoordinateWorker                   (const QGeoCoordinate& coordinate);
-    void _updateHomePosition                    (const QGeoCoordinate& homePosition);
+    void _updateFlyViewHomePosition             (const QGeoCoordinate& homePosition);
 
 private:
     Vehicle*        _managerVehicle =                   nullptr;
     QGeoCoordinate  _plannedHomePositionCoordinate;     // Does not include altitude
     Fact            _plannedHomePositionAltitudeFact;
     int             _sequenceNumber =                   0;
-    bool            _plannedHomePositionFromVehicle =   false;
-    bool            _plannedHomePositionMovedByUser =   false;
     CameraSection   _cameraSection;
     SpeedSection    _speedSection;
 
diff --git a/src/MissionManager/PlanMasterController.cc b/src/MissionManager/PlanMasterController.cc
index cfdbe94eb6d9..db4a8fbb2008 100644
--- a/src/MissionManager/PlanMasterController.cc
+++ b/src/MissionManager/PlanMasterController.cc
@@ -22,8 +22,9 @@
 
 #include <QtCore/QDir>
 #include <QtCore/QDirIterator>
-#include <QtCore/QJsonDocument>
 #include <QtCore/QFileInfo>
+#include <QtCore/QJsonDocument>
+#include <QtCore/QRegularExpression>
 
 QGC_LOGGING_CATEGORY(PlanMasterControllerLog, "PlanManager.PlanMasterController")
 
@@ -55,7 +56,6 @@ PlanMasterController::PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE
 
 void PlanMasterController::_commonInit(void)
 {
-    _previousOverallDirty = dirty();
     connect(&_missionController,    &MissionController::dirtyChanged,               this, &PlanMasterController::_updateOverallDirty);
     connect(&_geoFenceController,   &GeoFenceController::dirtyChanged,              this, &PlanMasterController::_updateOverallDirty);
     connect(&_rallyPointController, &RallyPointController::dirtyChanged,            this, &PlanMasterController::_updateOverallDirty);
@@ -157,8 +157,11 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
     } else {
         // We are in the Plan view.
         if (containsItems()) {
+            // We have a plan which is from a different vehicle than the new active vehicle. By definition this plan requires and upload.
+            _setDirtyForUpload(true);
+
             // The plan view has a stale plan in it
-            if (dirty()) {
+            if (dirtyForSave()) {
                 // Plan is dirty, the user must decide what to do in all cases
                 qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - Previous dirty plan exists, no new active vehicle, sending promptForPlanUsageOnVehicleChange signal";
                 emit promptForPlanUsageOnVehicleChange();
@@ -176,6 +179,7 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
             }
         } else {
             // There is no previous Plan in the view
+            _setDirtyStates(false, false);
             if (newOffline) {
                 // Nothing special to do in this case
                 qCDebug(PlanMasterControllerLog) << "_activeVehicleChanged: Plan View - No previous plan, no longer connected to vehicle, nothing to do";
@@ -190,7 +194,8 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
     // Vehicle changed so we need to signal everything
     emit containsItemsChanged();
     emit syncInProgressChanged();
-    emit dirtyChanged(dirty());
+    emit dirtyForSaveChanged(dirtyForSave());
+    emit dirtyForUploadChanged(dirtyForUpload());
 
     _updatePlanCreatorsList();
 }
@@ -209,16 +214,15 @@ void PlanMasterController::loadFromVehicle(void)
     }
 
     if (offline()) {
-        qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while offline";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while offline";
     } else if (_flyView) {
-        qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called from Fly view";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called from Fly view";
     } else if (syncInProgress()) {
-        qCWarning(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while syncInProgress";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle called while syncInProgress";
     } else {
         _loadGeoFence = true;
         qCDebug(PlanMasterControllerLog) << "PlanMasterController::loadFromVehicle calling _missionController.loadFromVehicle";
         _missionController.loadFromVehicle();
-        setDirty(false);
     }
 }
 
@@ -236,7 +240,6 @@ void PlanMasterController::_loadMissionComplete(void)
             _geoFenceController.removeAll();
             _loadGeoFenceComplete();
         }
-        setDirty(false);
     }
 }
 
@@ -252,13 +255,13 @@ void PlanMasterController::_loadGeoFenceComplete(void)
             _rallyPointController.removeAll();
             _loadRallyPointsComplete();
         }
-        setDirty(false);
     }
 }
 
 void PlanMasterController::_loadRallyPointsComplete(void)
 {
     qCDebug(PlanMasterControllerLog) << "PlanMasterController::_loadRallyPointsComplete";
+    _setDirtyStates(containsItems() /* dirtyForSave */, false /* dirtyForUpload */);
 }
 
 void PlanMasterController::_sendMissionComplete(void)
@@ -273,7 +276,6 @@ void PlanMasterController::_sendMissionComplete(void)
             qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle GeoFence not supported skipping";
             _sendGeoFenceComplete();
         }
-        setDirty(false);
     }
 }
 
@@ -294,6 +296,7 @@ void PlanMasterController::_sendGeoFenceComplete(void)
 void PlanMasterController::_sendRallyPointsComplete(void)
 {
     qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle Rally Point send complete";
+    _setDirtyForUpload(false);
     if (_deleteWhenSendCompleted) {
         this->deleteLater();
     }
@@ -313,14 +316,13 @@ void PlanMasterController::sendToVehicle(void)
     }
 
     if (offline()) {
-        qCWarning(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while offline";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while syncInProgress";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(PlanMasterControllerLog) << "PlanMasterController::sendToVehicle start mission sendToVehicle";
         _sendGeoFence = true;
         _missionController.sendToVehicle();
-        setDirty(false);
     }
 }
 
@@ -389,15 +391,44 @@ void PlanMasterController::loadFromFile(const QString& filename)
         }
     }
 
-    if(success){
+    if (success){
+        const bool oldRenamed = planFileRenamed();
         _currentPlanFile = QString::asprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), AppSettings::planFileExtension);
+        const bool currentNameChanged = (_currentPlanFileName != fileInfo.completeBaseName());
+        const bool originalNameChanged = (_originalPlanFileName != fileInfo.completeBaseName());
+        _currentPlanFileName = fileInfo.completeBaseName();
+        _originalPlanFileName = _currentPlanFileName;
+        _setDirtyStates(false /* dirtyForSave */, true /* dirtyForUpload */);
+        emit currentPlanFileChanged();
+        if (currentNameChanged) {
+            emit currentPlanFileNameChanged();
+        }
+        if (originalNameChanged) {
+            emit originalPlanFileNameChanged();
+        }
+        if (oldRenamed != planFileRenamed()) {
+            emit planFileRenamedChanged();
+        }
     } else {
+        const bool hadFile = !_currentPlanFile.isEmpty();
+        const bool hadCurrentName = !_currentPlanFileName.isEmpty();
+        const bool hadOriginalName = !_originalPlanFileName.isEmpty();
+        const bool wasRenamed = planFileRenamed();
         _currentPlanFile.clear();
-    }
-    emit currentPlanFileChanged();
-
-    if (!offline()) {
-        setDirty(true);
+        _currentPlanFileName.clear();
+        _originalPlanFileName.clear();
+        if (hadFile) {
+            emit currentPlanFileChanged();
+        }
+        if (hadCurrentName) {
+            emit currentPlanFileNameChanged();
+        }
+        if (hadOriginalName) {
+            emit originalPlanFileNameChanged();
+        }
+        if (wasRenamed != planFileRenamed()) {
+            emit planFileRenamedChanged();
+        }
     }
 }
 
@@ -423,18 +454,21 @@ QJsonDocument PlanMasterController::saveToJson()
     return QJsonDocument(planJson);
 }
 
-void
+bool
 PlanMasterController::saveToCurrent()
 {
-    if(!_currentPlanFile.isEmpty()) {
-        saveToFile(_currentPlanFile);
+    if (!_currentPlanFile.isEmpty()) {
+        const bool saveSuccess = saveToFile(_currentPlanFile);
+        return saveSuccess;
     }
+
+    return false;
 }
 
-void PlanMasterController::saveToFile(const QString& filename)
+bool PlanMasterController::saveToFile(const QString& filename)
 {
     if (filename.isEmpty()) {
-        return;
+        return false;
     }
 
     QString planFilename = filename;
@@ -446,21 +480,35 @@ void PlanMasterController::saveToFile(const QString& filename)
 
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
         qgcApp()->showAppMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
-        _currentPlanFile.clear();
-        emit currentPlanFileChanged();
+        return false;
     } else {
-        QJsonDocument saveDoc = saveToJson();
-        file.write(saveDoc.toJson());
+        const QByteArray saveBytes = saveToJson().toJson();
+        const qint64 bytesWritten = file.write(saveBytes);
+        if (bytesWritten != saveBytes.size()) {
+            qgcApp()->showAppMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
+            return false;
+        }
         if(_currentPlanFile != planFilename) {
             _currentPlanFile = planFilename;
             emit currentPlanFileChanged();
         }
+        const bool wasRenamed = planFileRenamed();
+        const QString savedBaseName = QFileInfo(planFilename).completeBaseName();
+        if (_currentPlanFileName != savedBaseName) {
+            _currentPlanFileName = savedBaseName;
+            emit currentPlanFileNameChanged();
+        }
+        if (_originalPlanFileName != savedBaseName) {
+            _originalPlanFileName = savedBaseName;
+            emit originalPlanFileNameChanged();
+        }
+        if (wasRenamed != planFileRenamed()) {
+            emit planFileRenamedChanged();
+        }
+        _setDirtyForSave(false);
     }
 
-    // Only clear dirty bit if we are offline
-    if (offline()) {
-        setDirty(false);
-    }
+    return true;
 }
 
 void PlanMasterController::saveToKml(const QString& filename)
@@ -489,15 +537,18 @@ void PlanMasterController::saveToKml(const QString& filename)
 
 void PlanMasterController::removeAll(void)
 {
+    _suppressOverallDirtyUpdate = true;
     _missionController.removeAll();
     _geoFenceController.removeAll();
     _rallyPointController.removeAll();
+    _missionController.setDirty(false);
+    _geoFenceController.setDirty(false);
+    _rallyPointController.setDirty(false);
+    _suppressOverallDirtyUpdate = false;
+
+    _setDirtyStates(false, false);
     if (_offline) {
-        _missionController.setDirty(false);
-        _geoFenceController.setDirty(false);
-        _rallyPointController.setDirty(false);
-        _currentPlanFile.clear();
-        emit currentPlanFileChanged();
+        _clearFileNames();
     }
     setManualCreation(false);
 }
@@ -512,9 +563,10 @@ void PlanMasterController::removeAllFromVehicle(void)
         if (_rallyPointController.supported()) {
             _rallyPointController.removeAllFromVehicle();
         }
-        setDirty(false);
+        _setDirtyForUpload(false);
+        _clearFileNames();
     } else {
-        qWarning() << "PlanMasterController::removeAllFromVehicle called while offline";
+        qCCritical(PlanMasterControllerLog) << "PlanMasterController::removeAllFromVehicle called while offline";
     }
     setManualCreation(false);
 }
@@ -524,21 +576,81 @@ bool PlanMasterController::containsItems(void) const
     return _missionController.containsItems() || _geoFenceController.containsItems() || _rallyPointController.containsItems();
 }
 
-bool PlanMasterController::dirty(void) const
+QString PlanMasterController::fileExtension(void) const
 {
-    return _missionController.dirty() || _geoFenceController.dirty() || _rallyPointController.dirty();
+    return AppSettings::planFileExtension;
 }
 
-void PlanMasterController::setDirty(bool dirty)
+void PlanMasterController::setCurrentPlanFileName(const QString& name)
 {
-    _missionController.setDirty(dirty);
-    _geoFenceController.setDirty(dirty);
-    _rallyPointController.setDirty(dirty);
+    // Normalize to a base name: trim whitespace, strip known extension, remove illegal characters
+    QString sanitized = name.trimmed();
+    const QString ext = QStringLiteral(".") + fileExtension();
+    if (sanitized.endsWith(ext, Qt::CaseInsensitive)) {
+        sanitized.chop(ext.length());
+        sanitized = sanitized.trimmed();
+    }
+    sanitized.remove(QRegularExpression(QStringLiteral("[/\\\\:*?\"<>|]")));
+    if (_currentPlanFileName != sanitized) {
+        const bool wasRenamed = planFileRenamed();
+        _currentPlanFileName = sanitized;
+        emit currentPlanFileNameChanged();
+        if (wasRenamed != planFileRenamed()) {
+            emit planFileRenamedChanged();
+        }
+    }
 }
 
-QString PlanMasterController::fileExtension(void) const
+bool PlanMasterController::saveWithCurrentName()
 {
-    return AppSettings::planFileExtension;
+    if (_currentPlanFileName.isEmpty()) {
+        return false;
+    }
+    return saveToFile(_resolvedPlanFilePath());
+}
+
+bool PlanMasterController::planFileRenamed() const
+{
+    return !_originalPlanFileName.isEmpty() && _currentPlanFileName != _originalPlanFileName;
+}
+
+bool PlanMasterController::resolvedPlanFileExists() const
+{
+    if (_currentPlanFileName.isEmpty()) {
+        return false;
+    }
+    return QFile::exists(_resolvedPlanFilePath());
+}
+
+QString PlanMasterController::_resolvedPlanFilePath() const
+{
+    const QString dir = _currentPlanFile.isEmpty()
+        ? SettingsManager::instance()->appSettings()->missionSavePath()
+        : QFileInfo(_currentPlanFile).path();
+    return QStringLiteral("%1/%2.%3").arg(dir, _currentPlanFileName, fileExtension());
+}
+
+void PlanMasterController::_clearFileNames()
+{
+    const bool hadFile = !_currentPlanFile.isEmpty();
+    const bool hadCurrentName = !_currentPlanFileName.isEmpty();
+    const bool hadOriginalName = !_originalPlanFileName.isEmpty();
+    const bool wasRenamed = planFileRenamed();
+    _currentPlanFile.clear();
+    _currentPlanFileName.clear();
+    _originalPlanFileName.clear();
+    if (hadFile) {
+        emit currentPlanFileChanged();
+    }
+    if (hadCurrentName) {
+        emit currentPlanFileNameChanged();
+    }
+    if (hadOriginalName) {
+        emit originalPlanFileNameChanged();
+    }
+    if (wasRenamed != planFileRenamed()) {
+        emit planFileRenamedChanged();
+    }
 }
 
 QString PlanMasterController::kmlFileExtension(void) const
@@ -575,9 +687,9 @@ void PlanMasterController::sendPlanToVehicle(Vehicle* vehicle, const QString& fi
 
 void PlanMasterController::_showPlanFromManagerVehicle(void)
 {
-    if (!_managerVehicle->initialPlanRequestComplete() && !syncInProgress()) {
-        // Something went wrong with initial load. All controllers are idle, so just force it off
-        _managerVehicle->forceInitialPlanRequestComplete();
+    if (!_managerVehicle->initialPlanRequestComplete()) {
+        // We need to wait until initial load is complete before we show anything.
+        return;
     }
 
     // The crazy if structure is to handle the load propagating by itself through the system
@@ -586,6 +698,12 @@ void PlanMasterController::_showPlanFromManagerVehicle(void)
             _rallyPointController.showPlanFromManagerVehicle();
         }
     }
+
+    // Showing the vehicle plan should leave both dirty states clean.
+    _missionController.setDirty(false);
+    _geoFenceController.setDirty(false);
+    _rallyPointController.setDirty(false);
+    _setDirtyStates(false, false);
 }
 
 bool PlanMasterController::syncInProgress(void) const
@@ -604,9 +722,49 @@ bool PlanMasterController::isEmpty(void) const
 
 void PlanMasterController::_updateOverallDirty(void)
 {
-    if(_previousOverallDirty != dirty()){
-        _previousOverallDirty = dirty();
-        emit dirtyChanged(_previousOverallDirty);
+    if (syncInProgress() || _suppressOverallDirtyUpdate) {
+        return;
+    }
+
+    const bool saveDirty = _missionController.dirty() || _geoFenceController.dirty() || _rallyPointController.dirty();
+    if (saveDirty) {
+        _setDirtyForSave(true);
+    }
+}
+
+void PlanMasterController::_setDirtyForSave(bool dirtyForSave)
+{
+    if (_dirtyForSave != dirtyForSave) {
+        _dirtyForSave = dirtyForSave;
+        emit dirtyForSaveChanged(_dirtyForSave);
+
+        if (_dirtyForSave) {
+            _setDirtyForUpload(true);
+        }
+    }
+}
+
+void PlanMasterController::_setDirtyForUpload(bool dirtyForUpload)
+{
+    if (_dirtyForUpload != dirtyForUpload) {
+        _dirtyForUpload = dirtyForUpload;
+        emit dirtyForUploadChanged(_dirtyForUpload);
+    }
+}
+
+void PlanMasterController::_setDirtyStates(bool dirtyForSave, bool dirtyForUpload)
+{
+    const bool saveChanged = (_dirtyForSave != dirtyForSave);
+    const bool uploadChanged = (_dirtyForUpload != dirtyForUpload);
+
+    _dirtyForSave = dirtyForSave;
+    _dirtyForUpload = dirtyForUpload;
+
+    if (saveChanged) {
+        emit dirtyForSaveChanged(_dirtyForSave);
+    }
+    if (uploadChanged) {
+        emit dirtyForUploadChanged(_dirtyForUpload);
     }
 }
 
diff --git a/src/MissionManager/PlanMasterController.h b/src/MissionManager/PlanMasterController.h
index 7f2c08dcb1a9..9cbe6cb86226 100644
--- a/src/MissionManager/PlanMasterController.h
+++ b/src/MissionManager/PlanMasterController.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QtCore/QFileInfo>
 #include <QtCore/QObject>
 #include <QtCore/QLoggingCategory>
 #include <QtQmlIntegration/QtQmlIntegration>
@@ -14,6 +15,9 @@ class QGCCompressionJob;
 class QmlObjectListModel;
 class MultiVehicleManager;
 class Vehicle;
+#ifdef QGC_UNITTEST_BUILD
+class PlanMasterControllerTest;
+#endif
 
 /// Master controller for mission, fence, rally
 class PlanMasterController : public QObject
@@ -23,6 +27,10 @@ class PlanMasterController : public QObject
     Q_MOC_INCLUDE("QmlObjectListModel.h")
     Q_MOC_INCLUDE("Vehicle.h")
 
+#ifdef QGC_UNITTEST_BUILD
+    friend class PlanMasterControllerTest;
+#endif
+
 public:
     PlanMasterController(QObject* parent = nullptr);
 #ifdef QT_DEBUG
@@ -41,10 +49,14 @@ class PlanMasterController : public QObject
     Q_PROPERTY(bool                     offline                 READ offline                                NOTIFY offlineChanged)          ///< true: controller is not connected to an active vehicle
     Q_PROPERTY(bool                     containsItems           READ containsItems                          NOTIFY containsItemsChanged)    ///< true: Elemement is non-empty
     Q_PROPERTY(bool                     syncInProgress          READ syncInProgress                         NOTIFY syncInProgressChanged)   ///< true: Information is currently being saved/sent, false: no active save/send in progress
-    Q_PROPERTY(bool                     dirty                   READ dirty                  WRITE setDirty  NOTIFY dirtyChanged)            ///< true: Unsaved/sent changes are present, false: no changes since last save/send
+    Q_PROPERTY(bool                     dirtyForSave            READ dirtyForSave                           NOTIFY dirtyForSaveChanged)     ///< true: Unsaved changes to disk are present, false: no changes since last save to disk
+    Q_PROPERTY(bool                     dirtyForUpload          READ dirtyForUpload                         NOTIFY dirtyForUploadChanged)   ///< true: Unsent changes are present, false: no changes since last upload/download sync
     Q_PROPERTY(QString                  fileExtension           READ fileExtension                          CONSTANT)                       ///< File extension for missions
     Q_PROPERTY(QString                  kmlFileExtension        READ kmlFileExtension                       CONSTANT)
-    Q_PROPERTY(QString                  currentPlanFile         READ currentPlanFile                        NOTIFY currentPlanFileChanged)
+    Q_PROPERTY(QString                  currentPlanFile         READ currentPlanFile                        NOTIFY currentPlanFileChanged)  ///< Fully qualified path, empty if not yet saved
+    Q_PROPERTY(QString                  currentPlanFileName     READ currentPlanFileName WRITE setCurrentPlanFileName NOTIFY currentPlanFileNameChanged)  ///< Editable base name, no path or extension
+    Q_PROPERTY(QString                  originalPlanFileName    READ originalPlanFileName                   NOTIFY originalPlanFileNameChanged) ///< On-disk name when last loaded/saved
+    Q_PROPERTY(bool                     planFileRenamed         READ planFileRenamed                        NOTIFY planFileRenamedChanged)   ///< true if currentPlanFileName differs from originalPlanFileName
     Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                        CONSTANT)                       ///< File filter list loading plan files
     Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                        CONSTANT)                       ///< File filter list saving plan files
     Q_PROPERTY(QmlObjectListModel*      planCreators            MEMBER _planCreators                        NOTIFY planCreatorsChanged)
@@ -79,9 +91,12 @@ class PlanMasterController : public QObject
     /// @param archivePath Path to the archive file
     Q_INVOKABLE void loadFromArchive(const QString& archivePath);
 
-    Q_INVOKABLE void saveToCurrent();
-    Q_INVOKABLE void saveToFile(const QString& filename);
+    Q_INVOKABLE bool saveToCurrent();
+    Q_INVOKABLE bool saveToFile(const QString& filename);
     Q_INVOKABLE void saveToKml(const QString& filename);
+
+    Q_INVOKABLE bool saveWithCurrentName();                 ///< Save using the (possibly renamed) currentPlanFileName
+    Q_INVOKABLE bool resolvedPlanFileExists() const;        ///< true if a file at the renamed path already exists on disk
     Q_INVOKABLE void removeAll(void);                       ///< Removes all from controller only, synce required to remove from vehicle
     Q_INVOKABLE void removeAllFromVehicle(void);            ///< Removes all from vehicle and controller
 
@@ -92,11 +107,15 @@ class PlanMasterController : public QObject
     bool        offline         (void) const { return _offline; }
     bool        containsItems   (void) const;
     bool        syncInProgress  (void) const;
-    bool        dirty           (void) const;
-    void        setDirty        (bool dirty);
+    bool        dirtyForSave    (void) const { return _dirtyForSave; }
+    bool        dirtyForUpload  (void) const { return _dirtyForUpload; }
     QString     fileExtension   (void) const;
     QString     kmlFileExtension(void) const;
-    QString     currentPlanFile (void) const { return _currentPlanFile; }
+    QString     currentPlanFile     (void) const { return _currentPlanFile; }
+    QString     currentPlanFileName (void) const { return _currentPlanFileName; }
+    void        setCurrentPlanFileName(const QString& name);
+    QString     originalPlanFileName(void) const { return _originalPlanFileName; }
+    bool        planFileRenamed(void) const;
     QStringList loadNameFilters (void) const;
     QStringList saveNameFilters (void) const;
     bool        isEmpty         (void) const;
@@ -119,9 +138,13 @@ class PlanMasterController : public QObject
 signals:
     void containsItemsChanged               ();
     void syncInProgressChanged              (void);
-    void dirtyChanged                       (bool dirty);
+    void dirtyForSaveChanged                (bool dirtyForSave);
+    void dirtyForUploadChanged              (bool dirtyForUpload);
     void offlineChanged                     (bool offlineEditing);
     void currentPlanFileChanged             (void);
+    void currentPlanFileNameChanged         (void);
+    void originalPlanFileNameChanged        (void);
+    void planFileRenamedChanged              (void);
     void planCreatorsChanged                (QmlObjectListModel* planCreators);
     void managerVehicleChanged              (Vehicle* managerVehicle);
     void promptForPlanUsageOnVehicleChange  (void);
@@ -142,6 +165,17 @@ private slots:
 private:
     void _commonInit                (void);
     void _showPlanFromManagerVehicle(void);
+    void _setDirtyForSave(bool dirtyForSave);
+    void _setDirtyForUpload(bool dirtyForUpload);
+    void _setDirtyStates(bool dirtyForSave, bool dirtyForUpload);
+    QString _resolvedPlanFilePath() const;
+    void    _clearFileNames();
+
+#ifdef QGC_UNITTEST_BUILD
+    // Used by unit tests to set dirty flags for initial state
+    void _setDirtyForSaveUnitTest(bool dirtyForSave) { _dirtyForSave = dirtyForSave; }
+    void _setDirtyForUploadUnitTest(bool dirtyForUpload) { _dirtyForUpload = dirtyForUpload; }
+#endif
 
     MultiVehicleManager*    _multiVehicleMgr =          nullptr;
     Vehicle*                _controllerVehicle =        nullptr;    ///< Offline controller vehicle
@@ -156,8 +190,15 @@ private slots:
     bool                    _sendGeoFence =             false;
     bool                    _sendRallyPoints =          false;
     QString                 _currentPlanFile;
+    // NOTE: _currentPlanFileName and _originalPlanFileName must be kept in sync
+    // with _currentPlanFile across all code paths that modify any of them:
+    // loadFromFile, saveToFile, removeAll, removeAllFromVehicle, _clearFileNames.
+    QString                 _currentPlanFileName;
+    QString                 _originalPlanFileName;
     bool                    _deleteWhenSendCompleted =  false;
-    bool                    _previousOverallDirty =     false;
+    bool                    _dirtyForSave =             false;
+    bool                    _dirtyForUpload =           false;
+    bool                    _suppressOverallDirtyUpdate = false;
     QmlObjectListModel*     _planCreators =             nullptr;
     bool                    _manualCreation =           false;
     QGCCompressionJob*      _extractionJob =            nullptr;
diff --git a/src/MissionManager/RallyPoint.FactMetaData.json b/src/MissionManager/RallyPoint.FactMetaData.json
index 789eaf061978..8bb1a7c81d2b 100644
--- a/src/MissionManager/RallyPoint.FactMetaData.json
+++ b/src/MissionManager/RallyPoint.FactMetaData.json
@@ -5,23 +5,23 @@
 [
 {
     "name":             "Latitude",
-    "shortDesc": "Latitude of rally point position",
+    "shortDesc":        "Latitude",
     "type":             "double",
-    "decimalPlaces":    7
+    "decimalPlaces":    6
 },
 {
     "name":             "Longitude",
-    "shortDesc": "Longitude of rally point position",
+    "shortDesc":        "Longitude",
     "type":             "double",
-    "decimalPlaces":    7
+    "decimalPlaces":    6
 },
 {
     "name":             "RelativeAltitude",
-    "shortDesc": "Altitude of rally point position (home relative)",
+    "shortDesc":        "Altitude (rel)",
     "type":             "double",
     "decimalPlaces":    2,
     "units":            "m",
-    "default":     0.0
+    "default":          0.0
 }
 ]
 }
diff --git a/src/MissionManager/RallyPoint.cc b/src/MissionManager/RallyPoint.cc
index 1205313244c2..4ba58b3635aa 100644
--- a/src/MissionManager/RallyPoint.cc
+++ b/src/MissionManager/RallyPoint.cc
@@ -48,16 +48,16 @@ void RallyPoint::_factSetup(void)
 {
     _cacheFactMetadata();
 
-    _longitudeFact.setMetaData(_metaDataMap[_longitudeFactName]);
     _latitudeFact.setMetaData(_metaDataMap[_latitudeFactName]);
+    _longitudeFact.setMetaData(_metaDataMap[_longitudeFactName]);
     _altitudeFact.setMetaData(_metaDataMap[_altitudeFactName]);
 
-    _textFieldFacts.append(QVariant::fromValue(&_longitudeFact));
     _textFieldFacts.append(QVariant::fromValue(&_latitudeFact));
+    _textFieldFacts.append(QVariant::fromValue(&_longitudeFact));
     _textFieldFacts.append(QVariant::fromValue(&_altitudeFact));
 
-    connect(&_longitudeFact, &Fact::valueChanged, this, &RallyPoint::_sendCoordinateChanged);
     connect(&_latitudeFact, &Fact::valueChanged, this, &RallyPoint::_sendCoordinateChanged);
+    connect(&_longitudeFact, &Fact::valueChanged, this, &RallyPoint::_sendCoordinateChanged);
     connect(&_altitudeFact, &Fact::valueChanged, this, &RallyPoint::_sendCoordinateChanged);
 }
 
diff --git a/src/MissionManager/RallyPointController.cc b/src/MissionManager/RallyPointController.cc
index c37b031660c7..46c46745b066 100644
--- a/src/MissionManager/RallyPointController.cc
+++ b/src/MissionManager/RallyPointController.cc
@@ -133,9 +133,9 @@ void RallyPointController::removeAll(void)
 void RallyPointController::removeAllFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while offline";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while syncInProgress";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::removeAllFromVehicle called while syncInProgress";
     } else {
         _rallyPointManager->removeAll();
     }
@@ -144,9 +144,9 @@ void RallyPointController::removeAllFromVehicle(void)
 void RallyPointController::loadFromVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while offline";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while syncInProgress";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::loadFromVehicle called while syncInProgress";
     } else {
         _itemsRequested = true;
         _rallyPointManager->loadFromVehicle();
@@ -156,9 +156,9 @@ void RallyPointController::loadFromVehicle(void)
 void RallyPointController::sendToVehicle(void)
 {
     if (_masterController->offline()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while offline";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while offline";
     } else if (syncInProgress()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while syncInProgress";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(RallyPointControllerLog) << "RallyPointController::sendToVehicle";
         setDirty(false);
@@ -290,7 +290,7 @@ bool RallyPointController::showPlanFromManagerVehicle (void)
 {
     qCDebug(RallyPointControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
     if (_masterController->offline()) {
-        qCWarning(RallyPointControllerLog) << "RallyPointController::showPlanFromManagerVehicle called while offline";
+        qCCritical(RallyPointControllerLog) << "RallyPointController::showPlanFromManagerVehicle called while offline";
         return true;    // stops further propagation of showPlanFromManagerVehicle due to error
     } else {
         if (!_managerVehicle->initialPlanRequestComplete()) {
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 4b50e43891eb..5014d8d8fe59 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -36,7 +36,7 @@ SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, boo
     , _param6MetaData                   (FactMetaData::valueTypeDouble)
     , _param7MetaData                   (FactMetaData::valueTypeDouble)
 {
-    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/Controls/SimpleItemEditor.qml");
+    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/PlanView/SimpleItemEditor.qml");
 
     _setupMetaData();
 
@@ -64,23 +64,23 @@ SimpleMissionItem::SimpleMissionItem(PlanMasterController* masterController, boo
     , _param6MetaData           (FactMetaData::valueTypeDouble)
     , _param7MetaData           (FactMetaData::valueTypeDouble)
 {
-    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/Controls/SimpleItemEditor.qml");
+    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/PlanView/SimpleItemEditor.qml");
 
-    struct MavFrame2AltMode_s {
+    struct MavFrame2AltFrame_s {
         MAV_FRAME                               mavFrame;
-        QGroundControlQmlGlobal::AltMode   altMode;
+        QGroundControlQmlGlobal::AltitudeFrame   altFrame;
     };
 
-    const struct MavFrame2AltMode_s rgMavFrame2AltMode[] = {
-        { MAV_FRAME_GLOBAL_TERRAIN_ALT,     QGroundControlQmlGlobal::AltitudeModeTerrainFrame },
-        { MAV_FRAME_GLOBAL,                 QGroundControlQmlGlobal::AltitudeModeAbsolute },
-        { MAV_FRAME_GLOBAL_RELATIVE_ALT,    QGroundControlQmlGlobal::AltitudeModeRelative },
+    const struct MavFrame2AltFrame_s rgMavFrame2AltFrame[] = {
+        { MAV_FRAME_GLOBAL_TERRAIN_ALT,     QGroundControlQmlGlobal::AltitudeFrameTerrain },
+        { MAV_FRAME_GLOBAL,                 QGroundControlQmlGlobal::AltitudeFrameAbsolute },
+        { MAV_FRAME_GLOBAL_RELATIVE_ALT,    QGroundControlQmlGlobal::AltitudeFrameRelative },
     };
-    _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
-    for (size_t i=0; i<sizeof(rgMavFrame2AltMode)/sizeof(rgMavFrame2AltMode[0]); i++) {
-        const MavFrame2AltMode_s& pMavFrame2AltMode = rgMavFrame2AltMode[i];
-        if (pMavFrame2AltMode.mavFrame == missionItem.frame()) {
-            _altitudeMode = pMavFrame2AltMode.altMode;
+    _altitudeFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
+    for (size_t i=0; i<sizeof(rgMavFrame2AltFrame)/sizeof(rgMavFrame2AltFrame[0]); i++) {
+        const MavFrame2AltFrame_s& pMavFrame2AltFrame = rgMavFrame2AltFrame[i];
+        if (pMavFrame2AltFrame.mavFrame == missionItem.frame()) {
+            _altitudeFrame = pMavFrame2AltFrame.altFrame;
             break;
         }
     }
@@ -118,10 +118,10 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._frameFact,           &Fact::valueChanged,                        this, &SimpleMissionItem::_setDirty);
     connect(&_missionItem._commandFact,         &Fact::valueChanged,                        this, &SimpleMissionItem::_setDirty);
     connect(&_missionItem,                      &MissionItem::sequenceNumberChanged,        this, &SimpleMissionItem::_setDirty);
-    connect(this,                               &SimpleMissionItem::altitudeModeChanged,    this, &SimpleMissionItem::_setDirty);
+    connect(this,                               &SimpleMissionItem::altitudeFrameChanged,    this, &SimpleMissionItem::_setDirty);
 
     connect(&_altitudeFact,                     &Fact::valueChanged,                        this, &SimpleMissionItem::_altitudeChanged);
-    connect(this,                               &SimpleMissionItem::altitudeModeChanged,    this, &SimpleMissionItem::_altitudeModeChanged);
+    connect(this,                               &SimpleMissionItem::altitudeFrameChanged,    this, &SimpleMissionItem::_altitudeFrameChanged);
     connect(this,                               &SimpleMissionItem::terrainAltitudeChanged, this, &SimpleMissionItem::_terrainAltChanged);
 
     connect(this,                               &SimpleMissionItem::sequenceNumberChanged,  this, &SimpleMissionItem::lastSequenceNumberChanged);
@@ -129,7 +129,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(this,                               &SimpleMissionItem::cameraSectionChanged,   this, &SimpleMissionItem::_updateLastSequenceNumber);
 
     connect(&_missionItem._param7Fact,          &Fact::valueChanged,                        this, &SimpleMissionItem::_amslEntryAltChanged);
-    connect(this,                               &SimpleMissionItem::altitudeModeChanged,    this, &SimpleMissionItem::_amslEntryAltChanged);
+    connect(this,                               &SimpleMissionItem::altitudeFrameChanged,    this, &SimpleMissionItem::_amslEntryAltChanged);
     connect(this,                               &SimpleMissionItem::terrainAltitudeChanged, this, &SimpleMissionItem::_amslEntryAltChanged);
     connect(this,                               &SimpleMissionItem::amslEntryAltChanged,    this, &SimpleMissionItem::amslExitAltChanged);
 
@@ -147,6 +147,7 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._param3Fact,          &Fact::valueChanged,                        this, &SimpleMissionItem::_possibleRadiusChanged);
 
     // Exit coordinate is the same as entrance coordinate
+    connect(this,                               &SimpleMissionItem::coordinateChanged,      this, &SimpleMissionItem::entryCoordinateChanged);
     connect(this,                               &SimpleMissionItem::coordinateChanged,      this, &SimpleMissionItem::exitCoordinateChanged);
 
     // The following changes may also change friendlyEditAllowed
@@ -255,7 +256,7 @@ void SimpleMissionItem::save(QJsonArray&  missionItems)
         if (i == 0) {
             // This is the main simple item, save the alt/terrain data
             if (specifiesAltitude()) {
-                saveObject[_jsonAltitudeModeKey] =          _altitudeMode;
+                saveObject[_jsonAltitudeModeKey] =          _altitudeFrame;
                 saveObject[_jsonAltitudeKey] =              _altitudeFact.rawValue().toDouble();
                 saveObject[_jsonAMSLAltAboveTerrainKey] =   _amslAltAboveTerrainFact.rawValue().toDouble();
             }
@@ -270,7 +271,7 @@ bool SimpleMissionItem::load(QTextStream &loadStream)
     bool success;
     if ((success = _missionItem.load(loadStream))) {
         if (specifiesAltitude()) {
-            _altitudeMode = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
+            _altitudeFrame = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeFrameRelative : QGroundControlQmlGlobal::AltitudeFrameAbsolute;
             _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
             _amslAltAboveTerrainFact.setRawValue(qQNaN());
         }
@@ -300,11 +301,11 @@ bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QStrin
                 return false;
             }
 
-            _altitudeMode = (QGroundControlQmlGlobal::AltMode)(int)json[_jsonAltitudeModeKey].toDouble();
+            _altitudeFrame = (QGroundControlQmlGlobal::AltitudeFrame)(int)json[_jsonAltitudeModeKey].toDouble();
             _altitudeFact.setRawValue(JsonParsing::possibleNaNJsonValue(json[_jsonAltitudeKey]));
-            _amslAltAboveTerrainFact.setRawValue(JsonParsing::possibleNaNJsonValue(json[_jsonAltitudeKey]));
+            _amslAltAboveTerrainFact.setRawValue(JsonParsing::possibleNaNJsonValue(json[_jsonAMSLAltAboveTerrainKey]));
         } else {
-            _altitudeMode = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute;
+            _altitudeFrame = _missionItem.relativeAltitude() ? QGroundControlQmlGlobal::AltitudeFrameRelative : QGroundControlQmlGlobal::AltitudeFrameAbsolute;
             _altitudeFact.setRawValue(_missionItem._param7Fact.rawValue());
             _amslAltAboveTerrainFact.setRawValue(qQNaN());
         }
@@ -711,30 +712,30 @@ void SimpleMissionItem::_sendCoordinateChanged(void)
     emit coordinateChanged(coordinate());
 }
 
-void SimpleMissionItem::_altitudeModeChanged(void)
+void SimpleMissionItem::_altitudeFrameChanged(void)
 {
-    switch (_altitudeMode) {
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    switch (_altitudeFrame) {
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         _missionItem.setFrame(MAV_FRAME_GLOBAL_TERRAIN_ALT);
         break;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
         // Terrain altitudes are Absolute
         _missionItem.setFrame(MAV_FRAME_GLOBAL);
         // Clear any old calculated values
         _missionItem._param7Fact.setRawValue(qQNaN());
         _amslAltAboveTerrainFact.setRawValue(qQNaN());
         break;
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
         _missionItem.setFrame(MAV_FRAME_GLOBAL);
         break;
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
         _missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
         break;
-    case QGroundControlQmlGlobal::AltitudeModeNone:
-        qWarning() << "Internal Error SimpleMissionItem::_altitudeModeChanged: Invalid altitudeMode == AltitudeModeNone";
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
+        qWarning() << "Internal Error SimpleMissionItem::_altitudeFrameChanged: Invalid altitudeFrame == AltitudeFrameNone";
         break;
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-        qWarning() << "Internal Error SimpleMissionItem::_altitudeModeChanged: Invalid altitudeMode == AltitudeModeMixed";
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+        qWarning() << "Internal Error SimpleMissionItem::_altitudeFrameChanged: Invalid altitudeFrame == AltitudeFrameMixed";
         break;
     }
 
@@ -748,12 +749,12 @@ void SimpleMissionItem::_altitudeChanged(void)
         return;
     }
 
-    if (_altitudeMode == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain || _altitudeMode == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
+    if (_altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain || _altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameTerrain) {
         _amslAltAboveTerrainFact.setRawValue(qQNaN());
         _terrainAltChanged();
     }
 
-    if (_altitudeMode != QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_altitudeFrame != QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         _missionItem._param7Fact.setRawValue(_altitudeFact.rawValue());
     }
 }
@@ -765,10 +766,10 @@ void SimpleMissionItem::_terrainAltChanged(void)
         return;
     }
 
-    if (_altitudeMode == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain || _altitudeMode == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
+    if (_altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain || _altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameTerrain) {
         if (qIsNaN(terrainAltitude())) {
             // Set NaNs to signal we are waiting on terrain data
-            if (_altitudeMode == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+            if (_altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
                 _missionItem._param7Fact.setRawValue(qQNaN());
             }
             _amslAltAboveTerrainFact.setRawValue(qQNaN());
@@ -776,7 +777,7 @@ void SimpleMissionItem::_terrainAltChanged(void)
             double newAboveTerrain = terrainAltitude() + _altitudeFact.rawValue().toDouble();
             double oldAboveTerrain = _amslAltAboveTerrainFact.rawValue().toDouble();
             if (!QGC::fuzzyCompare(newAboveTerrain, oldAboveTerrain)) {
-                if (_altitudeMode == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+                if (_altitudeFrame == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
                     _missionItem._param7Fact.setRawValue(newAboveTerrain);
                 }
                 _amslAltAboveTerrainFact.setRawValue(newAboveTerrain);
@@ -815,16 +816,16 @@ void SimpleMissionItem::_setDefaultsForCommand(void)
     }
 
     // Set global defaults first, then if there are param defaults they will get reset
-    _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
-    emit altitudeModeChanged();
+    _altitudeFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
+    emit altitudeFrameChanged();
     _amslAltAboveTerrainFact.setRawValue(qQNaN());
     if (specifiesAltitude()) {
         double defaultAlt = SettingsManager::instance()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble();
         _altitudeFact.setRawValue(defaultAlt);
         _missionItem._param7Fact.setRawValue(defaultAlt);
-        // Note that setAltitudeMode will also set MAV_FRAME correctly through signalling
+        // Note that setAltitudeFrame will also set MAV_FRAME correctly through signalling
         // Takeoff items always use relative alt since that is the highest quality data to base altitude from
-        setAltitudeMode(isTakeoffItem() ? QGroundControlQmlGlobal::AltitudeModeRelative : _missionController->globalAltitudeModeDefault());
+        setAltitudeFrame(isTakeoffItem() ? QGroundControlQmlGlobal::AltitudeFrameRelative : _missionController->globalAltitudeFrameDefault());
     } else {
         _altitudeFact.setRawValue(0);
         _missionItem._param7Fact.setRawValue(0);
@@ -1057,11 +1058,11 @@ void SimpleMissionItem::setMissionFlightStatus(MissionController::MissionFlightS
     }
 }
 
-void SimpleMissionItem::setAltitudeMode(QGroundControlQmlGlobal::AltMode altitudeMode)
+void SimpleMissionItem::setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame)
 {
-    if (altitudeMode != _altitudeMode) {
-        _altitudeMode = altitudeMode;
-        emit altitudeModeChanged();
+    if (altitudeFrame != _altitudeFrame) {
+        _altitudeFrame = altitudeFrame;
+        emit altitudeFrameChanged();
     }
 }
 
@@ -1104,25 +1105,30 @@ QGeoCoordinate SimpleMissionItem::coordinate(void) const
     }
 }
 
+double SimpleMissionItem::editableAlt() const
+{
+    return _missionItem.param7();
+}
+
 double SimpleMissionItem::amslEntryAlt(void) const
 {
-    switch (_altitudeMode) {
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    switch (_altitudeFrame) {
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         return _missionItem.param7() + _terrainAltitude;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
         return _missionItem.param7();
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
         return _missionItem.param7() + _masterController->missionController()->plannedHomePosition().altitude();
-    case QGroundControlQmlGlobal::AltitudeModeNone:
-        qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeMode:AltitudeModeNone";
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
+        qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeFrame:AltitudeFrameNone";
         return qQNaN();
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-        qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeMode:AltitudeModeMixed";
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+        qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeFrame:AltitudeFrameMixed";
         return qQNaN();
     }
 
-    qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeMode:" << _altitudeMode;
+    qWarning() << "Internal Error SimpleMissionItem::amslEntryAlt: Invalid altitudeFrame:" << _altitudeFrame;
     return qQNaN();
 }
 
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 6a071d9db836..3e275d622b14 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -24,9 +24,9 @@ class SimpleMissionItem : public VisualMissionItem
     Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
     Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
     Q_PROPERTY(bool             specifiesAltitude       READ specifiesAltitude                                  NOTIFY commandChanged)
-    Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           ///< Altitude as specified by altitudeMode. Not necessarily true mission item altitude
-    Q_PROPERTY(QGroundControlQmlGlobal::AltMode altitudeMode READ altitudeMode WRITE setAltitudeMode       NOTIFY altitudeModeChanged)
-    Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeMode == AltitudeAboveTerrain
+    Q_PROPERTY(Fact*            altitude                READ altitude                                           CONSTANT)                           ///< Altitude as specified by altitudeFrame. Not necessarily true mission item altitude
+    Q_PROPERTY(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame READ altitudeFrame WRITE setAltitudeFrame       NOTIFY altitudeFrameChanged)
+    Q_PROPERTY(Fact*            amslAltAboveTerrain     READ amslAltAboveTerrain                                CONSTANT)                           ///< Actual AMSL altitude for item if altitudeFrame is AltitudeFrameCalcAboveTerrain or AltitudeFrameTerrain
     Q_PROPERTY(int              command                 READ command                WRITE setCommand            NOTIFY commandChanged)
     Q_PROPERTY(bool             isLoiterItem            READ isLoiterItem                                       NOTIFY isLoiterItemChanged)
     Q_PROPERTY(bool             showLoiterRadius        READ showLoiterRadius                                   NOTIFY showLoiterRadiusChanged)
@@ -64,7 +64,7 @@ class SimpleMissionItem : public VisualMissionItem
     bool            friendlyEditAllowed (void) const;
     bool            rawEdit             (void) const;
     bool            specifiesAltitude   (void) const;
-    QGroundControlQmlGlobal::AltMode altitudeMode(void) const { return _altitudeMode; }
+    QGroundControlQmlGlobal::AltitudeFrame altitudeFrame(void) const { return _altitudeFrame; }
     Fact*           altitude            (void) { return &_altitudeFact; }
     Fact*           amslAltAboveTerrain (void) { return &_amslAltAboveTerrainFact; }
     bool            isLoiterItem        (void) const;
@@ -82,7 +82,7 @@ class SimpleMissionItem : public VisualMissionItem
     QmlObjectListModel* comboboxFactsAdvanced (void) { return &_comboboxFactsAdvanced; }
 
     void setRawEdit(bool rawEdit);
-    void setAltitudeMode(QGroundControlQmlGlobal::AltMode altitudeMode);
+    void setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame altitudeFrame);
 
     void setCommandByIndex(int index);
 
@@ -111,7 +111,9 @@ class SimpleMissionItem : public VisualMissionItem
     QString         commandName                 (void) const final;
     QString         abbreviation                (void) const final;
     QGeoCoordinate  coordinate                  (void) const final;
+    QGeoCoordinate  entryCoordinate             (void) const final { return coordinate(); }
     QGeoCoordinate  exitCoordinate              (void) const final { return coordinate(); }
+    double          editableAlt                 (void) const final;
     double          amslEntryAlt                (void) const final;
     double          amslExitAlt                 (void) const final { return amslEntryAlt(); }
     int             sequenceNumber              (void) const final { return _missionItem.sequenceNumber(); }
@@ -140,7 +142,7 @@ class SimpleMissionItem : public VisualMissionItem
     void rawEditChanged             (bool rawEdit);
     void cameraSectionChanged       (QObject* cameraSection);
     void speedSectionChanged        (QObject* cameraSection);
-    void altitudeModeChanged        (void);
+    void altitudeFrameChanged        (void);
     void isLoiterItemChanged        (void);
     void showLoiterRadiusChanged    (void);
     void loiterRadiusChanged        (double loiterRadius);
@@ -152,7 +154,7 @@ private slots:
     void _sendCoordinateChanged                 (void);
     void _sendFriendlyEditAllowedChanged        (void);
     void _altitudeChanged                       (void);
-    void _altitudeModeChanged                   (void);
+    void _altitudeFrameChanged                   (void);
     void _terrainAltChanged                     (void);
     void _updateLastSequenceNumber              (void);
     void _rebuildFacts                          (void);
@@ -182,7 +184,7 @@ private slots:
 
     Fact                _supportedCommandFact;
 
-    QGroundControlQmlGlobal::AltMode    _altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
+    QGroundControlQmlGlobal::AltitudeFrame    _altitudeFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
     Fact                                _altitudeFact;
     Fact                                _amslAltAboveTerrainFact;
 
diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc
index 6fc2ba29467f..25d547219b53 100644
--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -31,7 +31,7 @@ StructureScanComplexItem::StructureScanComplexItem(PlanMasterController* masterC
     , _startFromTopFact         (settingsGroup, _metaDataMap[startFromTopName])
     , _entranceAltFact          (settingsGroup, _metaDataMap[_entranceAltName])
 {
-    _editorQml = "qrc:/qml/QGroundControl/Controls/StructureScanEditor.qml";
+    _editorQml = "qrc:/qml/QGroundControl/PlanView/StructureScanEditor.qml";
 
     _entranceAltFact.setRawValue(SettingsManager::instance()->appSettings()->defaultMissionItemAltitude()->rawValue());
 
@@ -74,6 +74,9 @@ StructureScanComplexItem::StructureScanComplexItem(PlanMasterController* masterC
 
     connect(this, &StructureScanComplexItem::wizardModeChanged, this, &StructureScanComplexItem::readyForSaveStateChanged);
 
+    connect(this,               &StructureScanComplexItem::coordinateChanged,       this, &StructureScanComplexItem::entryCoordinateChanged);
+    connect(this,               &StructureScanComplexItem::coordinateChanged,       this, &StructureScanComplexItem::exitCoordinateChanged);
+
     connect(&_entranceAltFact,  &Fact::valueChanged,                                this, &StructureScanComplexItem::_amslEntryAltChanged);
     connect(this,               &StructureScanComplexItem::amslEntryAltChanged,     this, &StructureScanComplexItem::amslExitAltChanged);
 
@@ -270,7 +273,6 @@ void StructureScanComplexItem::_flightPathChanged(void)
                          QGeoCoordinate(south - 90.0, east - 180.0, top)));
 
     emit coordinateChanged(coordinate());
-    emit exitCoordinateChanged(exitCoordinate());
     emit greatestDistanceToChanged();
 
     if (_isIncomplete) {
@@ -466,6 +468,26 @@ void StructureScanComplexItem::applyNewAltitude(double newAltitude)
     _entranceAltFact.setRawValue(newAltitude);
 }
 
+void StructureScanComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    const QGeoCoordinate oldCoordinate = this->coordinate();
+    if (!oldCoordinate.isValid() || !coordinate.isValid() || _structurePolygon.count() < 3) {
+        return;
+    }
+
+    const double distanceMeters = oldCoordinate.distanceTo(coordinate);
+    const double azimuthDegrees = oldCoordinate.azimuthTo(coordinate);
+    const QList<QGeoCoordinate> vertices = _structurePolygon.coordinateList();
+
+    QList<QGeoCoordinate> translatedVertices;
+    translatedVertices.reserve(vertices.count());
+    for (const QGeoCoordinate& vertex: vertices) {
+        translatedVertices.append(vertex.atDistanceAndAzimuth(distanceMeters, azimuthDegrees));
+    }
+
+    _structurePolygon.setPath(translatedVertices);
+}
+
 void StructureScanComplexItem::_polygonDirtyChanged(bool dirty)
 {
     if (dirty) {
@@ -491,7 +513,6 @@ QGeoCoordinate StructureScanComplexItem::coordinate(void) const
 void StructureScanComplexItem::_updateCoordinateAltitudes(void)
 {
     emit coordinateChanged(coordinate());
-    emit exitCoordinateChanged(exitCoordinate());
 }
 
 void StructureScanComplexItem::rotateEntryPoint(void)
@@ -501,7 +522,6 @@ void StructureScanComplexItem::rotateEntryPoint(void)
         _entryVertex = 0;
     }
     emit coordinateChanged(coordinate());
-    emit exitCoordinateChanged(exitCoordinate());
 }
 
 void StructureScanComplexItem::_rebuildFlightPolygon(void)
@@ -521,7 +541,6 @@ void StructureScanComplexItem::_rebuildFlightPolygon(void)
     }
 
     emit coordinateChanged(coordinate());
-    emit exitCoordinateChanged(exitCoordinate());
 }
 
 void StructureScanComplexItem::_recalcCameraShots(void)
@@ -640,6 +659,11 @@ void StructureScanComplexItem::_updateWizardMode(void)
     }
 }
 
+double StructureScanComplexItem::editableAlt() const
+{
+    return _entranceAltFact.rawValue().toDouble();
+}
+
 double StructureScanComplexItem::amslEntryAlt(void) const
 {
     return _entranceAltFact.rawValue().toDouble() + _missionController->plannedHomePosition().altitude();
diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h
index e7b4d6d85987..79c322279136 100644
--- a/src/MissionManager/StructureScanComplexItem.h
+++ b/src/MissionManager/StructureScanComplexItem.h
@@ -70,6 +70,7 @@ class StructureScanComplexItem : public ComplexMissionItem
     QString             commandName                 (void) const final { return tr("Structure Scan"); }
     QString             abbreviation                (void) const final { return "S"; }
     QGeoCoordinate      coordinate                  (void) const final;
+    QGeoCoordinate      entryCoordinate             (void) const final { return coordinate(); }
     QGeoCoordinate      exitCoordinate              (void) const final { return coordinate(); }
     int                 sequenceNumber              (void) const final { return _sequenceNumber; }
     double              specifiedFlightSpeed        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
@@ -82,9 +83,10 @@ class StructureScanComplexItem : public ComplexMissionItem
     ReadyForSaveState   readyForSaveState           (void) const final;
     bool                exitCoordinateSameAsEntry   (void) const final { return true; }
     void                setDirty                    (bool dirty) final;
-    void                setCoordinate               (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
+    void                setCoordinate               (const QGeoCoordinate& coordinate) final;
     void                setSequenceNumber           (int sequenceNumber) final;
     void                save                        (QJsonArray&  missionItems) final;
+    double              editableAlt                 (void) const final;
     double              amslEntryAlt                (void) const final;
     double              amslExitAlt                 (void) const final { return amslEntryAlt(); };
     double              minAMSLAltitude             (void) const final;
diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc
index 095035616ee7..2ccd192ed7fb 100644
--- a/src/MissionManager/SurveyComplexItem.cc
+++ b/src/MissionManager/SurveyComplexItem.cc
@@ -26,7 +26,7 @@ SurveyComplexItem::SurveyComplexItem(PlanMasterController* masterController, boo
     , _splitConcavePolygonsFact (settingsGroup, _metaDataMap[splitConcavePolygonsName])
     , _entryPoint               (EntryLocationTopLeft)
 {
-    _editorQml = "qrc:/qml/QGroundControl/Controls/SurveyItemEditor.qml";
+    _editorQml = "qrc:/qml/QGroundControl/PlanView/SurveyItemEditor.qml";
 
     if (_controllerVehicle && !(_controllerVehicle->fixedWing() || _controllerVehicle->vtol())) {
         // Only fixed wing flight paths support alternate transects
@@ -239,7 +239,7 @@ bool SurveyComplexItem::_loadV3(const QJsonObject& complexObject, int sequenceNu
     _cameraTriggerInTurnAroundFact.setRawValue  (complexObject[_jsonV3CameraTriggerInTurnaroundKey].toBool(true));
 
     _cameraCalc.valueSetIsDistance()->setRawValue   (complexObject[_jsonV3FixedValueIsAltitudeKey].toBool(true));
-    _cameraCalc.setDistanceMode(complexObject[_jsonV3GridAltitudeRelativeKey].toBool(true) ? QGroundControlQmlGlobal::AltitudeModeRelative : QGroundControlQmlGlobal::AltitudeModeAbsolute);
+    _cameraCalc.setDistanceMode(complexObject[_jsonV3GridAltitudeRelativeKey].toBool(true) ? QGroundControlQmlGlobal::AltitudeFrameRelative : QGroundControlQmlGlobal::AltitudeFrameAbsolute);
 
     bool manualGrid = complexObject[_jsonV3ManualGridKey].toBool(true);
 
diff --git a/src/MissionManager/TakeoffMissionItem.cc b/src/MissionManager/TakeoffMissionItem.cc
index f2e9d2dd1635..1536a6fa6b52 100644
--- a/src/MissionManager/TakeoffMissionItem.cc
+++ b/src/MissionManager/TakeoffMissionItem.cc
@@ -37,7 +37,7 @@ TakeoffMissionItem::~TakeoffMissionItem()
 
 void TakeoffMissionItem::_init(bool forLoad)
 {
-    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/Controls/SimpleItemEditor.qml");
+    _editorQml = QStringLiteral("qrc:/qml/QGroundControl/PlanView/SimpleItemEditor.qml");
 
     connect(_settingsItem, &MissionSettingsItem::coordinateChanged, this, &TakeoffMissionItem::launchCoordinateChanged);
 
@@ -167,7 +167,7 @@ void TakeoffMissionItem::_setLaunchCoordinate(const QGeoCoordinate& launchCoordi
             if (_controllerVehicle->fixedWing()) {
                 double altitude = this->altitude()->rawValue().toDouble();
 
-                if (altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative) {
+                if (altitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameRelative) {
                     // Offset for fixed wing climb out of 30 degrees to specified altitude
                     if (altitude != 0.0) {
                         distance = altitude / tan(qDegreesToRadians(30.0));
diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc
index 88a8754fca30..3cf5efec3c15 100644
--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -87,6 +87,9 @@ TransectStyleComplexItem::TransectStyleComplexItem(PlanMasterController* masterC
 
     connect(&_hoverAndCaptureFact,                      &Fact::rawValueChanged,         this, &TransectStyleComplexItem::_handleHoverAndCaptureEnabled);
 
+    // The main coordinate is aliased to the entry
+    connect(this,                                       &TransectStyleComplexItem::entryCoordinateChanged,      this, &TransectStyleComplexItem::coordinateChanged);
+
     connect(this,                                       &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
     connect(this,                                       &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
     connect(this,                                       &TransectStyleComplexItem::wizardModeChanged,           this, &TransectStyleComplexItem::readyForSaveStateChanged);
@@ -117,6 +120,25 @@ void TransectStyleComplexItem::setDirty(bool dirty)
     }
 }
 
+void TransectStyleComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (!coordinate.isValid() || !_entryCoordinate.isValid() || _surveyAreaPolygon.count() < 3) {
+        return;
+    }
+
+    const double distanceMeters = _entryCoordinate.distanceTo(coordinate);
+    const double azimuthDegrees = _entryCoordinate.azimuthTo(coordinate);
+    const QList<QGeoCoordinate> vertices = _surveyAreaPolygon.coordinateList();
+
+    QList<QGeoCoordinate> translatedVertices;
+    translatedVertices.reserve(vertices.count());
+    for (const QGeoCoordinate& vertex: vertices) {
+        translatedVertices.append(vertex.atDistanceAndAzimuth(distanceMeters, azimuthDegrees));
+    }
+
+    _surveyAreaPolygon.setPath(translatedVertices);
+}
+
 void TransectStyleComplexItem::_save(QJsonObject& complexObject)
 {
     QJsonObject innerObject;
@@ -128,7 +150,7 @@ void TransectStyleComplexItem::_save(QJsonObject& complexObject)
     innerObject[refly90DegreesName] =               _refly90DegreesFact.rawValue().toBool();
     innerObject[_jsonCameraShotsKey] =              _cameraShots;
 
-    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         innerObject[terrainAdjustToleranceName]         = _terrainAdjustToleranceFact.rawValue().toDouble();
         innerObject[terrainAdjustMaxClimbRateName]      = _terrainAdjustMaxClimbRateFact.rawValue().toDouble();
         innerObject[terrainAdjustMaxDescentRateName]    = _terrainAdjustMaxDescentRateFact.rawValue().toDouble();
@@ -227,7 +249,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forP
         if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonVisualTransectPointsKey], false /* altitudeRequired */, _visualTransectPoints, errorString)) {
             return false;
         }
-        _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
+        _entryCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
         _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
         _isIncomplete = false;
 
@@ -262,7 +284,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forP
         _cameraShots = innerObject[_jsonCameraShotsKey].toInt();
     }
 
-    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         QList<JsonHelper::KeyValidateInfo> followTerrainKeyInfoList = {
             { terrainAdjustToleranceName,       QJsonValue::Double, true },
             { terrainAdjustMaxClimbRateName,    QJsonValue::Double, true },
@@ -295,7 +317,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forP
     }
 
     if (!forPresets) {
-        if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeTerrainFrame) {
+        if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameTerrain) {
             // Terrain frame requires terrain data in order to know AMSL coordinate heights for each mission item
             _queryMissionItemCoordHeights();
         } else {
@@ -349,7 +371,7 @@ void TransectStyleComplexItem::_setIfDirty(bool dirty)
 
 void TransectStyleComplexItem::_updateCoordinateAltitudes(void)
 {
-    emit coordinateChanged(coordinate());
+    emit entryCoordinateChanged(entryCoordinate());
     emit exitCoordinateChanged(exitCoordinate());
 }
 
@@ -388,18 +410,18 @@ void TransectStyleComplexItem::_rebuildTransects(void)
     _minAMSLAltitude = _maxAMSLAltitude = qQNaN();
 
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: _rebuildTransects - invalid _cameraCalc.distanceMode()" << _cameraCalc.distanceMode();
         return;
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         // Terrain height not needed to calculate path, as TerrainFrame specifies a fixed altitude over terrain, doesn't need to know the actual terrain height
         // so vehicle is responsible for having or not this altitude calculation, so we can build the flight path right away.
         _buildFlightPathCoordInfoFromTransects();
         break;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
         // Query the terrain data. Once available flight path will be calculated, as on this mode QGC actually calculates the individual altitude for each waypoint
         // having into account terrain data.
         _queryTransectsPathHeightInfo();
@@ -434,10 +456,9 @@ void TransectStyleComplexItem::_rebuildTransects(void)
                          QGeoCoordinate(south - 90.0, east - 180.0, top)));
     emit visualTransectPointsChanged();
 
-    _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
+    _entryCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
     _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
-    emit coordinateChanged(_coordinate);
-    emit exitCoordinateChanged(_exitCoordinate);
+    _updateCoordinateAltitudes();
 
     if (_isIncomplete) {
         _isIncomplete = false;
@@ -478,12 +499,12 @@ void TransectStyleComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
     _flightPathSegments.clearAndDeleteContents();
 
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: _updateFlightPathSegmentsDontCallDirectly - invalid _cameraCalc.distanceMode()" << _cameraCalc.distanceMode();
         return;
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
     {
         // Since we aren't following terrain all the transects are at the same height. We can use _visualTransectPoints to build the
         // flight path segments.
@@ -498,9 +519,9 @@ void TransectStyleComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
         }
     }
         break;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
-        if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain && _loadedMissionItems.count()) {
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
+        if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain && _loadedMissionItems.count()) {
             // Build segments from loaded mission item data
             QGeoCoordinate prevCoord = QGeoCoordinate();
             double prevAlt = 0;
@@ -519,7 +540,7 @@ void TransectStyleComplexItem::_updateFlightPathSegmentsDontCallDirectly(void)
             //  - Working from loaded mission items which have had terrain heights queried for
             // In both cases _rgFlightPathCoordInfo will be set up for use
             if (_rgFlightPathCoordInfo.count()) {
-                FlightPathSegment::SegmentType segmentType = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain ? FlightPathSegment::SegmentTypeGeneric : FlightPathSegment::SegmentTypeTerrainFrame;
+                FlightPathSegment::SegmentType segmentType = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain ? FlightPathSegment::SegmentTypeGeneric : FlightPathSegment::SegmentTypeTerrainFrame;
                 for (int i=0; i<_rgFlightPathCoordInfo.count() - 1; i++) {
                     const QGeoCoordinate& fromCoord = _rgFlightPathCoordInfo[i].coord;
                     const QGeoCoordinate& toCoord   = _rgFlightPathCoordInfo[i+1].coord;
@@ -646,7 +667,7 @@ void TransectStyleComplexItem::_missionItemCoordTerrainData(bool success, QList<
 TransectStyleComplexItem::ReadyForSaveState TransectStyleComplexItem::readyForSaveState(void) const
 {
     bool terrainReady = false;
-    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         if (_loadedMissionItems.count()) {
             // We have loaded mission items. Everything is ready to go.
             terrainReady = true;
@@ -667,15 +688,15 @@ TransectStyleComplexItem::ReadyForSaveState TransectStyleComplexItem::readyForSa
 void TransectStyleComplexItem::_adjustForAvailableTerrainData(void)
 {
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: _adjustForAvailableTerrainData - invalid _cameraCalc.distanceMode()" << _cameraCalc.distanceMode();
         return;
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
         // No additional work needed
         return;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
         _buildFlightPathCoordInfoFromPathHeightInfoForCalcAboveTerrain();
         _adjustForMaxRates();
         _adjustForTolerance();
@@ -687,7 +708,7 @@ void TransectStyleComplexItem::_adjustForAvailableTerrainData(void)
         }
         emit lastSequenceNumberChanged(lastSequenceNumber());
         break;
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         if (_loadedMissionItems.count()) {
             _buildFlightPathCoordInfoFromMissionItems();
         } else {
@@ -1084,7 +1105,7 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
 
 void TransectStyleComplexItem::_distanceModeChanged(int distanceMode)
 {
-    if (static_cast<QGroundControlQmlGlobal::AltMode>(distanceMode) == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (static_cast<QGroundControlQmlGlobal::AltitudeFrame>(distanceMode) == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         _refly90DegreesFact.setRawValue(false);
         _hoverAndCaptureFact.setRawValue(false);
     }
@@ -1110,7 +1131,7 @@ void TransectStyleComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
 
 void TransectStyleComplexItem::_appendWaypoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate)
 {
-    double altitude = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain ? coordinate.altitude() : _cameraCalc.distanceToSurface()->rawValue().toDouble();
+    double altitude = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain ? coordinate.altitude() : _cameraCalc.distanceToSurface()->rawValue().toDouble();
 
     MissionItem* item = new MissionItem(seqNum++,
                                         MAV_CMD_NAV_WAYPOINT,
@@ -1146,7 +1167,7 @@ void TransectStyleComplexItem::_appendSinglePhotoCapture(QList<MissionItem*>& it
 
 void TransectStyleComplexItem::_appendConditionGate(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate)
 {
-    double altitude = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain ? coordinate.altitude() : _cameraCalc.distanceToSurface()->rawValue().toDouble();
+    double altitude = _cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain ? coordinate.altitude() : _cameraCalc.distanceToSurface()->rawValue().toDouble();
 
     MissionItem* item = new MissionItem(seqNum++,
                                         MAV_CMD_CONDITION_GATE,
@@ -1211,18 +1232,18 @@ void TransectStyleComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
     qCDebug(TransectStyleComplexItemLog) << "_buildAndAppendMissionItems";
 
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
         mavFrame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
         break;
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
         mavFrame = MAV_FRAME_GLOBAL;
         break;
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         mavFrame = MAV_FRAME_GLOBAL_TERRAIN_ALT;
         break;
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: _buildAndAppendMissionItems incorrect _cameraCalc.distanceMode" << _cameraCalc.distanceMode();
         mavFrame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
         break;
@@ -1320,31 +1341,36 @@ void TransectStyleComplexItem::_recalcComplexDistance(void)
     emit complexDistanceChanged();
 }
 
+double TransectStyleComplexItem::editableAlt() const
+{
+    return _cameraCalc.distanceToSurface()->rawValue().toDouble();
+}
+
 double TransectStyleComplexItem::amslEntryAlt(void) const
 {
     double alt                  = qQNaN();
     double distanceToSurface    = _cameraCalc.distanceToSurface()->rawValue().toDouble();
 
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
         alt = distanceToSurface + _missionController->plannedHomePosition().altitude();
         break;
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
         alt = distanceToSurface;
         break;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         if (_loadedMissionItems.count()) {
             // The first item might not be a waypoint we have to find it.
             for (int i=0; i<_loadedMissionItems.count(); i++) {
                 MissionItem* item = _loadedMissionItems[i];
                 const MissionCommandUIInfo* uiInfo = MissionCommandTree::instance()->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, item->command());
                 if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
-                    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
-                        // AltitudeModeCalcAboveTerrain has AMSL alt in param 7
+                    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
+                        // AltitudeFrameCalcAboveTerrain has AMSL alt in param 7
                         alt = item->param7();
                     } else {
-                        // AltitudeModeTerrainFrame has terrain frame relative alt in param 7. So we need terrain heights to calc AMSL.
+                        // AltitudeFrameTerrain has terrain frame relative alt in param 7. So we need terrain heights to calc AMSL.
                         if (_rgPathHeightInfo.count()) {
                             alt = item->param7() + _rgPathHeightInfo.first().heights.first();
                         }
@@ -1358,8 +1384,8 @@ double TransectStyleComplexItem::amslEntryAlt(void) const
             }
         }
         break;
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: amslEntryAlt incorrect _cameraCalc.distanceMode" << _cameraCalc.distanceMode();
         break;
     }
@@ -1372,23 +1398,23 @@ double TransectStyleComplexItem::amslExitAlt(void) const
     double alt                  = qQNaN();
 
     switch (_cameraCalc.distanceMode()) {
-    case QGroundControlQmlGlobal::AltitudeModeRelative:
-    case QGroundControlQmlGlobal::AltitudeModeAbsolute:
+    case QGroundControlQmlGlobal::AltitudeFrameRelative:
+    case QGroundControlQmlGlobal::AltitudeFrameAbsolute:
         alt = amslEntryAlt();
         break;
-    case QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain:
-    case QGroundControlQmlGlobal::AltitudeModeTerrainFrame:
+    case QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain:
+    case QGroundControlQmlGlobal::AltitudeFrameTerrain:
         if (_loadedMissionItems.count()) {
             // The last item might not be a waypoint we have to find it.
             for (int i=_loadedMissionItems.count()-1; i>0; i--) {
                 MissionItem* item = _loadedMissionItems[i];
                 const MissionCommandUIInfo* uiInfo = MissionCommandTree::instance()->getUIInfo(_controllerVehicle, QGCMAVLink::VehicleClassGeneric, item->command());
                 if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
-                    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
-                        // AltitudeModeCalcAboveTerrain has AMSL alt in param 7
+                    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
+                        // AltitudeFrameCalcAboveTerrain has AMSL alt in param 7
                         alt = item->param7();
                     } else {
-                        // AltitudeModeTerrainFrame has terrain frame relative alt in param 7. So we need terrain heights to calc AMSL.
+                        // AltitudeFrameTerrain has terrain frame relative alt in param 7. So we need terrain heights to calc AMSL.
                         if (_rgPathHeightInfo.count()) {
                             alt = item->param7() + _rgPathHeightInfo.last().heights.last();
                         }
@@ -1402,8 +1428,8 @@ double TransectStyleComplexItem::amslExitAlt(void) const
             }
         }
         break;
-    case QGroundControlQmlGlobal::AltitudeModeMixed:
-    case QGroundControlQmlGlobal::AltitudeModeNone:
+    case QGroundControlQmlGlobal::AltitudeFrameMixed:
+    case QGroundControlQmlGlobal::AltitudeFrameNone:
         qCWarning(TransectStyleComplexItemLog) << "Internal Error: amslExitAlt incorrect _cameraCalc.distanceMode" << _cameraCalc.distanceMode();
         break;
     }
@@ -1421,10 +1447,10 @@ double TransectStyleComplexItem::minAMSLAltitude(void) const
 {
     // FIXME: What about terrain frame
 
-    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         return _minAMSLAltitude;
     } else {
-        return _cameraCalc.distanceToSurface()->rawValue().toDouble() + (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeRelative ? _missionController->plannedHomePosition().altitude() : 0);
+        return _cameraCalc.distanceToSurface()->rawValue().toDouble() + (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameRelative ? _missionController->plannedHomePosition().altitude() : 0);
     }
 }
 
@@ -1432,9 +1458,9 @@ double TransectStyleComplexItem::maxAMSLAltitude(void) const
 {
     // FIXME: What about terrain frame
 
-    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain) {
+    if (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain) {
         return _maxAMSLAltitude;
     } else {
-        return _cameraCalc.distanceToSurface()->rawValue().toDouble() + (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeModeRelative ? _missionController->plannedHomePosition().altitude() : 0);
+        return _cameraCalc.distanceToSurface()->rawValue().toDouble() + (_cameraCalc.distanceMode() == QGroundControlQmlGlobal::AltitudeFrameRelative ? _missionController->plannedHomePosition().altitude() : 0);
     }
 }
diff --git a/src/MissionManager/TransectStyleComplexItem.h b/src/MissionManager/TransectStyleComplexItem.h
index edc1c70e76ec..b147f1e634e8 100644
--- a/src/MissionManager/TransectStyleComplexItem.h
+++ b/src/MissionManager/TransectStyleComplexItem.h
@@ -81,7 +81,8 @@ class TransectStyleComplexItem : public ComplexMissionItem
     bool                isSimpleItem                (void) const final { return false; }
     bool                isStandaloneCoordinate      (void) const final { return false; }
     bool                specifiesAltitudeOnly       (void) const final { return false; }
-    QGeoCoordinate      coordinate                  (void) const final { return _coordinate; }
+    QGeoCoordinate      coordinate                  (void) const final { return entryCoordinate(); }
+    QGeoCoordinate      entryCoordinate             (void) const final { return _entryCoordinate; }
     QGeoCoordinate      exitCoordinate              (void) const final { return _exitCoordinate; }
     int                 sequenceNumber              (void) const final { return _sequenceNumber; }
     double              specifiedFlightSpeed        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
@@ -94,8 +95,9 @@ class TransectStyleComplexItem : public ComplexMissionItem
     QString             abbreviation                (void) const override { return tr("T"); }
     bool                exitCoordinateSameAsEntry   (void) const final { return false; }
     void                setDirty                    (bool dirty) final;
-    void                setCoordinate               (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
+    void                setCoordinate               (const QGeoCoordinate& coordinate) override;
     void                setSequenceNumber           (int sequenceNumber) final;
+    double              editableAlt                 (void) const final;
     double              amslEntryAlt                (void) const final;
     double              amslExitAlt                 (void) const final;
     double              minAMSLAltitude             (void) const final;
@@ -146,7 +148,7 @@ protected slots:
     void    _recalcComplexDistance          (void);
 
     int                 _sequenceNumber = 0;
-    QGeoCoordinate      _coordinate;
+    QGeoCoordinate      _entryCoordinate;
     QGeoCoordinate      _exitCoordinate;
     QGCMapPolygon       _surveyAreaPolygon;
 
diff --git a/src/MissionManager/VTOLLandingComplexItem.cc b/src/MissionManager/VTOLLandingComplexItem.cc
index b99b3e5b0c1c..b6fdd084e825 100644
--- a/src/MissionManager/VTOLLandingComplexItem.cc
+++ b/src/MissionManager/VTOLLandingComplexItem.cc
@@ -30,7 +30,7 @@ VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterContr
     , _stopTakingPhotosFact     (settingsGroup, _metaDataMap[stopTakingPhotosName])
     , _stopTakingVideoFact      (settingsGroup, _metaDataMap[stopTakingVideoName])
 {
-    _editorQml      = "qrc:/qml/QGroundControl/Controls/VTOLLandingPatternEditor.qml";
+    _editorQml      = "qrc:/qml/QGroundControl/PlanView/VTOLLandingPatternEditor.qml";
     _isIncomplete   = false;
 
     _init();
diff --git a/src/MissionManager/VisualMissionItem.cc b/src/MissionManager/VisualMissionItem.cc
index 44ce7166e130..7037321356ea 100644
--- a/src/MissionManager/VisualMissionItem.cc
+++ b/src/MissionManager/VisualMissionItem.cc
@@ -165,6 +165,11 @@ void VisualMissionItem::_updateTerrainAltitude(void)
     _terrainAltitude = qQNaN();
     emit terrainAltitudeChanged(qQNaN());
 
+    if (_terrainQueryFailed) {
+        _terrainQueryFailed = false;
+        emit terrainQueryFailedChanged(_terrainQueryFailed);
+    }
+
     if (!_flyView && specifiesCoordinate() && coordinate().isValid()) {
         // We use a timer so that any additional requests before the timer fires result in only a single request
         _updateTerrainTimer.start();
@@ -194,6 +199,11 @@ void VisualMissionItem::_terrainDataReceived(bool success, QList<double> heights
     _terrainAltitude = success ? heights[0] : qQNaN();
     emit terrainAltitudeChanged(_terrainAltitude);
     _currentTerrainAtCoordinateQuery = nullptr;
+
+    if (_terrainQueryFailed != !success) {
+        _terrainQueryFailed = !success;
+        emit terrainQueryFailedChanged(_terrainQueryFailed);
+    }
 }
 
 void VisualMissionItem::_setBoundingCube(QGCGeoBoundingCube bc)
diff --git a/src/MissionManager/VisualMissionItem.h b/src/MissionManager/VisualMissionItem.h
index 44d3b9727e27..b057e9f1530c 100644
--- a/src/MissionManager/VisualMissionItem.h
+++ b/src/MissionManager/VisualMissionItem.h
@@ -42,9 +42,11 @@ class VisualMissionItem : public QObject
     Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate             NOTIFY coordinateChanged)                           ///< Does not include altitude
     Q_PROPERTY(double           amslEntryAlt                        READ amslEntryAlt                                                       NOTIFY amslEntryAltChanged)
     Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                    NOTIFY terrainAltitudeChanged)                      ///< The altitude of terrain at the coordinate position, NaN if not known
+    Q_PROPERTY(bool             terrainQueryFailed                  READ terrainQueryFailed                                                 NOTIFY terrainQueryFailedChanged)                    ///< true: Last terrain query failed
+    Q_PROPERTY(QGeoCoordinate   entryCoordinate                     READ entryCoordinate                                                    NOTIFY entryCoordinateChanged)                      ///< Does not include altitude
     Q_PROPERTY(QGeoCoordinate   exitCoordinate                      READ exitCoordinate                                                     NOTIFY exitCoordinateChanged)                       ///< Does not include altitude
     Q_PROPERTY(double           amslExitAlt                         READ amslExitAlt                                                        NOTIFY amslExitAltChanged)
-    Q_PROPERTY(bool             exitCoordinateSameAsEntry           READ exitCoordinateSameAsEntry                                          NOTIFY exitCoordinateSameAsEntryChanged)            ///< true: exitCoordinate and coordinate are the same value
+    Q_PROPERTY(bool             exitCoordinateSameAsEntry           READ exitCoordinateSameAsEntry                                          NOTIFY exitCoordinateSameAsEntryChanged)            ///< true: entryCoordinate and exitCoordinate are the same value
     Q_PROPERTY(QString          commandDescription                  READ commandDescription                                                 NOTIFY commandDescriptionChanged)
     Q_PROPERTY(QString          commandName                         READ commandName                                                        NOTIFY commandNameChanged)
     Q_PROPERTY(QString          abbreviation                        READ abbreviation                                                       NOTIFY abbreviationChanged)
@@ -100,6 +102,7 @@ class VisualMissionItem : public QObject
     bool    isCurrentItem       (void) const { return _isCurrentItem; }
     bool    hasCurrentChildItem (void) const { return _hasCurrentChildItem; }
     double  terrainAltitude     (void) const { return _terrainAltitude; }
+    bool    terrainQueryFailed   (void) const { return _terrainQueryFailed; }
     bool    flyView             (void) const { return _flyView; }
     bool    wizardMode          (void) const { return _wizardMode; }
     VisualMissionItem* parentItem(void) { return _parentItem; }
@@ -140,7 +143,9 @@ class VisualMissionItem : public QObject
     virtual QString         commandName             (void) const = 0;
     virtual QString         abbreviation            (void) const = 0;
     virtual QGeoCoordinate  coordinate              (void) const = 0;
+    virtual QGeoCoordinate  entryCoordinate         (void) const = 0;
     virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
+    virtual double          editableAlt             (void) const = 0;
     virtual double          amslEntryAlt            (void) const = 0;
     virtual double          amslExitAlt             (void) const = 0;
     virtual int             sequenceNumber          (void) const = 0;
@@ -202,6 +207,7 @@ class VisualMissionItem : public QObject
     void commandNameChanged             (void);
     void abbreviationChanged            (void);
     void coordinateChanged              (const QGeoCoordinate& coordinate);
+    void entryCoordinateChanged         (const QGeoCoordinate& entryCoordinate);
     void exitCoordinateChanged          (const QGeoCoordinate& exitCoordinate);
     void dirtyChanged                   (bool dirty);
     void distanceChanged                (double distance);
@@ -223,6 +229,7 @@ class VisualMissionItem : public QObject
     void missionGimbalYawChanged        (double missionGimbalYaw);
     void missionVehicleYawChanged       (double missionVehicleYaw);
     void terrainAltitudeChanged         (double terrainAltitude);
+    void terrainQueryFailedChanged       (bool terrainQueryFailed);
     void additionalTimeDelayChanged     (void);
     void boundingCubeChanged            (void);
     void readyForSaveStateChanged       (void);
@@ -247,6 +254,7 @@ protected slots:
     bool                        _homePositionSpecialCase    = false;                            ///< true: This item is being used as a ui home position indicator
     bool                        _wizardMode                 = false;                            ///< true: Item editor is showing wizard completion panel
     double                      _terrainAltitude            = qQNaN();                          ///< Altitude of terrain at coordinate position, NaN for not known
+    bool                        _terrainQueryFailed         = false;                            ///< true: Last terrain query failed
     double                      _altDifference              = 0;                                ///< Difference in altitude from previous waypoint
     double                      _altPercent                 = 0;                                ///< Percent of total altitude change in mission
     double                      _terrainPercent             = qQNaN();                          ///< Percent of terrain altitude for coordinate
diff --git a/src/PlanView/CMakeLists.txt b/src/PlanView/CMakeLists.txt
new file mode 100644
index 000000000000..ae9ecfa6fa17
--- /dev/null
+++ b/src/PlanView/CMakeLists.txt
@@ -0,0 +1,55 @@
+# ============================================================================
+# Plan View Module
+# Mission planning view, editors, and map visuals
+# ============================================================================
+
+qt_add_library(PlanViewModule STATIC)
+
+qt_add_qml_module(PlanViewModule
+    URI QGroundControl.PlanView
+    VERSION 1.0
+    RESOURCE_PREFIX /qml
+    QML_FILES
+        CameraCalcCamera.qml
+        CameraCalcGrid.qml
+        CameraSection.qml
+        CorridorScanEditor.qml
+        CorridorScanMapVisual.qml
+        FWLandingPatternEditor.qml
+        FWLandingPatternMapVisual.qml
+        GeoFenceEditor.qml
+        GeoFenceMapVisuals.qml
+        MissionDefaultsEditor.qml
+        MissionItemEditor.qml
+        MissionItemIndexLabel.qml
+        MissionItemMapVisual.qml
+        MissionItemStatus.qml
+        MissionSettingsEditor.qml
+        MissionStats.qml
+        PlanEditToolbar.qml
+        PlanInfoEditor.qml
+        PlanToolBarIndicators.qml
+        PlanTreeView.qml
+        PlanView.qml
+        PlanViewRightPanel.qml
+        RallyPointEditorHeader.qml
+        RallyPointItemEditor.qml
+        RallyPointMapVisuals.qml
+        SimpleItemEditor.qml
+        SimpleItemMapVisual.qml
+        StructureScanEditor.qml
+        StructureScanMapVisual.qml
+        SurveyItemEditor.qml
+        SurveyMapVisual.qml
+        TakeoffItemMapVisual.qml
+        TerrainStatus.qml
+        TransectStyleComplexItemEditor.qml
+        TransectStyleComplexItemStats.qml
+        TransectStyleComplexItemTabBar.qml
+        TransectStyleComplexItemTerrainFollow.qml
+        TransectStyleMapVisuals.qml
+        TransformEditor.qml
+        VTOLLandingPatternEditor.qml
+        VTOLLandingPatternMapVisual.qml
+    NO_PLUGIN
+)
diff --git a/src/QmlControls/CameraCalcCamera.qml b/src/PlanView/CameraCalcCamera.qml
similarity index 100%
rename from src/QmlControls/CameraCalcCamera.qml
rename to src/PlanView/CameraCalcCamera.qml
diff --git a/src/QmlControls/CameraCalcGrid.qml b/src/PlanView/CameraCalcGrid.qml
similarity index 97%
rename from src/QmlControls/CameraCalcGrid.qml
rename to src/PlanView/CameraCalcGrid.qml
index 50c0c6fe5fe6..7e081d517c2c 100644
--- a/src/QmlControls/CameraCalcGrid.qml
+++ b/src/PlanView/CameraCalcGrid.qml
@@ -87,7 +87,7 @@ Column {
 
             AltitudeFactTextField {
                 fact:                       cameraCalc.distanceToSurface
-                altitudeMode:               cameraCalc.distanceMode
+                altitudeFrame:               cameraCalc.distanceMode
                 enabled:                    fixedDistanceRadio.checked
                 Layout.fillWidth:           true
             }
@@ -120,7 +120,7 @@ Column {
         QGCLabel { text: distanceToSurfaceLabel }
         AltitudeFactTextField {
             fact:                       cameraCalc.distanceToSurface
-            altitudeMode:               cameraCalc.distanceMode
+            altitudeFrame:               cameraCalc.distanceMode
             Layout.fillWidth:           true
         }
 
diff --git a/src/QmlControls/CameraSection.qml b/src/PlanView/CameraSection.qml
similarity index 98%
rename from src/QmlControls/CameraSection.qml
rename to src/PlanView/CameraSection.qml
index 34b7dee95dd1..f970221d2865 100644
--- a/src/QmlControls/CameraSection.qml
+++ b/src/PlanView/CameraSection.qml
@@ -8,6 +8,8 @@ import QGroundControl.FactControls
 
 // Camera section for mission item editors
 Column {
+    required property var missionItem
+
     property alias buttonGroup: cameraSectionHeader.buttonGroup
     property alias showSpacer:  cameraSectionHeader.showSpacer
     property alias checked:     cameraSectionHeader.checked
diff --git a/src/QmlControls/CorridorScanEditor.qml b/src/PlanView/CorridorScanEditor.qml
similarity index 89%
rename from src/QmlControls/CorridorScanEditor.qml
rename to src/PlanView/CorridorScanEditor.qml
index c0c9e6fe1651..8d7a1d2e7f9a 100644
--- a/src/QmlControls/CorridorScanEditor.qml
+++ b/src/PlanView/CorridorScanEditor.qml
@@ -15,10 +15,6 @@ TransectStyleComplexItemEditor {
     transectValuesComponent:        _transectValuesComponent
     presetsTransectValuesComponent: _transectValuesComponent
 
-    // The following properties must be available up the hierarchy chain
-    //  property real   availableWidth    ///< Width for control
-    //  property var    missionItem       ///< Mission Item for editor
-
     property real   _margin:        ScreenTools.defaultFontPixelWidth / 2
     property var    _missionItem:   missionItem
 
diff --git a/src/QmlControls/CorridorScanMapVisual.qml b/src/PlanView/CorridorScanMapVisual.qml
similarity index 92%
rename from src/QmlControls/CorridorScanMapVisual.qml
rename to src/PlanView/CorridorScanMapVisual.qml
index ce5a82c8351c..0c32d1d15717 100644
--- a/src/QmlControls/CorridorScanMapVisual.qml
+++ b/src/PlanView/CorridorScanMapVisual.qml
@@ -10,6 +10,7 @@ import QGroundControl.FlightMap
 /// Corridor Scan Complex Mission Item visuals
 TransectStyleMapVisuals {
     polygonInteractive: false
+    hideMapPolygon:     mapPolylineVisuals.dragging
 
     property bool _currentItem: object.isCurrentItem
 
diff --git a/src/QmlControls/FWLandingPatternEditor.qml b/src/PlanView/FWLandingPatternEditor.qml
similarity index 95%
rename from src/QmlControls/FWLandingPatternEditor.qml
rename to src/PlanView/FWLandingPatternEditor.qml
index 15974fb44b0f..e4420b4c332e 100644
--- a/src/QmlControls/FWLandingPatternEditor.qml
+++ b/src/PlanView/FWLandingPatternEditor.qml
@@ -15,18 +15,17 @@ Rectangle {
     color:      qgcPal.windowShadeDark
     radius:     _radius
 
-    // The following properties must be available up the hierarchy chain
-    //property real   availableWidth    ///< Width for control
-    //property var    missionItem       ///< Mission Item for editor
+    required property var missionItem
+    required property real availableWidth
 
-    property var    _masterControler:           masterController
+    property var    _masterControler:           missionItem.masterController
     property var    _missionController:         _masterControler.missionController
     property var    _missionVehicle:            _masterControler.controllerVehicle
     property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
     property real   _spacer:                    ScreenTools.defaultFontPixelWidth / 2
     property string _setToVehicleHeadingStr:    qsTr("Set to vehicle heading")
     property string _setToVehicleLocationStr:   qsTr("Set to vehicle location")
-    property int    _altitudeMode:              missionItem.altitudesAreRelative ? QGroundControl.AltitudeModeRelative : QGroundControl.AltitudeModeAbsolute
+    property int    _altitudeFrame:              missionItem.altitudesAreRelative ? QGroundControl.AltitudeFrameRelative : QGroundControl.AltitudeFrameAbsolute
 
 
     Column {
@@ -67,7 +66,7 @@ Rectangle {
                 AltitudeFactTextField {
                     Layout.fillWidth:   true
                     fact:               missionItem.finalApproachAltitude
-                    altitudeMode:       _altitudeMode
+                    altitudeFrame:       _altitudeFrame
                 }
 
                 FactCheckBox {
@@ -141,7 +140,7 @@ Rectangle {
                 AltitudeFactTextField {
                     Layout.fillWidth:   true
                     fact:               missionItem.landingAltitude
-                    altitudeMode:       _altitudeMode
+                    altitudeFrame:       _altitudeFrame
                 }
 
                 QGCRadioButton {
diff --git a/src/QmlControls/FWLandingPatternMapVisual.qml b/src/PlanView/FWLandingPatternMapVisual.qml
similarity index 100%
rename from src/QmlControls/FWLandingPatternMapVisual.qml
rename to src/PlanView/FWLandingPatternMapVisual.qml
diff --git a/src/QmlControls/GeoFenceEditor.qml b/src/PlanView/GeoFenceEditor.qml
similarity index 100%
rename from src/QmlControls/GeoFenceEditor.qml
rename to src/PlanView/GeoFenceEditor.qml
diff --git a/src/QmlControls/GeoFenceMapVisuals.qml b/src/PlanView/GeoFenceMapVisuals.qml
similarity index 100%
rename from src/QmlControls/GeoFenceMapVisuals.qml
rename to src/PlanView/GeoFenceMapVisuals.qml
diff --git a/src/PlanView/MissionDefaultsEditor.qml b/src/PlanView/MissionDefaultsEditor.qml
new file mode 100644
index 000000000000..e8dd6d2a2556
--- /dev/null
+++ b/src/PlanView/MissionDefaultsEditor.qml
@@ -0,0 +1,153 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+import QGroundControl.PlanView
+
+Rectangle {
+    id: _root
+
+    required property var missionController
+    required property var planMasterController
+
+    property var _controllerVehicle: planMasterController.controllerVehicle
+    property var _visualItems: missionController.visualItems
+    property bool _noMissionItemsAdded: _visualItems ? _visualItems.count <= 1 : true
+    property var _settingsItem: _visualItems && _visualItems.count > 0 ? _visualItems.get(0) : null
+    property bool _showCruiseSpeed: _controllerVehicle ? !_controllerVehicle.multiRotor : false
+    property bool _showHoverSpeed: _controllerVehicle ? (_controllerVehicle.multiRotor || _controllerVehicle.vtol) : false
+    property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 16
+
+    width:  parent ? parent.width : 0
+    height: mainColumn.height + ScreenTools.defaultFontPixelHeight
+    color:  qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: _root.enabled }
+
+    Connections {
+        target: _root._controllerVehicle
+        function onFirmwareTypeChanged() {
+            if (!_root._controllerVehicle.supports.terrainFrame
+                    && _root.missionController.globalAltitudeFrame === QGroundControl.AltitudeFrameTerrain) {
+                _root.missionController.globalAltitudeFrame = QGroundControl.AltitudeFrameCalcAboveTerrain
+            }
+        }
+    }
+
+    Component { id: altFrameDialogComponent; AltFrameDialog { } }
+
+    QGCPopupDialogFactory {
+        id: altFrameDialogFactory
+        dialogComponent: altFrameDialogComponent
+    }
+
+    ColumnLayout {
+        id: mainColumn
+        anchors.left: parent.left
+        anchors.right: parent.right
+        anchors.verticalCenter: parent.verticalCenter
+        anchors.margins: ScreenTools.defaultFontPixelWidth
+        spacing: ScreenTools.defaultFontPixelHeight * 0.5
+
+        LabelledButton {
+            Layout.fillWidth: true
+            label: qsTr("Alt Frame")
+            buttonText: QGroundControl.altitudeFrameExtraUnits(_root.missionController.globalAltitudeFrame)
+
+            onClicked: {
+                let removeModes = []
+                let updateFunction = function(altFrame) { _root.missionController.globalAltitudeFrame = altFrame }
+                if (!_root._controllerVehicle.supports.terrainFrame) {
+                    removeModes.push(QGroundControl.AltitudeFrameTerrain)
+                }
+                if (!_root._noMissionItemsAdded) {
+                    if (_root.missionController.globalAltitudeFrame !== QGroundControl.AltitudeFrameRelative) {
+                        removeModes.push(QGroundControl.AltitudeFrameRelative)
+                    }
+                    if (_root.missionController.globalAltitudeFrame !== QGroundControl.AltitudeFrameAbsolute) {
+                        removeModes.push(QGroundControl.AltitudeFrameAbsolute)
+                    }
+                    if (_root.missionController.globalAltitudeFrame !== QGroundControl.AltitudeFrameCalcAboveTerrain) {
+                        removeModes.push(QGroundControl.AltitudeFrameCalcAboveTerrain)
+                    }
+                    if (_root.missionController.globalAltitudeFrame !== QGroundControl.AltitudeFrameTerrain) {
+                        removeModes.push(QGroundControl.AltitudeFrameTerrain)
+                    }
+                }
+                altFrameDialogFactory.open({ currentAltFrame: _root.missionController.globalAltitudeFrame, rgRemoveModes: removeModes, updateAltFrameFn: updateFunction })
+            }
+        }
+
+        FactTextFieldSlider {
+            Layout.fillWidth: true
+            label: qsTr("Waypoints Altitude")
+            fact: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
+        }
+
+        FactTextFieldSlider {
+            Layout.fillWidth: true
+            label: qsTr("Flight Speed")
+            fact: _root._settingsItem ? _root._settingsItem.speedSection.flightSpeed : null
+            showEnableCheckbox: true
+            enableCheckBoxChecked: _root._settingsItem ? _root._settingsItem.speedSection.specifyFlightSpeed : false
+            visible: _root._settingsItem ? _root._settingsItem.speedSection.available : false
+
+            onEnableCheckboxClicked: {
+                if (_root._settingsItem) {
+                    _root._settingsItem.speedSection.specifyFlightSpeed = enableCheckBoxChecked
+                }
+            }
+        }
+
+        // ── Vehicle Speeds ──
+        SectionHeader {
+            id: vehicleSpeedsSectionHeader
+            Layout.fillWidth: true
+            text: qsTr("Vehicle Speeds")
+            visible: _root._showCruiseSpeed || _root._showHoverSpeed
+            checked: false
+        }
+
+        GridLayout {
+            Layout.fillWidth: true
+            columnSpacing: ScreenTools.defaultFontPixelWidth
+            rowSpacing: columnSpacing
+            columns: 2
+            visible: vehicleSpeedsSectionHeader.visible && vehicleSpeedsSectionHeader.checked
+
+            QGCLabel {
+                Layout.columnSpan: 2
+                Layout.alignment: Qt.AlignHCenter
+                Layout.fillWidth: true
+                wrapMode: Text.WordWrap
+                font.pointSize: ScreenTools.smallFontPointSize
+                text: qsTr("The following speed values are used to calculate total mission time. They do not affect the flight speed for the mission.")
+            }
+
+            QGCLabel {
+                text: qsTr("Cruise speed")
+                visible: _root._showCruiseSpeed
+                Layout.fillWidth: true
+            }
+            FactTextField {
+                fact: QGroundControl.settingsManager.appSettings.offlineEditingCruiseSpeed
+                visible: _root._showCruiseSpeed
+                Layout.preferredWidth: _root._fieldWidth
+            }
+
+            QGCLabel {
+                text: qsTr("Hover speed")
+                visible: _root._showHoverSpeed
+                Layout.fillWidth: true
+            }
+            FactTextField {
+                fact: QGroundControl.settingsManager.appSettings.offlineEditingHoverSpeed
+                visible: _root._showHoverSpeed
+                Layout.preferredWidth: _root._fieldWidth
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/MissionItemEditor.qml b/src/PlanView/MissionItemEditor.qml
similarity index 85%
rename from src/QmlControls/MissionItemEditor.qml
rename to src/PlanView/MissionItemEditor.qml
index 26ca9d0aea3a..1b9540a64fa0 100644
--- a/src/QmlControls/MissionItemEditor.qml
+++ b/src/PlanView/MissionItemEditor.qml
@@ -10,6 +10,13 @@ import QGroundControl.FactControls
 
 /// Mission item edit control
 Rectangle {
+    required property var    missionItem         ///< MissionItem associated with this editor
+    required property var    map                 ///< Map control
+
+    signal clicked
+    signal remove
+    signal selectNextNotReadyItem
+
     id:             _root
     height:         _currentItem ? (editorLoader.y + editorLoader.height + _innerMargin) : (topRowLayout.y + topRowLayout.height + _margin)
     color:          _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
@@ -18,20 +25,11 @@ Rectangle {
     border.width:   _readyForSave ? 0 : 2
     border.color:   qgcPal.warningText
 
-    property var    map                 ///< Map control
-    property var    masterController
-    property var    missionItem         ///< MissionItem associated with this editor
-    property bool   readOnly            ///< true: read only view, false: full editing view
-
-    signal clicked
-    signal remove
-    signal selectNextNotReadyItem
-
-    property var    _masterController:          masterController
+    property var    _masterController:          missionItem.masterController
     property var    _missionController:         _masterController.missionController
     property bool   _currentItem:               missionItem.isCurrentItem
     property color  _outerTextColor:            _currentItem ? qgcPal.buttonHighlightText : qgcPal.text
-    property bool   _noMissionItemsAdded:       ListView.view.model.count === 1
+    property bool   _noMissionItemsAdded:       _missionController.visualItems ? _missionController.visualItems.count <= 1 : true
     property real   _sectionSpacer:             ScreenTools.defaultFontPixelWidth / 2  // spacing between section headings
     property bool   _singleComplexItem:         _missionController.complexMissionItemNames.length === 1
     property bool   _readyForSave:              missionItem.readyForSaveState === VisualMissionItem.ReadyForSave
@@ -44,6 +42,23 @@ Rectangle {
     readonly property real  _trashSize:         commandPicker.height * 0.75
     readonly property bool  _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
 
+    // setSource() injects missionItem before internal bindings activate
+    function _loadEditor() {
+        if (missionItem.isCurrentItem) {
+            editorLoader.setSource(missionItem.editorQml, {
+                missionItem:    _root.missionItem,
+                availableWidth: _root.width - (editorLoader.anchors.margins * 2)
+            })
+        } else {
+            editorLoader.setSource("")
+        }
+    }
+
+    Connections {
+        target: missionItem
+        function onIsCurrentItemChanged() { _root._loadEditor() }
+    }
+
     QGCPalette {
         id: qgcPal
         colorGroupEnabled: enabled
@@ -74,8 +89,14 @@ Rectangle {
         id: editPositionDialog
 
         EditPositionDialog {
-            coordinate:             missionItem.isSurveyItem ?  missionItem.centerCoordinate : missionItem.coordinate
-            onCoordinateChanged:    missionItem.isSurveyItem ?  missionItem.centerCoordinate = coordinate : missionItem.coordinate = coordinate
+            property bool _editCenterCoordinate: false
+
+            onCoordinateChanged: {
+                if (_editCenterCoordinate)
+                    missionItem.centerCoordinate = coordinate
+                else
+                    missionItem.coordinate = coordinate
+            }
         }
     }
 
@@ -168,7 +189,7 @@ Rectangle {
                 id: commandDialog
 
                 MissionCommandDialog {
-                    vehicle:                    masterController.controllerVehicle
+                    vehicle:                    _masterController.controllerVehicle
                     missionItem:                _root.missionItem
                     map:                        _root.map
                     // FIXME: Disabling fly through commands doesn't work since you may need to change from an RTL to something else
@@ -194,6 +215,7 @@ Rectangle {
 
         DropPanel {
             id: hamburgerMenuDropPanel
+            onClosed: destroy()
 
             sourceComponent: Component {
                 ColumnLayout {
@@ -227,7 +249,13 @@ Rectangle {
                         text:               qsTr("Edit position...")
                         enabled:            missionItem.specifiesCoordinate
                         onClicked: {
-                            editPositionDialogFactory.open()
+                            const editCenterCoordinate = missionItem.isSurveyItem
+                            editPositionDialogFactory.open({
+                                _editCenterCoordinate:   editCenterCoordinate,
+                                coordinate:              editCenterCoordinate ? missionItem.centerCoordinate : missionItem.coordinate,
+                                altitudeFact:            !editCenterCoordinate && missionItem.specifiesAltitude ? missionItem.altitude : null,
+                                altitudeFrame:           !editCenterCoordinate && missionItem.specifiesAltitude ? missionItem.altitudeFrame : QGroundControl.AltitudeFrameNone,
+                            })
                             hamburgerMenuDropPanel.close()
                         }
                     }
@@ -271,7 +299,6 @@ Rectangle {
         }
     }
 
-
     QGCColoredImage {
         id:                     hamburger
         anchors.margins:        _margin
@@ -291,6 +318,7 @@ Rectangle {
                 position = Qt.point(position.x, position.y)
                 // For some strange reason using mainWindow in mapToItem doesn't work, so we use globals.parent instead which also gets us mainWindow
                 position = mapToItem(globals.parent, position)
+
                 var dropPanel = hamburgerMenuDropPanelComponent.createObject(mainWindow, { clickRect: Qt.rect(position.x, position.y, 0, 0) })
                 dropPanel.open()
             }
@@ -320,11 +348,8 @@ Rectangle {
         anchors.margins:    _innerMargin
         anchors.left:       parent.left
         anchors.top:        topRowLayout.bottom
-        source:             _currentItem ? missionItem.editorQml : ""
         asynchronous:       true
 
-        property var    masterController:   _masterController
-        property real   availableWidth:     _root.width - (anchors.margins * 2) ///< How wide the editor should be
-        property var    editorRoot:         _root
+        Component.onCompleted: _root._loadEditor()
     }
 }
diff --git a/src/QmlControls/MissionItemIndexLabel.qml b/src/PlanView/MissionItemIndexLabel.qml
similarity index 100%
rename from src/QmlControls/MissionItemIndexLabel.qml
rename to src/PlanView/MissionItemIndexLabel.qml
diff --git a/src/QmlControls/MissionItemMapVisual.qml b/src/PlanView/MissionItemMapVisual.qml
similarity index 100%
rename from src/QmlControls/MissionItemMapVisual.qml
rename to src/PlanView/MissionItemMapVisual.qml
diff --git a/src/QmlControls/MissionItemStatus.qml b/src/PlanView/MissionItemStatus.qml
similarity index 100%
rename from src/QmlControls/MissionItemStatus.qml
rename to src/PlanView/MissionItemStatus.qml
diff --git a/src/PlanView/MissionSettingsEditor.qml b/src/PlanView/MissionSettingsEditor.qml
new file mode 100644
index 000000000000..9e17406a38b1
--- /dev/null
+++ b/src/PlanView/MissionSettingsEditor.qml
@@ -0,0 +1,65 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+
+// Editor for Initial Camera Settings (mission item 0)
+Rectangle {
+    id: root
+    width: availableWidth
+    height: valuesColumn.height + (_margin * 2)
+    color: qgcPal.windowShadeDark
+    radius: ScreenTools.defaultBorderRadius
+
+    required property var missionItem
+    required property real availableWidth
+
+    property var _masterController: missionItem.masterController
+    property var _controllerVehicle: _masterController.controllerVehicle
+    property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
+    property bool _showCameraSection: _waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
+    property bool _simpleMissionStart: QGroundControl.corePlugin.options.showSimpleMissionStart
+
+    readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
+
+    QGCPalette { id: qgcPal }
+
+    ColumnLayout {
+        id: valuesColumn
+        anchors.margins: _margin
+        anchors.left: parent.left
+        anchors.right: parent.right
+        anchors.top: parent.top
+        spacing: ScreenTools.defaultFontPixelHeight / 2
+
+        Column {
+            Layout.fillWidth: true
+            spacing: _margin
+            visible: !_simpleMissionStart
+
+            CameraSection {
+                id: cameraSection
+                anchors.left: parent.left
+                anchors.right: parent.right
+                missionItem: root.missionItem
+                visible: _showCameraSection
+                showSectionHeader: false
+
+                Component.onCompleted: checked = !_waypointsOnlyMode && missionItem.cameraSection.settingsSpecified
+            }
+
+            QGCLabel {
+                anchors.left: parent.left
+                anchors.right: parent.right
+                text: qsTr("Above camera commands will take affect immediately upon mission start.")
+                wrapMode: Text.WordWrap
+                horizontalAlignment: Text.AlignHCenter
+                font.pointSize: ScreenTools.smallFontPointSize
+                visible: _showCameraSection && cameraSection.checked
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/MissionStats.qml b/src/PlanView/MissionStats.qml
similarity index 100%
rename from src/QmlControls/MissionStats.qml
rename to src/PlanView/MissionStats.qml
diff --git a/src/QmlControls/PlanEditToolbar.qml b/src/PlanView/PlanEditToolbar.qml
similarity index 100%
rename from src/QmlControls/PlanEditToolbar.qml
rename to src/PlanView/PlanEditToolbar.qml
diff --git a/src/PlanView/PlanInfoEditor.qml b/src/PlanView/PlanInfoEditor.qml
new file mode 100644
index 000000000000..10eb1bde1666
--- /dev/null
+++ b/src/PlanView/PlanInfoEditor.qml
@@ -0,0 +1,164 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+
+Rectangle {
+    id: _root
+
+    required property var planMasterController
+    required property var missionController
+    required property var editorMap
+
+    property var _controllerVehicle: planMasterController.controllerVehicle
+    property var _visualItems: missionController.visualItems
+    property bool _noMissionItemsAdded: _visualItems ? _visualItems.count <= 1 : true
+    property var _settingsItem: _visualItems && _visualItems.count > 0 ? _visualItems.get(0) : null
+    property bool _multipleFirmware: !QGroundControl.singleFirmwareSupport
+    property bool _multipleVehicleTypes: !QGroundControl.singleVehicleSupport
+    property bool _allowFWVehicleTypeSelection: _noMissionItemsAdded && !globals.activeVehicle
+    property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
+    property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 16
+
+    width:  parent ? parent.width : 0
+    height: mainColumn.height + ScreenTools.defaultFontPixelHeight
+    color:  qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: _root.enabled }
+
+    ColumnLayout {
+        id: mainColumn
+        anchors.left: parent.left
+        anchors.right: parent.right
+        anchors.verticalCenter: parent.verticalCenter
+        anchors.margins: ScreenTools.defaultFontPixelWidth
+        spacing: ScreenTools.defaultFontPixelHeight * 0.25
+
+        ColumnLayout {
+            Layout.fillWidth: true
+            spacing: 0
+
+            QGCLabel {
+                text: qsTr("Plan File")
+            }
+
+            QGCTextField {
+                id: planNameField
+                placeholderText: qsTr("Untitled")
+                Layout.fillWidth: true
+
+                Component.onCompleted: text = _root.planMasterController.currentPlanFileName
+
+                Connections {
+                    target: _root.planMasterController
+                    function onCurrentPlanFileNameChanged() {
+                        if (!planNameField.activeFocus) {
+                            planNameField.text = _root.planMasterController.currentPlanFileName
+                        }
+                    }
+                }
+
+                onEditingFinished: _root.planMasterController.currentPlanFileName = text
+            }
+        }
+
+        // ── Vehicle Info ──
+        SectionHeader {
+            id: vehicleInfoSectionHeader
+            Layout.fillWidth: true
+            text: qsTr("Vehicle Info")
+            visible: !_root._waypointsOnlyMode
+        }
+
+        GridLayout {
+            Layout.fillWidth: true
+            columnSpacing: ScreenTools.defaultFontPixelWidth
+            rowSpacing: columnSpacing
+            columns: 2
+            visible: vehicleInfoSectionHeader.visible && vehicleInfoSectionHeader.checked
+
+            QGCLabel {
+                text: qsTr("Firmware")
+                Layout.fillWidth: true
+                visible: _root._multipleFirmware
+            }
+            FactComboBox {
+                fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
+                indexModel: false
+                Layout.preferredWidth: _root._fieldWidth
+                visible: _root._multipleFirmware && _root._allowFWVehicleTypeSelection
+            }
+            QGCLabel {
+                text: _root._controllerVehicle ? _root._controllerVehicle.firmwareTypeString : ""
+                visible: _root._multipleFirmware && !_root._allowFWVehicleTypeSelection
+            }
+
+            QGCLabel {
+                text: qsTr("Vehicle")
+                Layout.fillWidth: true
+                visible: _root._multipleVehicleTypes
+            }
+            FactComboBox {
+                fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
+                indexModel: false
+                Layout.preferredWidth: _root._fieldWidth
+                visible: _root._multipleVehicleTypes && _root._allowFWVehicleTypeSelection
+            }
+            QGCLabel {
+                text: _root._controllerVehicle ? _root._controllerVehicle.vehicleTypeString : ""
+                visible: _root._multipleVehicleTypes && !_root._allowFWVehicleTypeSelection
+            }
+        }
+
+        // ── Expected Home Position ──
+        SectionHeader {
+            id: plannedHomePositionSection
+            Layout.fillWidth: true
+            text: qsTr("Expected Home Position")
+        }
+
+        GridLayout {
+            Layout.fillWidth: true
+            columnSpacing: ScreenTools.defaultFontPixelWidth
+            columns: 2
+            visible: plannedHomePositionSection.checked
+
+            QGCLabel {
+                text: qsTr("Altitude (AMSL)")
+            }
+            FactTextField {
+                fact: _root._settingsItem ? _root._settingsItem.plannedHomePositionAltitude : null
+                Layout.fillWidth: true
+                visible: _root._settingsItem && _root._settingsItem.terrainQueryFailed
+            }
+            QGCLabel {
+                text: _root._settingsItem ? _root._settingsItem.plannedHomePositionAltitude.valueString + " " + _root._settingsItem.plannedHomePositionAltitude.units : ""
+                Layout.fillWidth: true
+                visible: !_root._settingsItem || !_root._settingsItem.terrainQueryFailed
+            }
+        }
+
+        QGCLabel {
+            Layout.fillWidth: true
+            wrapMode: Text.WordWrap
+            font.pointSize: ScreenTools.smallFontPointSize
+            text: qsTr("Actual position/alt set by vehicle at flight time.")
+            horizontalAlignment: Text.AlignHCenter
+            visible: plannedHomePositionSection.checked
+        }
+
+        QGCButton {
+            text: qsTr("Move To Map Center")
+            Layout.alignment: Qt.AlignHCenter
+            visible: plannedHomePositionSection.checked
+            onClicked: {
+                if (_root._settingsItem) {
+                    _root._settingsItem.coordinate = _root.editorMap.center
+                }
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/PlanToolBarIndicators.qml b/src/PlanView/PlanToolBarIndicators.qml
similarity index 77%
rename from src/QmlControls/PlanToolBarIndicators.qml
rename to src/PlanView/PlanToolBarIndicators.qml
index 8002ac204aff..f4955a0eceab 100644
--- a/src/QmlControls/PlanToolBarIndicators.qml
+++ b/src/PlanView/PlanToolBarIndicators.qml
@@ -10,6 +10,7 @@ import QGroundControl.FactControls
 // Toolbar for Plan View
 RowLayout {
     required property var planMasterController
+    property bool showRallyPointsHelp: false
 
     id: root
     spacing: ScreenTools.defaultFontPixelWidth
@@ -19,7 +20,8 @@ RowLayout {
     property var _geoFenceController: _planMasterController.geoFenceController
     property var _rallyPointController: _planMasterController.rallyPointController
     property bool _controllerOffline: _planMasterController.offline
-    property var _controllerDirty: _planMasterController.dirty
+    property var _saveDirty: _planMasterController.dirtyForSave
+    property var _uploadDirty: _planMasterController.dirtyForUpload
     property var _syncInProgress: _planMasterController.syncInProgress
     property var _visualItems: _missionController.visualItems
     property bool _hasPlanItems: _planMasterController.containsItems
@@ -31,9 +33,9 @@ RowLayout {
     }
 
     function _downloadClicked() {
-        if (_planMasterController.dirty) {
+        if (_saveDirty) {
             QGroundControl.showMessageDialog(root, qsTr("Download"),
-                                         qsTr("You have unsaved/unsent changes. Downloading from the Vehicle will lose these changes. Are you sure?"),
+                                         qsTr("You have unsaved changes. Downloading from the Vehicle will lose these changes. Are you sure?"),
                                          Dialog.Yes | Dialog.Cancel,
                                          function() { _planMasterController.loadFromVehicle() })
         } else {
@@ -42,7 +44,7 @@ RowLayout {
     }
 
     function _openButtonClicked() {
-        if (_planMasterController.dirty) {
+        if (_saveDirty || _uploadDirty) {
             QGroundControl.showMessageDialog(root, qsTr("Open Plan"),
                                         qsTr("You have unsaved/unsent changes. Loading a new Plan will lose these changes. Are you sure?"),
                                         Dialog.Yes | Dialog.Cancel,
@@ -53,13 +55,28 @@ RowLayout {
     }
 
     function _saveButtonClicked() {
-        if(_planMasterController.currentPlanFile !== "") {
-            _planMasterController.saveToCurrent()
-            QGroundControl.showMessageDialog(root, qsTr("Save"),
-                                        qsTr("Plan saved to `%1`").arg(_planMasterController.currentPlanFile),
-                                        Dialog.Ok)
+        if (_planMasterController.currentPlanFileName === "") {
+            if (_planMasterController.currentPlanFile === "") {
+                // No file and no name typed — open the file dialog
+                _planMasterController.saveToSelectedFile()
+            } else {
+                // Have a file but name was cleared — save to the existing file
+                _planMasterController.saveToCurrent()
+            }
+            return
+        }
+
+        if (_planMasterController.currentPlanFile === "" || _planMasterController.planFileRenamed) {
+            // First save with a typed name, or name was changed since last save
+            let fullName = _planMasterController.currentPlanFileName + "." + _planMasterController.fileExtension
+            let msg = _planMasterController.resolvedPlanFileExists()
+                ? qsTr("'%1' already exists. Overwrite?").arg(fullName)
+                : qsTr("Save as '%1'?").arg(fullName)
+            QGroundControl.showMessageDialog(root, qsTr("Save"), msg,
+                Dialog.Yes | Dialog.No,
+                function() { _planMasterController.saveWithCurrentName() })
         } else {
-            _planMasterController.saveToSelectedFile()
+            _planMasterController.saveToCurrent()
         }
     }
 
@@ -104,10 +121,10 @@ RowLayout {
     }
 
     QGCButton {
-        text: _planMasterController.currentPlanFile === "" ? qsTr("Save As") : qsTr("Save")
+        text: qsTr("Save")
         iconSource: "/res/SaveToDisk.svg"
         enabled: !_syncInProgress && _hasPlanItems
-        primary: _controllerDirty
+        primary: _saveDirty
         onClicked: _saveButtonClicked()
     }
 
@@ -117,7 +134,7 @@ RowLayout {
         iconSource: "/res/UploadToVehicle.svg"
         enabled: !_syncInProgress && _hasPlanItems
         visible: !_syncInProgress
-        primary: _controllerDirty
+        primary: _uploadDirty
         onClicked: _uploadClicked()
     }
 
@@ -140,29 +157,10 @@ RowLayout {
         }
     }
 
-    ColumnLayout {
+    QGCLabel {
+        text:    qsTr("Click in map to add rally points")
+        visible: root.showRallyPointsHelp
         Layout.alignment: Qt.AlignVCenter
-        spacing: 0
-
-        QGCLabel {
-            text: _leftClickText()
-            font.pointSize: ScreenTools.smallFontPointSize
-            visible: _editingLayer === _layerMission || _editingLayer === _layerRally
-
-            function _leftClickText() {
-                if (_editingLayer === _layerMission) {
-                    return qsTr("- Click on the map to add Waypoint")
-                } else {
-                    return qsTr("- Click on the map to add Rally Point")
-                }
-            }
-        }
-
-        QGCLabel {
-            text: qsTr("- %1 to add ROI %2").arg(ScreenTools.isMobile ? qsTr("Press and hold") : qsTr("Right click")).arg(_missionController.isROIActive ? qsTr("or Cancel ROI") : "")
-            font.pointSize: ScreenTools.smallFontPointSize
-            visible: _editingLayer === _layerMission && _planMasterController.controllerVehicle.roiModeSupported
-        }
     }
 
     Component {
@@ -189,7 +187,7 @@ RowLayout {
                     QGCButton {
                         Layout.fillWidth: true
                         text: qsTr("Download")
-                        enabled: !_syncInProgress
+                        enabled: !_syncInProgress && !_controllerOffline
                         visible: !_syncInProgress
 
                         onClicked: {
diff --git a/src/PlanView/PlanTreeView.qml b/src/PlanView/PlanTreeView.qml
new file mode 100644
index 000000000000..b1d61c38d56d
--- /dev/null
+++ b/src/PlanView/PlanTreeView.qml
@@ -0,0 +1,295 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+import QGroundControl.PlanView
+
+/// Unified plan tree view showing Mission Items, GeoFence, and Rally Points
+/// as collapsible sections using a real TreeView with type-discriminating delegates.
+TreeView {
+    id: root
+    model: _missionController.visualItemsTree
+    clip: true
+    boundsBehavior: Flickable.StopAtBounds
+    reuseItems: false
+    pointerNavigationEnabled: false
+    selectionBehavior: TableView.SelectionDisabled
+    rowSpacing: 2
+
+    required property var editorMap
+    required property var planMasterController
+
+    signal editingLayerChangeRequested(int layer)
+
+    readonly property int _layerMission: 1
+    readonly property int _layerFence:   2
+    readonly property int _layerRally:   3
+
+    property var _missionController: planMasterController.missionController
+    property var _geoFenceController: planMasterController.geoFenceController
+    property var _rallyPointController: planMasterController.rallyPointController
+
+    // Helper: convert a persistent model index to the current visual row
+    function _rowFor(modelIndex) { return root.rowAtIndex(modelIndex) }
+
+    // QGCFlickableScrollIndicator expects parent to have indicatorColor (provided by QGCFlickable/QGCListView)
+    property color indicatorColor: qgcPal.text
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+    QGCFlickableScrollIndicator { parent: root; orientation: QGCFlickableScrollIndicator.Horizontal }
+    QGCFlickableScrollIndicator { parent: root; orientation: QGCFlickableScrollIndicator.Vertical }
+
+    Connections {
+        target: root._missionController
+        function onVisualItemsChanged() {
+            // Mission group always expanded after rebuild (clear / load)
+            root.collapseRecursively()
+            root.expand(_rowFor(_missionController.missionGroupIndex))
+            root.editingLayerChangeRequested(root._layerMission)
+        }
+    }
+
+    // Public API: select a layer and expand its group. Called by the layer tool buttons.
+    function selectLayer(nodeType) {
+        let targetRow = -1
+        switch (nodeType) {
+        case "missionGroup":
+            targetRow = _rowFor(_missionController.missionGroupIndex)
+            editingLayerChangeRequested(_layerMission)
+            break
+        case "fenceGroup":
+            targetRow = _rowFor(_missionController.fenceGroupIndex)
+            editingLayerChangeRequested(_layerFence)
+            break
+        case "rallyGroup":
+            targetRow = _rowFor(_missionController.rallyGroupIndex)
+            editingLayerChangeRequested(_layerRally)
+            break
+        }
+
+        if (targetRow >= 0) {
+            if (!root.isExpanded(targetRow))
+                root.expand(targetRow)
+            root.forceLayout()
+            root.positionViewAtRow(targetRow, TableView.AlignTop)
+        }
+    }
+
+    // Toggle expand/collapse for a group header. Does not affect the editing layer.
+    function _toggleGroup(row) {
+        if (root.isExpanded(row))
+            root.collapse(row)
+        else
+            root.expand(row)
+        root.forceLayout()
+    }
+
+    // Subtitle text shown on group headers, varies by node type
+    function _groupSubtitle(nodeType) {
+        switch (nodeType) {
+        case "planFileGroup":   return planMasterController.currentPlanFileName === "" ? qsTr("<Untitled>") : planMasterController.currentPlanFileName
+        case "missionGroup":    return _missionController.visualItems ? (_missionController.visualItems.count - 1) + qsTr(" items") : ""
+        case "rallyGroup":      return _rallyPointController.points ? _rallyPointController.points.count + qsTr(" points") : ""
+        default:                return ""
+        }
+    }
+
+    // Coalesces multiple delegate height changes into a single forceLayout() call
+    Timer {
+        id: layoutTimer
+        interval: 0
+        running: false
+        repeat: false
+        onTriggered: root.forceLayout()
+    }
+
+    delegate: Item {
+        id: delegateRoot
+        implicitWidth: root.width
+        implicitHeight: (loader.item ? loader.item.height : 1) + (separatorLine.visible ? separatorLine.height + root.rowSpacing : 0)
+        width: root.width
+        height: implicitHeight
+
+        required property TreeView treeView
+        required property bool isTreeNode
+        required property bool expanded
+        required property bool hasChildren
+        required property int depth
+        required property int row
+        required property var model
+
+        readonly property var nodeObject: model.object
+        readonly property string nodeType: model.nodeType
+        readonly property bool separator: model.separator ?? false
+
+        onImplicitHeightChanged: layoutTimer.restart()
+
+        readonly property string _qrcBase: "qrc:/qml/QGroundControl/PlanView/"
+
+        // We use setSource() instead of sourceComponent so that required properties
+        // (e.g. missionItem) are injected before internal bindings activate,
+        // preventing "Cannot read property of null" warnings.
+        Loader {
+            id: loader
+            width: parent.width
+
+            Component.onCompleted: {
+                switch (delegateRoot.nodeType) {
+                case "planFileGroup":
+                case "defaultsGroup":
+                case "missionGroup":
+                case "fenceGroup":
+                case "rallyGroup":
+                case "transformGroup":
+                    sourceComponent = groupHeaderComponent
+                    break
+                case "planFileInfo":
+                    setSource(delegateRoot._qrcBase + "PlanInfoEditor.qml", {
+                        width:                  Qt.binding(() => delegateRoot.width),
+                        planMasterController:   root.planMasterController,
+                        missionController:      root._missionController,
+                        editorMap:              root.editorMap
+                    })
+                    break
+                case "defaultsInfo":
+                    setSource(delegateRoot._qrcBase + "MissionDefaultsEditor.qml", {
+                        width:                  Qt.binding(() => delegateRoot.width),
+                        missionController:      root._missionController,
+                        planMasterController:   root.planMasterController
+                    })
+                    break
+                case "missionItem":
+                    if (delegateRoot.nodeObject) {
+                        setSource(delegateRoot._qrcBase + "MissionItemEditor.qml", {
+                            width:          Qt.binding(() => delegateRoot.width),
+                            map:            root.editorMap,
+                            missionItem:    delegateRoot.nodeObject
+                        })
+                    }
+                    break
+                case "fenceEditor":
+                    if (delegateRoot.nodeObject) {
+                        setSource(delegateRoot._qrcBase + "GeoFenceEditor.qml", {
+                            width:                  Qt.binding(() => delegateRoot.width),
+                            myGeoFenceController:   root._geoFenceController,
+                            flightMap:              root.editorMap
+                        })
+                    }
+                    break
+                case "rallyHeader":
+                    if (delegateRoot.nodeObject) {
+                        setSource(delegateRoot._qrcBase + "RallyPointEditorHeader.qml", {
+                            width:      Qt.binding(() => delegateRoot.width),
+                            controller: root._rallyPointController
+                        })
+                    }
+                    break
+                case "rallyItem":
+                    if (delegateRoot.nodeObject) {
+                        setSource(delegateRoot._qrcBase + "RallyPointItemEditor.qml", {
+                            width:      Qt.binding(() => delegateRoot.width),
+                            rallyPoint: delegateRoot.nodeObject,
+                            controller: root._rallyPointController
+                        })
+                    }
+                    break
+                case "transformEditor":
+                    setSource(delegateRoot._qrcBase + "TransformEditor.qml", {
+                        width:              Qt.binding(() => delegateRoot.width),
+                        missionController:  root._missionController
+                    })
+                    break
+                }
+            }
+
+            onLoaded: {
+                if (delegateRoot.nodeType === "missionItem" && item) {
+                    item.clicked.connect(function() {
+                        root._missionController.setCurrentPlanViewSeqNum(delegateRoot.nodeObject.sequenceNumber, false)
+                    })
+                    item.remove.connect(function() {
+                        var viIndex = root._missionController.visualItemIndexForObject(delegateRoot.nodeObject)
+                        if (viIndex > 0) {
+                            root._missionController.removeVisualItem(viIndex)
+                        }
+                    })
+                    item.selectNextNotReadyItem.connect(function() {
+                        for (var i = 0; i < root._missionController.visualItems.count; i++) {
+                            var vmi = root._missionController.visualItems.get(i)
+                            if (vmi.readyForSaveState === VisualMissionItem.NotReadyForSaveData) {
+                                root._missionController.setCurrentPlanViewSeqNum(vmi.sequenceNumber, true)
+                                break
+                            }
+                        }
+                    })
+                }
+            }
+        }
+
+        Rectangle {
+            id: separatorLine
+            anchors.margins: ScreenTools.defaultFontPixelWidth * 0.5
+            anchors.topMargin: root.rowSpacing
+            anchors.top: loader.bottom
+            anchors.left: parent.left
+            anchors.right: parent.right
+            height: 1
+            color: qgcPal.groupBorder
+            visible: delegateRoot.separator
+        }
+
+        // ── Group header (Mission Items / GeoFence / Rally Points) ──
+        Component {
+            id: groupHeaderComponent
+
+            Rectangle {
+                width:  delegateRoot.width
+                height: ScreenTools.implicitComboBoxHeight + ScreenTools.defaultFontPixelWidth
+                color:  qgcPal.windowShade
+
+                RowLayout {
+                    id: groupHeaderRow
+                    spacing: ScreenTools.defaultFontPixelWidth * 0.5
+                    anchors.verticalCenter: parent.verticalCenter
+                    anchors.left: parent.left
+                    anchors.right: parent.right
+                    anchors.margins: ScreenTools.defaultFontPixelWidth * 0.5
+
+                    QGCColoredImage {
+                        Layout.alignment: Qt.AlignVCenter
+                        Layout.preferredWidth: ScreenTools.defaultFontPixelHeight * 0.75
+                        Layout.preferredHeight: Layout.preferredWidth
+                        source: "/InstrumentValueIcons/cheveron-right.svg"
+                        color: qgcPal.text
+                        rotation: delegateRoot.expanded ? 90 : 0
+                    }
+
+                    QGCLabel {
+                        Layout.alignment: Qt.AlignBaseline
+                        text: delegateRoot.nodeObject ? delegateRoot.nodeObject.objectName : ""
+                        font.bold: true
+                    }
+
+                    QGCLabel {
+                        Layout.alignment: Qt.AlignBaseline
+                        Layout.fillWidth: true
+                        text: root._groupSubtitle(delegateRoot.nodeType)
+                        elide: Text.ElideRight
+                        font.pointSize: ScreenTools.smallFontPointSize
+                        color: qgcPal.colorGrey
+                    }
+                }
+
+                MouseArea {
+                    anchors.fill: parent
+                    onClicked: root._toggleGroup(delegateRoot.row)
+                }
+            }
+        }
+
+    }
+}
diff --git a/src/QmlControls/PlanView.qml b/src/PlanView/PlanView.qml
similarity index 77%
rename from src/QmlControls/PlanView.qml
rename to src/PlanView/PlanView.qml
index 2234a19b830b..cd48235c1f65 100644
--- a/src/QmlControls/PlanView.qml
+++ b/src/PlanView/PlanView.qml
@@ -11,6 +11,7 @@ import QGroundControl.FlightMap
 import QGroundControl.Controls
 import QGroundControl.FactControls
 import QGroundControl.FlyView
+import QGroundControl.Toolbar
 
 Item {
     id: _root
@@ -18,30 +19,27 @@ Item {
     readonly property int   _decimalPlaces: 8
     readonly property real  _margin: ScreenTools.defaultFontPixelHeight * 0.5
     readonly property real  _toolsMargin: ScreenTools.defaultFontPixelWidth * 0.75
-    readonly property real  _radius: ScreenTools.defaultFontPixelWidth  * 0.5
     readonly property real  _rightPanelWidth: Math.min(width / 3, ScreenTools.defaultFontPixelWidth * 30)
-    readonly property var   _defaultVehicleCoordinate: QtPositioning.coordinate(37.803784, -122.462276)
-    readonly property bool  _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
 
     property var    _planMasterController: planMasterController
     property var    _missionController: _planMasterController.missionController
     property var    _geoFenceController: _planMasterController.geoFenceController
     property var    _rallyPointController: _planMasterController.rallyPointController
     property var    _visualItems: _missionController.visualItems
-    property bool   _lightWidgetBorders: editorMap.isSatelliteMap
     property bool   _singleComplexItem: _missionController.complexMissionItemNames.length === 1
     property int    _editingLayer: _layerMission
-    property int    _toolStripBottom: toolStrip.height + toolStrip.y
     property var    _appSettings: QGroundControl.settingsManager.appSettings
     property var    _planViewSettings: QGroundControl.settingsManager.planViewSettings
     property bool   _promptForPlanUsageShowing: false
+    property bool   _addROIOnClick: false
+    property bool   _addWaypointOnClick: false
+    property bool   _homeTrackingMapCenter: true
+    property bool   _updatingHomeFromMapCenter: false
 
     readonly property int _layerMission: 1
     readonly property int _layerFence: 2
     readonly property int _layerRally: 3
 
-    readonly property string _armedVehicleUploadPrompt: qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?")
-
     onVisibleChanged: {
         if(visible) {
             editorMap.zoomLevel = QGroundControl.flightMapZoom
@@ -57,11 +55,6 @@ Item {
         return coordinate
     }
 
-    property bool _firstMissionLoadComplete: false
-    property bool _firstFenceLoadComplete: false
-    property bool _firstRallyLoadComplete: false
-    property bool _firstLoadComplete: false
-
     MapFitFunctions {
         id: mapFitFunctions  // The name for this id cannot be changed without breaking references outside of this code. Beware!
         map: editorMap
@@ -169,6 +162,31 @@ Item {
         }
     }
 
+    // Stop tracking map center when the home position is changed externally (e.g. drag, file load)
+    Connections {
+        target: _visualItems.count > 0 ? _visualItems.get(0) : null
+        function onCoordinateChanged() {
+            if (!_updatingHomeFromMapCenter && !_planMasterController.containsItems) {
+                _homeTrackingMapCenter = false
+            }
+        }
+    }
+
+    // Resume tracking when the plan becomes empty again
+    Connections {
+        target: _planMasterController
+        function onContainsItemsChanged() {
+            if (!_planMasterController.containsItems) {
+                _homeTrackingMapCenter = true
+                if (_visualItems.count > 0) {
+                    _updatingHomeFromMapCenter = true
+                    _visualItems.get(0).coordinate = editorMap.center
+                    _updatingHomeFromMapCenter = false
+                }
+            }
+        }
+    }
+
     function insertSimpleItemAfterCurrent(coordinate) {
         var nextIndex = _missionController.currentPlanViewVIIndex + 1
         _missionController.insertSimpleMissionItem(coordinate, nextIndex, true /* makeCurrentItem */)
@@ -207,11 +225,13 @@ Item {
 
         onAcceptedForSave: (file) => {
             if (planFiles) {
-                _planMasterController.saveToFile(file)
+                if (_planMasterController.saveToFile(file)) {
+                    close()
+                }
             } else {
                 _planMasterController.saveToKml(file)
+                close()
             }
-            close()
         }
 
         onAcceptedForLoad: (file) => {
@@ -225,6 +245,7 @@ Item {
     PlanViewToolBar {
         id: planToolBar
         planMasterController: _planMasterController
+        showRallyPointsHelp: _editingLayer === _layerRally
     }
 
     Item {
@@ -255,18 +276,26 @@ Item {
             // Initial map position duplicates Fly view position
             Component.onCompleted: editorMap.center = QGroundControl.flightMapPosition
 
-            QGCMapPalette { id: mapPal; lightColors: editorMap.isSatelliteMap }
-
             onZoomLevelChanged: {
                 QGroundControl.flightMapZoom = editorMap.zoomLevel
             }
             onCenterChanged: {
                 QGroundControl.flightMapPosition = editorMap.center
+                if (_homeTrackingMapCenter && !_planMasterController.containsItems && _visualItems.count > 0) {
+                    _updatingHomeFromMapCenter = true
+                    _visualItems.get(0).coordinate = editorMap.center
+                    _updatingHomeFromMapCenter = false
+                }
             }
 
             onMapClicked: (mouse) => {
                 // Take focus to close any previous editing
                 editorMap.focus = true
+
+                // Collapse layer switcher on any map click
+                layerSwitcher.expanded = false
+                collapseTimer.stop()
+
                 if (!mainWindow.allowViewSwitch()) {
                     return
                 }
@@ -277,7 +306,20 @@ Item {
 
                 switch (_editingLayer) {
                 case _layerMission:
-                    insertSimpleItemAfterCurrent(coordinate)
+                    if (_addROIOnClick) {
+                        _addROIOnClick = false
+                        if (_missionController.isROIActive) {
+                            var pos = Qt.point(mouse.x, mouse.y)
+                            // For some strange reason using mainWindow in mapToItem doesn't work, so we use globals.parent instead which also gets us mainWindow
+                            pos = editorMap.mapToItem(globals.parent, pos)
+                            var dropPanel = insertOrCancelROIDropPanelComponent.createObject(mainWindow, { mapClickCoord: coordinate, clickRect: Qt.rect(pos.x, pos.y, 0, 0) })
+                            dropPanel.open()
+                        } else {
+                            insertROIAfterCurrent(coordinate)
+                        }
+                    } else if (_addWaypointOnClick) {
+                        insertSimpleItemAfterCurrent(coordinate)
+                    }
                     break
                 case _layerRally:
                     if (_rallyPointController.supported) {
@@ -287,35 +329,6 @@ Item {
                 }
             }
 
-            function _mapRightClicked(position) {
-                // Take focus to close any previous editing
-                editorMap.focus = true
-                if (!mainWindow.allowViewSwitch()) {
-                    return
-                }
-                var coordinate = editorMap.toCoordinate(position, false /* clipToViewPort */)
-                coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
-                coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
-                coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
-
-                if (_editingLayer === _layerMission) {
-                    if (!planMasterController.controllerVehicle.roiModeSupported) {
-                        return
-                    }
-                    if (_missionController.isROIActive) {
-                        // For some strange reason using mainWindow in mapToItem doesn't work, so we use globals.parent instead which also gets us mainWindow
-                        position = editorMap.mapToItem(globals.parent, position)
-                        var dropPanel = insertOrCancelROIDropPanelComponent.createObject(mainWindow, { mapClickCoord: coordinate, clickRect: Qt.rect(position.x, position.y, 0, 0) })
-                        dropPanel.open()
-                    } else {
-                        insertROIAfterCurrent(coordinate)
-                    }
-                }
-            }
-
-            onMapRightClicked: (position) => _mapRightClicked(position)
-            onMapPressAndHold: (position) => _mapRightClicked(position)
-
             // Add the mission item visuals to the map
             Repeater {
                 model: _missionController.visualItems
@@ -425,17 +438,20 @@ Item {
             maxHeight: parent.height - toolStrip.y
             visible: _editingLayer == _layerMission
 
-            readonly property int fileButtonIndex: 0
-            readonly property int takeoffButtonIndex: 1
-            readonly property int waypointButtonIndex: 2
-            readonly property int roiButtonIndex: 3
-            readonly property int patternButtonIndex: 4
-            readonly property int landButtonIndex: 5
-            readonly property int centerButtonIndex: 6
-
-            property bool _isRallyLayer: _editingLayer == _layerRally
             property bool _isMissionLayer: _editingLayer == _layerMission
 
+            Binding {
+                target: waypointButton
+                property: "checked"
+                value: _addWaypointOnClick
+            }
+
+            Binding {
+                target: roiButton
+                property: "checked"
+                value: _addROIOnClick
+            }
+
             ToolStripActionList {
                 id: toolStripActionList
                 model: [
@@ -460,6 +476,22 @@ Item {
                             }
                         }
                     },
+                    ToolStripAction {
+                        id: waypointButton
+                        text: qsTr("Waypoint")
+                        iconSource: "/res/waypoint.svg"
+                        visible: toolStrip._isMissionLayer
+                        checkable: true
+                        onTriggered: { _addWaypointOnClick = !_addWaypointOnClick; if (_addWaypointOnClick) _addROIOnClick = false }
+                    },
+                    ToolStripAction {
+                        id: roiButton
+                        text: qsTr("ROI")
+                        iconSource: "/qmlimages/roi.svg"
+                        visible: toolStrip._isMissionLayer && _planMasterController.controllerVehicle.supports.roiMode
+                        checkable: true
+                        onTriggered: { _addROIOnClick = !_addROIOnClick; if (_addROIOnClick) _addWaypointOnClick = false }
+                    },
                     ToolStripAction {
                         text: _planMasterController.controllerVehicle.multiRotor
                                     ? qsTr("Return")
@@ -501,6 +533,109 @@ Item {
             width: _rightPanelWidth
             planMasterController: _planMasterController
             editorMap: editorMap
+            onEditingLayerChangeRequested: (layer) => _editingLayer = layer
+        }
+
+        // Layer switching icons — only active icon visible; click to expand choices leftward
+        Item {
+            id:                     layerSwitcher
+            anchors.right:          rightPanel.left
+            anchors.rightMargin:    _toolsMargin
+            anchors.top:            parent.top
+            anchors.topMargin:      _toolsMargin
+            width:                  layerRow.width
+            height:                 _layerButtonSize
+            z:                      QGroundControl.zOrderWidgets
+
+            property bool   expanded: false
+            property real   _layerButtonSize: ScreenTools.defaultFontPixelHeight * 2.0
+            property real   _spacing: ScreenTools.defaultFontPixelHeight * 0.25
+
+            readonly property var _layers: [
+                { layer: _layerMission, icon: "/res/waypoint.svg",      nodeType: "missionGroup" },
+                { layer: _layerFence,   icon: "/res/GeoFence.svg",      nodeType: "fenceGroup" },
+                { layer: _layerRally,   icon: "/res/RallyPoint.svg",    nodeType: "rallyGroup" }
+            ]
+
+            Timer {
+                id: collapseTimer
+                interval: 5000
+                onTriggered: layerSwitcher.expanded = false
+            }
+
+            function toggle() {
+                expanded = !expanded
+                if (expanded) {
+                    collapseTimer.restart()
+                } else {
+                    collapseTimer.stop()
+                }
+            }
+
+            function choose(nodeType) {
+                expanded = false
+                collapseTimer.stop()
+                rightPanel.selectLayer(nodeType)
+            }
+
+            // Row laid out right-to-left: active icon on the right, choices expand left
+            Row {
+                id:             layerRow
+                anchors.right:  parent.right
+                spacing:        layerSwitcher._spacing
+                layoutDirection: Qt.RightToLeft
+
+                // Active layer button (always visible)
+                Rectangle {
+                    width:  layerSwitcher._layerButtonSize
+                    height: width
+                    radius: ScreenTools.defaultBorderRadius
+                    color:  QGroundControl.globalPalette.buttonHighlight
+
+                    QGCColoredImage {
+                        anchors.centerIn:   parent
+                        width:              parent.width * 0.6
+                        height:             width
+                        source:             layerSwitcher._layers.find(l => l.layer === _editingLayer)?.icon ?? "/res/waypoint.svg"
+                        color:              QGroundControl.globalPalette.buttonHighlightText
+                    }
+
+                    QGCMouseArea {
+                        anchors.fill: parent
+                        onClicked:    layerSwitcher.toggle()
+                    }
+                }
+
+                // Choice buttons (only layers that are NOT the current one)
+                Repeater {
+                    model: layerSwitcher._layers.filter(l => l.layer !== _editingLayer)
+
+                    Rectangle {
+                        required property var modelData
+                        width:   layerSwitcher._layerButtonSize
+                        height:  width
+                        radius:  ScreenTools.defaultBorderRadius
+                        color:   QGroundControl.globalPalette.button
+                        visible: opacity > 0
+                        opacity: layerSwitcher.expanded ? 1 : 0
+
+                        Behavior on opacity { NumberAnimation { duration: 150 } }
+
+                        QGCColoredImage {
+                            anchors.centerIn:   parent
+                            width:              parent.width * 0.6
+                            height:             width
+                            source:             modelData.icon
+                            color:              QGroundControl.globalPalette.buttonText
+                        }
+
+                        QGCMouseArea {
+                            anchors.fill: parent
+                            onClicked:    layerSwitcher.choose(modelData.nodeType)
+                        }
+                    }
+                }
+            }
         }
 
         RowLayout {
@@ -675,7 +810,7 @@ Item {
 
                 QGCButton {
                     Layout.fillWidth: true
-                    text: _planMasterController.dirty ?
+                    text: (_planMasterController.dirtyForSave) ?
                                             (_planMasterController.managerVehicle.isOfflineEditingVehicle ?
                                                  qsTr("Discard Unsaved Changes") : qsTr("Discard Unsaved Changes, Load New Plan From Vehicle")) : qsTr("Load New Plan From Vehicle")
                     onClicked: {
@@ -690,9 +825,6 @@ Item {
                     text: _planMasterController.managerVehicle.isOfflineEditingVehicle ?
                                             qsTr("Keep Current Plan") : qsTr("Keep Current Plan, Don't Update From Vehicle")
                     onClicked: {
-                        if (!_planMasterController.managerVehicle.isOfflineEditingVehicle) {
-                            _planMasterController.dirty = true
-                        }
                         _promptForPlanUsageShowing = false
                         close()
                     }
@@ -706,6 +838,7 @@ Item {
 
         DropPanel {
             id: insertOrCancelROIDropPanel
+            onClosed: destroy()
 
             property var mapClickCoord
 
diff --git a/src/PlanView/PlanViewRightPanel.qml b/src/PlanView/PlanViewRightPanel.qml
new file mode 100644
index 000000000000..cd4ce1affe70
--- /dev/null
+++ b/src/PlanView/PlanViewRightPanel.qml
@@ -0,0 +1,110 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+
+Item {
+    required property var editorMap
+    required property var planMasterController
+
+    signal editingLayerChangeRequested(int layer)
+
+    id: root
+
+    property var  _missionController: planMasterController.missionController
+    property real _toolsMargin:       ScreenTools.defaultFontPixelWidth * 0.75
+
+    function selectNextNotReady() {
+        for (var i = 0; i < _missionController.visualItems.count; i++) {
+            var vmi = _missionController.visualItems.get(i)
+            if (vmi.readyForSaveState === VisualMissionItem.NotReadyForSaveData) {
+                _missionController.setCurrentPlanViewSeqNum(vmi.sequenceNumber, true)
+                break
+            }
+        }
+    }
+
+    QGCPalette { id: qgcPal }
+
+    Rectangle {
+        id:             rightPanelBackground
+        anchors.fill:   parent
+        color:          qgcPal.window
+        opacity:        0.85
+    }
+
+
+    // Open/Close panel
+    Item {
+        id:                     panelOpenCloseButton
+        anchors.right:          parent.left
+        anchors.verticalCenter: parent.verticalCenter
+        width:                  toggleButtonRect.width - toggleButtonRect.radius
+        height:                 toggleButtonRect.height
+        clip:                   true
+
+        property bool _expanded: root.anchors.right == root.parent.right
+
+        Rectangle {
+            id:             toggleButtonRect
+            width:          ScreenTools.defaultFontPixelWidth * 2.25
+            height:         width * 3
+            radius:         ScreenTools.defaultBorderRadius
+            color:          rightPanelBackground.color
+            opacity:        rightPanelBackground.opacity
+
+            QGCLabel {
+                id:                 toggleButtonLabel
+                anchors.centerIn:   parent
+                text:               panelOpenCloseButton._expanded ? ">" : "<"
+                color:              qgcPal.buttonText
+            }
+
+        }
+
+        QGCMouseArea {
+            anchors.fill: parent
+
+            onClicked: {
+                if (panelOpenCloseButton._expanded) {
+                    // Close panel
+                    root.anchors.right = undefined
+                    root.anchors.left = root.parent.right
+                } else {
+                    // Open panel
+                    root.anchors.left = undefined
+                    root.anchors.right = root.parent.right
+                }
+            }
+        }
+    }
+
+    //-------------------------------------------------------
+    // Right Panel Controls
+    Item {
+        anchors.fill: rightPanelBackground
+
+        DeadMouseArea {
+            anchors.fill:   parent
+        }
+
+        PlanTreeView {
+            id:                     planTreeView
+            anchors.fill:           parent
+            editorMap:              root.editorMap
+            planMasterController:   root.planMasterController
+            onEditingLayerChangeRequested: (layer) => root.editingLayerChangeRequested(layer)
+        }
+    }
+
+    function selectLayer(nodeType) {
+        // Ensure panel is open
+        if (!panelOpenCloseButton._expanded) {
+            root.anchors.left = undefined
+            root.anchors.right = root.parent.right
+        }
+        planTreeView.selectLayer(nodeType)
+    }
+}
diff --git a/src/QmlControls/RallyPointEditorHeader.qml b/src/PlanView/RallyPointEditorHeader.qml
similarity index 93%
rename from src/QmlControls/RallyPointEditorHeader.qml
rename to src/PlanView/RallyPointEditorHeader.qml
index 11172512a113..70fb4c8374c7 100644
--- a/src/QmlControls/RallyPointEditorHeader.qml
+++ b/src/PlanView/RallyPointEditorHeader.qml
@@ -41,7 +41,7 @@ Rectangle {
             anchors.right:      parent.right
             wrapMode:           Text.WordWrap
             font.pointSize:     ScreenTools.smallFontPointSize
-            text:               qsTr("Rally Points provide alternate landing points when performing a Return to Launch (RTL).\n\nClick on the map to add Rally Points.")
+            text:               qsTr("Rally Points provide alternate landing points when performing a Return to Launch (RTL).")
         }
     }
 }
diff --git a/src/PlanView/RallyPointItemEditor.qml b/src/PlanView/RallyPointItemEditor.qml
new file mode 100644
index 000000000000..89c2886f0dda
--- /dev/null
+++ b/src/PlanView/RallyPointItemEditor.qml
@@ -0,0 +1,100 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+
+Rectangle {
+    id: root
+    height: _currentItem ? valuesRect.y + valuesRect.height + _innerMargin : titleLayout.y + titleLayout.height + _margin
+    color: _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
+    radius: _radius
+
+    property var rallyPoint ///< RallyPoint object associated with editor
+    property var controller ///< RallyPointController
+
+    property bool _currentItem: rallyPoint ? rallyPoint === controller.currentRallyPoint : false
+    property color _outerTextColor: qgcPal.text
+
+    readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
+    readonly property real  _innerMargin: 2
+    readonly property real _radius: ScreenTools.defaultFontPixelWidth / 2
+    readonly property real _titleHeight: ScreenTools.implicitComboBoxHeight + ScreenTools.defaultFontPixelWidth
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+
+    RowLayout {
+        id: titleLayout
+        anchors.margins: _margin
+        anchors.left: parent.left
+        anchors.rightMargin: _margin * 2
+        anchors.right: parent.right
+        height: _titleHeight
+        spacing: ScreenTools.defaultFontPixelWidth
+
+        QGCLabel {
+            text: qsTr("Rally Point")
+            color: _outerTextColor
+        }
+
+        QGCColoredImage {
+            id: deleteButton
+            Layout.alignment: Qt.AlignRight
+            Layout.preferredWidth: ScreenTools.defaultFontPixelHeight * 0.5
+            Layout.preferredHeight: Layout.preferredWidth
+            source: "/res/XDelete.svg"
+            color: _outerTextColor
+        }
+    }
+
+    QGCMouseArea {
+        id: selectMouseArea
+        anchors.top: titleLayout.top
+        anchors.bottomMargin: -_margin
+        anchors.bottom: titleLayout.bottom
+        anchors.left: titleLayout.left
+        anchors.right: titleLayout.right
+        onClicked: controller.currentRallyPoint = rallyPoint
+    }
+
+    QGCMouseArea {
+        anchors.top: selectMouseArea.top
+        anchors.bottom: selectMouseArea.bottom
+        anchors.right: selectMouseArea.right
+        width: height
+        onClicked: controller.removePoint(rallyPoint)
+    }
+
+    Rectangle {
+        id: valuesRect
+        anchors.margins: _innerMargin
+        anchors.left: parent.left
+        anchors.right: parent.right
+        anchors.top: titleLayout.bottom
+        height: valuesLayout.height + (_margin * 2)
+        color: qgcPal.windowShadeDark
+        visible: _currentItem
+        radius: _radius
+
+        ColumnLayout {
+            id: valuesLayout
+            anchors.margins: _margin
+            anchors.left: parent.left
+            anchors.right: parent.right
+            anchors.top: parent.top
+            spacing: _margin
+
+            Repeater {
+                model: rallyPoint ? rallyPoint.textFieldFacts : 0
+
+                LabelledFactTextField {
+                    Layout.fillWidth: true
+                    label: modelData.shortDescription
+                    fact: modelData
+                }
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/RallyPointMapVisuals.qml b/src/PlanView/RallyPointMapVisuals.qml
similarity index 100%
rename from src/QmlControls/RallyPointMapVisuals.qml
rename to src/PlanView/RallyPointMapVisuals.qml
diff --git a/src/QmlControls/SimpleItemEditor.qml b/src/PlanView/SimpleItemEditor.qml
similarity index 91%
rename from src/QmlControls/SimpleItemEditor.qml
rename to src/PlanView/SimpleItemEditor.qml
index a6c2160d6051..dc476dc4aa5a 100644
--- a/src/QmlControls/SimpleItemEditor.qml
+++ b/src/PlanView/SimpleItemEditor.qml
@@ -8,18 +8,22 @@ import QGroundControl.FactControls
 
 // Editor for Simple mission items
 Rectangle {
+    required property var missionItem
+    required property real availableWidth
+
     id: root
     width: availableWidth
     height: editorColumn.height + (_margin * 2)
     color: qgcPal.windowShadeDark
     radius: _radius
 
+
     property bool _specifiesAltitude: missionItem.specifiesAltitude
     property real _margin: ScreenTools.defaultFontPixelHeight / 2
     property real _altRectMargin: ScreenTools.defaultFontPixelWidth / 2
     property var _controllerVehicle: missionItem.masterController.controllerVehicle
-    property int _globalAltMode: missionItem.masterController.missionController.globalAltitudeMode
-    property bool _globalAltModeIsMixed: _globalAltMode == QGroundControl.AltitudeModeMixed
+    property int _globalAltFrame: missionItem.masterController.missionController.globalAltitudeFrame
+    property bool _globalAltFrameIsMixed: _globalAltFrame == QGroundControl.AltitudeFrameMixed
     property real _radius: ScreenTools.defaultFontPixelWidth / 2
     property real _fieldSpacing: ScreenTools.defaultFontPixelHeight / 2
 
@@ -144,17 +148,17 @@ Rectangle {
 
                     RowLayout {
                         Layout.fillWidth: true
-                        visible: _globalAltModeIsMixed
+                        visible: _globalAltFrameIsMixed
 
                         QGCLabel {
                             Layout.fillWidth: true
-                            text: qsTr("Altitude Mode")
+                            text: qsTr("Alt Frame")
                         }
 
-                        AltModeCombo {
-                            altitudeMode: missionItem.altitudeMode
+                        AltFrameCombo {
+                            altitudeFrame: missionItem.altitudeFrame
                             vehicle: _controllerVehicle
-                            onAltitudeModeChanged: missionItem.altitudeMode = altitudeMode
+                            onAltitudeFrameChanged: missionItem.altitudeFrame = altitudeFrame
                         }
                     }
 
@@ -165,18 +169,14 @@ Rectangle {
                         fact: missionItem.altitude
 
                         function _extraLabelText() {
-                            if (!_globalAltModeIsMixed && missionItem.altitudeMode !== QGroundControl.AltitudeModeRelative) {
-                                return qsTr(" (%1)").arg(QGroundControl.altitudeModeShortDescription(missionItem.altitudeMode))
-                            } else {
-                                return ""
-                            }
+                            return qsTr(" (%1)").arg(QGroundControl.altitudeFrameExtraUnits(missionItem.altitudeFrame))
                         }
                     }
 
                     QGCLabel {
                         font.pointSize: ScreenTools.smallFontPointSize
                         text: qsTr("Actual AMSL alt sent: %1 %2").arg(missionItem.amslAltAboveTerrain.valueString).arg(missionItem.amslAltAboveTerrain.units)
-                        visible: missionItem.altitudeMode === QGroundControl.AltitudeModeCalcAboveTerrain
+                        visible: missionItem.altitudeFrame === QGroundControl.AltitudeFrameCalcAboveTerrain
                     }
                 }
 
@@ -247,6 +247,7 @@ Rectangle {
             CameraSection {
                 Layout.fillWidth: true
                 showSectionHeader: false
+                missionItem: root.missionItem
                 visible: tabBar.currentIndex === 1
 
                 Component.onCompleted: checked = missionItem.cameraSection.settingsSpecified
diff --git a/src/QmlControls/SimpleItemMapVisual.qml b/src/PlanView/SimpleItemMapVisual.qml
similarity index 100%
rename from src/QmlControls/SimpleItemMapVisual.qml
rename to src/PlanView/SimpleItemMapVisual.qml
diff --git a/src/QmlControls/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml
similarity index 96%
rename from src/QmlControls/StructureScanEditor.qml
rename to src/PlanView/StructureScanEditor.qml
index 94f624954800..56c090f7cddc 100644
--- a/src/QmlControls/StructureScanEditor.qml
+++ b/src/PlanView/StructureScanEditor.qml
@@ -16,9 +16,8 @@ Rectangle {
     color:      qgcPal.windowShadeDark
     radius:     _radius
 
-    // The following properties must be available up the hierarchy chain
-    //property real   availableWidth    ///< Width for control
-    //property var    missionItem       ///< Mission Item for editor
+    required property var missionItem
+    required property real availableWidth
 
     property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
     property real   _fieldWidth:                ScreenTools.defaultFontPixelWidth * 10.5
@@ -140,14 +139,14 @@ Rectangle {
                         QGCLabel { text: qsTr("Scan Bottom Alt") }
                         AltitudeFactTextField {
                             fact:               missionItem.scanBottomAlt
-                            altitudeMode:       QGroundControl.AltitudeModeRelative
+                            altitudeFrame:       QGroundControl.AltitudeFrameRelative
                             Layout.fillWidth:   true
                         }
 
                         QGCLabel { text: qsTr("Entrance/Exit Alt") }
                         AltitudeFactTextField {
                             fact:               missionItem.entranceAlt
-                            altitudeMode:       QGroundControl.AltitudeModeRelative
+                            altitudeFrame:       QGroundControl.AltitudeFrameRelative
                             Layout.fillWidth:   true
                         }
 
diff --git a/src/QmlControls/StructureScanMapVisual.qml b/src/PlanView/StructureScanMapVisual.qml
similarity index 100%
rename from src/QmlControls/StructureScanMapVisual.qml
rename to src/PlanView/StructureScanMapVisual.qml
diff --git a/src/QmlControls/SurveyItemEditor.qml b/src/PlanView/SurveyItemEditor.qml
similarity index 91%
rename from src/QmlControls/SurveyItemEditor.qml
rename to src/PlanView/SurveyItemEditor.qml
index c99df42a8346..3bc82a05b3ad 100644
--- a/src/QmlControls/SurveyItemEditor.qml
+++ b/src/PlanView/SurveyItemEditor.qml
@@ -15,10 +15,6 @@ TransectStyleComplexItemEditor {
     transectValuesComponent:        _transectValuesComponent
     presetsTransectValuesComponent: _transectValuesComponent
 
-    // The following properties must be available up the hierarchy chain
-    //  property real   availableWidth    ///< Width for control
-    //  property var    missionItem       ///< Mission Item for editor
-
     property real   _margin:        ScreenTools.defaultFontPixelWidth / 2
     property var    _missionItem:   missionItem
 
@@ -70,13 +66,13 @@ TransectStyleComplexItemEditor {
                     {
                         text:       qsTr("Hover and capture image"),
                         fact:       missionItem.hoverAndCapture,
-                        enabled:    missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeModeRelative || missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeModeAbsolute,
+                        enabled:    missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeFrameRelative || missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeFrameAbsolute,
                         visible:    missionItem.hoverAndCaptureAllowed
                     },
                     {
                         text:       qsTr("Refly at 90 deg offset"),
                         fact:       missionItem.refly90Degrees,
-                        enabled:    missionItem.cameraCalc.distanceMode !== QGroundControl.AltitudeModeCalcAboveTerrain,
+                        enabled:    missionItem.cameraCalc.distanceMode !== QGroundControl.AltitudeFrameCalcAboveTerrain,
                         visible:    true
                     },
                     {
diff --git a/src/QmlControls/SurveyMapVisual.qml b/src/PlanView/SurveyMapVisual.qml
similarity index 100%
rename from src/QmlControls/SurveyMapVisual.qml
rename to src/PlanView/SurveyMapVisual.qml
diff --git a/src/QmlControls/TakeoffItemMapVisual.qml b/src/PlanView/TakeoffItemMapVisual.qml
similarity index 99%
rename from src/QmlControls/TakeoffItemMapVisual.qml
rename to src/PlanView/TakeoffItemMapVisual.qml
index f175d3121004..20985a3758a7 100644
--- a/src/QmlControls/TakeoffItemMapVisual.qml
+++ b/src/PlanView/TakeoffItemMapVisual.qml
@@ -118,7 +118,7 @@ Item {
             sourceItem:
                 MissionItemIndexLabel {
                     checked:            _missionItem.isCurrentItem
-                    label:              qsTr("Launch")
+                    label:              qsTr("Home")
                     highlightSelected:  true
                     onClicked:          _root.clicked(_missionItem.sequenceNumber)
                     visible:            _root.interactive
diff --git a/src/QmlControls/TerrainStatus.qml b/src/PlanView/TerrainStatus.qml
similarity index 100%
rename from src/QmlControls/TerrainStatus.qml
rename to src/PlanView/TerrainStatus.qml
diff --git a/src/QmlControls/TransectStyleComplexItemEditor.qml b/src/PlanView/TransectStyleComplexItemEditor.qml
similarity index 99%
rename from src/QmlControls/TransectStyleComplexItemEditor.qml
rename to src/PlanView/TransectStyleComplexItemEditor.qml
index 68b6e2a953ef..a9d478d16984 100644
--- a/src/QmlControls/TransectStyleComplexItemEditor.qml
+++ b/src/PlanView/TransectStyleComplexItemEditor.qml
@@ -15,6 +15,9 @@ Rectangle {
     color:      qgcPal.windowShadeDark
     radius:     _radius
 
+    required property var missionItem
+    required property real availableWidth
+
     property bool   transectAreaDefinitionComplete: true
     property string transectAreaDefinitionHelp:     _internalError
     property string transectValuesHeaderName:       _internalError
diff --git a/src/QmlControls/TransectStyleComplexItemStats.qml b/src/PlanView/TransectStyleComplexItemStats.qml
similarity index 100%
rename from src/QmlControls/TransectStyleComplexItemStats.qml
rename to src/PlanView/TransectStyleComplexItemStats.qml
diff --git a/src/QmlControls/TransectStyleComplexItemTabBar.qml b/src/PlanView/TransectStyleComplexItemTabBar.qml
similarity index 100%
rename from src/QmlControls/TransectStyleComplexItemTabBar.qml
rename to src/PlanView/TransectStyleComplexItemTabBar.qml
diff --git a/src/QmlControls/TransectStyleComplexItemTerrainFollow.qml b/src/PlanView/TransectStyleComplexItemTerrainFollow.qml
similarity index 66%
rename from src/QmlControls/TransectStyleComplexItemTerrainFollow.qml
rename to src/PlanView/TransectStyleComplexItemTerrainFollow.qml
index 66c034f82a5a..1d289091628e 100644
--- a/src/QmlControls/TransectStyleComplexItemTerrainFollow.qml
+++ b/src/PlanView/TransectStyleComplexItemTerrainFollow.qml
@@ -18,29 +18,29 @@ ColumnLayout {
 
         onClicked: {
             var removeModes = []
-            var updateFunction = function(altMode){ missionItem.cameraCalc.distanceMode = altMode }
-            removeModes.push(QGroundControl.AltitudeModeMixed)
-            if (!missionItem.masterController.controllerVehicle.supportsTerrainFrame) {
-                removeModes.push(QGroundControl.AltitudeModeTerrainFrame)
+            var updateFunction = function(altFrame){ missionItem.cameraCalc.distanceMode = altFrame }
+            removeModes.push(QGroundControl.AltitudeFrameMixed)
+            if (!missionItem.masterController.controllerVehicle.supports.terrainFrame) {
+                removeModes.push(QGroundControl.AltitudeFrameTerrain)
             }
-            if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || !_missionItem.cameraCalc.isManualCamera) {
-                removeModes.push(QGroundControl.AltitudeModeAbsolute)
+            if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || !missionItem.cameraCalc.isManualCamera) {
+                removeModes.push(QGroundControl.AltitudeFrameAbsolute)
             }
-            altModeDialogFactory.open({ rgRemoveModes: removeModes, updateAltModeFn: updateFunction })
+            altFrameDialogFactory.open({ currentAltFrame: missionItem.cameraCalc.distanceMode, rgRemoveModes: removeModes, updateAltFrameFn: updateFunction })
         }
 
         QGCPopupDialogFactory {
-            id: altModeDialogFactory
+            id: altFrameDialogFactory
 
-            dialogComponent: altModeDialogComponent
+            dialogComponent: altFrameDialogComponent
         }
 
-        Component { id: altModeDialogComponent; AltModeDialog { } }
+        Component { id: altFrameDialogComponent; AltFrameDialog { } }
 
         RowLayout {
             spacing: ScreenTools.defaultFontPixelWidth / 2
 
-            QGCLabel { text: QGroundControl.altitudeModeShortDescription(missionItem.cameraCalc.distanceMode) }
+            QGCLabel { text: QGroundControl.altitudeFrameShortDescription(missionItem.cameraCalc.distanceMode) }
             QGCColoredImage {
                 height:     ScreenTools.defaultFontPixelHeight / 2
                 width:      height
@@ -55,7 +55,7 @@ ColumnLayout {
         columnSpacing:      _margin
         rowSpacing:         _margin
         columns:            2
-        enabled:            missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeModeCalcAboveTerrain
+        enabled:            missionItem.cameraCalc.distanceMode === QGroundControl.AltitudeFrameCalcAboveTerrain
 
         QGCLabel { text: qsTr("Tolerance") }
         FactTextField {
diff --git a/src/QmlControls/TransectStyleMapVisuals.qml b/src/PlanView/TransectStyleMapVisuals.qml
similarity index 89%
rename from src/QmlControls/TransectStyleMapVisuals.qml
rename to src/PlanView/TransectStyleMapVisuals.qml
index b987ce079ef3..ce6ddf17da54 100644
--- a/src/QmlControls/TransectStyleMapVisuals.qml
+++ b/src/PlanView/TransectStyleMapVisuals.qml
@@ -15,10 +15,12 @@ Item {
     property bool   polygonInteractive: true
     property bool   interactive: true
     property var    vehicle
+    property bool   hideMapPolygon: false
 
     property var    _missionItem:               object
     property var    _mapPolygon:                object.surveyAreaPolygon
     property bool   _currentItem:               object.isCurrentItem
+    property bool   _vertexDrag:                _mapPolygon.vertexDrag || hideMapPolygon
     property var    _transectPoints:            _missionItem.visualTransectPoints
     property int    _transectCount:             _transectPoints.length / (_hasTurnaround ? 4 : 2)
     property bool   _hasTurnaround:             _missionItem.turnAroundDistance.rawValue !== 0
@@ -67,6 +69,7 @@ Item {
         interiorColor:      QGroundControl.globalPalette.surveyPolygonInterior
         altColor:           QGroundControl.globalPalette.surveyPolygonTerrainCollision
         interiorOpacity:    0.5 * _root.opacity
+        visible:            !hideMapPolygon
     }
 
     // Full set of transects lines. Shown when item is selected.
@@ -77,7 +80,7 @@ Item {
             line.color: "white"
             line.width: 2
             path:       _transectPoints
-            visible:    _currentItem
+            visible:    _currentItem && !_vertexDrag
             opacity:    _root.opacity
         }
     }
@@ -90,7 +93,7 @@ Item {
             line.color: "white"
             line.width: 2
             path:       _showPartialEntryExit ? [ _transectPoints[0], _transectPoints[1] ] : []
-            visible:    _showPartialEntryExit
+            visible:    _showPartialEntryExit && !_vertexDrag
             opacity:    _root.opacity
         }
     }
@@ -101,7 +104,7 @@ Item {
             line.color: "white"
             line.width: 2
             path:       _showPartialEntryExit ? [ _transectPoints[_lastPointIndex - 1], _transectPoints[_lastPointIndex] ] : []
-            visible:    _showPartialEntryExit
+            visible:    _showPartialEntryExit && !_vertexDrag
             opacity:    _root.opacity
         }
     }
@@ -115,7 +118,7 @@ Item {
             anchorPoint.y:  sourceItem.anchorPointY
             z:              QGroundControl.zOrderMapItems
             coordinate:     _missionItem.coordinate
-            visible:        _missionItem.exitCoordinate.isValid
+            visible:        _missionItem.exitCoordinate.isValid && !_vertexDrag
             opacity:        _root.opacity
 
             sourceItem: MissionItemIndexLabel {
@@ -133,7 +136,7 @@ Item {
             fromCoord:      _transectPoints[_firstTrueTransectIndex]
             toCoord:        _transectPoints[_firstTrueTransectIndex + 1]
             arrowPosition:  1
-            visible:        _currentItem
+            visible:        _currentItem && !_vertexDrag
             opacity:        _root.opacity
         }
     }
@@ -145,7 +148,7 @@ Item {
             fromCoord:      _transectPoints[nextTrueTransectIndex]
             toCoord:        _transectPoints[nextTrueTransectIndex + 1]
             arrowPosition:  1
-            visible:        _currentItem && _transectCount > 3
+            visible:        _currentItem && _transectCount > 3 && !_vertexDrag
             opacity:        _root.opacity
 
             property int nextTrueTransectIndex: _firstTrueTransectIndex + (_hasTurnaround ? 4 : 2)
@@ -159,7 +162,7 @@ Item {
             fromCoord:      _transectPoints[_lastTrueTransectIndex - 1]
             toCoord:        _transectPoints[_lastTrueTransectIndex]
             arrowPosition:  3
-            visible:        _currentItem
+            visible:        _currentItem && !_vertexDrag
             opacity:        _root.opacity
         }
     }
@@ -171,7 +174,7 @@ Item {
             fromCoord:      _transectPoints[prevTrueTransectIndex - 1]
             toCoord:        _transectPoints[prevTrueTransectIndex]
             arrowPosition:  13
-            visible:        _currentItem && _transectCount > 3
+            visible:        _currentItem && _transectCount > 3 && !_vertexDrag
             opacity:        _root.opacity
 
             property int prevTrueTransectIndex: _lastTrueTransectIndex - (_hasTurnaround ? 4 : 2)
@@ -187,7 +190,7 @@ Item {
             anchorPoint.y:  sourceItem.anchorPointY
             z:              QGroundControl.zOrderMapItems
             coordinate:     _missionItem.exitCoordinate
-            visible:        _missionItem.exitCoordinate.isValid
+            visible:        _missionItem.exitCoordinate.isValid && !_vertexDrag
             opacity:        _root.opacity
 
             sourceItem: MissionItemIndexLabel {
diff --git a/src/PlanView/TransformEditor.qml b/src/PlanView/TransformEditor.qml
new file mode 100644
index 000000000000..f990ec517a3e
--- /dev/null
+++ b/src/PlanView/TransformEditor.qml
@@ -0,0 +1,336 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+import QGroundControl.FactControls
+
+Rectangle {
+    id: _root
+
+    required property var missionController
+
+    width:  parent ? parent.width : 0
+    height: mainColumn.height + (_margins * 2)
+    color:  QGroundControl.globalPalette.windowShadeDark
+
+    property real _margins:        ScreenTools.defaultFontPixelWidth / 2
+    property real _textFieldWidth: ScreenTools.defaultFontPixelWidth * 20
+    property real _labelWidth:     ScreenTools.defaultFontPixelWidth * 14
+    property bool _hasHome:        missionController ? missionController.plannedHomePosition.isValid : false
+
+    TransformPositionController {
+        id: positionController
+        Component.onCompleted: {
+            if (_hasHome) {
+                coordinate = _root.missionController.plannedHomePosition
+                initValues()
+            }
+        }
+    }
+
+    Connections {
+        target: _root.missionController
+        function onPlannedHomePositionChanged() {
+            positionController.coordinate = _root.missionController.plannedHomePosition
+            positionController.initValues()
+        }
+    }
+
+    ColumnLayout {
+        id:              mainColumn
+        anchors.left:    parent.left
+        anchors.right:   parent.right
+        anchors.top:     parent.top
+        anchors.margins: _margins
+        spacing:         ScreenTools.defaultFontPixelHeight * 0.5
+
+        // ── Offset Mission ──
+        SectionHeader {
+            id:               offsetSection
+            Layout.fillWidth: true
+            text:             qsTr("Offset Mission")
+            checked:          false
+        }
+
+        ColumnLayout {
+            Layout.fillWidth: true
+            spacing:          _margins
+            visible:          offsetSection.checked
+
+            LabelledFactTextField {
+                id:                      eastField
+                label:                   qsTr("East")
+                fact:                    positionController.offsetEast
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+            }
+
+            LabelledFactTextField {
+                id:                      northField
+                label:                   qsTr("North")
+                fact:                    positionController.offsetNorth
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+            }
+
+            LabelledFactTextField {
+                id:                      upField
+                label:                   qsTr("Up")
+                fact:                    positionController.offsetUp
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+            }
+
+            QGCCheckBox {
+                id:   offsetTakeoffCheck
+                text: qsTr("Also move takeoff items")
+            }
+
+            QGCCheckBox {
+                id:   offsetLandingCheck
+                text: qsTr("Also move landing items")
+            }
+
+            QGCLabel {
+                Layout.fillWidth:    true
+                Layout.maximumWidth: _labelWidth + _textFieldWidth
+                wrapMode:            Text.WordWrap
+                font.pointSize:      ScreenTools.smallFontPointSize
+                text:                qsTr("Note: Home altitude is not modified.")
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Apply Offset")
+                enabled:          !eastField.textField.validationError
+                                  && !northField.textField.validationError
+                                  && !upField.textField.validationError
+
+                onClicked: {
+                    _root.missionController.offsetMission(
+                        positionController.offsetEast.rawValue,
+                        positionController.offsetNorth.rawValue,
+                        positionController.offsetUp.rawValue,
+                        offsetTakeoffCheck.checked,
+                        offsetLandingCheck.checked
+                    )
+                }
+            }
+        }
+
+        // ── Reposition Mission ──
+        SectionHeader {
+            id:               repositionSection
+            Layout.fillWidth: true
+            text:             qsTr("Reposition Mission")
+            checked:          false
+        }
+
+        ColumnLayout {
+            id:               repositionContent
+            Layout.fillWidth: true
+            spacing:          _margins
+            visible:          repositionSection.checked
+
+            QGCLabel {
+                Layout.fillWidth: true
+                wrapMode:         Text.WordWrap
+                font.pointSize:   ScreenTools.smallFontPointSize
+                text:             qsTr("Home position must be set to reposition the mission.")
+                visible:          !_hasHome
+            }
+
+            property bool _showGeographic: coordinateSystemCombo.currentIndex === 0
+            property bool _showUTM:        coordinateSystemCombo.currentIndex === 1
+            property bool _showMGRS:       coordinateSystemCombo.currentIndex === 2
+            property bool _showVehicle:    coordinateSystemCombo.currentIndex === 3
+
+            ColumnLayout {
+                Layout.fillWidth: true
+                spacing:          0
+
+                QGCLabel {
+                    text: qsTr("Coordinate System")
+                }
+
+                QGCComboBox {
+                    id:               coordinateSystemCombo
+                    Layout.fillWidth: true
+                    model:            globals.activeVehicle
+                                      ? [ qsTr("Geographic"), qsTr("Universal Transverse Mercator"), qsTr("Military Grid Reference"), qsTr("Vehicle Position") ]
+                                      : [ qsTr("Geographic"), qsTr("Universal Transverse Mercator"), qsTr("Military Grid Reference") ]
+                }
+            }
+
+            LabelledFactTextField {
+                id:                      latitudeField
+                label:                   qsTr("Latitude")
+                fact:                    positionController.latitude
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showGeographic
+            }
+
+            LabelledFactTextField {
+                id:                      longitudeField
+                label:                   qsTr("Longitude")
+                fact:                    positionController.longitude
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showGeographic
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Move to Position")
+                enabled:          _hasHome && !latitudeField.textField.validationError && !longitudeField.textField.validationError
+                visible:          repositionContent._showGeographic
+                onClicked: {
+                    positionController.setFromGeo()
+                    _root.missionController.repositionMission(positionController.coordinate)
+                }
+            }
+
+            LabelledFactTextField {
+                id:                      zoneField
+                label:                   qsTr("Zone")
+                fact:                    positionController.zone
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showUTM
+            }
+
+            LabelledFactComboBox {
+                label:            qsTr("Hemisphere")
+                fact:             positionController.hemisphere
+                indexModel:       false
+                Layout.fillWidth: true
+                visible:          repositionContent._showUTM
+            }
+
+            LabelledFactTextField {
+                id:                      eastingField
+                label:                   qsTr("Easting")
+                fact:                    positionController.easting
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showUTM
+            }
+
+            LabelledFactTextField {
+                id:                      northingField
+                label:                   qsTr("Northing")
+                fact:                    positionController.northing
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showUTM
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Move to Position")
+                enabled:          _hasHome && !zoneField.textField.validationError && !eastingField.textField.validationError && !northingField.textField.validationError
+                visible:          repositionContent._showUTM
+                onClicked: {
+                    positionController.setFromUTM()
+                    _root.missionController.repositionMission(positionController.coordinate)
+                }
+            }
+
+            LabelledFactTextField {
+                id:                      mgrsField
+                label:                   qsTr("MGRS")
+                fact:                    positionController.mgrs
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+                visible:                 repositionContent._showMGRS
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Move to Position")
+                enabled:          _hasHome && !mgrsField.textField.validationError
+                visible:          repositionContent._showMGRS
+                onClicked: {
+                    positionController.setFromMGRS()
+                    _root.missionController.repositionMission(positionController.coordinate)
+                }
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Move to Vehicle Position")
+                enabled:          _hasHome
+                visible:          repositionContent._showVehicle
+                onClicked: {
+                    positionController.setFromVehicle()
+                    _root.missionController.repositionMission(positionController.coordinate)
+                }
+            }
+        }
+
+        // ── Rotate Mission ──
+        SectionHeader {
+            id:               rotateSection
+            Layout.fillWidth: true
+            text:             qsTr("Rotate Mission")
+            checked:          false
+        }
+
+        ColumnLayout {
+            Layout.fillWidth: true
+            spacing:          _margins
+            visible:          rotateSection.checked
+
+            QGCLabel {
+                Layout.fillWidth: true
+                wrapMode:         Text.WordWrap
+                font.pointSize:   ScreenTools.smallFontPointSize
+                text:             qsTr("Home position must be set to rotate the mission.")
+                visible:          !_hasHome
+            }
+
+            LabelledFactTextField {
+                id:                      degreesCWField
+                label:                   qsTr("Clockwise")
+                fact:                    positionController.rotateDegreesCW
+                textFieldPreferredWidth: _textFieldWidth
+                Layout.fillWidth:        true
+            }
+
+            QGCCheckBox {
+                id:   rotateTakeoffCheck
+                text: qsTr("Also move takeoff items")
+            }
+
+            QGCCheckBox {
+                id:   rotateLandingCheck
+                text: qsTr("Also move landing items")
+            }
+
+            QGCLabel {
+                Layout.fillWidth:    true
+                Layout.maximumWidth: _labelWidth + _textFieldWidth
+                wrapMode:            Text.WordWrap
+                font.pointSize:      ScreenTools.smallFontPointSize
+                text:                qsTr("Note: Complex items are rotated by moving their reference coordinate: their geometry and orientation are not changed.")
+            }
+
+            QGCButton {
+                Layout.alignment: Qt.AlignHCenter
+                text:             qsTr("Apply Rotation")
+                enabled:          _hasHome && !degreesCWField.textField.validationError
+
+                onClicked: {
+                    _root.missionController.rotateMission(
+                        positionController.rotateDegreesCW.rawValue,
+                        rotateTakeoffCheck.checked,
+                        rotateLandingCheck.checked
+                    )
+                }
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/VTOLLandingPatternEditor.qml b/src/PlanView/VTOLLandingPatternEditor.qml
similarity index 95%
rename from src/QmlControls/VTOLLandingPatternEditor.qml
rename to src/PlanView/VTOLLandingPatternEditor.qml
index 4a6402df208f..77cc58a678e6 100644
--- a/src/QmlControls/VTOLLandingPatternEditor.qml
+++ b/src/PlanView/VTOLLandingPatternEditor.qml
@@ -15,18 +15,17 @@ Rectangle {
     color:      qgcPal.windowShadeDark
     radius:     _radius
 
-    // The following properties must be available up the hierarchy chain
-    //property real   availableWidth    ///< Width for control
-    //property var    missionItem       ///< Mission Item for editor
+    required property var missionItem
+    required property real availableWidth
 
-    property var    _masterControler:           masterController
+    property var    _masterControler:           missionItem.masterController
     property var    _missionController:         _masterControler.missionController
     property var    _missionVehicle:            _masterControler.controllerVehicle
     property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
     property real   _spacer:                    ScreenTools.defaultFontPixelWidth / 2
     property string _setToVehicleHeadingStr:    qsTr("Set to vehicle heading")
     property string _setToVehicleLocationStr:   qsTr("Set to vehicle location")
-    property int    _altitudeMode:              missionItem.altitudesAreRelative ? QGroundControl.AltitudeModeRelative : QGroundControl.AltitudeModeAbsolute
+    property int    _altitudeFrame:              missionItem.altitudesAreRelative ? QGroundControl.AltitudeFrameRelative : QGroundControl.AltitudeFrameAbsolute
 
 
     Column {
@@ -67,7 +66,7 @@ Rectangle {
                 AltitudeFactTextField {
                     Layout.fillWidth:   true
                     fact:               missionItem.finalApproachAltitude
-                    altitudeMode:       _altitudeMode
+                    altitudeFrame:       _altitudeFrame
                 }
 
                 QGCLabel {
@@ -129,7 +128,7 @@ Rectangle {
                 AltitudeFactTextField {
                     Layout.fillWidth:   true
                     fact:               missionItem.landingAltitude
-                    altitudeMode:       _altitudeMode
+                    altitudeFrame:       _altitudeFrame
                 }
 
                 QGCLabel { text: qsTr("Landing Dist") }
diff --git a/src/QmlControls/VTOLLandingPatternMapVisual.qml b/src/PlanView/VTOLLandingPatternMapVisual.qml
similarity index 100%
rename from src/QmlControls/VTOLLandingPatternMapVisual.qml
rename to src/PlanView/VTOLLandingPatternMapVisual.qml
diff --git a/src/PositionManager/PositionManager.cpp b/src/PositionManager/PositionManager.cpp
index e4da61421da0..1e4670419f52 100644
--- a/src/PositionManager/PositionManager.cpp
+++ b/src/PositionManager/PositionManager.cpp
@@ -7,8 +7,6 @@
 
 #include <QtCore/QApplicationStatic>
 #include <QtCore/QPermissions>
-#include <QtPositioning/QGeoPositionInfoSource>
-#include <QtPositioning/private/qgeopositioninfosource_p.h>
 #include <QtPositioning/QNmeaPositionInfoSource>
 
 QGC_LOGGING_CATEGORY(QGCPositionManagerLog, "PositionManager.QGCPositionManager")
@@ -106,6 +104,7 @@ void QGCPositionManager::setNmeaSourceDevice(QIODevice *device)
 void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
 {
     _geoPositionInfo = update;
+    _gcsPositioningError = QGeoPositionInfoSource::NoError;
 
     QGeoCoordinate newGCSPosition(_gcsPosition);
 
@@ -143,6 +142,12 @@ void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
     emit positionInfoUpdated(update);
 }
 
+void QGCPositionManager::_positionError(QGeoPositionInfoSource::Error gcsPositioningError)
+{
+    qCWarning(QGCPositionManagerLog) << Q_FUNC_INFO << "Positioning error:" << gcsPositioningError;
+    _gcsPositioningError = gcsPositioningError;
+}
+
 void QGCPositionManager::_setGCSHeading(qreal newGCSHeading)
 {
     if (newGCSHeading != _gcsHeading) {
@@ -201,10 +206,9 @@ void QGCPositionManager::_setPositionSource(QGCPositionSource source)
         #if !defined(Q_OS_DARWIN) && !defined(Q_OS_IOS)
             _currentSource->setUpdateInterval(_updateInterval);
         #endif
+
         (void) connect(_currentSource, &QGeoPositionInfoSource::positionUpdated, this, &QGCPositionManager::_positionUpdated);
-        (void) connect(_currentSource, &QGeoPositionInfoSource::errorOccurred, this, [](QGeoPositionInfoSource::Error positioningError) {
-            qCWarning(QGCPositionManagerLog) << Q_FUNC_INFO << positioningError;
-        });
+        (void) connect(_currentSource, &QGeoPositionInfoSource::errorOccurred, this, &QGCPositionManager::_positionError);
 
         // (void) connect(QGCCompass::instance(), &QGCCompass::positionUpdated, this, &QGCPositionManager::_positionUpdated);
 
diff --git a/src/PositionManager/PositionManager.h b/src/PositionManager/PositionManager.h
index 516628f66c84..40490ed8ae25 100644
--- a/src/PositionManager/PositionManager.h
+++ b/src/PositionManager/PositionManager.h
@@ -4,11 +4,11 @@
 #include <QtCore/QObject>
 #include <QtPositioning/QGeoCoordinate>
 #include <QtPositioning/QGeoPositionInfo>
+#include <QtPositioning/QGeoPositionInfoSource>
 #include <QtQmlIntegration/QtQmlIntegration>
 
 Q_DECLARE_LOGGING_CATEGORY(QGCPositionManagerLog)
 
-class QGeoPositionInfoSource;
 class QNmeaPositionInfoSource;
 class QGCCompass;
 
@@ -35,6 +35,8 @@ class QGCPositionManager : public QObject
     qreal gcsHeading() const { return _gcsHeading; }
     qreal gcsPositionHorizontalAccuracy() const { return _gcsPositionHorizontalAccuracy; }
     QGeoPositionInfo geoPositionInfo() const { return _geoPositionInfo; }
+    QGeoPositionInfoSource::Error gcsPositioningError() const { return _gcsPositioningError; }
+
     int updateInterval() const { return _updateInterval; }
 
     void setNmeaSourceDevice(QIODevice *device);
@@ -47,6 +49,7 @@ class QGCPositionManager : public QObject
 
 private slots:
     void _positionUpdated(const QGeoPositionInfo &update);
+    void _positionError(QGeoPositionInfoSource::Error gcsPositioningError);
 
 private:
     enum QGCPositionSource {
@@ -68,6 +71,8 @@ private slots:
     int _updateInterval = 0;
 
     QGeoPositionInfo _geoPositionInfo;
+    QGeoPositionInfoSource::Error  _gcsPositioningError = QGeoPositionInfoSource::NoError;
+
     QGeoCoordinate _gcsPosition;
     qreal _gcsHeading = qQNaN();
     qreal _gcsPositionHorizontalAccuracy = std::numeric_limits<qreal>::infinity();
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index b2f8da65b9f3..b504457a2abe 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -228,13 +228,13 @@ void QGCApplication::init()
     if (_simpleBootTest) {
         // Since GStream builds are so problematic we initialize video during the simple boot test
         // to make sure it works and verfies plugin availability.
-        _initVideo();
+        _bootTestPassed = _initVideo();
     } else if (!_runningUnitTests) {
         _initForNormalAppBoot();
     }
 }
 
-void QGCApplication::_initVideo()
+bool QGCApplication::_initVideo()
 {
 #ifdef QGC_GST_STREAMING
     // Gstreamer video playback requires OpenGL
@@ -242,13 +242,16 @@ void QGCApplication::_initVideo()
 #endif
 
     QGCCorePlugin::instance();  // CorePlugin must be initialized before VideoManager for Video Cleanup
-    VideoManager::instance();
+    VideoManager *videoManager = VideoManager::instance();
+    videoManager->startGStreamerInit();
+    const bool initSucceeded = !_simpleBootTest || videoManager->waitForGStreamerInit();
     _videoManagerInitialized = true;
+    return initSucceeded;
 }
 
 void QGCApplication::_initForNormalAppBoot()
 {
-    _initVideo(); // GStreamer must be initialized before QmlEngine
+    (void) _initVideo();
 
     QQuickStyle::setStyle("Basic");
     QGCCorePlugin::instance()->init();
@@ -677,6 +680,38 @@ void QGCApplication::shutdown()
 
     QGCCorePlugin::instance()->cleanup();
 
+    if (_runningUnitTests || _simpleBootTest) {
+        const QSettings settings;
+        const QString settingsFile = settings.fileName();
+        if (QFile::exists(settingsFile)) {
+            if (QFile::remove(settingsFile)) {
+                qCDebug(QGCApplicationLog) << "Removed test run settings file:" << settingsFile;
+            } else {
+                qCWarning(QGCApplicationLog) << "Failed to remove test run settings file:" << settingsFile;
+            }
+        }
+
+        // Remove the app-specific settings directory (parent of ParamCache)
+        QDir settingsAppDir(ParameterManager::parameterCacheDir());
+        settingsAppDir.cdUp();
+        if (settingsAppDir.exists()) {
+            if (settingsAppDir.removeRecursively()) {
+                qCDebug(QGCApplicationLog) << "Removed test run settings directory:" << settingsAppDir.absolutePath();
+            } else {
+                qCWarning(QGCApplicationLog) << "Failed to remove test run settings directory:" << settingsAppDir.absolutePath();
+            }
+        }
+
+        QDir appDir(SettingsManager::instance()->appSettings()->savePath()->rawValue().toString());
+        if (appDir.exists()) {
+            if (appDir.removeRecursively()) {
+                qCDebug(QGCApplicationLog) << "Removed test run app data directory:" << appDir.absolutePath();
+            } else {
+                qCWarning(QGCApplicationLog) << "Failed to remove test run app data directory:" << appDir.absolutePath();
+            }
+        }
+    }
+
     // This is bad, but currently qobject inheritances are incorrect and cause crashes on exit without
     delete _qmlAppEngine;
 }
diff --git a/src/QGCApplication.h b/src/QGCApplication.h
index 3d80a9fb9a3e..dc5a59973b33 100644
--- a/src/QGCApplication.h
+++ b/src/QGCApplication.h
@@ -56,6 +56,7 @@ class QGCApplication : public QApplication
 
     bool runningUnitTests() const { return _runningUnitTests; }
     bool simpleBootTest() const { return _simpleBootTest; }
+    bool bootTestPassed() const { return _bootTestPassed; }
 
     /// Returns true if Qt debug output should be logged to a file
     bool logOutput() const { return _logOutput; }
@@ -125,7 +126,7 @@ private slots:
 private:
     bool compressEvent(QEvent *event, QObject *receiver, QPostEventList *postedEvents) final;
 
-    void _initVideo();
+    bool _initVideo();
 
     /// Initialize the application for normal application boot. Or in other words we are not going to run unit tests.
     void _initForNormalAppBoot();
@@ -156,6 +157,7 @@ private slots:
     bool _showErrorsInToolbar = false;
     QElapsedTimer _msecsElapsedTime;
     bool _videoManagerInitialized = false;
+    bool _bootTestPassed = true;
 
     QList<QPair<QString /* title */, QString /* message */>> _delayedAppMessages;
 
diff --git a/src/QmlControls/AltFrameCombo.qml b/src/QmlControls/AltFrameCombo.qml
new file mode 100644
index 000000000000..f0e3620c9d9b
--- /dev/null
+++ b/src/QmlControls/AltFrameCombo.qml
@@ -0,0 +1,60 @@
+import QtQuick
+
+import QGroundControl
+import QGroundControl.Controls
+
+QGCComboBox {
+    required property int altitudeFrame
+    required property var vehicle
+
+    textRole: "modeName"
+
+    onActivated: (index) => {
+        let modeValue = altFrameModel.get(index).modeValue
+        altitudeFrame = modeValue
+    }
+
+    ListModel {
+        id: altFrameModel
+    }
+
+    Component.onCompleted: {
+        altFrameModel.append({ modeName: QGroundControl.altitudeFrameExtraUnits(QGroundControl.AltitudeFrameRelative),
+                              modeValue: QGroundControl.AltitudeFrameRelative })
+        altFrameModel.append({ modeName: QGroundControl.altitudeFrameExtraUnits(QGroundControl.AltitudeFrameAbsolute),
+                              modeValue: QGroundControl.AltitudeFrameAbsolute })
+        altFrameModel.append({ modeName: QGroundControl.altitudeFrameExtraUnits(QGroundControl.AltitudeFrameTerrain),
+                              modeValue: QGroundControl.AltitudeFrameTerrain })
+        altFrameModel.append({ modeName: QGroundControl.altitudeFrameExtraUnits(QGroundControl.AltitudeFrameCalcAboveTerrain),
+                              modeValue: QGroundControl.AltitudeFrameCalcAboveTerrain })
+
+        let removeModes = []
+
+        if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude && altitudeFrame != QGroundControl.AltitudeFrameAbsolute) {
+            removeModes.push(QGroundControl.AltitudeFrameAbsolute)
+        }
+        if (!vehicle.supports.terrainFrame) {
+            removeModes.push(QGroundControl.AltitudeFrameTerrain)
+        }
+
+        // Remove modes specified by consumer
+        for (var i=0; i<removeModes.length; i++) {
+            for (var j=0; j<altFrameModel.count; j++) {
+                if (altFrameModel.get(j).modeValue == removeModes[i]) {
+                    altFrameModel.remove(j)
+                    break
+                }
+            }
+        }
+
+        model = altFrameModel
+
+        // Find the specified alt mode in the model
+        for (var k=0; k<altFrameModel.count; k++) {
+            if (altFrameModel.get(k).modeValue == altitudeFrame) {
+                currentIndex = k
+                break
+            }
+        }
+    }
+}
diff --git a/src/QmlControls/AltModeDialog.qml b/src/QmlControls/AltFrameDialog.qml
similarity index 52%
rename from src/QmlControls/AltModeDialog.qml
rename to src/QmlControls/AltFrameDialog.qml
index a850c8a4b3b9..60b988bdc19b 100644
--- a/src/QmlControls/AltModeDialog.qml
+++ b/src/QmlControls/AltFrameDialog.qml
@@ -7,17 +7,34 @@ import QGroundControl
 import QGroundControl.Controls
 
 QGCPopupDialog {
-    title:   qsTr("Altitude Mode")
+    title:   qsTr("Altitude Frame")
     buttons: Dialog.Close
 
     property var rgRemoveModes
-    property var updateAltModeFn
-    property var currentAltMode
+    property var updateAltFrameFn
+    property var currentAltFrame
 
     Component.onCompleted: {
+        // Populate model dynamically since ListElement cannot use script expressions
+        buttonModel.append({ modeName: QGroundControl.altitudeFrameShortDescription(QGroundControl.AltitudeFrameRelative),
+                             help: qsTr("Altitude above home position"),
+                             modeValue: QGroundControl.AltitudeFrameRelative })
+        buttonModel.append({ modeName: QGroundControl.altitudeFrameShortDescription(QGroundControl.AltitudeFrameAbsolute),
+                             help: qsTr("Altitude above mean sea level"),
+                             modeValue: QGroundControl.AltitudeFrameAbsolute })
+        buttonModel.append({ modeName: QGroundControl.altitudeFrameShortDescription(QGroundControl.AltitudeFrameTerrain),
+                             help: qsTr("Altitude above terrain at waypoint using MAVLink terrain protocol"),
+                             modeValue: QGroundControl.AltitudeFrameTerrain })
+        buttonModel.append({ modeName: QGroundControl.altitudeFrameShortDescription(QGroundControl.AltitudeFrameCalcAboveTerrain),
+                             help: qsTr("Altitudes are terrain-relative; converting to AMSL before upload"),
+                             modeValue: QGroundControl.AltitudeFrameCalcAboveTerrain })
+        buttonModel.append({ modeName: QGroundControl.altitudeFrameShortDescription(QGroundControl.AltitudeFrameMixed),
+                             help: qsTr("Each waypoint specifies its own altitude frame"),
+                             modeValue: QGroundControl.AltitudeFrameMixed })
+
         // Check for custom build override on AMSL usage
-        if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude && currentAltMode != QGroundControl.AltitudeModeAbsolute) {
-            rgRemoveModes.push(QGroundControl.AltitudeModeAbsolute)
+        if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude && currentAltFrame != QGroundControl.AltitudeFrameAbsolute) {
+            rgRemoveModes.push(QGroundControl.AltitudeFrameAbsolute)
         }
 
         // Remove modes specified by consumer
@@ -35,39 +52,13 @@ QGCPopupDialog {
 
     ListModel {
         id: buttonModel
-
-        ListElement {
-            modeName:   qsTr("Relative")
-            help:       qsTr("Altitude above home position")
-            modeValue:  QGroundControl.AltitudeModeRelative
-        }
-        ListElement {
-            modeName:   qsTr("Absolute")
-            help:       qsTr("Altitude above mean sea level (AMSL)")
-            modeValue:  QGroundControl.AltitudeModeAbsolute
-        }
-        ListElement {
-            modeName:   qsTr("Terrain")
-            help:       qsTr("Altitude above terrain at waypoint")
-            modeValue:  QGroundControl.AltitudeModeTerrainFrame
-        }
-        ListElement {
-            modeName:   qsTr("Terrain Calculated")
-            help:       qsTr("Altitudes are terrain-relative; converting to AMSL before upload")
-            modeValue:  QGroundControl.AltitudeModeCalcAboveTerrain
-        }
-        ListElement {
-            modeName:   qsTr("Waypoint Defined")
-            help:       qsTr("Each waypoint specifies its own altitude mode")
-            modeValue:  QGroundControl.AltitudeModeMixed
-        }
     }
 
     Column {
         spacing: ScreenTools.defaultFontPixelWidth
 
         QGCLabel {
-            text: qsTr("Altitude mode for mission items")
+            text: qsTr("Altitude frame for mission items")
             font.pointSize: ScreenTools.smallFontPointSize
         }
 
@@ -76,7 +67,7 @@ QGCPopupDialog {
 
             Button {
                 hoverEnabled:   true
-                checked:        modeValue == currentAltMode
+                checked:        modeValue == currentAltFrame
 
                 background: Rectangle {
                     radius: ScreenTools.defaultFontPixelHeight / 2
@@ -102,7 +93,7 @@ QGCPopupDialog {
                 }
 
                 onClicked: {
-                    updateAltModeFn(modeValue)
+                    updateAltFrameFn(modeValue)
                     close()
                 }
             }
diff --git a/src/QmlControls/AltModeCombo.qml b/src/QmlControls/AltModeCombo.qml
deleted file mode 100644
index 862bf184e622..000000000000
--- a/src/QmlControls/AltModeCombo.qml
+++ /dev/null
@@ -1,68 +0,0 @@
-import QtQuick
-
-import QGroundControl
-import QGroundControl.Controls
-
-QGCComboBox {
-    required property int altitudeMode
-    required property var vehicle
-
-    textRole: "modeName"
-
-    onActivated: (index) => {
-        let modeValue = altModeModel.get(index).modeValue
-        altitudeMode = modeValue
-    }
-
-    ListModel {
-        id: altModeModel
-
-        ListElement {
-            modeName: qsTr("Relative")
-            modeValue: QGroundControl.AltitudeModeRelative
-        }
-        ListElement {
-            modeName: qsTr("Absolute")
-            modeValue: QGroundControl.AltitudeModeAbsolute
-        }
-        ListElement {
-            modeName: qsTr("Terrain")
-            modeValue: QGroundControl.AltitudeModeTerrainFrame
-        }
-        ListElement {
-            modeName: qsTr("TerrainC")
-            modeValue: QGroundControl.AltitudeModeCalcAboveTerrain
-        }
-    }
-
-    Component.onCompleted: {
-        let removeModes = []
-
-        if (!QGroundControl.corePlugin.options.showMissionAbsoluteAltitude && altitudeMode != QGroundControl.AltitudeModeAbsolute) {
-            removeModes.push(QGroundControl.AltitudeModeAbsolute)
-        }
-        if (!vehicle.supportsTerrainFrame) {
-            removeModes.push(QGroundControl.AltitudeModeTerrainFrame)
-        }
-
-        // Remove modes specified by consumer
-        for (var i=0; i<removeModes.length; i++) {
-            for (var j=0; j<altModeModel.count; j++) {
-                if (altModeModel.get(j).modeValue == removeModes[i]) {
-                    altModeModel.remove(j)
-                    break
-                }
-            }
-        }
-
-        model = altModeModel
-
-        // Find the specified alt mode in the model
-        for (var k=0; k<altModeModel.count; k++) {
-            if (altModeModel.get(k).modeValue == altitudeMode) {
-                currentIndex = k
-                break
-            }
-        }
-    }
-}
diff --git a/src/QmlControls/CMakeLists.txt b/src/QmlControls/CMakeLists.txt
index e7d53f037699..564a06c379ab 100644
--- a/src/QmlControls/CMakeLists.txt
+++ b/src/QmlControls/CMakeLists.txt
@@ -5,8 +5,6 @@
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
-        EditPositionDialogController.cc
-        EditPositionDialogController.h
         FactValueGrid.cc
         FactValueGrid.h
         FlightPathSegment.cc
@@ -19,6 +17,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         MavlinkAction.h
         MavlinkActionManager.cc
         MavlinkActionManager.h
+        ObjectItemModelBase.cc
+        ObjectItemModelBase.h
         ObjectListModelBase.cc
         ObjectListModelBase.h
         ParameterEditorController.cc
@@ -49,6 +49,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         QGroundControlQmlGlobal.h
         QmlObjectListModel.cc
         QmlObjectListModel.h
+        QmlObjectTreeModel.cc
+        QmlObjectTreeModel.h
         QmlUnitsConversion.h
         RCChannelMonitorController.cc
         RCChannelMonitorController.h
@@ -62,6 +64,10 @@ target_sources(${CMAKE_PROJECT_NAME}
         ToolStripAction.h
         ToolStripActionList.cc
         ToolStripActionList.h
+        TransformPositionController.cc
+        TransformPositionController.h
+        ServoOutputMonitorController.cc
+        ServoOutputMonitorController.h
 )
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
@@ -80,8 +86,8 @@ qt_add_qml_module(QGroundControlControlsModule
     VERSION 1.0
     RESOURCE_PREFIX /qml
     QML_FILES
-        AltModeCombo.qml
-        AltModeDialog.qml
+        AltFrameCombo.qml
+        AltFrameDialog.qml
         AppSettings.qml
         APMSubMotorDisplay.qml
         AppLogging.qml
@@ -110,10 +116,7 @@ qt_add_qml_module(QGroundControlControlsModule
         LabelledLabel.qml
         LogReplayStatusBar.qml
         MainWindowSavedState.qml
-        MAVLinkChart.qml
-        MAVLinkMessageButton.qml
         MissionCommandDialog.qml
-        MissionItemIndexLabel.qml
         MvPanelPage.qml
         OfflineMapButton.qml
         ParameterDiffDialog.qml
@@ -167,6 +170,7 @@ qt_add_qml_module(QGroundControlControlsModule
         SettingsButton.qml
         SettingsGroupLayout.qml
         SetupPage.qml
+        SigningKeyManager.qml
         SliderSwitch.qml
         SubMenuButton.qml
         TimedProgressTracker.qml
@@ -178,75 +182,11 @@ qt_add_qml_module(QGroundControlControlsModule
         VehicleRotationCal.qml
         VehicleSummaryRow.qml
 
-# NOTE: Due to Windows limitations with set_source_files_properties and qt_add_qml_module,
-# various QML files from other modules are temporarily included here.
-# This will be revisited in a future release.
-
-        # src/AnalyzeView/
-        AnalyzePage.qml
-
-        # src/FirstRunPromptDialogs/
-        FirstRunPrompt.qml
-
-        # src/PlanView/
-        CameraCalcCamera.qml
-        CameraCalcGrid.qml
-        CameraSection.qml
-        CorridorScanEditor.qml
-        CorridorScanMapVisual.qml
-        FWLandingPatternEditor.qml
-        FWLandingPatternMapVisual.qml
-        GeoFenceEditor.qml
-        GeoFenceMapVisuals.qml
-        MissionItemEditor.qml
-        MissionItemMapVisual.qml
-        MissionItemStatus.qml
-        MissionSettingsEditor.qml
-        MissionStats.qml
-        PlanEditToolbar.qml
-        PlanToolBarIndicators.qml
-        PlanView.qml
-        PlanViewRightPanel.qml
-        RallyPointEditorHeader.qml
-        RallyPointItemEditor.qml
-        RallyPointMapVisuals.qml
-        SimpleItemEditor.qml
-        SimpleItemMapVisual.qml
-        StructureScanEditor.qml
-        StructureScanMapVisual.qml
-        SurveyItemEditor.qml
-        SurveyMapVisual.qml
-        TakeoffItemMapVisual.qml
-        TerrainStatus.qml
-        TransectStyleComplexItemEditor.qml
-        TransectStyleComplexItemStats.qml
-        TransectStyleComplexItemTabBar.qml
-        TransectStyleComplexItemTerrainFollow.qml
-        TransectStyleMapVisuals.qml
-        VTOLLandingPatternEditor.qml
-        VTOLLandingPatternMapVisual.qml
-
-        # src/UI/preferences/
-        OfflineMapInfo.qml
-
-        # src/UI/toolbar/
-        BatteryIndicator.qml
-        FlightModeIndicator.qml
-        FlightModeMenuIndicator.qml
-        FlyViewToolBar.qml
-        FlyViewToolBarIndicators.qml
-        GPSIndicator.qml
-        GPSIndicatorPage.qml
-        MainStatusIndicator.qml
-        MainStatusIndicatorOfflinePage.qml
-        ParameterDownloadProgress.qml
-        PlanViewToolBar.qml
-        RemoteIDIndicatorPage.qml
-        SignalStrength.qml
-        VehicleMessageList.qml
-
-        # src/QtLocationPlugin/QMLControl/
-        OfflineMapEditor.qml
+# NOTE: ScreenTools.qml is declared here because CMake's
+# set_source_files_properties() has directory scope. The QT_QML_SINGLETON_TYPE
+# property must be visible in the same CMakeLists.txt that calls
+# qt_add_qml_module(). On Windows this cross-directory property propagation
+# fails, so this file is kept in this module until a better solution is available.
 
         ScreenTools.qml
     NO_PLUGIN
diff --git a/src/QmlControls/EditPositionDialog.qml b/src/QmlControls/EditPositionDialog.qml
index 063740d5ac21..479225c6d725 100644
--- a/src/QmlControls/EditPositionDialog.qml
+++ b/src/QmlControls/EditPositionDialog.qml
@@ -12,8 +12,9 @@ QGCPopupDialog {
     title:      qsTr("Edit Position")
     buttons:    Dialog.Close
 
-    property alias coordinate:                  controller.coordinate
-    property bool  showSetPositionFromVehicle:  true
+    property alias coordinate:      controller.coordinate
+    property var    altitudeFact:   null
+    property int    altitudeFrame:  QGroundControl.AltitudeFrameNone
 
     property real _margin:          ScreenTools.defaultFontPixelWidth / 2
     property real _textFieldWidth:  ScreenTools.defaultFontPixelWidth * 20
@@ -21,8 +22,14 @@ QGCPopupDialog {
     property bool _showUTM:         coordinateSystemCombo.comboBox.currentIndex === 1
     property bool _showMGRS:        coordinateSystemCombo.comboBox.currentIndex === 2
     property bool _showVehicle:     coordinateSystemCombo.comboBox.currentIndex === 3
+    property bool _supportsAltitude: altitudeFact !== null
 
-    EditPositionDialogController {
+    function _isFiniteAltitude(value) {
+        const numericValue = Number(value)
+        return !isNaN(numericValue) && isFinite(numericValue)
+    }
+
+    TransformPositionController {
         id: controller
 
         Component.onCompleted: initValues()
@@ -35,7 +42,7 @@ QGCPopupDialog {
             id:                 coordinateSystemCombo
             Layout.fillWidth:   true
             label:              qsTr("Coordinate System")
-            model:              showSetPositionFromVehicle && globals.activeVehicle ?
+            model:              globals.activeVehicle ?
                                     [ qsTr("Geographic"), qsTr("Universal Transverse Mercator"), qsTr("Military Grid Reference"), qsTr("Vehicle Position") ] :
                                     [ qsTr("Geographic"), qsTr("Universal Transverse Mercator"), qsTr("Military Grid Reference") ]
         }
@@ -56,16 +63,6 @@ QGCPopupDialog {
             visible:            _showGeographic
         }
 
-        LabelledButton {
-            label:               qsTr("Set position")
-            buttonText:          qsTr("Move")
-            visible:             _showGeographic
-            onClicked: {
-                controller.setFromGeo()
-                root.close()
-            }
-        }
-
         LabelledFactTextField {
             label:              qsTr("Zone")
             fact:               controller.zone
@@ -98,16 +95,6 @@ QGCPopupDialog {
             visible:            _showUTM
         }
 
-        LabelledButton {
-            label:               qsTr("Set position")
-            buttonText:          qsTr("Move")
-            visible:             _showUTM
-            onClicked: {
-                controller.setFromUTM()
-                root.close()
-            }
-        }
-
         LabelledFactTextField {
             label:              qsTr("MGRS")
             fact:               controller.mgrs
@@ -116,22 +103,82 @@ QGCPopupDialog {
             Layout.fillWidth:   true
         }
 
-        LabelledButton {
-            label:               qsTr("Set position")
-            buttonText:          qsTr("Move")
-            visible:             _showMGRS
-            onClicked: {
-                controller.setFromMGRS()
-                root.close()
-            }
+        LabelledLabel {
+            label:              qsTr("Latitude")
+            labelText:          globals.activeVehicle ? globals.activeVehicle.coordinate.latitude.toFixed(7) : ""
+            Layout.fillWidth:   true
+            visible:            _showVehicle
+        }
+
+        LabelledLabel {
+            label:              qsTr("Longitude")
+            labelText:          globals.activeVehicle ? globals.activeVehicle.coordinate.longitude.toFixed(7) : ""
+            Layout.fillWidth:   true
+            visible:            _showVehicle
+        }
+
+        LabelledLabel {
+            label:              qsTr("Alt (AMSL)")
+            labelText:          globals.activeVehicle ? globals.activeVehicle.altitudeAMSL.valueString + " " + globals.activeVehicle.altitudeAMSL.units : ""
+            Layout.fillWidth:   true
+            visible:            _showVehicle && _supportsAltitude && altitudeFrame === QGroundControl.AltitudeFrameAbsolute
+        }
+
+        LabelledLabel {
+            label:              qsTr("Alt (Rel)")
+            labelText:          globals.activeVehicle ? globals.activeVehicle.altitudeRelative.valueString + " " + globals.activeVehicle.altitudeRelative.units : ""
+            Layout.fillWidth:   true
+            visible:            _showVehicle && _supportsAltitude && altitudeFrame === QGroundControl.AltitudeFrameRelative
+        }
+
+        LabelledLabel {
+            label:              qsTr("Alt (AGL)")
+            labelText:          globals.activeVehicle ? globals.activeVehicle.altitudeAboveTerr.valueString + " " + globals.activeVehicle.altitudeAboveTerr.units : ""
+            Layout.fillWidth:   true
+            visible:            _showVehicle && _supportsAltitude && (altitudeFrame === QGroundControl.AltitudeFrameTerrain || altitudeFrame === QGroundControl.AltitudeFrameCalcAboveTerrain)
+        }
+
+        QGCCheckBox {
+            id:         setPositionCheckBox
+            text:       qsTr("Set position from vehicle")
+            checked:    true
+            visible:    _showVehicle
+        }
+
+        QGCCheckBox {
+            id:         setAltitudeCheckBox
+            text:       qsTr("Set altitude from vehicle")
+            checked:    false
+            visible:    _showVehicle && _supportsAltitude
         }
 
         LabelledButton {
             label:               qsTr("Set position")
             buttonText:          qsTr("Move")
-            visible:             _showVehicle
             onClicked: {
-                controller.setFromVehicle()
+                if (_showGeographic)
+                    controller.setFromGeo()
+                else if (_showUTM)
+                    controller.setFromUTM()
+                else if (_showMGRS)
+                    controller.setFromMGRS()
+                else if (_showVehicle) {
+                    if (setPositionCheckBox.checked)
+                        controller.setFromVehicle()
+                    if (setAltitudeCheckBox.checked && _supportsAltitude && globals.activeVehicle) {
+                        let sourceAltitude = NaN
+
+                        if (altitudeFrame === QGroundControl.AltitudeFrameRelative)
+                            sourceAltitude = globals.activeVehicle.altitudeRelative.rawValue
+                        else if (altitudeFrame === QGroundControl.AltitudeFrameAbsolute)
+                            sourceAltitude = globals.activeVehicle.altitudeAMSL.rawValue
+                        else if (altitudeFrame === QGroundControl.AltitudeFrameTerrain || altitudeFrame === QGroundControl.AltitudeFrameCalcAboveTerrain)
+                            sourceAltitude = globals.activeVehicle.altitudeAboveTerr.rawValue
+
+                        if (_isFiniteAltitude(sourceAltitude))
+                            altitudeFact.rawValue = sourceAltitude
+                    }
+                }
                 root.close()
             }
         }
diff --git a/src/QmlControls/EditPositionDialogController.cc b/src/QmlControls/EditPositionDialogController.cc
deleted file mode 100644
index 57eae01e375e..000000000000
--- a/src/QmlControls/EditPositionDialogController.cc
+++ /dev/null
@@ -1,99 +0,0 @@
-#include "EditPositionDialogController.h"
-#include "QGCGeo.h"
-#include "MultiVehicleManager.h"
-#include "Vehicle.h"
-#include "QGCLoggingCategory.h"
-
-QGC_LOGGING_CATEGORY(EditPositionDialogControllerLog, "QMLControls.EditPositionDialogController")
-
-QMap<QString, FactMetaData*> EditPositionDialogController::_metaDataMap;
-
-EditPositionDialogController::EditPositionDialogController(QObject *parent)
-    : QObject(parent)
-    , _latitudeFact(new Fact(0, _latitudeFactName, FactMetaData::valueTypeDouble, this))
-    , _longitudeFact(new Fact(0, _longitudeFactName, FactMetaData::valueTypeDouble, this))
-    , _zoneFact(new Fact(0, _zoneFactName, FactMetaData::valueTypeUint8, this))
-    , _hemisphereFact(new Fact(0, _hemisphereFactName, FactMetaData::valueTypeUint8, this))
-    , _eastingFact(new Fact(0, _eastingFactName, FactMetaData::valueTypeDouble, this))
-    , _northingFact(new Fact(0, _northingFactName, FactMetaData::valueTypeDouble, this))
-    , _mgrsFact(new Fact(0, _mgrsFactName, FactMetaData::valueTypeString, this))
-{
-    // qCDebug(EditPositionDialogControllerLog) << Q_FUNC_INFO << this;
-
-    if (_metaDataMap.isEmpty()) {
-        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/EditPositionDialog.FactMetaData.json"), nullptr /* QObject parent */);
-    }
-
-    _latitudeFact->setMetaData(_metaDataMap[_latitudeFactName]);
-    _longitudeFact->setMetaData(_metaDataMap[_longitudeFactName]);
-    _zoneFact->setMetaData(_metaDataMap[_zoneFactName]);
-    _hemisphereFact->setMetaData(_metaDataMap[_hemisphereFactName]);
-    _eastingFact->setMetaData(_metaDataMap[_eastingFactName]);
-    _northingFact->setMetaData(_metaDataMap[_northingFactName]);
-    _mgrsFact->setMetaData(_metaDataMap[_mgrsFactName]);
-}
-
-EditPositionDialogController::~EditPositionDialogController()
-{
-    // qCDebug(EditPositionDialogControllerLog) << Q_FUNC_INFO << this;
-}
-
-void EditPositionDialogController::setCoordinate(QGeoCoordinate coordinate)
-{
-    if (coordinate != _coordinate) {
-        _coordinate = coordinate;
-        emit coordinateChanged(coordinate);
-    }
-}
-
-void EditPositionDialogController::initValues()
-{
-    _latitudeFact->setRawValue(_coordinate.latitude());
-    _longitudeFact->setRawValue(_coordinate.longitude());
-
-    double easting, northing;
-    const int zone = QGCGeo::convertGeoToUTM(_coordinate, easting, northing);
-    if ((zone >= 1) && (zone <= 60)) {
-        _zoneFact->setRawValue(zone);
-        _hemisphereFact->setRawValue(_coordinate.latitude() < 0);
-        _eastingFact->setRawValue(easting);
-        _northingFact->setRawValue(northing);
-    }
-
-    const QString mgrs = QGCGeo::convertGeoToMGRS(_coordinate);
-    if (!mgrs.isEmpty()) {
-        _mgrsFact->setRawValue(mgrs);
-    }
-}
-
-void EditPositionDialogController::setFromGeo()
-{
-    _coordinate.setLatitude(_latitudeFact->rawValue().toDouble());
-    _coordinate.setLongitude(_longitudeFact->rawValue().toDouble());
-    emit coordinateChanged(_coordinate);
-}
-
-void EditPositionDialogController::setFromUTM()
-{
-    qCDebug(EditPositionDialogControllerLog) << _eastingFact->rawValue().toDouble() << _northingFact->rawValue().toDouble() << _zoneFact->rawValue().toInt() << (_hemisphereFact->rawValue().toInt() == 1);
-    if (QGCGeo::convertUTMToGeo(_eastingFact->rawValue().toDouble(), _northingFact->rawValue().toDouble(), _zoneFact->rawValue().toInt(), _hemisphereFact->rawValue().toInt() == 1, _coordinate)) {
-        qCDebug(EditPositionDialogControllerLog) << _eastingFact->rawValue().toDouble() << _northingFact->rawValue().toDouble() << _zoneFact->rawValue().toInt() << (_hemisphereFact->rawValue().toInt() == 1) << _coordinate;
-        emit coordinateChanged(_coordinate);
-    } else {
-        initValues();
-    }
-}
-
-void EditPositionDialogController::setFromMGRS()
-{
-    if (QGCGeo::convertMGRSToGeo(_mgrsFact->rawValue().toString(), _coordinate)) {
-        emit coordinateChanged(_coordinate);
-    } else {
-        initValues();
-    }
-}
-
-void EditPositionDialogController::setFromVehicle()
-{
-    setCoordinate(MultiVehicleManager::instance()->activeVehicle()->coordinate());
-}
diff --git a/src/QmlControls/EditPositionDialogController.h b/src/QmlControls/EditPositionDialogController.h
deleted file mode 100644
index 6d4cabf878b0..000000000000
--- a/src/QmlControls/EditPositionDialogController.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#pragma once
-
-#include <QtCore/QObject>
-#include <QtCore/QLoggingCategory>
-#include <QtPositioning/QGeoCoordinate>
-#include <QtQmlIntegration/QtQmlIntegration>
-
-#include "Fact.h"
-
-Q_DECLARE_LOGGING_CATEGORY(EditPositionDialogControllerLog)
-
-class EditPositionDialogController : public QObject
-{
-    Q_OBJECT
-    QML_ELEMENT
-    Q_PROPERTY(QGeoCoordinate   coordinate  READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
-    Q_PROPERTY(Fact             *latitude   READ latitude                       CONSTANT)
-    Q_PROPERTY(Fact             *longitude  READ longitude                      CONSTANT)
-    Q_PROPERTY(Fact             *zone       READ zone                           CONSTANT)
-    Q_PROPERTY(Fact             *hemisphere READ hemisphere                     CONSTANT)
-    Q_PROPERTY(Fact             *easting    READ easting                        CONSTANT)
-    Q_PROPERTY(Fact             *northing   READ northing                       CONSTANT)
-    Q_PROPERTY(Fact             *mgrs       READ mgrs                           CONSTANT)
-
-public:
-    explicit EditPositionDialogController(QObject *parent = nullptr);
-    ~EditPositionDialogController();
-
-    Q_INVOKABLE void initValues();
-    Q_INVOKABLE void setFromGeo();
-    Q_INVOKABLE void setFromUTM();
-    Q_INVOKABLE void setFromMGRS();
-    Q_INVOKABLE void setFromVehicle();
-
-    void setCoordinate(QGeoCoordinate coordinate);
-    QGeoCoordinate coordinate() const { return _coordinate; }
-
-    Fact *latitude() { return _latitudeFact; }
-    Fact *longitude() { return _longitudeFact; }
-    Fact *zone() { return _zoneFact; }
-    Fact *hemisphere() { return _hemisphereFact; }
-    Fact *easting() { return _eastingFact; }
-    Fact *northing() { return _northingFact; }
-    Fact *mgrs() { return _mgrsFact; }
-
-signals:
-    void coordinateChanged(QGeoCoordinate coordinate);
-
-private:
-    QGeoCoordinate _coordinate;
-
-    Fact *_latitudeFact = nullptr;
-    Fact *_longitudeFact = nullptr;
-    Fact *_zoneFact = nullptr;
-    Fact *_hemisphereFact = nullptr;
-    Fact *_eastingFact = nullptr;
-    Fact *_northingFact = nullptr;
-    Fact *_mgrsFact = nullptr;
-
-    static QMap<QString, FactMetaData*> _metaDataMap;
-
-    static constexpr const char *_latitudeFactName = "Latitude";
-    static constexpr const char *_longitudeFactName = "Longitude";
-    static constexpr const char *_zoneFactName = "Zone";
-    static constexpr const char *_hemisphereFactName = "Hemisphere";
-    static constexpr const char *_eastingFactName = "Easting";
-    static constexpr const char *_northingFactName = "Northing";
-    static constexpr const char *_mgrsFactName = "MGRS";
-};
diff --git a/src/QmlControls/MissionSettingsEditor.qml b/src/QmlControls/MissionSettingsEditor.qml
deleted file mode 100644
index adb2ccf93a8e..000000000000
--- a/src/QmlControls/MissionSettingsEditor.qml
+++ /dev/null
@@ -1,368 +0,0 @@
-import QtQuick
-import QtQuick.Controls
-import QtQuick.Layouts
-
-import QGroundControl
-import QGroundControl.Controls
-import QGroundControl.FactControls
-
-// Editor for Mission Settings
-Rectangle {
-    id: root
-    width: availableWidth
-    height: valuesColumn.height + (_margin * 2)
-    color: qgcPal.windowShadeDark
-    radius: ScreenTools.defaultBorderRadius
-
-    property var _masterController: masterController
-    property var _missionController: _masterController.missionController
-    property var _controllerVehicle: _masterController.controllerVehicle
-    property var _visualItems: _missionController.visualItems
-    property bool _vehicleHasHomePosition: _controllerVehicle.homePosition.isValid
-    property bool _showCruiseSpeed: !_controllerVehicle.multiRotor
-    property bool _showHoverSpeed: _controllerVehicle.multiRotor || _controllerVehicle.vtol
-    property bool _multipleFirmware: !QGroundControl.singleFirmwareSupport
-    property bool _multipleVehicleTypes: !QGroundControl.singleVehicleSupport
-    property real _fieldWidth: ScreenTools.defaultFontPixelWidth * 16
-    property bool _mobile: ScreenTools.isMobile
-    property var _savePath: QGroundControl.settingsManager.appSettings.missionSavePath
-    property var _appSettings: QGroundControl.settingsManager.appSettings
-    property bool _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
-    property bool _showCameraSection: _waypointsOnlyMode || QGroundControl.corePlugin.showAdvancedUI
-    property bool _simpleMissionStart: QGroundControl.corePlugin.options.showSimpleMissionStart
-    property bool _showFlightSpeed: !_controllerVehicle.vtol && !_simpleMissionStart && !_controllerVehicle.apmFirmware
-    property bool _allowFWVehicleTypeSelection: _noMissionItemsAdded && !globals.activeVehicle
-
-    readonly property string _firmwareLabel: qsTr("Firmware")
-    readonly property string _vehicleLabel: qsTr("Vehicle")
-    readonly property real _margin: ScreenTools.defaultFontPixelWidth / 2
-
-    QGCPalette { id: qgcPal }
-    Component { id: altModeDialogComponent; AltModeDialog { } }
-
-    QGCPopupDialogFactory {
-        id: altModeDialogFactory
-
-        dialogComponent: altModeDialogComponent
-    }
-
-    Connections {
-        target: _controllerVehicle
-        function onSupportsTerrainFrameChanged() {
-            if (!_controllerVehicle.supportsTerrainFrame && _missionController.globalAltitudeMode === QGroundControl.AltitudeModeTerrainFrame) {
-                _missionController.globalAltitudeMode = QGroundControl.AltitudeModeCalcAboveTerrain
-            }
-        }
-    }
-
-    ColumnLayout {
-        id: valuesColumn
-        anchors.margins: _margin
-        anchors.left: parent.left
-        anchors.right: parent.right
-        anchors.top: parent.top
-        spacing: ScreenTools.defaultFontPixelHeight / 2
-
-        LabelledButton {
-            Layout.fillWidth: true
-            label: qsTr("Altitude Mode")
-            buttonText: QGroundControl.altitudeModeShortDescription(_missionController.globalAltitudeMode)
-
-            onClicked: {
-                var removeModes = []
-                var updateFunction = function(altMode){ _missionController.globalAltitudeMode = altMode }
-                if (!_controllerVehicle.supportsTerrainFrame) {
-                    removeModes.push(QGroundControl.AltitudeModeTerrainFrame)
-                }
-                if (!_noMissionItemsAdded) {
-                    if (_missionController.globalAltitudeMode !== QGroundControl.AltitudeModeRelative) {
-                        removeModes.push(QGroundControl.AltitudeModeRelative)
-                    }
-                    if (_missionController.globalAltitudeMode !== QGroundControl.AltitudeModeAbsolute) {
-                        removeModes.push(QGroundControl.AltitudeModeAbsolute)
-                    }
-                    if (_missionController.globalAltitudeMode !== QGroundControl.AltitudeModeCalcAboveTerrain) {
-                        removeModes.push(QGroundControl.AltitudeModeCalcAboveTerrain)
-                    }
-                    if (_missionController.globalAltitudeMode !== QGroundControl.AltitudeModeTerrainFrame) {
-                        removeModes.push(QGroundControl.AltitudeModeTerrainFrame)
-                    }
-                }
-                altModeDialogFactory.open({ rgRemoveModes: removeModes, updateAltModeFn: updateFunction })
-            }
-        }
-
-        FactTextFieldSlider {
-            Layout.fillWidth: true
-            label: qsTr("Waypoints Altitude")
-            fact: QGroundControl.settingsManager.appSettings.defaultMissionItemAltitude
-        }
-
-        QGCButton {
-            id: applyDefaultAltitudeButton
-            Layout.fillWidth: true
-            text: qsTr("Apply New Altitude")
-            visible: false
-
-            onClicked: QGroundControl.showMessageDialog(root, qsTr("Apply New Altitude"),
-                            qsTr("You have changed the default altitude for mission items. Would you like to apply that altitude to all the items in the current mission?"),
-                            Dialog.Yes | Dialog.No,
-                            function() { applyDefaultAltitudeButton.visible = false; _missionController.applyDefaultMissionAltitude() })
-
-            Connections {
-                target: _appSettings.defaultMissionItemAltitude
-                function onRawValueChanged() {
-                    if (_visualItems.count > 1) {
-                        applyDefaultAltitudeButton.visible = true
-                    }
-                }
-            }
-
-            Connections {
-                target: _visualItems
-                function onCountChanged() {
-                    if (_visualItems.count <= 1) {
-                        applyDefaultAltitudeButton.visible = false
-                    }
-                }
-            }
-    }
-
-        FactTextFieldSlider {
-            Layout.fillWidth: true
-            label: qsTr("Flight Speed")
-            fact: missionItem.speedSection.flightSpeed
-            showEnableCheckbox: true
-            enableCheckBoxChecked: missionItem.speedSection.specifyFlightSpeed
-            visible: missionItem.speedSection.available
-
-            onEnableCheckboxClicked: missionItem.speedSection.specifyFlightSpeed = enableCheckBoxChecked
-        }
-
-        /*
-        Removed for now. May come back...
-        SectionHeader {
-            id: createFromTemplateSection
-            Layout.fillWidth: true
-            text: qsTr("Create Plan From Template")
-            checked: true
-            visible: !_masterController.containsItems && !_masterController.manualCreation
-        }
-
-        GridLayout {
-            Layout.fillWidth: true
-            columns: 2
-            columnSpacing: ScreenTools.defaultFontPixelWidth * 0.75
-            rowSpacing: columnSpacing
-            visible: createFromTemplateSection.visible && createFromTemplateSection.checked
-
-            Repeater {
-                model: _masterController.planCreators
-
-                Rectangle {
-                    id: planCreatorButton
-                    Layout.fillWidth: true
-                    implicitHeight: planCreatorLayout.implicitHeight
-                    color: planCreatorButtonMouseArea.pressed || planCreatorButtonMouseArea.containsMouse ? qgcPal.buttonHighlight : qgcPal.button
-
-                    ColumnLayout {
-                        id: planCreatorLayout
-                        width: parent.width
-                        spacing: 0
-
-                        Image {
-                            id: planCreatorImage
-                            Layout.fillWidth: true
-                            source: object.imageResource
-                            sourceSize.width: width
-                            fillMode: Image.PreserveAspectFit
-                            mipmap: true
-                        }
-
-                        QGCLabel {
-                            id: planCreatorNameLabel
-                            Layout.fillWidth: true
-                            Layout.maximumWidth: parent.width
-                            horizontalAlignment: Text.AlignHCenter
-                            text: object.name
-                            color: planCreatorButtonMouseArea.pressed || planCreatorButtonMouseArea.containsMouse ? qgcPal.buttonHighlightText : qgcPal.buttonText
-                        }
-                    }
-
-                    QGCMouseArea {
-                        id: planCreatorButtonMouseArea
-                        anchors.fill: parent
-                        hoverEnabled: true
-                        preventStealing: true
-                        onClicked: {
-                            if (object.blankPlan) {
-                                _masterController.manualCreation = true
-                            } else {
-                                object.createPlan(_mapCenter())
-                            }
-                        }
-
-                        function _mapCenter() {
-                            var centerPoint = Qt.point(editorMap.centerViewport.left + (editorMap.centerViewport.width / 2), editorMap.centerViewport.top + (editorMap.centerViewport.height / 2))
-                            return editorMap.toCoordinate(centerPoint, false)
-                        }
-                    }
-                }
-            }
-        }
-        */
-
-        Column {
-            Layout.fillWidth: true
-            spacing: _margin
-            visible: !_simpleMissionStart
-
-            CameraSection {
-                id: cameraSection
-                anchors.left: parent.left
-                anchors.right: parent.right
-                visible: _showCameraSection
-
-                Component.onCompleted: checked = !_waypointsOnlyMode && missionItem.cameraSection.settingsSpecified
-            }
-
-            QGCLabel {
-                anchors.left: parent.left
-                anchors.right: parent.right
-                text: qsTr("Above camera commands will take affect immediately upon mission start.")
-                wrapMode: Text.WordWrap
-                horizontalAlignment: Text.AlignHCenter
-                font.pointSize: ScreenTools.smallFontPointSize
-                visible: _showCameraSection && cameraSection.checked
-            }
-
-            SectionHeader {
-                id: vehicleInfoSectionHeader
-                anchors.left: parent.left
-                anchors.right: parent.right
-                text: qsTr("Vehicle Info")
-                visible: !_waypointsOnlyMode
-                checked: false
-            }
-
-            GridLayout {
-                anchors.left: parent.left
-                anchors.right: parent.right
-                columnSpacing: ScreenTools.defaultFontPixelWidth
-                rowSpacing: columnSpacing
-                columns: 2
-                visible: vehicleInfoSectionHeader.visible && vehicleInfoSectionHeader.checked
-
-                QGCLabel {
-                    text: _firmwareLabel
-                    Layout.fillWidth: true
-                    visible: _multipleFirmware
-                }
-                FactComboBox {
-                    fact: QGroundControl.settingsManager.appSettings.offlineEditingFirmwareClass
-                    indexModel: false
-                    Layout.preferredWidth: _fieldWidth
-                    visible: _multipleFirmware && _allowFWVehicleTypeSelection
-                }
-                QGCLabel {
-                    text: _controllerVehicle.firmwareTypeString
-                    visible: _multipleFirmware && !_allowFWVehicleTypeSelection
-                }
-
-                QGCLabel {
-                    text: _vehicleLabel
-                    Layout.fillWidth: true
-                    visible: _multipleVehicleTypes
-                }
-                FactComboBox {
-                    fact: QGroundControl.settingsManager.appSettings.offlineEditingVehicleClass
-                    indexModel: false
-                    Layout.preferredWidth: _fieldWidth
-                    visible: _multipleVehicleTypes && _allowFWVehicleTypeSelection
-                }
-                QGCLabel {
-                    text: _controllerVehicle.vehicleTypeString
-                    visible: _multipleVehicleTypes && !_allowFWVehicleTypeSelection
-                }
-
-                QGCLabel {
-                    Layout.columnSpan: 2
-                    Layout.alignment: Qt.AlignHCenter
-                    Layout.fillWidth: true
-                    wrapMode: Text.WordWrap
-                    font.pointSize: ScreenTools.smallFontPointSize
-                    text: qsTr("The following speed values are used to calculate total mission time. They do not affect the flight speed for the mission.")
-                    visible: _showCruiseSpeed || _showHoverSpeed
-                }
-
-                QGCLabel {
-                    text: qsTr("Cruise speed")
-                    visible: _showCruiseSpeed
-                    Layout.fillWidth: true
-                }
-                FactTextField {
-                    fact: QGroundControl.settingsManager.appSettings.offlineEditingCruiseSpeed
-                    visible: _showCruiseSpeed
-                    Layout.preferredWidth: _fieldWidth
-                }
-
-                QGCLabel {
-                    text: qsTr("Hover speed")
-                    visible: _showHoverSpeed
-                    Layout.fillWidth: true
-                }
-                FactTextField {
-                    fact: QGroundControl.settingsManager.appSettings.offlineEditingHoverSpeed
-                    visible: _showHoverSpeed
-                    Layout.preferredWidth: _fieldWidth
-                }
-            } // GridLayout
-
-            SectionHeader {
-                id: plannedHomePositionSection
-                anchors.left: parent.left
-                anchors.right: parent.right
-                text: qsTr("Launch Position")
-                visible: !_vehicleHasHomePosition
-                checked: false
-            }
-
-            Column {
-                anchors.left: parent.left
-                anchors.right: parent.right
-                spacing: _margin
-                visible: plannedHomePositionSection.checked && !_vehicleHasHomePosition
-
-                GridLayout {
-                    anchors.left: parent.left
-                    anchors.right: parent.right
-                    columnSpacing: ScreenTools.defaultFontPixelWidth
-                    rowSpacing: columnSpacing
-                    columns: 2
-
-                    QGCLabel {
-                        text: qsTr("Altitude")
-                    }
-                    FactTextField {
-                        fact: missionItem.plannedHomePositionAltitude
-                        Layout.fillWidth: true
-                    }
-                }
-
-                QGCLabel {
-                    width: parent.width
-                    wrapMode: Text.WordWrap
-                    font.pointSize: ScreenTools.smallFontPointSize
-                    text: qsTr("Actual position set by vehicle at flight time.")
-                    horizontalAlignment: Text.AlignHCenter
-                }
-
-                QGCButton {
-                    text: qsTr("Set To Map Center")
-                    onClicked: missionItem.coordinate = map.center
-                    anchors.horizontalCenter: parent.horizontalCenter
-                }
-            }
-        } // Column
-    } // Column
-} // Rectangle
diff --git a/src/QmlControls/ObjectItemModelBase.cc b/src/QmlControls/ObjectItemModelBase.cc
new file mode 100644
index 000000000000..ad2a9d47e34d
--- /dev/null
+++ b/src/QmlControls/ObjectItemModelBase.cc
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "ObjectItemModelBase.h"
+#include "QGCLoggingCategory.h"
+
+#include <QtQml/QQmlEngine>
+
+QGC_LOGGING_CATEGORY(ObjectItemModelBaseLog, "API.ObjectItemModelBase")
+
+ObjectItemModelBase::ObjectItemModelBase(QObject* parent)
+    : QAbstractItemModel(parent)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+}
+
+ObjectItemModelBase::~ObjectItemModelBase()
+{
+    if (_resetModelNestingCount > 0) {
+        qCWarning(ObjectItemModelBaseLog) << "Destroyed with unbalanced nesting of begin/endResetModel calls - _resetModelNestingCount:" << _resetModelNestingCount << this;
+    }
+}
+
+QHash<int, QByteArray> ObjectItemModelBase::roleNames() const
+{
+    return {
+        { ObjectRole, "object" },
+        { TextRole, "text" },
+    };
+}
+
+void ObjectItemModelBase::_childDirtyChanged(bool dirty)
+{
+    _dirty |= dirty;
+    emit dirtyChanged(_dirty);
+}
+
+void ObjectItemModelBase::beginResetModel()
+{
+    if (_resetModelNestingCount == 0) {
+        qCDebug(ObjectItemModelBaseLog) << "First beginResetModel - calling QAbstractItemModel::beginResetModel" << this;
+        QAbstractItemModel::beginResetModel();
+    }
+    _resetModelNestingCount++;
+    qCDebug(ObjectItemModelBaseLog) << "Reset model nesting count" << _resetModelNestingCount << this;
+}
+
+void ObjectItemModelBase::endResetModel()
+{
+    if (_resetModelNestingCount == 0) {
+        qCWarning(ObjectItemModelBaseLog) << "endResetModel called without prior beginResetModel";
+        return;
+    }
+    _resetModelNestingCount--;
+    qCDebug(ObjectItemModelBaseLog) << "Reset model nesting count" << _resetModelNestingCount << this;
+    if (_resetModelNestingCount == 0) {
+        qCDebug(ObjectItemModelBaseLog) << "Last endResetModel - calling QAbstractItemModel::endResetModel" << this;
+        QAbstractItemModel::endResetModel();
+        emit countChanged(count());
+    }
+}
+
+void ObjectItemModelBase::_signalCountChangedIfNotNested()
+{
+    if (_resetModelNestingCount == 0) {
+        emit countChanged(count());
+    }
+}
diff --git a/src/QmlControls/ObjectItemModelBase.h b/src/QmlControls/ObjectItemModelBase.h
new file mode 100644
index 000000000000..40f5310f0cc8
--- /dev/null
+++ b/src/QmlControls/ObjectItemModelBase.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QtCore/QAbstractItemModel>
+#include <QtCore/QLoggingCategory>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+Q_DECLARE_LOGGING_CATEGORY(ObjectItemModelBaseLog)
+
+/// Common base for QObject*-based item models (flat lists and trees).
+/// Provides: dirty tracking, depth-counted begin/endResetModel, shared role constants, roleNames.
+class ObjectItemModelBase : public QAbstractItemModel
+{
+    Q_OBJECT
+
+public:
+    explicit ObjectItemModelBase(QObject* parent = nullptr);
+    ~ObjectItemModelBase() override;
+
+    Q_PROPERTY(int count READ count NOTIFY countChanged)
+    Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
+
+    bool dirty() const { return _dirty; }
+
+    /// Depth-counted beginResetModel — only the outermost call has effect.
+    void beginResetModel();
+
+    /// Depth-counted endResetModel — only the outermost call has effect.
+    void endResetModel();
+
+    virtual int count() const = 0;
+    virtual bool isEmpty() const { return (count() == 0); }
+    virtual void setDirty(bool dirty) = 0;
+    virtual void clear() = 0;
+
+signals:
+    void countChanged(int count);
+    void dirtyChanged(bool dirty);
+
+protected slots:
+    void _childDirtyChanged(bool dirty);
+
+protected:
+    QHash<int, QByteArray> roleNames() const override;
+    void _signalCountChangedIfNotNested();
+
+    bool _dirty = false;
+    uint _resetModelNestingCount = 0;
+
+    static constexpr int ObjectRole = Qt::UserRole;
+    static constexpr int TextRole = Qt::UserRole + 1;
+};
diff --git a/src/QmlControls/ObjectListModelBase.cc b/src/QmlControls/ObjectListModelBase.cc
index 9e184344fb67..f38f4a0ecdd5 100644
--- a/src/QmlControls/ObjectListModelBase.cc
+++ b/src/QmlControls/ObjectListModelBase.cc
@@ -10,72 +10,41 @@
 #include "ObjectListModelBase.h"
 #include "QGCLoggingCategory.h"
 
-#include <QtCore/QDebug>
-#include <QtQml/QQmlEngine>
-
 QGC_LOGGING_CATEGORY(ObjectListModelBaseLog, "API.ObjectListModelBase")
 
 ObjectListModelBase::ObjectListModelBase(QObject* parent)
-    : QAbstractListModel        (parent)
-    , _dirty                    (false)
-    , _skipDirtyFirstItem       (false)
+    : ObjectItemModelBase(parent)
 {
-    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 
 ObjectListModelBase::~ObjectListModelBase()
 {
-    if (_resetModelNestingCount > 0) {
-        qCWarning(ObjectListModelBaseLog) << "Destroyed with unbalanced nesting of begin/endResetModel calls - _resetModelNestingCount:" << _resetModelNestingCount << this;
-    }
 }
 
-QHash<int, QByteArray> ObjectListModelBase::roleNames(void) const
-{
-    QHash<int, QByteArray> hash;
-
-    hash[ObjectRole] = "object";
-    hash[TextRole] = "text";
-
-    return hash;
-}
+// Flat-list overrides — same semantics as QAbstractListModel
 
-void ObjectListModelBase::_childDirtyChanged(bool dirty)
+QModelIndex ObjectListModelBase::index(int row, int column, const QModelIndex& parent) const
 {
-    _dirty |= dirty;
-    // We want to emit dirtyChanged even if the actual value of _dirty didn't change. It can be a useful
-    // signal to know when a child has changed dirty state
-    emit dirtyChanged(_dirty);
+    if (parent.isValid() || column != 0 || row < 0 || row >= rowCount()) {
+        return {};
+    }
+    return createIndex(row, 0);
 }
 
-void ObjectListModelBase::beginResetModel()
+QModelIndex ObjectListModelBase::parent(const QModelIndex& child) const
 {
-    if (_resetModelNestingCount == 0) {
-        qCDebug(ObjectListModelBaseLog) << "First call to begiResetModel - calling QAbstractListModel::beginResetModel" << this;
-        QAbstractListModel::beginResetModel();
-    }
-    _resetModelNestingCount++;
-    qCDebug(ObjectListModelBaseLog) << "Reset model nesting count" << _resetModelNestingCount << this;
+    Q_UNUSED(child);
+    return {};
 }
 
-void ObjectListModelBase::endResetModel()
+int ObjectListModelBase::columnCount(const QModelIndex& parent) const
 {
-    if (_resetModelNestingCount == 0) {
-        qCWarning(ObjectListModelBaseLog) << "Internal Error: endResetModel called without prior beginResetModel";
-        return;
-    }
-    _resetModelNestingCount--;
-    qCDebug(ObjectListModelBaseLog) << "Reset model nesting count" << _resetModelNestingCount << this;
-    if (_resetModelNestingCount == 0) {
-        qCDebug(ObjectListModelBaseLog) << "Last call to endResetModel - calling QAbstractListModel::endResetModel" << this;
-        QAbstractListModel::endResetModel();
-        emit countChanged(count());
-    }
+    Q_UNUSED(parent);
+    return 1;
 }
 
-void ObjectListModelBase::_signalCountChangedIfNotNested()
+bool ObjectListModelBase::hasChildren(const QModelIndex& parent) const
 {
-    if (_resetModelNestingCount == 0) {
-        emit countChanged(count());
-    }
+    // Only the root (invalid parent) has children in a flat list
+    return !parent.isValid() && rowCount() > 0;
 }
diff --git a/src/QmlControls/ObjectListModelBase.h b/src/QmlControls/ObjectListModelBase.h
index 34e4ee9c7a0d..320c0e642e36 100644
--- a/src/QmlControls/ObjectListModelBase.h
+++ b/src/QmlControls/ObjectListModelBase.h
@@ -10,61 +10,37 @@
 
 #pragma once
 
-#include <QtCore/QAbstractListModel>
-#include <QtCore/QLoggingCategory>
-#include <QtQmlIntegration/QtQmlIntegration>
+#include "ObjectItemModelBase.h"
 
 Q_DECLARE_LOGGING_CATEGORY(ObjectListModelBaseLog)
 
-/// Base class for custom object list models: QmlObjectListModel, SparselObjectListModel
-class ObjectListModelBase : public QAbstractListModel
+/// Base class for flat QObject* list models. Inherits common dirty/reset/role
+/// handling from ObjectItemModelBase and adds flat-list index()/parent() overrides.
+class ObjectListModelBase : public ObjectItemModelBase
 {
     Q_OBJECT
 
 public:
     ObjectListModelBase(QObject* parent = nullptr);
-    ~ObjectListModelBase();
+    ~ObjectListModelBase() override;
 
-    Q_PROPERTY(int count READ count NOTIFY countChanged)
-
-    /// Returns true if any of the items in the list are dirty. Requires each object to have
-    /// a dirty property and dirtyChanged signal.
-    Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
-
-    bool dirty() const { return _dirty; }
-    void beginResetModel(); ///< Supported nesting of calls such that only outermost call has effect
-    void endResetModel(); ///< Supported nesting of calls such that only outermost call has effect
-
-    virtual int count() const = 0;
-    virtual bool isEmpty() const { return (count() == 0); }
-    virtual void setDirty(bool dirty) = 0;
-    virtual void clear() = 0;
     virtual void clearAndDeleteContents() = 0; ///< Clears the list and calls deleteLater on each entry
     virtual QObject* removeOne(const QObject* object) = 0;
     virtual bool contains(const QObject* object) = 0;
 
-signals:
-    void countChanged(int count);
-    void dirtyChanged(bool dirtyChanged);
-
-protected slots:
-    void _childDirtyChanged(bool dirty);
+    // Flat-list overrides of QAbstractItemModel — same behavior as QAbstractListModel
+    QModelIndex index(int row, int column = 0, const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& child) const override;
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+    bool hasChildren(const QModelIndex& parent = QModelIndex()) const override;
 
 protected:
-    // Overrides from QAbstractListModel which must be implemented by derived classes
-    int rowCount(const QModelIndex & parent = QModelIndex()) const override = 0;
+    // Overrides from QAbstractItemModel which must be implemented by derived classes
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override = 0;
     QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override = 0;
     bool insertRows(int position, int rows, const QModelIndex& index = QModelIndex()) override = 0;
     bool removeRows(int position, int rows, const QModelIndex& index = QModelIndex()) override = 0;
     bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override = 0;
 
-    void _signalCountChangedIfNotNested();
-
-    QHash<int, QByteArray> roleNames(void) const override;
-    bool _dirty;
-    bool _skipDirtyFirstItem;
-    uint _resetModelNestingCount = 0;
-
-    static constexpr int ObjectRole = Qt::UserRole;
-    static constexpr int TextRole = Qt::UserRole + 1;
+    bool _skipDirtyFirstItem = false;
 };
diff --git a/src/QmlControls/PIDTuning.qml b/src/QmlControls/PIDTuning.qml
index 3f186ce1427f..bbb4091926bb 100644
--- a/src/QmlControls/PIDTuning.qml
+++ b/src/QmlControls/PIDTuning.qml
@@ -333,13 +333,16 @@ RowLayout {
                 model: axis
 
                 Repeater {
+                    id: paramRepeater
                     model: axis[index].params
 
+                    property int axisIndex: index
+
                     SettingsGroupLayout {
                         id:                     tuningGroup
                         heading:                title
                         headingDescription:     description
-                        visible:                _currentAxis === index
+                        visible:                _currentAxis === paramRepeater.axisIndex
                         Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 40
 
                         FactSlider {
diff --git a/src/QmlControls/PlanViewRightPanel.qml b/src/QmlControls/PlanViewRightPanel.qml
deleted file mode 100644
index 0866393a361a..000000000000
--- a/src/QmlControls/PlanViewRightPanel.qml
+++ /dev/null
@@ -1,210 +0,0 @@
-import QtQuick
-import QtQuick.Controls
-import QtQuick.Layouts
-
-import QGroundControl
-import QGroundControl.Controls
-
-Item {
-    required property var editorMap
-    required property var planMasterController
-
-    id: root
-
-    // These must match the indices of _editingToolComponents
-    readonly property int _editingToolMission:  0
-    readonly property int _editingToolFence:    1
-    readonly property int _editingToolRally:    2
-
-    property int _editingTool:              _editingToolMission
-    property var _missionController:        planMasterController.missionController
-    property var _geoFenceController:       planMasterController.geoFenceController
-    property var _rallyPointController:     planMasterController.rallyPointController
-    property var _visualItems:              _missionController.visualItems
-    property var _editingToolComponents:    [ missionToolComponent, fenceToolComponent, rallyToolComponent ]
-    property real _toolsMargin:             ScreenTools.defaultFontPixelWidth * 0.75
-
-    function selectNextNotReady() {
-        var foundCurrent = false
-        for (var i=0; i<_missionController.visualItems.count; i++) {
-            var vmi = _missionController.visualItems.get(i)
-            if (vmi.readyForSaveState === VisualMissionItem.NotReadyForSaveData) {
-                _missionController.setCurrentPlanViewSeqNum(vmi.sequenceNumber, true)
-                break
-            }
-        }
-    }
-
-    QGCPalette { id: qgcPal }
-
-    Rectangle {
-        id:             rightPanelBackground
-        anchors.fill:   parent
-        color:          qgcPal.window
-        opacity:        0.85
-    }
-
-
-    // Open/Close panel
-    Item {
-        id:                     panelOpenCloseButton
-        anchors.right:          parent.left
-        anchors.verticalCenter: parent.verticalCenter
-        width:                  toggleButtonRect.width - toggleButtonRect.radius
-        height:                 toggleButtonRect.height
-        clip:                   true
-
-        property bool _expanded: root.anchors.right == root.parent.right
-
-        Rectangle {
-            id:             toggleButtonRect
-            width:          ScreenTools.defaultFontPixelWidth * 2.25
-            height:         width * 3
-            radius:         ScreenTools.defaultBorderRadius
-            color:          rightPanelBackground.color
-            opacity:        rightPanelBackground.opacity
-
-            QGCLabel {
-                id:                 toggleButtonLabel
-                anchors.centerIn:   parent
-                text:               panelOpenCloseButton._expanded ? ">" : "<"
-                color:              qgcPal.buttonText
-            }
-
-        }
-
-        QGCMouseArea {
-            anchors.fill: parent
-
-            onClicked: {
-                if (panelOpenCloseButton._expanded) {
-                    // Close panel
-                    root.anchors.right = undefined
-                    root.anchors.left = root.parent.right
-                } else {
-                    // Open panel
-                    root.anchors.left = undefined
-                    root.anchors.right = root.parent.right
-                }
-            }
-        }
-    }
-
-    //-------------------------------------------------------
-    // Right Panel Controls
-    Item {
-        anchors.fill: rightPanelBackground
-
-        DeadMouseArea {
-            anchors.fill:   parent
-        }
-
-        ColumnLayout {
-            anchors.fill:   parent
-            spacing:        ScreenTools.defaultFontPixelHeight * 0.5
-
-            QGCTabBar {
-                Layout.fillWidth: true
-
-                QGCTabButton {
-                    text:       qsTr("Mission")
-                    onClicked:  { root._editingTool = root._editingToolMission; _editingLayer = _layerMission }
-                }
-
-                QGCTabButton {
-                    text:       qsTr("Fence")
-                    onClicked:  { root._editingTool = root._editingToolFence; _editingLayer = _layerFence }
-                }
-
-                QGCTabButton {
-                    text:       qsTr("Rally")
-                    onClicked:  { root._editingTool = root._editingToolRally; _editingLayer = _layerRally }
-                }
-            }
-
-            Loader {
-                id:                 editingToolLoader
-                Layout.fillWidth:   true
-                Layout.fillHeight:  true
-                sourceComponent:    root._editingToolComponents[root._editingTool]
-            }
-        }
-
-        Component {
-            id: missionToolComponent
-
-            ColumnLayout {
-                spacing: ScreenTools.defaultFontPixelHeight / 2
-
-                QGCListView {
-                    id:                 missionItemEditorListView
-                    Layout.fillWidth:   true
-                    Layout.fillHeight:  true
-                    spacing:            ScreenTools.defaultFontPixelHeight / 4
-                    orientation:        ListView.Vertical
-                    model:              _missionController.visualItems
-                    cacheBuffer:        Math.max(height * 2, 0)
-                    clip:               true
-                    currentIndex:       _missionController.currentPlanViewSeqNum
-                    highlightMoveDuration: 250
-
-                    delegate: MissionItemEditor {
-                        map:                editorMap
-                        masterController:   planMasterController
-                        missionItem:        object
-                        width:              missionItemEditorListView.width
-                        readOnly:           false
-
-                        onClicked: _missionController.setCurrentPlanViewSeqNum(object.sequenceNumber, false)
-
-                        onRemove: {
-                            var removeVIIndex = index
-                            _missionController.removeVisualItem(removeVIIndex)
-                            if (removeVIIndex >= _missionController.visualItems.count) {
-                                removeVIIndex--
-                            }
-                        }
-
-                        onSelectNextNotReadyItem: selectNextNotReady()
-                    }
-                }
-            }
-        }
-
-        Component {
-            id: fenceToolComponent
-
-            Column {
-                spacing: ScreenTools.defaultFontPixelHeight / 2
-
-                GeoFenceEditor {
-                    width:                  parent.width
-                    myGeoFenceController:   root._geoFenceController
-                    flightMap:              root.editorMap
-                }
-            }
-        }
-
-
-        Component {
-            id: rallyToolComponent
-
-            Column {
-                spacing: ScreenTools.defaultFontPixelHeight / 2
-
-                RallyPointEditorHeader {
-                    width:              parent.width
-                    controller:         root._rallyPointController
-                }
-
-                RallyPointItemEditor {
-                    width:              parent.width
-                    visible:            root._rallyPointController.points.count
-                    rallyPoint:         root._rallyPointController.currentRallyPoint
-                    controller:         root._rallyPointController
-                }
-            }
-        }
-
-    }
-}
diff --git a/src/QmlControls/QGCMapPolygon.cc b/src/QmlControls/QGCMapPolygon.cc
index 8b0c9b49fda7..f309f62390dc 100644
--- a/src/QmlControls/QGCMapPolygon.cc
+++ b/src/QmlControls/QGCMapPolygon.cc
@@ -4,12 +4,15 @@
 #include "JsonParsing.h"
 #include "QGCQGeoCoordinate.h"
 #include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
 #include "ShapeFileHelper.h"
 #include "KMLDomDocument.h"
 
 #include <QtCore/QLineF>
 #include <QMetaMethod>
 
+QGC_LOGGING_CATEGORY(QGCMapPolygonLog, "QMLControls.QGCMapPolygon")
+
 QGCMapPolygon::QGCMapPolygon(QObject* parent)
     : QObject               (parent)
     , _dirty                (false)
@@ -74,7 +77,11 @@ void QGCMapPolygon::clear(void)
     while (_polygonPath.count() > 1) {
         _polygonPath.takeLast();
     }
-    emit pathChanged();
+    if (_vertexDrag) {
+        emit dragPathChanged();
+    } else {
+        emit pathChanged();
+    }
 
     // Although this code should remove the polygon from the map it doesn't. There appears
     // to be a bug in QGCMapPolygon which causes it to not be redrawn if the list is empty. So
@@ -94,14 +101,20 @@ void QGCMapPolygon::adjustVertex(int vertexIndex, const QGeoCoordinate coordinat
     _polygonPath[vertexIndex] = QVariant::fromValue(coordinate);
     _polygonModel.value<QGCQGeoCoordinate*>(vertexIndex)->setCoordinate(coordinate);
     if (!_centerDrag) {
-        // When dragging center we don't signal path changed until all vertices are updated
         if (!_deferredPathChanged) {
-            // Only update the path once per event loop, to prevent lag-spikes
             _deferredPathChanged = true;
-            QTimer::singleShot(0, this, [this]() {
-                emit pathChanged();
-                _deferredPathChanged = false;
-            });
+            if (_vertexDrag) {
+                // During vertex drag only emit the lightweight visual signal
+                QTimer::singleShot(0, this, [this]() {
+                    emit dragPathChanged();
+                    _deferredPathChanged = false;
+                });
+            } else {
+                QTimer::singleShot(0, this, [this]() {
+                    emit pathChanged();
+                    _deferredPathChanged = false;
+                });
+            }
         }
     }
     setDirty(true);
@@ -272,7 +285,11 @@ void QGCMapPolygon::appendVertex(const QGeoCoordinate& coordinate)
         // Only update the path once per event loop, to prevent lag-spikes
         _deferredPathChanged = true;
         QTimer::singleShot(0, this, [this]() {
-            emit pathChanged();
+            if (_vertexDrag) {
+                emit dragPathChanged();
+            } else {
+                emit pathChanged();
+            }
             _deferredPathChanged = false;
         });
     }
@@ -290,7 +307,11 @@ void QGCMapPolygon::appendVertices(const QList<QGeoCoordinate>& coordinates)
     _polygonModel.append(objects);
     endReset();
 
-    emit pathChanged();
+    if (_vertexDrag) {
+        emit dragPathChanged();
+    } else {
+        emit pathChanged();
+    }
 }
 
 void QGCMapPolygon::appendVertices(const QVariantList& varCoords)
@@ -311,8 +332,8 @@ void QGCMapPolygon::_polygonModelDirtyChanged(bool dirty)
 
 void QGCMapPolygon::removeVertex(int vertexIndex)
 {
-    if (vertexIndex < 0 && vertexIndex > _polygonPath.length() - 1) {
-        qWarning() << "Call to removePolygonCoordinate with bad vertexIndex:count" << vertexIndex << _polygonPath.length();
+    if (vertexIndex < 0 || vertexIndex >= _polygonPath.length()) {
+        qCWarning(QGCMapPolygonLog) << "Call to removePolygonCoordinate with bad vertexIndex:count" << vertexIndex << _polygonPath.length();
         return;
     }
 
@@ -344,12 +365,35 @@ void QGCMapPolygon::_updateCenter(void)
         QGeoCoordinate center;
 
         if (_polygonPath.count() > 2) {
-            QPointF centroid(0, 0);
             QPolygonF polygonF = _toPolygonF();
-            for (int i=0; i<polygonF.count(); i++) {
-                centroid += polygonF[i];
+            const int n = polygonF.count();
+
+            // Surveyor's (shoelace) formula for polygon centroid
+            double signedArea = 0;
+            double cx = 0;
+            double cy = 0;
+
+            for (int i = 0; i < n; i++) {
+                const int j = (i + 1) % n;
+                const double cross = polygonF[i].x() * polygonF[j].y() - polygonF[j].x() * polygonF[i].y();
+                signedArea += cross;
+                cx += (polygonF[i].x() + polygonF[j].x()) * cross;
+                cy += (polygonF[i].y() + polygonF[j].y()) * cross;
+            }
+
+            if (qAbs(signedArea) < 1e-6) {
+                // Degenerate or near-degenerate polygon (area < 0.5e-6 m²) — fall back to vertex average
+                QPointF avg(0, 0);
+                for (int i = 0; i < n; i++) {
+                    avg += polygonF[i];
+                }
+                center = _coordFromPointF(QPointF(avg.x() / n, avg.y() / n));
+            } else {
+                signedArea *= 0.5;
+                cx /= (6.0 * signedArea);
+                cy /= (6.0 * signedArea);
+                center = _coordFromPointF(QPointF(cx, cy));
             }
-            center = _coordFromPointF(QPointF(centroid.x() / polygonF.count(), centroid.y() / polygonF.count()));
         }
         if (_center != center) {
             _center = center;
@@ -373,29 +417,29 @@ void QGCMapPolygon::setCenter(QGeoCoordinate newCenter)
             adjustVertex(i, newVertex);
         }
 
+        _ignoreCenterUpdates = false;
+        _center = newCenter;
+
         if (_centerDrag) {
-            // When center dragging, signals from adjustVertext are not sent. So we need to signal here when all adjusting is complete.
+            // During center drag emit lightweight visual signals only
+            if (!_deferredPathChanged) {
+                _deferredPathChanged = true;
+                QTimer::singleShot(0, this, [this]() {
+                    emit dragPathChanged();
+                    emit dragCenterChanged(_center);
+                    _deferredPathChanged = false;
+                });
+            }
+        } else {
             if (!_deferredPathChanged) {
-                // Only update the path once per event loop, to prevent lag-spikes
                 _deferredPathChanged = true;
                 QTimer::singleShot(0, this, [this]() {
                     emit pathChanged();
+                    emit centerChanged(_center);
                     _deferredPathChanged = false;
                 });
             }
         }
-
-        _ignoreCenterUpdates = false;
-
-        _center = newCenter;
-        if (!_deferredPathChanged) {
-            // Only update the center once per event loop, to prevent lag-spikes
-            _deferredPathChanged = true;
-            QTimer::singleShot(0, this, [this, newCenter]() {
-                emit centerChanged(newCenter);
-                _deferredPathChanged = false;
-            });
-        }
     }
 }
 
@@ -403,10 +447,30 @@ void QGCMapPolygon::setCenterDrag(bool centerDrag)
 {
     if (centerDrag != _centerDrag) {
         _centerDrag = centerDrag;
+        if (!centerDrag) {
+            // Drag ended. Center edits do not use vertexDrag, so emit pathChanged here.
+            // For interactive center drag, setVertexDrag(false) emits pathChanged.
+            if (!_vertexDrag) {
+                emit pathChanged();
+            }
+            emit centerChanged(_center);
+        }
         emit centerDragChanged(centerDrag);
     }
 }
 
+void QGCMapPolygon::setVertexDrag(bool vertexDrag)
+{
+    if (_vertexDrag != vertexDrag) {
+        _vertexDrag = vertexDrag;
+        if (!vertexDrag) {
+            // Drag ended - signal path changed so downstream can recalculate
+            emit pathChanged();
+        }
+        emit vertexDragChanged(vertexDrag);
+    }
+}
+
 void QGCMapPolygon::setInteractive(bool interactive)
 {
     if (_interactive != interactive) {
@@ -420,7 +484,7 @@ QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
     if (vertex >= 0 && vertex < _polygonPath.count()) {
         return _polygonPath[vertex].value<QGeoCoordinate>();
     } else {
-        qWarning() << "QGCMapPolygon::vertexCoordinate bad vertex requested:count" << vertex << _polygonPath.count();
+        qCWarning(QGCMapPolygonLog) << "QGCMapPolygon::vertexCoordinate bad vertex requested:count" << vertex << _polygonPath.count();
         return QGeoCoordinate();
     }
 }
@@ -487,7 +551,7 @@ void QGCMapPolygon::offset(double distance)
             auto intersect = rgOffsetEdges[prevIndex].intersects(rgOffsetEdges[i], &newVertex);
             if (intersect == QLineF::NoIntersection) {
                 // FIXME: Better error handling?
-                qWarning("Intersection failed");
+                qCWarning(QGCMapPolygonLog, "Intersection failed");
                 return;
             }
             QGeoCoordinate coord;
@@ -649,10 +713,8 @@ void QGCMapPolygon::selectVertex(int index)
     if(-1 <= index && index < count()) {
         _selectedVertexIndex = index;
     } else {
-        if (!qgcApp()->runningUnitTests()) {
-            qWarning() << QString("QGCMapPolygon: Selected vertex index (%1) is out of bounds! "
-                                  "Polygon vertices indexes range is [%2..%3].").arg(index).arg(0).arg(count()-1);
-        }
+        qCWarning(QGCMapPolygonLog) << QString("QGCMapPolygon: Selected vertex index (%1) is out of bounds! "
+                              "Polygon vertices indexes range is [%2..%3].").arg(index).arg(0).arg(count()-1);
         _selectedVertexIndex = -1;   // deselect vertex
     }
 
diff --git a/src/QmlControls/QGCMapPolygon.h b/src/QmlControls/QGCMapPolygon.h
index 2037222b4ccf..7a3c58de832f 100644
--- a/src/QmlControls/QGCMapPolygon.h
+++ b/src/QmlControls/QGCMapPolygon.h
@@ -27,11 +27,14 @@ class QGCMapPolygon : public QObject
 
     Q_PROPERTY(int                  count           READ count                                  NOTIFY countChanged)
     Q_PROPERTY(QVariantList         path            READ path                                   NOTIFY pathChanged)
+    Q_PROPERTY(QVariantList         dragPath        READ path                                   NOTIFY dragPathChanged)
     Q_PROPERTY(double               area            READ area                                   NOTIFY pathChanged)
     Q_PROPERTY(QmlObjectListModel*  pathModel       READ qmlPathModel                           CONSTANT)
     Q_PROPERTY(bool                 dirty           READ dirty          WRITE setDirty          NOTIFY dirtyChanged)
     Q_PROPERTY(QGeoCoordinate       center          READ center         WRITE setCenter         NOTIFY centerChanged)
+    Q_PROPERTY(QGeoCoordinate       dragCenter      READ center                                 NOTIFY dragCenterChanged)
     Q_PROPERTY(bool                 centerDrag      READ centerDrag     WRITE setCenterDrag     NOTIFY centerDragChanged)
+    Q_PROPERTY(bool                 vertexDrag      READ vertexDrag     WRITE setVertexDrag     NOTIFY vertexDragChanged)
     Q_PROPERTY(bool                 interactive     READ interactive    WRITE setInteractive    NOTIFY interactiveChanged)
     Q_PROPERTY(bool                 isValid         READ isValid                                NOTIFY isValidChanged)
     Q_PROPERTY(bool                 empty           READ empty                                  NOTIFY isEmptyChanged)
@@ -102,6 +105,7 @@ class QGCMapPolygon : public QObject
     void            setDirty    (bool dirty);
     QGeoCoordinate  center      (void) const { return _center; }
     bool            centerDrag  (void) const { return _centerDrag; }
+    bool            vertexDrag  (void) const { return _vertexDrag; }
     bool            interactive (void) const { return _interactive; }
     bool            isValid     (void) const { return _polygonModel.count() >= 3; }
     bool            empty       (void) const { return _polygonModel.count() == 0; }
@@ -117,6 +121,7 @@ class QGCMapPolygon : public QObject
     void setPath        (const QVariantList& path);
     void setCenter      (QGeoCoordinate newCenter);
     void setCenterDrag  (bool centerDrag);
+    void setVertexDrag  (bool vertexDrag);
     void setInteractive (bool interactive);
     void setTraceMode   (bool traceMode);
     void setShowAltColor(bool showAltColor);
@@ -127,10 +132,13 @@ class QGCMapPolygon : public QObject
 signals:
     void countChanged       (int count);
     void pathChanged        (void);
+    void dragPathChanged    (void);
     void dirtyChanged       (bool dirty);
     void cleared            (void);
     void centerChanged      (QGeoCoordinate center);
+    void dragCenterChanged  (QGeoCoordinate center);
     void centerDragChanged  (bool centerDrag);
+    void vertexDragChanged  (bool vertexDrag);
     void interactiveChanged (bool interactive);
     bool isValidChanged     (void);
     bool isEmptyChanged     (void);
@@ -154,6 +162,7 @@ private slots:
     bool                _dirty =                false;
     QGeoCoordinate      _center;
     bool                _centerDrag =           false;
+    bool                _vertexDrag =           false;
     bool                _ignoreCenterUpdates =  false;
     bool                _interactive =          false;
     bool                _traceMode =            false;
diff --git a/src/QmlControls/QGCMapPolyline.cc b/src/QmlControls/QGCMapPolyline.cc
index ea1c632be9e4..1d3ee9b0a352 100644
--- a/src/QmlControls/QGCMapPolyline.cc
+++ b/src/QmlControls/QGCMapPolyline.cc
@@ -4,12 +4,14 @@
 #include "JsonParsing.h"
 #include "QGCQGeoCoordinate.h"
 #include "QGCApplication.h"
-#include "ShapeFileHelper.h"
 #include "QGCLoggingCategory.h"
+#include "ShapeFileHelper.h"
 
 #include <QtCore/QLineF>
 #include <QMetaMethod>
 
+QGC_LOGGING_CATEGORY(QGCMapPolylineLog, "QMLControls.QGCMapPolyline")
+
 QGCMapPolyline::QGCMapPolyline(QObject* parent)
     : QObject               (parent)
     , _dirty                (false)
@@ -77,10 +79,18 @@ void QGCMapPolyline::adjustVertex(int vertexIndex, const QGeoCoordinate coordina
     _polylineModel.value<QGCQGeoCoordinate*>(vertexIndex)->setCoordinate(coordinate);
     if (!_deferredPathChanged) {
         _deferredPathChanged = true;
-        QTimer::singleShot(0, this, [this]() {
-            emit pathChanged();
-            _deferredPathChanged = false;
-        });
+        if (_vertexDrag) {
+            // During vertex drag only emit the lightweight visual signal
+            QTimer::singleShot(0, this, [this]() {
+                emit dragPathChanged();
+                _deferredPathChanged = false;
+            });
+        } else {
+            QTimer::singleShot(0, this, [this]() {
+                emit pathChanged();
+                _deferredPathChanged = false;
+            });
+        }
     }
     setDirty(true);
 }
@@ -231,7 +241,7 @@ void QGCMapPolyline::appendVertex(const QGeoCoordinate& coordinate)
 void QGCMapPolyline::removeVertex(int vertexIndex)
 {
     if (vertexIndex < 0 || vertexIndex > _polylinePath.length() - 1) {
-        qWarning() << "Call to removeVertex with bad vertexIndex:count" << vertexIndex << _polylinePath.length();
+        qCWarning(QGCMapPolylineLog) << "Call to removeVertex with bad vertexIndex:count" << vertexIndex << _polylinePath.length();
         return;
     }
 
@@ -260,12 +270,24 @@ void QGCMapPolyline::setInteractive(bool interactive)
     }
 }
 
+void QGCMapPolyline::setVertexDrag(bool vertexDrag)
+{
+    if (_vertexDrag != vertexDrag) {
+        _vertexDrag = vertexDrag;
+        if (!vertexDrag) {
+            // Drag ended - signal path changed so downstream can recalculate
+            emit pathChanged();
+        }
+        emit vertexDragChanged(vertexDrag);
+    }
+}
+
 QGeoCoordinate QGCMapPolyline::vertexCoordinate(int vertex) const
 {
     if (vertex >= 0 && vertex < _polylinePath.count()) {
         return _polylinePath[vertex].value<QGeoCoordinate>();
     } else {
-        qWarning() << "QGCMapPolyline::vertexCoordinate bad vertex requested";
+        qCWarning(QGCMapPolylineLog) << "QGCMapPolyline::vertexCoordinate bad vertex requested";
         return QGeoCoordinate();
     }
 }
@@ -439,10 +461,8 @@ void QGCMapPolyline::selectVertex(int index)
     if(-1 <= index && index < count()) {
         _selectedVertexIndex = index;
     } else {
-        if (!qgcApp()->runningUnitTests()) {
-            qWarning() << QStringLiteral("QGCMapPolyline: Selected vertex index (%1) is out of bounds! "
-                                         "Polyline vertices indexes range is [%2..%3].").arg(index).arg(0).arg(count()-1);
-        }
+        qCWarning(QGCMapPolylineLog) << QStringLiteral("QGCMapPolyline: Selected vertex index (%1) is out of bounds! "
+                                     "Polyline vertices indexes range is [%2..%3].").arg(index).arg(0).arg(count()-1);
         _selectedVertexIndex = -1;   // deselect vertex
     }
 
diff --git a/src/QmlControls/QGCMapPolyline.h b/src/QmlControls/QGCMapPolyline.h
index 0068a0f81447..9b1974f89a01 100644
--- a/src/QmlControls/QGCMapPolyline.h
+++ b/src/QmlControls/QGCMapPolyline.h
@@ -20,9 +20,11 @@ class QGCMapPolyline : public QObject
 
     Q_PROPERTY(int                  count       READ count                                  NOTIFY countChanged)
     Q_PROPERTY(QVariantList         path        READ path                                   NOTIFY pathChanged)
+    Q_PROPERTY(QVariantList         dragPath    READ path                                   NOTIFY dragPathChanged)
     Q_PROPERTY(QmlObjectListModel*  pathModel   READ qmlPathModel                           CONSTANT)
     Q_PROPERTY(bool                 dirty       READ dirty          WRITE setDirty          NOTIFY dirtyChanged)
     Q_PROPERTY(bool                 interactive READ interactive    WRITE setInteractive    NOTIFY interactiveChanged)
+    Q_PROPERTY(bool                 vertexDrag  READ vertexDrag     WRITE setVertexDrag     NOTIFY vertexDragChanged)
     Q_PROPERTY(bool                 isValid     READ isValid                                NOTIFY isValidChanged)
     Q_PROPERTY(bool                 empty       READ empty                                  NOTIFY isEmptyChanged)
     Q_PROPERTY(bool                 traceMode   READ traceMode      WRITE setTraceMode      NOTIFY traceModeChanged)
@@ -80,6 +82,7 @@ class QGCMapPolyline : public QObject
     bool            dirty       (void) const { return _dirty; }
     void            setDirty    (bool dirty);
     bool            interactive (void) const { return _interactive; }
+    bool            vertexDrag  (void) const { return _vertexDrag; }
     QVariantList    path        (void) const { return _polylinePath; }
     bool            isValid     (void) const { return _polylineModel.count() >= 2; }
     bool            empty       (void) const { return _polylineModel.count() == 0; }
@@ -92,6 +95,7 @@ class QGCMapPolyline : public QObject
     void setPath        (const QList<QGeoCoordinate>& path);
     void setPath        (const QVariantList& path);
     void setInteractive (bool interactive);
+    void setVertexDrag  (bool vertexDrag);
     void setTraceMode   (bool traceMode);
     void selectVertex   (int index);
 
@@ -100,9 +104,11 @@ class QGCMapPolyline : public QObject
 signals:
     void countChanged       (int count);
     void pathChanged        (void);
+    void dragPathChanged    (void);
     void dirtyChanged       (bool dirty);
     void cleared            (void);
     void interactiveChanged (bool interactive);
+    void vertexDragChanged  (bool vertexDrag);
     void isValidChanged     (void);
     void isEmptyChanged     (void);
     void traceModeChanged   (bool traceMode);
@@ -122,6 +128,7 @@ private slots:
     bool                _deferredPathChanged = false;
     bool                _dirty;
     bool                _interactive;
+    bool                _vertexDrag = false;
     bool                _traceMode = false;
     int                 _selectedVertexIndex = -1;
 };
diff --git a/src/QmlControls/QGCPalette.cc b/src/QmlControls/QGCPalette.cc
index af258e4001e3..5b5d339f2910 100644
--- a/src/QmlControls/QGCPalette.cc
+++ b/src/QmlControls/QGCPalette.cc
@@ -41,7 +41,6 @@ void QGCPalette::_buildMap()
     DECLARE_QGC_COLOR(windowShade,          "#d9d9d9", "#d9d9d9", "#333333", "#333333")
     DECLARE_QGC_COLOR(windowShadeDark,      "#bdbdbd", "#bdbdbd", "#282828", "#282828")
     DECLARE_QGC_COLOR(text,                 "#9d9d9d", "#333333", "#707070", "#ffffff")
-    DECLARE_QGC_COLOR(windowTransparentText,"#9d9d9d", "#000000", "#707070", "#ffffff")
     DECLARE_QGC_COLOR(warningText,          "#cc0808", "#cc0808", "#f85761", "#f85761")
     DECLARE_QGC_COLOR(button,               "#ffffff", "#ffffff", "#707070", "#626270")
     DECLARE_QGC_COLOR(buttonBorder,         "#9d9d9d", "#3A9BDC", "#707070", "#adadb8")
diff --git a/src/QmlControls/QGCPalette.h b/src/QmlControls/QGCPalette.h
index fdd1dca00ca4..7c41c587b5ab 100644
--- a/src/QmlControls/QGCPalette.h
+++ b/src/QmlControls/QGCPalette.h
@@ -110,7 +110,6 @@ class QGCPalette : public QObject
     DEFINE_QGC_COLOR(windowShade,                   setWindowShade)
     DEFINE_QGC_COLOR(windowShadeDark,               setWindowShadeDark)
     DEFINE_QGC_COLOR(text,                          setText)
-    DEFINE_QGC_COLOR(windowTransparentText,         setWindowTransparentText)
     DEFINE_QGC_COLOR(warningText,                   setWarningText)
     DEFINE_QGC_COLOR(button,                        setButton)
     DEFINE_QGC_COLOR(buttonBorder,                  setButtonBorder)
diff --git a/src/QmlControls/QGCTabBar.qml b/src/QmlControls/QGCTabBar.qml
index 8c52b2ed34c6..e99d47844d8b 100644
--- a/src/QmlControls/QGCTabBar.qml
+++ b/src/QmlControls/QGCTabBar.qml
@@ -15,43 +15,75 @@ RowLayout {
     spacing: 0
 
     property bool _preventCurrentIndexBindingLoop: false
+    property var _buttons: []
+
+    function _updateButtons() {
+        let btns = []
+        for (var i = 0; i < control.children.length; i++) {
+            if (control.children[i].hasOwnProperty("checkable")) {
+                btns.push(control.children[i])
+            }
+        }
+        _buttons = btns
+        buttonGroup.buttons = _buttons
+        _selectCurrentIndexButton()
+    }
 
     function _selectCurrentIndexButton() {
-        if (control.children.length > 0) {
-            _preventCurrentIndexBindingLoop = true
-            if (control.currentIndex == -1) {
-                // No tab selected, select none
-                for (var i = 0; i < control.children.length; i++) {
-                    control.children[i].checked = false
-                }
+        if (_buttons.length === 0) return
+
+        _preventCurrentIndexBindingLoop = true
+
+        if (control.currentIndex === -1) {
+            for (var i = 0; i < _buttons.length; i++) {
+                _buttons[i].checked = false
+            }
+        } else {
+            let index = Math.min(Math.max(control.currentIndex, 0), _buttons.length - 1)
+            if (_buttons[index].visible) {
+                _buttons[index].checked = true
             } else {
-                let filteredCurrentIndex = Math.min(Math.max(control.currentIndex, 0), control.children.length - 1)
-                if (control.children[filteredCurrentIndex].visible) {
-                    control.children[filteredCurrentIndex].checked = true
-                } else {
-                    // We select the first visible tab if the current index is not visible
-                    for (var j = 0; j < control.children.length; j++) {
-                        if (control.children[j].visible) {
-                            control.children[j].checked = true
-                            break
-                        }
+                // Select the first visible tab if the current index is not visible
+                index = -1
+                for (var j = 0; j < _buttons.length; j++) {
+                    if (_buttons[j].visible) {
+                        _buttons[j].checked = true
+                        index = j
+                        break
                     }
                 }
             }
-            _preventCurrentIndexBindingLoop = false
+            // Sync currentIndex to the actually-selected button so it never remains stale
+            if (control.currentIndex !== index) {
+                control.currentIndex = index
+            }
         }
+
+        _preventCurrentIndexBindingLoop = false
     }
 
-    Component.onCompleted: _selectCurrentIndexButton()
+    Component.onCompleted: _updateButtons()
+    onChildrenChanged: _updateButtons()
     onCurrentIndexChanged: _selectCurrentIndexButton()
     onVisibleChildrenChanged: _selectCurrentIndexButton()
 
+    onVisibleChanged: {
+        if (visible) {
+            // When becoming visible, ensure the current index is valid and a button is selected
+            currentIndex = 0
+            _selectCurrentIndexButton()
+        }
+    }
+
+
     ButtonGroup {
-        buttons: control.children
+        id: buttonGroup
 
         onCheckedButtonChanged: {
-            for (var i = 0; i < control.children.length; i++) {
-                if (control.children[i] === checkedButton) {
+            if (control._preventCurrentIndexBindingLoop) return
+
+            for (var i = 0; i < control._buttons.length; i++) {
+                if (control._buttons[i] === checkedButton) {
                     control.currentIndex = i
                     break
                 }
diff --git a/src/QmlControls/QGroundControlQmlGlobal.cc b/src/QmlControls/QGroundControlQmlGlobal.cc
index ed2176cd7c76..6ff5e2896e34 100644
--- a/src/QmlControls/QGroundControlQmlGlobal.cc
+++ b/src/QmlControls/QGroundControlQmlGlobal.cc
@@ -11,6 +11,8 @@
 #include "PositionManager.h"
 #include "QGCMapEngineManager.h"
 #include "ADSBVehicleManager.h"
+#include "NTRIPManager.h"
+#include "MAVLinkSigningKeys.h"
 #include "MissionCommandTree.h"
 #include "VideoManager.h"
 #include "MultiVehicleManager.h"
@@ -35,8 +37,10 @@ QGroundControlQmlGlobal::QGroundControlQmlGlobal(QObject *parent)
     : QObject(parent)
     , _mapEngineManager(QGCMapEngineManager::instance())
     , _adsbVehicleManager(ADSBVehicleManager::instance())
+    , _ntripManager(NTRIPManager::instance())
     , _qgcPositionManager(QGCPositionManager::instance())
     , _missionCommandTree(MissionCommandTree::instance())
+    , _mavlinkSigningKeys(MAVLinkSigningKeys::instance())
     , _videoManager(VideoManager::instance())
     , _linkManager(LinkManager::instance())
     , _multiVehicleManager(MultiVehicleManager::instance())
@@ -257,44 +261,42 @@ QString QGroundControlQmlGlobal::qgcVersion(void)
     return versionStr;
 }
 
-QString QGroundControlQmlGlobal::altitudeModeExtraUnits(AltMode altMode)
+QString QGroundControlQmlGlobal::altitudeFrameExtraUnits(AltitudeFrame altFrame)
 {
-    switch (altMode) {
-    case AltitudeModeNone:
-        return QString();
-    case AltitudeModeRelative:
-        // Showing (Rel) all the time ends up being too noisy
-        return QString();
-    case AltitudeModeAbsolute:
-        return tr("(AMSL)");
-    case AltitudeModeCalcAboveTerrain:
-        return tr("(TerrC)");
-    case AltitudeModeTerrainFrame:
-        return tr("(Terr)");
-    case AltitudeModeMixed:
-        qWarning() << "Internal Error: QGroundControlQmlGlobal::altitudeModeExtraUnits called with altMode == AltitudeModeMixed";
+    switch (altFrame) {
+    case AltitudeFrameNone:
         return QString();
+    case AltitudeFrameRelative:
+        return tr("Rel");
+    case AltitudeFrameAbsolute:
+        return tr("AMSL");
+    case AltitudeFrameCalcAboveTerrain:
+        return tr("AGLC");
+    case AltitudeFrameTerrain:
+        return tr("AGL");
+    case AltitudeFrameMixed:
+        return tr("Mixed");
     }
 
     // Should never get here but makes some compilers happy
     return QString();
 }
 
-QString QGroundControlQmlGlobal::altitudeModeShortDescription(AltMode altMode)
+QString QGroundControlQmlGlobal::altitudeFrameShortDescription(AltitudeFrame altFrame)
 {
-    switch (altMode) {
-    case AltitudeModeNone:
+    switch (altFrame) {
+    case AltitudeFrameNone:
         return QString();
-    case AltitudeModeRelative:
-        return tr("Relative");
-    case AltitudeModeAbsolute:
-        return tr("Absolute");
-    case AltitudeModeCalcAboveTerrain:
-        return tr("TerrainC");
-    case AltitudeModeTerrainFrame:
-        return tr("Terrain");
-    case AltitudeModeMixed:
-        return tr("Waypoint");
+    case AltitudeFrameRelative:
+        return tr("Relative (%1)").arg(altitudeFrameExtraUnits(altFrame));
+    case AltitudeFrameAbsolute:
+        return tr("Absolute (%1)").arg(altitudeFrameExtraUnits(altFrame));
+    case AltitudeFrameCalcAboveTerrain:
+        return tr("Above Terrain Calced (%1)").arg(altitudeFrameExtraUnits(altFrame));
+    case AltitudeFrameTerrain:
+        return tr("Above Terrain (%1)").arg(altitudeFrameExtraUnits(altFrame));
+    case AltitudeFrameMixed:
+        return tr("Mixed");
     }
 
     // Should never get here but makes some compilers happy
diff --git a/src/QmlControls/QGroundControlQmlGlobal.h b/src/QmlControls/QGroundControlQmlGlobal.h
index 5464cc04467a..efaa0b70904b 100644
--- a/src/QmlControls/QGroundControlQmlGlobal.h
+++ b/src/QmlControls/QGroundControlQmlGlobal.h
@@ -15,10 +15,12 @@ Q_DECLARE_LOGGING_CATEGORY(GuidedActionsControllerLog)
 class ADSBVehicleManager;
 class FactGroup;
 class LinkManager;
+class MAVLinkSigningKeys;
 class MissionCommandTree;
 class MultiVehicleManager;
 class QGCCorePlugin;
 class QGCMapEngineManager;
+class NTRIPManager;
 class QGCPalette;
 class QGCPositionManager;
 class SettingsManager;
@@ -26,8 +28,10 @@ class VideoManager;
 class QmlObjectListModel;
 
 Q_MOC_INCLUDE("ADSBVehicleManager.h")
+Q_MOC_INCLUDE("NTRIPManager.h")
 Q_MOC_INCLUDE("FactGroup.h")
 Q_MOC_INCLUDE("LinkManager.h")
+Q_MOC_INCLUDE("MAVLinkSigningKeys.h")
 Q_MOC_INCLUDE("MissionCommandTree.h")
 Q_MOC_INCLUDE("MultiVehicleManager.h")
 Q_MOC_INCLUDE("QGCCorePlugin.h")
@@ -49,15 +53,15 @@ class QGroundControlQmlGlobal : public QObject
     explicit QGroundControlQmlGlobal(QObject *parent = nullptr);
     ~QGroundControlQmlGlobal();
 
-    enum AltMode {
-        AltitudeModeMixed,              // Used by global altitude mode for mission planning
-        AltitudeModeRelative,           // MAV_FRAME_GLOBAL_RELATIVE_ALT
-        AltitudeModeAbsolute,           // MAV_FRAME_GLOBAL
-        AltitudeModeCalcAboveTerrain,   // Absolute altitude above terrain calculated from terrain data
-        AltitudeModeTerrainFrame,       // MAV_FRAME_GLOBAL_TERRAIN_ALT
-        AltitudeModeNone,               // Being used as distance value unrelated to ground (for example distance to structure)
+    enum AltitudeFrame {
+        AltitudeFrameMixed,              // Used by global altitude frame for mission planning
+        AltitudeFrameRelative,           // MAV_FRAME_GLOBAL_RELATIVE_ALT
+        AltitudeFrameAbsolute,           // MAV_FRAME_GLOBAL
+        AltitudeFrameCalcAboveTerrain,   // Absolute altitude above terrain calculated from terrain data
+        AltitudeFrameTerrain,       // MAV_FRAME_GLOBAL_TERRAIN_ALT
+        AltitudeFrameNone,               // Being used as distance value unrelated to ground (for example distance to structure)
     };
-    Q_ENUM(AltMode)
+    Q_ENUM(AltitudeFrame)
 
     Q_PROPERTY(QString              appName                 READ    appName                 CONSTANT)
     Q_PROPERTY(LinkManager*         linkManager             READ    linkManager             CONSTANT)
@@ -67,8 +71,10 @@ class QGroundControlQmlGlobal : public QObject
     Q_PROPERTY(VideoManager*        videoManager            READ    videoManager            CONSTANT)
     Q_PROPERTY(SettingsManager*     settingsManager         READ    settingsManager         CONSTANT)
     Q_PROPERTY(ADSBVehicleManager*  adsbVehicleManager      READ    adsbVehicleManager      CONSTANT)
+    Q_PROPERTY(NTRIPManager*        ntripManager            READ    ntripManager            CONSTANT)
     Q_PROPERTY(QGCCorePlugin*       corePlugin              READ    corePlugin              CONSTANT)
     Q_PROPERTY(MissionCommandTree*  missionCommandTree      READ    missionCommandTree      CONSTANT)
+    Q_PROPERTY(MAVLinkSigningKeys*   mavlinkSigningKeys      READ    mavlinkSigningKeys      CONSTANT)
 #ifndef QGC_NO_SERIAL_LINK
     Q_PROPERTY(FactGroup*           gpsRtk                  READ    gpsRtkFactGroup         CONSTANT)
 #endif
@@ -97,7 +103,6 @@ class QGroundControlQmlGlobal : public QObject
     Q_PROPERTY(qreal zOrderTrajectoryLines      READ zOrderTrajectoryLines      CONSTANT)
     Q_PROPERTY(qreal zOrderWaypointLines        READ zOrderWaypointLines        CONSTANT)
     Q_PROPERTY(bool     hasAPMSupport           READ hasAPMSupport              CONSTANT)
-    Q_PROPERTY(bool     hasMAVLinkInspector     READ hasMAVLinkInspector        CONSTANT)
 
 
     //-------------------------------------------------------------------------
@@ -137,8 +142,8 @@ class QGroundControlQmlGlobal : public QObject
 
     Q_INVOKABLE bool linesIntersect(QPointF xLine1, QPointF yLine1, QPointF xLine2, QPointF yLine2);
 
-    Q_INVOKABLE QString altitudeModeExtraUnits(AltMode altMode);        ///< String shown in the FactTextField.extraUnits ui
-    Q_INVOKABLE QString altitudeModeShortDescription(AltMode altMode);  ///< String shown when a user needs to select an altitude mode
+    Q_INVOKABLE QString altitudeFrameExtraUnits(AltitudeFrame altFrame);        ///< String shown in the FactTextField.extraUnits ui
+    Q_INVOKABLE QString altitudeFrameShortDescription(AltitudeFrame altFrame);  ///< String shown when a user needs to select an altitude frame
 
     /// Shows a simple message dialog. The dialog is parented to owner and will automatically close
     /// if the owner is destroyed, preventing orphaned dialogs that can cause crashes.
@@ -166,6 +171,7 @@ class QGroundControlQmlGlobal : public QObject
     QGCMapEngineManager*    mapEngineManager    ()  { return _mapEngineManager; }
     QGCPositionManager*     qgcPositionManger   ()  { return _qgcPositionManager; }
     MissionCommandTree*     missionCommandTree  ()  { return _missionCommandTree; }
+    MAVLinkSigningKeys*     mavlinkSigningKeys  ()  { return _mavlinkSigningKeys; }
     VideoManager*           videoManager        ()  { return _videoManager; }
     QGCCorePlugin*          corePlugin          ()  { return _corePlugin; }
     SettingsManager*        settingsManager     ()  { return _settingsManager; }
@@ -173,6 +179,7 @@ class QGroundControlQmlGlobal : public QObject
     FactGroup*              gpsRtkFactGroup     ()  { return _gpsRtkFactGroup; }
 #endif
     ADSBVehicleManager*     adsbVehicleManager  ()  { return _adsbVehicleManager; }
+    NTRIPManager*           ntripManager        ()  { return _ntripManager; }
     QmlUnitsConversion*     unitsConversion     ()  { return &_unitsConversion; }
     static QGeoCoordinate   flightMapPosition   ()  { return _coord; }
     static double           flightMapZoom       ()  { return _zoom; }
@@ -191,12 +198,6 @@ class QGroundControlQmlGlobal : public QObject
     bool    hasAPMSupport           () { return true; }
 #endif
 
-#if defined(QGC_DISABLE_MAVLINK_INSPECTOR)
-    bool    hasMAVLinkInspector     () { return false; }
-#else
-    bool    hasMAVLinkInspector     () { return true; }
-#endif
-
     QString elevationProviderName   ();
     QString elevationProviderNotice ();
 
@@ -229,8 +230,10 @@ class QGroundControlQmlGlobal : public QObject
 private:
     QGCMapEngineManager*    _mapEngineManager       = nullptr;
     ADSBVehicleManager*     _adsbVehicleManager     = nullptr;
+    NTRIPManager*           _ntripManager           = nullptr;
     QGCPositionManager*     _qgcPositionManager     = nullptr;
     MissionCommandTree*     _missionCommandTree     = nullptr;
+    MAVLinkSigningKeys*     _mavlinkSigningKeys     = nullptr;
     VideoManager*           _videoManager           = nullptr;
     LinkManager*            _linkManager            = nullptr;
     MultiVehicleManager*    _multiVehicleManager    = nullptr;
@@ -244,7 +247,7 @@ class QGroundControlQmlGlobal : public QObject
     double                  _flightMapInitialZoom   = 17.0;
     QmlUnitsConversion      _unitsConversion;
 
-    QStringList             _altitudeModeEnumString;
+    QStringList             _altitudeFrameEnumString;
 
     static QGeoCoordinate   _coord;
     static double           _zoom;
diff --git a/src/QmlControls/QmlObjectListModel.cc b/src/QmlControls/QmlObjectListModel.cc
index 7532e2057741..eb88d3ffac12 100644
--- a/src/QmlControls/QmlObjectListModel.cc
+++ b/src/QmlControls/QmlObjectListModel.cc
@@ -110,8 +110,10 @@ bool QmlObjectListModel::insertRows(int position, int rows, const QModelIndex& p
         qCWarning(QmlObjectListModelLog) << "Invalid position - position:count" << position << _objectList.count() << this;
     }
 
-    beginInsertRows(QModelIndex(), position, position + rows - 1);
-    endInsertRows();
+    if (_resetModelNestingCount == 0) {
+        beginInsertRows(QModelIndex(), position, position + rows - 1);
+        endInsertRows();
+    }
 
     _signalCountChangedIfNotNested();
 
@@ -128,11 +130,15 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
         qCWarning(QmlObjectListModelLog) << "Invalid rows - position:rows:count" << position << rows << _objectList.count() << this;
     }
 
-    beginRemoveRows(QModelIndex(), position, position + rows - 1);
+    if (_resetModelNestingCount == 0) {
+        beginRemoveRows(QModelIndex(), position, position + rows - 1);
+    }
     for (int row=0; row<rows; row++) {
         _objectList.removeAt(position);
     }
-    endRemoveRows();
+    if (_resetModelNestingCount == 0) {
+        endRemoveRows();
+    }
 
     _signalCountChangedIfNotNested();
 
diff --git a/src/QmlControls/QmlObjectTreeModel.cc b/src/QmlControls/QmlObjectTreeModel.cc
new file mode 100644
index 000000000000..25755ef3c34e
--- /dev/null
+++ b/src/QmlControls/QmlObjectTreeModel.cc
@@ -0,0 +1,558 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "QmlObjectTreeModel.h"
+
+#include <QtCore/QMetaMethod>
+#include <QtQml/QQmlEngine>
+
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(QmlObjectTreeModelLog, "API.QmlObjectTreeModel")
+
+namespace {
+
+constexpr const char* kDirtyChangedSignature = "dirtyChanged(bool)";
+constexpr const char* kChildDirtyChangedSlotSignature = "_childDirtyChanged(bool)";
+
+QMetaMethod childDirtyChangedSlot()
+{
+    const QMetaObject* metaObject = &QmlObjectTreeModel::staticMetaObject;
+    const int slotIndex = metaObject->indexOfSlot(kChildDirtyChangedSlotSignature);
+    Q_ASSERT_X(slotIndex >= 0, "childDirtyChangedSlot", "slot signature mismatch — update kChildDirtyChangedSlotSignature");
+    return (slotIndex >= 0) ? metaObject->method(slotIndex) : QMetaMethod();
+}
+
+QMetaMethod dirtyChangedSignal(const QObject* object)
+{
+    if (!object) {
+        return QMetaMethod();
+    }
+
+    const int signalIndex = object->metaObject()->indexOfSignal(kDirtyChangedSignature);
+    return (signalIndex >= 0) ? object->metaObject()->method(signalIndex) : QMetaMethod();
+}
+
+} // namespace
+
+//-----------------------------------------------------------------------------
+// TreeNode
+//-----------------------------------------------------------------------------
+
+int QmlObjectTreeModel::TreeNode::row() const
+{
+    if (parentNode) {
+        return parentNode->children.indexOf(const_cast<TreeNode*>(this));
+    }
+    return 0;
+}
+
+//-----------------------------------------------------------------------------
+// Construction / Destruction
+//-----------------------------------------------------------------------------
+
+QmlObjectTreeModel::QmlObjectTreeModel(QObject* parent)
+    : ObjectItemModelBase(parent)
+{
+}
+
+QmlObjectTreeModel::~QmlObjectTreeModel()
+{
+    // Skip disconnect — objects may already be destroyed during application shutdown.
+    // Just delete the tree nodes.
+    _deleteSubtree(&_rootNode, false);
+}
+
+//-----------------------------------------------------------------------------
+// QAbstractItemModel overrides
+//-----------------------------------------------------------------------------
+
+QModelIndex QmlObjectTreeModel::index(int row, int column, const QModelIndex& parent) const
+{
+    if (column != 0) {
+        return {};
+    }
+
+    const TreeNode* parentNode = parent.isValid() ? _nodeFromIndex(parent) : &_rootNode;
+    if (!parentNode || row < 0 || row >= parentNode->children.count()) {
+        return {};
+    }
+
+    return createIndex(row, 0, parentNode->children.at(row));
+}
+
+QModelIndex QmlObjectTreeModel::parent(const QModelIndex& child) const
+{
+    if (!child.isValid()) {
+        return {};
+    }
+
+    const TreeNode* node = _nodeFromIndex(child);
+    if (!node || !node->parentNode || node->parentNode == &_rootNode) {
+        return {};
+    }
+
+    return _indexForNode(node->parentNode);
+}
+
+int QmlObjectTreeModel::rowCount(const QModelIndex& parent) const
+{
+    const TreeNode* node = parent.isValid() ? _nodeFromIndex(parent) : &_rootNode;
+    return node ? node->children.count() : 0;
+}
+
+int QmlObjectTreeModel::columnCount(const QModelIndex& parent) const
+{
+    Q_UNUSED(parent);
+    return 1;
+}
+
+bool QmlObjectTreeModel::hasChildren(const QModelIndex& parent) const
+{
+    const TreeNode* node = parent.isValid() ? _nodeFromIndex(parent) : &_rootNode;
+    return node && !node->children.isEmpty();
+}
+
+QVariant QmlObjectTreeModel::data(const QModelIndex& index, int role) const
+{
+    if (!index.isValid()) {
+        return {};
+    }
+
+    const TreeNode* node = _nodeFromIndex(index);
+    if (!node) {
+        return {};
+    }
+
+    switch (role) {
+    case ObjectRole:
+        return node->object ? QVariant::fromValue(node->object) : QVariant{};
+    case TextRole:
+        return node->object ? QVariant::fromValue(node->object->objectName()) : QVariant{};
+    case NodeTypeRole:
+        return QVariant::fromValue(node->nodeType);
+    case SeparatorRole: {
+        if (!node->children.isEmpty()) {
+            return false;
+        }
+        const TreeNode* parentNode = node->parentNode;
+        if (!parentNode) {
+            return false;
+        }
+        return node->row() < parentNode->children.size() - 1;
+    }
+    default:
+        return {};
+    }
+}
+
+bool QmlObjectTreeModel::setData(const QModelIndex& index, const QVariant& value, int role)
+{
+    if (!index.isValid() || role != ObjectRole) {
+        return false;
+    }
+
+    TreeNode* node = _nodeFromIndex(index);
+    if (!node) {
+        return false;
+    }
+
+    if (node->object) {
+        _disconnectDirtyChanged(node->object);
+    }
+
+    node->object = value.value<QObject*>();
+
+    if (node->object) {
+        QQmlEngine::setObjectOwnership(node->object, QQmlEngine::CppOwnership);
+        _connectDirtyChanged(node->object);
+    }
+
+    emit dataChanged(index, index);
+    return true;
+}
+
+bool QmlObjectTreeModel::insertRows(int /*row*/, int /*count*/, const QModelIndex& /*parent*/)
+{
+    qCWarning(QmlObjectTreeModelLog) << "insertRows() not supported — use insertItem()";
+    return false;
+}
+
+bool QmlObjectTreeModel::removeRows(int /*row*/, int /*count*/, const QModelIndex& /*parent*/)
+{
+    qCWarning(QmlObjectTreeModelLog) << "removeRows() not supported — use removeItem()";
+    return false;
+}
+
+QHash<int, QByteArray> QmlObjectTreeModel::roleNames() const
+{
+    auto roles = ObjectItemModelBase::roleNames();
+    roles[NodeTypeRole]  = "nodeType";
+    roles[SeparatorRole] = "separator";
+    return roles;
+}
+
+//-----------------------------------------------------------------------------
+// Properties
+//-----------------------------------------------------------------------------
+
+int QmlObjectTreeModel::count() const
+{
+    return _totalCount;
+}
+
+void QmlObjectTreeModel::setDirty(bool dirty)
+{
+    if (_dirty != dirty) {
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
+}
+
+//-----------------------------------------------------------------------------
+// QML-accessible tree operations
+//-----------------------------------------------------------------------------
+
+QObject* QmlObjectTreeModel::getObject(const QModelIndex& index) const
+{
+    if (!index.isValid()) {
+        return nullptr;
+    }
+
+    const TreeNode* node = _nodeFromIndex(index);
+    return node ? node->object : nullptr;
+}
+
+QModelIndex QmlObjectTreeModel::appendItem(QObject* object, const QModelIndex& parentIndex)
+{
+    TreeNode* parentNode = parentIndex.isValid() ? _nodeFromIndex(parentIndex) : &_rootNode;
+    if (!parentNode) {
+        qCWarning(QmlObjectTreeModelLog) << "appendItem: invalid parent index";
+        return {};
+    }
+
+    return insertItem(parentNode->children.count(), object, parentIndex);
+}
+
+QModelIndex QmlObjectTreeModel::insertItem(int row, QObject* object, const QModelIndex& parentIndex)
+{
+    return insertItem(row, object, parentIndex, QString());
+}
+
+QModelIndex QmlObjectTreeModel::insertItem(int row, QObject* object, const QModelIndex& parentIndex, const QString& nodeType)
+{
+    TreeNode* parentNode = parentIndex.isValid() ? _nodeFromIndex(parentIndex) : &_rootNode;
+    if (!parentNode) {
+        qCWarning(QmlObjectTreeModelLog) << "insertItem: invalid parent index";
+        return {};
+    }
+
+    if (row < 0 || row > parentNode->children.count()) {
+        qCWarning(QmlObjectTreeModelLog) << "insertItem: invalid row" << row << "count:" << parentNode->children.count();
+        return {};
+    }
+
+    auto* node = new TreeNode;
+    node->object = object;
+    node->parentNode = parentNode;
+    node->nodeType = nodeType;
+
+    if (object) {
+        QQmlEngine::setObjectOwnership(object, QQmlEngine::CppOwnership);
+        _connectDirtyChanged(object);
+    }
+
+    if (_resetModelNestingCount > 0) {
+        // During a batch reset we just accumulate nodes silently
+        parentNode->children.insert(row, node);
+    } else {
+        beginInsertRows(parentIndex, row, row);
+        parentNode->children.insert(row, node);
+        endInsertRows();
+        _emitSeparatorChanged(parentIndex, row > 0 ? row - 1 : 0);
+        _signalCountChangedIfNotNested();
+    }
+
+    _totalCount++;
+    setDirty(true);
+
+    return createIndex(row, 0, node);
+}
+
+QModelIndex QmlObjectTreeModel::appendItem(QObject* object, const QModelIndex& parentIndex, const QString& nodeType)
+{
+    TreeNode* parentNode = parentIndex.isValid() ? _nodeFromIndex(parentIndex) : &_rootNode;
+    if (!parentNode) {
+        qCWarning(QmlObjectTreeModelLog) << "appendItem: invalid parent index";
+        return {};
+    }
+    return insertItem(parentNode->children.count(), object, parentIndex, nodeType);
+}
+
+QObject* QmlObjectTreeModel::removeItem(const QModelIndex& index)
+{
+    if (!index.isValid()) {
+        qCWarning(QmlObjectTreeModelLog) << "removeItem: invalid index";
+        return nullptr;
+    }
+
+    TreeNode* node = _nodeFromIndex(index);
+    if (!node || !node->parentNode) {
+        qCWarning(QmlObjectTreeModelLog) << "removeItem: node not found or is the root";
+        return nullptr;
+    }
+
+    QObject* object = node->object;
+    TreeNode* parentNode = node->parentNode;
+    const int row = node->row();
+    const QModelIndex parentIdx = _indexForNode(parentNode);
+
+    _disconnectSubtree(node);
+
+    // Count the subtree nodes being removed (the node itself + all descendants)
+    const int removedCount = 1 + _subtreeCount(node);
+
+    if (_resetModelNestingCount == 0) {
+        beginRemoveRows(parentIdx, row, row);
+    }
+    parentNode->children.removeAt(row);
+    if (_resetModelNestingCount == 0) {
+        endRemoveRows();
+    }
+
+    // Free the subtree's TreeNode objects but NOT the QObjects
+    _deleteSubtree(node, false);
+    delete node;
+
+    _totalCount -= removedCount;
+    if (_resetModelNestingCount == 0 && !parentNode->children.isEmpty()) {
+        _emitSeparatorChanged(parentIdx, parentNode->children.count() - 1);
+    }
+    _signalCountChangedIfNotNested();
+    setDirty(true);
+
+    return object;
+}
+
+QModelIndex QmlObjectTreeModel::indexForObject(QObject* object) const
+{
+    if (!object) {
+        return {};
+    }
+
+    const TreeNode* node = _findNode(&_rootNode, object);
+    return node ? _indexForNode(node) : QModelIndex();
+}
+
+int QmlObjectTreeModel::depth(const QModelIndex& index) const
+{
+    if (!index.isValid()) {
+        return -1;
+    }
+
+    int d = 0;
+    const TreeNode* node = _nodeFromIndex(index);
+    while (node && node->parentNode && node->parentNode != &_rootNode) {
+        d++;
+        node = node->parentNode;
+    }
+    return d;
+}
+
+//-----------------------------------------------------------------------------
+// C++ convenience API
+//-----------------------------------------------------------------------------
+
+void QmlObjectTreeModel::appendRootItem(QObject* object)
+{
+    appendItem(object);
+}
+
+void QmlObjectTreeModel::appendChild(const QModelIndex& parentIndex, QObject* object)
+{
+    appendItem(object, parentIndex);
+}
+
+QObject* QmlObjectTreeModel::removeAt(const QModelIndex& parentIndex, int row)
+{
+    return removeItem(index(row, 0, parentIndex));
+}
+
+void QmlObjectTreeModel::removeChildren(const QModelIndex& parentIndex)
+{
+    TreeNode* parentNode = parentIndex.isValid() ? _nodeFromIndex(parentIndex) : &_rootNode;
+    if (!parentNode || parentNode->children.isEmpty()) {
+        return;
+    }
+
+    const int childCount = parentNode->children.count();
+
+    // Count all nodes being removed (direct children + their subtrees)
+    int removedCount = childCount;
+    for (const TreeNode* child : parentNode->children) {
+        removedCount += _subtreeCount(child);
+    }
+
+    if (_resetModelNestingCount == 0) {
+        beginRemoveRows(parentIndex, 0, childCount - 1);
+    }
+
+    // Disconnect signals but don't free nodes yet — views may still access them
+    for (TreeNode* child : parentNode->children) {
+        _disconnectSubtree(child);
+    }
+
+    // Detach from parent
+    QList<TreeNode*> orphans = parentNode->children;
+    parentNode->children.clear();
+    _totalCount -= removedCount;
+
+    if (_resetModelNestingCount == 0) {
+        endRemoveRows();
+        _signalCountChangedIfNotNested();
+    }
+
+    // Now safe to free the TreeNode structs
+    for (TreeNode* child : orphans) {
+        _deleteSubtree(child, false);
+        delete child;
+    }
+}
+
+void QmlObjectTreeModel::clear()
+{
+    if (_rootNode.children.isEmpty()) {
+        return;
+    }
+
+    beginResetModel();
+    _disconnectSubtree(&_rootNode);
+    _deleteSubtree(&_rootNode, false);
+    _totalCount = 0;
+    endResetModel();
+}
+
+void QmlObjectTreeModel::clearAndDeleteContents()
+{
+    if (_rootNode.children.isEmpty()) {
+        return;
+    }
+
+    beginResetModel();
+    _disconnectSubtree(&_rootNode);
+    _deleteSubtree(&_rootNode, true);
+    _totalCount = 0;
+    endResetModel();
+}
+
+bool QmlObjectTreeModel::contains(QObject* object) const
+{
+    return _findNode(&_rootNode, object) != nullptr;
+}
+
+//-----------------------------------------------------------------------------
+// Private helpers
+//-----------------------------------------------------------------------------
+
+QmlObjectTreeModel::TreeNode* QmlObjectTreeModel::_nodeFromIndex(const QModelIndex& index) const
+{
+    if (!index.isValid()) {
+        return nullptr;
+    }
+    return static_cast<TreeNode*>(index.internalPointer());
+}
+
+QModelIndex QmlObjectTreeModel::_indexForNode(const TreeNode* node) const
+{
+    if (!node || node == &_rootNode) {
+        return {};
+    }
+    return createIndex(node->row(), 0, const_cast<TreeNode*>(node));
+}
+
+QmlObjectTreeModel::TreeNode* QmlObjectTreeModel::_findNode(const TreeNode* root, const QObject* object) const
+{
+    for (TreeNode* child : root->children) {
+        if (child->object == object) {
+            return child;
+        }
+        TreeNode* found = _findNode(child, object);
+        if (found) {
+            return found;
+        }
+    }
+    return nullptr;
+}
+
+int QmlObjectTreeModel::_subtreeCount(const TreeNode* node)
+{
+    int result = node->children.count();
+    for (const TreeNode* child : node->children) {
+        result += _subtreeCount(child);
+    }
+    return result;
+}
+
+void QmlObjectTreeModel::_disconnectSubtree(TreeNode* node)
+{
+    if (node != &_rootNode && node->object) {
+        _disconnectDirtyChanged(node->object);
+    }
+    for (TreeNode* child : node->children) {
+        _disconnectSubtree(child);
+    }
+}
+
+void QmlObjectTreeModel::_deleteSubtree(TreeNode* node, bool deleteObjects)
+{
+    for (TreeNode* child : node->children) {
+        _deleteSubtree(child, deleteObjects);
+        if (deleteObjects && child->object) {
+            child->object->deleteLater();
+        }
+        delete child;
+    }
+    node->children.clear();
+}
+
+void QmlObjectTreeModel::_connectDirtyChanged(QObject* object)
+{
+    const QMetaMethod signal = dirtyChangedSignal(object);
+    const QMetaMethod slot = childDirtyChangedSlot();
+    if (signal.isValid() && slot.isValid()) {
+        connect(object, signal, this, slot);
+    }
+}
+
+void QmlObjectTreeModel::_disconnectDirtyChanged(QObject* object)
+{
+    const QMetaMethod signal = dirtyChangedSignal(object);
+    const QMetaMethod slot = childDirtyChangedSlot();
+    if (signal.isValid() && slot.isValid()) {
+        disconnect(object, signal, this, slot);
+    }
+}
+
+void QmlObjectTreeModel::_emitSeparatorChanged(const QModelIndex& parentIdx, int fromRow)
+{
+    const TreeNode* parentNode = parentIdx.isValid() ? _nodeFromIndex(parentIdx) : &_rootNode;
+    if (!parentNode) {
+        return;
+    }
+    const int last = parentNode->children.count() - 1;
+    if (fromRow > last) {
+        fromRow = last;
+    }
+    if (fromRow < 0) {
+        return;
+    }
+    const QModelIndex first = index(fromRow, 0, parentIdx);
+    const QModelIndex end = index(last, 0, parentIdx);
+    emit dataChanged(first, end, {SeparatorRole});
+}
diff --git a/src/QmlControls/QmlObjectTreeModel.h b/src/QmlControls/QmlObjectTreeModel.h
new file mode 100644
index 000000000000..ed71422bd38e
--- /dev/null
+++ b/src/QmlControls/QmlObjectTreeModel.h
@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "ObjectItemModelBase.h"
+
+#include <QtCore/QLoggingCategory>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+Q_DECLARE_LOGGING_CATEGORY(QmlObjectTreeModelLog)
+
+/// A tree model for QObject* items, usable from both C++ and QML.
+/// Works like QmlObjectListModel but supports hierarchical parent/child relationships.
+/// Compatible with Qt 6 TreeView.
+///
+/// Top-level items are children of an invisible root node. The root is represented
+/// by an invalid QModelIndex (the default).
+class QmlObjectTreeModel : public ObjectItemModelBase
+{
+    Q_OBJECT
+    QML_ELEMENT
+    QML_UNCREATABLE("")
+
+public:
+    explicit QmlObjectTreeModel(QObject* parent = nullptr);
+    ~QmlObjectTreeModel() override;
+
+    // -- ObjectItemModelBase overrides --
+    int count() const override;
+    void setDirty(bool dirty) override;
+    void clear() override;
+
+    // -- QAbstractItemModel overrides --
+    QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& child) const override;
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override;
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+    bool hasChildren(const QModelIndex& parent = QModelIndex()) const override;
+    QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
+    bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override;
+    bool insertRows(int row, int count, const QModelIndex& parent = QModelIndex()) override;
+    bool removeRows(int row, int count, const QModelIndex& parent = QModelIndex()) override;
+    QHash<int, QByteArray> roleNames() const override;
+
+    // -- QML-accessible tree operations --
+
+    /// Returns the QObject* stored at @p index, or nullptr if invalid
+    Q_INVOKABLE QObject* getObject(const QModelIndex& index) const;
+
+    /// Appends @p object as the last child of @p parentIndex (root if invalid). Returns the new item's index.
+    Q_INVOKABLE QModelIndex appendItem(QObject* object, const QModelIndex& parentIndex = QModelIndex());
+
+    /// Same as above but also sets a nodeType tag on the created tree node.
+    Q_INVOKABLE QModelIndex appendItem(QObject* object, const QModelIndex& parentIndex, const QString& nodeType);
+
+    /// Inserts @p object at @p row under @p parentIndex. Returns the new item's index.
+    Q_INVOKABLE QModelIndex insertItem(int row, QObject* object, const QModelIndex& parentIndex = QModelIndex());
+
+    /// Same as above but also sets a nodeType tag on the created tree node.
+    Q_INVOKABLE QModelIndex insertItem(int row, QObject* object, const QModelIndex& parentIndex, const QString& nodeType);
+
+    /// Removes the item (and its entire subtree) at @p index. Returns the removed QObject* (caller takes ownership).
+    /// Child QObjects are NOT deleted; only the internal tree nodes are freed.
+    Q_INVOKABLE QObject* removeItem(const QModelIndex& index);
+
+    /// Number of direct children under @p parentIndex
+    Q_INVOKABLE int childCount(const QModelIndex& parentIndex = QModelIndex()) const { return rowCount(parentIndex); }
+
+    /// Returns the QModelIndex for the child at @p row under @p parentIndex
+    Q_INVOKABLE QModelIndex childIndex(int row, const QModelIndex& parentIndex = QModelIndex()) const { return index(row, 0, parentIndex); }
+
+    /// Searches the entire tree for @p object and returns its QModelIndex (invalid if not found)
+    Q_INVOKABLE QModelIndex indexForObject(QObject* object) const;
+
+    /// Convenience wrapper around parent()
+    Q_INVOKABLE QModelIndex parentIndex(const QModelIndex& index) const { return parent(index); }
+
+    /// Returns the depth of @p index (0 = root-level item, -1 = invalid index)
+    Q_INVOKABLE int depth(const QModelIndex& index) const;
+
+    // -- C++ convenience API --
+    void    appendRootItem(QObject* object);
+    void    appendChild(const QModelIndex& parentIndex, QObject* object);
+    QObject* removeAt(const QModelIndex& parentIndex, int row);
+    void    removeChildren(const QModelIndex& parentIndex); ///< Removes all children of parentIndex without removing the parent itself
+    void    clearAndDeleteContents(); ///< Clears the tree and calls deleteLater on every QObject
+    bool    contains(QObject* object) const;
+
+    static constexpr int NodeTypeRole  = Qt::UserRole + 2;
+    static constexpr int SeparatorRole = Qt::UserRole + 3;
+
+private:
+    struct TreeNode {
+        QObject* object = nullptr;
+        TreeNode* parentNode = nullptr;
+        QList<TreeNode*> children;
+        QString nodeType;   ///< Discriminator tag for delegates (e.g. "missionGroup", "fenceEditor")
+
+        /// Row of this node within its parent's children list
+        int row() const;
+    };
+
+    TreeNode*   _nodeFromIndex(const QModelIndex& index) const;
+    QModelIndex _indexForNode(const TreeNode* node) const;
+    TreeNode*   _findNode(const TreeNode* root, const QObject* object) const;
+    static int  _subtreeCount(const TreeNode* node);
+    void        _disconnectSubtree(TreeNode* node);
+    void        _deleteSubtree(TreeNode* node, bool deleteObjects);
+    void        _connectDirtyChanged(QObject* object);
+    void        _disconnectDirtyChanged(QObject* object);
+    void        _emitSeparatorChanged(const QModelIndex& parentIdx, int fromRow);
+
+    TreeNode _rootNode; ///< Invisible root; top-level items are its children
+    int      _totalCount = 0; ///< Cached total node count (all nodes in tree)
+};
diff --git a/src/QmlControls/RallyPointItemEditor.qml b/src/QmlControls/RallyPointItemEditor.qml
deleted file mode 100644
index 3486128565b4..000000000000
--- a/src/QmlControls/RallyPointItemEditor.qml
+++ /dev/null
@@ -1,119 +0,0 @@
-import QtQuick
-import QtQuick.Controls
-import QtQuick.Layouts
-
-import QGroundControl
-import QGroundControl.Controls
-import QGroundControl.FactControls
-
-Rectangle {
-    id:     root
-    height: _currentItem ? valuesRect.y + valuesRect.height + (_margin * 2) : titleBar.y - titleBar.height + _margin
-    color:  _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
-    radius: _radius
-
-    signal clicked()
-
-    property var rallyPoint ///< RallyPoint object associated with editor
-    property var controller ///< RallyPointController
-
-    property bool   _currentItem:       rallyPoint ? rallyPoint === controller.currentRallyPoint : false
-    property color  _outerTextColor:    qgcPal.text // _currentItem ? "black" : qgcPal.text
-
-    readonly property real  _margin:            ScreenTools.defaultFontPixelWidth / 2
-    readonly property real  _radius:            ScreenTools.defaultFontPixelWidth / 2
-    readonly property real  _titleHeight:       ScreenTools.defaultFontPixelHeight * 2
-
-    QGCPalette { id: qgcPal; colorGroupEnabled: true }
-
-    Item {
-        id:                 titleBar
-        anchors.margins:    _margin
-        anchors.top:        parent.top
-        anchors.left:       parent.left
-        anchors.right:      parent.right
-        height:             _titleHeight
-
-        MissionItemIndexLabel {
-            id:                     indicator
-            anchors.verticalCenter: parent.verticalCenter
-            anchors.left:           parent.left
-            label:                  "R"
-            checked:                true
-        }
-
-        QGCLabel {
-            anchors.leftMargin:     _margin
-            anchors.left:           indicator.right
-            anchors.verticalCenter: parent.verticalCenter
-            text:                   qsTr("Rally Point")
-            color:                  _outerTextColor
-        }
-
-        QGCColoredImage {
-            id:                     hamburger
-            anchors.rightMargin:    _margin
-            anchors.right:          parent.right
-            anchors.verticalCenter: parent.verticalCenter
-            width:                  ScreenTools.defaultFontPixelWidth * 2
-            height:                 width
-            sourceSize.height:      height
-            source:                 "qrc:/qmlimages/Hamburger.svg"
-            color:                  qgcPal.text
-
-            MouseArea {
-                anchors.fill:   parent
-                onClicked:      hamburgerMenu.popup()
-
-                QGCMenu {
-                    id: hamburgerMenu
-
-                    QGCMenuItem {
-                        text:           qsTr("Delete")
-                        onTriggered:    controller.removePoint(rallyPoint)
-                    }
-                }
-            }
-        }
-    } // Item - titleBar
-
-    Rectangle {
-        id:                 valuesRect
-        anchors.margins:    _margin
-        anchors.left:       parent.left
-        anchors.right:      parent.right
-        anchors.top:        titleBar.bottom
-        height:             valuesGrid.height + (_margin * 2)
-        color:              qgcPal.windowShadeDark
-        visible:            _currentItem
-        radius:             _radius
-
-        GridLayout {
-            id:                 valuesGrid
-            anchors.margins:    _margin
-            anchors.left:       parent.left
-            anchors.right:      parent.right
-            anchors.top:        parent.top
-            rowSpacing:         _margin
-            columnSpacing:      _margin
-            rows:               rallyPoint ? rallyPoint.textFieldFacts.length : 0
-            flow:               GridLayout.TopToBottom
-
-            Repeater {
-                model: rallyPoint ? rallyPoint.textFieldFacts : 0
-                QGCLabel {
-                    text: modelData.name + ":"
-                }
-            }
-
-            Repeater {
-                model: rallyPoint ? rallyPoint.textFieldFacts : 0
-                FactTextField {
-                    Layout.fillWidth:   true
-                    showUnits:          true
-                    fact:               modelData
-                }
-            }
-        } // GridLayout
-    } // Rectangle
-} // Rectangle
diff --git a/src/QmlControls/ServoOutputMonitorController.cc b/src/QmlControls/ServoOutputMonitorController.cc
new file mode 100644
index 000000000000..530230cc6c42
--- /dev/null
+++ b/src/QmlControls/ServoOutputMonitorController.cc
@@ -0,0 +1,41 @@
+#include "ServoOutputMonitorController.h"
+
+#include "QGCLoggingCategory.h"
+#include "Vehicle.h"
+
+QGC_LOGGING_CATEGORY(ServoOutputMonitorControllerLog, "QMLControls.ServoOutputMonitorController")
+
+ServoOutputMonitorController::ServoOutputMonitorController(QObject *parent)
+    : FactPanelController(parent)
+{
+    (void) connect(_vehicle, &Vehicle::servoOutputsChanged, this, &ServoOutputMonitorController::servoValuesChanged);
+}
+
+ServoOutputMonitorController::~ServoOutputMonitorController()
+{
+}
+
+int ServoOutputMonitorController::servoValue(int servoIndex) const
+{
+    if (servoIndex >= 0 && servoIndex < _servoValues.size()) {
+        return _servoValues[servoIndex];
+    }
+
+    return -1;
+}
+
+void ServoOutputMonitorController::servoValuesChanged(QVector<int> pwmValues)
+{
+    const int servoCount = pwmValues.size();
+
+    _servoValues = pwmValues;
+
+    if (_servoCount != servoCount) {
+        _servoCount = servoCount;
+        emit servoCountChanged(_servoCount);
+    }
+
+    for (int servo = 0; servo < servoCount; servo++) {
+        emit servoValueChanged(servo, pwmValues[servo]);
+    }
+}
diff --git a/src/QmlControls/ServoOutputMonitorController.h b/src/QmlControls/ServoOutputMonitorController.h
new file mode 100644
index 000000000000..3d051d6905c8
--- /dev/null
+++ b/src/QmlControls/ServoOutputMonitorController.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "FactPanelController.h"
+
+#include <QtCore/QLoggingCategory>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+Q_DECLARE_LOGGING_CATEGORY(ServoOutputMonitorControllerLog)
+
+class ServoOutputMonitorController : public FactPanelController
+{
+    Q_OBJECT
+    QML_ELEMENT
+    Q_PROPERTY(int servoCount READ servoCount NOTIFY servoCountChanged)
+
+public:
+    explicit ServoOutputMonitorController(QObject *parent = nullptr);
+    ~ServoOutputMonitorController();
+
+    int servoCount() const { return _servoCount; }
+
+    /// Servo index is 0..15 (SERVO1..SERVO16)
+    Q_INVOKABLE int servoValue(int servoIndex) const;
+
+signals:
+    void servoCountChanged(int servoCount);
+    void servoValueChanged(int servo, int pwmValue);
+
+private slots:
+    void servoValuesChanged(QVector<int> pwmValues);
+
+private:
+    int _servoCount = 0;
+    QVector<int> _servoValues = QVector<int>(16, -1);
+};
diff --git a/src/QmlControls/SigningKeyManager.qml b/src/QmlControls/SigningKeyManager.qml
new file mode 100644
index 000000000000..c9d0c0b8b82a
--- /dev/null
+++ b/src/QmlControls/SigningKeyManager.qml
@@ -0,0 +1,128 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+
+SettingsGroupLayout {
+    id: _signingKeyManager
+
+    Layout.fillWidth: true
+    heading:            qsTr("MAVLink 2 Signing")
+    headingDescription: qsTr("Signing keys should only be sent to the vehicle over secure links.")
+
+    property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
+    // Reactive key-usage tracking (re-evaluated on any vehicle's signing change)
+    property int _keyUsageRevision: 0
+    Connections {
+        target: QGroundControl.mavlinkSigningKeys
+        function onKeyUsageChanged() { _keyUsageRevision++ }
+    }
+
+    QGCPopupDialogFactory {
+        id: addKeyDialogFactory
+        dialogComponent: addKeyDialogComponent
+    }
+
+    Component {
+        id: addKeyDialogComponent
+
+        QGCPopupDialog {
+            title:                  qsTr("Add Signing Key")
+            buttons:                Dialog.Ok | Dialog.Cancel
+            acceptButtonEnabled:    keyNameField.text !== "" && keyPassphraseField.text !== ""
+
+            onAccepted: {
+                QGroundControl.mavlinkSigningKeys.addKey(keyNameField.text, keyPassphraseField.text)
+            }
+
+            ColumnLayout {
+                spacing: ScreenTools.defaultFontPixelHeight / 2
+
+                QGCLabel { text: qsTr("Key Name") }
+                QGCTextField {
+                    id:                     keyNameField
+                    Layout.fillWidth:       true
+                    Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 30
+                    placeholderText:        qsTr("Enter a friendly name")
+                }
+
+                QGCLabel { text: qsTr("Passphrase") }
+                QGCTextField {
+                    id:                     keyPassphraseField
+                    Layout.fillWidth:       true
+                    Layout.preferredWidth:  ScreenTools.defaultFontPixelWidth * 30
+                    placeholderText:        qsTr("Enter passphrase")
+                    echoMode:               TextInput.Password
+                }
+            }
+        }
+    }
+
+    LabelledLabel {
+        Layout.fillWidth:   true
+        label:              qsTr("Signing Status")
+        labelText:          _activeVehicle ? (_activeVehicle.mavlinkSigning ? qsTr("Active") : qsTr("Inactive")) : qsTr("Not Connected")
+    }
+
+    LabelledLabel {
+        Layout.fillWidth:   true
+        label:              qsTr("Active Key")
+        labelText:          _activeVehicle && _activeVehicle.mavlinkSigningKeyName !== "" ? _activeVehicle.mavlinkSigningKeyName : qsTr("None")
+        visible:            _activeVehicle
+    }
+
+    Repeater {
+        model: QGroundControl.mavlinkSigningKeys.keys
+
+        RowLayout {
+            Layout.fillWidth: true
+            spacing: ScreenTools.defaultFontPixelWidth
+
+            property bool _keyIsActive:         { void(_keyUsageRevision); return QGroundControl.mavlinkSigningKeys.isKeyInUse(object.name) }
+            property bool _keyIsActiveVehicle:  _activeVehicle && _activeVehicle.mavlinkSigningKeyName === object.name
+            property bool _anyKeyActive:        _activeVehicle && _activeVehicle.mavlinkSigningKeyName !== ""
+
+            QGCLabel {
+                text:               object.name
+                Layout.fillWidth:   true
+            }
+
+            QGCButton {
+                text:       qsTr("Enable")
+                visible:    !parent._anyKeyActive
+                enabled:    _activeVehicle
+                onClicked:  _activeVehicle.sendSetupSigning(index)
+            }
+
+            QGCButton {
+                text:       qsTr("Disable")
+                visible:    parent._keyIsActiveVehicle
+                onClicked:  _activeVehicle.sendDisableSigning()
+            }
+
+            QGCButton {
+                text:       qsTr("Delete")
+                visible:    !parent._keyIsActive
+                onClicked:  QGroundControl.showMessageDialog(
+                                _signingKeyManager,
+                                qsTr("Delete Signing Key"),
+                                qsTr("Are you sure you want to delete '%1'? If a vehicle still has this key configured, you will no longer be able to communicate with it over a signed connection.").arg(object.name),
+                                Dialog.Ok | Dialog.Cancel,
+                                function () { QGroundControl.mavlinkSigningKeys.removeKey(index) })
+            }
+        }
+    }
+
+    QGCLabel {
+        text:       qsTr("No keys configured")
+        visible:    QGroundControl.mavlinkSigningKeys.keys.count === 0
+    }
+
+    QGCButton {
+        text:       qsTr("Add Key")
+        onClicked:  addKeyDialogFactory.open()
+    }
+}
diff --git a/src/QmlControls/ToolStripHoverButton.qml b/src/QmlControls/ToolStripHoverButton.qml
index b5ddae984414..52c58303b3fc 100644
--- a/src/QmlControls/ToolStripHoverButton.qml
+++ b/src/QmlControls/ToolStripHoverButton.qml
@@ -27,8 +27,8 @@ Button {
     property real imageScale:        forceImageScale11 && (text == "") ? 0.8 : 0.6
     property real contentMargins:    innerText.height * 0.1
 
-    property color _currentContentColor:  (checked || pressed) ? qgcPal.buttonHighlightText : qgcPal.windowTransparentText
-    property color _currentContentColorSecondary:  (checked || pressed) ? qgcPal.windowTransparentText : qgcPal.buttonHighlight
+    property color _currentContentColor:  (checked || pressed) ? qgcPal.buttonHighlightText : qgcPal.text
+    property color _currentContentColorSecondary:  (checked || pressed) ? qgcPal.text : qgcPal.buttonHighlight
 
     signal dropped(int index)
 
diff --git a/src/QmlControls/EditPositionDialog.FactMetaData.json b/src/QmlControls/TransformPositionController.FactMetaData.json
similarity index 56%
rename from src/QmlControls/EditPositionDialog.FactMetaData.json
rename to src/QmlControls/TransformPositionController.FactMetaData.json
index afc198d3097f..32645461c90d 100644
--- a/src/QmlControls/EditPositionDialog.FactMetaData.json
+++ b/src/QmlControls/TransformPositionController.FactMetaData.json
@@ -7,6 +7,7 @@
     "name":             "Latitude",
     "shortDesc": "Latitude of item position",
     "type":             "double",
+    "units":            "deg",
     "min":              -90.0,
     "max":              90.0,
     "decimalPlaces":    7
@@ -15,6 +16,7 @@
     "name":             "Longitude",
     "shortDesc": "Longitude of item position",
     "type":             "double",
+    "units":            "deg",
     "min":              -180.0,
     "max":              180.0,
     "decimalPlaces":    7
@@ -23,13 +25,13 @@
     "name":             "Easting",
     "shortDesc": "Easting of item position",
     "type":             "double",
-    "decimalPlaces":    7
+    "decimalPlaces":    2
 },
 {
     "name":             "Northing",
     "shortDesc": "Northing of item position",
     "type":             "double",
-    "decimalPlaces":    7
+    "decimalPlaces":    2
 },
 {
     "name":             "Zone",
@@ -49,6 +51,38 @@
     "name":             "MGRS",
     "shortDesc": "MGRS coordinate",
     "type":             "string"
+},
+{
+    "name":             "OffsetEast",
+    "shortDesc":        "East offset",
+    "type":             "double",
+    "units":            "m",
+    "defaultValue":     0,
+    "decimalPlaces":    2
+},
+{
+    "name":             "OffsetNorth",
+    "shortDesc":        "North offset",
+    "type":             "double",
+    "units":            "m",
+    "defaultValue":     0,
+    "decimalPlaces":    2
+},
+{
+    "name":             "OffsetUp",
+    "shortDesc":        "Up offset",
+    "type":             "double",
+    "units":            "m",
+    "defaultValue":     0,
+    "decimalPlaces":    2
+},
+{
+    "name":             "RotateDegreesCW",
+    "shortDesc":        "Clockwise rotation",
+    "type":             "double",
+    "units":            "deg",
+    "defaultValue":     0,
+    "decimalPlaces":    1
 }
 ]
 }
diff --git a/src/QmlControls/TransformPositionController.cc b/src/QmlControls/TransformPositionController.cc
new file mode 100644
index 000000000000..991b288aa245
--- /dev/null
+++ b/src/QmlControls/TransformPositionController.cc
@@ -0,0 +1,133 @@
+#include "TransformPositionController.h"
+#include "QGCGeo.h"
+#include "MultiVehicleManager.h"
+#include "Vehicle.h"
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(TransformPositionControllerLog, "QMLControls.TransformPositionController")
+
+QMap<QString, FactMetaData*> TransformPositionController::_metaDataMap;
+
+TransformPositionController::TransformPositionController(QObject *parent)
+    : QObject(parent)
+    , _latitudeFact(new Fact(0, _latitudeFactName, FactMetaData::valueTypeDouble, this))
+    , _longitudeFact(new Fact(0, _longitudeFactName, FactMetaData::valueTypeDouble, this))
+    , _zoneFact(new Fact(0, _zoneFactName, FactMetaData::valueTypeUint8, this))
+    , _hemisphereFact(new Fact(0, _hemisphereFactName, FactMetaData::valueTypeUint8, this))
+    , _eastingFact(new Fact(0, _eastingFactName, FactMetaData::valueTypeDouble, this))
+    , _northingFact(new Fact(0, _northingFactName, FactMetaData::valueTypeDouble, this))
+    , _mgrsFact(new Fact(0, _mgrsFactName, FactMetaData::valueTypeString, this))
+    , _offsetEastFact(new Fact(0, _offsetEastFactName, FactMetaData::valueTypeDouble, this))
+    , _offsetNorthFact(new Fact(0, _offsetNorthFactName, FactMetaData::valueTypeDouble, this))
+    , _offsetUpFact(new Fact(0, _offsetUpFactName, FactMetaData::valueTypeDouble, this))
+    , _rotateDegreesCWFact(new Fact(0, _rotateDegreesCWFactName, FactMetaData::valueTypeDouble, this))
+{
+    // qCDebug(TransformPositionControllerLog) << Q_FUNC_INFO << this;
+
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransformPositionController.FactMetaData.json"), nullptr /* QObject parent */);
+    }
+
+    _latitudeFact->setMetaData(_metaDataMap[_latitudeFactName]);
+    _longitudeFact->setMetaData(_metaDataMap[_longitudeFactName]);
+    _zoneFact->setMetaData(_metaDataMap[_zoneFactName]);
+    _hemisphereFact->setMetaData(_metaDataMap[_hemisphereFactName]);
+    _eastingFact->setMetaData(_metaDataMap[_eastingFactName]);
+    _northingFact->setMetaData(_metaDataMap[_northingFactName]);
+    _mgrsFact->setMetaData(_metaDataMap[_mgrsFactName]);
+    _offsetEastFact->setMetaData(_metaDataMap[_offsetEastFactName]);
+    _offsetNorthFact->setMetaData(_metaDataMap[_offsetNorthFactName]);
+    _offsetUpFact->setMetaData(_metaDataMap[_offsetUpFactName]);
+    _rotateDegreesCWFact->setMetaData(_metaDataMap[_rotateDegreesCWFactName]);
+}
+
+TransformPositionController::~TransformPositionController()
+{
+    // qCDebug(TransformPositionControllerLog) << Q_FUNC_INFO << this;
+}
+
+void TransformPositionController::setCoordinate(QGeoCoordinate coordinate)
+{
+    if (!coordinate.isValid()) {
+        qCWarning(TransformPositionControllerLog) << "Attempt to set invalid coordinate";
+        return;
+    }
+
+    if (coordinate == _coordinate) {
+        return;
+    }
+
+    const bool wasInvalid = !_coordinate.isValid();
+    _coordinate = coordinate;
+
+    // Do not emit on the initial invalid->valid transition to prevent
+    // onCoordinateChanged handlers from firing on initial dialog setup.
+    if (!wasInvalid) {
+        emit coordinateChanged(_coordinate);
+    }
+}
+
+void TransformPositionController::initValues()
+{
+    if (!_coordinate.isValid()) {
+        return;
+    }
+
+    _latitudeFact->setRawValue(_coordinate.latitude());
+    _longitudeFact->setRawValue(_coordinate.longitude());
+
+    double easting, northing;
+    const int zone = QGCGeo::convertGeoToUTM(_coordinate, easting, northing);
+    if ((zone >= 1) && (zone <= 60)) {
+        _zoneFact->setRawValue(zone);
+        _hemisphereFact->setRawValue(_coordinate.latitude() < 0);
+        _eastingFact->setRawValue(easting);
+        _northingFact->setRawValue(northing);
+    }
+
+    const QString mgrs = QGCGeo::convertGeoToMGRS(_coordinate);
+    if (!mgrs.isEmpty()) {
+        _mgrsFact->setRawValue(mgrs);
+    }
+}
+
+void TransformPositionController::setFromGeo()
+{
+    QGeoCoordinate newCoordinate = _coordinate;
+    newCoordinate.setLatitude(_latitudeFact->rawValue().toDouble());
+    newCoordinate.setLongitude(_longitudeFact->rawValue().toDouble());
+    setCoordinate(newCoordinate);
+}
+
+void TransformPositionController::setFromUTM()
+{
+    qCDebug(TransformPositionControllerLog) << _eastingFact->rawValue().toDouble() << _northingFact->rawValue().toDouble() << _zoneFact->rawValue().toInt() << (_hemisphereFact->rawValue().toInt() == 1);
+    QGeoCoordinate newCoordinate;
+    if (QGCGeo::convertUTMToGeo(_eastingFact->rawValue().toDouble(), _northingFact->rawValue().toDouble(), _zoneFact->rawValue().toInt(), _hemisphereFact->rawValue().toInt() == 1, newCoordinate)) {
+        qCDebug(TransformPositionControllerLog) << _eastingFact->rawValue().toDouble() << _northingFact->rawValue().toDouble() << _zoneFact->rawValue().toInt() << (_hemisphereFact->rawValue().toInt() == 1) << newCoordinate;
+        setCoordinate(newCoordinate);
+    } else {
+        initValues();
+    }
+}
+
+void TransformPositionController::setFromMGRS()
+{
+    QGeoCoordinate newCoordinate;
+    if (QGCGeo::convertMGRSToGeo(_mgrsFact->rawValue().toString(), newCoordinate)) {
+        setCoordinate(newCoordinate);
+    } else {
+        initValues();
+    }
+}
+
+void TransformPositionController::setFromVehicle()
+{
+    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    if (!activeVehicle) {
+        qCWarning(TransformPositionControllerLog) << "Cannot set coordinate from vehicle: no active vehicle";
+        return;
+    }
+
+    setCoordinate(activeVehicle->coordinate());
+}
diff --git a/src/QmlControls/TransformPositionController.h b/src/QmlControls/TransformPositionController.h
new file mode 100644
index 000000000000..e2ef4bbaf45c
--- /dev/null
+++ b/src/QmlControls/TransformPositionController.h
@@ -0,0 +1,85 @@
+#pragma once
+
+#include <QtCore/QObject>
+#include <QtCore/QLoggingCategory>
+#include <QtPositioning/QGeoCoordinate>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+#include "Fact.h"
+
+Q_DECLARE_LOGGING_CATEGORY(TransformPositionControllerLog)
+
+class TransformPositionController : public QObject
+{
+    Q_OBJECT
+    QML_ELEMENT
+    Q_PROPERTY(QGeoCoordinate   coordinate          READ coordinate WRITE setCoordinate NOTIFY coordinateChanged)
+    Q_PROPERTY(Fact             *latitude           READ latitude                       CONSTANT)
+    Q_PROPERTY(Fact             *longitude          READ longitude                      CONSTANT)
+    Q_PROPERTY(Fact             *zone               READ zone                           CONSTANT)
+    Q_PROPERTY(Fact             *hemisphere         READ hemisphere                     CONSTANT)
+    Q_PROPERTY(Fact             *easting            READ easting                        CONSTANT)
+    Q_PROPERTY(Fact             *northing           READ northing                       CONSTANT)
+    Q_PROPERTY(Fact             *mgrs               READ mgrs                           CONSTANT)
+    Q_PROPERTY(Fact             *offsetEast         READ offsetEast                     CONSTANT)
+    Q_PROPERTY(Fact             *offsetNorth        READ offsetNorth                    CONSTANT)
+    Q_PROPERTY(Fact             *offsetUp           READ offsetUp                       CONSTANT)
+    Q_PROPERTY(Fact             *rotateDegreesCW    READ rotateDegreesCW                CONSTANT)
+
+public:
+    explicit TransformPositionController(QObject *parent = nullptr);
+    ~TransformPositionController();
+
+    Q_INVOKABLE void initValues();
+    Q_INVOKABLE void setFromGeo();
+    Q_INVOKABLE void setFromUTM();
+    Q_INVOKABLE void setFromMGRS();
+    Q_INVOKABLE void setFromVehicle();
+
+    void setCoordinate(QGeoCoordinate coordinate);
+    QGeoCoordinate coordinate() const { return _coordinate; }
+
+    Fact *latitude() { return _latitudeFact; }
+    Fact *longitude() { return _longitudeFact; }
+    Fact *zone() { return _zoneFact; }
+    Fact *hemisphere() { return _hemisphereFact; }
+    Fact *easting() { return _eastingFact; }
+    Fact *northing() { return _northingFact; }
+    Fact *mgrs() { return _mgrsFact; }
+    Fact *offsetEast() { return _offsetEastFact; }
+    Fact *offsetNorth() { return _offsetNorthFact; }
+    Fact *offsetUp() { return _offsetUpFact; }
+    Fact *rotateDegreesCW() { return _rotateDegreesCWFact; }
+
+signals:
+    void coordinateChanged(QGeoCoordinate coordinate);
+
+private:
+    QGeoCoordinate _coordinate;
+
+    Fact *_latitudeFact = nullptr;
+    Fact *_longitudeFact = nullptr;
+    Fact *_zoneFact = nullptr;
+    Fact *_hemisphereFact = nullptr;
+    Fact *_eastingFact = nullptr;
+    Fact *_northingFact = nullptr;
+    Fact *_mgrsFact = nullptr;
+    Fact *_offsetEastFact = nullptr;
+    Fact *_offsetNorthFact = nullptr;
+    Fact *_offsetUpFact = nullptr;
+    Fact *_rotateDegreesCWFact = nullptr;
+
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    static constexpr const char *_latitudeFactName = "Latitude";
+    static constexpr const char *_longitudeFactName = "Longitude";
+    static constexpr const char *_zoneFactName = "Zone";
+    static constexpr const char *_hemisphereFactName = "Hemisphere";
+    static constexpr const char *_eastingFactName = "Easting";
+    static constexpr const char *_northingFactName = "Northing";
+    static constexpr const char *_mgrsFactName = "MGRS";
+    static constexpr const char *_offsetEastFactName = "OffsetEast";
+    static constexpr const char *_offsetNorthFactName = "OffsetNorth";
+    static constexpr const char *_offsetUpFactName = "OffsetUp";
+    static constexpr const char *_rotateDegreesCWFactName = "RotateDegreesCW";
+};
diff --git a/src/QmlControls/VehicleSummaryRow.qml b/src/QmlControls/VehicleSummaryRow.qml
index 29c24b6d6c4a..491b9e2c512d 100644
--- a/src/QmlControls/VehicleSummaryRow.qml
+++ b/src/QmlControls/VehicleSummaryRow.qml
@@ -2,24 +2,28 @@ import QtQuick
 import QtQuick.Controls
 import QtQuick.Layouts
 
+import QGroundControl
+import QGroundControl.Controls
+
 RowLayout {
     id: root
+    Layout.fillWidth: true
+    spacing: ScreenTools.defaultFontPixelHeight
 
     property string labelText: "Label"
     property string valueText: "value"
     property string valueColor: ""
 
-    width: parent.width
-
     QGCLabel {
-        id:     label
-        text:   root.labelText
+        id: label
+        Layout.fillWidth: true
+        text: root.labelText
     }
+
     QGCLabel {
-        text:                   root.valueText
-        color:                  root.valueColor !== "" ? root.valueColor : palette.text
-        elide:                  Text.ElideRight
-        horizontalAlignment:    Text.AlignRight
-        Layout.fillWidth:       true
+        Layout.maximumWidth: ScreenTools.defaultFontPixelWidth * 20
+        text: root.valueText
+        color: root.valueColor !== "" ? root.valueColor : QGroundControl.globalPalette.text
+        elide: Text.ElideRight
     }
 }
diff --git a/src/QtLocationPlugin/CMakeLists.txt b/src/QtLocationPlugin/CMakeLists.txt
index d403c768d929..83d57ff1d7a8 100644
--- a/src/QtLocationPlugin/CMakeLists.txt
+++ b/src/QtLocationPlugin/CMakeLists.txt
@@ -92,6 +92,4 @@ target_include_directories(QGCLocation
         Providers
 )
 
-set_source_files_properties(QMLControl/OfflineMapEditor.qml PROPERTIES QT_RESOURCE_ALIAS OfflineMapEditor.qml)
-
 target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE QGCLocation)
diff --git a/src/Settings/AppSettings.cc b/src/Settings/AppSettings.cc
index c7a7a309dc2b..1c511926d6bb 100644
--- a/src/Settings/AppSettings.cc
+++ b/src/Settings/AppSettings.cc
@@ -96,7 +96,12 @@ DECLARE_SETTINGGROUP(App, "")
     #endif
     savePathFact->setVisible(false);
 #else
-        QDir rootDir = QDir(QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation));
+        QDir rootDir;
+        if (qgcApp()->runningUnitTests() || qgcApp()->simpleBootTest()) {
+            rootDir = QDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
+        } else {
+            rootDir = QDir(QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation));
+        }
         savePathFact->setRawValue(rootDir.filePath(appName));
 #endif
     }
diff --git a/src/Settings/GimbalController.SettingsGroup.json b/src/Settings/GimbalController.SettingsGroup.json
index 343a2550dfa2..84227e875486 100644
--- a/src/Settings/GimbalController.SettingsGroup.json
+++ b/src/Settings/GimbalController.SettingsGroup.json
@@ -4,35 +4,33 @@
     "QGC.MetaData.Facts":
 [
 {
-    "name":              "EnableOnScreenControl",
+    "name":              "enableOnScreenControl",
     "shortDesc":         "Enable on Screen Camera Control",
     "type":              "bool",
     "default":           false
 },
 {
-    "name":              "ControlType",
-    "shortDesc":         "Type of on-screen control",
-    "type":              "uint32",
-    "enumStrings":       "Click to point, Click and drag",
-    "enumValues":        "0, 1",
-    "default":           0
+    "name":              "clickAndDrag",
+    "shortDesc":         "Use click and drag control instead of click to point",
+    "type":              "bool",
+    "default":           false
 },
 {
-    "name":              "CameraVFov",
+    "name":              "cameraVFov",
     "shortDesc":         "Vertical camera field of view",
     "type":              "uint32",
     "default":           80,
     "units":             "deg"
 },
 {
-    "name":              "CameraHFov",
+    "name":              "cameraHFov",
     "shortDesc":         "Horizontal camera field of view",
     "type":              "uint32",
     "default":           80,
     "units":             "deg"
 },
 {
-    "name":              "CameraSlideSpeed",
+    "name":              "cameraSlideSpeed",
     "shortDesc":         "Maximum gimbal speed on click and drag (deg/sec)",
     "type":              "uint32",
     "default":           30,
diff --git a/src/Settings/GimbalControllerSettings.cc b/src/Settings/GimbalControllerSettings.cc
index 4e16810f49f1..864aec5e3ea5 100644
--- a/src/Settings/GimbalControllerSettings.cc
+++ b/src/Settings/GimbalControllerSettings.cc
@@ -2,13 +2,31 @@
 
 DECLARE_SETTINGGROUP(GimbalController, "GimbalController")
 {
+    // Setting names were changed from PascalCase to camelCase
+    // Migrate old settings to new names
+    QSettings settings;
+    settings.beginGroup(_name);
+    static const QMap<QString, QString> renamedKeys = {
+        { "EnableOnScreenControl", "enableOnScreenControl" },
+        { "ControlType",           "clickAndDrag" },
+        { "CameraVFov",            "cameraVFov" },
+        { "CameraHFov",            "cameraHFov" },
+        { "CameraSlideSpeed",      "cameraSlideSpeed" },
+    };
+    for (auto it = renamedKeys.constBegin(); it != renamedKeys.constEnd(); ++it) {
+        if (settings.contains(it.key())) {
+            settings.setValue(it.value(), settings.value(it.key()));
+            settings.remove(it.key());
+        }
+    }
+    settings.endGroup();
 }
 
-DECLARE_SETTINGSFACT(GimbalControllerSettings, EnableOnScreenControl)
-DECLARE_SETTINGSFACT(GimbalControllerSettings, ControlType)
-DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraVFov)
-DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraHFov)
-DECLARE_SETTINGSFACT(GimbalControllerSettings, CameraSlideSpeed)
+DECLARE_SETTINGSFACT(GimbalControllerSettings, enableOnScreenControl)
+DECLARE_SETTINGSFACT(GimbalControllerSettings, clickAndDrag)
+DECLARE_SETTINGSFACT(GimbalControllerSettings, cameraVFov)
+DECLARE_SETTINGSFACT(GimbalControllerSettings, cameraHFov)
+DECLARE_SETTINGSFACT(GimbalControllerSettings, cameraSlideSpeed)
 DECLARE_SETTINGSFACT(GimbalControllerSettings, showAzimuthIndicatorOnMap)
 DECLARE_SETTINGSFACT(GimbalControllerSettings, toolbarIndicatorShowAzimuth)
 DECLARE_SETTINGSFACT(GimbalControllerSettings, toolbarIndicatorShowAcquireReleaseControl)
diff --git a/src/Settings/GimbalControllerSettings.h b/src/Settings/GimbalControllerSettings.h
index 27fa38090474..17fa0fe51339 100644
--- a/src/Settings/GimbalControllerSettings.h
+++ b/src/Settings/GimbalControllerSettings.h
@@ -13,11 +13,11 @@ class GimbalControllerSettings : public SettingsGroup
     GimbalControllerSettings(QObject* parent = nullptr);
     DEFINE_SETTING_NAME_GROUP()
 
-    DEFINE_SETTINGFACT(EnableOnScreenControl)
-    DEFINE_SETTINGFACT(ControlType)
-    DEFINE_SETTINGFACT(CameraVFov)
-    DEFINE_SETTINGFACT(CameraHFov)
-    DEFINE_SETTINGFACT(CameraSlideSpeed)
+    DEFINE_SETTINGFACT(enableOnScreenControl)
+    DEFINE_SETTINGFACT(clickAndDrag)
+    DEFINE_SETTINGFACT(cameraVFov)
+    DEFINE_SETTINGFACT(cameraHFov)
+    DEFINE_SETTINGFACT(cameraSlideSpeed)
     DEFINE_SETTINGFACT(showAzimuthIndicatorOnMap)
     DEFINE_SETTINGFACT(toolbarIndicatorShowAzimuth)
     DEFINE_SETTINGFACT(toolbarIndicatorShowAcquireReleaseControl)
diff --git a/src/Settings/Mavlink.SettingsGroup.json b/src/Settings/Mavlink.SettingsGroup.json
index 632336f1aa29..aa206bce4709 100644
--- a/src/Settings/Mavlink.SettingsGroup.json
+++ b/src/Settings/Mavlink.SettingsGroup.json
@@ -53,12 +53,6 @@
     "type":      "string",
     "default":   "support.ardupilot.org:xxxx"
 },
-{
-    "name":         "mavlink2SigningKey",
-    "shortDesc":    "MAVLink 2.0 signing key",
-    "type":         "string",
-    "default":      ""
-},
 {
     "name":         "sendGCSHeartbeat",
     "shortDesc":    "Send GCS Heartbeat",
diff --git a/src/Settings/MavlinkSettings.cc b/src/Settings/MavlinkSettings.cc
index 215755587b76..da378751f284 100644
--- a/src/Settings/MavlinkSettings.cc
+++ b/src/Settings/MavlinkSettings.cc
@@ -1,5 +1,4 @@
 #include "MavlinkSettings.h"
-#include "LinkManager.h"
 
 DECLARE_SETTINGGROUP(Mavlink, "")
 {
@@ -37,17 +36,3 @@ DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, forwardMavlinkAPMSupportHostName)
 DECLARE_SETTINGSFACT(MavlinkSettings, sendGCSHeartbeat)
 DECLARE_SETTINGSFACT(MavlinkSettings, gcsMavlinkSystemID)
-
-DECLARE_SETTINGSFACT_NO_FUNC(MavlinkSettings, mavlink2SigningKey)
-{
-    if (!_mavlink2SigningKeyFact) {
-        _mavlink2SigningKeyFact = _createSettingsFact(mavlink2SigningKeyName);
-        connect(_mavlink2SigningKeyFact, &Fact::rawValueChanged, this, &MavlinkSettings::_mavlink2SigningKeyChanged);
-    }
-    return _mavlink2SigningKeyFact;
-}
-
-void MavlinkSettings::_mavlink2SigningKeyChanged(void)
-{
-    LinkManager::instance()->resetMavlinkSigning();
-}
diff --git a/src/Settings/MavlinkSettings.h b/src/Settings/MavlinkSettings.h
index 81fe1f70f0bd..bc888d5f3feb 100644
--- a/src/Settings/MavlinkSettings.h
+++ b/src/Settings/MavlinkSettings.h
@@ -21,13 +21,9 @@ class MavlinkSettings : public SettingsGroup
     DEFINE_SETTINGFACT(forwardMavlink)
     DEFINE_SETTINGFACT(forwardMavlinkHostName)
     DEFINE_SETTINGFACT(forwardMavlinkAPMSupportHostName)
-    DEFINE_SETTINGFACT(mavlink2SigningKey)
     DEFINE_SETTINGFACT(sendGCSHeartbeat)
     DEFINE_SETTINGFACT(gcsMavlinkSystemID)
 
     // Although this is a global setting it only affects ArduPilot vehicle since PX4 automatically starts the stream from the vehicle side
     DEFINE_SETTINGFACT(apmStartMavlinkStreams)
-
-private slots:
-    void _mavlink2SigningKeyChanged();
 };
diff --git a/src/Settings/NTRIP.SettingsGroup.json b/src/Settings/NTRIP.SettingsGroup.json
index 527e19f39bc7..2348a5481c7e 100644
--- a/src/Settings/NTRIP.SettingsGroup.json
+++ b/src/Settings/NTRIP.SettingsGroup.json
@@ -4,63 +4,76 @@
   "QGC.MetaData.Facts": [
     {
       "name": "ntripServerConnectEnabled",
-      "shortDescription": "Connect to NTRIP server",
-      "longDescription": "Connect to NTRIP server using specified address/port",
+      "shortDesc": "Connect to NTRIP server",
+      "longDesc": "Connect to NTRIP server using specified address/port",
       "type": "bool",
-      "defaultValue": false,
-      "qgcRebootRequired": true
+      "default": false
     },
     {
       "name": "ntripServerHostAddress",
-      "shortDescription": "Host address",
+      "shortDesc": "Host address",
       "type": "string",
-      "defaultValue": "127.0.0.1",
-      "qgcRebootRequired": true
+      "default": ""
     },
     {
       "name": "ntripServerPort",
-      "shortDescription": "Server port",
-      "type": "int32",
-      "defaultValue": 2101,
-      "qgcRebootRequired": true
+      "shortDesc": "Server port",
+      "type": "uint16",
+      "default": 2101
     },
     {
       "name": "ntripUsername",
-      "shortDescription": "Username",
+      "shortDesc": "Username",
       "type": "string",
-      "defaultValue": "",
-      "qgcRebootRequired": true
+      "default": ""
     },
     {
       "name": "ntripPassword",
-      "shortDescription": "Password",
+      "shortDesc": "Password",
       "type": "string",
-      "defaultValue": "",
-      "qgcRebootRequired": true
+      "default": ""
     },
     {
       "name": "ntripMountpoint",
-      "shortDescription": "Mount Point",
-      "longDescription": "NTRIP Mount Point. Leave blank for RTCM over TCP",
+      "shortDesc": "Mount Point",
+      "longDesc": "NTRIP mount point. Leave blank for RTCM over TCP",
       "type": "string",
-      "defaultValue": "",
-      "qgcRebootRequired": true
+      "default": ""
     },
     {
       "name": "ntripWhitelist",
-      "shortDescription": "RTCM Message Whitelist",
-      "longDescription": "RTCM Messages to send over mavlink. Leave blank for all messages",
+      "shortDesc": "RTCM Message Filter",
+      "longDesc": "Comma-separated RTCM message IDs to forward (e.g. 1005,1077,1087). Leave blank for all messages.",
       "type": "string",
-      "defaultValue": "",
-      "qgcRebootRequired": true
+      "default": ""
     },
     {
-      "name": "ntripUseSpartn",
-      "shortDescription": "Use SPARTN pipeline",
-      "longDescription": "If enabled, connect with TLS (2102) and treat payload as SPARTN instead of RTCM. Requires SPARTN keys handled by the receiver.",
+      "name": "ntripUseTls",
+      "shortDesc": "Use TLS encryption",
+      "longDesc": "Connect using TLS/SSL encryption (required for some SPARTN casters on port 2102)",
       "type": "bool",
-      "defaultValue": false,
-      "qgcRebootRequired": true
+      "default": false
+    },
+    {
+      "name": "ntripUdpForwardEnabled",
+      "shortDesc": "UDP forward RTCM data",
+      "longDesc": "Forward received RTCM correction data via UDP to the specified address and port",
+      "type": "bool",
+      "default": false
+    },
+    {
+      "name": "ntripUdpTargetAddress",
+      "shortDesc": "UDP target address",
+      "longDesc": "IP address to forward RTCM data to via UDP",
+      "type": "string",
+      "default": ""
+    },
+    {
+      "name": "ntripUdpTargetPort",
+      "shortDesc": "UDP target port",
+      "longDesc": "Port to forward RTCM data to via UDP",
+      "type": "uint16",
+      "default": 0
     }
   ]
 }
diff --git a/src/Settings/NTRIPSettings.cc b/src/Settings/NTRIPSettings.cc
index cb3d9048867b..4ca4617359f4 100644
--- a/src/Settings/NTRIPSettings.cc
+++ b/src/Settings/NTRIPSettings.cc
@@ -1,62 +1,6 @@
 #include "NTRIPSettings.h"
 
-NTRIPSettings::NTRIPSettings(QObject* parent)
-    : SettingsGroup("NTRIP", "NTRIP", parent)
-{
-    FactMetaData* metaData = new FactMetaData(FactMetaData::valueTypeBool, this);
-    metaData->setName("ntripServerConnectEnabled");
-    metaData->setShortDescription(tr("Enable NTRIP"));
-    metaData->setRawDefaultValue(false);
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeString, this);
-    metaData->setName("ntripServerHostAddress");
-    metaData->setShortDescription(tr("Host Address"));
-    metaData->setRawDefaultValue("");
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeUint16, this);
-    metaData->setName("ntripServerPort");
-    metaData->setShortDescription(tr("Port"));
-    metaData->setRawDefaultValue(2101);
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeString, this);
-    metaData->setName("ntripUsername");
-    metaData->setShortDescription(tr("Username"));
-    metaData->setRawDefaultValue("");
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeString, this);
-    metaData->setName("ntripPassword");
-    metaData->setShortDescription(tr("Password"));
-    metaData->setRawDefaultValue("");
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeString, this);
-    metaData->setName("ntripMountpoint");
-    metaData->setShortDescription(tr("Mount Point"));
-    metaData->setRawDefaultValue("");
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeString, this);
-    metaData->setName("ntripWhitelist");
-    metaData->setShortDescription(tr("RTCM Message Whitelist"));
-    metaData->setRawDefaultValue("");
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    metaData = new FactMetaData(FactMetaData::valueTypeBool, this);
-    metaData->setName("ntripUseSpartn");
-    metaData->setShortDescription(tr("Use SPARTN pipeline"));
-    metaData->setRawDefaultValue(false);
-    _nameToMetaDataMap[metaData->name()] = metaData;
-
-    // Force ntripServerConnectEnabled to false at every startup, ignoring saved settings
-    // This ensures NTRIP never auto-starts regardless of previous user state
-    if (ntripServerConnectEnabled()) {
-        ntripServerConnectEnabled()->setRawValue(false);
-    }
-}
+DECLARE_SETTINGGROUP(NTRIP, "NTRIP") {}
 
 DECLARE_SETTINGSFACT(NTRIPSettings, ntripServerConnectEnabled)
 DECLARE_SETTINGSFACT(NTRIPSettings, ntripServerHostAddress)
@@ -65,4 +9,7 @@ DECLARE_SETTINGSFACT(NTRIPSettings, ntripUsername)
 DECLARE_SETTINGSFACT(NTRIPSettings, ntripPassword)
 DECLARE_SETTINGSFACT(NTRIPSettings, ntripMountpoint)
 DECLARE_SETTINGSFACT(NTRIPSettings, ntripWhitelist)
-DECLARE_SETTINGSFACT(NTRIPSettings, ntripUseSpartn)
+DECLARE_SETTINGSFACT(NTRIPSettings, ntripUseTls)
+DECLARE_SETTINGSFACT(NTRIPSettings, ntripUdpForwardEnabled)
+DECLARE_SETTINGSFACT(NTRIPSettings, ntripUdpTargetAddress)
+DECLARE_SETTINGSFACT(NTRIPSettings, ntripUdpTargetPort)
diff --git a/src/Settings/NTRIPSettings.h b/src/Settings/NTRIPSettings.h
index d3619c2039fe..8361ed850a7f 100644
--- a/src/Settings/NTRIPSettings.h
+++ b/src/Settings/NTRIPSettings.h
@@ -18,5 +18,8 @@ class NTRIPSettings : public SettingsGroup
     DEFINE_SETTINGFACT(ntripPassword)
     DEFINE_SETTINGFACT(ntripMountpoint)
     DEFINE_SETTINGFACT(ntripWhitelist)
-    DEFINE_SETTINGFACT(ntripUseSpartn)
+    DEFINE_SETTINGFACT(ntripUseTls)
+    DEFINE_SETTINGFACT(ntripUdpForwardEnabled)
+    DEFINE_SETTINGFACT(ntripUdpTargetAddress)
+    DEFINE_SETTINGFACT(ntripUdpTargetPort)
 };
diff --git a/src/UI/AppSettings/CMakeLists.txt b/src/UI/AppSettings/CMakeLists.txt
index 84eb16fa66a7..1883a2399d81 100644
--- a/src/UI/AppSettings/CMakeLists.txt
+++ b/src/UI/AppSettings/CMakeLists.txt
@@ -28,5 +28,8 @@ qt_add_qml_module(AppSettingsModule
         TelemetrySettings.qml
         UdpSettings.qml
         VideoSettings.qml
+
+        OfflineMapEditor.qml
+        OfflineMapInfo.qml
     NO_PLUGIN
 )
diff --git a/src/UI/AppSettings/NTRIPSettings.qml b/src/UI/AppSettings/NTRIPSettings.qml
index 4062ebbb0e30..dab0e15eea01 100644
--- a/src/UI/AppSettings/NTRIPSettings.qml
+++ b/src/UI/AppSettings/NTRIPSettings.qml
@@ -4,116 +4,322 @@ import QtQuick.Layouts
 import QGroundControl
 import QGroundControl.FactControls
 import QGroundControl.Controls
-import QGroundControl.NTRIP 1.0
 
 SettingsPage {
-    property var _settingsManager:   QGroundControl.settingsManager
-    property var _ntrip:             _settingsManager.ntripSettings
-    property Fact _enabled:          _ntrip.ntripServerConnectEnabled
+    property var  _settingsManager: QGroundControl.settingsManager
+    property var  _ntrip:           _settingsManager.ntripSettings
+    property Fact _enabled:         _ntrip.ntripServerConnectEnabled
+    property var  _ntripMgr:        QGroundControl.ntripManager
+    property bool _isConnected:     _ntripMgr.connectionStatus === NTRIPManager.Connected
+    property bool _isConnecting:    _ntripMgr.connectionStatus === NTRIPManager.Connecting
+    property bool _isReconnecting:  _ntripMgr.connectionStatus === NTRIPManager.Reconnecting
+    property bool _isError:         _ntripMgr.connectionStatus === NTRIPManager.Error
+    property bool _isActive:        _enabled.rawValue
+    property bool _hasHost:         _ntrip.ntripServerHostAddress.rawValue !== ""
+    property real _textFieldWidth:  ScreenTools.defaultFontPixelWidth * 30
 
     SettingsGroupLayout {
         Layout.fillWidth:   true
-        heading:            qsTr("NTRIP / RTK")
+        heading:            qsTr("Connection")
         visible:            _ntrip.visible
 
-        FactCheckBoxSlider {
+        RowLayout {
             Layout.fillWidth:   true
-            text:               _enabled.shortDescription
-            fact:               _enabled
-            visible:            _enabled.visible
-        }
-    }
+            spacing:            ScreenTools.defaultFontPixelWidth
 
-    SettingsGroupLayout {
-        Layout.fillWidth:   true
-        visible:            _ntrip.ntripServerHostAddress.visible || _ntrip.ntripServerPort.visible ||
-                            _ntrip.ntripUsername.visible || _ntrip.ntripPassword.visible ||
-                            _ntrip.ntripMountpoint.visible || _ntrip.ntripWhitelist.visible ||
-                            _ntrip.ntripUseSpartn.visible
-        enabled:            _enabled.rawValue
+            Rectangle {
+                width:          ScreenTools.defaultFontPixelHeight * 0.75
+                height:         width
+                radius:         width / 2
+                color: {
+                    switch (_ntripMgr.connectionStatus) {
+                    case NTRIPManager.Connected:    return qgcPal.colorGreen
+                    case NTRIPManager.Connecting:
+                    case NTRIPManager.Reconnecting: return qgcPal.colorOrange
+                    case NTRIPManager.Error:        return qgcPal.colorRed
+                    default:                        return qgcPal.colorGrey
+                    }
+                }
+                Layout.alignment: Qt.AlignVCenter
+            }
+
+            QGCLabel {
+                Layout.fillWidth:   true
+                text:               _ntripMgr.statusMessage || qsTr("Disconnected")
+                wrapMode:           Text.WordWrap
+            }
+
+            QGCButton {
+                text: {
+                    if (_isConnecting)      return qsTr("Connecting…")
+                    if (_isReconnecting)    return qsTr("Reconnecting…")
+                    if (_isConnected)       return qsTr("Disconnect")
+                    return qsTr("Connect")
+                }
+                enabled:    !_isConnecting && (_isActive || _hasHost)
+                onClicked:  _enabled.rawValue = !_enabled.rawValue
+            }
+        }
 
-        // Status line
         QGCLabel {
             Layout.fillWidth:   true
-            Layout.minimumHeight: 30
-            visible: true
+            visible:            _isConnected && _ntripMgr.messagesReceived > 0
             text: {
-                try {
-                    return NTRIPManager ? (NTRIPManager.ntripStatus || "Disconnected") : "NTRIP Manager not available"
-                } catch (e) {
-                    return "Disconnected"
-                }
+                var parts = [qsTr("%1 messages").arg(_ntripMgr.messagesReceived),
+                             formatBytes(_ntripMgr.bytesReceived)]
+                if (_ntripMgr.dataRateBytesPerSec > 0)
+                    parts.push(formatRate(_ntripMgr.dataRateBytesPerSec))
+                if (_ntripMgr.ggaSource)
+                    parts.push(qsTr("GGA: %1").arg(_ntripMgr.ggaSource))
+                return parts.join(" · ")
             }
-            wrapMode: Text.WordWrap
-            color: {
-                try {
-                    if (!NTRIPManager) return qgcPal.text
-                    var status = NTRIPManager.ntripStatus || ""
-                    if (status.toLowerCase().includes("connected")) return qgcPal.colorGreen
-                    if (status.toLowerCase().includes("connecting")) return qgcPal.colorOrange
-                    if (status.toLowerCase().includes("error") || status.toLowerCase().includes("failed")) return qgcPal.colorRed
-                    return qgcPal.text
-                } catch (e) {
-                    return qgcPal.text
-                }
+            font.pointSize:     ScreenTools.smallFontPointSize
+            color:              qgcPal.colorGrey
+
+            function formatBytes(bytes) {
+                if (bytes < 1024) return bytes + " B"
+                if (bytes < 1048576) return (bytes / 1024).toFixed(1) + " KB"
+                return (bytes / 1048576).toFixed(1) + " MB"
+            }
+
+            function formatRate(bytesPerSec) {
+                if (bytesPerSec < 1024) return bytesPerSec.toFixed(0) + " B/s"
+                return (bytesPerSec / 1024).toFixed(1) + " KB/s"
             }
         }
 
-        LabelledFactTextField {
+        QGCLabel {
             Layout.fillWidth:   true
-            label:              _ntrip.ntripServerHostAddress.shortDescription
+            visible:            _isError && _ntripMgr.statusMessage !== ""
+            text:               _ntripMgr.statusMessage
+            wrapMode:           Text.WordWrap
+            color:              qgcPal.colorRed
+            font.pointSize:     ScreenTools.smallFontPointSize
+        }
+    }
+
+    SettingsGroupLayout {
+        Layout.fillWidth:   true
+        heading:            qsTr("Server")
+        visible:            _ntrip.ntripServerHostAddress.visible || _ntrip.ntripServerPort.visible ||
+                            _ntrip.ntripUsername.visible || _ntrip.ntripPassword.visible
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
             fact:               _ntrip.ntripServerHostAddress
-            visible:            _ntrip.ntripServerHostAddress.visible
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 60
+            visible:            fact.visible
+            enabled:            !_isActive
         }
 
         LabelledFactTextField {
-            Layout.fillWidth:   true
-            label:              _ntrip.ntripServerPort.shortDescription
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
             fact:               _ntrip.ntripServerPort
-            visible:            _ntrip.ntripServerPort.visible
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 20
+            visible:            fact.visible
+            enabled:            !_isActive
         }
 
         LabelledFactTextField {
-            Layout.fillWidth:   true
-            label:              _ntrip.ntripUsername.shortDescription
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
+            label:              fact.shortDescription
             fact:               _ntrip.ntripUsername
-            visible:            _ntrip.ntripUsername.visible
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 60
+            visible:            fact.visible
+            enabled:            !_isActive
         }
 
-        LabelledFactTextField {
+        RowLayout {
             Layout.fillWidth:   true
-            label:              _ntrip.ntripPassword.shortDescription
-            fact:               _ntrip.ntripPassword
             visible:            _ntrip.ntripPassword.visible
-            textField.echoMode: TextInput.Password
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 60
+            spacing:            ScreenTools.defaultFontPixelWidth * 0.5
+
+            LabelledFactTextField {
+                id:                 passwordField
+                Layout.fillWidth:           true
+                textFieldPreferredWidth:    _textFieldWidth
+                label:              fact.shortDescription
+                fact:               _ntrip.ntripPassword
+                textField.echoMode: _showPassword ? TextInput.Normal : TextInput.Password
+                enabled:            !_isActive
+
+                property bool _showPassword: false
+            }
+
+            QGCButton {
+                text:       passwordField._showPassword ? qsTr("Hide") : qsTr("Show")
+                onClicked:  passwordField._showPassword = !passwordField._showPassword
+                Layout.alignment: Qt.AlignBottom
+            }
         }
 
-        LabelledFactTextField {
+        FactCheckBoxSlider {
             Layout.fillWidth:   true
-            label:              _ntrip.ntripMountpoint.shortDescription
-            fact:               _ntrip.ntripMountpoint
-            visible:            _ntrip.ntripMountpoint.visible
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 40
+            text:               fact.shortDescription
+            fact:               _ntrip.ntripUseTls
+            visible:            fact.visible
+            enabled:            !_isActive
         }
+    }
 
-        LabelledFactTextField {
+    SettingsGroupLayout {
+        Layout.fillWidth:   true
+        heading:            qsTr("Mountpoint")
+        visible:            _ntrip.ntripMountpoint.visible
+
+        RowLayout {
+            Layout.fillWidth:   true
+            spacing:            ScreenTools.defaultFontPixelWidth
+
+            LabelledFactTextField {
+                Layout.fillWidth:           true
+                textFieldPreferredWidth:    _textFieldWidth
+                label:              fact.shortDescription
+                fact:               _ntrip.ntripMountpoint
+                enabled:            !_isActive
+            }
+
+            QGCButton {
+                text:       qsTr("Browse")
+                enabled:    !_isActive && _hasHost &&
+                            _ntripMgr.mountpointFetchStatus !== NTRIPManager.FetchInProgress
+                onClicked:  _ntripMgr.fetchMountpoints()
+            }
+        }
+
+        QGCLabel {
+            Layout.fillWidth:   true
+            visible:            _ntripMgr.mountpointFetchStatus === NTRIPManager.FetchInProgress
+            text:               qsTr("Fetching mountpoints…")
+            color:              qgcPal.colorOrange
+        }
+
+        QGCLabel {
             Layout.fillWidth:   true
-            label:              _ntrip.ntripWhitelist.shortDescription
+            visible:            _ntripMgr.mountpointFetchStatus === NTRIPManager.FetchError
+            text:               _ntripMgr.mountpointFetchError
+            color:              qgcPal.colorRed
+            wrapMode:           Text.WordWrap
+        }
+
+        QGCListView {
+            Layout.fillWidth:       true
+            Layout.preferredHeight: Math.min(contentHeight, ScreenTools.defaultFontPixelHeight * 20)
+            visible:                _ntripMgr.mountpointModel && _ntripMgr.mountpointModel.count > 0
+            model:                  _ntripMgr.mountpointModel
+            spacing:                ScreenTools.defaultFontPixelHeight * 0.25
+
+            delegate: Rectangle {
+                required property int index
+                required property var object
+
+                width:      ListView.view.width
+                height:     mountRow.height + ScreenTools.defaultFontPixelHeight * 0.5
+                radius:     ScreenTools.defaultFontPixelHeight * 0.25
+                color: {
+                    if (object.mountpoint === _ntrip.ntripMountpoint.rawValue)
+                        return qgcPal.buttonHighlight
+                    return index % 2 === 0 ? qgcPal.windowShade : qgcPal.window
+                }
+
+                RowLayout {
+                    id:             mountRow
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    anchors.verticalCenter: parent.verticalCenter
+                    anchors.margins: ScreenTools.defaultFontPixelWidth
+
+                    ColumnLayout {
+                        Layout.fillWidth: true
+                        spacing: 0
+
+                        RowLayout {
+                            spacing: ScreenTools.defaultFontPixelWidth
+
+                            QGCLabel {
+                                text:       object.mountpoint
+                                font.bold:  true
+                                color:      object.mountpoint === _ntrip.ntripMountpoint.rawValue
+                                            ? qgcPal.buttonHighlightText : qgcPal.text
+                            }
+                            QGCLabel {
+                                visible:    object.mountpoint === _ntrip.ntripMountpoint.rawValue
+                                text:       qsTr("(selected)")
+                                font.pointSize: ScreenTools.smallFontPointSize
+                                color:      qgcPal.buttonHighlightText
+                            }
+                        }
+
+                        QGCLabel {
+                            text: {
+                                var parts = []
+                                if (object.format) parts.push(object.format)
+                                if (object.navSystem) parts.push(object.navSystem)
+                                if (object.country) parts.push(object.country)
+                                if (object.bitrate > 0) parts.push(object.bitrate + " bps")
+                                if (object.distanceKm >= 0) parts.push(object.distanceKm.toFixed(1) + " km")
+                                return parts.join(" · ")
+                            }
+                            font.pointSize: ScreenTools.smallFontPointSize
+                            color:  object.mountpoint === _ntrip.ntripMountpoint.rawValue
+                                    ? qgcPal.buttonHighlightText : qgcPal.colorGrey
+                        }
+                    }
+
+                    QGCButton {
+                        text:       object.mountpoint === _ntrip.ntripMountpoint.rawValue
+                                    ? qsTr("Selected") : qsTr("Select")
+                        enabled:    object.mountpoint !== _ntrip.ntripMountpoint.rawValue
+                        onClicked:  _ntripMgr.selectMountpoint(object.mountpoint)
+                    }
+                }
+            }
+        }
+    }
+
+    SettingsGroupLayout {
+        Layout.fillWidth:   true
+        heading:            qsTr("Options")
+        visible:            _ntrip.ntripWhitelist.visible
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
+            label:              fact.shortDescription
             fact:               _ntrip.ntripWhitelist
-            visible:            _ntrip.ntripWhitelist.visible
-            textFieldPreferredWidth: ScreenTools.defaultFontPixelWidth * 40
+            visible:            fact.visible
+            textField.placeholderText: qsTr("e.g. 1005,1077,1087")
         }
+    }
+
+    SettingsGroupLayout {
+        Layout.fillWidth:   true
+        heading:            qsTr("UDP Forwarding")
+        visible:            _ntrip.ntripUdpForwardEnabled.visible
 
         FactCheckBoxSlider {
             Layout.fillWidth:   true
-            text:               _ntrip.ntripUseSpartn.shortDescription
-            fact:               _ntrip.ntripUseSpartn
-            visible:            _ntrip.ntripUseSpartn.visible
-            enabled:            false
+            text:               fact.shortDescription
+            fact:               _ntrip.ntripUdpForwardEnabled
+            visible:            fact.visible
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
+            label:              fact.shortDescription
+            fact:               _ntrip.ntripUdpTargetAddress
+            visible:            fact.visible
+            enabled:            _ntrip.ntripUdpForwardEnabled.rawValue
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _textFieldWidth
+            label:              fact.shortDescription
+            fact:               _ntrip.ntripUdpTargetPort
+            visible:            fact.visible
+            enabled:            _ntrip.ntripUdpForwardEnabled.rawValue
         }
     }
 }
diff --git a/src/QmlControls/OfflineMapEditor.qml b/src/UI/AppSettings/OfflineMapEditor.qml
similarity index 100%
rename from src/QmlControls/OfflineMapEditor.qml
rename to src/UI/AppSettings/OfflineMapEditor.qml
diff --git a/src/QmlControls/OfflineMapInfo.qml b/src/UI/AppSettings/OfflineMapInfo.qml
similarity index 100%
rename from src/QmlControls/OfflineMapInfo.qml
rename to src/UI/AppSettings/OfflineMapInfo.qml
diff --git a/src/UI/AppSettings/TelemetrySettings.qml b/src/UI/AppSettings/TelemetrySettings.qml
index d2be9037e1ed..53f7ab728dcf 100644
--- a/src/UI/AppSettings/TelemetrySettings.qml
+++ b/src/UI/AppSettings/TelemetrySettings.qml
@@ -35,47 +35,7 @@ SettingsPage {
         }
     }
 
-    SettingsGroupLayout {
-        id:                 mavlink2SigningGroup
-        Layout.fillWidth:   true
-        heading:            qsTr("MAVLink 2 Signing")
-        headingDescription: qsTr("Signing keys should only be sent to the vehicle over secure links.")
-        visible:            _mavlink2SigningKey.visible
-
-        property Fact _mavlink2SigningKey: _mavlinkSettings.mavlink2SigningKey
-
-        Connections {
-            target:             mavlink2SigningGroup._mavlink2SigningKey
-            function onRawValueChanged(value) { sendToVehiclePrompt.visible = true }
-        }
-
-        RowLayout {
-            spacing: ScreenTools.defaultFontPixelWidth
-
-            LabelledFactTextField {
-                Layout.fillWidth:           true
-                textFieldPreferredWidth:    ScreenTools.defaultFontPixelWidth * 32
-                label:                      qsTr("Key")
-                fact:                       mavlink2SigningGroup._mavlink2SigningKey
-            }
-
-            QGCButton {
-                text:       qsTr("Send to Vehicle")
-                enabled:    _activeVehicle
-
-                onClicked: {
-                    sendToVehiclePrompt.visible = false
-                    _activeVehicle.sendSetupSigning()
-                }
-            }
-        }
-
-        QGCLabel {
-            id:                 sendToVehiclePrompt
-            Layout.fillWidth:   true
-            text:               qsTr("Signing key has changed. Don't forget to send to Vehicle(s) if needed.")
-            visible:            false
-        }
+    SigningKeyManager {
     }
 
     SettingsGroupLayout {
diff --git a/src/UI/FirstRunPromptDialogs/CMakeLists.txt b/src/UI/FirstRunPromptDialogs/CMakeLists.txt
index f2c89fc493c7..822b4bed3791 100644
--- a/src/UI/FirstRunPromptDialogs/CMakeLists.txt
+++ b/src/UI/FirstRunPromptDialogs/CMakeLists.txt
@@ -5,6 +5,7 @@ qt_add_qml_module(FirstRunPromptDialogsModule
     VERSION 1.0
     RESOURCE_PREFIX /qml
     QML_FILES
+        FirstRunPrompt.qml
         OfflineVehicleFirstRunPrompt.qml
         UnitsFirstRunPrompt.qml
     NO_PLUGIN
diff --git a/src/QmlControls/FirstRunPrompt.qml b/src/UI/FirstRunPromptDialogs/FirstRunPrompt.qml
similarity index 100%
rename from src/QmlControls/FirstRunPrompt.qml
rename to src/UI/FirstRunPromptDialogs/FirstRunPrompt.qml
diff --git a/src/UI/MainWindow.qml b/src/UI/MainWindow.qml
index 8d43c719df16..80e0d28592da 100644
--- a/src/UI/MainWindow.qml
+++ b/src/UI/MainWindow.qml
@@ -9,6 +9,7 @@ import QGroundControl.Controls
 import QGroundControl.FactControls
 import QGroundControl.FlyView
 import QGroundControl.FlightMap
+import QGroundControl.PlanView
 import QGroundControl.Toolbar
 
 /// @brief Native QML top level window
@@ -213,9 +214,9 @@ ApplicationWindow {
     property string closeDialogTitle: qsTr("Close %1").arg(QGroundControl.appName)
 
     function checkForUnsavedMission() {
-        if (planView._planMasterController.dirty) {
+        if (planView._planMasterController.dirtyForSave || planView._planMasterController.dirtyForUpload) {
             QGroundControl.showMessageDialog(mainWindow, closeDialogTitle,
-                              qsTr("You have a mission edit in progress which has not been saved/sent. If you close you will lose changes. Are you sure you want to close?"),
+                              qsTr("You have a mission edit in progress which has not been saved/uploaded. If you close you will lose changes. Are you sure you want to close?"),
                               Dialog.Yes | Dialog.No,
                               function() { _closeChecksToSkip |= _skipUnsavedMissionCheckMask; performCloseChecks() })
             return false
@@ -607,7 +608,7 @@ ApplicationWindow {
     // to mainWindow. Otherwise if they are rooted to the AnalyzeView itself they will die when the analyze viewSwitch
     // closes.
 
-    function createrWindowedAnalyzePage(title, source) {
+    function createWindowedAnalyzePage(title, source) {
         var windowedPage = windowedAnalyzePage.createObject(mainWindow)
         windowedPage.title = title
         windowedPage.source = source
diff --git a/src/QmlControls/BatteryIndicator.qml b/src/UI/toolbar/BatteryIndicator.qml
similarity index 99%
rename from src/QmlControls/BatteryIndicator.qml
rename to src/UI/toolbar/BatteryIndicator.qml
index 5a97d42a9774..62ca564c673e 100644
--- a/src/QmlControls/BatteryIndicator.qml
+++ b/src/UI/toolbar/BatteryIndicator.qml
@@ -328,7 +328,7 @@ Item {
                 QGCLabel {
                     Layout.alignment:       Qt.AlignHCenter
                     verticalAlignment:      Text.AlignVCenter
-                    color:                  qgcPal.windowTransparentText
+                    color:                  qgcPal.text
                     text:                   getBatteryPercentageText()
                     font.pointSize:         _showBoth ? ScreenTools.defaultFontPointSize : ScreenTools.mediumFontPointSize
                     visible:                _showBoth || _showPercentage
@@ -337,7 +337,7 @@ Item {
                 QGCLabel {
                     Layout.alignment:       Qt.AlignHCenter
                     font.pointSize:         _showBoth ? ScreenTools.defaultFontPointSize : ScreenTools.mediumFontPointSize
-                    color:                  qgcPal.windowTransparentText
+                    color:                  qgcPal.text
                     text:                   getBatteryVoltageText()
                     visible:                _showBoth || _showVoltage
                 }
diff --git a/src/UI/toolbar/CMakeLists.txt b/src/UI/toolbar/CMakeLists.txt
index 547d24baecca..72e71133b05d 100644
--- a/src/UI/toolbar/CMakeLists.txt
+++ b/src/UI/toolbar/CMakeLists.txt
@@ -6,19 +6,34 @@ qt_add_qml_module(ToolbarModule
     RESOURCE_PREFIX /qml
     QML_FILES
         ArmedIndicator.qml
+        BatteryIndicator.qml
         EscIndicator.qml
         EscIndicatorPage.qml
+        FlightModeIndicator.qml
+        FlightModeMenuIndicator.qml
+        FlyViewToolBar.qml
+        FlyViewToolBarIndicators.qml
         GCSControlIndicator.qml
         GimbalIndicator.qml
+        GPSIndicator.qml
+        GPSIndicatorPage.qml
         GPSResilienceIndicator.qml
         JoystickIndicator.qml
+        MainStatusIndicator.qml
+        MainStatusIndicatorOfflinePage.qml
         ModeIndicator.qml
         MultiVehicleSelector.qml
+        ParameterDownloadProgress.qml
+        PlanViewToolBar.qml
         RCRSSIIndicator.qml
         RemoteIDIndicator.qml
+        RemoteIDIndicatorPage.qml
         RTKGPSIndicator.qml
         SelectViewDropdown.qml
+        SignalStrength.qml
+        SigningIndicator.qml
         TelemetryRSSIIndicator.qml
         VehicleGPSIndicator.qml
+        VehicleMessageList.qml
     NO_PLUGIN
 )
diff --git a/src/UI/toolbar/EscIndicator.qml b/src/UI/toolbar/EscIndicator.qml
index 7e18d0e52198..ff980ef5b145 100644
--- a/src/UI/toolbar/EscIndicator.qml
+++ b/src/UI/toolbar/EscIndicator.qml
@@ -73,7 +73,7 @@ Item {
             source:             "/qmlimages/EscIndicator.svg"
             fillMode:           Image.PreserveAspectFit
             sourceSize.height:  height
-            color:              qgcPal.windowTransparentText
+            color:              qgcPal.text
         }
 
         Column {
@@ -83,7 +83,7 @@ Item {
 
             QGCLabel {
                 anchors.horizontalCenter:   parent.horizontalCenter
-                color:                      qgcPal.windowTransparentText
+                color:                      qgcPal.text
                 text:                       _onlineMotorCount.toString()
                 font.pointSize:             ScreenTools.smallFontPointSize
             }
diff --git a/src/QmlControls/FlightModeIndicator.qml b/src/UI/toolbar/FlightModeIndicator.qml
similarity index 98%
rename from src/QmlControls/FlightModeIndicator.qml
rename to src/UI/toolbar/FlightModeIndicator.qml
index b7b0cd93d0c2..7abfb380fb06 100644
--- a/src/QmlControls/FlightModeIndicator.qml
+++ b/src/UI/toolbar/FlightModeIndicator.qml
@@ -35,14 +35,14 @@ Item {
             Layout.preferredHeight: ScreenTools.defaultFontPixelHeight
             fillMode:               Image.PreserveAspectFit
             mipmap:                 true
-            color:                  qgcPal.windowTransparentText
+            color:                  qgcPal.text
             source:                 "/qmlimages/FlightModesComponentIcon.png"
         }
 
         QGCLabel {
             id:                 flightModeLabel
             text:               activeVehicle ? activeVehicle.flightMode : qsTr("N/A", "No data to display")
-            color:              qgcPal.windowTransparentText
+            color:              qgcPal.text
             font.pointSize:     fontPointSize
 
         }
diff --git a/src/QmlControls/FlightModeMenuIndicator.qml b/src/UI/toolbar/FlightModeMenuIndicator.qml
similarity index 100%
rename from src/QmlControls/FlightModeMenuIndicator.qml
rename to src/UI/toolbar/FlightModeMenuIndicator.qml
diff --git a/src/QmlControls/FlyViewToolBar.qml b/src/UI/toolbar/FlyViewToolBar.qml
similarity index 100%
rename from src/QmlControls/FlyViewToolBar.qml
rename to src/UI/toolbar/FlyViewToolBar.qml
diff --git a/src/QmlControls/FlyViewToolBarIndicators.qml b/src/UI/toolbar/FlyViewToolBarIndicators.qml
similarity index 100%
rename from src/QmlControls/FlyViewToolBarIndicators.qml
rename to src/UI/toolbar/FlyViewToolBarIndicators.qml
diff --git a/src/QmlControls/GPSIndicator.qml b/src/UI/toolbar/GPSIndicator.qml
similarity index 90%
rename from src/QmlControls/GPSIndicator.qml
rename to src/UI/toolbar/GPSIndicator.qml
index 6f65c67e0b2a..347f800b196e 100644
--- a/src/QmlControls/GPSIndicator.qml
+++ b/src/UI/toolbar/GPSIndicator.qml
@@ -32,7 +32,7 @@ Item {
                 id:                     gpsLabel
                 rotation:               90
                 text:                   qsTr("RTK")
-                color:                  qgcPal.windowTransparentText
+                color:                  qgcPal.text
                 anchors.verticalCenter: parent.verticalCenter
                 visible:                _rtkConnected
             }
@@ -46,7 +46,7 @@ Item {
                 fillMode:           Image.PreserveAspectFit
                 sourceSize.height:  height
                 opacity:            (_activeVehicle && _activeVehicle.gps.count.value >= 0) ? 1 : 0.5
-                color:              qgcPal.windowTransparentText
+                color:              qgcPal.text
             }
         }
 
@@ -58,13 +58,13 @@ Item {
 
             QGCLabel {
                 anchors.horizontalCenter:   hdopValue.horizontalCenter
-                color:              qgcPal.windowTransparentText
+                color:              qgcPal.text
                 text:               _activeVehicle ? _activeVehicle.gps.count.valueString : ""
             }
 
             QGCLabel {
                 id:     hdopValue
-                color:  qgcPal.windowTransparentText
+                color:  qgcPal.text
                 text:   _activeVehicle ? _activeVehicle.gps.hdop.value.toFixed(1) : ""
             }
         }
diff --git a/src/QmlControls/GPSIndicatorPage.qml b/src/UI/toolbar/GPSIndicatorPage.qml
similarity index 100%
rename from src/QmlControls/GPSIndicatorPage.qml
rename to src/UI/toolbar/GPSIndicatorPage.qml
diff --git a/src/UI/toolbar/GimbalIndicator.qml b/src/UI/toolbar/GimbalIndicator.qml
index 95763056c564..01bd5fc278ed 100644
--- a/src/UI/toolbar/GimbalIndicator.qml
+++ b/src/UI/toolbar/GimbalIndicator.qml
@@ -52,7 +52,7 @@ Item {
                 source:                  "/res/CameraGimbal.png"
                 fillMode:                Image.PreserveAspectFit
                 sourceSize.height:       height
-                color:                   qgcPal.windowTransparentText
+                color:                   qgcPal.text
 
             }
 
@@ -61,7 +61,7 @@ Item {
                 anchors.horizontalCenter: parent.horizontalCenter
                 font.pointSize:         ScreenTools.smallFontPointSize
                 text:                   activeGimbal ? activeGimbal.deviceId.rawValue : ""
-                color:                  qgcPal.windowTransparentText
+                color:                  qgcPal.text
                 visible:                multiGimbalSetup
             }
         }
@@ -80,7 +80,7 @@ Item {
                 text:                   activeGimbal && activeGimbal.retracted ?
                                             qsTr("Retracted") :
                                             (activeGimbal && activeGimbal.yawLock ? qsTr("Yaw locked") : qsTr("Yaw follow"))
-                color:                  qgcPal.windowTransparentText
+                color:                  qgcPal.text
                 Layout.columnSpan:      2
                 Layout.alignment:       Qt.AlignHCenter
             }
@@ -88,7 +88,7 @@ Item {
                 id:             pitchLabel
                 font.pointSize: ScreenTools.smallFontPointSize
                 text:           activeGimbal ? qsTr("P: ") + activeGimbal.absolutePitch.valueString : ""
-                color:          qgcPal.windowTransparentText
+                color:          qgcPal.text
             }
             QGCLabel {
                 id:             panLabel
@@ -98,7 +98,7 @@ Item {
                                         (qsTr("Az: ") + activeGimbal.absoluteYaw.valueString) :
                                         (qsTr("Y: ") + activeGimbal.bodyYaw.valueString)) :
                                     ""
-                color:          qgcPal.windowTransparentText
+                color:          qgcPal.text
             }
         }
     }
@@ -235,31 +235,32 @@ Item {
                     id:                 enableOnScreenControlCheckbox
                     Layout.fillWidth:   true
                     text:               qsTr("Enabled")
-                    fact:               _gimbalControllerSettings.EnableOnScreenControl
+                    fact:               _gimbalControllerSettings.enableOnScreenControl
                 }
 
-                LabelledFactComboBox {
-                    label:      qsTr("Control type")
-                    fact:       _gimbalControllerSettings.ControlType
-                    visible:    enableOnScreenControlCheckbox.checked
+                FactCheckBoxSlider {
+                    Layout.fillWidth:   true
+                    text:               qsTr("Click and drag")
+                    fact:               _gimbalControllerSettings.clickAndDrag
+                    visible:            enableOnScreenControlCheckbox.checked
                 }
 
                 LabelledFactTextField {
                     label:      qsTr("Horizontal FOV")
-                    fact:       _gimbalControllerSettings.CameraHFov
-                    visible:    enableOnScreenControlCheckbox.checked && _gimbalControllerSettings.ControlType.rawValue === 0
+                    fact:       _gimbalControllerSettings.cameraHFov
+                    visible:    enableOnScreenControlCheckbox.checked && !_gimbalControllerSettings.clickAndDrag.rawValue
                 }
 
                 LabelledFactTextField {
                     label:      qsTr("Vertical FOV")
-                    fact:       _gimbalControllerSettings.CameraVFov
-                    visible:    enableOnScreenControlCheckbox.checked && _gimbalControllerSettings.ControlType.rawValue === 0
+                    fact:       _gimbalControllerSettings.cameraVFov
+                    visible:    enableOnScreenControlCheckbox.checked && !_gimbalControllerSettings.clickAndDrag.rawValue
                 }
 
                 LabelledFactTextField {
                     label:      qsTr("Max speed")
-                    fact:       _gimbalControllerSettings.CameraSlideSpeed
-                    visible:    enableOnScreenControlCheckbox.checked && _gimbalControllerSettings.ControlType.rawValue === 1
+                    fact:       _gimbalControllerSettings.cameraSlideSpeed
+                    visible:    enableOnScreenControlCheckbox.checked && _gimbalControllerSettings.clickAndDrag.rawValue
                 }
             }
 
diff --git a/src/QmlControls/MainStatusIndicator.qml b/src/UI/toolbar/MainStatusIndicator.qml
similarity index 99%
rename from src/QmlControls/MainStatusIndicator.qml
rename to src/UI/toolbar/MainStatusIndicator.qml
index 92f57fea9d9a..003d924073ba 100644
--- a/src/QmlControls/MainStatusIndicator.qml
+++ b/src/UI/toolbar/MainStatusIndicator.qml
@@ -31,7 +31,7 @@ RowLayout {
         Layout.preferredWidth: contentWidth + (vehicleMessagesIcon.visible ? vehicleMessagesIcon.width + control.spacing : 0)
         verticalAlignment:  Text.AlignVCenter
         text:               mainStatusText()
-        color:              qgcPal.windowTransparentText
+        color:              qgcPal.text
         font.pointSize:     ScreenTools.largeFontPointSize
 
         property string _commLostText:      qsTr("Comms Lost")
@@ -120,7 +120,7 @@ RowLayout {
             visible:                _activeVehicle && _activeVehicle.messageCount > 0
 
             function getIconColor() {
-                let iconColor = qgcPal.windowTransparentText
+                let iconColor = qgcPal.text
                 if (_activeVehicle) {
                     if (_activeVehicle.messageTypeWarning) {
                         iconColor = qgcPal.colorOrange
@@ -143,7 +143,7 @@ RowLayout {
         Layout.fillHeight:  true
         verticalAlignment:  Text.AlignVCenter
         text:               _vtolInFWDFlight ? qsTr("FW(vtol)") : qsTr("MR(vtol)")
-        color:              qgcPal.windowTransparentText
+        color:              qgcPal.text
         font.pointSize:     _vehicleInAir ? ScreenTools.largeFontPointSize : ScreenTools.defaultFontPointSize
         visible:            _activeVehicle && _activeVehicle.vtol
 
diff --git a/src/QmlControls/MainStatusIndicatorOfflinePage.qml b/src/UI/toolbar/MainStatusIndicatorOfflinePage.qml
similarity index 100%
rename from src/QmlControls/MainStatusIndicatorOfflinePage.qml
rename to src/UI/toolbar/MainStatusIndicatorOfflinePage.qml
diff --git a/src/QmlControls/ParameterDownloadProgress.qml b/src/UI/toolbar/ParameterDownloadProgress.qml
similarity index 100%
rename from src/QmlControls/ParameterDownloadProgress.qml
rename to src/UI/toolbar/ParameterDownloadProgress.qml
diff --git a/src/QmlControls/PlanViewToolBar.qml b/src/UI/toolbar/PlanViewToolBar.qml
similarity index 96%
rename from src/QmlControls/PlanViewToolBar.qml
rename to src/UI/toolbar/PlanViewToolBar.qml
index 60a20f04fc06..62013c92346a 100644
--- a/src/QmlControls/PlanViewToolBar.qml
+++ b/src/UI/toolbar/PlanViewToolBar.qml
@@ -5,6 +5,7 @@ import QtQuick.Dialogs
 
 import QGroundControl
 import QGroundControl.Controls
+import QGroundControl.PlanView
 
 Rectangle {
     id: _root
@@ -13,6 +14,7 @@ Rectangle {
     color: qgcPal.toolbarBackground
 
     property var planMasterController
+    property bool showRallyPointsHelp: false
 
     property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
     property real _controllerProgressPct: planMasterController.missionController.progressPct
@@ -52,6 +54,7 @@ Rectangle {
             anchors.top: parent.top
             anchors.bottom: parent.bottom
             planMasterController: _root.planMasterController
+            showRallyPointsHelp: _root.showRallyPointsHelp
         }
     }
 
diff --git a/src/UI/toolbar/RCRSSIIndicator.qml b/src/UI/toolbar/RCRSSIIndicator.qml
index a310fa5a0640..44b037e32fb2 100644
--- a/src/UI/toolbar/RCRSSIIndicator.qml
+++ b/src/UI/toolbar/RCRSSIIndicator.qml
@@ -12,7 +12,7 @@ Item {
     anchors.top:    parent.top
     anchors.bottom: parent.bottom
 
-    property bool showIndicator: _activeVehicle.supportsRadio && _rcRSSIAvailable
+    property bool showIndicator: _activeVehicle.supports.radio && _rcRSSIAvailable
 
     property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
     property bool   _rcRSSIAvailable:   _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100
diff --git a/src/QmlControls/RemoteIDIndicatorPage.qml b/src/UI/toolbar/RemoteIDIndicatorPage.qml
similarity index 100%
rename from src/QmlControls/RemoteIDIndicatorPage.qml
rename to src/UI/toolbar/RemoteIDIndicatorPage.qml
diff --git a/src/QmlControls/SignalStrength.qml b/src/UI/toolbar/SignalStrength.qml
similarity index 100%
rename from src/QmlControls/SignalStrength.qml
rename to src/UI/toolbar/SignalStrength.qml
diff --git a/src/UI/toolbar/SigningIndicator.qml b/src/UI/toolbar/SigningIndicator.qml
new file mode 100644
index 000000000000..d30b8430edcb
--- /dev/null
+++ b/src/UI/toolbar/SigningIndicator.qml
@@ -0,0 +1,81 @@
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+
+import QGroundControl
+import QGroundControl.Controls
+
+Item {
+    id:             control
+    width:          signingIcon.width * 1.1
+    anchors.top:    parent.top
+    anchors.bottom: parent.bottom
+
+    property bool showIndicator:    QGroundControl.mavlinkSigningKeys.keys.count > 0
+
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _signed:        _activeVehicle ? _activeVehicle.mavlinkSigning : false
+
+    QGCPalette { id: qgcPal }
+
+    QGCColoredImage {
+        id:                 signingIcon
+        anchors.top:        parent.top
+        anchors.bottom:     parent.bottom
+        width:              height
+        sourceSize.height:  height
+        source:             _signed ? "/InstrumentValueIcons/lock-closed.svg" : "/InstrumentValueIcons/lock-open.svg"
+        fillMode:           Image.PreserveAspectFit
+        color:              _signed ? qgcPal.colorGreen : qgcPal.text
+    }
+
+    MouseArea {
+        anchors.fill:   parent
+        onClicked:      mainWindow.showIndicatorDrawer(signingInfoPage, control)
+    }
+
+    Component {
+        id: signingInfoPage
+
+        ToolIndicatorPage {
+            showExpand:         true
+            contentComponent:   signingContentComponent
+            expandedComponent:  signingExpandedComponent
+        }
+    }
+
+    Component {
+        id: signingContentComponent
+
+        SettingsGroupLayout {
+            heading: qsTr("MAVLink Signing")
+
+            LabelledLabel {
+                label:      qsTr("Status:")
+                labelText:  {
+                    if (!_activeVehicle)
+                        return qsTr("No Vehicle")
+                    return _signed ? qsTr("Active") : qsTr("Inactive")
+                }
+            }
+
+            LabelledLabel {
+                label:      qsTr("Active Key:")
+                labelText:  _activeVehicle && _activeVehicle.mavlinkSigningKeyName !== "" ? _activeVehicle.mavlinkSigningKeyName : qsTr("None")
+                visible:    _activeVehicle
+            }
+
+            LabelledLabel {
+                label:      qsTr("Saved Keys:")
+                labelText:  QGroundControl.mavlinkSigningKeys.keys.count
+            }
+        }
+    }
+
+    Component {
+        id: signingExpandedComponent
+
+        SigningKeyManager {
+        }
+    }
+}
diff --git a/src/QmlControls/VehicleMessageList.qml b/src/UI/toolbar/VehicleMessageList.qml
similarity index 100%
rename from src/QmlControls/VehicleMessageList.qml
rename to src/UI/toolbar/VehicleMessageList.qml
diff --git a/src/Utilities/QGCLogging.cc b/src/Utilities/QGCLogging.cc
index 442a8f64af15..3aaca642ab62 100644
--- a/src/Utilities/QGCLogging.cc
+++ b/src/Utilities/QGCLogging.cc
@@ -6,15 +6,26 @@
 
 #include <QtConcurrent/QtConcurrentRun>
 #include <QtCore/QGlobalStatic>
+#include <QtCore/QMutex>
+#include <QtCore/QMutexLocker>
 #include <QtCore/QStringListModel>
 #include <QtCore/QTextStream>
 
+#include <atomic>
+
 QGC_LOGGING_CATEGORY(QGCLoggingLog, "Utilities.QGCLogging")
 
 Q_GLOBAL_STATIC(QGCLogging, _qgcLogging)
 
 static QtMessageHandler defaultHandler = nullptr;
 
+// ---------------------------------------------------------------------------
+// Test‐log‐capture storage (thread‐safe, lightweight when disabled)
+// ---------------------------------------------------------------------------
+static std::atomic<bool> s_captureEnabled{false};
+static QMutex s_captureMutex;
+static QList<CapturedLogMessage> s_capturedMessages;
+
 static void msgHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg)
 {
     // Call the previous handler FIRST to ensure QTest::ignoreMessage works correctly.
@@ -29,6 +40,9 @@ static void msgHandler(QtMsgType type, const QMessageLogContext &context, const
 
     // Filter out Qt Quick internals
     if (QGCLogging::instance() && !QString(context.category).startsWith("qt.quick")) {
+        // Capture for unit-test introspection
+        QGCLogging::captureIfEnabled(type, context, msg);
+
         QGCLogging::instance()->log(message);
     }
 }
@@ -71,6 +85,84 @@ void QGCLogging::installHandler()
     defaultHandler = qInstallMessageHandler(msgHandler);
 }
 
+// ---------------------------------------------------------------------------
+// Test‑log‑capture API
+// ---------------------------------------------------------------------------
+
+void QGCLogging::setCaptureEnabled(bool enabled)
+{
+    s_captureEnabled.store(enabled, std::memory_order_relaxed);
+}
+
+void QGCLogging::clearCapturedMessages()
+{
+    const QMutexLocker locker(&s_captureMutex);
+    s_capturedMessages.clear();
+}
+
+QList<CapturedLogMessage> QGCLogging::capturedMessages(const QString &category)
+{
+    const QMutexLocker locker(&s_captureMutex);
+
+    if (category.isEmpty()) {
+        return s_capturedMessages;
+    }
+
+    QList<CapturedLogMessage> filtered;
+    for (const auto &msg : std::as_const(s_capturedMessages)) {
+        if (msg.category == category) {
+            filtered.append(msg);
+        }
+    }
+    return filtered;
+}
+
+bool QGCLogging::hasCapturedMessage(const QString &category, QtMsgType type)
+{
+    const QMutexLocker locker(&s_captureMutex);
+
+    for (const auto &msg : std::as_const(s_capturedMessages)) {
+        if (msg.category == category && msg.type == type) {
+            return true;
+        }
+    }
+    return false;
+}
+
+bool QGCLogging::hasCapturedWarning(const QString &category)
+{
+    return hasCapturedMessage(category, QtWarningMsg);
+}
+
+bool QGCLogging::hasCapturedCritical(const QString &category)
+{
+    return hasCapturedMessage(category, QtCriticalMsg);
+}
+
+bool QGCLogging::hasCapturedUncategorizedMessage()
+{
+    const QMutexLocker locker(&s_captureMutex);
+
+    for (const auto &msg : std::as_const(s_capturedMessages)) {
+        if (msg.category.isEmpty() || msg.category == QStringLiteral("default")) {
+            return true;
+        }
+    }
+    return false;
+}
+
+void QGCLogging::captureIfEnabled(QtMsgType type, const QMessageLogContext &context, const QString &msg)
+{
+    if (!s_captureEnabled.load(std::memory_order_relaxed)) {
+        return;
+    }
+
+    const QMutexLocker locker(&s_captureMutex);
+    s_capturedMessages.append({type,
+                               context.category ? QString::fromLatin1(context.category) : QString(),
+                               msg});
+}
+
 void QGCLogging::log(const QString &message)
 {
     // Emit the signal so threadsafeLog runs in the correct thread
diff --git a/src/Utilities/QGCLogging.h b/src/Utilities/QGCLogging.h
index 9262c473c141..74af2e481f76 100644
--- a/src/Utilities/QGCLogging.h
+++ b/src/Utilities/QGCLogging.h
@@ -1,12 +1,22 @@
 #pragma once
 
 #include <QtCore/QFile>
+#include <QtCore/QList>
 #include <QtCore/QLoggingCategory>
+#include <QtCore/QString>
 #include <QtCore/QStringListModel>
 #include <QtCore/QTimer>
 
 Q_DECLARE_LOGGING_CATEGORY(QGCLoggingLog)
 
+/// A single captured log message for test introspection.
+struct CapturedLogMessage
+{
+    QtMsgType type = QtDebugMsg;
+    QString category;
+    QString message;
+};
+
 class QGCLogging : public QStringListModel
 {
     Q_OBJECT
@@ -27,6 +37,39 @@ class QGCLogging : public QStringListModel
     /// Enqueue a log message (thread-safe)
     void log(const QString &message);
 
+    // ========================================================================
+    // Test Log Capture
+    // ========================================================================
+
+    /// Enable or disable log capture (for unit testing).
+    /// When enabled, every message passing through the Qt message handler is
+    /// recorded with its category, type and raw text.
+    static void setCaptureEnabled(bool enabled);
+
+    /// Discard all previously captured messages.
+    static void clearCapturedMessages();
+
+    /// Return captured messages, optionally filtered to a single category.
+    /// Pass an empty string to retrieve all messages.
+    [[nodiscard]] static QList<CapturedLogMessage> capturedMessages(const QString &category = {});
+
+    /// Return true if at least one message of the given @a type was captured
+    /// for @a category.
+    [[nodiscard]] static bool hasCapturedMessage(const QString &category, QtMsgType type);
+
+    /// Convenience: captured warning in @a category?
+    [[nodiscard]] static bool hasCapturedWarning(const QString &category);
+
+    /// Convenience: captured critical in @a category?
+    [[nodiscard]] static bool hasCapturedCritical(const QString &category);
+
+    /// Return true if any uncategorized message was captured (e.g. raw qDebug/qWarning).
+    [[nodiscard]] static bool hasCapturedUncategorizedMessage();
+
+    /// Record a message into the capture buffer (if capture is enabled).
+    /// Intended for external handler wrappers (e.g. the unit-test capture handler).
+    static void captureIfEnabled(QtMsgType type, const QMessageLogContext &context, const QString &msg);
+
 signals:
     /// Emitted when a log message is enqueued
     void emitLog(const QString &message);
diff --git a/src/Utilities/StateMachine/Helpers/StateMachineProfiler.cc b/src/Utilities/StateMachine/Helpers/StateMachineProfiler.cc
index a8f18f372f33..9aa1b8216354 100644
--- a/src/Utilities/StateMachine/Helpers/StateMachineProfiler.cc
+++ b/src/Utilities/StateMachine/Helpers/StateMachineProfiler.cc
@@ -67,18 +67,23 @@ QString StateMachineProfiler::summary() const
                   return a.totalTimeMs > b.totalTimeMs;
               });
 
-    lines << QStringLiteral("%-30s %8s %10s %10s %10s %10s")
-             .arg("State", "Count", "Total(ms)", "Avg(ms)", "Min(ms)", "Max(ms)");
+    lines << QStringLiteral("%1 %2 %3 %4 %5 %6")
+             .arg("State", -30)
+             .arg("Count", 8)
+             .arg("Total(ms)", 10)
+             .arg("Avg(ms)", 10)
+             .arg("Min(ms)", 10)
+             .arg("Max(ms)", 10);
     lines << QString(80, '-');
 
     for (const auto& p : sortedProfiles) {
-        lines << QStringLiteral("%-30s %8d %10lld %10.1f %10lld %10lld")
-                 .arg(p.name.left(30))
-                 .arg(p.entryCount)
-                 .arg(p.totalTimeMs)
-                 .arg(p.averageTimeMs())
-                 .arg(p.minTimeMs == std::numeric_limits<qint64>::max() ? 0 : p.minTimeMs)
-                 .arg(p.maxTimeMs);
+        lines << QStringLiteral("%1 %2 %3 %4 %5 %6")
+                 .arg(p.name.left(30), -30)
+                 .arg(p.entryCount, 8)
+                 .arg(p.totalTimeMs, 10)
+                 .arg(p.averageTimeMs(), 10, 'f', 1)
+                 .arg(p.minTimeMs == std::numeric_limits<qint64>::max() ? 0 : p.minTimeMs, 10)
+                 .arg(p.maxTimeMs, 10);
     }
 
     return lines.join('\n');
diff --git a/src/Utilities/StateMachine/QGCStateMachine.cc b/src/Utilities/StateMachine/QGCStateMachine.cc
index 6f764dc735db..88215eb91314 100644
--- a/src/Utilities/StateMachine/QGCStateMachine.cc
+++ b/src/Utilities/StateMachine/QGCStateMachine.cc
@@ -63,7 +63,7 @@ QString QGCStateMachine::currentStateName() const
 void QGCStateMachine::start()
 {
     if (isRunning()) {
-        qCWarning(QGCStateMachineLog) << objectName() << "start() called but already running - check signal connections";
+        qCCritical(QGCStateMachineLog) << objectName() << "start() called but already running - check signal connections";
     }
     QStateMachine::start();
 }
@@ -318,13 +318,13 @@ void QGCStateMachine::clearError(bool restart)
 bool QGCStateMachine::resetToState(QAbstractState* state)
 {
     if (!state) {
-        qCWarning(QGCStateMachineLog) << objectName() << "resetToState: null state";
+        qCCritical(QGCStateMachineLog) << objectName() << "resetToState: null state";
         return false;
     }
 
     // Verify the state belongs to this machine
     if (state->parentState() != this && state->parent() != this) {
-        qCWarning(QGCStateMachineLog) << objectName() << "resetToState: state does not belong to this machine";
+        qCCritical(QGCStateMachineLog) << objectName() << "resetToState: state does not belong to this machine";
         return false;
     }
 
diff --git a/src/Utilities/StateMachine/States/AsyncFunctionState.cc b/src/Utilities/StateMachine/States/AsyncFunctionState.cc
index deb5a30c275f..16d792490941 100644
--- a/src/Utilities/StateMachine/States/AsyncFunctionState.cc
+++ b/src/Utilities/StateMachine/States/AsyncFunctionState.cc
@@ -27,7 +27,7 @@ void AsyncFunctionState::onWaitEntered()
     }
 
     if (!_completionConnection && timeoutMsecs() == 0) {
-        qCWarning(QGCStateMachineLog) << stateName()
+        qCCritical(QGCStateMachineLog) << stateName()
             << "has no completion connection and no timeout - state may hang indefinitely";
     }
 }
diff --git a/src/Utilities/StateMachine/States/SendMavlinkCommandState.cc b/src/Utilities/StateMachine/States/SendMavlinkCommandState.cc
index 4a020e6e167e..6c0d5ec46675 100644
--- a/src/Utilities/StateMachine/States/SendMavlinkCommandState.cc
+++ b/src/Utilities/StateMachine/States/SendMavlinkCommandState.cc
@@ -42,7 +42,7 @@ void SendMavlinkCommandState::disconnectWaitSignal()
 void SendMavlinkCommandState::onWaitEntered()
 {
     if (!_configured) {
-        qCWarning(QGCStateMachineLog) << "SendMavlinkCommandState not configured";
+        qCCritical(QGCStateMachineLog) << "SendMavlinkCommandState not configured";
         waitFailed();
         return;
     }
diff --git a/src/Utilities/StateMachine/States/SubMachineState.cc b/src/Utilities/StateMachine/States/SubMachineState.cc
index ce347e74821b..5277a65600c5 100644
--- a/src/Utilities/StateMachine/States/SubMachineState.cc
+++ b/src/Utilities/StateMachine/States/SubMachineState.cc
@@ -13,14 +13,14 @@ void SubMachineState::onEntry(QEvent* event)
     QGCState::onEntry(event);
 
     if (!_factory) {
-        qCWarning(QGCStateMachineLog) << stateName() << "no machine factory provided";
+        qCCritical(QGCStateMachineLog) << stateName() << "no machine factory provided";
         emit error();
         return;
     }
 
     _childMachine = _factory(this);
     if (!_childMachine) {
-        qCWarning(QGCStateMachineLog) << stateName() << "factory returned null machine";
+        qCCritical(QGCStateMachineLog) << stateName() << "factory returned null machine";
         emit error();
         return;
     }
diff --git a/src/Vehicle/CMakeLists.txt b/src/Vehicle/CMakeLists.txt
index 93d8016584d6..1da3b700f5f0 100644
--- a/src/Vehicle/CMakeLists.txt
+++ b/src/Vehicle/CMakeLists.txt
@@ -31,6 +31,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         VehicleLinkManager.h
         VehicleObjectAvoidance.cc
         VehicleObjectAvoidance.h
+        VehicleSupports.cc
+        VehicleSupports.h
 )
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/Vehicle/ComponentInformation/CompInfoGeneral.cc b/src/Vehicle/ComponentInformation/CompInfoGeneral.cc
index f362e68be851..18483e8907b6 100644
--- a/src/Vehicle/ComponentInformation/CompInfoGeneral.cc
+++ b/src/Vehicle/ComponentInformation/CompInfoGeneral.cc
@@ -1,4 +1,5 @@
 #include "CompInfoGeneral.h"
+#include "ComponentInformationManager.h"
 #include "JsonHelper.h"
 #include "JsonParsing.h"
 #include "QGCLoggingCategory.h"
@@ -72,7 +73,7 @@ void CompInfoGeneral::setJson(const QString& metadataJsonFileName)
         if (uris.uriMetaData.isEmpty() || !uris.crcMetaDataValid) {
             // The CRC is optional for dynamically updated metadata, and once we want to support that this logic needs
             // to be updated.
-            qCDebug(CompInfoGeneralLog) << "Metadata missing fields: type:uri:crcValid" << metadataType <<
+            qCDebug(ComponentInformationManagerLog) << "Metadata missing fields: type:uri:crcValid" << metadataType <<
                     uris.uriMetaData << uris.crcMetaDataValid;
             continue;
         }
diff --git a/src/Vehicle/ComponentInformation/ComponentInformationManager.cc b/src/Vehicle/ComponentInformation/ComponentInformationManager.cc
index a141ac81616d..cd5a512d8832 100644
--- a/src/Vehicle/ComponentInformation/ComponentInformationManager.cc
+++ b/src/Vehicle/ComponentInformation/ComponentInformationManager.cc
@@ -21,6 +21,7 @@ ComponentInformationManager::ComponentInformationManager(Vehicle *vehicle, QObje
     , _translation(new ComponentInformationTranslation(this, _cachedFileDownload))
 {
     qCDebug(ComponentInformationManagerLog) << this;
+    qCDebug(ComponentInformationManagerLog) << "Cache location:" << QStandardPaths::writableLocation(QStandardPaths::CacheLocation) + QLatin1String("/QGCCompInfoCache");
 
     _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_GENERAL]    = new CompInfoGeneral   (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
     _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_PARAMETER]  = new CompInfoParam     (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
@@ -178,7 +179,13 @@ void ComponentInformationManager::requestAllComponentInformation(RequestAllCompl
     _requestAllCompleteFn       = requestAllCompletFn;
     _requestAllCompleteFnData   = requestAllCompleteFnData;
 
-    start();
+    // Guard against double-start: when InitialConnectStateMachine's CompInfo
+    // state times out, the retry callback re-invokes this method while the CIM
+    // state machine is still running. Only start if not already in progress;
+    // the updated callback pointers above are sufficient for the retry path.
+    if (!isRunning()) {
+        start();
+    }
     emit progressUpdate(progress());
 }
 
diff --git a/src/Vehicle/ComponentInformation/ComponentInformationTranslation.cc b/src/Vehicle/ComponentInformation/ComponentInformationTranslation.cc
index f7160ca1c5c3..bd2d14d5266a 100644
--- a/src/Vehicle/ComponentInformation/ComponentInformationTranslation.cc
+++ b/src/Vehicle/ComponentInformation/ComponentInformationTranslation.cc
@@ -19,12 +19,18 @@ ComponentInformationTranslation::ComponentInformationTranslation(QObject* parent
 }
 
 bool ComponentInformationTranslation::downloadAndTranslate(const QString& summaryJsonFile,
-                                                           const QString& toTranslateJsonFile, int maxCacheAgeSec)
+                                                           const QString& toTranslateJsonFile, int maxCacheAgeSec, const QString& componentName)
 {
+    // Metadata is authored in English, no translation needed
+    const QString locale = QLocale::system().name();
+    if (locale.startsWith(QLatin1String("en"))) {
+        qCDebug(ComponentInformationTranslationLog) << "Skipping translation for English locale" << locale << "for" << componentName;
+        return false;
+    }
+
     // Parse summary: find url for current locale
     _toTranslateJsonFile = toTranslateJsonFile;
-    QString locale = QLocale::system().name();
-    QString url = getUrlFromSummaryJson(summaryJsonFile, locale);
+    QString url = getUrlFromSummaryJson(summaryJsonFile, locale, componentName);
     if (url.isEmpty()) {
         return false;
     }
@@ -39,26 +45,26 @@ bool ComponentInformationTranslation::downloadAndTranslate(const QString& summar
     return true;
 }
 
-QString ComponentInformationTranslation::getUrlFromSummaryJson(const QString &summaryJsonFile, const QString &locale)
+QString ComponentInformationTranslation::getUrlFromSummaryJson(const QString &summaryJsonFile, const QString &locale, const QString &componentName)
 {
     QString         errorString;
     QJsonDocument   jsonDoc;
 
     if (!JsonParsing::isJsonFile(summaryJsonFile, jsonDoc, errorString)) {
-        qCWarning(ComponentInformationTranslationLog) << "Metadata translation summary json file open failed:" << errorString;
+        qCWarning(ComponentInformationTranslationLog) << "Metadata translation summary json file open failed for" << componentName << ":" << errorString;
         return "";
     }
     QJsonObject jsonObj = jsonDoc.object();
 
     QJsonObject localeObj = jsonObj[locale].toObject();
     if (localeObj.isEmpty()) {
-        qCWarning(ComponentInformationTranslationLog) << "Locale " << locale << " not found in json";
+        qCWarning(ComponentInformationTranslationLog) << "Locale" << locale << "not found in translation json for" << componentName;
         return "";
     }
 
     QString url = localeObj["url"].toString();
     if (url.isEmpty()) {
-        qCWarning(ComponentInformationTranslationLog) << "Locale " << locale << ": no url set";
+        qCWarning(ComponentInformationTranslationLog) << "Locale" << locale << "has no url in translation json for" << componentName;
     }
     return url;
 }
@@ -98,7 +104,7 @@ void ComponentInformationTranslation::onDownloadCompleted(bool success, const QS
 
 QString ComponentInformationTranslation::translateJsonUsingTS(const QString &toTranslateJsonFile, const QString &tsFile)
 {
-    qCInfo(ComponentInformationTranslationLog) << "Translating" << toTranslateJsonFile << "using" << tsFile;
+    qCDebug(ComponentInformationTranslationLog) << "Translating" << toTranslateJsonFile << "using" << tsFile;
 
     // Open JSON and get the 'translation' object
     QString         errorString;
@@ -200,7 +206,7 @@ QString ComponentInformationTranslation::translateJsonUsingTS(const QString &toT
     translatedFile.write(jsonDoc.toJson());
     translatedFile.close();
 
-    qCInfo(ComponentInformationTranslationLog) << "JSON file" << toTranslateJsonFile << "successfully translated to" << translatedFileName;
+    qCDebug(ComponentInformationTranslationLog) << "JSON file" << toTranslateJsonFile << "successfully translated to" << translatedFileName;
     return translatedFileName;
 }
 
diff --git a/src/Vehicle/ComponentInformation/ComponentInformationTranslation.h b/src/Vehicle/ComponentInformation/ComponentInformationTranslation.h
index 94c853df28ef..480ec25a407f 100644
--- a/src/Vehicle/ComponentInformation/ComponentInformationTranslation.h
+++ b/src/Vehicle/ComponentInformation/ComponentInformationTranslation.h
@@ -26,7 +26,7 @@ class ComponentInformationTranslation : public QObject
     ///     @param toTranslateJsonFile json file to be translated
     ///     @param maxCacheAgeSec Maximum age of cached item in seconds
     /// @return true: Asynchronous download has started, false: Download initialization failed
-    bool downloadAndTranslate(const QString& summaryJsonFile, const QString& toTranslateJsonFile, int maxCacheAgeSec);
+    bool downloadAndTranslate(const QString& summaryJsonFile, const QString& toTranslateJsonFile, int maxCacheAgeSec, const QString& componentName);
 
     QString translateJsonUsingTS(const QString& toTranslateJsonFile, const QString& tsFile);
 
@@ -36,7 +36,7 @@ class ComponentInformationTranslation : public QObject
 private slots:
     void onDownloadCompleted(bool success, const QString &localFile, QString errorMsg, bool fromCache);
 private:
-    QString getUrlFromSummaryJson(const QString& summaryJsonFile, const QString& locale);
+    QString getUrlFromSummaryJson(const QString& summaryJsonFile, const QString& locale, const QString& componentName);
 
     static QJsonObject translate(const QJsonObject& translationObj, const QHash<QString, QString>& translations, QJsonObject doc);
 
diff --git a/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.cc b/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.cc
index c388dc90c039..04e7ad3b8597 100644
--- a/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.cc
+++ b/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.cc
@@ -168,14 +168,17 @@ void RequestMetaDataTypeStateMachine::_wireTimeoutHandling()
 
 void RequestMetaDataTypeStateMachine::request(CompInfo* compInfo)
 {
+    _compInfo = compInfo;
     qCDebug(RequestMetaDataTypeStateMachineLog) << Q_FUNC_INFO << typeToString();
 
-    _compInfo = compInfo;
     _jsonMetadataFileName.clear();
     _jsonMetadataTranslatedFileName.clear();
     _jsonTranslationFileName.clear();
     _activeAsyncState = nullptr;
     _activeSkippableState = nullptr;
+    _metadataSource = MetadataSource::None;
+    _metadataUri.clear();
+    _metadataIsFallback = false;
 
     start();
 }
@@ -335,14 +338,17 @@ void RequestMetaDataTypeStateMachine::_requestMetaDataJson()
     const QString uri = compInfo->uriMetaData();
     _jsonMetadataCrcValid = compInfo->crcMetaDataValid();
 
+    qCDebug(ComponentInformationManagerLog) << typeToString() << ": requesting metadata (primary) from" << uri;
+
     _activeAsyncState = _stateRequestMetaDataJson;
     _activeSkippableState = nullptr;
-    _requestFile(fileTag, compInfo->crcMetaDataValid(), uri, _jsonMetadataFileName);
+    _requestFile(fileTag, compInfo->crcMetaDataValid(), uri, _jsonMetadataFileName, true);
 }
 
 void RequestMetaDataTypeStateMachine::_requestMetaDataJsonFallback()
 {
-    qCDebug(RequestMetaDataTypeStateMachineLog) << "Trying fallback download for" << typeToString();
+    qCDebug(ComponentInformationManagerLog) << typeToString() << ": primary failed, requesting metadata (fallback) from" << _compInfo->uriMetaDataFallback();
+    _metadataIsFallback = true;
 
     CompInfo* compInfo = _compInfo;
     const QString fileTag = ComponentInformationManager::_getFileCacheTag(compInfo->type, compInfo->crcMetaDataFallback(), false);
@@ -351,7 +357,7 @@ void RequestMetaDataTypeStateMachine::_requestMetaDataJsonFallback()
 
     _activeAsyncState = nullptr;
     _activeSkippableState = _stateRequestMetaDataJsonFallback;
-    _requestFile(fileTag, compInfo->crcMetaDataFallbackValid(), uri, _jsonMetadataFileName);
+    _requestFile(fileTag, compInfo->crcMetaDataFallbackValid(), uri, _jsonMetadataFileName, true);
 }
 
 void RequestMetaDataTypeStateMachine::_requestTranslationJson()
@@ -359,9 +365,15 @@ void RequestMetaDataTypeStateMachine::_requestTranslationJson()
     CompInfo* compInfo = _compInfo;
     const QString uri = compInfo->uriTranslation();
 
+    if (uri.isEmpty()) {
+        qCDebug(RequestMetaDataTypeStateMachineLog) << "No translation URI for" << typeToString();
+        _stateRequestTranslationJson->complete();
+        return;
+    }
+
     _activeAsyncState = _stateRequestTranslationJson;
     _activeSkippableState = nullptr;
-    _requestFile("", false, uri, _jsonTranslationFileName);
+    _requestFile("", false, uri, _jsonTranslationFileName, false);
 }
 
 void RequestMetaDataTypeStateMachine::_requestTranslate()
@@ -371,7 +383,8 @@ void RequestMetaDataTypeStateMachine::_requestTranslate()
 
     if (!_compMgr->translation()->downloadAndTranslate(_jsonTranslationFileName,
                                                        _jsonMetadataFileName,
-                                                       ComponentInformationManager::cachedFileMaxAgeSec)) {
+                                                       ComponentInformationManager::cachedFileMaxAgeSec,
+                                                       typeToString())) {
         disconnect(_compMgr->translation(), &ComponentInformationTranslation::downloadComplete,
                    this, &RequestMetaDataTypeStateMachine::_downloadAndTranslationComplete);
         qCDebug(RequestMetaDataTypeStateMachineLog) << "downloadAndTranslate() failed";
@@ -394,11 +407,14 @@ void RequestMetaDataTypeStateMachine::_downloadAndTranslationComplete(QString tr
 
 void RequestMetaDataTypeStateMachine::_completeRequest()
 {
-    if (_jsonMetadataTranslatedFileName.isEmpty()) {
-        _compInfo->setJson(_jsonMetadataFileName);
-    } else {
+    const bool success = !_jsonMetadataFileName.isEmpty();
+    const bool translated = !_jsonMetadataTranslatedFileName.isEmpty();
+
+    if (translated) {
         _compInfo->setJson(_jsonMetadataTranslatedFileName);
         QFile(_jsonMetadataTranslatedFileName).remove();
+    } else {
+        _compInfo->setJson(_jsonMetadataFileName);
     }
 
     // If we don't have a CRC we didn't cache the file and need to delete it
@@ -408,9 +424,35 @@ void RequestMetaDataTypeStateMachine::_completeRequest()
     if (!_jsonMetadataCrcValid && !_jsonTranslationFileName.isEmpty()) {
         QFile(_jsonTranslationFileName).remove();
     }
+
+    // Summary log for easy filtering
+    const char* sourceLabel = _metadataIsFallback ? "(fallback)" : "(primary)";
+    if (success) {
+        if (translated) {
+            qCDebug(ComponentInformationManagerLog) << typeToString() << ":" << _metadataSourceToString(_metadataSource)
+                                                    << sourceLabel << "(translated)" << _metadataUri;
+        } else {
+            qCDebug(ComponentInformationManagerLog) << typeToString() << ":" << _metadataSourceToString(_metadataSource)
+                                                    << sourceLabel << _metadataUri;
+        }
+    } else {
+        qCWarning(ComponentInformationManagerLog) << typeToString() << ": failed to load metadata (primary and fallback)"
+                                                  << (_metadataUri.isEmpty() ? _compInfo->uriMetaData() : _metadataUri);
+    }
 }
 
-void RequestMetaDataTypeStateMachine::_requestFile(const QString& cacheFileTag, bool crcValid, const QString& uri, QString& outputFileName)
+const char* RequestMetaDataTypeStateMachine::_metadataSourceToString(MetadataSource source)
+{
+    switch (source) {
+    case MetadataSource::Cache: return "loaded from cache";
+    case MetadataSource::FTP:   return "downloaded via FTP";
+    case MetadataSource::HTTP:  return "downloaded via HTTP";
+    case MetadataSource::None:  return "not available";
+    }
+    return "unknown";
+}
+
+void RequestMetaDataTypeStateMachine::_requestFile(const QString& cacheFileTag, bool crcValid, const QString& uri, QString& outputFileName, bool trackMetadataSource)
 {
     FTPManager* ftpManager = _compInfo->vehicle->ftpManager();
     _currentCacheFileTag = cacheFileTag;
@@ -427,7 +469,7 @@ void RequestMetaDataTypeStateMachine::_requestFile(const QString& cacheFileTag,
     };
 
     if (!_compInfo->available() || uri.isEmpty()) {
-        qCDebug(RequestMetaDataTypeStateMachineLog) << "Skipping download. Component information not available for" << _currentCacheFileTag;
+        qCDebug(ComponentInformationManagerLog) << typeToString() << ": metadata not available, skipping download";
         completeCurrentState();
         return;
     }
@@ -436,14 +478,28 @@ void RequestMetaDataTypeStateMachine::_requestFile(const QString& cacheFileTag,
 
     if (!cachedFile.isEmpty()) {
         qCDebug(RequestMetaDataTypeStateMachineLog) << "Using cached file" << cachedFile;
+        if (trackMetadataSource) {
+            _metadataSource = MetadataSource::Cache;
+            _metadataUri = uri;
+        }
         outputFileName = cachedFile;
         completeCurrentState();
         return;
     }
 
+    if (!crcValid) {
+        qCDebug(RequestMetaDataTypeStateMachineLog) << typeToString() << ": CRC not available, cache bypassed";
+    } else {
+        qCDebug(RequestMetaDataTypeStateMachineLog) << typeToString() << ": not found in cache, downloading";
+    }
+
     qCDebug(RequestMetaDataTypeStateMachineLog) << "Downloading json" << uri;
 
     if (_uriIsMAVLinkFTP(uri)) {
+        if (trackMetadataSource) {
+            _metadataSource = MetadataSource::FTP;
+            _metadataUri = uri;
+        }
         connect(ftpManager, &FTPManager::downloadComplete, this, &RequestMetaDataTypeStateMachine::_ftpDownloadComplete);
         if (ftpManager->download(MAV_COMP_ID_AUTOPILOT1, uri, QStandardPaths::writableLocation(QStandardPaths::TempLocation))) {
             _downloadStartTime.start();
@@ -454,6 +510,10 @@ void RequestMetaDataTypeStateMachine::_requestFile(const QString& cacheFileTag,
             completeCurrentState();
         }
     } else {
+        if (trackMetadataSource) {
+            _metadataSource = MetadataSource::HTTP;
+            _metadataUri = uri;
+        }
         connect(_compMgr->_cachedFileDownload, &QGCCachedFileDownload::finished,
                 this, &RequestMetaDataTypeStateMachine::_httpDownloadComplete);
         if (_compMgr->_cachedFileDownload->download(uri, crcValid ? 0 : ComponentInformationManager::cachedFileMaxAgeSec)) {
@@ -493,8 +553,8 @@ void RequestMetaDataTypeStateMachine::_ftpDownloadComplete(const QString& fileNa
         if (_currentFileName) {
             *_currentFileName = _downloadCompleteJsonWorker(fileName);
         }
-    } else if (qgcApp()->runningUnitTests()) {
-        qCWarning(RequestMetaDataTypeStateMachineLog) << "_ftpDownloadComplete failed filename:errorMsg" << fileName << errorMsg;
+    } else {
+        qCDebug(ComponentInformationManagerLog) << typeToString() << ": FTP download failed:" << errorMsg;
     }
 
     if (_activeAsyncState) {
@@ -529,9 +589,8 @@ void RequestMetaDataTypeStateMachine::_httpDownloadComplete(bool success, const
         if (_currentFileName) {
             *_currentFileName = _downloadCompleteJsonWorker(localFile);
         }
-    } else if (qgcApp()->runningUnitTests()) {
-        qCWarning(RequestMetaDataTypeStateMachineLog) << "_httpDownloadComplete failed localFile:errorMsg:fromCache"
-                                                      << localFile << errorMsg << fromCache;
+    } else {
+        qCDebug(ComponentInformationManagerLog) << typeToString() << ": HTTP download failed:" << errorMsg;
     }
 
     if (_activeAsyncState) {
diff --git a/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.h b/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.h
index 2aed8736e63f..34099faede4e 100644
--- a/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.h
+++ b/src/Vehicle/ComponentInformation/RequestMetaDataTypeStateMachine.h
@@ -53,10 +53,18 @@ class RequestMetaDataTypeStateMachine : public QGCStateMachine
     bool _shouldSkipTranslation() const;
 
     // Download helpers
-    void _requestFile(const QString& cacheFileTag, bool crcValid, const QString& uri, QString& outputFileName);
+    void _requestFile(const QString& cacheFileTag, bool crcValid, const QString& uri, QString& outputFileName, bool trackMetadataSource);
     QString _downloadCompleteJsonWorker(const QString& jsonFileName);
     static bool _uriIsMAVLinkFTP(const QString& uri);
 
+    enum class MetadataSource {
+        None,
+        Cache,
+        FTP,
+        HTTP,
+    };
+    static const char* _metadataSourceToString(MetadataSource source);
+
     // Message result handlers
     void _handleCompMetadataResult(MAV_RESULT result, const mavlink_message_t& message);
     void _handleCompInfoResult(MAV_RESULT result, Vehicle::RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message);
@@ -82,6 +90,9 @@ private slots:
     bool _currentFileValidCrc = false;
 
     QElapsedTimer _downloadStartTime;
+    MetadataSource _metadataSource = MetadataSource::None;
+    QString _metadataUri;
+    bool _metadataIsFallback = false;
 
     // State pointers
     AsyncFunctionState* _stateRequestCompInfo = nullptr;
diff --git a/src/Vehicle/FTPManager.cc b/src/Vehicle/FTPManager.cc
index 328db8d558c4..935f59646177 100644
--- a/src/Vehicle/FTPManager.cc
+++ b/src/Vehicle/FTPManager.cc
@@ -663,6 +663,12 @@ void FTPManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 
     MavlinkFTP::Request* request = (MavlinkFTP::Request*)&data.payload[0];
 
+    // Reject messages where hdr.size exceeds data array bounds to prevent over-reads
+    if (request->hdr.size > sizeof(request->data)) {
+        qCWarning(FTPManagerLog) << "_mavlinkMessageReceived: hdr.size exceeds data array, discarding." << request->hdr.size;
+        return;
+    }
+
     // Ignore old/reordered packets (handle wrap-around properly)
     uint16_t actualIncomingSeqNumber = request->hdr.seqNumber;
     if ((uint16_t)((_expectedIncomingSeqNumber - 1) - actualIncomingSeqNumber) < (std::numeric_limits<uint16_t>::max()/2)) {
diff --git a/src/Vehicle/InitialConnectStateMachine.cc b/src/Vehicle/InitialConnectStateMachine.cc
index db4dd05b8b10..f2b732180428 100644
--- a/src/Vehicle/InitialConnectStateMachine.cc
+++ b/src/Vehicle/InitialConnectStateMachine.cc
@@ -331,18 +331,22 @@ void InitialConnectStateMachine::_requestStandardModes(AsyncFunctionState* state
     vehicle()->_standardModes->request();
 }
 
-void InitialConnectStateMachine::_requestCompInfo(AsyncFunctionState* /*state*/)
+void InitialConnectStateMachine::_requestCompInfo(AsyncFunctionState* state)
 {
     qCDebug(InitialConnectStateMachineLog) << "_stateRequestCompInfo";
 
     connect(vehicle()->_componentInformationManager, &ComponentInformationManager::progressUpdate,
             this, &InitialConnectStateMachine::_onSubProgressUpdate, Qt::UniqueConnection);
 
+    // Ensure progress tracking is always cleaned up, including timeout/skip paths.
+    state->setOnExit([this]() {
+        disconnect(vehicle()->_componentInformationManager, &ComponentInformationManager::progressUpdate,
+                   this, &InitialConnectStateMachine::_onSubProgressUpdate);
+    });
+
     vehicle()->_componentInformationManager->requestAllComponentInformation(
         [](void* requestAllCompleteFnData) {
             auto* self = static_cast<InitialConnectStateMachine*>(requestAllCompleteFnData);
-            disconnect(self->vehicle()->_componentInformationManager, &ComponentInformationManager::progressUpdate,
-                       self, &InitialConnectStateMachine::_onSubProgressUpdate);
             if (self->_stateCompInfo) {
                 self->_stateCompInfo->complete();
             }
diff --git a/src/Vehicle/RemoteIDManager.cc b/src/Vehicle/RemoteIDManager.cc
index d9502d96819f..47bd23c671c4 100644
--- a/src/Vehicle/RemoteIDManager.cc
+++ b/src/Vehicle/RemoteIDManager.cc
@@ -256,66 +256,60 @@ void RemoteIDManager::_sendOperatorID()
     }
 }
 
+void RemoteIDManager::_updateGcsGpsStatus(bool gpsGood, const QString& error)
+{
+    if (!error.isEmpty() && _gcsGPSError != error) {
+        _gcsGPSError = error;
+        qCWarning(RemoteIDManagerLog) << "GCS GPS error:" << error;
+    }
+    if (_gcsGPSGood != gpsGood) {
+        _gcsGPSGood = gpsGood;
+        if (gpsGood) {
+            _gcsGPSError.clear();
+        }
+        emit gcsGPSGoodChanged();
+    }
+}
+
 void RemoteIDManager::_sendSystem()
 {
-    QGeoCoordinate      gcsPosition;
-    QGeoPositionInfo    geoPositionInfo;
+    QGeoCoordinate gcsPosition(0, 0, 0);
+    const uint32_t locationType = _settings->locationType()->rawValue().toUInt();
     // Location types:
     // 0 -> TAKEOFF (not supported yet)
     // 1 -> LIVE GNNS
     // 2 -> FIXED
-    if (_settings->locationType()->rawValue().toUInt() == LocationTypes::FIXED) {
+    if (locationType == LocationTypes::FIXED) {
+        const double lat = _settings->latitudeFixed()->rawValue().toDouble();
+        const double lon = _settings->longitudeFixed()->rawValue().toDouble();
+        const double alt = _settings->altitudeFixed()->rawValue().toDouble();
+
         // For FIXED location, we first check that the values are valid. Then we populate our position
-        if (_settings->latitudeFixed()->rawValue().toFloat() >= -90 && _settings->latitudeFixed()->rawValue().toFloat() <= 90 && _settings->longitudeFixed()->rawValue().toFloat() >= -180 && _settings->longitudeFixed()->rawValue().toFloat() <= 180) {
-            gcsPosition = QGeoCoordinate(_settings->latitudeFixed()->rawValue().toFloat(), _settings->longitudeFixed()->rawValue().toFloat(), _settings->altitudeFixed()->rawValue().toFloat());
-            geoPositionInfo = QGeoPositionInfo(gcsPosition, QDateTime::currentDateTime().currentDateTimeUtc());
-            if (!_gcsGPSGood) {
-                _gcsGPSGood = true;
-                emit gcsGPSGoodChanged();
-            }
+        if (lat >= -90.0 && lat <= 90.0 && lon >= -180.0 && lon <= 180.0) {
+            gcsPosition = QGeoCoordinate(lat, lon, alt);
+            _updateGcsGpsStatus(true);
         } else {
-            gcsPosition = QGeoCoordinate(0,0,0);
-            geoPositionInfo = QGeoPositionInfo(gcsPosition, QDateTime::currentDateTime().currentDateTimeUtc());
-            if (_gcsGPSGood) {
-                _gcsGPSGood = false;
-                emit gcsGPSGoodChanged();
-                qCDebug(RemoteIDManagerLog) << "The provided coordinates for FIXED position are invalid.";
-            }
+            _updateGcsGpsStatus(false, "The provided coordinates for FIXED position are invalid.");
         }
     } else {
-        // For Live GNSS we take QGC GPS data
-        gcsPosition = QGCPositionManager::instance()->gcsPosition();
-        geoPositionInfo = QGCPositionManager::instance()->geoPositionInfo();
-
-        // GPS position needs to be valid before checking other stuff
-        if (geoPositionInfo.isValid()) {
-            // If we dont have altitude for FAA then the GPS data is no good
-            if ((_settings->region()->rawValue().toInt() == Region::FAA) && !(gcsPosition.altitude() >= 0) && _gcsGPSGood) {
-                _gcsGPSGood = false;
-                emit gcsGPSGoodChanged();
-                qCDebug(RemoteIDManagerLog) << "GCS GPS data error (no altitude): Altitude data is mandatory for GCS GPS data in FAA regions.";
-                return;
-            }
-
-            // If the GPS data is older than ALLOWED_GPS_DELAY we cannot use this data
-            if (_lastGeoPositionTimeStamp.msecsTo(QDateTime::currentDateTime().currentDateTimeUtc()) > ALLOWED_GPS_DELAY) {
-                if (_gcsGPSGood) {
-                    _gcsGPSGood = false;
-                    emit gcsGPSGoodChanged();
-                    qCDebug(RemoteIDManagerLog) << "GCS GPS data is older than 5 seconds";
-                }
-            } else {
-                if (!_gcsGPSGood) {
-                    _gcsGPSGood = true;
-                    emit gcsGPSGoodChanged();
-                }
-            }
+        QGCPositionManager* positionManager = QGCPositionManager::instance();
+        QGeoPositionInfo geoPositionInfo = positionManager->geoPositionInfo();
+        gcsPosition = positionManager->gcsPosition();
+
+        if (!geoPositionInfo.isValid()) {
+            _updateGcsGpsStatus(false, "GCS GPS data is not valid.");
+        } else if (positionManager->gcsPositioningError() != QGeoPositionInfoSource::NoError && positionManager->gcsPositioningError() != QGeoPositionInfoSource::UpdateTimeoutError) {
+            _updateGcsGpsStatus(false, QString("GCS GPS data error: %1").arg(positionManager->gcsPositioningError()));
+        } else if (!gcsPosition.isValid() || gcsPosition.type() == QGeoCoordinate::InvalidCoordinate) {
+            _updateGcsGpsStatus(false, "GCS GPS data error: Invalid coordinate type.");
+        } else if (_settings->region()->rawValue().toInt() == Region::FAA && gcsPosition.type() != QGeoCoordinate::Coordinate3D) {
+            // FAA requires altitude data, or else the GPS data is not good
+            _updateGcsGpsStatus(false, "GCS GPS data error: Altitude data is mandatory for FAA regions.");
+        } else if (_lastGeoPositionTimeStamp.msecsTo(QDateTime::currentDateTime().currentDateTimeUtc()) > ALLOWED_GPS_DELAY) {
+            _updateGcsGpsStatus(false, "GCS GPS data is older than 5 seconds");
         } else {
-            _gcsGPSGood = false;
-            emit gcsGPSGoodChanged();
-            qCDebug(RemoteIDManagerLog) << "GCS GPS data is not valid.";
+            _updateGcsGpsStatus(true);
         }
-
     }
 
     WeakLinkInterfacePtr weakLink = _vehicle->vehicleLinkManager()->primaryLink();
diff --git a/src/Vehicle/RemoteIDManager.h b/src/Vehicle/RemoteIDManager.h
index 5b4ae7bcdad4..3327391f62f2 100644
--- a/src/Vehicle/RemoteIDManager.h
+++ b/src/Vehicle/RemoteIDManager.h
@@ -94,6 +94,9 @@ private slots:
     // Basic ID
     void        _sendBasicID();
 
+    // GCS GPS status
+    void        _updateGcsGpsStatus(bool gpsGood, const QString& error = QString());
+
     bool _isEUOperatorIDValid(const QString& operatorID) const;
     QChar _calculateLuhnMod36(const QString& input) const;
 
@@ -106,6 +109,7 @@ private slots:
     QString _armStatusError;
     bool    _commsGood;
     bool    _gcsGPSGood;
+    QString _gcsGPSError;
     bool    _basicIDGood;
     bool    _GCSBasicIDValid;
     bool    _operatorIDGood;
diff --git a/src/Vehicle/TerrainProtocolHandler.cc b/src/Vehicle/TerrainProtocolHandler.cc
index 36d19d33d76d..c567178bce6c 100644
--- a/src/Vehicle/TerrainProtocolHandler.cc
+++ b/src/Vehicle/TerrainProtocolHandler.cc
@@ -1,4 +1,5 @@
 #include "TerrainProtocolHandler.h"
+#include "TerrainFactGroup.h"
 #include "TerrainQuery.h"
 #include "Vehicle.h"
 #include "MAVLinkProtocol.h"
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index cca1b13bf4ea..1a836bc0e684 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1,5 +1,25 @@
 #include "Vehicle.h"
 #include "Actuators.h"
+#include "BatteryFactGroupListModel.h"
+#include "EscStatusFactGroupListModel.h"
+#include "TerrainFactGroup.h"
+#include "VehicleClockFactGroup.h"
+#include "VehicleDistanceSensorFactGroup.h"
+#include "VehicleEFIFactGroup.h"
+#include "VehicleEstimatorStatusFactGroup.h"
+#include "VehicleGeneratorFactGroup.h"
+#include "VehicleGPS2FactGroup.h"
+#include "VehicleGPSFactGroup.h"
+#include "VehicleGPSAggregateFactGroup.h"
+#include "VehicleHygrometerFactGroup.h"
+#include "VehicleLocalPositionFactGroup.h"
+#include "VehicleLocalPositionSetpointFactGroup.h"
+#include "VehicleRPMFactGroup.h"
+#include "VehicleSetpointFactGroup.h"
+#include "VehicleTemperatureFactGroup.h"
+#include "VehicleVibrationFactGroup.h"
+#include "VehicleWindFactGroup.h"
+#include "VehicleSupports.h"
 #include "ADSBVehicleManager.h"
 #include "AudioOutput.h"
 #include "AutoPilotPlugin.h"
@@ -45,6 +65,7 @@
 #include "DeviceInfo.h"
 #include "StatusTextHandler.h"
 #include "MAVLinkSigning.h"
+#include "MAVLinkSigningKeys.h"
 #include "GimbalController.h"
 #include "MavlinkSettings.h"
 #include "APM.h"
@@ -86,24 +107,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _trajectoryPoints             (new TrajectoryPoints(this, this))
     , _mavlinkStreamConfig          (std::bind(&Vehicle::_setMessageInterval, this, std::placeholders::_1, std::placeholders::_2))
     , _vehicleFactGroup             (this)
-    , _gpsFactGroup                 (this)
-    , _gps2FactGroup                (this)
-    , _gpsAggregateFactGroup        (this)
-    , _windFactGroup                (this)
-    , _vibrationFactGroup           (this)
-    , _temperatureFactGroup         (this)
-    , _clockFactGroup               (this)
-    , _setpointFactGroup            (this)
-    , _distanceSensorFactGroup      (this)
-    , _localPositionFactGroup       (this)
-    , _localPositionSetpointFactGroup(this)
-    , _estimatorStatusFactGroup     (this)
-    , _hygrometerFactGroup          (this)
-    , _generatorFactGroup           (this)
-    , _efiFactGroup                 (this)
-    , _rpmFactGroup                 (this)
-    , _terrainFactGroup             (this)
-    , _terrainProtocolHandler       (new TerrainProtocolHandler(this, &_terrainFactGroup, this))
 {
     connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Vehicle::_activeVehicleChanged);
 
@@ -186,15 +189,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _trajectoryPoints                 (new TrajectoryPoints(this, this))
     , _mavlinkStreamConfig              (std::bind(&Vehicle::_setMessageInterval, this, std::placeholders::_1, std::placeholders::_2))
     , _vehicleFactGroup                 (this)
-    , _gpsFactGroup                     (this)
-    , _gps2FactGroup                    (this)
-    , _gpsAggregateFactGroup            (this)
-    , _windFactGroup                    (this)
-    , _vibrationFactGroup               (this)
-    , _clockFactGroup                   (this)
-    , _distanceSensorFactGroup          (this)
-    , _localPositionFactGroup           (this)
-    , _localPositionSetpointFactGroup   (this)
 {
     // This will also set the settings based firmware/vehicle types. So it needs to happen first.
     if (_firmwareType == MAV_AUTOPILOT_TRACK) {
@@ -298,30 +292,54 @@ void Vehicle::_commonInit(LinkInterface* link)
     // Flight modes can differ based on advanced mode
     connect(QGCCorePlugin::instance(), &QGCCorePlugin::showAdvancedUIChanged, this, &Vehicle::flightModesChanged);
 
-    _gpsAggregateFactGroup.bindToGps(&_gpsFactGroup, &_gps2FactGroup);
+    _gpsFactGroup                   = new VehicleGPSFactGroup(this);
+    _gps2FactGroup                  = new VehicleGPS2FactGroup(this);
+    _gpsAggregateFactGroup          = new VehicleGPSAggregateFactGroup(this);
+    _windFactGroup                  = new VehicleWindFactGroup(this);
+    _vibrationFactGroup             = new VehicleVibrationFactGroup(this);
+    _temperatureFactGroup           = new VehicleTemperatureFactGroup(this);
+    _clockFactGroup                 = new VehicleClockFactGroup(this);
+    _setpointFactGroup              = new VehicleSetpointFactGroup(this);
+    _distanceSensorFactGroup        = new VehicleDistanceSensorFactGroup(this);
+    _localPositionFactGroup         = new VehicleLocalPositionFactGroup(this);
+    _localPositionSetpointFactGroup = new VehicleLocalPositionSetpointFactGroup(this);
+    _estimatorStatusFactGroup       = new VehicleEstimatorStatusFactGroup(this);
+    _hygrometerFactGroup            = new VehicleHygrometerFactGroup(this);
+    _generatorFactGroup             = new VehicleGeneratorFactGroup(this);
+    _efiFactGroup                   = new VehicleEFIFactGroup(this);
+    _rpmFactGroup                   = new VehicleRPMFactGroup(this);
+    _terrainFactGroup               = new TerrainFactGroup(this);
+    _batteryFactGroupListModel      = new BatteryFactGroupListModel(this);
+    _escStatusFactGroupListModel    = new EscStatusFactGroupListModel(this);
+
+    if (!_offlineEditingVehicle) {
+        _terrainProtocolHandler = new TerrainProtocolHandler(this, _terrainFactGroup, this);
+    }
+
+    _gpsAggregateFactGroup->bindToGps(_gpsFactGroup, _gps2FactGroup);
 
     _createImageProtocolManager();
     _createStatusTextHandler();
     _createMAVLinkLogManager();
 
     // _addFactGroup(_vehicleFactGroup,            _vehicleFactGroupName);
-    _addFactGroup(&_gpsFactGroup,               _gpsFactGroupName);
-    _addFactGroup(&_gps2FactGroup,              _gps2FactGroupName);
-    _addFactGroup(&_gpsAggregateFactGroup,      _gpsAggregateFactGroupName);
-    _addFactGroup(&_windFactGroup,              _windFactGroupName);
-    _addFactGroup(&_vibrationFactGroup,         _vibrationFactGroupName);
-    _addFactGroup(&_temperatureFactGroup,       _temperatureFactGroupName);
-    _addFactGroup(&_clockFactGroup,             _clockFactGroupName);
-    _addFactGroup(&_setpointFactGroup,          _setpointFactGroupName);
-    _addFactGroup(&_distanceSensorFactGroup,    _distanceSensorFactGroupName);
-    _addFactGroup(&_localPositionFactGroup,     _localPositionFactGroupName);
-    _addFactGroup(&_localPositionSetpointFactGroup,_localPositionSetpointFactGroupName);
-    _addFactGroup(&_estimatorStatusFactGroup,   _estimatorStatusFactGroupName);
-    _addFactGroup(&_hygrometerFactGroup,        _hygrometerFactGroupName);
-    _addFactGroup(&_generatorFactGroup,         _generatorFactGroupName);
-    _addFactGroup(&_efiFactGroup,               _efiFactGroupName);
-    _addFactGroup(&_rpmFactGroup,               _rpmFactGroupName);
-    _addFactGroup(&_terrainFactGroup,           _terrainFactGroupName);
+    _addFactGroup(_gpsFactGroup,               _gpsFactGroupName);
+    _addFactGroup(_gps2FactGroup,              _gps2FactGroupName);
+    _addFactGroup(_gpsAggregateFactGroup,      _gpsAggregateFactGroupName);
+    _addFactGroup(_windFactGroup,              _windFactGroupName);
+    _addFactGroup(_vibrationFactGroup,         _vibrationFactGroupName);
+    _addFactGroup(_temperatureFactGroup,       _temperatureFactGroupName);
+    _addFactGroup(_clockFactGroup,             _clockFactGroupName);
+    _addFactGroup(_setpointFactGroup,          _setpointFactGroupName);
+    _addFactGroup(_distanceSensorFactGroup,    _distanceSensorFactGroupName);
+    _addFactGroup(_localPositionFactGroup,     _localPositionFactGroupName);
+    _addFactGroup(_localPositionSetpointFactGroup,_localPositionSetpointFactGroupName);
+    _addFactGroup(_estimatorStatusFactGroup,   _estimatorStatusFactGroupName);
+    _addFactGroup(_hygrometerFactGroup,        _hygrometerFactGroupName);
+    _addFactGroup(_generatorFactGroup,         _generatorFactGroupName);
+    _addFactGroup(_efiFactGroup,               _efiFactGroupName);
+    _addFactGroup(_rpmFactGroup,               _rpmFactGroupName);
+    _addFactGroup(_terrainFactGroup,           _terrainFactGroupName);
 
     // Add firmware-specific fact groups, if provided
     QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
@@ -342,6 +360,7 @@ void Vehicle::_commonInit(LinkInterface* link)
     }
 
     _gimbalController = new GimbalController(this);
+    _vehicleSupports = new VehicleSupports(this);
 
     _createCameraManager();
 }
@@ -368,6 +387,27 @@ Vehicle::~Vehicle()
     _autopilotPlugin = nullptr;
 }
 
+FactGroup* Vehicle::gpsFactGroup()                  { return _gpsFactGroup; }
+FactGroup* Vehicle::gps2FactGroup()                 { return _gps2FactGroup; }
+FactGroup* Vehicle::gpsAggregateFactGroup()         { return _gpsAggregateFactGroup; }
+FactGroup* Vehicle::windFactGroup()                 { return _windFactGroup; }
+FactGroup* Vehicle::vibrationFactGroup()            { return _vibrationFactGroup; }
+FactGroup* Vehicle::temperatureFactGroup()          { return _temperatureFactGroup; }
+FactGroup* Vehicle::clockFactGroup()                { return _clockFactGroup; }
+FactGroup* Vehicle::setpointFactGroup()             { return _setpointFactGroup; }
+FactGroup* Vehicle::distanceSensorFactGroup()       { return _distanceSensorFactGroup; }
+FactGroup* Vehicle::localPositionFactGroup()        { return _localPositionFactGroup; }
+FactGroup* Vehicle::localPositionSetpointFactGroup() { return _localPositionSetpointFactGroup; }
+FactGroup* Vehicle::estimatorStatusFactGroup()      { return _estimatorStatusFactGroup; }
+FactGroup* Vehicle::terrainFactGroup()              { return _terrainFactGroup; }
+FactGroup* Vehicle::hygrometerFactGroup()           { return _hygrometerFactGroup; }
+FactGroup* Vehicle::generatorFactGroup()            { return _generatorFactGroup; }
+FactGroup* Vehicle::efiFactGroup()                  { return _efiFactGroup; }
+FactGroup* Vehicle::rpmFactGroup()                  { return _rpmFactGroup; }
+
+QmlObjectListModel* Vehicle::batteries()            { return _batteryFactGroupListModel; }
+QmlObjectListModel* Vehicle::escs()                 { return _escStatusFactGroupListModel; }
+
 void Vehicle::_deleteCameraManager()
 {
     if(_cameraManager) {
@@ -469,6 +509,15 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         }
     }
 
+    // Try to auto-detect signing key from incoming signed packets
+    if (MAVLinkSigning::isMessageSigned(message) && !MAVLinkSigning::isSigningEnabled(static_cast<mavlink_channel_t>(link->mavlinkChannel()))) {
+        const QString detectedKeyName = MAVLinkSigning::tryDetectKey(static_cast<mavlink_channel_t>(link->mavlinkChannel()), message);
+        if (!detectedKeyName.isEmpty() && link == vehicleLinkManager()->primaryLink().lock().get()) {
+            _mavlinkSigningKeyName = detectedKeyName;
+            emit mavlinkSigningChanged();
+        }
+    }
+
     // We give the link manager first whack since it it reponsible for adding new links
     _vehicleLinkManager->mavlinkMessageReceived(link, message);
 
@@ -519,8 +568,8 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _waitForMavlinkMessageMessageReceivedHandler(message);
 
     // Handle creation of dynamic fact group lists
-    _batteryFactGroupListModel.handleMessageForFactGroupCreation(this, message);
-    _escStatusFactGroupListModel.handleMessageForFactGroupCreation(this, message);
+    _batteryFactGroupListModel->handleMessageForFactGroupCreation(this, message);
+    _escStatusFactGroupListModel->handleMessageForFactGroupCreation(this, message);
 
     // Let the fact groups take a whack at the mavlink traffic
     for (FactGroup* factGroup : factGroups()) {
@@ -542,6 +591,38 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_RC_CHANNELS:
         _handleRCChannels(message);
         break;
+    case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+    {
+        mavlink_servo_output_raw_t servoOutputRaw;
+        mavlink_msg_servo_output_raw_decode(&message, &servoOutputRaw);
+
+        // ArduPilot commonly publishes servo1_raw..servo16_raw in a single packet (port may remain 0).
+        const uint16_t rawValues[16] = {
+            servoOutputRaw.servo1_raw,
+            servoOutputRaw.servo2_raw,
+            servoOutputRaw.servo3_raw,
+            servoOutputRaw.servo4_raw,
+            servoOutputRaw.servo5_raw,
+            servoOutputRaw.servo6_raw,
+            servoOutputRaw.servo7_raw,
+            servoOutputRaw.servo8_raw,
+            servoOutputRaw.servo9_raw,
+            servoOutputRaw.servo10_raw,
+            servoOutputRaw.servo11_raw,
+            servoOutputRaw.servo12_raw,
+            servoOutputRaw.servo13_raw,
+            servoOutputRaw.servo14_raw,
+            servoOutputRaw.servo15_raw,
+            servoOutputRaw.servo16_raw
+        };
+
+        for (int servoIndex = 0; servoIndex < _servoOutputRawValues.size() && servoIndex < 16; servoIndex++) {
+            _servoOutputRawValues[servoIndex] = (rawValues[servoIndex] == UINT16_MAX) ? -1 : static_cast<int>(rawValues[servoIndex]);
+        }
+
+        emit servoOutputsChanged(_servoOutputRawValues);
+    }
+        break;
     case MAVLINK_MSG_ID_BATTERY_STATUS:
         _handleBatteryStatus(message);
         break;
@@ -605,7 +686,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         mavlink_serial_control_t ser;
         mavlink_msg_serial_control_decode(&message, &ser);
         if (static_cast<size_t>(ser.count) > sizeof(ser.data)) {
-            qWarning() << "Invalid count for SERIAL_CONTROL, discarding." << ser.count;
+            qCWarning(VehicleLog) << "Invalid count for SERIAL_CONTROL, discarding." << ser.count;
         } else {
             emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate,
                     QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
@@ -643,7 +724,11 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     {
         mavlink_log_data_t log{};
         mavlink_msg_log_data_decode(&message, &log);
-        emit logData(log.ofs, log.id, log.count, log.data);
+        if (static_cast<size_t>(log.count) > sizeof(log.data)) {
+            qCWarning(VehicleLog) << "Invalid count for LOG_DATA, discarding." << log.count;
+        } else {
+            emit logData(log.ofs, log.id, log.count, log.data);
+        }
         break;
     }
     case MAVLINK_MSG_ID_MESSAGE_INTERVAL:
@@ -729,6 +814,10 @@ void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
 // TODO: VehicleFactGroup
 void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     mavlink_gps_raw_int_t gpsRawInt;
     mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);
 
@@ -751,6 +840,10 @@ void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
 // TODO: VehicleFactGroup
 void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     mavlink_global_position_int_t globalPositionInt;
     mavlink_msg_global_position_int_decode(&message, &globalPositionInt);
 
@@ -916,6 +1009,10 @@ QString Vehicle::vehicleUIDStr()
 
 void Vehicle::_handleExtendedSysState(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     mavlink_extended_sys_state_t extendedState;
     mavlink_msg_extended_sys_state_decode(&message, &extendedState);
 
@@ -1060,7 +1157,7 @@ void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
 
     if (!batteryMessage.isEmpty()) {
         QString batteryIdStr("%1");
-        if (_batteryFactGroupListModel.count() > 1) {
+        if (_batteryFactGroupListModel->count() > 1) {
             batteryIdStr = batteryIdStr.arg(batteryStatus.id);
         } else {
             batteryIdStr = batteryIdStr.arg("");
@@ -1081,6 +1178,10 @@ void Vehicle::_setHomePosition(QGeoCoordinate& homeCoord)
 
 void Vehicle::_handleHomePosition(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     mavlink_home_position_t homePos;
 
     mavlink_msg_home_position_decode(&message, &homePos);
@@ -1335,6 +1436,10 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 
 void Vehicle::_handleCurrentMode(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     mavlink_current_mode_t currentMode;
     mavlink_msg_current_mode_decode(&message, &currentMode);
     if (currentMode.intended_custom_mode != 0) { // 0 == unknown/not supplied
@@ -1865,36 +1970,6 @@ bool Vehicle::vtol() const
     return QGCMAVLink::isVTOL(vehicleType());
 }
 
-bool Vehicle::supportsThrottleModeCenterZero() const
-{
-    return _firmwarePlugin->supportsThrottleModeCenterZero();
-}
-
-bool Vehicle::supportsNegativeThrust()
-{
-    return _firmwarePlugin->supportsNegativeThrust(this);
-}
-
-bool Vehicle::supportsRadio() const
-{
-    return _firmwarePlugin->supportsRadio();
-}
-
-bool Vehicle::supportsJSButton() const
-{
-    return _firmwarePlugin->supportsJSButton();
-}
-
-bool Vehicle::supportsMotorInterference() const
-{
-    return _firmwarePlugin->supportsMotorInterference();
-}
-
-bool Vehicle::supportsTerrainFrame() const
-{
-    return !px4Firmware();
-}
-
 QString Vehicle::vehicleTypeString() const
 {
     return QGCMAVLink::mavTypeToString(_vehicleType);
@@ -1947,41 +2022,6 @@ void Vehicle::_setLanding(bool landing)
     }
 }
 
-bool Vehicle::guidedModeSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability);
-}
-
-bool Vehicle::pauseVehicleSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability);
-}
-
-bool Vehicle::orbitModeSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
-}
-
-bool Vehicle::roiModeSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::ROIModeCapability);
-}
-
-bool Vehicle::takeoffVehicleSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability);
-}
-
-bool Vehicle::guidedTakeoffSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedTakeoffCapability);
-}
-
-bool Vehicle::changeHeadingSupported() const
-{
-    return _firmwarePlugin->isCapable(this, FirmwarePlugin::ChangeHeadingCapability);
-}
-
 QString Vehicle::gotoFlightMode() const
 {
     return _firmwarePlugin->gotoFlightMode();
@@ -1989,7 +2029,7 @@ QString Vehicle::gotoFlightMode() const
 
 void Vehicle::guidedModeRTL(bool smartRTL)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -1998,7 +2038,7 @@ void Vehicle::guidedModeRTL(bool smartRTL)
 
 void Vehicle::guidedModeLand()
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -2007,7 +2047,7 @@ void Vehicle::guidedModeLand()
 
 void Vehicle::guidedModeTakeoff(double altitudeRelative)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -2019,9 +2059,9 @@ double Vehicle::minimumTakeoffAltitudeMeters()
     return _firmwarePlugin->minimumTakeoffAltitudeMeters(this);
 }
 
-double Vehicle::maximumHorizontalSpeedMultirotor()
+double Vehicle::maximumHorizontalSpeedMultirotorMetersSecond()
 {
-    return _firmwarePlugin->maximumHorizontalSpeedMultirotor(this);
+    return _firmwarePlugin->maximumHorizontalSpeedMultirotorMetersSecond(this);
 }
 
 
@@ -2052,26 +2092,30 @@ void Vehicle::startMission()
     _firmwarePlugin->startMission(this);
 }
 
-void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius)
+bool Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
-        return;
+        return false;
     }
     if (!coordinate().isValid()) {
-        return;
+        return false;
+    }
+    if (!gotoCoord.isValid()) {
+        return false;
     }
     double maxDistance = SettingsManager::instance()->flyViewSettings()->maxGoToLocationDistance()->rawValue().toDouble();
     if (coordinate().distanceTo(gotoCoord) > maxDistance) {
         qgcApp()->showAppMessage(QString("New location is too far. Must be less than %1 %2.").arg(qRound(FactMetaData::metersToAppSettingsHorizontalDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsHorizontalDistanceUnitsString()));
-        return;
+        return false;
     }
-    _firmwarePlugin->guidedModeGotoLocation(this, gotoCoord, forwardFlightLoiterRadius);
+
+    return _firmwarePlugin->guidedModeGotoLocation(this, gotoCoord, forwardFlightLoiterRadius);
 }
 
 void Vehicle::guidedModeChangeAltitude(double altitudeChange, bool pauseVehicle)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -2081,7 +2125,7 @@ void Vehicle::guidedModeChangeAltitude(double altitudeChange, bool pauseVehicle)
 void
 Vehicle::guidedModeChangeGroundSpeedMetersSecond(double groundspeed)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -2091,7 +2135,7 @@ Vehicle::guidedModeChangeGroundSpeedMetersSecond(double groundspeed)
 void
 Vehicle::guidedModeChangeEquivalentAirspeedMetersSecond(double airspeed)
 {
-    if (!guidedModeSupported()) {
+    if (!_vehicleSupports->guidedMode()) {
         qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
         return;
     }
@@ -2100,7 +2144,7 @@ Vehicle::guidedModeChangeEquivalentAirspeedMetersSecond(double airspeed)
 
 void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude)
 {
-    if (!orbitModeSupported()) {
+    if (!_vehicleSupports->orbitMode()) {
         qgcApp()->showAppMessage(QStringLiteral("Orbit mode not supported by Vehicle."));
         return;
     }
@@ -2135,7 +2179,7 @@ void Vehicle::guidedModeROI(const QGeoCoordinate& centerCoord)
     if (!centerCoord.isValid()) {
         return;
     }
-    if (!roiModeSupported()) {
+    if (!_vehicleSupports->roiMode()) {
         qgcApp()->showAppMessage(QStringLiteral("ROI mode not supported by Vehicle."));
         return;
     }
@@ -2224,7 +2268,7 @@ void Vehicle::_sendROICommand(const QGeoCoordinate& coord, MAV_FRAME frame, floa
 
 void Vehicle::stopGuidedModeROI()
 {
-    if (!roiModeSupported()) {
+    if (!_vehicleSupports->roiMode()) {
         qgcApp()->showAppMessage(QStringLiteral("ROI mode not supported by Vehicle."));
         return;
     }
@@ -2258,7 +2302,7 @@ void Vehicle::stopGuidedModeROI()
 
 void Vehicle::guidedModeChangeHeading(const QGeoCoordinate &headingCoord)
 {
-    if (!changeHeadingSupported()) {
+    if (!_vehicleSupports->changeHeading()) {
         qgcApp()->showAppMessage(tr("Change Heading not supported by Vehicle."));
         return;
     }
@@ -2268,7 +2312,7 @@ void Vehicle::guidedModeChangeHeading(const QGeoCoordinate &headingCoord)
 
 void Vehicle::pauseVehicle()
 {
-    if (!pauseVehicleSupported()) {
+    if (!_vehicleSupports->pauseVehicle()) {
         qgcApp()->showAppMessage(QStringLiteral("Pause not supported by vehicle."));
         return;
     }
@@ -2544,7 +2588,7 @@ int Vehicle::_mavCommandResponseCheckTimeoutMSecs()
 int Vehicle::_mavCommandAckTimeoutMSecs()
 {
     // Use shorter ack timeout during unit tests for faster test execution
-    return qgcApp()->runningUnitTests() ? kTestMavCommandAckTimeoutMs : 3000;
+    return qgcApp()->runningUnitTests() ? kTestMavCommandAckTimeoutMs : 1200;
 }
 
 bool Vehicle::_sendMavCommandShouldRetry(MAV_CMD command)
@@ -3028,6 +3072,9 @@ void Vehicle::_waitForMavlinkMessageMessageReceivedHandler(const mavlink_message
         auto resultHandler      = pInfo->resultHandler;
         auto resultHandlerData  = pInfo->resultHandlerData;
 
+        pInfo->messageReceived = true;
+        pInfo->message = message;
+
         const mavlink_message_info_t *info = mavlink_get_message_info_by_id(message.msgid);
         QString msgName = info ? QString(info->name) : QString::number(message.msgid);
         const int activeCount = _requestMessageInfoMap.contains(message.compid) ? _requestMessageInfoMap[message.compid].count() : 0;
@@ -3041,18 +3088,10 @@ void Vehicle::_waitForMavlinkMessageMessageReceivedHandler(const mavlink_message
                     << "queueDepth"
                     << queueDepth;
 
-        if (!pInfo->commandAckReceived) {
-            qCDebug(VehicleLog) << "message received before ack came back.";
-            int entryIndex = _findMavCommandListEntryIndex(message.compid, MAV_CMD_REQUEST_MESSAGE);
-            if (entryIndex != -1) {
-                _mavCommandList.takeAt(entryIndex);
-            } else {
-                qWarning() << "Removing request message command from list failed - not found in list";
-            }
+        if (pInfo->commandAckReceived) {
+            _removeRequestMessageInfo(message.compid, message.msgid);
+            (*resultHandler)(resultHandlerData, MAV_RESULT_ACCEPTED, RequestMessageNoFailure, message);
         }
-        _removeRequestMessageInfo(message.compid, message.msgid);
-
-        (*resultHandler)(resultHandlerData, MAV_RESULT_ACCEPTED, RequestMessageNoFailure, message);
     } else {
         // We use any incoming message as a trigger to check timeouts on message requests
 
@@ -3093,7 +3132,6 @@ void Vehicle::_requestMessageCmdResultHandler(void* resultHandlerData_, [[maybe_
     auto resultHandler      = requestMessageInfo->resultHandler;
     auto resultHandlerData  = requestMessageInfo->resultHandlerData;
     Vehicle* vehicle        = requestMessageInfo->vehicle;  // QPointer converts to raw pointer, null if Vehicle destroyed
-    auto message [[maybe_unused]]            = requestMessageInfo->message;
 
     // Vehicle was destroyed before callback fired - clean up and return without accessing vehicle
     if (!vehicle) {
@@ -3132,18 +3170,20 @@ void Vehicle::_requestMessageCmdResultHandler(void* resultHandlerData_, [[maybe_
 
         vehicle->_removeRequestMessageInfo(requestMessageInfo->compId, requestMessageInfo->msgId);
 
-        (*resultHandler)(resultHandlerData, static_cast<MAV_RESULT>(ack.result),  requestMessageFailureCode, ackMessage);
+        (*resultHandler)(resultHandlerData, static_cast<MAV_RESULT>(ack.result), requestMessageFailureCode, ackMessage);
 
         return;
     }
 
     if (requestMessageInfo->messageReceived) {
-        // This should never happen. The command should have already been removed from the list when the message was received
-        qWarning() << "Command result handler should now have been called if message has already been received";
-    } else {
-        // Now that the request has been acked we start the timer to wait for the message
-        requestMessageInfo->messageWaitElapsedTimer.start();
+        auto message = requestMessageInfo->message;
+        vehicle->_removeRequestMessageInfo(requestMessageInfo->compId, requestMessageInfo->msgId);
+        (*resultHandler)(resultHandlerData, MAV_RESULT_ACCEPTED, RequestMessageNoFailure, message);
+        return;
     }
+
+    // We have the ack, but we are still waiting for the message. Start the timer to wait for the message
+    requestMessageInfo->messageWaitElapsedTimer.start();
 }
 
 void Vehicle::_requestMessageWaitForMessageResultHandler(void* resultHandlerData, bool noResponsefromVehicle, const mavlink_message_t& message)
@@ -3516,11 +3556,6 @@ QString Vehicle::smartRTLFlightMode() const
     return _firmwarePlugin->smartRTLFlightMode();
 }
 
-bool Vehicle::supportsSmartRTL() const
-{
-    return _firmwarePlugin->supportsSmartRTL();
-}
-
 QString Vehicle::landFlightMode() const
 {
     return _firmwarePlugin->landFlightMode();
@@ -3708,6 +3743,20 @@ void Vehicle::_mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t tota
         _mavlinkLossCount       = totalLoss;
         _mavlinkLossPercent     = lossPercent;
         emit mavlinkStatusChanged();
+
+        // Update signing status from the primary link's channel
+        bool signing = false;
+        SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();
+        if (sharedLink) {
+            signing = MAVLinkSigning::isSigningEnabled(static_cast<mavlink_channel_t>(sharedLink->mavlinkChannel()));
+        }
+        if (signing != _mavlinkSigning) {
+            _mavlinkSigning = signing;
+            if (!signing) {
+                _mavlinkSigningKeyName.clear();
+            }
+            emit mavlinkSigningChanged();
+        }
     }
 }
 
@@ -3725,9 +3774,9 @@ void Vehicle::setPIDTuningTelemetryMode(PIDTuningTelemetryMode mode)
 {
     bool liveUpdate = mode != ModeDisabled;
     setLiveUpdates(liveUpdate);
-    _setpointFactGroup.setLiveUpdates(liveUpdate);
-    _localPositionFactGroup.setLiveUpdates(liveUpdate);
-    _localPositionSetpointFactGroup.setLiveUpdates(liveUpdate);
+    _setpointFactGroup->setLiveUpdates(liveUpdate);
+    _localPositionFactGroup->setLiveUpdates(liveUpdate);
+    _localPositionSetpointFactGroup->setLiveUpdates(liveUpdate);
 
     switch (mode) {
     case ModeDisabled:
@@ -4555,7 +4604,7 @@ void Vehicle::_errorMessageReceived(QString message)
 /*                                 Signing                                   */
 /*===========================================================================*/
 
-void Vehicle::sendSetupSigning()
+void Vehicle::sendSetupSigning(int keyIndex)
 {
     SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();
     if (!sharedLink) {
@@ -4563,6 +4612,12 @@ void Vehicle::sendSetupSigning()
         return;
     }
 
+    const QByteArray keyBytes = MAVLinkSigningKeys::instance()->keyBytesAt(keyIndex);
+    if (keyBytes.isEmpty()) {
+        qCCritical(VehicleLog) << "Invalid key index:" << keyIndex;
+        return;
+    }
+
     const mavlink_channel_t channel = static_cast<mavlink_channel_t>(sharedLink->mavlinkChannel());
 
     mavlink_setup_signing_t setup_signing;
@@ -4571,7 +4626,17 @@ void Vehicle::sendSetupSigning()
     target_system.sysid = id();
     target_system.compid = defaultComponentId();
 
-    MAVLinkSigning::createSetupSigning(channel, target_system, setup_signing);
+    MAVLinkSigning::createSetupSigning(channel, target_system, keyBytes, setup_signing);
+
+    // Also configure signing on our channel with this key so outgoing packets are signed
+    if (!MAVLinkSigning::initSigning(channel, keyBytes, MAVLinkSigning::insecureConnectionAcceptUnsignedCallback)) {
+        qCCritical(VehicleLog) << "Internal error: failed to initialize signing on channel" << channel;
+        return;
+    }
+
+    _mavlinkSigning = true;
+    _mavlinkSigningKeyName = MAVLinkSigningKeys::instance()->keyNameAt(keyIndex);
+    emit mavlinkSigningChanged();
 
     mavlink_message_t msg;
     (void) mavlink_msg_setup_signing_encode_chan(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::getComponentId(), channel, &msg, &setup_signing);
@@ -4582,6 +4647,39 @@ void Vehicle::sendSetupSigning()
     }
 }
 
+void Vehicle::sendDisableSigning()
+{
+    SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();
+    if (!sharedLink) {
+        qCDebug(VehicleLog) << "Primary Link Gone!";
+        return;
+    }
+
+    const mavlink_channel_t channel = static_cast<mavlink_channel_t>(sharedLink->mavlinkChannel());
+
+    mavlink_setup_signing_t setup_signing;
+
+    mavlink_system_t target_system;
+    target_system.sysid = id();
+    target_system.compid = defaultComponentId();
+
+    MAVLinkSigning::createDisableSigning(target_system, setup_signing);
+
+    mavlink_message_t msg;
+    (void) mavlink_msg_setup_signing_encode_chan(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::getComponentId(), channel, &msg, &setup_signing);
+
+    for (uint8_t i = 0; i < 2; ++i) {
+        sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
+    }
+
+    // Disable signing on the local channel so we stop signing outgoing packets
+    MAVLinkSigning::initSigning(channel, QByteArrayView(), nullptr);
+
+    _mavlinkSigning = false;
+    _mavlinkSigningKeyName.clear();
+    emit mavlinkSigningChanged();
+}
+
 /*---------------------------------------------------------------------------*/
 /*===========================================================================*/
 /*                        Image Protocol Manager                             */
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index a2e3545368f3..bf8771b6bcf1 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -17,32 +17,31 @@
 #include "QGCMAVLink.h"
 #include "QmlObjectListModel.h"
 #include "SysStatusSensorInfo.h"
-#include "VehicleLinkManager.h"
-
-#include "TerrainFactGroup.h"
 #include "VehicleFactGroup.h"
-#include "VehicleClockFactGroup.h"
-#include "VehicleDistanceSensorFactGroup.h"
-#include "VehicleEFIFactGroup.h"
-#include "VehicleEstimatorStatusFactGroup.h"
-#include "VehicleGeneratorFactGroup.h"
-#include "VehicleGPS2FactGroup.h"
-#include "VehicleGPSFactGroup.h"
-#include "VehicleGPSAggregateFactGroup.h"
-#include "VehicleHygrometerFactGroup.h"
-#include "VehicleLocalPositionFactGroup.h"
-#include "VehicleLocalPositionSetpointFactGroup.h"
-#include "VehicleRPMFactGroup.h"
-#include "VehicleSetpointFactGroup.h"
-#include "VehicleTemperatureFactGroup.h"
-#include "VehicleVibrationFactGroup.h"
-#include "VehicleWindFactGroup.h"
-#include "GimbalController.h"
-#include "BatteryFactGroupListModel.h"
-#include "EscStatusFactGroupListModel.h"
+#include "VehicleLinkManager.h"
 
 class Actuators;
 class AutoPilotPlugin;
+class BatteryFactGroupListModel;
+class EscStatusFactGroupListModel;
+class GimbalController;
+class TerrainFactGroup;
+class VehicleClockFactGroup;
+class VehicleDistanceSensorFactGroup;
+class VehicleEFIFactGroup;
+class VehicleEstimatorStatusFactGroup;
+class VehicleGeneratorFactGroup;
+class VehicleGPS2FactGroup;
+class VehicleGPSFactGroup;
+class VehicleGPSAggregateFactGroup;
+class VehicleHygrometerFactGroup;
+class VehicleLocalPositionFactGroup;
+class VehicleLocalPositionSetpointFactGroup;
+class VehicleRPMFactGroup;
+class VehicleSetpointFactGroup;
+class VehicleTemperatureFactGroup;
+class VehicleVibrationFactGroup;
+class VehicleWindFactGroup;
 class Autotune;
 class ComponentInformationManager;
 class EventHandler;
@@ -68,6 +67,7 @@ class TerrainAtCoordinateQuery;
 class TerrainProtocolHandler;
 class TrajectoryPoints;
 class VehicleObjectAvoidance;
+class VehicleSupports;
 
 namespace events {
 namespace parser {
@@ -91,6 +91,8 @@ class Vehicle : public VehicleFactGroup
     Q_MOC_INCLUDE("Actuators.h")
     Q_MOC_INCLUDE("MAVLinkLogManager.h")
     Q_MOC_INCLUDE("LinkInterface.h")
+    Q_MOC_INCLUDE("VehicleSupports.h")
+    Q_MOC_INCLUDE("GimbalController.h")
 
     friend class InitialConnectStateMachine;
     friend class VehicleLinkManager;
@@ -159,11 +161,7 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(bool                 vtol                        READ vtol                                                           NOTIFY vehicleTypeChanged)
     Q_PROPERTY(bool                 rover                       READ rover                                                          NOTIFY vehicleTypeChanged)
     Q_PROPERTY(bool                 sub                         READ sub                                                            NOTIFY vehicleTypeChanged)
-    Q_PROPERTY(bool        supportsThrottleModeCenterZero       READ supportsThrottleModeCenterZero                                 CONSTANT)
-    Q_PROPERTY(bool                supportsNegativeThrust       READ supportsNegativeThrust                                         CONSTANT)
-    Q_PROPERTY(bool                 supportsJSButton            READ supportsJSButton                                               CONSTANT)
-    Q_PROPERTY(bool                 supportsRadio               READ supportsRadio                                                  CONSTANT)
-    Q_PROPERTY(bool               supportsMotorInterference     READ supportsMotorInterference                                      CONSTANT)
+    Q_PROPERTY(VehicleSupports*     supports                    READ supports                                                       CONSTANT)
     Q_PROPERTY(QString              prearmError                 READ prearmError                WRITE setPrearmError                NOTIFY prearmErrorChanged)
     Q_PROPERTY(int                  motorCount                  READ motorCount                                                     CONSTANT)
     Q_PROPERTY(bool                 coaxialMotors               READ coaxialMotors                                                  CONSTANT)
@@ -179,7 +177,6 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(QString              pauseFlightMode             READ pauseFlightMode                                                CONSTANT)
     Q_PROPERTY(QString              rtlFlightMode               READ rtlFlightMode                                                  CONSTANT)
     Q_PROPERTY(QString              smartRTLFlightMode          READ smartRTLFlightMode                                             CONSTANT)
-    Q_PROPERTY(bool                 supportsSmartRTL            READ supportsSmartRTL                                               CONSTANT)
     Q_PROPERTY(QString              landFlightMode              READ landFlightMode                                                 CONSTANT)
     Q_PROPERTY(QString              takeControlFlightMode       READ takeControlFlightMode                                          CONSTANT)
     Q_PROPERTY(QString              followFlightMode            READ followFlightMode                                               CONSTANT)
@@ -201,7 +198,6 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(QString              hobbsMeter                  READ hobbsMeter                                                     NOTIFY hobbsMeterChanged)
     Q_PROPERTY(bool                 inFwdFlight                 READ inFwdFlight                                                    NOTIFY inFwdFlightChanged)
     Q_PROPERTY(bool                 vtolInFwdFlight             READ vtolInFwdFlight            WRITE setVtolInFwdFlight            NOTIFY vtolInFwdFlightChanged)
-    Q_PROPERTY(bool                 supportsTerrainFrame        READ supportsTerrainFrame                                           NOTIFY firmwareTypeChanged)
     Q_PROPERTY(quint64              mavlinkSentCount            READ mavlinkSentCount                                               NOTIFY mavlinkStatusChanged)
     Q_PROPERTY(quint64              mavlinkReceivedCount        READ mavlinkReceivedCount                                           NOTIFY mavlinkStatusChanged)
     Q_PROPERTY(quint64              mavlinkLossCount            READ mavlinkLossCount                                               NOTIFY mavlinkStatusChanged)
@@ -226,13 +222,6 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(bool     flying                  READ flying                                         NOTIFY flyingChanged)       ///< Vehicle is flying
     Q_PROPERTY(bool     landing                 READ landing                                        NOTIFY landingChanged)      ///< Vehicle is in landing pattern (DO_LAND_START)
     Q_PROPERTY(bool     guidedMode              READ guidedMode                 WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
-    Q_PROPERTY(bool     guidedModeSupported     READ guidedModeSupported                            CONSTANT)                   ///< Guided mode commands are supported by this vehicle
-    Q_PROPERTY(bool     pauseVehicleSupported   READ pauseVehicleSupported                          CONSTANT)                   ///< Pause vehicle command is supported
-    Q_PROPERTY(bool     orbitModeSupported      READ orbitModeSupported                             CONSTANT)                   ///< Orbit mode is supported by this vehicle
-    Q_PROPERTY(bool     roiModeSupported        READ roiModeSupported                               CONSTANT)                   ///< Orbit mode is supported by this vehicle
-    Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Takeoff supported
-    Q_PROPERTY(bool     guidedTakeoffSupported  READ guidedTakeoffSupported                         CONSTANT)                   ///< Guided takeoff supported
-    Q_PROPERTY(bool     changeHeadingSupported  READ changeHeadingSupported                         CONSTANT)                   ///< Change Heading supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
     Q_PROPERTY(bool     haveMRSpeedLimits       READ haveMRSpeedLimits                              NOTIFY haveMRSpeedLimChanged)
     Q_PROPERTY(bool     haveFWSpeedLimits       READ haveFWSpeedLimits                              NOTIFY haveFWSpeedLimChanged)
@@ -282,6 +271,7 @@ class Vehicle : public VehicleFactGroup
     Q_PROPERTY(QString  vehicleUIDStr               READ vehicleUIDStr              NOTIFY vehicleUIDChanged)
 
     Q_PROPERTY(bool     mavlinkSigning              READ mavlinkSigning             NOTIFY mavlinkSigningChanged)
+    Q_PROPERTY(QString  mavlinkSigningKeyName       READ mavlinkSigningKeyName      NOTIFY mavlinkSigningChanged)
 
     /// Resets link status counters
     Q_INVOKABLE void resetCounters  ();
@@ -301,7 +291,7 @@ class Vehicle : public VehicleFactGroup
     Q_INVOKABLE double minimumTakeoffAltitudeMeters();
 
     /// @return Maximum horizontal speed multirotor.
-    Q_INVOKABLE double maximumHorizontalSpeedMultirotor();
+    Q_INVOKABLE double maximumHorizontalSpeedMultirotorMetersSecond();
 
     /// @return Maximum equivalent airspeed.
     Q_INVOKABLE double maximumEquivalentAirspeed();
@@ -310,7 +300,8 @@ class Vehicle : public VehicleFactGroup
     Q_INVOKABLE double minimumEquivalentAirspeed();
 
     /// Command vehicle to move to specified location (altitude is ignored)
-    Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius = 0.0f);
+    /// @return true: goto command accepted, false: goto failed
+    Q_INVOKABLE bool guidedModeGotoLocation(const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius = 0.0f);
 
     /// Command vehicle to change altitude
     ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
@@ -406,19 +397,16 @@ class Vehicle : public VehicleFactGroup
     /// Set home from flight map coordinate
     Q_INVOKABLE void doSetHome(const QGeoCoordinate& coord);
 
-    Q_INVOKABLE void sendSetupSigning();
+    /// Send SETUP_SIGNING with the key at the given index in MAVLinkSigningKeys
+    Q_INVOKABLE void sendSetupSigning(int keyIndex);
+    Q_INVOKABLE void sendDisableSigning();
 
     Q_INVOKABLE QVariant expandedToolbarIndicatorSource(const QString& indicatorName);
 
     bool    isInitialConnectComplete() const;
-    bool    guidedModeSupported     () const;
-    bool    pauseVehicleSupported   () const;
-    bool    orbitModeSupported      () const;
-    bool    roiModeSupported        () const;
-    bool    takeoffVehicleSupported () const;
-    bool    guidedTakeoffSupported  () const;
-    bool    changeHeadingSupported  () const;
     QString gotoFlightMode          () const;
+
+    VehicleSupports* supports() { return _vehicleSupports; }
     bool    hasGripper              () const;
     bool haveMRSpeedLimits() const { return _multirotor_speed_limits_available; }
     bool haveFWSpeedLimits() const { return _fixed_wing_airspeed_limits_available; }
@@ -482,12 +470,7 @@ class Vehicle : public VehicleFactGroup
     bool sub() const;
     bool spacecraft() const;
 
-    bool supportsThrottleModeCenterZero () const;
-    bool supportsNegativeThrust         ();
-    bool supportsRadio                  () const;
-    bool supportsJSButton               () const;
-    bool supportsMotorInterference      () const;
-    bool supportsTerrainFrame           () const;
+
 
     void setGuidedMode(bool guidedMode);
 
@@ -537,7 +520,6 @@ class Vehicle : public VehicleFactGroup
     QString         pauseFlightMode             () const;
     QString         rtlFlightMode               () const;
     QString         smartRTLFlightMode          () const;
-    bool            supportsSmartRTL            () const;
     QString         landFlightMode              () const;
     QString         takeControlFlightMode       () const;
     QString         followFlightMode            () const;
@@ -565,6 +547,7 @@ class Vehicle : public VehicleFactGroup
     bool            hilMode                     () const { return _base_mode & MAV_MODE_FLAG_HIL_ENABLED; }
     Actuators*      actuators                   () const { return _actuators; }
     bool            mavlinkSigning          () const { return _mavlinkSigning; }
+    QString         mavlinkSigningKeyName   () const { return _mavlinkSigningKeyName; }
 
     void startCalibration   (QGCMAVLink::CalibrationType calType);
     void stopCalibration    (bool showError);
@@ -573,26 +556,26 @@ class Vehicle : public VehicleFactGroup
     void stopUAVCANBusConfig(void);
 
     FactGroup* vehicleFactGroup             () { return _vehicleFactGroup; }
-    FactGroup* gpsFactGroup                 () { return &_gpsFactGroup; }
-    FactGroup* gps2FactGroup                () { return &_gps2FactGroup; }
-    FactGroup* gpsAggregateFactGroup        () { return &_gpsAggregateFactGroup; }
-    FactGroup* windFactGroup                () { return &_windFactGroup; }
-    FactGroup* vibrationFactGroup           () { return &_vibrationFactGroup; }
-    FactGroup* temperatureFactGroup         () { return &_temperatureFactGroup; }
-    FactGroup* clockFactGroup               () { return &_clockFactGroup; }
-    FactGroup* setpointFactGroup            () { return &_setpointFactGroup; }
-    FactGroup* distanceSensorFactGroup      () { return &_distanceSensorFactGroup; }
-    FactGroup* localPositionFactGroup       () { return &_localPositionFactGroup; }
-    FactGroup* localPositionSetpointFactGroup() { return &_localPositionSetpointFactGroup; }
-    FactGroup* estimatorStatusFactGroup     () { return &_estimatorStatusFactGroup; }
-    FactGroup* terrainFactGroup             () { return &_terrainFactGroup; }
-    FactGroup* hygrometerFactGroup          () { return &_hygrometerFactGroup; }
-    FactGroup* generatorFactGroup           () { return &_generatorFactGroup; }
-    FactGroup* efiFactGroup                 () { return &_efiFactGroup; }
-    FactGroup* rpmFactGroup                 () { return &_rpmFactGroup; }
-
-    QmlObjectListModel* batteries           () { return &_batteryFactGroupListModel; }
-    QmlObjectListModel* escs                () { return &_escStatusFactGroupListModel; }
+    FactGroup* gpsFactGroup                 ();
+    FactGroup* gps2FactGroup                ();
+    FactGroup* gpsAggregateFactGroup        ();
+    FactGroup* windFactGroup                ();
+    FactGroup* vibrationFactGroup           ();
+    FactGroup* temperatureFactGroup         ();
+    FactGroup* clockFactGroup               ();
+    FactGroup* setpointFactGroup            ();
+    FactGroup* distanceSensorFactGroup      ();
+    FactGroup* localPositionFactGroup       ();
+    FactGroup* localPositionSetpointFactGroup();
+    FactGroup* estimatorStatusFactGroup     ();
+    FactGroup* terrainFactGroup             ();
+    FactGroup* hygrometerFactGroup          ();
+    FactGroup* generatorFactGroup           ();
+    FactGroup* efiFactGroup                 ();
+    FactGroup* rpmFactGroup                 ();
+
+    QmlObjectListModel* batteries           ();
+    QmlObjectListModel* escs                ();
 
     MissionManager*                 missionManager      () { return _missionManager; }
     GeoFenceManager*                geoFenceManager     () { return _geoFenceManager; }
@@ -862,6 +845,10 @@ public slots:
     ///     @param channelValues The current values for rc channels
     void rcChannelsChanged(QVector<int> channelValues);
 
+    /// New SERVO output values coming from SERVO_OUTPUT_RAW message
+    ///     @param servoValues The current servo output values in microseconds (0-15 -> SERVO1..SERVO16). Invalid values are -1.
+    void servoOutputsChanged(QVector<int> servoValues);
+
     /// Remote control RSSI changed  (0% - 100%)
     void remoteControlRSSIChanged       (uint8_t rssi);
 
@@ -1035,6 +1022,7 @@ void _activeVehicleChanged          (Vehicle* newActiveVehicle);
     bool            _readyToFly                             = false;
     bool            _allSensorsHealthy                      = true;
     bool            _mavlinkSigning                         = false;
+    QString         _mavlinkSigningKeyName;
 
     SysStatusSensorInfo _sysStatusSensorInfo;
 
@@ -1050,6 +1038,7 @@ void _activeVehicleChanged          (Vehicle* newActiveVehicle);
     VehicleObjectAvoidance*         _objectAvoidance                = nullptr;
     Autotune*                       _autotune                       = nullptr;
     GimbalController*               _gimbalController               = nullptr;
+    VehicleSupports*                _vehicleSupports                = nullptr;
 
     bool    _armed = false;         ///< true: vehicle is armed
     uint8_t _base_mode = 0;     ///< base_mode from HEARTBEAT
@@ -1149,8 +1138,8 @@ void _activeVehicleChanged          (Vehicle* newActiveVehicle);
         RequestMessageResultHandler resultHandler       = nullptr;
         void*                       resultHandlerData   = nullptr;
         bool                        commandAckReceived  = false;    // We keep track of the ack/message being received since the order in which this will come in is random
-        bool                        messageReceived     = false;    // We only delete the allocated RequestMessageInfo_t when both happen (or the message wait times out)
-        QElapsedTimer               messageWaitElapsedTimer;        // Elapsed time since we started waiting for the message to show up
+        bool                        messageReceived     = false;    // We only delete the allocated RequestMessageInfo_t when both the message is received and we get the ack
+        QElapsedTimer               messageWaitElapsedTimer;        // Elapsed time since we started waiting message to show up
         mavlink_message_t           message;
     } RequestMessageInfo_t;
 
@@ -1239,27 +1228,30 @@ void _activeVehicleChanged          (Vehicle* newActiveVehicle);
     const QString _rpmFactGroupName =                QStringLiteral("rpm");
 
     VehicleFactGroup*               _vehicleFactGroup;
-    VehicleGPSFactGroup             _gpsFactGroup;
-    VehicleGPS2FactGroup            _gps2FactGroup;
-    VehicleGPSAggregateFactGroup    _gpsAggregateFactGroup;
-    VehicleWindFactGroup            _windFactGroup;
-    VehicleVibrationFactGroup       _vibrationFactGroup;
-    VehicleTemperatureFactGroup     _temperatureFactGroup;
-    VehicleClockFactGroup           _clockFactGroup;
-    VehicleSetpointFactGroup        _setpointFactGroup;
-    VehicleDistanceSensorFactGroup  _distanceSensorFactGroup;
-    VehicleLocalPositionFactGroup   _localPositionFactGroup;
-    VehicleLocalPositionSetpointFactGroup _localPositionSetpointFactGroup;
-    VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
-    VehicleHygrometerFactGroup      _hygrometerFactGroup;
-    VehicleGeneratorFactGroup       _generatorFactGroup;
-    VehicleEFIFactGroup             _efiFactGroup;
-    VehicleRPMFactGroup             _rpmFactGroup;
-    TerrainFactGroup                _terrainFactGroup;
+    VehicleGPSFactGroup*                _gpsFactGroup               = nullptr;
+    VehicleGPS2FactGroup*               _gps2FactGroup              = nullptr;
+    VehicleGPSAggregateFactGroup*       _gpsAggregateFactGroup      = nullptr;
+    VehicleWindFactGroup*               _windFactGroup              = nullptr;
+    VehicleVibrationFactGroup*          _vibrationFactGroup         = nullptr;
+    VehicleTemperatureFactGroup*        _temperatureFactGroup       = nullptr;
+    VehicleClockFactGroup*              _clockFactGroup             = nullptr;
+    VehicleSetpointFactGroup*           _setpointFactGroup          = nullptr;
+    VehicleDistanceSensorFactGroup*     _distanceSensorFactGroup    = nullptr;
+    VehicleLocalPositionFactGroup*      _localPositionFactGroup     = nullptr;
+    VehicleLocalPositionSetpointFactGroup* _localPositionSetpointFactGroup = nullptr;
+    VehicleEstimatorStatusFactGroup*    _estimatorStatusFactGroup   = nullptr;
+    VehicleHygrometerFactGroup*         _hygrometerFactGroup        = nullptr;
+    VehicleGeneratorFactGroup*          _generatorFactGroup         = nullptr;
+    VehicleEFIFactGroup*                _efiFactGroup               = nullptr;
+    VehicleRPMFactGroup*                _rpmFactGroup               = nullptr;
+    TerrainFactGroup*                   _terrainFactGroup           = nullptr;
+
+    // Live SERVO_OUTPUT_RAW values (microseconds). Indexed 0..15 -> SERVO1..SERVO16.
+    QVector<int>                       _servoOutputRawValues = QVector<int>(16, -1);
 
     // Dynamic FactGroups
-    BatteryFactGroupListModel       _batteryFactGroupListModel;
-    EscStatusFactGroupListModel     _escStatusFactGroupListModel;
+    BatteryFactGroupListModel*          _batteryFactGroupListModel  = nullptr;
+    EscStatusFactGroupListModel*        _escStatusFactGroupListModel = nullptr;
 
     TerrainProtocolHandler* _terrainProtocolHandler = nullptr;
 
diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc
index d903799c1abd..28fce3ac5d14 100644
--- a/src/Vehicle/VehicleObjectAvoidance.cc
+++ b/src/Vehicle/VehicleObjectAvoidance.cc
@@ -1,6 +1,7 @@
 #include "VehicleObjectAvoidance.h"
 #include "Vehicle.h"
 #include "ParameterManager.h"
+#include "VehicleSetpointFactGroup.h"
 
 //-----------------------------------------------------------------------------
 VehicleObjectAvoidance::VehicleObjectAvoidance(Vehicle *vehicle, QObject* parent)
diff --git a/src/Vehicle/VehicleSetup/FirmwareUpgradeController.cc b/src/Vehicle/VehicleSetup/FirmwareUpgradeController.cc
index 55d28659cea7..36993d248a96 100644
--- a/src/Vehicle/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/Vehicle/VehicleSetup/FirmwareUpgradeController.cc
@@ -89,7 +89,8 @@ static QMap<int, QString> px4_board_name_map {
     {7000, "cuav_7-nano_default"},
     {7001, "cuav_fmu-v6x_default"},
     {7002, "cuav_x25-evo_default"},
-    {7003, "cuav_x25-super_default"}
+    {7003, "cuav_x25-super_default"},
+    {7004, "cuav_x25-mega_default"}
 };
 
 uint qHash(const FirmwareUpgradeController::FirmwareIdentifier& firmwareId)
diff --git a/src/Vehicle/VehicleSetup/JoystickComponentButtons.qml b/src/Vehicle/VehicleSetup/JoystickComponentButtons.qml
index 1a00009b14ee..0667eee23ba7 100644
--- a/src/Vehicle/VehicleSetup/JoystickComponentButtons.qml
+++ b/src/Vehicle/VehicleSetup/JoystickComponentButtons.qml
@@ -107,7 +107,7 @@ ColumnLayout {
     /*Column {
         id:         buttonCol
         Layout.fillWidth: true
-        visible:    globals.activeVehicle.supportsJSButton
+        visible:    globals.activeVehicle.supports.jsButton
         spacing:    ScreenTools.defaultFontPixelHeight / 3
 
         Row {
@@ -123,7 +123,7 @@ ColumnLayout {
             }
             QGCLabel {
                 width: ScreenTools.defaultFontPixelWidth * 26
-                visible: globals.activeVehicle.supportsJSButton
+                visible: globals.activeVehicle.supports.jsButton
                 text: qsTr("Shift Function: ")
             }
         }
@@ -133,7 +133,7 @@ ColumnLayout {
 
             Row {
                 spacing: ScreenTools.defaultFontPixelWidth
-                visible: globals.activeVehicle.supportsJSButton
+                visible: globals.activeVehicle.supports.jsButton
                 property var parameterName: `BTN${index}_FUNCTION`
                 property var parameterShiftName: `BTN${index}_SFUNCTION`
                 property bool hasFirmwareSupport: controller.parameterExists(-1, parameterName)
@@ -217,7 +217,7 @@ ColumnLayout {
                     id: repeatCheck
                     text: qsTr("Repeat")
                     enabled: currentAssignableAction && joystick.calibrated && currentAssignableAction.canRepeat
-                    visible: !globals.activeVehicle.supportsJSButton
+                    visible: !globals.activeVehicle.supports.jsButton
 
                     onClicked: {
                         joystick.setButtonRepeat(modelData, checked)
diff --git a/src/Vehicle/VehicleSetup/JoystickComponentSettings.qml b/src/Vehicle/VehicleSetup/JoystickComponentSettings.qml
index 269c9500a769..e7ba50d6d247 100644
--- a/src/Vehicle/VehicleSetup/JoystickComponentSettings.qml
+++ b/src/Vehicle/VehicleSetup/JoystickComponentSettings.qml
@@ -46,7 +46,7 @@ ColumnLayout {
             Layout.fillWidth: true
             text: qsTr("Negative Thrust")
             fact: _joystickSettings.negativeThrust
-            visible: globals.activeVehicle.supportsNegativeThrust && fact.visible
+            visible: globals.activeVehicle.supports.negativeThrust && fact.visible
         }
 
         QGCCheckBoxSlider {
diff --git a/src/Vehicle/VehicleSetup/RemoteControlCalibration.qml b/src/Vehicle/VehicleSetup/RemoteControlCalibration.qml
index 388a48044df3..c76c9673ac13 100644
--- a/src/Vehicle/VehicleSetup/RemoteControlCalibration.qml
+++ b/src/Vehicle/VehicleSetup/RemoteControlCalibration.qml
@@ -228,11 +228,16 @@ ColumnLayout {
             onClicked: {
                 if (text === qsTr("Calibrate")) {
                     if (controller.channelCount < controller.minChannelCount) {
-                        QGroundControl.showMessageDialog(root, qsTr("Remote Not Ready"),
-                                                        controller.channelCount == 0 ? qsTr("Please turn on remote.") :
-                                                                                    (controller.channelCount < controller.minChannelCount ?
-                                                                                            qsTr("%1 channels or more are needed to fly.").arg(controller.minChannelCount) :
-                                                                                            qsTr("Ready to calibrate.")))
+                        let errorMessage = ""
+                        let title = ""
+                        if (controller.joystickMode) {
+                            title = qsTr("Joystick Not Ready")
+                            errorMessage = qsTr("%1 axes or more are needed to fly. Joystick is reporting %2 axes.").arg(controller.minChannelCount).arg(controller.channelCount)
+                        } else {
+                            title = qsTr("Not Ready")
+                            errorMessage = controller.channelCount === 0 ? qsTr("Please turn on RC transmitter.") : qsTr("%1 channels or more are needed to fly.").arg(controller.minChannelCount)
+                        }
+                        QGroundControl.showMessageDialog(root, title, errorMessage)
                         return
                     } else if (!controller.joystickMode) {
                         QGroundControl.showMessageDialog(root, qsTr("Zero Trims"),
diff --git a/src/Vehicle/VehicleSetup/VehicleSummary.qml b/src/Vehicle/VehicleSetup/VehicleSummary.qml
index 305ec83a2f40..5b93bb705891 100644
--- a/src/Vehicle/VehicleSetup/VehicleSummary.qml
+++ b/src/Vehicle/VehicleSetup/VehicleSummary.qml
@@ -1,5 +1,6 @@
 import QtQuick
 import QtQuick.Controls
+import QtQuick.Layouts
 
 import QGroundControl
 import QGroundControl.Controls
@@ -14,6 +15,7 @@ Rectangle {
     property real _minSummaryW:     ScreenTools.isTinyScreen ? ScreenTools.defaultFontPixelWidth * 28 : ScreenTools.defaultFontPixelWidth * 36
     property real _summaryBoxWidth: _minSummaryW
     property real _summaryBoxSpace: ScreenTools.defaultFontPixelWidth * 2
+    property real _margins:        ScreenTools.defaultFontPixelHeight / 2
 
     function computeSummaryBoxSize() {
         var sw  = 0
@@ -85,52 +87,58 @@ Rectangle {
 
                     // Outer summary item rectangle
                     Rectangle {
-                        width:      _summaryBoxWidth
-                        height:     ScreenTools.defaultFontPixelHeight * 13
-                        color:      qgcPal.windowShade
-                        visible:    modelData.summaryQmlSource.toString() !== ""
+                        width: mainLayout.width + (_margins * 2)
+                        height: mainLayout.height + (_margins * 2)
+                        color: qgcPal.windowShade
+                        visible: modelData.summaryQmlSource.toString() !== ""
                         border.width: 1
                         border.color: qgcPal.text
+
                         Component.onCompleted: {
                             border.color = Qt.rgba(border.color.r, border.color.g, border.color.b, 0.1)
                         }
 
                         readonly property real titleHeight: ScreenTools.defaultFontPixelHeight * 2
 
-                        // Title bar
-                        QGCButton {
-                            id:     titleBar
-                            width:  parent.width
-                            height: titleHeight
-                            text:   capitalizeWords(modelData.name)
-
-                            // Setup indicator
-                            Rectangle {
-                                anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
-                                anchors.right:          parent.right
-                                anchors.verticalCenter: parent.verticalCenter
-                                width:                  ScreenTools.defaultFontPixelWidth * 1.75
-                                height:                 width
-                                radius:                 width / 2
-                                color:                  modelData.setupComplete ? "#00d932" : "red"
-                                visible:                modelData.requiresSetup && modelData.setupSource !== ""
-                            }
+                        ColumnLayout {
+                            id: mainLayout
+                            anchors.margins: _margins
+                            anchors.left: parent.left
+                            anchors.top: parent.top
+                            spacing: ScreenTools.defaultFontPixelHeight / 2
+
+                            // Title bar
+                            QGCButton {
+                                Layout.fillWidth: true
+                                Layout.preferredHeight: titleHeight
+                                text: capitalizeWords(modelData.name)
+
+                                // Setup indicator
+                                Rectangle {
+                                    anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
+                                    anchors.right:          parent.right
+                                    anchors.verticalCenter: parent.verticalCenter
+                                    width:                  ScreenTools.defaultFontPixelWidth * 1.75
+                                    height:                 width
+                                    radius:                 width / 2
+                                    color:                  modelData.setupComplete ? "#00d932" : "red"
+                                    visible:                modelData.requiresSetup && modelData.setupSource !== ""
+                                }
 
-                            onClicked : {
-                                //console.log(modelData.setupSource)
-                                if (modelData.setupSource !== "") {
-                                    setupView.showVehicleComponentPanel(modelData)
+                                onClicked : {
+                                    if (modelData.setupSource !== "") {
+                                        setupView.showVehicleComponentPanel(modelData)
+                                    }
                                 }
                             }
-                        }
-                        // Summary Qml
-                        Rectangle {
-                            anchors.top:    titleBar.bottom
-                            width:          parent.width
+
+                            // Summary Qml
                             Loader {
-                                anchors.fill:       parent
-                                anchors.margins:    ScreenTools.defaultFontPixelWidth
-                                source:             modelData.summaryQmlSource
+                                id: summaryLoader
+                                Layout.fillWidth: true
+                                Layout.preferredWidth: item ? item.implicitWidth : 0
+                                Layout.preferredHeight: item ? item.implicitHeight : 0
+                                source: modelData.summaryQmlSource
 
                                 property var vehicleComponent: modelData
                             }
diff --git a/src/Vehicle/VehicleSupports.cc b/src/Vehicle/VehicleSupports.cc
new file mode 100644
index 000000000000..7529ee262185
--- /dev/null
+++ b/src/Vehicle/VehicleSupports.cc
@@ -0,0 +1,88 @@
+#include "VehicleSupports.h"
+
+#include "FirmwarePlugin/FirmwarePlugin.h"
+#include "Vehicle.h"
+
+VehicleSupports::VehicleSupports(Vehicle *vehicle)
+    : QObject(vehicle)
+    , _vehicle(vehicle)
+{
+    connect(_vehicle, &Vehicle::firmwareTypeChanged, this, &VehicleSupports::terrainFrameChanged);
+}
+
+bool VehicleSupports::throttleModeCenterZero() const
+{
+    return _vehicle->firmwarePlugin()->supportsThrottleModeCenterZero();
+}
+
+bool VehicleSupports::negativeThrust() const
+{
+    return _vehicle->firmwarePlugin()->supportsNegativeThrust(_vehicle);
+}
+
+bool VehicleSupports::jsButton() const
+{
+    return _vehicle->firmwarePlugin()->supportsJSButton();
+}
+
+bool VehicleSupports::radio() const
+{
+    return _vehicle->firmwarePlugin()->supportsRadio();
+}
+
+bool VehicleSupports::motorInterference() const
+{
+    return _vehicle->firmwarePlugin()->supportsMotorInterference();
+}
+
+bool VehicleSupports::smartRTL() const
+{
+    return _vehicle->firmwarePlugin()->supportsSmartRTL();
+}
+
+bool VehicleSupports::terrainFrame() const
+{
+    return !_vehicle->px4Firmware();
+}
+
+bool VehicleSupports::guidedMode() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::GuidedModeCapability);
+}
+
+bool VehicleSupports::pauseVehicle() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::PauseVehicleCapability);
+}
+
+bool VehicleSupports::orbitMode() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::OrbitModeCapability);
+}
+
+bool VehicleSupports::roiMode() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::ROIModeCapability);
+}
+
+bool VehicleSupports::takeoffMissionCommand() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::TakeoffVehicleCapability);
+}
+
+bool VehicleSupports::guidedTakeoffWithAltitude() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::GuidedTakeoffCapability);
+}
+
+bool VehicleSupports::guidedTakeoffWithoutAltitude() const
+{
+    auto* fp = _vehicle->firmwarePlugin();
+    return fp->isCapable(_vehicle, FirmwarePlugin::TakeoffVehicleCapability)
+        && !fp->isCapable(_vehicle, FirmwarePlugin::GuidedTakeoffCapability);
+}
+
+bool VehicleSupports::changeHeading() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::ChangeHeadingCapability);
+}
diff --git a/src/Vehicle/VehicleSupports.h b/src/Vehicle/VehicleSupports.h
new file mode 100644
index 000000000000..dc7c45b4e687
--- /dev/null
+++ b/src/Vehicle/VehicleSupports.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include <QtCore/QObject>
+#include <QtQmlIntegration/QtQmlIntegration>
+
+class FirmwarePlugin;
+class Vehicle;
+
+class VehicleSupports : public QObject
+{
+    Q_OBJECT
+    QML_ELEMENT
+    QML_UNCREATABLE("")
+
+public:
+    explicit VehicleSupports(Vehicle *vehicle);
+
+    Q_PROPERTY(bool throttleModeCenterZero          READ throttleModeCenterZero         CONSTANT)
+    Q_PROPERTY(bool negativeThrust                  READ negativeThrust                 CONSTANT)
+    Q_PROPERTY(bool jsButton                        READ jsButton                       CONSTANT)
+    Q_PROPERTY(bool radio                           READ radio                          CONSTANT)
+    Q_PROPERTY(bool motorInterference               READ motorInterference              CONSTANT)
+    Q_PROPERTY(bool smartRTL                        READ smartRTL                       CONSTANT)
+    Q_PROPERTY(bool terrainFrame                    READ terrainFrame                   NOTIFY terrainFrameChanged)
+    Q_PROPERTY(bool guidedMode                      READ guidedMode                     CONSTANT)
+    Q_PROPERTY(bool pauseVehicle                    READ pauseVehicle                   CONSTANT)
+    Q_PROPERTY(bool orbitMode                       READ orbitMode                      CONSTANT)
+    Q_PROPERTY(bool roiMode                         READ roiMode                        CONSTANT)
+    Q_PROPERTY(bool takeoffMissionCommand           READ takeoffMissionCommand          CONSTANT)
+    Q_PROPERTY(bool guidedTakeoffWithAltitude       READ guidedTakeoffWithAltitude      CONSTANT)
+    Q_PROPERTY(bool guidedTakeoffWithoutAltitude    READ guidedTakeoffWithoutAltitude   CONSTANT)
+    Q_PROPERTY(bool changeHeading                   READ changeHeading                  CONSTANT)
+
+    bool throttleModeCenterZero() const;
+    bool negativeThrust() const;
+    bool jsButton() const;
+    bool radio() const;
+    bool motorInterference() const;
+    bool smartRTL() const;
+    bool terrainFrame() const;
+    bool guidedMode() const;
+    bool pauseVehicle() const;
+    bool orbitMode() const;
+    bool roiMode() const;
+    bool takeoffMissionCommand() const;
+    bool guidedTakeoffWithAltitude() const;
+    bool guidedTakeoffWithoutAltitude() const;
+    bool changeHeading() const;
+
+signals:
+    void terrainFrameChanged();
+
+private:
+    Vehicle *_vehicle = nullptr;
+};
diff --git a/src/VideoManager/VideoManager.cc b/src/VideoManager/VideoManager.cc
index 553772074ab8..7f1b73a1d829 100644
--- a/src/VideoManager/VideoManager.cc
+++ b/src/VideoManager/VideoManager.cc
@@ -1,6 +1,6 @@
 #include "VideoManager.h"
 #include "AppSettings.h"
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
 #include "QGCCameraManager.h"
@@ -11,21 +11,23 @@
 #include "Vehicle.h"
 #include "VideoReceiver.h"
 #include "VideoSettings.h"
-#ifdef QGC_GST_STREAMING
-#include "GStreamer.h"
-#include "VideoItemStub.h"
-#else
 #include "VideoItemStub.h"
-#endif
 #include "QtMultimediaReceiver.h"
 #include "UVCReceiver.h"
+#ifdef QGC_GST_STREAMING
+#include "GStreamer.h"
+#include "GStreamerHelpers.h"
+#endif
 
 #include <QtCore/QApplicationStatic>
 #include <QtCore/QDir>
+#include <QtCore/QEventLoop>
+#include <QtCore/QFutureWatcher>
+#include <QtCore/QRunnable>
+#include <QtCore/QTimer>
 #include <QtQml/QQmlEngine>
 #include <QtQuick/QQuickItem>
 #include <QtQuick/QQuickWindow>
-#include <QtCore/QTimer>
 
 QGC_LOGGING_CATEGORY(VideoManagerLog, "Video.VideoManager")
 
@@ -37,6 +39,11 @@ static constexpr const char *kFileExtension[VideoReceiver::FILE_FORMAT_MAX + 1]
 
 Q_APPLICATION_STATIC(VideoManager, _videoManagerInstance);
 
+bool VideoManager::_shouldSkipGStreamerForUnitTests()
+{
+    return qgcApp() && qgcApp()->runningUnitTests() && !qEnvironmentVariableIsSet("QGC_TEST_ENABLE_GSTREAMER");
+}
+
 VideoManager::VideoManager(QObject *parent)
     : QObject(parent)
     , _subtitleWriter(new SubtitleWriter(this))
@@ -46,19 +53,17 @@ VideoManager::VideoManager(QObject *parent)
 
     (void) qRegisterMetaType<VideoReceiver::STATUS>("STATUS");
 
+    bool needsStub = true;
 #ifdef QGC_GST_STREAMING
-    const bool skipGStreamerForUnitTests =
-        qgcApp() && qgcApp()->runningUnitTests() && !qEnvironmentVariableIsSet("QGC_TEST_ENABLE_GSTREAMER");
-
-    if (skipGStreamerForUnitTests) {
-        (void) qmlRegisterType<VideoItemStub>("org.freedesktop.gstreamer.Qt6GLVideoItem", 1, 0, "GstGLQt6VideoItem");
+    _gstreamerDisabledForUnitTests = _shouldSkipGStreamerForUnitTests();
+    needsStub = _gstreamerDisabledForUnitTests;
+    if (_gstreamerDisabledForUnitTests) {
         qCInfo(VideoManagerLog) << "Skipping GStreamer initialization for unit tests";
-    } else if (!GStreamer::initialize()) {
-        qCCritical(VideoManagerLog) << "Failed To Initialize GStreamer";
     }
-#else
-    (void) qmlRegisterType<VideoItemStub>("org.freedesktop.gstreamer.Qt6GLVideoItem", 1, 0, "GstGLQt6VideoItem");
 #endif
+    if (needsStub) {
+        (void) qmlRegisterType<VideoItemStub>("org.freedesktop.gstreamer.Qt6GLVideoItem", 1, 0, "GstGLQt6VideoItem");
+    }
 }
 
 VideoManager::~VideoManager()
@@ -71,6 +76,85 @@ VideoManager *VideoManager::instance()
     return _videoManagerInstance();
 }
 
+void VideoManager::startGStreamerInit()
+{
+#ifdef QGC_GST_STREAMING
+    if (_gstreamerDisabledForUnitTests) {
+        _initState = InitState::GstReady;
+        qCInfo(VideoManagerLog) << "GStreamer initialization disabled for unit tests";
+        return;
+    }
+
+    if (_initState != InitState::NotStarted) {
+        qCWarning(VideoManagerLog) << "GStreamer init already started";
+        return;
+    }
+
+    _initState = InitState::Pending;
+    _gstInitFuture = GStreamer::initializeAsync();
+    _gstInitFuture.then(this, [this](bool success) {
+        _onGstInitComplete(success);
+    }).onCanceled(this, [this] {
+        _onGstInitComplete(false);
+    });
+#endif
+}
+
+bool VideoManager::waitForGStreamerInit(int timeoutMs)
+{
+#ifdef QGC_GST_STREAMING
+    if (_gstreamerDisabledForUnitTests) {
+        return true;
+    }
+
+    if (_initState == InitState::NotStarted) {
+        startGStreamerInit();
+    }
+
+    switch (_initState) {
+    case InitState::Failed:
+        return false;
+    case InitState::GstReady:
+    case InitState::Running:
+        return true;
+    default:
+        break;
+    }
+
+    if (!_gstInitFuture.isValid()) {
+        qCCritical(VideoManagerLog) << "waitForGStreamerInit: no valid future";
+        return false;
+    }
+
+    QEventLoop loop;
+    QTimer timer;
+    timer.setSingleShot(true);
+    QFutureWatcher<bool> watcher;
+    (void) connect(&watcher, &QFutureWatcher<bool>::finished, &loop, &QEventLoop::quit);
+    (void) connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+    watcher.setFuture(_gstInitFuture);
+    if (!watcher.isFinished()) {
+        timer.start(timeoutMs);
+        loop.exec();
+    }
+
+    if (!watcher.isFinished()) {
+        qCCritical(VideoManagerLog) << "Timed out waiting for GStreamer init";
+        return false;
+    }
+
+    const bool success = watcher.result();
+    if (_initState == InitState::Pending || _initState == InitState::QmlReady) {
+        _onGstInitComplete(success);
+    }
+    return _initState != InitState::Failed;
+#else
+    Q_UNUSED(timeoutMs);
+    return true;
+#endif
+}
+
 void VideoManager::init(QQuickWindow *mainWindow)
 {
     if (_initialized) {
@@ -95,25 +179,83 @@ void VideoManager::init(QQuickWindow *mainWindow)
 
     (void) connect(this, &VideoManager::autoStreamConfiguredChanged, this, &VideoManager::_videoSourceChanged);
 
-    _mainWindow->scheduleRenderJob(new FinishVideoInitialization(), QQuickWindow::AfterSynchronizingStage);
+#ifdef QGC_GST_STREAMING
+    if (_initState == InitState::NotStarted) {
+        startGStreamerInit();
+    }
+#endif
+
+    _mainWindow->scheduleRenderJob(
+        QRunnable::create([this] {
+            QMetaObject::invokeMethod(this, &VideoManager::_initAfterQmlIsReady, Qt::QueuedConnection);
+        }),
+        QQuickWindow::AfterSynchronizingStage);
 
     _initialized = true;
 }
 
 void VideoManager::_initAfterQmlIsReady()
 {
-    if (_initAfterQmlIsReadyDone) {
-        qCWarning(VideoManagerLog) << "_initAfterQmlIsReady called multiple times";
-        return;
-    }
     if (!_mainWindow) {
         qCCritical(VideoManagerLog) << "_initAfterQmlIsReady called with NULL mainWindow";
         return;
     }
-    _initAfterQmlIsReadyDone = true;
 
     qCDebug(VideoManagerLog) << "_initAfterQmlIsReady";
 
+#ifdef QGC_GST_STREAMING
+    switch (_initState) {
+    case InitState::Pending:
+        _initState = InitState::QmlReady;
+        qCDebug(VideoManagerLog) << "QML ready, waiting for GStreamer";
+        return;
+    case InitState::GstReady:
+        _initState = InitState::Running;
+        qCDebug(VideoManagerLog) << "QML ready, GStreamer already done — creating receivers";
+        break;
+    case InitState::Failed:
+        qCWarning(VideoManagerLog) << "QML ready but GStreamer init failed";
+        return;
+    default:
+        qCWarning(VideoManagerLog) << "_initAfterQmlIsReady: unexpected state" << static_cast<int>(_initState);
+        return;
+    }
+#endif
+    _createVideoReceivers();
+}
+
+void VideoManager::_onGstInitComplete(bool success)
+{
+    if (!success) {
+        _initState = InitState::Failed;
+        qCCritical(VideoManagerLog) << "GStreamer initialization failed";
+        return;
+    }
+
+#ifdef QGC_GST_STREAMING
+    const auto decoderOption = static_cast<GStreamer::VideoDecoderOptions>(
+        _videoSettings->forceVideoDecoder()->rawValue().toInt());
+    GStreamer::setCodecPriorities(decoderOption);
+#endif
+
+    switch (_initState) {
+    case InitState::Pending:
+        _initState = InitState::GstReady;
+        qCDebug(VideoManagerLog) << "GStreamer ready, waiting for QML";
+        return;
+    case InitState::QmlReady:
+        _initState = InitState::Running;
+        qCDebug(VideoManagerLog) << "GStreamer ready, QML already done — creating receivers";
+        _createVideoReceivers();
+        return;
+    default:
+        qCWarning(VideoManagerLog) << "_onGstInitComplete: unexpected state" << static_cast<int>(_initState);
+        return;
+    }
+}
+
+void VideoManager::_createVideoReceivers()
+{
     static const QStringList videoStreamList = {
         "videoContent",
         "thermalVideo"
@@ -561,7 +703,7 @@ void VideoManager::_setActiveVehicle(Vehicle *vehicle)
         (void) disconnect(_activeVehicle->vehicleLinkManager(), &VehicleLinkManager::communicationLostChanged, this, &VideoManager::_communicationLostChanged);
         auto cameraManager = _activeVehicle->cameraManager();
         if (cameraManager) {
-            MavlinkCameraControl *pCamera = cameraManager->currentCameraInstance();
+            MavlinkCameraControlInterface *pCamera = cameraManager->currentCameraInstance();
             if (pCamera) {
                 pCamera->stopStream();
             }
@@ -579,7 +721,7 @@ void VideoManager::_setActiveVehicle(Vehicle *vehicle)
         (void) connect(_activeVehicle->vehicleLinkManager(), &VehicleLinkManager::communicationLostChanged, this, &VideoManager::_communicationLostChanged);
         if (_activeVehicle->cameraManager()) {
             (void) connect(_activeVehicle->cameraManager(), &QGCCameraManager::streamChanged, this, &VideoManager::_videoSourceChanged);
-            MavlinkCameraControl *pCamera = _activeVehicle->cameraManager()->currentCameraInstance();
+            MavlinkCameraControlInterface *pCamera = _activeVehicle->cameraManager()->currentCameraInstance();
             if (pCamera) {
                 pCamera->resumeStream();
             }
@@ -808,22 +950,3 @@ void VideoManager::startVideo()
 
     _restartAllVideos();
 }
-
-/*===========================================================================*/
-
-FinishVideoInitialization::FinishVideoInitialization()
-    : QRunnable()
-{
-    // qCDebug(VideoManagerLog) << this;
-}
-
-FinishVideoInitialization::~FinishVideoInitialization()
-{
-    // qCDebug(VideoManagerLog) << this;
-}
-
-void FinishVideoInitialization::run()
-{
-    qCDebug(VideoManagerLog) << "FinishVideoInitialization::run";
-    QMetaObject::invokeMethod(VideoManager::instance(), &VideoManager::_initAfterQmlIsReady, Qt::QueuedConnection);
-}
diff --git a/src/VideoManager/VideoManager.h b/src/VideoManager/VideoManager.h
index 04bca3349be4..dc7a4d0466b0 100644
--- a/src/VideoManager/VideoManager.h
+++ b/src/VideoManager/VideoManager.h
@@ -1,15 +1,14 @@
 #pragma once
 
+#include <QtCore/QFuture>
 #include <QtCore/QLoggingCategory>
 #include <QtCore/QObject>
-#include <QtCore/QRunnable>
 #include <QtCore/QSize>
 #include <QtQmlIntegration/QtQmlIntegration>
 
 Q_DECLARE_LOGGING_CATEGORY(VideoManagerLog)
 
 class QQuickWindow;
-class FinishVideoInitialization;
 class SubtitleWriter;
 class Vehicle;
 class VideoReceiver;
@@ -46,8 +45,6 @@ class VideoManager : public QObject
     explicit VideoManager(QObject *parent = nullptr);
     ~VideoManager();
 
-    friend class FinishVideoInitialization;
-
     static VideoManager *instance();
 
     Q_INVOKABLE void grabImage(const QString &imageFile = QString());
@@ -57,6 +54,8 @@ class VideoManager : public QObject
     Q_INVOKABLE void stopVideo();
 
     void init(QQuickWindow *mainWindow);
+    void startGStreamerInit();
+    bool waitForGStreamerInit(int timeoutMs = 60000);
     void cleanup();
     bool autoStreamConfigured() const;
     bool decoding() const { return _decoding; }
@@ -101,7 +100,19 @@ private slots:
     void _videoSourceChanged();
 
 private:
+    enum class InitState : uint8_t {
+        NotStarted,
+        Pending,
+        GstReady,
+        QmlReady,
+        Running,
+        Failed
+    };
+
+    static bool _shouldSkipGStreamerForUnitTests();
     void _initAfterQmlIsReady();
+    void _onGstInitComplete(bool success);
+    void _createVideoReceivers();
     void _initVideoReceiver(VideoReceiver *receiver, QQuickWindow *window);
     bool _updateAutoStream(VideoReceiver *receiver);
     bool _updateUVC(VideoReceiver *receiver);
@@ -114,30 +125,21 @@ private slots:
     static void _cleanupOldVideos();
 
     QList<VideoReceiver*> _videoReceivers;
-
     SubtitleWriter *_subtitleWriter = nullptr;
     VideoSettings *_videoSettings = nullptr;
+    QQuickWindow *_mainWindow = nullptr;
+    Vehicle *_activeVehicle = nullptr;
 
+    InitState _initState = InitState::NotStarted;
+    QFuture<bool> _gstInitFuture;
     bool _initialized = false;
-    bool _initAfterQmlIsReadyDone = false;
+    bool _gstreamerDisabledForUnitTests = false;
     bool _fullScreen = false;
+
     QAtomicInteger<bool> _decoding = false;
     QAtomicInteger<bool> _recording = false;
     QAtomicInteger<bool> _streaming = false;
     QSize _videoSize;
     QString _imageFile;
     QString _uvcVideoSourceID;
-    Vehicle *_activeVehicle = nullptr;
-    QQuickWindow *_mainWindow = nullptr;
-};
-
-/*===========================================================================*/
-
-class FinishVideoInitialization : public QRunnable
-{
-public:
-    FinishVideoInitialization();
-    ~FinishVideoInitialization();
-
-    void run() final;
 };
diff --git a/src/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt b/src/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt
index 057db82665df..ec48a788370f 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt
+++ b/src/VideoManager/VideoReceiver/GStreamer/CMakeLists.txt
@@ -1,37 +1,27 @@
-# ============================================================================
-# GStreamer Video Receiver Backend
-# GStreamer-based video streaming and decoding
-# ============================================================================
-
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE VideoItemStub.h)
 
-# ============================================================================
-# GStreamer Detection and Configuration
-# ============================================================================
-
 if(QGC_ENABLE_GST_VIDEOSTREAMING)
-    if(NOT MACOS)
-        # NOTE: Using FindGStreamer.cmake is currently bypassed on macOS
-        # Using hardwired framework path as a workaround until FindGStreamer works on macOS
-        find_package(GStreamer
-            REQUIRED
-            COMPONENTS Core Base Video Gl GlPrototypes Rtsp
-            OPTIONAL_COMPONENTS GlEgl GlWayland GlX11
-        )
+    find_package(QGCGStreamer
+        REQUIRED
+        COMPONENTS Core Base Video Gl GlPrototypes Rtsp
+        OPTIONAL_COMPONENTS GlEgl GlWayland GlX11
+    )
+
+    if(GStreamer_USE_STATIC_LIBS)
+        foreach(_plugin IN LISTS GSTREAMER_PLUGINS)
+            if(GST_PLUGIN_${_plugin}_FOUND)
+                target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE GST_PLUGIN_${_plugin}_FOUND)
+            endif()
+        endforeach()
     endif()
 
-    # Build GStreamer Qt6 QML GL plugin
     add_subdirectory(gstqml6gl)
 
     # TODO: Add Qt6 Direct3D11 plugin support
     # https://gstreamer.freedesktop.org/documentation/qt6d3d11/index.html#qml6d3d11sink-page
 endif()
 
-# ============================================================================
-# GStreamer Video Receiver Sources
-# ============================================================================
-
 if(TARGET gstqml6gl)
     target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE gstqml6gl)
 
@@ -41,64 +31,74 @@ if(TARGET gstqml6gl)
             GStreamer.h
             GStreamerHelpers.cc
             GStreamerHelpers.h
+            GStreamerLogging.cc
+            GStreamerLogging.h
             GstVideoReceiver.cc
             GstVideoReceiver.h
     )
 
-    # Build custom GStreamer QGC plugin
     add_subdirectory(gstqgc)
 
     target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE QGC_GST_STREAMING)
 
-    # ============================================================================
-    # Platform-Specific GStreamer Installation
-    # ============================================================================
-
     if(LINUX)
-        # ----------------------------------------------------------------------------
-        # Linux: Install GStreamer Plugins and Libraries
-        # ----------------------------------------------------------------------------
-        install(
-            DIRECTORY
+        # Fixed "lib" to match AppRun expectations (CMAKE_INSTALL_LIBDIR varies by distro)
+        gstreamer_install_plugins(
+            SOURCE_DIR "${GSTREAMER_PLUGIN_PATH}"
+            DEST_DIR "lib/gstreamer-1.0"
+            EXTENSION "so"
+            PREFIX "libgst"
+        )
+        gstreamer_install_gio_modules(
+            SOURCE_DIR "${GSTREAMER_LIB_PATH}/gio/modules"
+            DEST_DIR "lib/gio/modules"
+            EXTENSION "so"
+        )
+        # Helper binary path varies by distro: Debian lib/<multiarch>/gstreamer1.0/,
+        # Fedora libexec/gstreamer-1.0/, Arch lib/gstreamer-1.0/.
+        # We install to Debian convention (lib/gstreamer1.0/gstreamer-1.0/);
+        # runtime env var GST_PLUGIN_SCANNER in GStreamer.cc matches this path.
+        find_program(_GST_PLUGIN_SCANNER gst-plugin-scanner
+            PATHS
+                "${GSTREAMER_LIB_PATH}/gstreamer1.0/gstreamer-1.0"
+                "${GStreamer_ROOT_DIR}/libexec/gstreamer-1.0"
                 "${GSTREAMER_PLUGIN_PATH}"
-                "${GSTREAMER_LIB_PATH}/gio"
-            DESTINATION "${CMAKE_INSTALL_LIBDIR}"
-            FILES_MATCHING
-                PATTERN "*.so"
-                PATTERN "*.so.*"
-            PATTERN "*/include" EXCLUDE
+            NO_DEFAULT_PATH
         )
-        install(
-            DIRECTORY "${GSTREAMER_LIB_PATH}/gstreamer1.0"
-            DESTINATION "${CMAKE_INSTALL_LIBDIR}"
-            FILE_PERMISSIONS
-                OWNER_READ OWNER_WRITE OWNER_EXECUTE
-                GROUP_READ             GROUP_EXECUTE
-                WORLD_READ             WORLD_EXECUTE
-            FILES_MATCHING
-                PATTERN "gst-*"
+        if(_GST_PLUGIN_SCANNER)
+            install(PROGRAMS "${_GST_PLUGIN_SCANNER}"
+                DESTINATION "lib/gstreamer1.0/gstreamer-1.0")
+        else()
+            message(WARNING "gst-plugin-scanner not found; AppImage video may not work")
+        endif()
+        find_program(_GST_PTP_HELPER gst-ptp-helper
+            PATHS
+                "${GSTREAMER_LIB_PATH}/gstreamer1.0/gstreamer-1.0"
+                "${GStreamer_ROOT_DIR}/libexec/gstreamer-1.0"
+                "${GSTREAMER_PLUGIN_PATH}"
+            NO_DEFAULT_PATH
         )
+        if(_GST_PTP_HELPER)
+            install(PROGRAMS "${_GST_PTP_HELPER}"
+                DESTINATION "lib/gstreamer1.0/gstreamer-1.0")
+        endif()
+
     elseif(WIN32)
-        # ----------------------------------------------------------------------------
-        # Windows: Install GStreamer DLLs and Plugins
-        # ----------------------------------------------------------------------------
-        install(
-            DIRECTORY "${GStreamer_ROOT_DIR}/bin/"
-            DESTINATION "${CMAKE_INSTALL_BINDIR}"
-            FILES_MATCHING
-                PATTERN "*.dll"
+        gstreamer_install_libs(
+            SOURCE_DIR "${GStreamer_ROOT_DIR}/bin"
+            DEST_DIR "${CMAKE_INSTALL_BINDIR}"
+            EXTENSION "dll"
         )
-        install(
-            DIRECTORY "${GSTREAMER_LIB_PATH}/gio/modules/"
-            DESTINATION "${CMAKE_INSTALL_LIBDIR}/gio/modules"
-            FILES_MATCHING
-                PATTERN "*.dll"
+        gstreamer_install_gio_modules(
+            SOURCE_DIR "${GSTREAMER_LIB_PATH}/gio/modules"
+            DEST_DIR "${CMAKE_INSTALL_LIBDIR}/gio/modules"
+            EXTENSION "dll"
         )
-        install(
-            DIRECTORY "${GSTREAMER_PLUGIN_PATH}/"
-            DESTINATION "${CMAKE_INSTALL_LIBDIR}/gstreamer-1.0"
-            FILES_MATCHING
-                PATTERN "*.dll"
+        gstreamer_install_plugins(
+            SOURCE_DIR "${GSTREAMER_PLUGIN_PATH}"
+            DEST_DIR "${CMAKE_INSTALL_LIBDIR}/gstreamer-1.0"
+            EXTENSION "dll"
+            PREFIX "gst"
         )
         install(
             DIRECTORY "${GStreamer_ROOT_DIR}/libexec/gstreamer-1.0/"
@@ -110,14 +110,17 @@ if(TARGET gstqml6gl)
             FILES_MATCHING
                 PATTERN "*.exe"
         )
+
     elseif(MACOS)
-        # ----------------------------------------------------------------------------
-        # macOS: Install GStreamer Framework
-        # ----------------------------------------------------------------------------
         if(GSTREAMER_FRAMEWORK)
+            # Resolve the framework real path before install. Some SDK layouts expose
+            # the framework as a symlink; copying through the symlink can leave an
+            # unsigned wrapper path inside the app bundle.
+            get_filename_component(_gst_framework_real "${GSTREAMER_FRAMEWORK}" REALPATH)
             install(
-                DIRECTORY "${GSTREAMER_FRAMEWORK}"
-                DESTINATION "${CMAKE_INSTALL_PREFIX}/${CMAKE_PROJECT_NAME}.app/Contents/Frameworks"
+                DIRECTORY "${_gst_framework_real}/"
+                DESTINATION "${CMAKE_INSTALL_PREFIX}/${CMAKE_PROJECT_NAME}.app/Contents/Frameworks/GStreamer.framework"
+                USE_SOURCE_PERMISSIONS
                 PATTERN "*.la" EXCLUDE
                 PATTERN "*.a" EXCLUDE
                 PATTERN "*/bin" EXCLUDE
@@ -127,7 +130,13 @@ if(TARGET gstqml6gl)
                 PATTERN "*/include" EXCLUDE
                 PATTERN "*/pkgconfig" EXCLUDE
                 PATTERN "*/share" EXCLUDE
+                PATTERN "*gstpython*" EXCLUDE
             )
+        else()
+            message(WARNING "macOS: Homebrew GStreamer detected. "
+                "Distributable builds require the GStreamer.framework SDK from "
+                "https://gstreamer.freedesktop.org/download/")
         endif()
     endif()
+
 endif()
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamer.cc b/src/VideoManager/VideoReceiver/GStreamer/GStreamer.cc
index 8e3c18c98cad..3f0794ce3974 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GStreamer.cc
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamer.cc
@@ -1,43 +1,36 @@
 #include "GStreamer.h"
 #include "GStreamerHelpers.h"
+#include "GStreamerLogging.h"
 #include "AppSettings.h"
 #include "GstVideoReceiver.h"
-#include "QGCLoggingCategory.h"
-#include "SettingsManager.h"
-#include "VideoSettings.h"
 
+#include <QtConcurrent/QtConcurrent>
 #include <QtCore/QCoreApplication>
+#include <QtCore/QDir>
+#include <QtCore/QFileInfo>
+#include <QtCore/QMutex>
 #include <QtCore/QSettings>
 #include <QtCore/QStringList>
 #include <QtQuick/QQuickItem>
 
-#include <gst/gst.h>
+#include <atomic>
 
-QGC_LOGGING_CATEGORY(GStreamerLog, "Video.GStreamer")
-QGC_LOGGING_CATEGORY(GStreamerDecoderRanksLog, "Video.GStreamerDecoderRanks")
-QGC_LOGGING_CATEGORY_ON(GStreamerAPILog, "Video.GStreamerAPI")
+#ifdef Q_OS_LINUX
+#include <dlfcn.h>
+#endif
+
+#include <gst/gst.h>
 
-// TODO: Clean These up with Macros or CMake
 G_BEGIN_DECLS
-GST_PLUGIN_STATIC_DECLARE(androidmedia);
-GST_PLUGIN_STATIC_DECLARE(applemedia);
+#ifdef QGC_GST_STATIC_BUILD
 GST_PLUGIN_STATIC_DECLARE(coreelements);
-GST_PLUGIN_STATIC_DECLARE(d3d);
-GST_PLUGIN_STATIC_DECLARE(d3d11);
-GST_PLUGIN_STATIC_DECLARE(d3d12);
-GST_PLUGIN_STATIC_DECLARE(dav1d);
-GST_PLUGIN_STATIC_DECLARE(dxva);
 GST_PLUGIN_STATIC_DECLARE(isomp4);
 GST_PLUGIN_STATIC_DECLARE(libav);
 GST_PLUGIN_STATIC_DECLARE(matroska);
 GST_PLUGIN_STATIC_DECLARE(mpegtsdemux);
-GST_PLUGIN_STATIC_DECLARE(msdk);
-GST_PLUGIN_STATIC_DECLARE(nvcodec);
 GST_PLUGIN_STATIC_DECLARE(opengl);
 GST_PLUGIN_STATIC_DECLARE(openh264);
 GST_PLUGIN_STATIC_DECLARE(playback);
-GST_PLUGIN_STATIC_DECLARE(qml6);
-GST_PLUGIN_STATIC_DECLARE(qsv);
 GST_PLUGIN_STATIC_DECLARE(rtp);
 GST_PLUGIN_STATIC_DECLARE(rtpmanager);
 GST_PLUGIN_STATIC_DECLARE(rtsp);
@@ -45,207 +38,474 @@ GST_PLUGIN_STATIC_DECLARE(sdpelem);
 GST_PLUGIN_STATIC_DECLARE(tcp);
 GST_PLUGIN_STATIC_DECLARE(typefindfunctions);
 GST_PLUGIN_STATIC_DECLARE(udp);
-GST_PLUGIN_STATIC_DECLARE(va);
+GST_PLUGIN_STATIC_DECLARE(videoconvertscale);
 GST_PLUGIN_STATIC_DECLARE(videoparsersbad);
 GST_PLUGIN_STATIC_DECLARE(vpx);
+
+#ifdef GST_PLUGIN_androidmedia_FOUND
+GST_PLUGIN_STATIC_DECLARE(androidmedia);
+#endif
+#ifdef GST_PLUGIN_applemedia_FOUND
+GST_PLUGIN_STATIC_DECLARE(applemedia);
+#endif
+#ifdef GST_PLUGIN_d3d_FOUND
+GST_PLUGIN_STATIC_DECLARE(d3d);
+#endif
+#ifdef GST_PLUGIN_d3d11_FOUND
+GST_PLUGIN_STATIC_DECLARE(d3d11);
+#endif
+#ifdef GST_PLUGIN_d3d12_FOUND
+GST_PLUGIN_STATIC_DECLARE(d3d12);
+#endif
+#ifdef GST_PLUGIN_dav1d_FOUND
+GST_PLUGIN_STATIC_DECLARE(dav1d);
+#endif
+#ifdef GST_PLUGIN_dxva_FOUND
+GST_PLUGIN_STATIC_DECLARE(dxva);
+#endif
+#ifdef GST_PLUGIN_nvcodec_FOUND
+GST_PLUGIN_STATIC_DECLARE(nvcodec);
+#endif
+#ifdef GST_PLUGIN_qsv_FOUND
+GST_PLUGIN_STATIC_DECLARE(qsv);
+#endif
+#ifdef GST_PLUGIN_va_FOUND
+GST_PLUGIN_STATIC_DECLARE(va);
+#endif
+#ifdef GST_PLUGIN_vulkan_FOUND
 GST_PLUGIN_STATIC_DECLARE(vulkan);
+#endif
+#endif
 
+GST_PLUGIN_STATIC_DECLARE(qml6);
 GST_PLUGIN_STATIC_DECLARE(qgc);
 G_END_DECLS
 
 namespace GStreamer
 {
 
+static std::atomic<bool> s_envPathsValid{true};
+static QMutex s_envPathsMutex;
+static QString s_envPathsError;
+
 void _registerPlugins()
 {
 #ifdef QGC_GST_STATIC_BUILD
-    #ifdef GST_PLUGIN_androidmedia_FOUND
-        GST_PLUGIN_STATIC_REGISTER(androidmedia);
-    #endif
-    #ifdef GST_PLUGIN_applemedia_FOUND
-        GST_PLUGIN_STATIC_REGISTER(applemedia);
-    #endif
-        GST_PLUGIN_STATIC_REGISTER(coreelements);
-    #ifdef GST_PLUGIN_d3d_FOUND
-        GST_PLUGIN_STATIC_REGISTER(d3d);
-    #endif
-    #ifdef GST_PLUGIN_d3d11_FOUND
-        GST_PLUGIN_STATIC_REGISTER(d3d11);
-    #endif
-    #ifdef GST_PLUGIN_d3d12_FOUND
-        GST_PLUGIN_STATIC_REGISTER(d3d12);
-    #endif
-    #ifdef GST_PLUGIN_dav1d_FOUND
-        GST_PLUGIN_STATIC_REGISTER(dav1d);
-    #endif
-    #ifdef GST_PLUGIN_dxva_FOUND
-        GST_PLUGIN_STATIC_REGISTER(dxva);
-    #endif
-        GST_PLUGIN_STATIC_REGISTER(isomp4);
-        GST_PLUGIN_STATIC_REGISTER(libav);
-        GST_PLUGIN_STATIC_REGISTER(matroska);
-        GST_PLUGIN_STATIC_REGISTER(mpegtsdemux);
-    #ifdef GST_PLUGIN_msdk_FOUND
-        GST_PLUGIN_STATIC_REGISTER(msdk);
-    #endif
-    #ifdef GST_PLUGIN_nvcodec_FOUND
-        GST_PLUGIN_STATIC_REGISTER(nvcodec);
-    #endif
-        GST_PLUGIN_STATIC_REGISTER(opengl);
-        GST_PLUGIN_STATIC_REGISTER(openh264);
-        GST_PLUGIN_STATIC_REGISTER(playback);
-    #ifdef GST_PLUGIN_qsv_FOUND
-        GST_PLUGIN_STATIC_REGISTER(qsv);
-    #endif
-        GST_PLUGIN_STATIC_REGISTER(rtp);
-        GST_PLUGIN_STATIC_REGISTER(rtpmanager);
-        GST_PLUGIN_STATIC_REGISTER(rtsp);
-        GST_PLUGIN_STATIC_REGISTER(sdpelem);
-        GST_PLUGIN_STATIC_REGISTER(tcp);
-        GST_PLUGIN_STATIC_REGISTER(typefindfunctions);
-        GST_PLUGIN_STATIC_REGISTER(udp);
-    #ifdef GST_PLUGIN_va_FOUND
-        GST_PLUGIN_STATIC_REGISTER(va);
-    #endif
-        GST_PLUGIN_STATIC_REGISTER(videoparsersbad);
-        GST_PLUGIN_STATIC_REGISTER(vpx);
-    #ifdef GST_PLUGIN_vulkan_FOUND
-        GST_PLUGIN_STATIC_REGISTER(vulkan);
-    #endif
+    GST_PLUGIN_STATIC_REGISTER(coreelements);
+    GST_PLUGIN_STATIC_REGISTER(isomp4);
+    GST_PLUGIN_STATIC_REGISTER(libav);
+    GST_PLUGIN_STATIC_REGISTER(matroska);
+    GST_PLUGIN_STATIC_REGISTER(mpegtsdemux);
+    GST_PLUGIN_STATIC_REGISTER(opengl);
+    GST_PLUGIN_STATIC_REGISTER(openh264);
+    GST_PLUGIN_STATIC_REGISTER(playback);
+    GST_PLUGIN_STATIC_REGISTER(rtp);
+    GST_PLUGIN_STATIC_REGISTER(rtpmanager);
+    GST_PLUGIN_STATIC_REGISTER(rtsp);
+    GST_PLUGIN_STATIC_REGISTER(sdpelem);
+    GST_PLUGIN_STATIC_REGISTER(tcp);
+    GST_PLUGIN_STATIC_REGISTER(typefindfunctions);
+    GST_PLUGIN_STATIC_REGISTER(udp);
+    GST_PLUGIN_STATIC_REGISTER(videoconvertscale);
+    GST_PLUGIN_STATIC_REGISTER(videoparsersbad);
+    GST_PLUGIN_STATIC_REGISTER(vpx);
+
+#ifdef GST_PLUGIN_androidmedia_FOUND
+    GST_PLUGIN_STATIC_REGISTER(androidmedia);
+#endif
+#ifdef GST_PLUGIN_applemedia_FOUND
+    GST_PLUGIN_STATIC_REGISTER(applemedia);
+#endif
+#ifdef GST_PLUGIN_d3d_FOUND
+    GST_PLUGIN_STATIC_REGISTER(d3d);
+#endif
+#ifdef GST_PLUGIN_d3d11_FOUND
+    GST_PLUGIN_STATIC_REGISTER(d3d11);
+#endif
+#ifdef GST_PLUGIN_d3d12_FOUND
+    GST_PLUGIN_STATIC_REGISTER(d3d12);
+#endif
+#ifdef GST_PLUGIN_dav1d_FOUND
+    GST_PLUGIN_STATIC_REGISTER(dav1d);
+#endif
+#ifdef GST_PLUGIN_dxva_FOUND
+    GST_PLUGIN_STATIC_REGISTER(dxva);
+#endif
+#ifdef GST_PLUGIN_nvcodec_FOUND
+    GST_PLUGIN_STATIC_REGISTER(nvcodec);
+#endif
+#ifdef GST_PLUGIN_qsv_FOUND
+    GST_PLUGIN_STATIC_REGISTER(qsv);
+#endif
+#ifdef GST_PLUGIN_va_FOUND
+    GST_PLUGIN_STATIC_REGISTER(va);
+#endif
+#ifdef GST_PLUGIN_vulkan_FOUND
+    GST_PLUGIN_STATIC_REGISTER(vulkan);
+#endif
 #endif
 
-// #if !defined(GST_PLUGIN_qml6_FOUND) && defined(QGC_GST_STATIC_BUILD)
     GST_PLUGIN_STATIC_REGISTER(qml6);
-// #endif
-
     GST_PLUGIN_STATIC_REGISTER(qgc);
 }
 
-void _qtGstLog(GstDebugCategory *category,
-               GstDebugLevel level,
-               const gchar *file,
-               const gchar *function,
-               gint line,
-               GObject *object,
-               GstDebugMessage *message,
-               gpointer data)
+void _resetEnvValidation()
+{
+    const QMutexLocker locker(&s_envPathsMutex);
+    s_envPathsError.clear();
+    s_envPathsValid.store(true, std::memory_order_release);
+}
+
+void _setEnvValidationError(const QString &error)
+{
+    const QMutexLocker locker(&s_envPathsMutex);
+    s_envPathsError = error;
+    s_envPathsValid.store(false, std::memory_order_release);
+    qCCritical(GStreamerLog) << error;
+}
+
+QString _cleanJoin(const QString &base, const QString &relative)
+{
+    return QDir::cleanPath(QDir(base).filePath(relative));
+}
+
+void _setGstEnv(const char *name, const QString &value)
+{
+    qputenv(name, value.toUtf8());
+    qCDebug(GStreamerLog) << "  " << name << "=" << value;
+}
+
+void _unsetEnv(const char *name)
 {
-    Q_UNUSED(data);
+    if (qEnvironmentVariableIsSet(name)) {
+        qunsetenv(name);
+        qCDebug(GStreamerLog) << "  unset" << name;
+    }
+}
+
+void _setGstEnvIfExists(const char *name, const QString &path)
+{
+    if (QFileInfo::exists(path)) {
+        _setGstEnv(name, path);
+    }
+}
+
+bool _isExecutableFile(const QString &path)
+{
+    const QFileInfo fileInfo(path);
+    return fileInfo.exists() && fileInfo.isFile() && fileInfo.isExecutable();
+}
+
+QString _firstExistingPath(const QStringList &paths)
+{
+    for (const QString &path : paths) {
+        if (QFileInfo::exists(path)) {
+            return path;
+        }
+    }
+
+    return {};
+}
+
+QString _joinExistingPaths(const QStringList &paths)
+{
+    QStringList existing;
+    existing.reserve(paths.size());
 
-    if (level > gst_debug_category_get_threshold(category)) {
+    for (const QString &path : paths) {
+        if (QFileInfo::exists(path) && !existing.contains(path)) {
+            existing.append(path);
+        }
+    }
+
+    return existing.join(QDir::listSeparator());
+}
+
+void _clearManagedGstEnvVars()
+{
+    static constexpr const char *varsToUnset[] = {
+        "GIO_EXTRA_MODULES",
+        "GIO_MODULE_DIR",
+        "GIO_USE_VFS",
+        "GST_PTP_HELPER_1_0",
+        "GST_PTP_HELPER",
+        "GST_PLUGIN_SCANNER_1_0",
+        "GST_PLUGIN_SCANNER",
+        "GST_PLUGIN_SYSTEM_PATH_1_0",
+        "GST_PLUGIN_SYSTEM_PATH",
+        "GST_PLUGIN_PATH_1_0",
+        "GST_PLUGIN_PATH",
+    };
+
+    for (const char *name : varsToUnset) {
+        _unsetEnv(name);
+    }
+}
+
+void _setGstEnvIfExecutable(const char *name, const QString &path)
+{
+    if (_isExecutableFile(path)) {
+        _setGstEnv(name, path);
+    } else {
+        _unsetEnv(name);
+    }
+}
+
+void _sanitizePythonEnvForScanner()
+{
+    static constexpr const char *varsToUnset[] = {
+        "PYTHONHOME",
+        "PYTHONPATH",
+        "VIRTUAL_ENV",
+        "CONDA_PREFIX",
+        "CONDA_DEFAULT_ENV",
+        "PYTHONUSERBASE",
+    };
+
+    for (const char *name : varsToUnset) {
+        if (qEnvironmentVariableIsSet(name)) {
+            qunsetenv(name);
+            qCDebug(GStreamerLog) << "  unset" << name;
+        }
+    }
+}
+
+void _applyGstEnvVars(const QString &pluginDir, const QString &gioModDir,
+                      const QString &scannerPath, const QString &ptpPath)
+{
+    qCDebug(GStreamerLog) << "Applying GStreamer environment:";
+
+    _clearManagedGstEnvVars();
+    _sanitizePythonEnvForScanner();
+    _setGstEnv("GST_REGISTRY_REUSE_PLUGIN_SCANNER", QStringLiteral("no"));
+    _setGstEnvIfExists("GIO_EXTRA_MODULES", gioModDir);
+    _setGstEnvIfExecutable("GST_PTP_HELPER_1_0", ptpPath);
+    _setGstEnvIfExecutable("GST_PTP_HELPER", ptpPath);
+    _setGstEnvIfExecutable("GST_PLUGIN_SCANNER_1_0", scannerPath);
+    _setGstEnvIfExecutable("GST_PLUGIN_SCANNER", scannerPath);
+    _setGstEnv("GST_PLUGIN_SYSTEM_PATH_1_0", pluginDir);
+    _setGstEnv("GST_PLUGIN_SYSTEM_PATH", pluginDir);
+    _setGstEnv("GST_PLUGIN_PATH_1_0", pluginDir);
+    _setGstEnv("GST_PLUGIN_PATH", pluginDir);
+}
+
+#if defined(Q_OS_LINUX)
+bool _systemGioIsNew()
+{
+    // Probe the system GIO library on disk (not the in-process symbols) for
+    // g_task_set_static_name, which was added in GIO 2.76. This mirrors
+    // AppRun's `nm -D "$SYSTEM_GIO" | grep g_task_set_static_name` check.
+    static constexpr const char *kGioSoPaths[] = {
+        "/usr/lib/x86_64-linux-gnu/libgio-2.0.so.0",
+        "/usr/lib/aarch64-linux-gnu/libgio-2.0.so.0",
+        "/usr/lib64/libgio-2.0.so.0",
+        "/usr/lib/libgio-2.0.so.0",
+    };
+
+    for (const char *path : kGioSoPaths) {
+        void *handle = dlopen(path, RTLD_LAZY | RTLD_NOLOAD);
+        if (!handle) {
+            handle = dlopen(path, RTLD_LAZY);
+        }
+        if (!handle) {
+            continue;
+        }
+        const bool found = (dlsym(handle, "g_task_set_static_name") != nullptr);
+        dlclose(handle);
+        return found;
+    }
+
+    return false;
+}
+
+void _applyGioCompatOverride(const QString &gioModDir)
+{
+    if (gioModDir.isEmpty()) {
         return;
     }
 
-    QMessageLogger log(file, line, function);
-
-    char *object_info = gst_info_strdup_printf("%" GST_PTR_FORMAT, static_cast<void*>(object));
-
-    switch (level) {
-    case GST_LEVEL_ERROR:
-        log.critical(GStreamerAPILog, "%s %s", object_info, gst_debug_message_get(message));
-        break;
-    case GST_LEVEL_WARNING:
-        log.warning(GStreamerAPILog, "%s %s", object_info, gst_debug_message_get(message));
-        break;
-    case GST_LEVEL_FIXME:
-    case GST_LEVEL_INFO:
-        log.info(GStreamerAPILog, "%s %s", object_info, gst_debug_message_get(message));
-        break;
-    case GST_LEVEL_DEBUG:
-#ifdef QT_DEBUG
-    case GST_LEVEL_LOG:
-    case GST_LEVEL_TRACE:
-    case GST_LEVEL_MEMDUMP:
+    // GIO 2.76+ requires bundled modules to be loaded via GIO_MODULE_DIR with
+    // VFS forced to local, mirroring the AppImage launcher logic.
+    if (_systemGioIsNew()) {
+        _unsetEnv("GIO_EXTRA_MODULES");
+        _setGstEnv("GIO_MODULE_DIR", gioModDir);
+        _setGstEnv("GIO_USE_VFS", QStringLiteral("local"));
+    }
+}
 #endif
-        log.debug(GStreamerAPILog, "%s %s", object_info, gst_debug_message_get(message));
-        break;
-    default:
-        break;
+
+void _warnIfScannerMissing(const QString &platformLabel, const QString &scannerPath)
+{
+    if (scannerPath.isEmpty()) {
+        qCWarning(GStreamerLog) << "GStreamer:" << platformLabel
+                                << "bundled gst-plugin-scanner not found; GStreamer will use in-process scanning";
+    } else if (!_isExecutableFile(scannerPath)) {
+        qCWarning(GStreamerLog) << "GStreamer:" << platformLabel
+                                << "gst-plugin-scanner is not executable:" << scannerPath;
+    }
+}
+
+bool _validateMacBundlePaths(const QString &bundleFrameworkRoot,
+                             const QString &pluginDirs,
+                             const QString &scannerPath)
+{
+    if (pluginDirs.isEmpty()) {
+        _setEnvValidationError(QStringLiteral(
+            "GStreamer: bundled macOS framework found but plugin directory is missing under %1")
+            .arg(bundleFrameworkRoot));
+        return false;
     }
 
-    g_clear_pointer(&object_info, g_free);
+    _warnIfScannerMissing(QStringLiteral("macOS framework"), scannerPath);
+    return true;
+}
+
+bool _validateBundledDesktopPaths(const QString &platformLabel,
+                                  const QString &pluginDirs,
+                                  const QString &scannerPath)
+{
+    if (pluginDirs.isEmpty()) {
+        _setEnvValidationError(QStringLiteral(
+            "GStreamer: %1 bundled plugin directory is missing.")
+            .arg(platformLabel));
+        return false;
+    }
+
+    _warnIfScannerMissing(platformLabel, scannerPath);
+    return true;
 }
 
 void _setGstEnvVars()
 {
+    _resetEnvValidation();
+
     const QString appDir = QCoreApplication::applicationDirPath();
-    qCDebug(GStreamerLog) << "App Directory:" << appDir;
-
-#if defined(Q_OS_MACOS) && defined(QGC_GST_MACOS_FRAMEWORK)
-    const QString frameworkDir = QDir(appDir).filePath("../Frameworks/GStreamer.framework");
-    const QString rootDir = QDir(frameworkDir).filePath("Versions/1.0");
-    const QString libDir = QDir(rootDir).filePath("../lib");
-    const QString pluginDir = QDir(libDir).filePath("gstreamer-1.0");
-    const QString gioMod = QDir(libDir).filePath("gio/modules");
-    const QString libexecDir = QDir(appDir).filePath("../libexec");
-    const QString scanner = QDir(libexecDir).filePath("gstreamer-1.0/gst-plugin-scanner");
-    const QString ptp = QDir(libexecDir).filePath("gstreamer-1.0/gst-ptp-helper");
-
-    if (QFileInfo::exists(frameworkDir)) {
-        qputenv("GST_REGISTRY_REUSE_PLUGIN_SCANNER", "no");
-        qputenv("GIO_EXTRA_MODULES", gioMod.toUtf8().constData());
-        qputenv("GST_PTP_HELPER_1_0", ptp.toUtf8().constData());
-        qputenv("GST_PTP_HELPER", ptp.toUtf8().constData());
-        qputenv("GST_PLUGIN_SCANNER_1_0", scanner.toUtf8().constData());
-        qputenv("GST_PLUGIN_SCANNER", scanner.toUtf8().constData());
-        qputenv("GST_PLUGIN_SYSTEM_PATH_1_0", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_SYSTEM_PATH", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_PATH_1_0", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_PATH", pluginDir.toUtf8().constData());
-        qputenv("GTK_PATH", rootDir.toUtf8().constData());
+    qCDebug(GStreamerLog) << "App directory:" << appDir;
+
+#if defined(Q_OS_MACOS)
+    const QString frameworkDir = _cleanJoin(appDir, "../Frameworks/GStreamer.framework");
+    const QString rootDir = _firstExistingPath({
+        _cleanJoin(frameworkDir, "Versions/1.0"),
+        _cleanJoin(frameworkDir, "Versions/Current"),
+        frameworkDir,
+    });
+
+#if defined(QGC_GST_MACOS_FRAMEWORK)
+    // Framework builds prefer framework paths over app-relative paths
+    const QString pluginDirs = _joinExistingPaths({
+        _cleanJoin(rootDir, "lib/gstreamer-1.0"),
+        _cleanJoin(appDir, "../lib/gstreamer-1.0"),
+    });
+    const QString gioMod = _firstExistingPath({
+        _cleanJoin(rootDir, "lib/gio/modules"),
+        _cleanJoin(appDir, "../lib/gio/modules"),
+    });
+#else
+    // Non-framework (Homebrew) builds prefer app-relative paths
+    const QString pluginDirs = _joinExistingPaths({
+        _cleanJoin(appDir, "../lib/gstreamer-1.0"),
+        _cleanJoin(rootDir, "lib/gstreamer-1.0"),
+    });
+    const QString gioMod = _firstExistingPath({
+        _cleanJoin(appDir, "../lib/gio/modules"),
+        _cleanJoin(rootDir, "lib/gio/modules"),
+    });
+#endif
+
+    const QString scanner = _firstExistingPath({
+        _cleanJoin(appDir, "../libexec/gstreamer-1.0/gst-plugin-scanner"),
+        _cleanJoin(rootDir, "libexec/gstreamer-1.0/gst-plugin-scanner"),
+    });
+    const QString ptp = _firstExistingPath({
+        _cleanJoin(appDir, "../libexec/gstreamer-1.0/gst-ptp-helper"),
+        _cleanJoin(rootDir, "libexec/gstreamer-1.0/gst-ptp-helper"),
+    });
+    const bool hasBundledFramework = QFileInfo::exists(frameworkDir);
+
+    const bool validBundlePaths = hasBundledFramework
+        ? _validateMacBundlePaths(rootDir, pluginDirs, scanner)
+        : !pluginDirs.isEmpty();
+
+    if (!pluginDirs.isEmpty() && validBundlePaths) {
+        _applyGstEnvVars(pluginDirs, gioMod, scanner, ptp);
     }
-#elif defined(Q_OS_WIN)
-    const QString binDir = appDir;
-    const QString libDir = QDir(binDir).filePath("../lib");
-    const QString pluginDir = QDir(libDir).filePath("gstreamer-1.0");
-    const QString gioMod = QDir(libDir).filePath("gio/modules");
-    const QString libexecDir = QDir(binDir).filePath("../libexec");
-    const QString scanner = QDir(libexecDir).filePath("gstreamer-1.0/gst-plugin-scanner");
-    const QString ptp = QDir(libexecDir).filePath("gstreamer-1.0/gst-ptp-helper");
-
-    if (QFileInfo::exists(pluginDir)) {
-        qputenv("GST_REGISTRY_REUSE_PLUGIN_SCANNER", "no");
-        qputenv("GIO_EXTRA_MODULES", gioMod.toUtf8().constData());
-        qputenv("GST_PTP_HELPER_1_0", ptp.toUtf8().constData());
-        qputenv("GST_PTP_HELPER", ptp.toUtf8().constData());
-        qputenv("GST_PLUGIN_SCANNER_1_0", scanner.toUtf8().constData());
-        qputenv("GST_PLUGIN_SCANNER", scanner.toUtf8().constData());
-        qputenv("GST_PLUGIN_SYSTEM_PATH_1_0", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_SYSTEM_PATH", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_PATH_1_0", pluginDir.toUtf8().constData());
-        qputenv("GST_PLUGIN_PATH", pluginDir.toUtf8().constData());
+
+#if defined(QGC_GST_MACOS_FRAMEWORK)
+    if (hasBundledFramework) {
+        _setGstEnv("GTK_PATH", rootDir);
     }
 #endif
-}
 
-void _logPlugin(gpointer data, gpointer /*user_data*/)
-{
-    GstPlugin *plugin = static_cast<GstPlugin*>(data);
-    if (!plugin) {
-        return;
+#elif defined(Q_OS_WIN)
+    const QString libDir = _cleanJoin(appDir, "../lib");
+    const QString pluginDir = _cleanJoin(libDir, "gstreamer-1.0");
+    const QString gioMod = _cleanJoin(libDir, "gio/modules");
+    const QString libexecDir = _cleanJoin(appDir, "../libexec");
+    const QString scanner = _cleanJoin(libexecDir, "gstreamer-1.0/gst-plugin-scanner.exe");
+    const QString ptp = _cleanJoin(libexecDir, "gstreamer-1.0/gst-ptp-helper.exe");
+
+    if (QFileInfo::exists(pluginDir)
+        && _validateBundledDesktopPaths(QStringLiteral("Windows"), pluginDir, scanner)) {
+        _applyGstEnvVars(pluginDir, gioMod, scanner, ptp);
+    }
+
+#elif defined(Q_OS_LINUX)
+    // AppRun sets GStreamer env vars before launch (including GIO compatibility
+    // logic). Only apply fallback paths when no external override is present.
+    if (!qEnvironmentVariableIsSet("GST_PLUGIN_PATH_1_0")
+        && !qEnvironmentVariableIsSet("GST_PLUGIN_PATH")
+        && !qEnvironmentVariableIsSet("GST_PLUGIN_SYSTEM_PATH_1_0")
+        && !qEnvironmentVariableIsSet("GST_PLUGIN_SYSTEM_PATH")) {
+        const QString libDir = _cleanJoin(appDir, "../lib");
+        const QString libexecDir = _cleanJoin(appDir, "../libexec");
+        const QString pluginDir = _cleanJoin(libDir, "gstreamer-1.0");
+        const QString gioMod = _cleanJoin(libDir, "gio/modules");
+        const QString scanner = _firstExistingPath({
+            _cleanJoin(libDir, "gstreamer1.0/gstreamer-1.0/gst-plugin-scanner"),
+            _cleanJoin(libexecDir, "gstreamer-1.0/gst-plugin-scanner"),
+        });
+        const QString ptp = _firstExistingPath({
+            _cleanJoin(libDir, "gstreamer1.0/gstreamer-1.0/gst-ptp-helper"),
+            _cleanJoin(libexecDir, "gstreamer-1.0/gst-ptp-helper"),
+        });
+
+        if (QFileInfo::exists(pluginDir)
+            && _validateBundledDesktopPaths(QStringLiteral("Linux"), pluginDir, scanner)) {
+            _applyGstEnvVars(pluginDir, gioMod, scanner, ptp);
+            _applyGioCompatOverride(gioMod);
+        }
     }
+#endif
 
-    const gchar *name = gst_plugin_get_name(plugin);
-    const gchar *version = gst_plugin_get_version(plugin);
-    qCDebug(GStreamerLog) << "  " << name << "-" << version;
 }
 
 bool _verifyPlugins()
 {
-    bool result = true;
-
     GstRegistry *registry = gst_registry_get();
+    if (!registry) {
+        qCCritical(GStreamerLog) << "Failed to get GStreamer registry";
+        return false;
+    }
 
-    qCDebug(GStreamerLog) << "Installed GStreamer Plugins:";
     GList *plugins = gst_registry_get_plugin_list(registry);
-    g_list_foreach(plugins, _logPlugin, NULL);
-    g_list_free(plugins);
+    if (plugins) {
+        qCDebug(GStreamerLog) << "Installed GStreamer plugins:";
+        for (GList *node = plugins; node != nullptr; node = node->next) {
+            GstPlugin *plugin = static_cast<GstPlugin*>(node->data);
+            if (plugin) {
+                qCDebug(GStreamerLog) << "  " << gst_plugin_get_name(plugin)
+                                      << gst_plugin_get_version(plugin);
+            }
+        }
+        gst_plugin_list_free(plugins);
+    }
 
-    static constexpr const char *pluginNames[2] = {"qml6", "qgc"};
-    for (const char *name : pluginNames) {
+    bool result = true;
+    static constexpr const char *requiredPlugins[] = {"qml6", "qgc", "coreelements"};
+    for (const char *name : requiredPlugins) {
         GstPlugin *plugin = gst_registry_find_plugin(registry, name);
         if (!plugin) {
-            qCCritical(GStreamerLog) << name << "plugin NOT found.";
+            qCCritical(GStreamerLog) << "Required QGC plugin not found:" << name;
             result = false;
             continue;
         }
@@ -253,22 +513,40 @@ bool _verifyPlugins()
     }
 
     if (!result) {
-        QString pluginPath;
-        if (qEnvironmentVariableIsSet("GST_PLUGIN_PATH_1_0")) {
-            pluginPath = qgetenv("GST_PLUGIN_PATH_1_0");
-        } else if (qEnvironmentVariableIsSet("GST_PLUGIN_PATH")) {
-            pluginPath = qgetenv("GST_PLUGIN_PATH");
-        }
+        const QByteArray pluginPath = qEnvironmentVariableIsSet("GST_PLUGIN_PATH_1_0")
+            ? qgetenv("GST_PLUGIN_PATH_1_0")
+            : qgetenv("GST_PLUGIN_PATH");
 
-#ifdef QGC_GST_STATIC_BUILD
-        qCCritical(GStreamerLog) << "Please update the list of static plugins in GStreamer.cc";
-#else
         if (!pluginPath.isEmpty()) {
-            qCCritical(GStreamerLog) << "Please check in GST_PLUGIN_PATH=" << pluginPath;
+            qCCritical(GStreamerLog) << "Check GST_PLUGIN_PATH=" << pluginPath;
         } else {
-            qCCritical(GStreamerLog) << "Please set GST_PLUGIN_PATH to the path of your plugin";
+            qCCritical(GStreamerLog) << "GST_PLUGIN_PATH is not set";
+        }
+
+        GList *allPlugins = gst_registry_get_plugin_list(registry);
+        for (GList *node = allPlugins; node != nullptr; node = node->next) {
+            GstPlugin *p = static_cast<GstPlugin*>(node->data);
+            if (!p) continue;
+            const gchar *desc = gst_plugin_get_description(p);
+            const gchar *filename = gst_plugin_get_filename(p);
+            if (desc && g_str_has_prefix(desc, "BLACKLIST")) {
+                qCWarning(GStreamerLog) << "Blacklisted plugin:" << gst_plugin_get_name(p)
+                                        << "file:" << (filename ? filename : "(null)");
+            }
+        }
+        gst_plugin_list_free(allPlugins);
+
+        static constexpr const char *envDiagnostics[] = {
+            "GST_PLUGIN_PATH", "GST_PLUGIN_PATH_1_0",
+            "GST_PLUGIN_SYSTEM_PATH", "GST_PLUGIN_SYSTEM_PATH_1_0",
+            "GST_PLUGIN_SCANNER", "GST_PLUGIN_SCANNER_1_0",
+            "GST_REGISTRY_REUSE_PLUGIN_SCANNER",
+        };
+        qCCritical(GStreamerLog) << "GStreamer environment diagnostics:";
+        for (const char *var : envDiagnostics) {
+            const QByteArray val = qgetenv(var);
+            qCCritical(GStreamerLog) << "  " << var << "=" << (val.isEmpty() ? "(unset)" : val.constData());
         }
-#endif
     }
 
     return result;
@@ -276,279 +554,176 @@ bool _verifyPlugins()
 
 void _logDecoderRanks()
 {
-    GList *decoderFactories = gst_element_factory_list_get_elements(
+    GList *factories = gst_element_factory_list_get_elements(
         static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
         GST_RANK_NONE);
 
-    if (!decoderFactories) {
-        qCDebug(GStreamerDecoderRanksLog) << "No video decoder factories found.";
+    if (!factories) {
+        qCDebug(GStreamerDecoderRanksLog) << "No video decoder factories found";
         return;
     }
 
-    decoderFactories = g_list_sort(decoderFactories, [](gconstpointer lhs, gconstpointer rhs) -> gint {
-        GstElementFactory *lhsFactory = GST_ELEMENT_FACTORY(lhs);
-        GstElementFactory *rhsFactory = GST_ELEMENT_FACTORY(rhs);
-
-        if (!lhsFactory && !rhsFactory) {
-            return 0;
-        }
-        if (!lhsFactory) {
-            return 1;
-        }
-        if (!rhsFactory) {
-            return -1;
-        }
-
-        const guint lhsRank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(lhsFactory));
-        const guint rhsRank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(rhsFactory));
-        if (lhsRank == rhsRank) {
-            const gchar *lhsName = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(lhsFactory));
-            const gchar *rhsName = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(rhsFactory));
-            return g_strcmp0(lhsName, rhsName);
+    factories = g_list_sort(factories, [](gconstpointer lhs, gconstpointer rhs) -> gint {
+        const guint lhsRank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(lhs));
+        const guint rhsRank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(rhs));
+        if (lhsRank != rhsRank) {
+            return (lhsRank > rhsRank) ? -1 : 1;
         }
-
-        return lhsRank > rhsRank ? -1 : 1;
+        return g_strcmp0(gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(lhs)),
+                         gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(rhs)));
     });
 
-    qCDebug(GStreamerDecoderRanksLog) << "Video decoder plugin ranks:";
-    for (GList *node = decoderFactories; node != nullptr; node = node->next) {
+    qCDebug(GStreamerDecoderRanksLog) << "Video decoder ranks:";
+    for (GList *node = factories; node != nullptr; node = node->next) {
         GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
-        if (!factory) {
-            continue;
-        }
-
-        const gchar *decoderKlass = gst_element_factory_get_klass(factory);
         GstPluginFeature *feature = GST_PLUGIN_FEATURE(factory);
         const gchar *featureName = gst_plugin_feature_get_name(feature);
         const guint rank = gst_plugin_feature_get_rank(feature);
+        const gchar *klass = gst_element_factory_get_klass(factory);
+        const bool isHw = GStreamer::isHardwareDecoderFactory(factory);
 
         GstPlugin *plugin = gst_plugin_feature_get_plugin(feature);
+        const gchar *pluginName = plugin ? gst_plugin_get_name(plugin) : "?";
+
+        qCDebug(GStreamerDecoderRanksLog).noquote()
+            << QStringLiteral("  [%1] %2/%3 rank=%4 (%5)")
+                   .arg(isHw ? QStringLiteral("HW") : QStringLiteral("SW"),
+                        QString::fromUtf8(pluginName),
+                        QString::fromUtf8(featureName))
+                   .arg(rank)
+                   .arg(QString::fromUtf8(klass));
+
         if (plugin) {
-            qCDebug(GStreamerDecoderRanksLog) << "  " << gst_plugin_get_name(plugin) << "/" << featureName << "-" << decoderKlass << ":" << rank;
             gst_object_unref(plugin);
-        } else {
-            qCDebug(GStreamerDecoderRanksLog) << "  " << featureName << "-" << decoderKlass << ":" << rank;
         }
     }
 
-    gst_plugin_feature_list_free(decoderFactories);
+    gst_plugin_feature_list_free(factories);
 }
 
-void _lowerSoftwareDecoderRanks(GstRegistry *registry)
+void _configureDebugLogging()
 {
-    static constexpr uint16_t NewRank  = GST_RANK_NONE;
-    if (!registry) {
-        qCCritical(GStreamerLog) << "Invalid registry!";
+    gst_debug_remove_log_function(gst_debug_log_default);
+    gst_debug_add_log_function(GStreamer::qtGstLog, nullptr, nullptr);
+
+    if (!qEnvironmentVariableIsEmpty("GST_DEBUG")) {
         return;
     }
 
-    const char* softDecoders[] = {"avdec_h264", "avdec_h265", "avdec_mjpeg", "avdec_mpeg2video", "avdec_mpeg4",
-                                  "avdec_vp8", "avdec_vp9", "dav1ddec", "vp8dec", "vp9dec"};
-
-    for (const char *name : softDecoders) {
-        GstPluginFeature *feature = gst_registry_lookup_feature(registry, name);
-        if (feature) {
-            qCDebug(GStreamerLog) << "Setting software decoder rank low:" << name << " rank:" << NewRank;
-            gst_plugin_feature_set_rank(feature, NewRank);
-            gst_object_unref(feature);
-        } else {
-            qCDebug(GStreamerLog) << "Software decoder not found:" << name;
-        }
+    QSettings settings;
+    if (settings.contains(AppSettings::gstDebugLevelName)) {
+        const int level = qBound(0, settings.value(AppSettings::gstDebugLevelName).toInt(),
+                                 static_cast<int>(GST_LEVEL_MEMDUMP));
+        gst_debug_set_default_threshold(static_cast<GstDebugLevel>(level));
     }
 }
 
-void _changeFeatureRank(GstRegistry *registry, const char *featureName, uint16_t rank)
+void prepareEnvironment()
 {
-    if (!registry || !featureName) {
-        return;
-    }
-
-    GstPluginFeature *feature = gst_registry_lookup_feature(registry, featureName);
-    if (!feature) {
-        qCDebug(GStreamerLog) << "Failed to change ranking of feature. Feature does not exist:" << featureName;
-        return;
-    }
-
-    qCDebug(GStreamerLog) << "  Changing feature (" << featureName << ") to use rank:" << rank;
-    gst_plugin_feature_set_rank(feature, rank);
-    gst_clear_object(&feature);
+    _setGstEnvVars();
 }
 
-void _prioritizeByHardwareClass(GstRegistry *registry, uint16_t prioritizedRank, bool requireHardware)
+bool _initGstRuntime()
 {
-    if (!registry) {
-        qCCritical(GStreamerLog) << "Failed to get gstreamer registry.";
-        return;
+    if (!s_envPathsValid.load(std::memory_order_acquire)) {
+        const QMutexLocker locker(&s_envPathsMutex);
+        qCCritical(GStreamerLog) << "Invalid GStreamer environment configuration:" << s_envPathsError;
+        return false;
     }
 
-    GList *decoderFactories = gst_element_factory_list_get_elements(
-        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
-        GST_RANK_NONE);
-
-    if (!decoderFactories) {
-        qCDebug(GStreamerLog) << "No decoder factories available while prioritizing"
-                              << (requireHardware ? "hardware" : "software") << "decoders";
-        return;
+    QByteArrayList argStorage;
+    for (const QString &arg : QCoreApplication::arguments()) {
+        argStorage.append(arg.toUtf8());
     }
 
-    qCDebug(GStreamerLog) << "Prioritizing" << (requireHardware ? "hardware" : "software")
-                           << "video decoders with rank:" << prioritizedRank;
-    int matchedFactories = 0;
-    for (GList *node = decoderFactories; node != nullptr; node = node->next) {
-        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
-        if (!factory) {
-            continue;
-        }
-
-        if (GStreamer::is_hardware_decoder_factory(factory) != requireHardware) {
-            continue;
-        }
-
-        const gchar *featureName = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(factory));
-        if (!featureName) {
-            continue;
-        }
-
-        _changeFeatureRank(registry, featureName, prioritizedRank);
-        ++matchedFactories;
+    QVarLengthArray<char*, 16> argv;
+    for (QByteArray &arg : argStorage) {
+        argv.append(arg.data());
     }
 
-    if (matchedFactories == 0) {
-        qCWarning(GStreamerLog) << "No" << (requireHardware ? "hardware" : "software")
-                               << "video decoder factories found to reprioritize.";
-    }
+    int argc = argv.size();
+    char **argvPtr = argv.data();
+    GError *error = nullptr;
 
-   // Lower software decoder rank when using hardware decoders
-    if(requireHardware) {
-        qCCritical(GstVideoReceiverLog) << "Set the software decoder rank low.";
-        _lowerSoftwareDecoderRanks(registry);
+    if (!gst_init_check(&argc, &argvPtr, &error)) {
+        qCCritical(GStreamerLog) << "Failed to initialize GStreamer:"
+                                  << (error ? error->message : "unknown error");
+        g_clear_error(&error);
+        return false;
     }
 
-    gst_plugin_feature_list_free(decoderFactories);
+    return true;
 }
 
-void _setCodecPriorities(GStreamer::VideoDecoderOptions option)
+bool completeInit()
 {
-    GstRegistry *registry = gst_registry_get();
-
-    if (!registry) {
-        qCCritical(GStreamerLog) << "Failed to get gstreamer registry.";
-        return;
+    if (!gst_is_initialized()) {
+        qCCritical(GStreamerLog) << "completeInit called but gst_init() has not been called";
+        return false;
     }
 
-    static constexpr uint16_t PrioritizedRank = GST_RANK_PRIMARY + 1;
+    _configureDebugLogging();
 
-    // TODO: ForceVideoDecoderCustom in VideoSettings with textbox in QML
-
-    switch (option) {
-    case GStreamer::ForceVideoDecoderDefault:
-        break;
-    case GStreamer::ForceVideoDecoderSoftware:
-        _prioritizeByHardwareClass(registry, PrioritizedRank, false);
-        break;
-    case GStreamer::ForceVideoDecoderHardware:
-        _prioritizeByHardwareClass(registry, PrioritizedRank, true);
-        break;
-    case GStreamer::ForceVideoDecoderVAAPI:
-        for (const char *name : {"vaav1dec", "vah264dec", "vah265dec", "vajpegdec", "vampeg2dec", "vavp8dec", "vavp9dec"}) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    case GStreamer::ForceVideoDecoderNVIDIA:
-        for (const char *name : {"nvav1dec", "nvh264dec", "nvh265dec", "nvjpegdec", "nvmpeg2videodec", "nvmpeg4videodec", "nvmpegvideodec", "nvvp8dec", "nvvp9dec"}) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    case GStreamer::ForceVideoDecoderDirectX3D:
-        for (const char *name : {"d3d11av1dec", "d3d11h264dec", "d3d11h265dec", "d3d11mpeg2dec", "d3d11vp8dec", "d3d11vp9dec",
-                                 "d3d12av1dec", "d3d12h264dec", "d3d12h265dec", "d3d12mpeg2dec", "d3d12vp8dec", "d3d12vp9dec",
-                                 "dxvaav1decoder", "dxvah264decoder", "dxvah265decoder", "dxvampeg2decoder", "dxvavp8decoder", "dxvavp9decoder" }) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    case GStreamer::ForceVideoDecoderVideoToolbox:
-        for (const char *name : {"vtdec_hw", "vtdec"}) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    case GStreamer::ForceVideoDecoderIntel:
-        for (const char *name : {"qsvh264dec", "qsvh265dec", "qsvjpegdec", "qsvvp9dec", "msdkav1dec", "msdkh264dec", "msdkh265dec", "msdkmjpegdec", "msdkmpeg2dec", "msdkvc1dec", "msdkvp8dec", "msdkvp9dec"}) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    case GStreamer::ForceVideoDecoderVulkan:
-        for (const char *name : {"vulkanh264dec", "vulkanh265dec"}) {
-            _changeFeatureRank(registry, name, PrioritizedRank);
-        }
-        break;
-    default:
-        qCWarning(GStreamerLog) << "Can't handle decode option:" << option;
-        break;
-    }
-}
+    gchar *version = gst_version_string();
+    qCDebug(GStreamerLog) << "GStreamer initialized:" << version;
+    g_free(version);
 
-bool initialize()
-{
-    _setGstEnvVars();
+    _registerPlugins();
 
-    if (qEnvironmentVariableIsEmpty("GST_DEBUG")) {
-        int gstDebugLevel = 0;
-        QSettings settings;
-        if (settings.contains(AppSettings::gstDebugLevelName)) {
-            gstDebugLevel = settings.value(AppSettings::gstDebugLevelName).toInt();
-        }
-        gst_debug_set_default_threshold(static_cast<GstDebugLevel>(gstDebugLevel));
+    if (!_verifyPlugins()) {
+        qCCritical(GStreamerLog) << "Plugin verification failed";
+        return false;
     }
 
-    gst_debug_remove_log_function(gst_debug_log_default);
-    gst_debug_add_log_function(_qtGstLog, nullptr, nullptr);
-
-    const QStringList args = QCoreApplication::arguments();
-    int gstArgc = args.size();
-
-    QByteArrayList argData;
-    argData.reserve(gstArgc);
-
-    QVarLengthArray<char*, 16> rawArgv;
-    rawArgv.reserve(gstArgc);
+    _logDecoderRanks();
 
-    for (const QString &arg : args) {
-        argData.append(arg.toUtf8());
-        rawArgv.append(argData.last().data());
+    GstElementFactory *sinkFactory = gst_element_factory_find("qml6glsink");
+    if (!sinkFactory) {
+        qCCritical(GStreamerLog) << "qml6glsink factory not found";
+        return false;
     }
+    gst_object_unref(sinkFactory);
 
-    char **argvPtr = rawArgv.data();
-    GError *error = nullptr;
-    const gboolean ok = gst_init_check(&gstArgc, &argvPtr, &error);
-    if (!ok) {
-        qCritical(GStreamerLog) << "Failed to initialize GStreamer:" << error->message;
-        g_clear_error(&error);
+    GstElementFactory *playbinFactory = gst_element_factory_find("playbin");
+    if (!playbinFactory) {
+        qCCritical(GStreamerLog) << "playbin factory not found";
         return false;
     }
+    gst_object_unref(playbinFactory);
 
-    const gchar *version = gst_version_string();
-    qCDebug(GStreamerLog) << QString("GStreamer Initialized (Version: %1)").arg(version);
-
-    _registerPlugins();
-
-    if (!_verifyPlugins()) {
-        qCCritical(GStreamerLog) << "Failed to verify plugins - Check your GStreamer setup";
+    if (GStreamer::didExternalPluginLoaderFail()) {
+        qCCritical(GStreamerLog)
+            << "GStreamer external plugin loader failed. Check GST_PLUGIN_SCANNER and bundled runtime paths.";
         return false;
     }
 
-    _logDecoderRanks();
-    _setCodecPriorities(static_cast<GStreamer::VideoDecoderOptions>(SettingsManager::instance()->videoSettings()->forceVideoDecoder()->rawValue().toInt()));
+    return true;
+}
+
+bool initialize()
+{
+    GStreamer::resetExternalPluginLoaderFailure();
+    GStreamer::redirectGLibLogging();
 
-    GstElement *sink = gst_element_factory_make("qml6glsink", nullptr);
-    if (!sink) {
-        qCCritical(GStreamerLog) << "failed to init qml6glsink";
+    if (!_initGstRuntime()) {
         return false;
     }
 
-    gst_clear_object(&sink);
-    return true;
+    return completeInit();
+}
+
+QFuture<bool> initializeAsync()
+{
+    prepareEnvironment();
+    return QtConcurrent::run(&initialize);
 }
 
+// Ownership protocol for the video sink element:
+//   createVideoSink  — returns a floating-ref element (refcount conceptually 1).
+//   startDecoding     — calls gst_object_ref (sinks float, refcount=1).
+//   _ensureVideoSinkInPipeline — gst_object_ref (+1=2), gst_bin_add (+1=3).
+//   _shutdownDecodingBranch   — gst_bin_remove (-1=2), gst_clear_object (-1=1).
+//   releaseVideoSink  — gst_clear_object (-1=0, freed).
 void *createVideoSink(QQuickItem *widget, QObject * /*parent*/)
 {
     GstElement *videoSinkBin = gst_element_factory_make("qgcvideosinkbin", NULL);
@@ -565,6 +740,7 @@ void *createVideoSink(QQuickItem *widget, QObject * /*parent*/)
 
 void releaseVideoSink(void *sink)
 {
+    if (!sink) return;
     GstElement *videoSink = GST_ELEMENT(sink);
     gst_clear_object(&videoSink);
 }
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamer.h b/src/VideoManager/VideoReceiver/GStreamer/GStreamer.h
index 763be20daf79..6ca777db5914 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GStreamer.h
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamer.h
@@ -1,9 +1,11 @@
 #pragma once
 
+#include <QtCore/QFuture>
 #include <QtCore/QLoggingCategory>
 
 Q_DECLARE_LOGGING_CATEGORY(GStreamerLog)
 Q_DECLARE_LOGGING_CATEGORY(GStreamerAPILog)
+Q_DECLARE_LOGGING_CATEGORY(GStreamerDecoderRanksLog)
 
 class QQuickItem;
 class VideoReceiver;
@@ -23,9 +25,12 @@ enum VideoDecoderOptions {
     ForceVideoDecoderHardware
 };
 
+QFuture<bool> initializeAsync();
+void prepareEnvironment();
 bool initialize();
+bool completeInit();
 void *createVideoSink(QQuickItem *widget, QObject *parent = nullptr);
 void releaseVideoSink(void *sink);
 VideoReceiver *createVideoReceiver(QObject *parent = nullptr);
 
-};
+}
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.cc b/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.cc
index bc567e081f1d..52f59412729f 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.cc
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.cc
@@ -1,15 +1,20 @@
 #include "GStreamerHelpers.h"
 
 #include <gst/rtsp/gstrtspurl.h>
+#include <QtCore/QLatin1String>
+#include <QtCore/QLoggingCategory>
 #include <QtCore/QString>
-#include <QtCore/QStringList>
 
 namespace GStreamer
 {
 
 gboolean
-is_valid_rtsp_uri(const gchar *uri_str)
+isValidRtspUri(const gchar *uri_str)
 {
+    if (!uri_str) {
+        return FALSE;
+    }
+
     GstRTSPUrl *url = NULL;
     GstRTSPResult res;
 
@@ -19,14 +24,18 @@ is_valid_rtsp_uri(const gchar *uri_str)
 
     res = gst_rtsp_url_parse(uri_str, &url);
     if ((res != GST_RTSP_OK) || (url == NULL)) {
+        if (url) {
+            gst_rtsp_url_free(url);
+        }
         return FALSE;
     }
 
+    const gboolean hasHost = (url->host && url->host[0] != '\0');
     gst_rtsp_url_free(url);
-    return TRUE;
+    return hasHost;
 }
 
-bool is_hardware_decoder_factory(GstElementFactory *factory)
+bool isHardwareDecoderFactory(GstElementFactory *factory)
 {
     if (!factory) {
         return false;
@@ -37,38 +46,45 @@ bool is_hardware_decoder_factory(GstElementFactory *factory)
         return false;
     }
 
-    // Exclude Android software decoders (OMXGoogle / C2Android)
-    QString name = QString::fromUtf8(factoryName).toLower();
-    if (name.startsWith("amcviddec-omxgoogle") || name.startsWith("amcviddec-c2android")) {
+    const QString nameLower = QString::fromUtf8(factoryName).toLower();
+
+    // Android MediaCodec: exclude software wrappers, accept remaining as hardware
+    if (nameLower.startsWith("amcviddec-omxgoogle") || nameLower.startsWith("amcviddec-c2android")) {
         return false;
     }
+    if (nameLower.startsWith("amcviddec-")) {
+        return true;
+    }
 
     const auto containsHardware = [](const gchar *value) {
-        return value && (g_strrstr(value, "Hardware") != nullptr || g_strrstr(value, "hardware") != nullptr);
+        if (!value) return false;
+        gchar *lower = g_ascii_strdown(value, -1);
+        bool found = (g_strrstr(lower, "hardware") != nullptr);
+        g_free(lower);
+        return found;
     };
 
     if (containsHardware(gst_element_factory_get_metadata(factory, GST_ELEMENT_METADATA_KLASS))) {
         return true;
     }
 
-    if (containsHardware(gst_element_factory_get_klass(factory))) {
+    if (containsHardware(gst_element_factory_get_metadata(factory, GST_ELEMENT_METADATA_DESCRIPTION))) {
         return true;
     }
 
-    const QString nameLower = QString::fromUtf8(factoryName).toLower();
-    static const QStringList kHardwareTags = {
-        QStringLiteral("va"),      // vaapi family
-        QStringLiteral("nv"),      // nvidia nvcodec
-        QStringLiteral("qsv"),     // intel quick sync
-        QStringLiteral("msdk"),    // intel media sdk
-        QStringLiteral("vulkan"),  // vulkan accelerated
-        QStringLiteral("d3d"),     // direct3d
-        QStringLiteral("dxva"),    // directx video accel
-        QStringLiteral("vtdec"),   // apple video toolbox
-        QStringLiteral("metal")    // metal-based decoders
+    static constexpr QLatin1String kHardwareTags[] = {
+        QLatin1String("va"),
+        QLatin1String("nv"),
+        QLatin1String("qsv"),
+        QLatin1String("msdk"),
+        QLatin1String("vulkan"),
+        QLatin1String("d3d"),
+        QLatin1String("dxva"),
+        QLatin1String("vtdec"),
+        QLatin1String("metal"),
     };
 
-    for (const QString &tag : kHardwareTags) {
+    for (const auto &tag : kHardwareTags) {
         if (nameLower.contains(tag)) {
             return true;
         }
@@ -77,4 +93,176 @@ bool is_hardware_decoder_factory(GstElementFactory *factory)
     return false;
 }
 
+namespace {
+
+void changeFeatureRank(GstRegistry *registry, const char *featureName, uint16_t rank)
+{
+    if (!registry || !featureName) {
+        return;
+    }
+
+    GstPluginFeature *feature = gst_registry_lookup_feature(registry, featureName);
+    if (!feature) {
+        qCDebug(GStreamerLog) << "Failed to change ranking of feature. Feature does not exist:" << featureName;
+        return;
+    }
+
+    qCDebug(GStreamerLog) << "  Changing feature (" << featureName << ") to use rank:" << rank;
+    gst_plugin_feature_set_rank(feature, rank);
+    gst_clear_object(&feature);
+}
+
+void lowerSoftwareDecoderRanks(GstRegistry *registry)
+{
+    static constexpr uint16_t NewRank = GST_RANK_NONE;
+    if (!registry) {
+        qCCritical(GStreamerLog) << "Invalid registry!";
+        return;
+    }
+
+    GList *decoderFactories = gst_element_factory_list_get_elements(
+        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
+        GST_RANK_NONE);
+
+    for (GList *node = decoderFactories; node != nullptr; node = node->next) {
+        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
+        if (!factory) {
+            continue;
+        }
+
+        if (GStreamer::isHardwareDecoderFactory(factory)) {
+            continue;
+        }
+
+        const gchar *name = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(factory));
+        if (!name) {
+            continue;
+        }
+
+        qCDebug(GStreamerLog) << "Setting software decoder rank low:" << name << " rank:" << NewRank;
+        gst_plugin_feature_set_rank(GST_PLUGIN_FEATURE(factory), NewRank);
+    }
+
+    gst_plugin_feature_list_free(decoderFactories);
+}
+
+void prioritizeByHardwareClass(GstRegistry *registry, uint16_t prioritizedRank, bool requireHardware)
+{
+    if (!registry) {
+        qCCritical(GStreamerLog) << "Failed to get gstreamer registry.";
+        return;
+    }
+
+    GList *decoderFactories = gst_element_factory_list_get_elements(
+        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
+        GST_RANK_NONE);
+
+    if (!decoderFactories) {
+        qCDebug(GStreamerLog) << "No decoder factories available while prioritizing"
+                              << (requireHardware ? "hardware" : "software") << "decoders";
+        return;
+    }
+
+    qCDebug(GStreamerLog) << "Prioritizing" << (requireHardware ? "hardware" : "software")
+                           << "video decoders with rank:" << prioritizedRank;
+    int matchedFactories = 0;
+    for (GList *node = decoderFactories; node != nullptr; node = node->next) {
+        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
+        if (!factory) {
+            continue;
+        }
+
+        if (GStreamer::isHardwareDecoderFactory(factory) != requireHardware) {
+            continue;
+        }
+
+        const gchar *featureName = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(factory));
+        if (!featureName) {
+            continue;
+        }
+
+        changeFeatureRank(registry, featureName, prioritizedRank);
+        ++matchedFactories;
+    }
+
+    if (matchedFactories == 0) {
+        qCWarning(GStreamerLog) << "No" << (requireHardware ? "hardware" : "software")
+                               << "video decoder factories found to reprioritize.";
+    }
+
+    if (requireHardware) {
+        qCDebug(GStreamerLog) << "Lowering software decoder ranks for hardware priority.";
+        lowerSoftwareDecoderRanks(registry);
+    }
+
+    gst_plugin_feature_list_free(decoderFactories);
+}
+
+} // anonymous namespace
+
+void setCodecPriorities(VideoDecoderOptions option)
+{
+    GstRegistry *registry = gst_registry_get();
+
+    if (!registry) {
+        qCCritical(GStreamerLog) << "Failed to get gstreamer registry.";
+        return;
+    }
+
+    static constexpr uint16_t PrioritizedRank = GST_RANK_PRIMARY + 1;
+
+    switch (option) {
+    case ForceVideoDecoderDefault:
+        // Android/iOS hardware decoders (amcviddec, vtdec) already have higher
+        // default ranks than software decoders, so decodebin tries them first.
+        // However, AMC decoders require GL output (GLMemory caps) which the
+        // current pipeline doesn't support — so they fail and decodebin falls
+        // back to software. Setting software to RANK_NONE here would eliminate
+        // that fallback entirely.  Leave ranks untouched until the pipeline
+        // supports GL context sharing with Qt.
+        break;
+    case ForceVideoDecoderSoftware:
+        prioritizeByHardwareClass(registry, PrioritizedRank, false);
+        break;
+    case ForceVideoDecoderHardware:
+        prioritizeByHardwareClass(registry, PrioritizedRank, true);
+        break;
+    case ForceVideoDecoderVAAPI:
+        for (const char *name : {"vaav1dec", "vah264dec", "vah265dec", "vajpegdec", "vampeg2dec", "vavp8dec", "vavp9dec"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    case ForceVideoDecoderNVIDIA:
+        for (const char *name : {"nvav1dec", "nvh264dec", "nvh265dec", "nvjpegdec", "nvmpeg2videodec", "nvmpeg4videodec", "nvmpegvideodec", "nvvp8dec", "nvvp9dec"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    case ForceVideoDecoderDirectX3D:
+        for (const char *name : {"d3d11av1dec", "d3d11h264dec", "d3d11h265dec", "d3d11mpeg2dec", "d3d11vp8dec", "d3d11vp9dec",
+                                 "d3d12av1dec", "d3d12h264dec", "d3d12h265dec", "d3d12mpeg2dec", "d3d12vp8dec", "d3d12vp9dec",
+                                 "dxvaav1decoder", "dxvah264decoder", "dxvah265decoder", "dxvampeg2decoder", "dxvavp8decoder", "dxvavp9decoder"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    case ForceVideoDecoderVideoToolbox:
+        for (const char *name : {"vtdec_hw", "vtdec"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    case ForceVideoDecoderIntel:
+        for (const char *name : {"qsvh264dec", "qsvh265dec", "qsvjpegdec", "qsvvp9dec", "msdkav1dec", "msdkh264dec", "msdkh265dec", "msdkmjpegdec", "msdkmpeg2dec", "msdkvc1dec", "msdkvp8dec", "msdkvp9dec"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    case ForceVideoDecoderVulkan:
+        for (const char *name : {"vulkanh264dec", "vulkanh265dec"}) {
+            changeFeatureRank(registry, name, PrioritizedRank);
+        }
+        break;
+    default:
+        qCWarning(GStreamerLog) << "Can't handle decode option:" << option;
+        break;
+    }
+}
+
 } // namespace GStreamer
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.h b/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.h
index 148128e417b4..cd55babd41c9 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.h
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamerHelpers.h
@@ -1,14 +1,15 @@
 #pragma once
 
 #include <glib.h>
-// Needed for GstElementFactory
 #include <gst/gst.h>
 
+#include "GStreamer.h"
+
 namespace GStreamer
 {
-    gboolean is_valid_rtsp_uri(const gchar *uri_str);
+    gboolean isValidRtspUri(const gchar *uri_str);
+
+    bool isHardwareDecoderFactory(GstElementFactory *factory);
 
-    // Returns true if the given factory likely represents a hardware-accelerated decoder.
-    // Heuristics: checks metadata/klass for "Hardware" and common vendor tags in the factory name.
-    bool is_hardware_decoder_factory(GstElementFactory *factory);
+    void setCodecPriorities(VideoDecoderOptions option);
 }
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.cc b/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.cc
new file mode 100644
index 000000000000..81138e437b8b
--- /dev/null
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.cc
@@ -0,0 +1,127 @@
+#include "GStreamer.h"
+#include "GStreamerLogging.h"
+#include "QGCLoggingCategory.h"
+
+#include <QtCore/QString>
+
+#include <atomic>
+#include <memory>
+
+QGC_LOGGING_CATEGORY(GStreamerLog, "Video.GStreamer")
+QGC_LOGGING_CATEGORY(GStreamerDecoderRanksLog, "Video.GStreamerDecoderRanks")
+QGC_LOGGING_CATEGORY_ON(GStreamerAPILog, "Video.GStreamerAPI")
+
+namespace {
+
+std::atomic_bool g_externalPluginLoaderFailed {false};
+
+void glib_print_handler(const gchar *string)
+{
+    qCInfo(GStreamerLog) << string;
+}
+
+void glib_printerr_handler(const gchar *string)
+{
+    qCWarning(GStreamerLog) << string;
+}
+
+void glib_log_handler(const gchar *log_domain, GLogLevelFlags log_level,
+                      const gchar *message, gpointer user_data)
+{
+    Q_UNUSED(user_data);
+    const QString domain = log_domain ? QString::fromUtf8(log_domain) : QStringLiteral("GLib");
+    const QString msg = QString::fromUtf8(message);
+
+    if (msg.contains(QStringLiteral("External plugin loader failed"), Qt::CaseInsensitive)) {
+        g_externalPluginLoaderFailed.store(true);
+    }
+
+    switch (log_level & G_LOG_LEVEL_MASK) {
+    case G_LOG_LEVEL_ERROR:
+    case G_LOG_LEVEL_CRITICAL:
+        qCCritical(GStreamerLog) << domain << msg;
+        break;
+    case G_LOG_LEVEL_WARNING:
+        qCWarning(GStreamerLog) << domain << msg;
+        break;
+    case G_LOG_LEVEL_MESSAGE:
+    case G_LOG_LEVEL_INFO:
+        qCInfo(GStreamerLog) << domain << msg;
+        break;
+    case G_LOG_LEVEL_DEBUG:
+    default:
+        qCDebug(GStreamerLog) << domain << msg;
+        break;
+    }
+}
+
+} // anonymous namespace
+
+namespace GStreamer
+{
+
+void resetExternalPluginLoaderFailure()
+{
+    g_externalPluginLoaderFailed.store(false);
+}
+
+bool didExternalPluginLoaderFail()
+{
+    return g_externalPluginLoaderFailed.load();
+}
+
+void redirectGLibLogging()
+{
+    g_set_print_handler(glib_print_handler);
+    g_set_printerr_handler(glib_printerr_handler);
+    g_log_set_default_handler(glib_log_handler, nullptr);
+}
+
+void qtGstLog(GstDebugCategory *category,
+              GstDebugLevel level,
+              const gchar *file,
+              const gchar *function,
+              gint line,
+              GObject *object,
+              GstDebugMessage *message,
+              gpointer data)
+{
+    Q_UNUSED(data);
+
+    if (level > gst_debug_category_get_threshold(category)) {
+        return;
+    }
+
+    QMessageLogger log(file, line, function);
+
+    struct GFree { void operator()(gchar *p) const { g_free(p); } };
+    const std::unique_ptr<gchar, GFree> object_info(
+        gst_info_strdup_printf("%" GST_PTR_FORMAT, object));
+
+    switch (level) {
+    case GST_LEVEL_ERROR:
+        log.critical(GStreamerAPILog, "%s %s", object_info.get(), gst_debug_message_get(message));
+        break;
+    case GST_LEVEL_WARNING:
+        log.warning(GStreamerAPILog, "%s %s", object_info.get(), gst_debug_message_get(message));
+        break;
+    case GST_LEVEL_FIXME:
+    case GST_LEVEL_INFO:
+        log.info(GStreamerAPILog, "%s %s", object_info.get(), gst_debug_message_get(message));
+        break;
+    case GST_LEVEL_DEBUG:
+#ifdef QT_DEBUG
+    // In release builds LOG/TRACE/MEMDUMP are intentionally dropped to reduce
+    // noise. Only debug builds route these verbose levels through Qt logging.
+    case GST_LEVEL_LOG:
+    case GST_LEVEL_TRACE:
+    case GST_LEVEL_MEMDUMP:
+#endif
+        log.debug(GStreamerAPILog, "%s %s", object_info.get(), gst_debug_message_get(message));
+        break;
+    default:
+        break;
+    }
+}
+
+} // namespace GStreamer
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.h b/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.h
new file mode 100644
index 000000000000..6a6212ede873
--- /dev/null
+++ b/src/VideoManager/VideoReceiver/GStreamer/GStreamerLogging.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <gst/gst.h>
+
+namespace GStreamer
+{
+    void redirectGLibLogging();
+    void resetExternalPluginLoaderFailure();
+    bool didExternalPluginLoaderFail();
+
+    void qtGstLog(GstDebugCategory *category,
+                  GstDebugLevel level,
+                  const gchar *file,
+                  const gchar *function,
+                  gint line,
+                  GObject *object,
+                  GstDebugMessage *message,
+                  gpointer data);
+}
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.cc b/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.cc
index e23866817b64..187f22aaaaaf 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.cc
+++ b/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.cc
@@ -24,7 +24,7 @@ GstVideoReceiver::GstVideoReceiver(QObject *parent)
     : VideoReceiver(parent)
     , _worker(new GstVideoWorker(this))
 {
-    // qCDebug(GstVideoReceiverLog) << this;
+    qCDebug(GstVideoReceiverLog) << this;
 
     _worker->start();
     (void) connect(&_watchdogTimer, &QTimer::timeout, this, &GstVideoReceiver::_watchdog);
@@ -36,7 +36,7 @@ GstVideoReceiver::~GstVideoReceiver()
     stop();
     _worker->shutdown();
 
-    // qCDebug(GstVideoReceiverLog) << this;
+    qCDebug(GstVideoReceiverLog) << this;
 }
 
 void GstVideoReceiver::start(uint32_t timeout)
@@ -367,8 +367,11 @@ void GstVideoReceiver::startDecoding(void *sink)
         return;
     }
 
+    _ensureVideoSinkInPipeline();
+
     if (!_addDecoder(_decoderValve)) {
         qCCritical(GstVideoReceiverLog) << "_addDecoder() failed" << _uri;
+        _shutdownDecodingBranch();
         _dispatchSignal([this]() { emit onStartDecodingComplete(STATUS_FAIL); });
         return;
     }
@@ -641,7 +644,7 @@ GstElement *GstVideoReceiver::_makeSource(const QString &input)
 
     do {
         if (isRtsp) {
-            if (!GStreamer::is_valid_rtsp_uri(input.toUtf8().constData())) {
+            if (!GStreamer::isValidRtspUri(input.toUtf8().constData())) {
                 qCCritical(GstVideoReceiverLog) << "Invalid RTSP URI:" << input;
                 break;
             }
@@ -791,15 +794,12 @@ GstElement *GstVideoReceiver::_makeSource(const QString &input)
     return srcbin;
 }
 
-GstElement *GstVideoReceiver::_makeDecoder(GstCaps *caps, GstElement *videoSink)
+GstElement *GstVideoReceiver::_makeDecoder()
 {
-    Q_UNUSED(caps); Q_UNUSED(videoSink)
-
     GstElement *decoder = gst_element_factory_make("decodebin3", nullptr);
     if (!decoder) {
         qCCritical(GstVideoReceiverLog) << "gst_element_factory_make('decodebin3') failed";
     }
-
     return decoder;
 }
 
@@ -899,8 +899,11 @@ void GstVideoReceiver::_onNewSourcePad(GstPad *pad)
 
     GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-with-new-source-pad");
 
+    _ensureVideoSinkInPipeline();
+
     if (!_addDecoder(_decoderValve)) {
         qCCritical(GstVideoReceiverLog) << "_addDecoder() failed";
+        _shutdownDecodingBranch();
         return;
     }
 
@@ -928,7 +931,7 @@ void GstVideoReceiver::_logDecodebin3SelectedCodec(GstElement *decodebin3)
                 GstPluginFeature *feature = GST_PLUGIN_FEATURE(factory);
                 const gchar *featureName = gst_plugin_feature_get_name(feature);
                 const guint rank = gst_plugin_feature_get_rank(feature);
-                bool isHardwareDecoder = GStreamer::is_hardware_decoder_factory(factory);
+                bool isHardwareDecoder = GStreamer::isHardwareDecoderFactory(factory);
 
                 QString pluginName = featureName;
                 GstPlugin *plugin = gst_plugin_feature_get_plugin(feature);
@@ -937,6 +940,13 @@ void GstVideoReceiver::_logDecodebin3SelectedCodec(GstElement *decodebin3)
                     gst_object_unref(plugin);
                 }
                 qCDebug(GstVideoReceiverLog) << "Decodebin3 selected codec:rank -" << pluginName << "/" << featureName << "-" << decoderKlass << (isHardwareDecoder ? "(HW)" : "(SW)") << ":" << rank;
+
+                // Disable QoS on the internal decoder to prevent cascading
+                // frame drops on live streams.  The videodecoder base class
+                // aggressively advances earliest_time after the first late
+                // frame, causing all subsequent frames to be dropped.
+                g_object_set(child, "qos", FALSE, nullptr);
+                qCDebug(GstVideoReceiverLog) << "Disabled QoS on internal decoder" << featureName;
             }
         }
         g_value_reset(&value);
@@ -962,32 +972,14 @@ void GstVideoReceiver::_onNewDecoderPad(GstPad *pad)
 
 bool GstVideoReceiver::_addDecoder(GstElement *src)
 {
-    GstPad *srcpad = gst_element_get_static_pad(src, "src");
-    if (!srcpad) {
-        qCCritical(GstVideoReceiverLog) << "gst_element_get_static_pad() failed";
-        return false;
-    }
-
-    GstCaps *caps = gst_pad_query_caps(srcpad, nullptr);
-    if (!caps) {
-        qCCritical(GstVideoReceiverLog) << "gst_pad_query_caps() failed";
-        gst_clear_object(&srcpad);
-        return false;
-    }
-
-    gst_clear_object(&srcpad);
-
     _decoder = _makeDecoder();
     if (!_decoder) {
         qCCritical(GstVideoReceiverLog) << "_makeDecoder() failed";
-        gst_clear_caps(&caps);
         return false;
     }
 
     (void) gst_object_ref(_decoder);
 
-    gst_clear_caps(&caps);
-
     (void) gst_bin_add(GST_BIN(_pipeline), _decoder);
     (void) gst_element_sync_state_with_parent(_decoder);
 
@@ -995,6 +987,9 @@ bool GstVideoReceiver::_addDecoder(GstElement *src)
 
     if (!gst_element_link(src, _decoder)) {
         qCCritical(GstVideoReceiverLog) << "Unable to link decoder";
+        (void) gst_bin_remove(GST_BIN(_pipeline), _decoder);
+        (void) gst_element_set_state(_decoder, GST_STATE_NULL);
+        gst_clear_object(&_decoder);
         return false;
     }
 
@@ -1026,18 +1021,16 @@ bool GstVideoReceiver::_addDecoder(GstElement *src)
     return true;
 }
 
-bool GstVideoReceiver::_addVideoSink(GstPad *pad)
+void GstVideoReceiver::_ensureVideoSinkInPipeline()
 {
-    GstCaps *caps = gst_pad_query_caps(pad, nullptr);
-
-    (void) gst_object_ref(_videoSink); // gst_bin_add() will steal one reference
-    (void) gst_bin_add(GST_BIN(_pipeline), _videoSink);
+    if (!_videoSink || !_pipeline) {
+        return;
+    }
 
-    if (!gst_element_link(_decoder, _videoSink)) {
-        (void) gst_bin_remove(GST_BIN(_pipeline), _videoSink);
-        qCCritical(GstVideoReceiverLog) << "Unable to link video sink";
-        gst_clear_caps(&caps);
-        return false;
+    GstObject *parent = gst_element_get_parent(_videoSink);
+    if (parent) {
+        gst_object_unref(parent);
+        return;
     }
 
     g_object_set(_videoSink,
@@ -1045,8 +1038,50 @@ bool GstVideoReceiver::_addVideoSink(GstPad *pad)
                  "sync", (_buffer >= 0),
                  NULL);
 
+    (void) gst_object_ref(_videoSink);
+    (void) gst_bin_add(GST_BIN(_pipeline), _videoSink);
+
+    // PAUSED (not READY) triggers gst_gl_ensure_element_data in qml6glsink,
+    // which creates GstGLDisplay/GstGLContext from Qt's EGL context and posts
+    // HAVE_CONTEXT on the bus. Downstream GL elements and decoders acquire
+    // this context via the pipeline's context store.
+    (void) gst_element_set_state(_videoSink, GST_STATE_PAUSED);
+}
+
+bool GstVideoReceiver::_addVideoSink(GstPad *pad)
+{
+    GstCaps *caps = gst_pad_query_caps(pad, nullptr);
+
+    _ensureVideoSinkInPipeline();
+
+    GstPad *sinkPad = gst_element_get_static_pad(_videoSink, "sink");
+    GstPadLinkReturn linkRet = sinkPad ? gst_pad_link(pad, sinkPad) : GST_PAD_LINK_WRONG_HIERARCHY;
+    if (linkRet != GST_PAD_LINK_OK) {
+        qCCritical(GstVideoReceiverLog) << "Unable to link decoder pad to video sink, result:" << linkRet;
+
+        // Keep retry behavior by fully detaching the sink when link fails.
+        // _ensureVideoSinkInPipeline() adds it before linking.
+        GstObject *parent = gst_element_get_parent(_videoSink);
+        if (parent) {
+            (void) gst_element_set_state(_videoSink, GST_STATE_NULL);
+            (void) gst_bin_remove(GST_BIN(_pipeline), _videoSink);
+            gst_clear_object(&parent);
+        }
+
+        gst_clear_object(&sinkPad);
+        gst_clear_caps(&caps);
+        return false;
+    }
+    gst_clear_object(&sinkPad);
+
     (void) gst_element_sync_state_with_parent(_videoSink);
 
+    // qml6glsink resets max-lateness=0 during state transitions (it renders
+    // on QML's paint cycle).  For live streams with hardware decoders that
+    // have startup latency, this causes all frames to be silently dropped
+    // after the first one.  Override after state sync so it sticks.
+    g_object_set(_videoSink, "sync", FALSE, "max-lateness", G_GINT64_CONSTANT(-1), nullptr);
+
     GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(_pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-with-videosink");
 
     // Determine video size. Errors here are non-fatal.
@@ -1472,12 +1507,12 @@ GstPadProbeReturn GstVideoReceiver::_keyframeWatch(GstPad *pad, GstPadProbeInfo
 GstVideoWorker::GstVideoWorker(QObject *parent)
     : QThread(parent)
 {
-    // qCDebug(GstVideoReceiverLog) << this;
+    qCDebug(GstVideoReceiverLog) << this;
 }
 
 GstVideoWorker::~GstVideoWorker()
 {
-    // qCDebug(GstVideoReceiverLog) << this;
+    qCDebug(GstVideoReceiverLog) << this;
 }
 
 bool GstVideoWorker::needDispatch() const
diff --git a/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.h b/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.h
index 1d65365f7dab..42870f6c1dd6 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.h
+++ b/src/VideoManager/VideoReceiver/GStreamer/GstVideoReceiver.h
@@ -66,12 +66,13 @@ private slots:
 
 private:
     GstElement *_makeSource(const QString &input);
-    GstElement *_makeDecoder(GstCaps *caps = nullptr, GstElement *videoSink = nullptr);
+    GstElement *_makeDecoder();
     GstElement *_makeFileSink(const QString &videoFile, FILE_FORMAT format);
 
     void _onNewSourcePad(GstPad *pad);
     void _onNewDecoderPad(GstPad *pad);
     bool _addDecoder(GstElement *src);
+    void _ensureVideoSinkInPipeline();
     bool _addVideoSink(GstPad *pad);
     void _noteTeeFrame();
     void _noteVideoSinkFrame();
diff --git a/src/VideoManager/VideoReceiver/GStreamer/README.md b/src/VideoManager/VideoReceiver/GStreamer/README.md
index a0aa741de3ff..f3e497b20cb6 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/README.md
+++ b/src/VideoManager/VideoReceiver/GStreamer/README.md
@@ -1,158 +1,64 @@
-# QGroundControl
+# GStreamer Video Streaming
 
-## Video Streaming
+QGroundControl uses GStreamer for UDP RTP and RTSP video streaming in the Main Flight Display.
 
-QGroundControl implements an UDP RTP and RSTP video streaming receiver in its Main Flight Display using GStreamer.
-Current suggested version of GStreamer is **1.22.12** - other versions of GStreamer may break the build as some dependent libraries may change.
-To build video streaming support, you will need to install the GStreamer development packages for the desired target platform.
+## Build Configuration
 
-If you do have the proper GStreamer development libraries installed where QGC looks for it, the QGC build system will automatically use it and build video streaming support. If you would like to disable GStreamer video streaming support, set the **QGC_ENABLE_GST_VIDEOSTREAMING** CMake option to **OFF**.
+- **Enable/disable**: Set `QGC_ENABLE_GST_VIDEOSTREAMING` CMake option to `ON`/`OFF`
+- **Version & URLs**: Defined in [`.github/build-config.json`](../../../../.github/build-config.json), parsed by [`cmake/BuildConfig.cmake`](../../../../cmake/BuildConfig.cmake)
+- **SDK discovery & auto-download**: [`cmake/find-modules/FindQGCGStreamer.cmake`](../../../../cmake/find-modules/FindQGCGStreamer.cmake)
+- **Plugin allowlist**: `GSTREAMER_PLUGINS` in `FindQGCGStreamer.cmake` — controls both static linking (mobile) and dynamic install (desktop)
+- **Install helpers**: [`cmake/find-modules/GStreamerHelpers.cmake`](../../../../cmake/find-modules/GStreamerHelpers.cmake)
 
-### Gstreamer logs
+## Runtime Environment Setup
 
-For cases, when it is need to have more control over gstreamer logging than is availabe via QGroundControl's UI, it is possible to configure gstreamer logging via environment variables. Please see <https://developer.gnome.org/gstreamer/stable/gst-running.html> for details.
+QGC configures GStreamer runtime paths before `gst_init()`:
 
-### UDP Pipeline
+- **Desktop (Linux/macOS/Windows)**: `GStreamer::prepareEnvironment()` sets plugin paths, scanner/helper paths, and GIO module paths when bundled runtimes are detected.
+- **Linux AppImage**: [`deploy/linux/AppRun`](../../../../deploy/linux/AppRun) exports `GST_PLUGIN_*`, `GST_PLUGIN_SCANNER*`, and `GST_PTP_HELPER*` only when bundled paths are valid.
+- **Environment hygiene**: Python virtualenv/conda variables are cleared for scanner stability (`PYTHONHOME`, `PYTHONPATH`, `VIRTUAL_ENV`, `CONDA_*`).
+- **Validation**: If bundled plugin directories are present but `gst-plugin-scanner` is missing or non-executable, QGC fails initialization early with a clear error instead of running with a broken plugin loader.
 
-For the time being, the RTP UDP pipeline is somewhat hardcoded, using h.264 or h.265. It's best to use a camera capable of hardware encoding either h.264 (such as the Logitech C920) or h.265. On the sender end, for RTP (UDP Streaming) you would run something like this:
+## Platform Setup
 
-h.264
-
-```
-gst-launch-1.0 uvch264src initial-bitrate=1000000 average-bitrate=1000000 iframe-period=1000 device=/dev/video0 name=src auto-start=true src.vidsrc ! video/x-h264,width=1920,height=1080,framerate=24/1 ! h264parse ! rtph264pay ! udpsink host=xxx.xxx.xxx.xxx port=5600
-```
-
-h.265
-
-```
-ffmpeg -f v4l2 -i /dev/video1 -pix_fmt yuv420p -c:v libx265 -preset ultrafast -x265-params crf=23 -strict experimental -f rtp udp://xxx.xxx.xxx.xxx:5600
-```
-
-Where xxx.xxx.xxx.xxx is the IP address where QGC is running.
-
-To test using a test source on localhost, you can run this command:
-
-```
-gst-launch-1.0 videotestsrc pattern=ball ! video/x-raw,width=640,height=480 ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
-```
-
-Or this one:
-
-```
-gst-launch-1.0 videotestsrc ! video/x-raw,width=640,height=480 ! videoconvert ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
-```
-
-On the receiving end, if you want to test it from the command line, you can use something like:
-
-```
-gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtpjitterbuffer ! rtph264depay ! h264parse ! avdec_h264 ! autovideosink fps-update-interval=1000 sync=false
-```
-
-Or this one:
-
-```
-gst-launch-1.0 udpsrc port=5600 ! application/x-rtp ! rtpjitterbuffer ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink
-```
+### Linux
 
-Or this one, note that removing rtpjitterbuffer would reduce video latency as low latency mode is doing:
+Use `tools/setup/install-dependencies-debian.sh`, or manually:
 
 ```
-gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtpjitterbuffer ! parsebin ! decodebin ! autovideosink fps-update-interval=1000 sync=false
+sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev python3-gi python3-gst-1.0
 ```
 
-### Additional Protocols
-
-QGC also supports RTSP, TCP-MPEG2 and MPEG-TS pipelines.
+### macOS / Windows / iOS
 
-## Setup
+GStreamer SDKs are auto-downloaded during CMake configure. To use a local installation instead, set `GStreamer_ROOT_DIR`.
 
-### Linux
+### Android
 
-For a quick setup, use `python3 qgroundcontrol/tools/setup/install_dependencies.py --platform debian`.
+Auto-downloaded during CMake configure. No manual setup required.
 
-Alternatively for a manual approach you can use apt-get to install GStreamer 1.0:
+> **Windows users building for Android**: Enable Developer Mode (Settings > System > For developers) to support symbolic links during the build.
 
-```
-list=$(apt-cache --names-only search ^gstreamer1.0-* | awk '{ print $1 }' | sed -e /-doc/d | grep -v gstreamer1.0-hybris)
-```
+## Testing Pipelines
 
-```
-sudo apt-get install $list
-```
+### Sending test video (h.264 over UDP)
 
 ```
-sudo apt-get install libgstreamer-plugins-base1.0-dev
-sudo apt-get install libgstreamer-plugins-bad1.0-dev
+gst-launch-1.0 videotestsrc pattern=ball ! video/x-raw,width=640,height=480 ! x264enc ! rtph264pay ! udpsink host=127.0.0.1 port=5600
 ```
 
-The build system is setup to use pkgconfig and it will find the necessary headers and libraries automatically.
-
-### Mac OS
-
-Download the gstreamer framework from here: <http://gstreamer.freedesktop.org/data/pkg/osx>. Supported version is 1.22.12.
-
-You need two packages:
-
-- [gstreamer-1.0-devel-1.22.12-x86_64.pkg](https://gstreamer.freedesktop.org/data/pkg/osx/1.22.12/gstreamer-1.0-devel-1.22.12-universal.pkg)
-- [gstreamer-1.0-1.22.12-x86_64.pkg](https://gstreamer.freedesktop.org/data/pkg/osx/1.22.12/gstreamer-1.0-1.22.12-universal.pkg)
-
-The installer places them under /Library/Frameworks/GStreamer.framework, which is where the QGC build system will look for it. That's all that is needed. When you build QGC and it finds the gstreamer framework, it automatically builds video streaming support.
-
-:point_right: To run gstreamer commands from the command line, you can add the path to find them (either in ~/.profile or ~/.bashrc):
+### Receiving test video
 
 ```
-export PATH=$PATH:/Library/Frameworks/GStreamer.framework/Commands
+gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtpjitterbuffer ! rtph264depay ! h264parse ! avdec_h264 ! autovideosink sync=false
 ```
 
-### iOS
-
-Download the gstreamer framework from here: [gstreamer-1.0-devel-1.22.12-ios-universal.pkg](https://gstreamer.freedesktop.org/data/pkg/ios/1.22.12/gstreamer-1.0-devel-1.22.12-ios-universal.pkg)
-
-The installer places them under ~/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework, which is where the QGC build system will look for it. That's all that is needed. When you build QGC and it finds the gstreamer framework, it automatically builds video streaming support.
-
-### Android
-
-An appropriate version of GStreamer will be automatically downloaded as part of the CMake configure step.
-
-#### Important Note for Windows Users
-
-During the build process for Android on Windows, to ensure support for UNIX-like symbolic links when not using elevated privileges, **Developer Mode** must be enabled. Without enabling Developer Mode, you may encounter linking issues with the automatically downloaded prebuilt version of GStreamer.
-
-To enable Developer Mode:
-
-1. Open the **Settings** app on Windows.
-2. Go to **System** > **For developers**.
-3. Enable **Developer Mode** by toggling the switch.
-
-### Windows
-
-Download the gstreamer framework from here: <http://gstreamer.freedesktop.org/data/pkg/windows>. Supported version is 1.22.12. QGC may work with newer version, but it is untested.
-
-You need two packages:
-
-- [gstreamer-1.0-devel-msvc-x86_64-1.22.12.msi](https://gstreamer.freedesktop.org/data/pkg/windows/1.22.12/msvc/gstreamer-1.0-devel-msvc-x86_64-1.22.12.msi)
-- [gstreamer-1.0-msvc-x86_64-1.22.12.msi](https://gstreamer.freedesktop.org/data/pkg/windows/1.22.12/msvc/gstreamer-1.0-msvc-x86_64-1.22.12.msi)
-
-Make sure you select "Complete" installation instead of "Typical" installation during the install process.
+### Supported protocols
 
-The following environment variables can be used to configure the GStreamer installation path:
-GSTREAMER_1_0_ROOT_X86_64
-GSTREAMER_1_0_ROOT_MSVC_X86_64
-GSTREAMER_1_0_ROOT_MINGW_X86_64
+UDP RTP, RTSP, TCP-MPEG2, MPEG-TS.
 
-### Gstreamer Config
+## GStreamer Logging
 
-When running QGC, you can provide the command line options to configure GStreamer:
---gst-version                   "Print the GStreamer version"
---gst-fatal-warnings            "Make all warnings fatal"
---gst-debug-help                "Print available debug categories and exit"
---gst-debug-level               "Default debug level from 1 (only error) to 9 (anything) or 0 for no output"
---gst-debug                     "Comma-separated list of category_name:level pairs to set specific levels for the individual categories. Example: GST_AUTOPLUG:5,GST_ELEMENT_*:3"
---gst-debug-no-color            "Disable colored debugging output"
---gst-debug-color-mode          "Changes coloring mode of the debug log. Possible modes: off, on, disable, auto, unix"
---gst-debug-disable             "Disable debugging"
---gst-plugin-path               "Colon-separated paths containing plugins"
---gst-plugin-load               "Comma-separated list of plugins to preload in addition to the list stored in environment variable GST_PLUGIN_PATH"
---gst-disable-segtrap           "Disable trapping of segmentation faults during plugin loading"
---gst-disable-registry-update   "Disable updating the registry"
---gst-disable-registry-fork     "Disable spawning a helper process while scanning the registry"
+- In-app: Use QGroundControl's logging settings
+- Environment variables: See <https://gstreamer.freedesktop.org/documentation/gstreamer/running.html>
+- Command line options: `--gst-debug-level`, `--gst-debug`, `--gst-debug-help`, etc.
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.h b/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.h
deleted file mode 100644
index 32a385078830..000000000000
--- a/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#pragma once
-
-#include <gst/gst.h>
-
-G_BEGIN_DECLS
-
-void gst_ios_pre_init(void);
-void gst_ios_post_init(void);
-
-G_END_DECLS
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.m b/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.m
deleted file mode 100644
index 638744391b09..000000000000
--- a/src/VideoManager/VideoReceiver/GStreamer/gst_ios_init.m
+++ /dev/null
@@ -1,80 +0,0 @@
-#include <gst/gst.h>
-#include <gio/gio.h>
-#include <Foundation/Foundation.h>
-
-/* Declaration of static plugins */
- @PLUGINS_DECLARATION@
-
-/* Declaration of static gio modules */
- @G_IO_MODULES_DECLARE@
-
-#ifdef GSTREAMER_INCLUDE_CA_CERTIFICATES
-static void
-gst_ios_load_certificates (const gchar *resources_dir)
-{
-  gchar *ca_certificates;
-
-  ca_certificates = g_build_filename (resources_dir, "ssl", "certs", "ca-certificates.crt", NULL);
-  g_setenv ("CA_CERTIFICATES", ca_certificates, TRUE);
-
-  if (ca_certificates) {
-    GTlsBackend *backend = g_tls_backend_get_default ();
-    if (backend) {
-      GTlsDatabase *db = g_tls_file_database_new (ca_certificates, NULL);
-      if (db)
-        g_tls_backend_set_default_database (backend, db);
-    }
-  }
-  g_free (ca_certificates);
-}
-
-#endif
-
-void
-gst_ios_init (void)
-{
-  GstPluginFeature *plugin;
-  GstRegistry *reg;
-  NSString *resources = [[NSBundle mainBundle] resourcePath];
-  NSString *tmp = NSTemporaryDirectory();
-  NSString *cache = [NSHomeDirectory() stringByAppendingPathComponent:@"Library/Caches"];
-  NSString *docs = [NSHomeDirectory() stringByAppendingPathComponent:@"Documents"];
-
-  const gchar *resources_dir = [resources UTF8String];
-  const gchar *tmp_dir = [tmp UTF8String];
-  const gchar *cache_dir = [cache UTF8String];
-  const gchar *docs_dir = [docs UTF8String];
-
-  g_setenv ("TMP", tmp_dir, TRUE);
-  g_setenv ("TEMP", tmp_dir, TRUE);
-  g_setenv ("TMPDIR", tmp_dir, TRUE);
-  g_setenv ("XDG_RUNTIME_DIR", resources_dir, TRUE);
-  g_setenv ("XDG_CACHE_HOME", cache_dir, TRUE);
-
-  g_setenv ("HOME", docs_dir, TRUE);
-  g_setenv ("XDG_DATA_DIRS", resources_dir, TRUE);
-  g_setenv ("XDG_CONFIG_DIRS", resources_dir, TRUE);
-  g_setenv ("XDG_CONFIG_HOME", cache_dir, TRUE);
-  g_setenv ("XDG_DATA_HOME", resources_dir, TRUE);
-  g_setenv ("FONTCONFIG_PATH", resources_dir, TRUE);
-
-  @G_IO_MODULES_LOAD@
-
-#ifdef GSTREAMER_INCLUDE_CA_CERTIFICATES
-  gst_ios_load_certificates (resources_dir);
-#endif
-
-  gst_init (NULL, NULL);
-
-  @PLUGINS_REGISTRATION@
-
-  /* Lower the ranks of filesrc and giosrc so iosavassetsrc is
-   * tried first in gst_element_make_from_uri() for file:// */
-  reg = gst_registry_get();
-  plugin = gst_registry_lookup_feature(reg, "filesrc");
-  if (plugin)
-    gst_plugin_feature_set_rank(plugin, GST_RANK_SECONDARY);
-  plugin = gst_registry_lookup_feature(reg, "giosrc");
-  if (plugin)
-    gst_plugin_feature_set_rank(plugin, GST_RANK_SECONDARY-1);
-}
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gstqgc/gstqgcvideosinkbin.cc b/src/VideoManager/VideoReceiver/GStreamer/gstqgc/gstqgcvideosinkbin.cc
index 8f4b5d269c5c..7b93bc27fa30 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/gstqgc/gstqgcvideosinkbin.cc
+++ b/src/VideoManager/VideoReceiver/GStreamer/gstqgc/gstqgcvideosinkbin.cc
@@ -11,6 +11,7 @@ GST_DEBUG_CATEGORY_STATIC(GST_CAT_DEFAULT);
 #define DEFAULT_PAR_N 0
 #define DEFAULT_PAR_D 1
 #define DEFAULT_SYNC TRUE
+#define DEFAULT_MAX_LATENESS G_GINT64_CONSTANT(-1)
 
 #define PROP_ENABLE_LAST_SAMPLE_NAME    "enable-last-sample"
 #define PROP_LAST_SAMPLE_NAME           "last-sample"
@@ -18,6 +19,7 @@ GST_DEBUG_CATEGORY_STATIC(GST_CAT_DEFAULT);
 #define PROP_FORCE_ASPECT_RATIO_NAME    "force-aspect-ratio"
 #define PROP_PIXEL_ASPECT_RATIO_NAME    "pixel-aspect-ratio"
 #define PROP_SYNC_NAME                  "sync"
+#define PROP_MAX_LATENESS_NAME          "max-lateness"
 
 enum
 {
@@ -28,6 +30,7 @@ enum
     PROP_FORCE_ASPECT_RATIO,
     PROP_PIXEL_ASPECT_RATIO,
     PROP_SYNC,
+    PROP_MAX_LATENESS,
     PROP_LAST
 };
 
@@ -118,6 +121,14 @@ gst_qgc_video_sink_bin_class_init(GstQgcVideoSinkBinClass *klass)
         (GParamFlags)(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)
     );
 
+    properties[PROP_MAX_LATENESS] = g_param_spec_int64(
+        "max-lateness", "Max lateness",
+        "Maximum number of nanoseconds a buffer can be late before it is dropped (-1 unlimited)",
+        -1, G_MAXINT64,
+        DEFAULT_MAX_LATENESS,
+        (GParamFlags)(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)
+    );
+
     g_object_class_install_properties(object_class, PROP_LAST, properties);
 
     gst_qgc_video_sink_bin_signals[SIGNAL_CREATE_ELEMENT] = g_signal_new(
@@ -194,38 +205,50 @@ gst_qgc_video_sink_bin_set_property(GObject *object, guint prop_id, const GValue
 
     switch (prop_id) {
     case PROP_ENABLE_LAST_SAMPLE:
-        g_object_set(self->glsinkbin,
-                     PROP_ENABLE_LAST_SAMPLE_NAME,
-                     g_value_get_boolean(value),
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_set(self->glsinkbin,
+                         PROP_ENABLE_LAST_SAMPLE_NAME,
+                         g_value_get_boolean(value),
+                         NULL);
         break;
     case PROP_WIDGET:
-        g_object_set(self->qmlglsink,
-                     PROP_WIDGET_NAME,
-                     g_value_get_pointer(value),
-                     NULL);
+        if (G_LIKELY(self->qmlglsink))
+            g_object_set(self->qmlglsink,
+                         PROP_WIDGET_NAME,
+                         g_value_get_pointer(value),
+                         NULL);
         break;
     case PROP_FORCE_ASPECT_RATIO:
-        g_object_set(self->glsinkbin,
-                     PROP_FORCE_ASPECT_RATIO_NAME,
-                     g_value_get_boolean(value),
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_set(self->glsinkbin,
+                         PROP_FORCE_ASPECT_RATIO_NAME,
+                         g_value_get_boolean(value),
+                         NULL);
         break;
     case PROP_PIXEL_ASPECT_RATIO: {
         const gint num = gst_value_get_fraction_numerator(value);
         const gint den = gst_value_get_fraction_denominator(value);
-        g_object_set(self->qmlglsink,
-                     PROP_PIXEL_ASPECT_RATIO_NAME,
-                     num,
-                     den,
-                     NULL);
+        if (G_LIKELY(self->qmlglsink))
+            g_object_set(self->qmlglsink,
+                         PROP_PIXEL_ASPECT_RATIO_NAME,
+                         num,
+                         den,
+                         NULL);
         break;
     }
     case PROP_SYNC:
-        g_object_set(self->glsinkbin,
-                     PROP_SYNC_NAME,
-                     g_value_get_boolean(value),
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_set(self->glsinkbin,
+                         PROP_SYNC_NAME,
+                         g_value_get_boolean(value),
+                         NULL);
+        break;
+    case PROP_MAX_LATENESS:
+        if (G_LIKELY(self->qmlglsink))
+            g_object_set(self->qmlglsink,
+                         PROP_MAX_LATENESS_NAME,
+                         g_value_get_int64(value),
+                         NULL);
         break;
     default:
         G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec);
@@ -241,19 +264,21 @@ gst_qgc_video_sink_bin_get_property(GObject *object, guint prop_id, GValue *valu
     switch (prop_id) {
     case PROP_ENABLE_LAST_SAMPLE: {
         gboolean enable = FALSE;
-        g_object_get(self->glsinkbin,
-                     PROP_ENABLE_LAST_SAMPLE_NAME,
-                     &enable,
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_get(self->glsinkbin,
+                         PROP_ENABLE_LAST_SAMPLE_NAME,
+                         &enable,
+                         NULL);
         g_value_set_boolean(value, enable);
         break;
     }
     case PROP_LAST_SAMPLE: {
         GstSample *sample = NULL;
-        g_object_get(self->glsinkbin,
-                     PROP_LAST_SAMPLE_NAME,
-                     &sample,
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_get(self->glsinkbin,
+                         PROP_LAST_SAMPLE_NAME,
+                         &sample,
+                         NULL);
         gst_value_set_sample(value, sample);
         if (sample) {
             gst_sample_unref(sample);
@@ -262,40 +287,54 @@ gst_qgc_video_sink_bin_get_property(GObject *object, guint prop_id, GValue *valu
     }
     case PROP_WIDGET: {
         gpointer widget = NULL;
-        g_object_get(self->qmlglsink,
-                     PROP_WIDGET_NAME,
-                     &widget,
-                     NULL);
+        if (G_LIKELY(self->qmlglsink))
+            g_object_get(self->qmlglsink,
+                         PROP_WIDGET_NAME,
+                         &widget,
+                         NULL);
         g_value_set_pointer(value, widget);
         break;
     }
     case PROP_FORCE_ASPECT_RATIO: {
         gboolean enable = FALSE;
-        g_object_get(self->glsinkbin,
-                     PROP_FORCE_ASPECT_RATIO_NAME,
-                     &enable,
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_get(self->glsinkbin,
+                         PROP_FORCE_ASPECT_RATIO_NAME,
+                         &enable,
+                         NULL);
         g_value_set_boolean(value, enable);
         break;
     }
     case PROP_PIXEL_ASPECT_RATIO: {
         gint num = 0, den = 1;
-        g_object_get(self->qmlglsink,
-                     PROP_PIXEL_ASPECT_RATIO_NAME,
-                     &num, &den,
-                     NULL);
+        if (G_LIKELY(self->qmlglsink))
+            g_object_get(self->qmlglsink,
+                         PROP_PIXEL_ASPECT_RATIO_NAME,
+                         &num, &den,
+                         NULL);
         gst_value_set_fraction(value, num, den);
         break;
     }
     case PROP_SYNC: {
         gboolean enable = FALSE;
-        g_object_get(self->glsinkbin,
-                     PROP_SYNC_NAME,
-                     &enable,
-                     NULL);
+        if (G_LIKELY(self->glsinkbin))
+            g_object_get(self->glsinkbin,
+                         PROP_SYNC_NAME,
+                         &enable,
+                         NULL);
         g_value_set_boolean(value, enable);
         break;
     }
+    case PROP_MAX_LATENESS: {
+        gint64 lateness = DEFAULT_MAX_LATENESS;
+        if (G_LIKELY(self->qmlglsink))
+            g_object_get(self->qmlglsink,
+                         PROP_MAX_LATENESS_NAME,
+                         &lateness,
+                         NULL);
+        g_value_set_int64(value, lateness);
+        break;
+    }
     default:
         G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec);
         break;
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt b/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
index c2ff75c707a4..78e41bf3df54 100644
--- a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
+++ b/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt
@@ -5,92 +5,113 @@
 
 qt_add_library(gstqml6gl STATIC)
 
-# ----------------------------------------------------------------------------
-# Platform-Specific GStreamer Linking
-# ----------------------------------------------------------------------------
-if(MACOS)
-    # macOS uses framework path directly (FindGStreamer.cmake bypassed)
-    find_library(GSTREAMER_FRAMEWORK GStreamer)
-    set(GST_REQUIRED_FRAMEWORK_VERSION ${QGC_CONFIG_GSTREAMER_MACOS_VERSION})
-    set(GST_PLUGINS_VERSION ${GST_REQUIRED_FRAMEWORK_VERSION})
-    set(GSTREAMER_FRAMEWORK_PATH "/Library/Frameworks/GStreamer.framework")
-    if(NOT EXISTS "${GSTREAMER_FRAMEWORK_PATH}")
-        message(FATAL_ERROR "GStreamer.framework not found at ${GSTREAMER_FRAMEWORK_PATH}. Install GStreamer using tools/setup/install_dependencies.py --platform macos")
-    endif()
-    target_link_libraries(gstqml6gl PUBLIC "$<LINK_LIBRARY:FRAMEWORK,${GSTREAMER_FRAMEWORK_PATH}>")
-    target_include_directories(gstqml6gl SYSTEM PUBLIC "${GSTREAMER_FRAMEWORK_PATH}/Headers")
-    # Verify correct framework version
-    execute_process(
-        COMMAND defaults read "${GSTREAMER_FRAMEWORK_PATH}/Versions/1.0/Resources/Info.plist" CFBundleShortVersionString
-        OUTPUT_VARIABLE GST_INSTALLED_FRAMEWORK_VERSION
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    if(NOT GST_INSTALLED_FRAMEWORK_VERSION STREQUAL GST_REQUIRED_FRAMEWORK_VERSION)
-        message(FATAL_ERROR "GStreamer.framework version (${GST_INSTALLED_FRAMEWORK_VERSION}) does not match required framework version (${GST_REQUIRED_FRAMEWORK_VERSION}). Please install the correct version using tools/setup/install_dependencies.py --platform macos")
-    endif()
-else()
-    target_link_libraries(gstqml6gl PUBLIC GStreamer::GStreamer)
-endif()
+target_link_libraries(gstqml6gl PUBLIC GStreamer::GStreamer)
 
 # TODO: Skip custom build if system gstreamer1.0-qt6 plugin is found
 # if(GST_PLUGIN_qml6_FOUND)
 #     return()
 # endif()
 
-# ============================================================================
-# GStreamer Good Plugins Integration
-# ============================================================================
+include(GStreamerHelpers)
+
+message(STATUS "gstqml6gl: GStreamer_VERSION = '${GStreamer_VERSION}'")
 
 if(GStreamer_VERSION VERSION_GREATER_EQUAL "1.22")
-    # Use Latest Revisions for each minor version: 1.20.7, 1.22.12, 1.24.13, 1.26.6
     string(REPLACE "." ";" GST_VERSION_LIST "${GStreamer_VERSION}")
     list(GET GST_VERSION_LIST 0 GST_VERSION_MAJOR)
     list(GET GST_VERSION_LIST 1 GST_VERSION_MINOR)
-    list(GET GST_VERSION_LIST 2 GST_VERSION_PATCH)
-
-    if(GST_VERSION_MINOR EQUAL 20)
-        set(GST_VERSION_PATCH 7)
-    elseif(GST_VERSION_MINOR EQUAL 22)
-        set(GST_VERSION_PATCH 12)
-    elseif(GST_VERSION_MINOR EQUAL 24)
-        set(GST_VERSION_PATCH 13)
-    elseif(GST_VERSION_MINOR EQUAL 26)
-        set(GST_VERSION_PATCH 6)
+    set(GST_VERSION_PATCH "")
+    if(GStreamer_VERSION MATCHES "^${GST_VERSION_MAJOR}\\.${GST_VERSION_MINOR}\\.([0-9]+)")
+        set(GST_VERSION_PATCH "${CMAKE_MATCH_1}")
+    endif()
+
+    gstreamer_get_recommended_version(
+        ${GST_VERSION_MAJOR}
+        ${GST_VERSION_MINOR}
+        GST_PLUGINS_VERSION
+        "${GST_VERSION_PATCH}"
+    )
+
+    # Download gst-plugins-good sources for ext/qt6.
+    # Primary: standalone tarball from freedesktop.org (~4MB)
+    # Fallback: path-filtered GitLab archive of just ext/qt6 (~few KB)
+    gstreamer_get_package_url(good_plugins ${GST_PLUGINS_VERSION} _gst_good_url)
+    gstreamer_get_package_url(good_plugins_qt6 ${GST_PLUGINS_VERSION} _gst_qt6_url)
+    gstreamer_fetch_checksum(good_plugins ${GST_PLUGINS_VERSION} _gst_good_hash)
+    set(_gst_qt6_cache "${CMAKE_BINARY_DIR}/_deps/gstreamer-good-plugins")
+    gstreamer_resilient_download(
+        URLS "${_gst_good_url}"
+        FILENAME "gst-plugins-good-${GST_PLUGINS_VERSION}.tar.xz"
+        DESTINATION_DIR "${_gst_qt6_cache}"
+        RESULT_VAR _gst_good_archive
+        EXPECTED_HASH "${_gst_good_hash}"
+        ALLOW_FAILURE
+    )
+
+    if(NOT _gst_good_archive)
+        message(STATUS "gstqml6gl: Primary source tarball unavailable, trying GitLab qt6 fallback archive")
+        gstreamer_resilient_download(
+            URLS "${_gst_qt6_url}"
+            FILENAME "gstreamer-${GST_PLUGINS_VERSION}-qt6.tar.gz"
+            DESTINATION_DIR "${_gst_qt6_cache}"
+            RESULT_VAR _gst_good_archive
+        )
     endif()
 
-    set(GST_PLUGINS_VERSION ${GST_VERSION_MAJOR}.${GST_VERSION_MINOR}.${GST_VERSION_PATCH})
+    if(NOT _gst_good_archive)
+        message(FATAL_ERROR "gstqml6gl: Could not download gst-plugins-good sources for Qt6 plugin")
+    endif()
 
-    # Download GStreamer good plugins for Qt6 support
     CPMAddPackage(
         NAME gstreamer_good_plugins
         VERSION ${GST_PLUGINS_VERSION}
-        URL https://gstreamer.freedesktop.org/src/gst-plugins-good/gst-plugins-good-${GST_PLUGINS_VERSION}.tar.xz
-        # TODO: Add URL_HASH for verification
-        # URL_HASH https://gstreamer.freedesktop.org/src/gst-plugins-good/gst-plugins-good-${GST_PLUGINS_VERSION}.tar.xz.sha256sum
+        URL "file://${_gst_good_archive}"
+        DOWNLOAD_ONLY YES
     )
-    set(QGC_GST_QT6_PLUGIN_PATH "${gstreamer_good_plugins_SOURCE_DIR}/ext/qt6")
+
+    # Standalone tarball: ext/qt6 at root
+    # GitLab path-filtered archive: subprojects/gst-plugins-good/ext/qt6
+    if(gstreamer_good_plugins_SOURCE_DIR)
+        if(EXISTS "${gstreamer_good_plugins_SOURCE_DIR}/ext/qt6")
+            set(QGC_GST_QT6_PLUGIN_PATH "${gstreamer_good_plugins_SOURCE_DIR}/ext/qt6")
+        elseif(EXISTS "${gstreamer_good_plugins_SOURCE_DIR}/subprojects/gst-plugins-good/ext/qt6")
+            set(QGC_GST_QT6_PLUGIN_PATH "${gstreamer_good_plugins_SOURCE_DIR}/subprojects/gst-plugins-good/ext/qt6")
+        endif()
+    endif()
+
+    if(NOT QGC_GST_QT6_PLUGIN_PATH)
+        message(FATAL_ERROR "Failed to locate ext/qt6 in downloaded gst-plugins-good sources")
+    endif()
 else()
+    message(STATUS "gstqml6gl: GStreamer < 1.22, using local Qt6 fallback sources")
     set(QGC_GST_QT6_PLUGIN_PATH "${CMAKE_CURRENT_SOURCE_DIR}/qt6")
 endif()
 
-# ============================================================================
-# Source Code Patching
-# ============================================================================
-
-# Fix missing includes in GStreamer Qt6 plugin
-file(READ "${QGC_GST_QT6_PLUGIN_PATH}/qt6glitem.h" FILE_CONTENTS)
-string(FIND "${FILE_CONTENTS}" "#include <QtQuick/QQuickWindow>" GST_FIX_INCLUDES)
-if(GST_FIX_INCLUDES EQUAL -1)
-    string(REPLACE "#include <QtGui/QOpenGLFunctions>" "#include <QtGui/QOpenGLFunctions>\n#include <QtQuick/QQuickWindow>" FILE_CONTENTS "${FILE_CONTENTS}")
-    file(WRITE "${QGC_GST_QT6_PLUGIN_PATH}/qt6glitem.h" "${FILE_CONTENTS}")
+message(STATUS "gstqml6gl: QGC_GST_QT6_PLUGIN_PATH = ${QGC_GST_QT6_PLUGIN_PATH}")
+
+# Copy to build tree so we don't modify CPM's download cache
+set(_qt6_build_sources "${CMAKE_CURRENT_BINARY_DIR}/qt6_sources")
+file(REMOVE_RECURSE "${_qt6_build_sources}")
+file(COPY "${QGC_GST_QT6_PLUGIN_PATH}/" DESTINATION "${_qt6_build_sources}")
+set(QGC_GST_QT6_PLUGIN_PATH "${_qt6_build_sources}")
+
+# Upstream qt6glitem.h can miss QQuickWindow include, which breaks moc-generated
+# metatype code with newer Qt. Patch the copied source tree only.
+set(_qt6glitem_header "${QGC_GST_QT6_PLUGIN_PATH}/qt6glitem.h")
+if(EXISTS "${_qt6glitem_header}")
+    file(READ "${_qt6glitem_header}" FILE_CONTENTS)
+    string(FIND "${FILE_CONTENTS}" "#include <QtQuick/QQuickWindow>" GST_FIX_INCLUDES)
+    if(GST_FIX_INCLUDES EQUAL -1)
+        string(REPLACE
+            "#include <QtGui/QOpenGLFunctions>"
+            "#include <QtGui/QOpenGLFunctions>\n#include <QtQuick/QQuickWindow>"
+            FILE_CONTENTS
+            "${FILE_CONTENTS}"
+        )
+        file(WRITE "${_qt6glitem_header}" "${FILE_CONTENTS}")
+    endif()
 endif()
 
-# ----------------------------------------------------------------------------
-# Build GStreamer QML6 GL Library
-# ----------------------------------------------------------------------------
-
-# NOTE: Using file(GLOB) for external GStreamer plugin sources
-# CONFIGURE_DEPENDS ensures CMake re-runs if files are added/removed
 file(GLOB gstqml6gl_SRCS
     CONFIGURE_DEPENDS
     "${QGC_GST_QT6_PLUGIN_PATH}/*.cc"
@@ -98,7 +119,6 @@ file(GLOB gstqml6gl_SRCS
 )
 target_sources(gstqml6gl PRIVATE ${gstqml6gl_SRCS})
 
-# Suppress compiler warnings for third-party GStreamer plugin sources
 qgc_disable_dependency_warnings(gstqml6gl)
 
 target_link_libraries(gstqml6gl
@@ -120,31 +140,23 @@ target_precompile_headers(gstqml6gl
         <gst/video/video.h>
 )
 
-# ============================================================================
-# Shader Compilation
-# ============================================================================
+file(GLOB _shader_files
+    "${QGC_GST_QT6_PLUGIN_PATH}/*.vert"
+    "${QGC_GST_QT6_PLUGIN_PATH}/*.frag"
+)
+# GLES-specific shaders are handled separately via qsb-wrapper below
+list(FILTER _shader_files EXCLUDE REGEX "_gles\\.frag$")
 
-if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/resources.qrc")
+if(_shader_files)
     find_package(Qt6 REQUIRED COMPONENTS ShaderTools)
 
-    set(SHADERS
-        "${QGC_GST_QT6_PLUGIN_PATH}/vertex.vert"
-        "${QGC_GST_QT6_PLUGIN_PATH}/YUV_TRIPLANAR.frag"
-        "${QGC_GST_QT6_PLUGIN_PATH}/RGBA.frag"
-    )
+    set(SHADERS ${_shader_files})
+    set(OUTPUTS)
+    foreach(_shader IN LISTS SHADERS)
+        get_filename_component(_name "${_shader}" NAME)
+        list(APPEND OUTPUTS "${_name}.qsb")
+    endforeach()
 
-    set(OUTPUTS
-        vertex.vert.qsb
-        YUV_TRIPLANAR.frag.qsb
-        RGBA.frag.qsb
-    )
-
-    if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/YUV_BIPLANAR.frag")
-        LIST(APPEND SHADERS "${QGC_GST_QT6_PLUGIN_PATH}/YUV_BIPLANAR.frag")
-        LIST(APPEND OUTPUTS "YUV_BIPLANAR.frag.qsb")
-    endif()
-
-    # Compile shaders for different GLSL versions
     qt_add_shaders(gstqml6gl "gstqml6gl_shaders"
         PREFIX "/org/freedesktop/gstreamer/qml6"
         GLSL "100 es,120,330"
@@ -154,8 +166,10 @@ if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/resources.qrc")
         BATCHABLE
     )
 
-    # Handle additional GLES-specific RGBA shader if present
+    # RGBA_gles.frag generates RGBA.frag.qsb.external (GLES 100 support for the base shader)
     if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/RGBA_gles.frag")
+        find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
         find_program(QSB_PROGRAM
             NAMES qsb
             HINTS ${QT_HOST_PATH} ${QT_ROOT_DIR} ${QTDIR}
@@ -164,19 +178,21 @@ if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/resources.qrc")
             REQUIRED
         )
 
-        find_program(QSB_WRAPPER
-            NAMES qsb-wrapper.py
-            PATHS "${QGC_GST_QT6_PLUGIN_PATH}"
-            REQUIRED
-        )
+        set(QSB_WRAPPER "${QGC_GST_QT6_PLUGIN_PATH}/qsb-wrapper.py")
+        if(NOT EXISTS "${QSB_WRAPPER}")
+            message(FATAL_ERROR "qsb-wrapper.py not found at ${QSB_WRAPPER}")
+        endif()
 
         set(RGBA_BASE_QSB "${CMAKE_CURRENT_BINARY_DIR}/.qsb/RGBA.frag.qsb")
         set(RGBA_GLES_SRC "${QGC_GST_QT6_PLUGIN_PATH}/RGBA_gles.frag")
         set(RGBA_EXTERNAL "${CMAKE_CURRENT_BINARY_DIR}/.qsb/RGBA.frag.qsb.external")
 
+        file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/.qsb")
+
         add_custom_command(
             OUTPUT ${RGBA_EXTERNAL}
-            COMMAND ${QSB_WRAPPER}
+            COMMAND ${Python3_EXECUTABLE}
+                ${QSB_WRAPPER}
                 ${QSB_PROGRAM}
                 ${RGBA_EXTERNAL}
                 ${RGBA_GLES_SRC}
@@ -184,22 +200,26 @@ if(EXISTS "${QGC_GST_QT6_PLUGIN_PATH}/resources.qrc")
             DEPENDS
                 ${RGBA_BASE_QSB}
                 ${RGBA_GLES_SRC}
+                ${QSB_WRAPPER}
             COMMENT "Generating external GLES shader: ${RGBA_EXTERNAL}"
             VERBATIM
         )
 
+        add_custom_target(gstqml6gl_external_shader DEPENDS ${RGBA_EXTERNAL})
+        if(gstqml6gl_shaders)
+            add_dependencies(gstqml6gl_external_shader ${gstqml6gl_shaders})
+        endif()
+
         set_source_files_properties("${RGBA_EXTERNAL}" PROPERTIES QT_RESOURCE_ALIAS RGBA.frag.qsb.external)
         qt_add_resources(gstqml6gl "gstqml6gl_shaders1"
             PREFIX "/org/freedesktop/gstreamer/qml6"
             FILES "${RGBA_EXTERNAL}"
         )
+
+        add_dependencies(gstqml6gl gstqml6gl_external_shader)
     endif()
 endif()
 
-# ============================================================================
-# Platform-Specific OpenGL Support
-# ============================================================================
-
 if(GStreamer_GlX11_FOUND)
     target_compile_definitions(gstqml6gl PRIVATE HAVE_QT_X11)
 endif()
@@ -212,8 +232,8 @@ if(GStreamer_GlWayland_FOUND)
     find_package(Qt6 COMPONENTS WaylandClient)
     if(TARGET Qt6::WaylandClient)
         target_link_libraries(gstqml6gl PRIVATE Qt6::WaylandClient)
+        target_compile_definitions(gstqml6gl PRIVATE HAVE_QT_WAYLAND)
     endif()
-    target_compile_definitions(gstqml6gl PRIVATE HAVE_QT_WAYLAND)
 endif()
 
 if(ANDROID)
diff --git a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/meson.build b/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/meson.build
deleted file mode 100644
index 150b0b9f222f..000000000000
--- a/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/meson.build
+++ /dev/null
@@ -1,145 +0,0 @@
-sources = [
-  'gstplugin.cc',
-  'gstqt6element.cc',
-  'gstqsg6glnode.cc',
-  'gstqt6glutility.cc',
-  'gstqml6glsink.cc',
-  'qt6glitem.cc',
-]
-
-moc_headers = [
-  'qt6glitem.h',
-  'gstqsg6glnode.h',
-]
-
-qt6qml_dep = dependency('', required: false)
-qt6_option = get_option('qt6')
-qt6_method = get_option('qt-method')
-
-if qt6_option.disabled()
-  subdir_done()
-endif
-
-if not have_gstgl
-  if qt6_option.enabled()
-    error('qt6 qmlglsink plugin is enabled, but gstreamer-gl-1.0 was not found')
-  endif
-  subdir_done()
-endif
-
-if not add_languages('cpp', native: false, required: qt6_option)
-  subdir_done()
-endif
-
-qt6_mod = import('qt6')
-if not qt6_mod.has_tools()
-  if qt6_option.enabled()
-    error('qt6 qmlglsink plugin is enabled, but qt specific tools were not found')
-  endif
-  subdir_done()
-endif
-
-qt6qml_dep = dependency('qt6', modules : ['Core', 'Gui', 'Qml', 'Quick'],
-                        method: qt6_method, required: qt6_option, static: host_system == 'ios')
-if not qt6qml_dep.found()
-  subdir_done()
-endif
-
-optional_deps = []
-qt_defines = []
-have_qpa_include = false
-have_qt_windowing = false
-
-# Look for the QPA platform native interface header
-qpa_header_path = join_paths(qt6qml_dep.version(), 'QtGui')
-qpa_header = join_paths(qpa_header_path, 'qpa/qplatformnativeinterface.h')
-if cxx.has_header(qpa_header, dependencies : qt6qml_dep)
-  qt_defines += '-DHAVE_QT_QPA_HEADER'
-  qt_defines += '-DQT_QPA_HEADER=' + '<@0@>'.format(qpa_header)
-  have_qpa_include = true
-  message('Found QtGui QPA header in ' + qpa_header_path)
-endif
-
-# Try to come up with all the platform/winsys combinations that will work
-
-if gst_gl_have_window_x11 and gst_gl_have_platform_glx
-  # FIXME: automagic
-  qt_defines += ['-DHAVE_QT_X11']
-  have_qt_windowing = true
-endif
-
-if gst_gl_have_platform_egl
-  # Embedded linux (e.g. i.MX6) with or without windowing support
-  qt_defines += ['-DHAVE_QT_EGLFS']
-  optional_deps += gstglegl_dep
-  have_qt_windowing = true
-  if have_qpa_include
-    # Wayland windowing
-    if gst_gl_have_window_wayland
-      # FIXME: automagic
-      qt6waylandextras = dependency('qt6', modules : ['WaylandClient'], method: qt6_method, required : false)
-      if qt6waylandextras.found()
-        optional_deps += [qt6waylandextras, gstglwayland_dep]
-        qt_defines += ['-DHAVE_QT_WAYLAND']
-        have_qt_windowing = true
-      endif
-    endif
-    # Android windowing
-#    if gst_gl_have_window_android
-      # FIXME: automagic
-#      qt5androidextras = dependency('qt5', modules : ['AndroidExtras'], method: qt6_method, required : false)
-      # for gl functions in QtGui/qopenglfunctions.h
-      # FIXME: automagic
-#      glesv2_dep = cc.find_library('GLESv2', required : false)
-#      if glesv2_dep.found() and qt5androidextras.found()
-#        optional_deps += [qt5androidextras, glesv2_dep]
-#        qt_defines += ['-DHAVE_QT_ANDROID']
-#        have_qt_windowing = true
-        # Needed for C++11 support in Cerbero. People building with Android
-        # in some other way need to add the necessary bits themselves.
-#        optional_deps += dependency('gnustl', required : false)
-#      endif
-#    endif
-  endif
-endif
-
-#if gst_gl_have_platform_wgl and gst_gl_have_window_win32
-  # for wglMakeCurrent()
-  # FIXME: automagic
-#  opengl32_dep = cc.find_library('opengl32', required : false)
-#  if opengl32_dep.found()
-#    qt_defines += ['-DHAVE_QT_WIN32']
-#    optional_deps += opengl32_dep
-#    have_qt_windowing = true
-#  endif
-#endif
-
-if gst_gl_have_window_cocoa and gst_gl_have_platform_cgl
-  # FIXME: automagic
-  if host_machine.system() == 'darwin'
-    qt_defines += ['-DHAVE_QT_MAC']
-    have_qt_windowing = true
-  endif
-endif
-
-if gst_gl_have_window_eagl and gst_gl_have_platform_eagl
-  if host_machine.system() == 'ios'
-    qt_defines += ['-DHAVE_QT_IOS']
-    have_qt_windowing = true
-  endif
-endif
-
-if have_qt_windowing
-  # Build it!
-  moc_files = qt6_mod.preprocess(moc_headers : moc_headers)
-  gstqml6gl = library('gstqml6', sources, moc_files,
-    cpp_args : gst_plugins_good_args + qt_defines,
-    link_args : noseh_link_args,
-    include_directories: [configinc, libsinc],
-    dependencies : [gst_dep, gstvideo_dep, gstgl_dep, gstglproto_dep, qt6qml_dep, optional_deps],
-    override_options : ['cpp_std=c++17'],
-    install: true,
-    install_dir : plugins_install_dir)
-  pkgconfig.generate(gstqml6gl, install_dir : plugins_pkgconfig_install_dir)
-  plugins += [gstqml6gl]
-endif
diff --git a/src/Viewer3D/Providers/Osm/CMakeLists.txt b/src/Viewer3D/Providers/Osm/CMakeLists.txt
index 87f2b331ada2..e075946ead09 100644
--- a/src/Viewer3D/Providers/Osm/CMakeLists.txt
+++ b/src/Viewer3D/Providers/Osm/CMakeLists.txt
@@ -16,12 +16,15 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_
 
 # ----------------------------------------------------------------------------
 # earcut.hpp — polygon triangulation
+# EXCLUDE_FROM_ALL prevents earcut's unconditionally-built "fixtures" object
+# library (30+ test data files) from compiling as part of our build.
 # ----------------------------------------------------------------------------
 
 CPMAddPackage(
     NAME earcut_hpp
     GITHUB_REPOSITORY mapbox/earcut.hpp
     GIT_TAG f36ced7e50254738c4e5af1a239f5fb7b1094007
+    EXCLUDE_FROM_ALL YES
     OPTIONS
         "EARCUT_BUILD_TESTS OFF"
         "EARCUT_BUILD_BENCH OFF"
diff --git a/src/Viewer3D/Providers/Osm/OsmParser.cc b/src/Viewer3D/Providers/Osm/OsmParser.cc
index 10171d8c09cf..6743aaed1483 100644
--- a/src/Viewer3D/Providers/Osm/OsmParser.cc
+++ b/src/Viewer3D/Providers/Osm/OsmParser.cc
@@ -21,6 +21,16 @@ OsmParser::OsmParser(QObject *parent)
     connect(_osmParserWorker, &OsmParserThread::fileParsed, this, &OsmParser::_onOsmParserFinished);
 }
 
+OsmParser::~OsmParser()
+{
+    // Stop the worker thread's event loop and wait for it to finish.
+    // Once the thread is joined, no events are being processed and
+    // the destructor chain is safe to run from our thread.
+    _osmParserWorker->thread()->quit();
+    _osmParserWorker->thread()->wait();
+    delete _osmParserWorker;
+}
+
 void OsmParser::setGpsRef(const QGeoCoordinate &gpsRef)
 {
     _gpsRefPoint = gpsRef;
diff --git a/src/Viewer3D/Providers/Osm/OsmParser.h b/src/Viewer3D/Providers/Osm/OsmParser.h
index e562f64126dc..30fbcbb73f95 100644
--- a/src/Viewer3D/Providers/Osm/OsmParser.h
+++ b/src/Viewer3D/Providers/Osm/OsmParser.h
@@ -22,6 +22,7 @@ class OsmParser : public Viewer3DMapProvider
 
 public:
     explicit OsmParser(QObject *parent = nullptr);
+    ~OsmParser() override;
 
     bool mapLoaded() const override { return _mapLoadedFlag; }
     QGeoCoordinate gpsRef() const override { return _gpsRefPoint; }
diff --git a/src/Viewer3D/Providers/Osm/OsmParserThread.cc b/src/Viewer3D/Providers/Osm/OsmParserThread.cc
index 28772af2b0cb..ca63c629a52e 100644
--- a/src/Viewer3D/Providers/Osm/OsmParserThread.cc
+++ b/src/Viewer3D/Providers/Osm/OsmParserThread.cc
@@ -214,8 +214,8 @@ void OsmParserThread::BuildingType_t::append(const std::vector<QVector2D> &newPo
 // OsmParserThread
 // ============================================================================
 
-OsmParserThread::OsmParserThread(QObject *parent)
-    : QObject{parent}
+OsmParserThread::OsmParserThread(QObject * /*parent*/)
+    : QObject{nullptr}
     , _workerThread(new QThread())
 {
     connect(this, &OsmParserThread::startThread, this, &OsmParserThread::_parseOsmFile);
diff --git a/src/main.cc b/src/main.cc
index 799cfff26e44..992b7eef1347 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -41,6 +41,10 @@ int main(int argc, char *argv[])
             return QGCUnitTest::handleTestOptions(args);
 #endif
         case AppMode::BootTest:
+            if (!app.bootTestPassed()) {
+                qCCritical(MainLog) << "Simple boot test failed during GStreamer initialization";
+                return 1;
+            }
             qCInfo(MainLog) << "Simple boot test completed";
             return 0;
         case AppMode::Gui:
diff --git a/src/pch.h b/src/pch.h
index 476c7d23b618..ecea7c1baf28 100644
--- a/src/pch.h
+++ b/src/pch.h
@@ -1,34 +1,46 @@
 #pragma once
 
-// STL - frequently used across codebase
+// STL
 #include <functional>
 #include <memory>
-#include <string>
 #include <vector>
 
-// Qt Core - used in nearly every file
+// Qt Core - fundamentals
+#include <QtCore/QByteArray>
+#include <QtCore/QCoreApplication>
 #include <QtCore/QDebug>
+#include <QtCore/QDateTime>
+#include <QtCore/QDir>
 #include <QtCore/QFile>
+#include <QtCore/QFileInfo>
 #include <QtCore/QList>
+#include <QtCore/QLoggingCategory>
 #include <QtCore/QMap>
 #include <QtCore/QObject>
+#include <QtCore/QSettings>
 #include <QtCore/QString>
+#include <QtCore/QStringList>
 #include <QtCore/QtGlobal>
+#include <QtCore/QThread>
 #include <QtCore/QTimer>
 #include <QtCore/QVariant>
-#include <QtCore/QVector>
 
+// Qt Core - JSON
 #include <QtCore/QJsonArray>
 #include <QtCore/QJsonDocument>
 #include <QtCore/QJsonObject>
 
-// Qt Network - used in 30+ files
-#include <QtNetwork/QNetworkAccessManager>
-#include <QtNetwork/QNetworkReply>
-#include <QtNetwork/QNetworkRequest>
+// Qt Core - utilities
+#include <QtCore/QApplicationStatic>
+#include <QtCore/QElapsedTimer>
 
-// Qt Quick - QQuickItem used in 30+ files
+// Qt Positioning - used in 50+ files
+#include <QtPositioning/QGeoCoordinate>
+
+// Qt Qml/Quick - QML integration macros used in ~130 headers
+#include <QtQml/QQmlEngine>
+#include <QtQmlIntegration/QtQmlIntegration>
 #include <QtQuick/QQuickItem>
 
 // MAVLink - used in 400+ locations
-#include "MAVLinkLib.h"
\ No newline at end of file
+#include "MAVLinkLib.h"
diff --git a/test/AnalyzeView/CMakeLists.txt b/test/AnalyzeView/CMakeLists.txt
index 072d813ffe5d..99983281b002 100644
--- a/test/AnalyzeView/CMakeLists.txt
+++ b/test/AnalyzeView/CMakeLists.txt
@@ -7,8 +7,20 @@ add_subdirectory(GeoTag)
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
-        LogDownloadTest.cc
-        LogDownloadTest.h
+        MAVLinkChartControllerTest.cc
+        MAVLinkChartControllerTest.h
+        MAVLinkConsoleControllerTest.cc
+        MAVLinkConsoleControllerTest.h
+        MAVLinkInspectorControllerTest.cc
+        MAVLinkInspectorControllerTest.h
+        OnboardLogDownloadTest.cc
+        OnboardLogDownloadTest.h
+        MAVLinkMessageFieldTest.cc
+        MAVLinkMessageFieldTest.h
+        MAVLinkMessageTest.cc
+        MAVLinkMessageTest.h
+        MAVLinkSystemTest.cc
+        MAVLinkSystemTest.h
         MavlinkLogTest.cc
         MavlinkLogTest.h
 )
diff --git a/test/AnalyzeView/MAVLinkChartControllerTest.cc b/test/AnalyzeView/MAVLinkChartControllerTest.cc
new file mode 100644
index 000000000000..85952b729853
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkChartControllerTest.cc
@@ -0,0 +1,105 @@
+#include "MAVLinkChartControllerTest.h"
+
+#include <QtTest/QSignalSpy>
+
+#include "MAVLinkChartController.h"
+#include "MAVLinkInspectorController.h"
+
+void MAVLinkChartControllerTest::_constructionTest()
+{
+    MAVLinkChartController chart;
+
+    QVERIFY(chart.inspectorController() == nullptr);
+    QCOMPARE(chart.chartIndex(), 0);
+}
+
+void MAVLinkChartControllerTest::_defaultRangeValuesTest()
+{
+    MAVLinkChartController chart;
+
+    QCOMPARE(chart.rangeXIndex(), static_cast<quint32>(0));
+    QCOMPARE(chart.rangeYIndex(), static_cast<quint32>(0));
+    QCOMPARE_FUZZY(chart.rangeYMin(), 0.0, 1e-9);
+    QCOMPARE_FUZZY(chart.rangeYMax(), 1.0, 1e-9);
+}
+
+void MAVLinkChartControllerTest::_chartFieldsInitiallyEmptyTest()
+{
+    MAVLinkChartController chart;
+
+    QVERIFY(chart.chartFields().isEmpty());
+}
+
+void MAVLinkChartControllerTest::_setRangeXIndexTest()
+{
+    MAVLinkInspectorController controller;
+    MAVLinkChartController chart;
+    chart.setInspectorController(&controller);
+
+    QSignalSpy xIndexSpy(&chart, &MAVLinkChartController::rangeXIndexChanged);
+
+    // Move from default index 0 to index 1
+    chart.setRangeXIndex(1);
+    QCOMPARE(chart.rangeXIndex(), static_cast<quint32>(1));
+    QCOMPARE(xIndexSpy.count(), 1);
+}
+
+void MAVLinkChartControllerTest::_setRangeXIndexSameValueNoSignalTest()
+{
+    MAVLinkInspectorController controller;
+    MAVLinkChartController chart;
+    chart.setInspectorController(&controller);
+
+    QSignalSpy xIndexSpy(&chart, &MAVLinkChartController::rangeXIndexChanged);
+
+    // Setting the same index (already 0) must not emit
+    chart.setRangeXIndex(0);
+    QCOMPARE(xIndexSpy.count(), 0);
+}
+
+void MAVLinkChartControllerTest::_setRangeYIndexTest()
+{
+    MAVLinkInspectorController controller;
+    MAVLinkChartController chart;
+    chart.setInspectorController(&controller);
+
+    QSignalSpy yIndexSpy(&chart, &MAVLinkChartController::rangeYIndexChanged);
+
+    // Index 1 corresponds to the first non-Auto range (10,000)
+    chart.setRangeYIndex(1);
+    QCOMPARE(chart.rangeYIndex(), static_cast<quint32>(1));
+    QCOMPARE(yIndexSpy.count(), 1);
+
+    // Non-Auto range: rangeYMin and rangeYMax must be set symmetrically
+    const qreal expectedRange = controller.rangeSt()[1]->range;
+    QCOMPARE_FUZZY(chart.rangeYMin(), -expectedRange, 1e-9);
+    QCOMPARE_FUZZY(chart.rangeYMax(),  expectedRange, 1e-9);
+}
+
+void MAVLinkChartControllerTest::_setRangeYIndexSameValueNoSignalTest()
+{
+    MAVLinkInspectorController controller;
+    MAVLinkChartController chart;
+    chart.setInspectorController(&controller);
+
+    QSignalSpy yIndexSpy(&chart, &MAVLinkChartController::rangeYIndexChanged);
+
+    // Default is already 0; setting to 0 again must not emit
+    chart.setRangeYIndex(0);
+    QCOMPARE(yIndexSpy.count(), 0);
+}
+
+void MAVLinkChartControllerTest::_setInspectorControllerTest()
+{
+    MAVLinkInspectorController controller;
+    MAVLinkChartController chart;
+
+    chart.setInspectorController(&controller);
+    QCOMPARE(chart.inspectorController(), &controller);
+
+    // Setting the same controller again must be a no-op (no crash, same pointer)
+    chart.setInspectorController(&controller);
+    QCOMPARE(chart.inspectorController(), &controller);
+}
+
+UT_REGISTER_TEST(MAVLinkChartControllerTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkChartControllerTest.h b/test/AnalyzeView/MAVLinkChartControllerTest.h
new file mode 100644
index 000000000000..2b6c77372111
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkChartControllerTest.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkChartControllerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _defaultRangeValuesTest();
+    void _chartFieldsInitiallyEmptyTest();
+    void _setRangeXIndexTest();
+    void _setRangeXIndexSameValueNoSignalTest();
+    void _setRangeYIndexTest();
+    void _setRangeYIndexSameValueNoSignalTest();
+    void _setInspectorControllerTest();
+};
diff --git a/test/AnalyzeView/MAVLinkConsoleControllerTest.cc b/test/AnalyzeView/MAVLinkConsoleControllerTest.cc
new file mode 100644
index 000000000000..b1cf464f2345
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkConsoleControllerTest.cc
@@ -0,0 +1,226 @@
+#include "MAVLinkConsoleControllerTest.h"
+
+#include <QtGui/QClipboard>
+#include <QtGui/QGuiApplication>
+#include <QtTest/QTest>
+
+#include "MAVLinkConsoleController.h"
+
+// ---------------------------------------------------------------------------
+// Construction / initial state
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_constructionTest()
+{
+    // Should construct and destruct without crashing even with no active vehicle.
+    MAVLinkConsoleController controller;
+    QVERIFY(true);
+}
+
+void MAVLinkConsoleControllerTest::_initialStateTest()
+{
+    MAVLinkConsoleController controller;
+
+    // Model must start empty.
+    QCOMPARE(controller.rowCount(), 0);
+
+    // text property must return an empty string when there are no rows.
+    const QString text = controller.property("text").toString();
+    QCOMPARE(text, QString());
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – navigation on empty history
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyUpOnEmptyTest()
+{
+    MAVLinkConsoleController controller;
+
+    // With no history, historyUp must echo back whatever was passed in.
+    const QString current = QStringLiteral("my input");
+    QCOMPARE(controller.historyUp(current), current);
+}
+
+void MAVLinkConsoleControllerTest::_historyDownOnEmptyTest()
+{
+    MAVLinkConsoleController controller;
+
+    // With no history, historyDown must echo back whatever was passed in.
+    const QString current = QStringLiteral("my input");
+    QCOMPARE(controller.historyDown(current), current);
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – single entry
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyUpSingleEntryTest()
+{
+    MAVLinkConsoleController controller;
+
+    // sendCommand appends non-empty lines to history even without a vehicle.
+    controller.sendCommand(QStringLiteral("ls"));
+
+    // First up should yield the recorded command.
+    QCOMPARE(controller.historyUp(QStringLiteral("")), QStringLiteral("ls"));
+
+    // A second up at the top boundary must return the same current string.
+    QCOMPARE(controller.historyUp(QStringLiteral("ls")), QStringLiteral("ls"));
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – multi-entry up/down round-trip
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyUpDownNavigationTest()
+{
+    MAVLinkConsoleController controller;
+
+    controller.sendCommand(QStringLiteral("cmd1"));
+    controller.sendCommand(QStringLiteral("cmd2"));
+    controller.sendCommand(QStringLiteral("cmd3"));
+
+    // Navigate backwards: cmd3 -> cmd2 -> cmd1
+    const QString r1 = controller.historyUp(QStringLiteral(""));
+    QCOMPARE(r1, QStringLiteral("cmd3"));
+
+    const QString r2 = controller.historyUp(r1);
+    QCOMPARE(r2, QStringLiteral("cmd2"));
+
+    const QString r3 = controller.historyUp(r2);
+    QCOMPARE(r3, QStringLiteral("cmd1"));
+
+    // Navigate forward: cmd2 -> cmd3 -> empty (past end)
+    const QString f1 = controller.historyDown(r3);
+    QCOMPARE(f1, QStringLiteral("cmd2"));
+
+    const QString f2 = controller.historyDown(f1);
+    QCOMPARE(f2, QStringLiteral("cmd3"));
+
+    const QString f3 = controller.historyDown(f2);
+    QCOMPARE(f3, QStringLiteral(""));
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – duplicate suppression
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyNoDuplicatesTest()
+{
+    MAVLinkConsoleController controller;
+
+    controller.sendCommand(QStringLiteral("ping"));
+    controller.sendCommand(QStringLiteral("ping"));  // duplicate – must not be appended
+
+    // A single up should reach "ping".
+    const QString r1 = controller.historyUp(QStringLiteral(""));
+    QCOMPARE(r1, QStringLiteral("ping"));
+
+    // Another up at the boundary must return the same string (only one entry).
+    const QString r2 = controller.historyUp(r1);
+    QCOMPARE(r2, QStringLiteral("ping"));
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – boundary: already at top (index 0)
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyUpAtTopBoundaryTest()
+{
+    MAVLinkConsoleController controller;
+
+    controller.sendCommand(QStringLiteral("alpha"));
+
+    // Move to top.
+    controller.historyUp(QStringLiteral(""));
+
+    // Another up must return current unchanged (boundary protection).
+    const QString current = QStringLiteral("alpha");
+    QCOMPARE(controller.historyUp(current), current);
+}
+
+// ---------------------------------------------------------------------------
+// CommandHistory – boundary: already at bottom (index == history.length())
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_historyDownAtBottomBoundaryTest()
+{
+    MAVLinkConsoleController controller;
+
+    controller.sendCommand(QStringLiteral("beta"));
+
+    // At the bottom (fresh after sendCommand), down must echo current.
+    const QString current = QStringLiteral("beta");
+    QCOMPARE(controller.historyDown(current), current);
+}
+
+// ---------------------------------------------------------------------------
+// handleClipboard – no newline in combined string
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_handleClipboardNoNewlineTest()
+{
+    MAVLinkConsoleController controller;
+
+    // Clear clipboard so the result is purely from command_pre.
+    QGuiApplication::clipboard()->clear();
+
+    const QString prefix = QStringLiteral("prefix");
+    const QString result = controller.handleClipboard(prefix);
+
+    // No newline present, so the whole string is returned as the pending line.
+    QCOMPARE(result, prefix);
+}
+
+// ---------------------------------------------------------------------------
+// handleClipboard – newline at the end of clipboard text
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_handleClipboardWithNewlineTest()
+{
+    MAVLinkConsoleController controller;
+
+    // Place a newline-terminated string in the clipboard.
+    QGuiApplication::clipboard()->setText(QStringLiteral("clipped\n"));
+
+    // With an empty prefix the clipboard text has a trailing newline.
+    // The part before the newline is sent as a command; the remainder
+    // (empty string after the newline) is returned.
+    const QString result = controller.handleClipboard(QStringLiteral(""));
+    QCOMPARE(result, QStringLiteral(""));
+}
+
+// ---------------------------------------------------------------------------
+// handleClipboard – empty prefix, clipboard with no newline
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_handleClipboardEmptyPrefixTest()
+{
+    MAVLinkConsoleController controller;
+
+    QGuiApplication::clipboard()->setText(QStringLiteral("data"));
+
+    // No newline -> entire combined string returned, nothing sent.
+    const QString result = controller.handleClipboard(QStringLiteral(""));
+    QCOMPARE(result, QStringLiteral("data"));
+}
+
+// ---------------------------------------------------------------------------
+// handleClipboard – multiple newlines, last line returned
+// ---------------------------------------------------------------------------
+
+void MAVLinkConsoleControllerTest::_handleClipboardMultilineTest()
+{
+    MAVLinkConsoleController controller;
+
+    // Three lines: "a\nb\nc" — last line has no trailing newline.
+    QGuiApplication::clipboard()->setText(QStringLiteral("a\nb\nc"));
+
+    // Combined string is "a\nb\nc". Last newline is between "b" and "c".
+    // "a\nb" is sent; "c" is returned.
+    const QString result = controller.handleClipboard(QStringLiteral(""));
+    QCOMPARE(result, QStringLiteral("c"));
+}
+
+UT_REGISTER_TEST(MAVLinkConsoleControllerTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkConsoleControllerTest.h b/test/AnalyzeView/MAVLinkConsoleControllerTest.h
new file mode 100644
index 000000000000..4b1335ce5e91
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkConsoleControllerTest.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkConsoleController;
+
+class MAVLinkConsoleControllerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _initialStateTest();
+    void _historyUpOnEmptyTest();
+    void _historyDownOnEmptyTest();
+    void _historyUpSingleEntryTest();
+    void _historyUpDownNavigationTest();
+    void _historyNoDuplicatesTest();
+    void _historyUpAtTopBoundaryTest();
+    void _historyDownAtBottomBoundaryTest();
+    void _handleClipboardNoNewlineTest();
+    void _handleClipboardWithNewlineTest();
+    void _handleClipboardEmptyPrefixTest();
+    void _handleClipboardMultilineTest();
+};
diff --git a/test/AnalyzeView/MAVLinkInspectorControllerTest.cc b/test/AnalyzeView/MAVLinkInspectorControllerTest.cc
new file mode 100644
index 000000000000..38de1393b605
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkInspectorControllerTest.cc
@@ -0,0 +1,61 @@
+#include "MAVLinkInspectorControllerTest.h"
+
+#include "MAVLinkInspectorController.h"
+#include "QmlObjectListModel.h"
+
+void MAVLinkInspectorControllerTest::_constructionTest()
+{
+    MAVLinkInspectorController controller;
+
+    QVERIFY(controller.systems() != nullptr);
+    QVERIFY(controller.activeSystem() == nullptr);
+}
+
+void MAVLinkInspectorControllerTest::_timeScalesNonEmptyTest()
+{
+    MAVLinkInspectorController controller;
+
+    QVERIFY(!controller.timeScales().isEmpty());
+}
+
+void MAVLinkInspectorControllerTest::_rangeListNonEmptyTest()
+{
+    MAVLinkInspectorController controller;
+
+    QVERIFY(!controller.rangeList().isEmpty());
+}
+
+void MAVLinkInspectorControllerTest::_systemNamesInitiallyEmptyTest()
+{
+    MAVLinkInspectorController controller;
+
+    // No vehicles connected in unit test context
+    QVERIFY(controller.systemNames().isEmpty());
+}
+
+void MAVLinkInspectorControllerTest::_activeSystemInitiallyNullTest()
+{
+    MAVLinkInspectorController controller;
+
+    QVERIFY(controller.activeSystem() == nullptr);
+}
+
+void MAVLinkInspectorControllerTest::_timeScalesCountTest()
+{
+    MAVLinkInspectorController controller;
+
+    // 4 time scales: 5s, 10s, 30s, 60s
+    QCOMPARE(controller.timeScales().count(), 4);
+    QCOMPARE(controller.timeScaleSt().count(), 4);
+}
+
+void MAVLinkInspectorControllerTest::_rangeListCountTest()
+{
+    MAVLinkInspectorController controller;
+
+    // 10 range entries: Auto + 9 fixed ranges
+    QCOMPARE(controller.rangeList().count(), 10);
+    QCOMPARE(controller.rangeSt().count(), 10);
+}
+
+UT_REGISTER_TEST(MAVLinkInspectorControllerTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkInspectorControllerTest.h b/test/AnalyzeView/MAVLinkInspectorControllerTest.h
new file mode 100644
index 000000000000..b519d64e9316
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkInspectorControllerTest.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkInspectorControllerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _timeScalesNonEmptyTest();
+    void _rangeListNonEmptyTest();
+    void _systemNamesInitiallyEmptyTest();
+    void _activeSystemInitiallyNullTest();
+    void _timeScalesCountTest();
+    void _rangeListCountTest();
+};
diff --git a/test/AnalyzeView/MAVLinkMessageFieldTest.cc b/test/AnalyzeView/MAVLinkMessageFieldTest.cc
new file mode 100644
index 000000000000..d95fbb6bf28a
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkMessageFieldTest.cc
@@ -0,0 +1,127 @@
+#include "MAVLinkMessageFieldTest.h"
+
+#include <QtTest/QSignalSpy>
+
+#include "MAVLinkLib.h"
+#include "MAVLinkMessage.h"
+#include "MAVLinkMessageField.h"
+
+namespace {
+
+QGCMAVLinkMessage *makeHeartbeatMsg(QObject *parent = nullptr)
+{
+    mavlink_message_t msg{};
+    mavlink_msg_heartbeat_pack_chan(1, 1, MAVLINK_COMM_0, &msg,
+                                   MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_PX4, 0, 0, MAV_STATE_ACTIVE);
+    return new QGCMAVLinkMessage(msg, parent);
+}
+
+} // namespace
+
+void MAVLinkMessageFieldTest::_constructionTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+
+    // Pass nullptr as parent to avoid double-free (stack field + parent delete)
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    QCOMPARE(field.name(), QStringLiteral("type"));
+    QCOMPARE(field.type(), QStringLiteral("uint8_t"));
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_initialValueEmptyTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    QVERIFY(field.value().isEmpty());
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_selectableDefaultsTrueTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    QVERIFY(field.selectable());
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_setSelectableTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    QSignalSpy selectableSpy(&field, &QGCMAVLinkMessageField::selectableChanged);
+
+    field.setSelectable(false);
+    QVERIFY(!field.selectable());
+    QCOMPARE(selectableSpy.count(), 1);
+
+    // Same value must not emit
+    field.setSelectable(false);
+    QCOMPARE(selectableSpy.count(), 1);
+
+    field.setSelectable(true);
+    QVERIFY(field.selectable());
+    QCOMPARE(selectableSpy.count(), 2);
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_updateValueChangesValueTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    QSignalSpy valueSpy(&field, &QGCMAVLinkMessageField::valueChanged);
+
+    field.updateValue(QStringLiteral("2"), 2.0);
+    QCOMPARE(field.value(), QStringLiteral("2"));
+    QCOMPARE(valueSpy.count(), 1);
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_updateValueNoopOnSameValueTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+    QGCMAVLinkMessageField field(QStringLiteral("type"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    field.updateValue(QStringLiteral("5"), 5.0);
+
+    QSignalSpy valueSpy(&field, &QGCMAVLinkMessageField::valueChanged);
+
+    // Calling with the same string value must not emit valueChanged
+    field.updateValue(QStringLiteral("5"), 5.0);
+    QCOMPARE(valueSpy.count(), 0);
+
+    delete msg;
+}
+
+void MAVLinkMessageFieldTest::_labelFormatTest()
+{
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+    QGCMAVLinkMessageField field(QStringLiteral("autopilot"), QStringLiteral("uint8_t"), msg);
+    field.setParent(nullptr);
+
+    // label() must follow the pattern "<message_name>: <field_name>"
+    const QString expected = QStringLiteral("HEARTBEAT: autopilot");
+    QCOMPARE(field.label(), expected);
+
+    delete msg;
+}
+
+UT_REGISTER_TEST(MAVLinkMessageFieldTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkMessageFieldTest.h b/test/AnalyzeView/MAVLinkMessageFieldTest.h
new file mode 100644
index 000000000000..ba21c7885a9d
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkMessageFieldTest.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkMessageFieldTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _initialValueEmptyTest();
+    void _selectableDefaultsTrueTest();
+    void _setSelectableTest();
+    void _updateValueChangesValueTest();
+    void _updateValueNoopOnSameValueTest();
+    void _labelFormatTest();
+};
diff --git a/test/AnalyzeView/MAVLinkMessageTest.cc b/test/AnalyzeView/MAVLinkMessageTest.cc
new file mode 100644
index 000000000000..41689a9cd9cd
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkMessageTest.cc
@@ -0,0 +1,128 @@
+#include "MAVLinkMessageTest.h"
+
+#include <QtTest/QSignalSpy>
+
+#include "MAVLinkLib.h"
+#include "MAVLinkMessage.h"
+#include "QmlObjectListModel.h"
+
+namespace {
+
+mavlink_message_t makeHeartbeat(uint8_t sysId = 1, uint8_t compId = 1)
+{
+    mavlink_message_t msg{};
+    mavlink_msg_heartbeat_pack_chan(
+        sysId, compId, MAVLINK_COMM_0, &msg,
+        MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_PX4, 0, 0, MAV_STATE_ACTIVE);
+    return msg;
+}
+
+} // namespace
+
+void MAVLinkMessageTest::_constructionTest()
+{
+    const mavlink_message_t msg = makeHeartbeat(2, 3);
+    QGCMAVLinkMessage message(msg);
+
+    QCOMPARE(message.id(), static_cast<quint32>(MAVLINK_MSG_ID_HEARTBEAT));
+    QCOMPARE(message.sysId(), static_cast<quint8>(2));
+    QCOMPARE(message.compId(), static_cast<quint8>(3));
+    QCOMPARE(message.name(), QStringLiteral("HEARTBEAT"));
+}
+
+void MAVLinkMessageTest::_countStartsAtOneTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    QCOMPARE(message.count(), static_cast<quint64>(1));
+}
+
+void MAVLinkMessageTest::_updateIncrementsCountTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    QSignalSpy countSpy(&message, &QGCMAVLinkMessage::countChanged);
+
+    message.update(msg);
+    QCOMPARE(message.count(), static_cast<quint64>(2));
+    QCOMPARE(countSpy.count(), 1);
+
+    message.update(msg);
+    QCOMPARE(message.count(), static_cast<quint64>(3));
+    QCOMPARE(countSpy.count(), 2);
+}
+
+void MAVLinkMessageTest::_setSelectedTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    QSignalSpy selectedSpy(&message, &QGCMAVLinkMessage::selectedChanged);
+
+    QVERIFY(!message.selected());
+
+    message.setSelected(true);
+    QVERIFY(message.selected());
+    QCOMPARE(selectedSpy.count(), 1);
+
+    // Setting to the same value must not emit again
+    message.setSelected(true);
+    QCOMPARE(selectedSpy.count(), 1);
+
+    message.setSelected(false);
+    QVERIFY(!message.selected());
+    QCOMPARE(selectedSpy.count(), 2);
+}
+
+void MAVLinkMessageTest::_fieldsPopulatedTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    const QmlObjectListModel *fields = message.fields();
+    QVERIFY(fields != nullptr);
+
+    // HEARTBEAT has 6 fields: type, autopilot, base_mode, custom_mode, system_status, mavlink_version
+    const mavlink_message_info_t *info = mavlink_get_message_info(&msg);
+    QVERIFY(info != nullptr);
+    QCOMPARE(fields->count(), static_cast<int>(info->num_fields));
+}
+
+void MAVLinkMessageTest::_setTargetRateHzTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    QSignalSpy rateSpy(&message, &QGCMAVLinkMessage::targetRateHzChanged);
+
+    QCOMPARE(message.targetRateHz(), static_cast<int32_t>(0));
+
+    message.setTargetRateHz(10);
+    QCOMPARE(message.targetRateHz(), static_cast<int32_t>(10));
+    QCOMPARE(rateSpy.count(), 1);
+
+    // Same value must not emit
+    message.setTargetRateHz(10);
+    QCOMPARE(rateSpy.count(), 1);
+}
+
+void MAVLinkMessageTest::_updateFreqTest()
+{
+    const mavlink_message_t msg = makeHeartbeat();
+    QGCMAVLinkMessage message(msg);
+
+    // Initial frequency is zero
+    QCOMPARE_FUZZY(message.actualRateHz(), 0.0, 1e-9);
+
+    // Simulate one update since last freq refresh
+    message.update(msg);
+    message.updateFreq();
+
+    // _count started at 1, update() made it 2, _lastCount was 0
+    // msgCount = 2 - 0 = 2; EWMA = 0.2*0 + 0.8*2 = 1.6
+    QCOMPARE_FUZZY(message.actualRateHz(), 1.6, 1e-9);
+}
+
+UT_REGISTER_TEST(MAVLinkMessageTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkMessageTest.h b/test/AnalyzeView/MAVLinkMessageTest.h
new file mode 100644
index 000000000000..caa223c8fcca
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkMessageTest.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkMessageTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _countStartsAtOneTest();
+    void _updateIncrementsCountTest();
+    void _setSelectedTest();
+    void _fieldsPopulatedTest();
+    void _setTargetRateHzTest();
+    void _updateFreqTest();
+};
diff --git a/test/AnalyzeView/MAVLinkSystemTest.cc b/test/AnalyzeView/MAVLinkSystemTest.cc
new file mode 100644
index 000000000000..c76f1f0f1923
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkSystemTest.cc
@@ -0,0 +1,168 @@
+#include "MAVLinkSystemTest.h"
+
+#include <QtTest/QSignalSpy>
+
+#include "MAVLinkLib.h"
+#include "MAVLinkMessage.h"
+#include "MAVLinkSystem.h"
+#include "QmlObjectListModel.h"
+
+namespace {
+
+QGCMAVLinkMessage *makeHeartbeatMsg(uint8_t sysId = 1, uint8_t compId = 1, QObject *parent = nullptr)
+{
+    mavlink_message_t msg{};
+    mavlink_msg_heartbeat_pack_chan(sysId, compId, MAVLINK_COMM_0, &msg,
+                                   MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_PX4, 0, 0, MAV_STATE_ACTIVE);
+    return new QGCMAVLinkMessage(msg, parent);
+}
+
+} // namespace
+
+void MAVLinkSystemTest::_constructionTest()
+{
+    QGCMAVLinkSystem system(7);
+
+    QCOMPARE(system.id(), static_cast<quint8>(7));
+}
+
+void MAVLinkSystemTest::_initiallyEmptyMessagesTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QVERIFY(system.messages() != nullptr);
+    QCOMPARE(system.messages()->count(), 0);
+}
+
+void MAVLinkSystemTest::_initiallyNoCompIDsTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QVERIFY(system.compIDs().isEmpty());
+    QVERIFY(system.compIDsStr().isEmpty());
+}
+
+void MAVLinkSystemTest::_appendAndFindMessageTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg(1, 1);
+    system.append(msg);
+
+    QCOMPARE(system.messages()->count(), 1);
+
+    QGCMAVLinkMessage *found = system.findMessage(MAVLINK_MSG_ID_HEARTBEAT, 1);
+    QVERIFY(found != nullptr);
+    QCOMPARE(found->id(), static_cast<quint32>(MAVLINK_MSG_ID_HEARTBEAT));
+    QCOMPARE(found->compId(), static_cast<quint8>(1));
+}
+
+void MAVLinkSystemTest::_findMessageNotFoundTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    // findMessage on an empty system returns nullptr
+    QGCMAVLinkMessage *found = system.findMessage(MAVLINK_MSG_ID_HEARTBEAT, 1);
+    QVERIFY(found == nullptr);
+
+    // findMessage with a wrong compId also returns nullptr
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg(1, 1);
+    system.append(msg);
+
+    QGCMAVLinkMessage *wrongComp = system.findMessage(MAVLINK_MSG_ID_HEARTBEAT, 99);
+    QVERIFY(wrongComp == nullptr);
+}
+
+void MAVLinkSystemTest::_findMessageByPointerTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg(1, 1);
+    system.append(msg);
+
+    const int idx = system.findMessage(msg);
+    QCOMPARE(idx, 0);
+
+    // A pointer that was never appended returns -1
+    QGCMAVLinkMessage fakeMsg(mavlink_message_t{});
+    QCOMPARE(system.findMessage(&fakeMsg), -1);
+}
+
+void MAVLinkSystemTest::_setSelectedAndSelectedMsgTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    // Two messages with different msg IDs so they sort differently
+    mavlink_message_t raw1{};
+    mavlink_msg_heartbeat_pack_chan(1, 1, MAVLINK_COMM_0, &raw1,
+                                   MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_PX4, 0, 0, MAV_STATE_ACTIVE);
+    auto *msg1 = new QGCMAVLinkMessage(raw1);
+
+    // Use a second heartbeat with a different compId so they coexist
+    mavlink_message_t raw2{};
+    mavlink_msg_heartbeat_pack_chan(1, 2, MAVLINK_COMM_0, &raw2,
+                                   MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_PX4, 0, 0, MAV_STATE_ACTIVE);
+    auto *msg2 = new QGCMAVLinkMessage(raw2);
+
+    system.append(msg1);
+    system.append(msg2);
+
+    QSignalSpy selectedSpy(&system, &QGCMAVLinkSystem::selectedChanged);
+
+    system.setSelected(0);
+    QVERIFY(selectedSpy.count() >= 1);
+
+    QGCMAVLinkMessage *sel = system.selectedMsg();
+    QVERIFY(sel != nullptr);
+    // The selected message must be the one at index 0 of the sorted list
+    QCOMPARE(system.findMessage(sel), 0);
+}
+
+void MAVLinkSystemTest::_setSelectedOutOfBoundsTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg();
+    system.append(msg);
+
+    QSignalSpy selectedSpy(&system, &QGCMAVLinkSystem::selectedChanged);
+
+    // Index equal to count is out of bounds - must be silently ignored
+    system.setSelected(1);
+    QCOMPARE(selectedSpy.count(), 0);
+}
+
+void MAVLinkSystemTest::_appendUpdatesCompIDsTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QSignalSpy compSpy(&system, &QGCMAVLinkSystem::compIDsChanged);
+
+    QGCMAVLinkMessage *msg = makeHeartbeatMsg(1, 42);
+    system.append(msg);
+
+    QCOMPARE(compSpy.count(), 1);
+    QVERIFY(system.compIDs().contains(42));
+    QVERIFY(!system.compIDsStr().isEmpty());
+
+    // Appending another message with the same compId must not emit again
+    QGCMAVLinkMessage *msg2 = makeHeartbeatMsg(1, 42);
+    // Give it a different msgid so it is a distinct entry - use a raw msg
+    mavlink_message_t raw{};
+    mavlink_msg_heartbeat_pack_chan(1, 42, MAVLINK_COMM_1, &raw,
+                                   MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_GENERIC, 0, 0, MAV_STATE_ACTIVE);
+    auto *msg3 = new QGCMAVLinkMessage(raw);
+    delete msg2;  // not used
+    system.append(msg3);
+
+    QCOMPARE(compSpy.count(), 1);
+}
+
+void MAVLinkSystemTest::_selectedMsgOnEmptySystemTest()
+{
+    QGCMAVLinkSystem system(1);
+
+    QVERIFY(system.selectedMsg() == nullptr);
+}
+
+UT_REGISTER_TEST(MAVLinkSystemTest, TestLabel::Unit, TestLabel::AnalyzeView)
diff --git a/test/AnalyzeView/MAVLinkSystemTest.h b/test/AnalyzeView/MAVLinkSystemTest.h
new file mode 100644
index 000000000000..f4808f42da78
--- /dev/null
+++ b/test/AnalyzeView/MAVLinkSystemTest.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class MAVLinkSystemTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void _constructionTest();
+    void _initiallyEmptyMessagesTest();
+    void _initiallyNoCompIDsTest();
+    void _appendAndFindMessageTest();
+    void _findMessageNotFoundTest();
+    void _findMessageByPointerTest();
+    void _setSelectedAndSelectedMsgTest();
+    void _setSelectedOutOfBoundsTest();
+    void _appendUpdatesCompIDsTest();
+    void _selectedMsgOnEmptySystemTest();
+};
diff --git a/test/AnalyzeView/LogDownloadTest.cc b/test/AnalyzeView/OnboardLogDownloadTest.cc
similarity index 80%
rename from test/AnalyzeView/LogDownloadTest.cc
rename to test/AnalyzeView/OnboardLogDownloadTest.cc
index 4606f601534c..e77fe73ee3e6 100644
--- a/test/AnalyzeView/LogDownloadTest.cc
+++ b/test/AnalyzeView/OnboardLogDownloadTest.cc
@@ -1,18 +1,18 @@
-#include "LogDownloadTest.h"
+#include "OnboardLogDownloadTest.h"
 
 #include <QtCore/QDir>
 
-#include "LogDownloadController.h"
-#include "LogEntry.h"
+#include "OnboardLogController.h"
+#include "OnboardLogEntry.h"
 #include "MAVLinkProtocol.h"
 #include "MultiSignalSpy.h"
 #include "MultiVehicleManager.h"
 #include "QmlObjectListModel.h"
 
-void LogDownloadTest::_downloadTest()
+void OnboardLogDownloadTest::_downloadTest()
 {
     // VehicleTest::init() already connects the mock link
-    LogDownloadController* const controller = new LogDownloadController(this);
+    OnboardLogController* const controller = new OnboardLogController(this);
     MultiSignalSpy* multiSpyLogDownloadController = new MultiSignalSpy(this);
     QVERIFY(multiSpyLogDownloadController->init(controller));
     controller->refresh();
@@ -25,7 +25,7 @@ void LogDownloadTest::_downloadTest()
     multiSpyLogDownloadController->clearAllSignals();
     QmlObjectListModel* const model = controller->_getModel();
     QVERIFY(model);
-    model->value<QGCLogEntry*>(0)->setSelected(true);
+    model->value<QGCOnboardLogEntry*>(0)->setSelected(true);
     const QString downloadTo = QDir::currentPath();
     controller->download(downloadTo);
     QVERIFY(multiSpyLogDownloadController->waitForSignal("downloadingLogsChanged", TestTimeout::longMs()));
@@ -40,4 +40,4 @@ void LogDownloadTest::_downloadTest()
     (void)QFile::remove(downloadFile);
 }
 
-UT_REGISTER_TEST(LogDownloadTest, TestLabel::Integration, TestLabel::AnalyzeView, TestLabel::Vehicle)
+UT_REGISTER_TEST(OnboardLogDownloadTest, TestLabel::Integration, TestLabel::AnalyzeView, TestLabel::Vehicle)
diff --git a/test/AnalyzeView/LogDownloadTest.h b/test/AnalyzeView/OnboardLogDownloadTest.h
similarity index 69%
rename from test/AnalyzeView/LogDownloadTest.h
rename to test/AnalyzeView/OnboardLogDownloadTest.h
index 75a25edfb2e5..b0cf94849f6a 100644
--- a/test/AnalyzeView/LogDownloadTest.h
+++ b/test/AnalyzeView/OnboardLogDownloadTest.h
@@ -2,7 +2,7 @@
 
 #include "BaseClasses/VehicleTest.h"
 
-class LogDownloadTest : public VehicleTest
+class OnboardLogDownloadTest : public VehicleTest
 {
     Q_OBJECT
 
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index e4ec6e545b33..cc492e2aed87 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -73,7 +73,13 @@ add_qgc_test(GeoTagControllerTest LABELS Unit AnalyzeView RESOURCE_LOCK TempFile
 add_qgc_test(GeoTagDataTest LABELS Unit AnalyzeView)
 add_qgc_test(GeoTagImageModelTest LABELS Unit AnalyzeView)
 add_qgc_test(ULogParserTest LABELS Unit AnalyzeView RESOURCE_LOCK TempFiles)
-add_qgc_test(LogDownloadTest LABELS Integration Vehicle RESOURCE_LOCK MockLink)
+add_qgc_test(MAVLinkChartControllerTest LABELS Unit AnalyzeView)
+add_qgc_test(MAVLinkConsoleControllerTest LABELS Unit AnalyzeView)
+add_qgc_test(MAVLinkInspectorControllerTest LABELS Unit AnalyzeView)
+add_qgc_test(OnboardLogDownloadTest LABELS Integration AnalyzeView Vehicle RESOURCE_LOCK MockLink)
+add_qgc_test(MAVLinkMessageFieldTest LABELS Unit AnalyzeView)
+add_qgc_test(MAVLinkMessageTest LABELS Unit AnalyzeView)
+add_qgc_test(MAVLinkSystemTest LABELS Unit AnalyzeView)
 add_qgc_test(MavlinkLogTest LABELS Integration AnalyzeView Vehicle RESOURCE_LOCK MockLink)
 
 # ----------------------------------------------------------------------------
@@ -85,6 +91,12 @@ add_qgc_test(VehicleCameraControlTest LABELS Integration Vehicle RESOURCE_LOCK M
 add_qgc_test(QGCVideoStreamInfoTest LABELS Unit Camera)
 add_qgc_test(VideoManagerTest LABELS Unit)
 
+# ----------------------------------------------------------------------------
+# VideoManager
+# ----------------------------------------------------------------------------
+add_subdirectory(VideoManager)
+add_qgc_test(GStreamerTest LABELS Integration)
+
 # ----------------------------------------------------------------------------
 # Comms
 # ----------------------------------------------------------------------------
@@ -105,6 +117,7 @@ add_qgc_test(FactSystemTestGeneric LABELS Integration Vehicle RESOURCE_LOCK Mock
 add_qgc_test(FactSystemTestPX4 LABELS Integration Vehicle RESOURCE_LOCK MockLink)
 add_qgc_test(FactTest LABELS Unit)
 add_qgc_test(FactValueSliderListModelTest LABELS Unit)
+add_qgc_test(HashCheckTest LABELS Integration Vehicle SERIAL TIMEOUT ${QGC_TEST_TIMEOUT_EXTENDED})
 add_qgc_test(ParameterManagerTest LABELS Integration Vehicle SERIAL TIMEOUT ${QGC_TEST_TIMEOUT_EXTENDED})
 
 # ----------------------------------------------------------------------------
@@ -117,7 +130,10 @@ add_qgc_test(FollowMeTest LABELS Integration Vehicle RESOURCE_LOCK MockLink)
 # GPS
 # ----------------------------------------------------------------------------
 add_subdirectory(GPS)
-add_qgc_test(GpsTest LABELS Unit GPS)
+add_qgc_test(RTCMParserTest LABELS Unit)
+add_qgc_test(NTRIPManagerTest LABELS Unit)
+add_qgc_test(NTRIPHttpTransportTest LABELS Unit)
+add_qgc_test(NTRIPSourceTableTest LABELS Unit)
 
 # ----------------------------------------------------------------------------
 # Joystick
@@ -133,6 +149,7 @@ add_qgc_test(SDLTest LABELS Unit Joystick RESOURCE_LOCK Joystick)
 # ----------------------------------------------------------------------------
 add_subdirectory(MAVLink)
 add_qgc_test(SigningTest LABELS Unit MAVLink)
+add_qgc_test(MockLinkSigningTest LABELS Integration Vehicle MAVLink RESOURCE_LOCK MockLink)
 add_qgc_test(StatusTextHandlerTest LABELS Unit MAVLink)
 add_qgc_test(SysStatusSensorInfoTest LABELS Unit MAVLink)
 
@@ -149,6 +166,7 @@ add_qgc_test(MissionCommandTreeEditorTest LABELS Unit MissionManager TIMEOUT ${Q
 add_qgc_test(MissionCommandTreeTest LABELS Unit MissionManager)
 add_qgc_test(MissionControllerManagerTest LABELS Integration MissionManager RESOURCE_LOCK MockLink)
 add_qgc_test(MissionControllerTest LABELS Integration MissionManager RESOURCE_LOCK MockLink)
+add_qgc_test(MissionControllerTreeTest LABELS Integration MissionManager RESOURCE_LOCK MockLink)
 add_qgc_test(MissionItemTest LABELS Unit MissionManager)
 add_qgc_test(MissionManagerTest LABELS Integration MissionManager SERIAL)
 add_qgc_test(MissionSettingsTest LABELS Unit MissionManager)
@@ -179,7 +197,10 @@ add_qgc_test(UrlFactoryTest LABELS Unit)
 # QmlControls
 # ----------------------------------------------------------------------------
 add_subdirectory(QmlControls)
+add_qgc_test(ObjectItemModelBaseTest LABELS Unit)
+add_qgc_test(ObjectListModelBaseTest LABELS Unit)
 add_qgc_test(QmlObjectListModelTest LABELS Unit)
+add_qgc_test(QmlObjectTreeModelTest LABELS Unit)
 
 # ----------------------------------------------------------------------------
 # Terrain
diff --git a/test/Camera/VehicleCameraControlTest.cc b/test/Camera/VehicleCameraControlTest.cc
index a12f42aa8758..722a3bbba7d6 100644
--- a/test/Camera/VehicleCameraControlTest.cc
+++ b/test/Camera/VehicleCameraControlTest.cc
@@ -4,7 +4,7 @@
 #include <QtTest/QTest>
 
 #include "LinkManager.h"
-#include "MavlinkCameraControl.h"
+#include "MavlinkCameraControlInterface.h"
 #include "MockConfiguration.h"
 #include "MockLink.h"
 #include "MultiVehicleManager.h"
@@ -158,9 +158,9 @@ void VehicleCameraControlTest::_testCameraCapFlags()
 
     // Find Camera 1 (MAV_COMP_ID_CAMERA) which has our configured flags.
     // Camera 2 (MAV_COMP_ID_CAMERA2) is always photo-only and not what we're testing.
-    MavlinkCameraControl* camera = nullptr;
+    MavlinkCameraControlInterface* camera = nullptr;
     for (int i = 0; i < cameraManager->cameras()->count(); i++) {
-        auto* cam = qobject_cast<MavlinkCameraControl*>(cameraManager->cameras()->get(i));
+        auto* cam = qobject_cast<MavlinkCameraControlInterface*>(cameraManager->cameras()->get(i));
         if (cam && cam->compID() == MAV_COMP_ID_CAMERA) {
             camera = cam;
             break;
diff --git a/test/Comms/Bluetooth/BluetoothConfigurationTest.cc b/test/Comms/Bluetooth/BluetoothConfigurationTest.cc
index a46af70ba263..6904b9b5ce69 100644
--- a/test/Comms/Bluetooth/BluetoothConfigurationTest.cc
+++ b/test/Comms/Bluetooth/BluetoothConfigurationTest.cc
@@ -7,6 +7,7 @@
 #include <QtBluetooth/QBluetoothAddress>
 #include <QtBluetooth/QBluetoothDeviceInfo>
 #include <QtCore/QMetaProperty>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QSettings>
 #include <QtTest/QSignalSpy>
 #include <memory>
@@ -101,6 +102,9 @@ void BluetoothConfigurationTest::_testBleUuidGetSet()
 
 void BluetoothConfigurationTest::_testBluetoothAvailabilityConsistency()
 {
+    // Qt's Bluetooth module may emit an uncategorized warning when BlueZ is not running (e.g. on headless CI).
+    expectLogMessage(QtWarningMsg, QRegularExpression(QStringLiteral("Cannot find a compatible running Bluez")));
+
     QCOMPARE(BluetoothConfiguration::isBluetoothAvailable(), LinkManager::isBluetoothAvailable());
 }
 
diff --git a/test/Comms/Bluetooth/BluetoothLiveAdapterTest.cc b/test/Comms/Bluetooth/BluetoothLiveAdapterTest.cc
index 3a0335e00279..17cd35b6b340 100644
--- a/test/Comms/Bluetooth/BluetoothLiveAdapterTest.cc
+++ b/test/Comms/Bluetooth/BluetoothLiveAdapterTest.cc
@@ -5,6 +5,7 @@
 #include <QtBluetooth/QBluetoothHostInfo>
 #include <QtBluetooth/QBluetoothLocalDevice>
 #include <QtCore/QElapsedTimer>
+#include <QtCore/QRegularExpression>
 #include <QtTest/QSignalSpy>
 #include <QtTest/QTest>
 
@@ -45,6 +46,9 @@ static QString _firstAdapterAddressOrEmpty(const QVariantList &adapters)
 
 void BluetoothLiveAdapterTest::_testLiveAdapterSelectionAndState()
 {
+    // Qt's Bluetooth module may emit an uncategorized warning when BlueZ is not running (e.g. on headless CI).
+    expectLogMessage(QtWarningMsg, QRegularExpression(QStringLiteral("Cannot find a compatible running Bluez")));
+
     const QList<QBluetoothHostInfo> localHosts = _localAdaptersOrSkip();
     if (localHosts.isEmpty()) {
         QSKIP("No local Bluetooth adapter detected on this host");
diff --git a/test/Comms/Bluetooth/BluetoothWorkerTest.cc b/test/Comms/Bluetooth/BluetoothWorkerTest.cc
index e5d8c8f6dd1f..22126b4324e3 100644
--- a/test/Comms/Bluetooth/BluetoothWorkerTest.cc
+++ b/test/Comms/Bluetooth/BluetoothWorkerTest.cc
@@ -6,6 +6,7 @@
 #include "BluetoothWorker.h"
 
 #include <QtBluetooth/QBluetoothServiceDiscoveryAgent>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QTimer>
 #include <QtTest/QSignalSpy>
 
@@ -22,6 +23,9 @@ static QTimer *_findServiceDiscoveryTimer(const BluetoothWorker *worker)
 
 void BluetoothWorkerTest::_testFactoryCreatesClassicWorker()
 {
+    // Qt's Bluetooth module may emit an uncategorized warning when BlueZ is not running (e.g. on headless CI).
+    expectLogMessage(QtWarningMsg, QRegularExpression(QStringLiteral("Cannot find a compatible running Bluez")));
+
     BluetoothConfiguration config("TestBT_factoryClassic");
     config.setMode(BluetoothConfiguration::BluetoothMode::ModeClassic);
 
diff --git a/test/FactSystem/CMakeLists.txt b/test/FactSystem/CMakeLists.txt
index fc01dc8e5931..f98af7a00e6d 100644
--- a/test/FactSystem/CMakeLists.txt
+++ b/test/FactSystem/CMakeLists.txt
@@ -19,6 +19,8 @@ target_sources(${CMAKE_PROJECT_NAME}
         FactTest.h
         FactValueSliderListModelTest.cc
         FactValueSliderListModelTest.h
+        HashCheckTest.cc
+        HashCheckTest.h
         ParameterManagerTest.cc
         ParameterManagerTest.h
 )
diff --git a/test/FactSystem/HashCheckTest.cc b/test/FactSystem/HashCheckTest.cc
new file mode 100644
index 000000000000..fbce21b7765a
--- /dev/null
+++ b/test/FactSystem/HashCheckTest.cc
@@ -0,0 +1,267 @@
+#include "HashCheckTest.h"
+
+#include <QtCore/QDir>
+#include <QtCore/QFile>
+#include <QtTest/QSignalSpy>
+#include <QtTest/QTest>
+
+#include "LinkManager.h"
+#include "MAVLinkLib.h"
+#include "MockConfiguration.h"
+#include "MultiVehicleManager.h"
+#include "ParameterManager.h"
+#include "Vehicle.h"
+
+void HashCheckTest::cleanup()
+{
+    if (_mockLink && MultiVehicleManager::instance()->activeVehicle()) {
+        QSignalSpy spy(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged);
+        _mockLink->disconnect();
+        _mockLink = nullptr;
+        (void) UnitTest::waitForSignal(spy, TestTimeout::mediumMs(), QStringLiteral("activeVehicleChanged"));
+    }
+    VehicleTestManualConnect::cleanup();
+}
+
+void HashCheckTest::_deleteCacheFiles()
+{
+    const QDir cacheDir = ParameterManager::parameterCacheDir();
+    if (cacheDir.exists()) {
+        const QStringList cacheFiles = cacheDir.entryList(QStringList() << QStringLiteral("*.v2"), QDir::Files);
+        for (const QString &file : cacheFiles) {
+            QFile::remove(cacheDir.filePath(file));
+        }
+    }
+}
+
+void HashCheckTest::_connectAndWaitForParams()
+{
+    MultiVehicleManager *const vehicleMgr = MultiVehicleManager::instance();
+    QVERIFY(vehicleMgr);
+
+    QSignalSpy spyVehicle(vehicleMgr, &MultiVehicleManager::activeVehicleAvailableChanged);
+    QVERIFY_SIGNAL_WAIT(spyVehicle, TestTimeout::mediumMs());
+
+    Vehicle *const vehicle = vehicleMgr->activeVehicle();
+    QVERIFY(vehicle);
+
+    QSignalSpy spyParamsReady(vehicleMgr, &MultiVehicleManager::parameterReadyVehicleAvailableChanged);
+    QVERIFY_SIGNAL_WAIT(spyParamsReady, TestTimeout::longMs());
+
+    const QList<QVariant> arguments = spyParamsReady.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toBool(), true);
+}
+
+void HashCheckTest::_disconnectAndSettle()
+{
+    _mockLink->disconnect();
+    _mockLink = nullptr;
+    QSignalSpy spyDisconnect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged);
+    QVERIFY(UnitTest::waitForSignal(spyDisconnect, TestTimeout::longMs(), QStringLiteral("activeVehicleChanged")));
+    UnitTest::settleEventLoopForCleanup();
+}
+
+MockLink *HashCheckTest::_startPX4MockLinkNoIncrement(MockConfiguration::FailureMode_t failureMode)
+{
+    auto *const mockConfig = new MockConfiguration(QStringLiteral("PX4 MockLink"));
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setIncrementVehicleId(false);
+    mockConfig->setFailureMode(failureMode);
+    mockConfig->setDynamic(true);
+
+    SharedLinkConfigurationPtr config = LinkManager::instance()->addConfiguration(mockConfig);
+    if (LinkManager::instance()->createConnectedLink(config)) {
+        return qobject_cast<MockLink *>(config->link());
+    }
+    return nullptr;
+}
+
+MockLink *HashCheckTest::_startPX4MockLinkHighLatency()
+{
+    auto *const mockConfig = new MockConfiguration(QStringLiteral("PX4 HighLatency MockLink"));
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setHighLatency(true);
+    mockConfig->setDynamic(true);
+
+    SharedLinkConfigurationPtr config = LinkManager::instance()->addConfiguration(mockConfig);
+    if (LinkManager::instance()->createConnectedLink(config)) {
+        return qobject_cast<MockLink *>(config->link());
+    }
+    return nullptr;
+}
+
+// Data-driven test matrix for all _HASH_CHECK parameter cache scenarios.
+//
+// FirstConnect_NoCache:   First PX4 connection with no cache. Sends _HASH_CHECK, gets full param list.
+// Reconnect_CacheHit:     Reconnect after populating cache. Hash matches so no PARAM_REQUEST_LIST needed.
+// Reconnect_CacheMiss:    Reconnect after a parameter changed. Hash mismatch triggers full param reload.
+// HashTimeout_CacheHit:   Vehicle never responds to _HASH_CHECK. Falls back to PARAM_REQUEST_LIST, cache still valid.
+// HashTimeout_NoCache:    Vehicle never responds to _HASH_CHECK and no cache exists. Falls back to full param list.
+// HashTimeout_CacheStale: Vehicle never responds to _HASH_CHECK and cache is stale. Falls back to full param list.
+// BothTimersExhaust:      Vehicle responds to neither _HASH_CHECK nor PARAM_REQUEST_LIST. Params never become ready.
+// CacheDeleted_Between:   Cache populated then deleted before reconnect. Forces full param reload despite same vehicle.
+// ManualRefresh:          User-triggered refreshAllParameters() bypasses _HASH_CHECK and requests full param list.
+// ArduPilot:              ArduPilot uses FTP for parameters, so no _HASH_CHECK or PARAM_REQUEST_LIST traffic.
+// HighLatency:            High-latency links skip parameter download entirely; params marked as missing.
+// LogReplay:              Log replay shares the high-latency code path; params marked as missing.
+//
+// PARAM_REQUEST_LIST (xPRL) is only asserted for PX4 vehicles; ArduPilot uses FTP.
+// missingParameters (xMiss) is only asserted when expectParametersReady (xReady) is true.
+// Scenarios 11 and 12 exercise the same code path via setHighLatency(true).
+// MockLink doesn't support isLogReplay(), so high latency serves as proxy for the
+// shared guard: if (isHighLatency || _logReplay) { signal ready immediately }.
+
+void HashCheckTest::_hashCheckMatrix_data()
+{
+    // MockLink configuration flags
+    QTest::addColumn<bool>("px4");
+    QTest::addColumn<bool>("highLatency");
+    QTest::addColumn<bool>("populateCache");
+    QTest::addColumn<bool>("changeParam");
+    QTest::addColumn<bool>("deleteCache");
+    QTest::addColumn<bool>("hashCheckNoResponse");
+    QTest::addColumn<bool>("failNoResponse");
+    QTest::addColumn<bool>("manualRefresh");
+
+    // Expected outcomes
+    QTest::addColumn<bool>("xHashCheck");
+    QTest::addColumn<bool>("xPRL");
+    QTest::addColumn<bool>("xReady");
+    QTest::addColumn<bool>("xMissing");
+
+    //                                          px4      hl       popC     chgP     delC     noResp   failNR   manRef    xHC      xPRL     xReady   xMiss
+    QTest::newRow("FirstConnect_NoCache")    << true  << false << false << false << false << false << false << false  << true  << true  << true  << false;
+    QTest::newRow("Reconnect_CacheHit")      << true  << false << true  << false << false << false << false << false  << true  << false << true  << false;
+    QTest::newRow("Reconnect_CacheMiss")     << true  << false << true  << true  << false << false << false << false  << true  << true  << true  << false;
+    QTest::newRow("HashTimeout_CacheHit")    << true  << false << true  << false << false << true  << false << false  << true  << true  << true  << false;
+    QTest::newRow("HashTimeout_NoCache")     << true  << false << false << false << false << true  << false << false  << true  << true  << true  << false;
+    QTest::newRow("HashTimeout_CacheStale")  << true  << false << true  << true  << false << true  << false << false  << true  << true  << true  << false;
+    QTest::newRow("BothTimersExhaust")       << true  << false << false << false << false << true  << true  << false  << true  << true  << false << false;
+    QTest::newRow("CacheDeleted_Between")    << true  << false << true  << false << true  << false << false << false  << true  << true  << true  << false;
+    QTest::newRow("ManualRefresh")           << true  << false << false << false << false << false << false << true   << false << true  << true  << false;
+    QTest::newRow("ArduPilot")              << false  << false << false << false << false << false << false << false  << false << false << true  << false;
+    QTest::newRow("HighLatency")             << true  << true  << false << false << false << false << false << false  << false << false << true  << true;
+    QTest::newRow("LogReplay")               << true  << true  << false << false << false << false << false << false  << false << false << true  << true;
+}
+
+void HashCheckTest::_hashCheckMatrix()
+{
+    QFETCH(bool, px4);
+    QFETCH(bool, highLatency);
+    QFETCH(bool, populateCache);
+    QFETCH(bool, changeParam);
+    QFETCH(bool, deleteCache);
+    QFETCH(bool, hashCheckNoResponse);
+    QFETCH(bool, failNoResponse);
+    QFETCH(bool, manualRefresh);
+    QFETCH(bool, xHashCheck);
+    QFETCH(bool, xPRL);
+    QFETCH(bool, xReady);
+    QFETCH(bool, xMissing);
+
+    const MAV_AUTOPILOT firmwareType = px4 ? MAV_AUTOPILOT_PX4 : MAV_AUTOPILOT_ARDUPILOTMEGA;
+    const auto failMode = failNoResponse ? MockConfiguration::FailParamNoResponseToRequestList
+                                         : MockConfiguration::FailNone;
+
+    // Phase 1: Clean slate
+    _deleteCacheFiles();
+
+    // Phase 2: Optional preconnect to populate the parameter cache
+    if (populateCache) {
+        _mockLink = _startPX4MockLinkNoIncrement();
+        _connectAndWaitForParams();
+        _disconnectAndSettle();
+
+        if (deleteCache) {
+            _deleteCacheFiles();
+        }
+    }
+
+    // Phase 3: Create the test link and connect
+    if (manualRefresh) {
+        _connectMockLink(firmwareType);
+        QVERIFY(_vehicle);
+        QVERIFY(_vehicle->parameterManager()->parametersReady());
+
+        _mockLink->clearReceivedMavlinkMessageCounts();
+        _vehicle->parameterManager()->refreshAllParameters();
+        QTest::qWait(100);
+
+    } else if (highLatency) {
+        _mockLink = _startPX4MockLinkHighLatency();
+
+        MultiVehicleManager *const vehicleMgr = MultiVehicleManager::instance();
+        QVERIFY(vehicleMgr);
+
+        QSignalSpy spyVehicle(vehicleMgr, &MultiVehicleManager::activeVehicleAvailableChanged);
+        QVERIFY_SIGNAL_WAIT(spyVehicle, TestTimeout::mediumMs());
+
+        Vehicle *const vehicle = vehicleMgr->activeVehicle();
+        QVERIFY(vehicle);
+
+        QSignalSpy spyParamsReady(vehicleMgr, &MultiVehicleManager::parameterReadyVehicleAvailableChanged);
+        QVERIFY_SIGNAL_WAIT(spyParamsReady, TestTimeout::longMs());
+
+    } else if (!px4) {
+        _connectMockLink(firmwareType);
+        QVERIFY(_vehicle);
+
+    } else if (xReady) {
+        // PX4 normal path — params will become ready
+        _mockLink = _startPX4MockLinkNoIncrement(failMode);
+        if (changeParam) {
+            _mockLink->setMockParamValue(MAV_COMP_ID_AUTOPILOT1, QStringLiteral("BAT1_V_CHARGED"), 99.0f);
+        }
+        if (hashCheckNoResponse) {
+            _mockLink->setHashCheckNoResponse(true);
+        }
+        _connectAndWaitForParams();
+
+    } else {
+        // PX4 path where params never become ready (both timers exhaust)
+        _mockLink = _startPX4MockLinkNoIncrement(failMode);
+        if (hashCheckNoResponse) {
+            _mockLink->setHashCheckNoResponse(true);
+        }
+
+        MultiVehicleManager *const vehicleMgr = MultiVehicleManager::instance();
+        QVERIFY(vehicleMgr);
+
+        QSignalSpy spyVehicle(vehicleMgr, &MultiVehicleManager::activeVehicleAvailableChanged);
+        QVERIFY_SIGNAL_WAIT(spyVehicle, TestTimeout::mediumMs());
+
+        Vehicle *const vehicle = vehicleMgr->activeVehicle();
+        QVERIFY(vehicle);
+
+        QSignalSpy spyParamsReady(vehicleMgr, &MultiVehicleManager::parameterReadyVehicleAvailableChanged);
+        const int maxWaitMs = ParameterManager::kHashCheckTimeoutMs
+                            + ParameterManager::kTestMaxInitialRequestTimeMs
+                            + TestTimeout::shortMs();
+        QVERIFY_NO_SIGNAL_WAIT(spyParamsReady, maxWaitMs);
+    }
+
+    // Phase 4: Verify outcomes
+    QCOMPARE(_mockLink->hashCheckRequestCount() > 0, xHashCheck);
+
+    if (xReady) {
+        Vehicle *const vehicle = MultiVehicleManager::instance()->activeVehicle();
+        QVERIFY(vehicle);
+        QVERIFY(vehicle->parameterManager()->parametersReady());
+        QCOMPARE(vehicle->parameterManager()->missingParameters(), xMissing);
+    }
+
+    // PARAM_REQUEST_LIST is only checked for PX4 (ArduPilot uses FTP)
+    if (px4) {
+        QCOMPARE(_mockLink->receivedMavlinkMessageCount(MAVLINK_MSG_ID_PARAM_REQUEST_LIST) > 0, xPRL);
+    }
+
+    // Phase 5: Cleanup for tests that used _connectMockLink
+    if (manualRefresh || !px4) {
+        _disconnectMockLink();
+    }
+}
+
+UT_REGISTER_TEST(HashCheckTest, TestLabel::Integration, TestLabel::Vehicle, TestLabel::Serial)
diff --git a/test/FactSystem/HashCheckTest.h b/test/FactSystem/HashCheckTest.h
new file mode 100644
index 000000000000..6f89f22beb98
--- /dev/null
+++ b/test/FactSystem/HashCheckTest.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "BaseClasses/VehicleTestManualConnect.h"
+
+/// Data-driven test matrix for the _HASH_CHECK parameter cache optimization.
+/// See _hashCheckMatrix_data() for the full scenario table.
+class HashCheckTest : public VehicleTestManualConnect
+{
+    Q_OBJECT
+
+private slots:
+    void cleanup() override;
+
+    void _hashCheckMatrix_data();
+    void _hashCheckMatrix();
+
+private:
+    void _deleteCacheFiles();
+    void _connectAndWaitForParams();
+    void _disconnectAndSettle();
+    MockLink *_startPX4MockLinkNoIncrement(MockConfiguration::FailureMode_t failureMode = MockConfiguration::FailNone);
+    MockLink *_startPX4MockLinkHighLatency();
+};
diff --git a/test/GPS/CMakeLists.txt b/test/GPS/CMakeLists.txt
index 19b3fb5d9416..b2d5c51d74e2 100644
--- a/test/GPS/CMakeLists.txt
+++ b/test/GPS/CMakeLists.txt
@@ -5,8 +5,14 @@
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
-        GpsTest.cc
-        GpsTest.h
+        NTRIPManagerTest.cc
+        NTRIPManagerTest.h
+        NTRIPSourceTableTest.cc
+        NTRIPSourceTableTest.h
+        NTRIPHttpTransportTest.cc
+        NTRIPHttpTransportTest.h
+        RTCMParserTest.cc
+        RTCMParserTest.h
 )
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/test/GPS/NTRIPHttpTransportTest.cc b/test/GPS/NTRIPHttpTransportTest.cc
new file mode 100644
index 000000000000..80c926d1908c
--- /dev/null
+++ b/test/GPS/NTRIPHttpTransportTest.cc
@@ -0,0 +1,303 @@
+#include "NTRIPHttpTransportTest.h"
+#include "NTRIPHttpTransport.h"
+#include "RTCMParser.h"
+
+namespace {
+
+static QByteArray buildRtcmFrame(uint16_t messageId, int extraPayloadBytes = 0)
+{
+    const int payloadLen = 2 + extraPayloadBytes;
+    QByteArray frame;
+    frame.append(static_cast<char>(RTCM3_PREAMBLE));
+    frame.append(static_cast<char>((payloadLen >> 8) & 0x03));
+    frame.append(static_cast<char>(payloadLen & 0xFF));
+    frame.append(static_cast<char>((messageId >> 4) & 0xFF));
+    frame.append(static_cast<char>((messageId & 0x0F) << 4));
+    for (int i = 0; i < extraPayloadBytes; i++) {
+        frame.append(static_cast<char>(i & 0xFF));
+    }
+    const uint32_t crc = RTCMParser::crc24q(
+        reinterpret_cast<const uint8_t*>(frame.constData()),
+        static_cast<size_t>(frame.size()));
+    frame.append(static_cast<char>((crc >> 16) & 0xFF));
+    frame.append(static_cast<char>((crc >> 8) & 0xFF));
+    frame.append(static_cast<char>(crc & 0xFF));
+    return frame;
+}
+
+} // namespace
+
+// ---------------------------------------------------------------------------
+// Whitelist Parsing
+// ---------------------------------------------------------------------------
+
+void NTRIPHttpTransportTest::testWhitelistEmpty()
+{
+    NTRIPHttpTransport t(NTRIPTransportConfig{});
+    QVERIFY(t._whitelist.isEmpty());
+
+    NTRIPTransportConfig cfg;
+    cfg.whitelist = QStringLiteral("");
+    NTRIPHttpTransport t2(cfg);
+    QVERIFY(t2._whitelist.isEmpty());
+}
+
+void NTRIPHttpTransportTest::testWhitelistSingle()
+{
+    NTRIPTransportConfig cfg;
+    cfg.whitelist = QStringLiteral("1005");
+    NTRIPHttpTransport t(cfg);
+    QCOMPARE(t._whitelist.size(), 1);
+    QCOMPARE(t._whitelist[0], 1005);
+}
+
+void NTRIPHttpTransportTest::testWhitelistMultiple()
+{
+    NTRIPTransportConfig cfg;
+    cfg.whitelist = QStringLiteral("1005,1077,1087");
+    NTRIPHttpTransport t(cfg);
+    QCOMPARE(t._whitelist.size(), 3);
+    QVERIFY(t._whitelist.contains(1005));
+    QVERIFY(t._whitelist.contains(1077));
+    QVERIFY(t._whitelist.contains(1087));
+}
+
+void NTRIPHttpTransportTest::testWhitelistInvalidEntries()
+{
+    // "abc" and "" should be skipped (toInt returns 0)
+    NTRIPTransportConfig cfg;
+    cfg.whitelist = QStringLiteral("1005,abc,,1077");
+    NTRIPHttpTransport t(cfg);
+    QCOMPARE(t._whitelist.size(), 2);
+    QVERIFY(t._whitelist.contains(1005));
+    QVERIFY(t._whitelist.contains(1077));
+}
+
+// ---------------------------------------------------------------------------
+// HTTP Status Line Parsing
+// ---------------------------------------------------------------------------
+
+void NTRIPHttpTransportTest::testParseHttpStatus200()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.1 200 OK");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 200);
+    QCOMPARE(status.reason, QStringLiteral("OK"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatusICY()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("ICY 200 OK");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 200);
+    QCOMPARE(status.reason, QStringLiteral("OK"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatus401()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.0 401 Unauthorized");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 401);
+    QCOMPARE(status.reason, QStringLiteral("Unauthorized"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatus404()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.1 404 Not Found");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 404);
+    QCOMPARE(status.reason, QStringLiteral("Not Found"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatusInvalid()
+{
+    QVERIFY(!NTRIPHttpTransport::parseHttpStatusLine("").valid);
+    QVERIFY(!NTRIPHttpTransport::parseHttpStatusLine("garbage data").valid);
+    QVERIFY(!NTRIPHttpTransport::parseHttpStatusLine("200 OK").valid);
+
+    const auto sourceTable = NTRIPHttpTransport::parseHttpStatusLine("SOURCETABLE 200 OK");
+    QVERIFY(sourceTable.valid);
+    QCOMPARE(sourceTable.code, 200);
+    QCOMPARE(sourceTable.reason, QStringLiteral("OK"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatus201()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.1 201 Created");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 201);
+    QCOMPARE(status.reason, QStringLiteral("Created"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatus500()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.0 500 Internal Server Error");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 500);
+    QCOMPARE(status.reason, QStringLiteral("Internal Server Error"));
+}
+
+void NTRIPHttpTransportTest::testParseHttpStatusNoReason()
+{
+    const auto status = NTRIPHttpTransport::parseHttpStatusLine("HTTP/1.1 400");
+    QVERIFY(status.valid);
+    QCOMPARE(status.code, 400);
+    QVERIFY(status.reason.isEmpty());
+}
+
+// ---------------------------------------------------------------------------
+// NMEA Checksum Repair
+// ---------------------------------------------------------------------------
+
+static bool hasValidNmeaChecksum(const QByteArray& sentence)
+{
+    int star = sentence.lastIndexOf('*');
+    if (star < 2 || star + 3 > sentence.size()) {
+        return false;
+    }
+
+    quint8 calc = 0;
+    for (int i = 1; i < star; ++i) {
+        calc ^= static_cast<quint8>(sentence.at(i));
+    }
+
+    QByteArray expected = QByteArray::number(calc, 16).rightJustified(2, '0').toUpper();
+    QByteArray actual = sentence.mid(star + 1, 2).toUpper();
+    return actual == expected;
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumCorrect()
+{
+    const QByteArray input = "$GPGGA,120000,4723.8620,N,00832.7360,E,1,12,1.0,100.0,M,0.0,M,,*64";
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+
+    QVERIFY(result.endsWith("\r\n"));
+    QVERIFY(hasValidNmeaChecksum(result.trimmed()));
+    QVERIFY(result.startsWith("$GPGGA,"));
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumWrong()
+{
+    const QByteArray input = "$GPGGA,120000,4723.8620,N,00832.7360,E,1,12,1.0,100.0,M,0.0,M,,*FF";
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+
+    QVERIFY(result.endsWith("\r\n"));
+    QVERIFY(hasValidNmeaChecksum(result.trimmed()));
+    QVERIFY(!result.contains("*FF"));
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumMissing()
+{
+    const QByteArray input = "$GPGGA,120000,4723.8620,N,00832.7360,E,1,12,1.0,100.0,M,0.0,M,,";
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+
+    QVERIFY(result.contains("*"));
+    QVERIFY(result.endsWith("\r\n"));
+    QVERIFY(hasValidNmeaChecksum(result.trimmed()));
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumTruncated()
+{
+    const QByteArray input = "$GPGGA,120000,0000.0000,N,00000.0000,E,1,12,1.0,0.0,M,0.0,M,,*";
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+
+    QVERIFY(result.endsWith("\r\n"));
+    const QByteArray trimmed = result.trimmed();
+    int star = trimmed.lastIndexOf('*');
+    QVERIFY(star > 0);
+    QVERIFY(star + 3 <= trimmed.size());
+    QVERIFY(hasValidNmeaChecksum(trimmed));
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumAppendsCrLf()
+{
+    const QByteArray input = "$GPGGA,000000,0000.0000,N,00000.0000,E,1,12,1.0,0.0,M,0.0,M,,*00";
+    QVERIFY(!input.endsWith("\r\n"));
+
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+    QVERIFY(result.endsWith("\r\n"));
+
+    const QByteArray input2 = input + "\r\n";
+    const QByteArray result2 = NTRIPHttpTransport::repairNmeaChecksum(input2);
+    QVERIFY(result2.endsWith("\r\n"));
+    QVERIFY(!result2.endsWith("\r\n\r\n"));
+}
+
+void NTRIPHttpTransportTest::testRepairNmeaChecksumShortSentence()
+{
+    const QByteArray input = "$GP";
+    const QByteArray result = NTRIPHttpTransport::repairNmeaChecksum(input);
+    QVERIFY(result.endsWith("\r\n"));
+
+    const QByteArray empty = "";
+    const QByteArray resultEmpty = NTRIPHttpTransport::repairNmeaChecksum(empty);
+    QVERIFY(resultEmpty.endsWith("\r\n"));
+}
+
+// ---------------------------------------------------------------------------
+// RTCM Filtering
+// ---------------------------------------------------------------------------
+
+void NTRIPHttpTransportTest::testFilterNoWhitelist()
+{
+    NTRIPTransportConfig cfg;
+    cfg.mountpoint = QStringLiteral("TEST");
+    NTRIPHttpTransport t(cfg);
+
+    QVector<QByteArray> received;
+    connect(&t, &NTRIPHttpTransport::RTCMDataUpdate, this, [&](const QByteArray& msg) {
+        received.append(msg);
+    });
+
+    QByteArray stream = buildRtcmFrame(1005, 4) + buildRtcmFrame(1077, 8) + buildRtcmFrame(1087, 2);
+    t._parseRtcm(stream);
+
+    QCOMPARE(received.size(), 3);
+}
+
+void NTRIPHttpTransportTest::testFilterWithWhitelist()
+{
+    NTRIPTransportConfig cfg;
+    cfg.mountpoint = QStringLiteral("TEST");
+    cfg.whitelist = QStringLiteral("1005,1087");
+    NTRIPHttpTransport t(cfg);
+
+    QVector<uint16_t> receivedIds;
+    connect(&t, &NTRIPHttpTransport::RTCMDataUpdate, this, [&](const QByteArray& msg) {
+        if (msg.size() >= 5) {
+            uint16_t id = (static_cast<uint8_t>(msg[3]) << 4) | (static_cast<uint8_t>(msg[4]) >> 4);
+            receivedIds.append(id);
+        }
+    });
+
+    QByteArray stream = buildRtcmFrame(1005, 4) + buildRtcmFrame(1077, 8) + buildRtcmFrame(1087, 2);
+    t._parseRtcm(stream);
+
+    QCOMPARE(receivedIds.size(), 2);
+    QVERIFY(receivedIds.contains(1005));
+    QVERIFY(receivedIds.contains(1087));
+    QVERIFY(!receivedIds.contains(1077));
+}
+
+void NTRIPHttpTransportTest::testFilterRejectsBadCrc()
+{
+    NTRIPTransportConfig cfg;
+    cfg.mountpoint = QStringLiteral("TEST");
+    NTRIPHttpTransport t(cfg);
+
+    int count = 0;
+    connect(&t, &NTRIPHttpTransport::RTCMDataUpdate, this, [&](const QByteArray&) {
+        count++;
+    });
+
+    QByteArray bad = buildRtcmFrame(1005, 4);
+    bad[bad.size() - 1] = static_cast<char>(bad[bad.size() - 1] ^ 0xFF);
+
+    QByteArray good = buildRtcmFrame(1077, 2);
+
+    t._parseRtcm(bad + good);
+
+    QCOMPARE(count, 1);
+}
+
+UT_REGISTER_TEST(NTRIPHttpTransportTest, TestLabel::Unit)
diff --git a/test/GPS/NTRIPHttpTransportTest.h b/test/GPS/NTRIPHttpTransportTest.h
new file mode 100644
index 000000000000..09ffdb59240f
--- /dev/null
+++ b/test/GPS/NTRIPHttpTransportTest.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class NTRIPHttpTransportTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // HTTP status line parsing
+    void testParseHttpStatus200();
+    void testParseHttpStatusICY();
+    void testParseHttpStatus401();
+    void testParseHttpStatus404();
+    void testParseHttpStatusInvalid();
+    void testParseHttpStatus201();
+    void testParseHttpStatus500();
+    void testParseHttpStatusNoReason();
+
+    // Whitelist parsing
+    void testWhitelistEmpty();
+    void testWhitelistSingle();
+    void testWhitelistMultiple();
+    void testWhitelistInvalidEntries();
+
+    // RTCM filtering
+    void testFilterNoWhitelist();
+    void testFilterWithWhitelist();
+    void testFilterRejectsBadCrc();
+
+    // NMEA checksum repair
+    void testRepairNmeaChecksumCorrect();
+    void testRepairNmeaChecksumWrong();
+    void testRepairNmeaChecksumMissing();
+    void testRepairNmeaChecksumTruncated();
+    void testRepairNmeaChecksumAppendsCrLf();
+    void testRepairNmeaChecksumShortSentence();
+};
diff --git a/test/GPS/NTRIPManagerTest.cc b/test/GPS/NTRIPManagerTest.cc
new file mode 100644
index 000000000000..d66ea0a71927
--- /dev/null
+++ b/test/GPS/NTRIPManagerTest.cc
@@ -0,0 +1,216 @@
+#include "NTRIPManagerTest.h"
+#include "NTRIPManager.h"
+
+#include <QtPositioning/QGeoCoordinate>
+
+static bool verifyNmeaChecksum(const QByteArray& sentence)
+{
+    if (sentence.size() < 6 || sentence.at(0) != '$') {
+        return false;
+    }
+
+    int star = sentence.lastIndexOf('*');
+    if (star < 2 || star + 3 > sentence.size()) {
+        return false;
+    }
+
+    quint8 calc = 0;
+    for (int i = 1; i < star; ++i) {
+        calc ^= static_cast<quint8>(sentence.at(i));
+    }
+
+    QByteArray expected = QByteArray::number(calc, 16).rightJustified(2, '0').toUpper();
+    QByteArray actual = sentence.mid(star + 1, 2).toUpper();
+    return actual == expected;
+}
+
+static int countFields(const QByteArray& gga)
+{
+    // Count comma-separated fields between $ and *
+    int star = gga.lastIndexOf('*');
+    if (star < 0) star = gga.size();
+    QByteArray body = gga.mid(1, star - 1); // strip $ and *XX
+    return body.count(',') + 1;
+}
+
+// ---------------------------------------------------------------------------
+// GGA Format and Structure
+// ---------------------------------------------------------------------------
+
+void NTRIPManagerTest::testMakeGGAFormat()
+{
+    QGeoCoordinate coord(47.3977, 8.5456);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 408.0);
+
+    QVERIFY(gga.startsWith("$GPGGA,"));
+    QVERIFY(gga.contains("*"));
+    QVERIFY(!gga.contains("\r\n"));
+
+    QVERIFY(gga.contains(",N,"));
+    QVERIFY(gga.contains(",E,"));
+
+    QVERIFY(gga.contains(",408.0,M,"));
+}
+
+void NTRIPManagerTest::testMakeGGAFieldCount()
+{
+    // GGA has 15 fields: $GPGGA,hhmmss,lat,N,lon,E,qual,nsat,hdop,alt,M,geoid,M,age,refid
+    QGeoCoordinate coord(40.0, -74.0);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 10.0);
+
+    // GPGGA sentence: the body (between $ and *) has 15 comma-separated fields
+    QCOMPARE(countFields(gga), 15);
+}
+
+void NTRIPManagerTest::testMakeGGAChecksum()
+{
+    QGeoCoordinate coord(37.7749, -122.4194);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 16.0);
+
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+// ---------------------------------------------------------------------------
+// GGA Hemisphere Encoding
+// ---------------------------------------------------------------------------
+
+void NTRIPManagerTest::testMakeGGANorthEast()
+{
+    QGeoCoordinate coord(51.5074, 0.1278);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 11.0);
+
+    QVERIFY(gga.contains(",N,"));
+    QVERIFY(gga.contains(",E,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+void NTRIPManagerTest::testMakeGGASouthWest()
+{
+    QGeoCoordinate coord(-33.8688, -151.2093);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 58.0);
+
+    QVERIFY(gga.contains(",S,"));
+    QVERIFY(gga.contains(",W,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+void NTRIPManagerTest::testMakeGGAEquator()
+{
+    // Latitude exactly 0 should be N (>= 0.0)
+    QGeoCoordinate coord(0.0, 10.0);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 0.0);
+
+    QVERIFY(gga.contains(",N,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+void NTRIPManagerTest::testMakeGGADateLine()
+{
+    // Longitude near 180 (Fiji)
+    QGeoCoordinate coordEast(17.7134, 178.065);
+    QByteArray ggaEast = NTRIPManager::makeGGA(coordEast, 5.0);
+    QVERIFY(ggaEast.contains(",E,"));
+    QVERIFY(verifyNmeaChecksum(ggaEast));
+
+    // Longitude near -180 (across the date line)
+    QGeoCoordinate coordWest(17.7134, -179.5);
+    QByteArray ggaWest = NTRIPManager::makeGGA(coordWest, 5.0);
+    QVERIFY(ggaWest.contains(",W,"));
+    QVERIFY(verifyNmeaChecksum(ggaWest));
+}
+
+// ---------------------------------------------------------------------------
+// GGA Altitude
+// ---------------------------------------------------------------------------
+
+void NTRIPManagerTest::testMakeGGAZeroAltitude()
+{
+    QGeoCoordinate coord(0.0001, 0.0001);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 0.0);
+
+    QVERIFY(gga.contains(",0.0,M,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+void NTRIPManagerTest::testMakeGGAHighAltitude()
+{
+    QGeoCoordinate coord(27.9881, 86.9250);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 8848.9);
+
+    QVERIFY(gga.contains(",8848.9,M,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+void NTRIPManagerTest::testMakeGGANegativeAltitude()
+{
+    // Dead Sea: ~-430m
+    QGeoCoordinate coord(31.5, 35.5);
+    QByteArray gga = NTRIPManager::makeGGA(coord, -430.5);
+
+    QVERIFY(gga.contains(",-430.5,M,"));
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+// ---------------------------------------------------------------------------
+// GGA Coordinate Precision
+// ---------------------------------------------------------------------------
+
+void NTRIPManagerTest::testMakeGGADMMPrecision()
+{
+    // 47.3977 degrees = 47 degrees, 23.8620 minutes
+    // 8.5456 degrees = 008 degrees, 32.7360 minutes
+    QGeoCoordinate coord(47.3977, 8.5456);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 100.0);
+
+    // Extract lat field: after "GPGGA,HHMMSS," the next field is lat
+    QString ggaStr = QString::fromUtf8(gga);
+    QStringList fields = ggaStr.mid(1, ggaStr.indexOf('*') - 1).split(',');
+    // fields[0] = GPGGA, [1] = time, [2] = lat, [3] = N/S, [4] = lon, [5] = E/W
+    QVERIFY(fields.size() >= 6);
+
+    // Latitude: 4723.xxxx
+    QString lat = fields[2];
+    QVERIFY2(lat.startsWith("4723"), qPrintable(QString("Lat field: %1").arg(lat)));
+    QCOMPARE(fields[3], QStringLiteral("N"));
+
+    // Longitude: 00832.xxxx
+    QString lon = fields[4];
+    QVERIFY2(lon.startsWith("00832"), qPrintable(QString("Lon field: %1").arg(lon)));
+    QCOMPARE(fields[5], QStringLiteral("E"));
+
+    QVERIFY(verifyNmeaChecksum(gga));
+}
+
+// ---------------------------------------------------------------------------
+// GGA Time Field
+// ---------------------------------------------------------------------------
+
+void NTRIPManagerTest::testMakeGGATimeFormat()
+{
+    QGeoCoordinate coord(40.0, -74.0);
+    QByteArray gga = NTRIPManager::makeGGA(coord, 10.0);
+
+    // Extract time field (field index 1, after $GPGGA,)
+    QString ggaStr = QString::fromUtf8(gga);
+    QStringList fields = ggaStr.mid(1, ggaStr.indexOf('*') - 1).split(',');
+    QVERIFY(fields.size() >= 2);
+
+    const QString timeField = fields[1];
+    // Should be HHMMSS.SS format (8 or more chars: 6 digits + dot + decimals)
+    QVERIFY2(timeField.size() >= 6, qPrintable(QString("Time field too short: %1").arg(timeField)));
+    // First 6 chars should be digits
+    for (int i = 0; i < 6; ++i) {
+        QVERIFY2(timeField[i].isDigit(), qPrintable(QString("Non-digit at pos %1: %2").arg(i).arg(timeField)));
+    }
+    // HH should be 00-23
+    int hh = timeField.left(2).toInt();
+    QVERIFY2(hh >= 0 && hh <= 23, qPrintable(QString("Invalid hour: %1").arg(hh)));
+    // MM should be 00-59
+    int mm = timeField.mid(2, 2).toInt();
+    QVERIFY2(mm >= 0 && mm <= 59, qPrintable(QString("Invalid minute: %1").arg(mm)));
+    // SS should be 00-59
+    int ss = timeField.mid(4, 2).toInt();
+    QVERIFY2(ss >= 0 && ss <= 59, qPrintable(QString("Invalid second: %1").arg(ss)));
+}
+
+UT_REGISTER_TEST(NTRIPManagerTest, TestLabel::Unit)
diff --git a/test/GPS/NTRIPManagerTest.h b/test/GPS/NTRIPManagerTest.h
new file mode 100644
index 000000000000..1edbc356f361
--- /dev/null
+++ b/test/GPS/NTRIPManagerTest.h
@@ -0,0 +1,31 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class NTRIPManagerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // GGA format and structure
+    void testMakeGGAFormat();
+    void testMakeGGAFieldCount();
+    void testMakeGGAChecksum();
+
+    // GGA hemisphere encoding
+    void testMakeGGANorthEast();
+    void testMakeGGASouthWest();
+    void testMakeGGAEquator();
+    void testMakeGGADateLine();
+
+    // GGA altitude
+    void testMakeGGAZeroAltitude();
+    void testMakeGGAHighAltitude();
+    void testMakeGGANegativeAltitude();
+
+    // GGA coordinate precision
+    void testMakeGGADMMPrecision();
+
+    // GGA time field
+    void testMakeGGATimeFormat();
+};
diff --git a/test/GPS/NTRIPSourceTableTest.cc b/test/GPS/NTRIPSourceTableTest.cc
new file mode 100644
index 000000000000..11031379a7d5
--- /dev/null
+++ b/test/GPS/NTRIPSourceTableTest.cc
@@ -0,0 +1,118 @@
+#include "NTRIPSourceTableTest.h"
+#include "NTRIPSourceTable.h"
+#include "QmlObjectListModel.h"
+
+#include <QtPositioning/QGeoCoordinate>
+
+void NTRIPSourceTableTest::testParseSTRLine()
+{
+    const QString line = "STR;MOUNT01;Mount Identifier;RTCM 3.2;1005(1),1074(1),1084(1),1094(1);2;GPS+GLO+GAL;NET01;USA;40.0000;-74.0000;0;1;QGC Test;none;B;N;4800;misc";
+    auto* mp = NTRIPMountpointModel::fromSourceTableLine(line);
+    QVERIFY(mp != nullptr);
+
+    QCOMPARE(mp->mountpoint(), QStringLiteral("MOUNT01"));
+    QCOMPARE(mp->identifier(), QStringLiteral("Mount Identifier"));
+    QCOMPARE(mp->format(), QStringLiteral("RTCM 3.2"));
+    QCOMPARE(mp->carrier(), 2);
+    QCOMPARE(mp->navSystem(), QStringLiteral("GPS+GLO+GAL"));
+    QCOMPARE(mp->network(), QStringLiteral("NET01"));
+    QCOMPARE(mp->country(), QStringLiteral("USA"));
+    QVERIFY(qFuzzyCompare(mp->latitude(), 40.0));
+    QVERIFY(qFuzzyCompare(mp->longitude(), -74.0));
+    QVERIFY(!mp->nmea());
+    QVERIFY(mp->solution());
+    QCOMPARE(mp->generator(), QStringLiteral("QGC Test"));
+    QCOMPARE(mp->authentication(), QStringLiteral("B"));
+    QVERIFY(!mp->fee());
+    QCOMPARE(mp->bitrate(), 4800);
+
+    delete mp;
+}
+
+void NTRIPSourceTableTest::testParseShortLine()
+{
+    const QString line = "STR;SHORT;Too;Few;Fields";
+    auto* mp = NTRIPMountpointModel::fromSourceTableLine(line);
+    QVERIFY(mp == nullptr);
+}
+
+void NTRIPSourceTableTest::testParseNonSTRLine()
+{
+    const QString line = "CAS;caster.example.com;2101;NTRIP Caster;Operator;0;USA;0.0;0.0;0.0;0.0;0;0;misc";
+    auto* mp = NTRIPMountpointModel::fromSourceTableLine(line);
+    QVERIFY(mp == nullptr);
+}
+
+void NTRIPSourceTableTest::testParseFullTable()
+{
+    const QString table =
+        "SOURCETABLE 200 OK\r\n"
+        "STR;MP1;Id1;RTCM 3.2;details;2;GPS;NET;USA;40.0;-74.0;0;1;gen;none;B;N;4800;misc\r\n"
+        "STR;MP2;Id2;RTCM 3.3;details;0;GLO;NET;DEU;52.0;13.0;1;0;gen;none;N;Y;9600;misc\r\n"
+        "CAS;caster.example.com;2101;desc;op;0;USA;0;0;0;0;0;0;misc\r\n"
+        "ENDSOURCETABLE\r\n";
+
+    NTRIPSourceTableModel model;
+    model.parseSourceTable(table);
+
+    QCOMPARE(model.count(), 2);
+}
+
+void NTRIPSourceTableTest::testDistanceCalculation()
+{
+    const QString line = "STR;NEAR;Id;RTCM 3.2;details;2;GPS;NET;USA;40.7128;-74.0060;0;1;gen;none;B;N;4800;misc";
+    auto* mp = NTRIPMountpointModel::fromSourceTableLine(line);
+    QVERIFY(mp != nullptr);
+
+    QVERIFY(mp->distanceKm() < 0.0);
+
+    QGeoCoordinate userPos(40.7128, -74.0060);
+    mp->updateDistance(userPos);
+    QVERIFY(mp->distanceKm() >= 0.0);
+    QVERIFY(mp->distanceKm() < 1.0);
+
+    QGeoCoordinate farPos(51.5074, -0.1278);
+    mp->updateDistance(farPos);
+    QVERIFY(mp->distanceKm() > 5000.0);
+
+    delete mp;
+}
+
+void NTRIPSourceTableTest::testUpdateDistancesAll()
+{
+    const QString table =
+        "STR;NYC;Id1;RTCM 3.2;details;2;GPS;NET;USA;40.7128;-74.0060;0;1;gen;none;B;N;4800;misc\r\n"
+        "STR;LON;Id2;RTCM 3.3;details;0;GPS;NET;GBR;51.5074;-0.1278;1;0;gen;none;N;Y;9600;misc\r\n"
+        "ENDSOURCETABLE\r\n";
+
+    NTRIPSourceTableModel model;
+    model.parseSourceTable(table);
+    QCOMPARE(model.count(), 2);
+
+    // Before update, distances should be negative (unset)
+    auto* mp0 = qobject_cast<NTRIPMountpointModel*>(model.mountpoints()->get(0));
+    auto* mp1 = qobject_cast<NTRIPMountpointModel*>(model.mountpoints()->get(1));
+    QVERIFY(mp0->distanceKm() < 0.0);
+    QVERIFY(mp1->distanceKm() < 0.0);
+
+    // Update from NYC position
+    QGeoCoordinate nycPos(40.7128, -74.0060);
+    model.updateDistances(nycPos);
+
+    // NYC mount should be very close, London should be far
+    QVERIFY(mp0->distanceKm() >= 0.0);
+    QVERIFY(mp0->distanceKm() < 1.0);
+    QVERIFY(mp1->distanceKm() > 5000.0);
+}
+
+void NTRIPSourceTableTest::testEmptyTable()
+{
+    NTRIPSourceTableModel model;
+    model.parseSourceTable("");
+    QCOMPARE(model.count(), 0);
+
+    model.parseSourceTable("ENDSOURCETABLE\r\n");
+    QCOMPARE(model.count(), 0);
+}
+
+UT_REGISTER_TEST(NTRIPSourceTableTest, TestLabel::Unit)
diff --git a/test/GPS/NTRIPSourceTableTest.h b/test/GPS/NTRIPSourceTableTest.h
new file mode 100644
index 000000000000..110552539ddc
--- /dev/null
+++ b/test/GPS/NTRIPSourceTableTest.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class NTRIPSourceTableTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void testParseSTRLine();
+    void testParseShortLine();
+    void testParseNonSTRLine();
+    void testParseFullTable();
+    void testDistanceCalculation();
+    void testUpdateDistancesAll();
+    void testEmptyTable();
+};
diff --git a/test/GPS/RTCMParserTest.cc b/test/GPS/RTCMParserTest.cc
new file mode 100644
index 000000000000..7d2d8b259524
--- /dev/null
+++ b/test/GPS/RTCMParserTest.cc
@@ -0,0 +1,351 @@
+#include "RTCMParserTest.h"
+#include "RTCMParser.h"
+
+static QByteArray buildRtcmFrame(uint16_t messageId, int extraPayloadBytes = 0)
+{
+    const int payloadLen = 2 + extraPayloadBytes;
+    QByteArray frame;
+
+    frame.append(static_cast<char>(RTCM3_PREAMBLE));
+    frame.append(static_cast<char>((payloadLen >> 8) & 0x03));
+    frame.append(static_cast<char>(payloadLen & 0xFF));
+
+    frame.append(static_cast<char>((messageId >> 4) & 0xFF));
+    frame.append(static_cast<char>((messageId & 0x0F) << 4));
+
+    for (int i = 0; i < extraPayloadBytes; i++) {
+        frame.append(static_cast<char>(i & 0xFF));
+    }
+
+    const uint32_t crc = RTCMParser::crc24q(
+        reinterpret_cast<const uint8_t*>(frame.constData()),
+        static_cast<size_t>(frame.size()));
+
+    frame.append(static_cast<char>((crc >> 16) & 0xFF));
+    frame.append(static_cast<char>((crc >> 8) & 0xFF));
+    frame.append(static_cast<char>(crc & 0xFF));
+
+    return frame;
+}
+
+// ---------------------------------------------------------------------------
+// CRC-24Q Tests
+// ---------------------------------------------------------------------------
+
+void RTCMParserTest::testCrc24qEmpty()
+{
+    const uint32_t crc = RTCMParser::crc24q(nullptr, 0);
+    QCOMPARE(crc, 0u);
+}
+
+void RTCMParserTest::testCrc24qSingleByte()
+{
+    // CRC-24Q of 0x00 with initial value 0 is 0 (no bits set to trigger polynomial)
+    const uint8_t zero = 0x00;
+    QCOMPARE(RTCMParser::crc24q(&zero, 1), 0u);
+
+    // CRC-24Q of a non-zero byte should produce a non-zero 24-bit result
+    const uint8_t nonzero = 0x01;
+    const uint32_t crc = RTCMParser::crc24q(&nonzero, 1);
+    QVERIFY(crc != 0u);
+    QCOMPARE(crc & 0xFF000000u, 0u);
+}
+
+void RTCMParserTest::testCrc24qKnownVector()
+{
+    const uint8_t data[] = { 0xD3, 0x00, 0x02, 0x3E, 0xD0 };
+    const uint32_t crc1 = RTCMParser::crc24q(data, sizeof(data));
+    const uint32_t crc2 = RTCMParser::crc24q(data, sizeof(data));
+    QCOMPARE(crc1, crc2);
+    QVERIFY((crc1 & 0xFF000000u) == 0u);
+}
+
+void RTCMParserTest::testCrc24qReferenceVector()
+{
+    // Standard CRC-24Q check value: "123456789" -> 0xCDE703
+    const uint8_t data[] = { 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39 };
+    const uint32_t crc = RTCMParser::crc24q(data, sizeof(data));
+    QCOMPARE(crc, static_cast<uint32_t>(0xCDE703));
+}
+
+void RTCMParserTest::testCrc24qIncremental()
+{
+    QByteArray frame = buildRtcmFrame(1005, 10);
+
+    // header(3) + payload(12) + crc(3) = 18
+    QCOMPARE(frame.size(), 18);
+
+    const uint32_t frameCrc = (static_cast<uint8_t>(frame[15]) << 16) |
+                              (static_cast<uint8_t>(frame[16]) << 8) |
+                               static_cast<uint8_t>(frame[17]);
+
+    const uint32_t computed = RTCMParser::crc24q(
+        reinterpret_cast<const uint8_t*>(frame.constData()), 15);
+
+    QCOMPARE(computed, frameCrc);
+}
+
+// ---------------------------------------------------------------------------
+// RTCMParser State Machine Tests
+// ---------------------------------------------------------------------------
+
+void RTCMParserTest::testParserReset()
+{
+    RTCMParser parser;
+    QCOMPARE(parser.messageLength(), static_cast<uint16_t>(0));
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(0));
+
+    parser.addByte(RTCM3_PREAMBLE);
+    parser.addByte(0x00);
+    parser.reset();
+
+    QCOMPARE(parser.messageLength(), static_cast<uint16_t>(0));
+}
+
+void RTCMParserTest::testParserValidMessage()
+{
+    QByteArray frame = buildRtcmFrame(1005, 4);
+    RTCMParser parser;
+
+    bool complete = false;
+    for (int i = 0; i < frame.size(); i++) {
+        complete = parser.addByte(static_cast<uint8_t>(frame[i]));
+        if (i < frame.size() - 1) {
+            QVERIFY2(!complete, qPrintable(QString("Parser reported complete at byte %1").arg(i)));
+        }
+    }
+
+    QVERIFY(complete);
+    QCOMPARE(parser.messageLength(), static_cast<uint16_t>(6));
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(1005));
+}
+
+void RTCMParserTest::testParserCrcValidation()
+{
+    QByteArray frame = buildRtcmFrame(1077, 8);
+    RTCMParser parser;
+
+    for (int i = 0; i < frame.size(); i++) {
+        parser.addByte(static_cast<uint8_t>(frame[i]));
+    }
+
+    QVERIFY(parser.validateCrc());
+}
+
+void RTCMParserTest::testParserInvalidCrc()
+{
+    QByteArray frame = buildRtcmFrame(1077, 8);
+    frame[frame.size() - 1] = static_cast<char>(frame[frame.size() - 1] ^ 0xFF);
+
+    RTCMParser parser;
+    for (int i = 0; i < frame.size(); i++) {
+        parser.addByte(static_cast<uint8_t>(frame[i]));
+    }
+
+    QVERIFY(!parser.validateCrc());
+}
+
+void RTCMParserTest::testParserMessageId()
+{
+    const uint16_t testIds[] = { 1001, 1005, 1006, 1033, 1077, 1087, 1097, 1127, 4094 };
+
+    for (uint16_t id : testIds) {
+        QByteArray frame = buildRtcmFrame(id, 0);
+        RTCMParser parser;
+
+        for (int i = 0; i < frame.size(); i++) {
+            parser.addByte(static_cast<uint8_t>(frame[i]));
+        }
+
+        QCOMPARE(parser.messageId(), id);
+    }
+}
+
+void RTCMParserTest::testParserGarbageBeforePreamble()
+{
+    QByteArray frame = buildRtcmFrame(1005, 2);
+
+    QByteArray input;
+    input.append('\x00');
+    input.append('\xFF');
+    input.append('\xAA');
+    input.append('\x55');
+    input.append(frame);
+
+    RTCMParser parser;
+    bool complete = false;
+    for (int i = 0; i < input.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(input[i]))) {
+            complete = true;
+            break;
+        }
+    }
+
+    QVERIFY(complete);
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(1005));
+    QVERIFY(parser.validateCrc());
+}
+
+void RTCMParserTest::testParserInvalidLength()
+{
+    // Length = 0 is invalid; parser should reset
+    QByteArray frame;
+    frame.append(static_cast<char>(RTCM3_PREAMBLE));
+    frame.append('\x00');
+    frame.append('\x00');
+
+    RTCMParser parser;
+    for (int i = 0; i < frame.size(); i++) {
+        QVERIFY(!parser.addByte(static_cast<uint8_t>(frame[i])));
+    }
+
+    // Parser should recover and parse a valid message
+    QByteArray valid = buildRtcmFrame(1005, 0);
+    bool complete = false;
+    for (int i = 0; i < valid.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(valid[i]))) {
+            complete = true;
+        }
+    }
+    QVERIFY(complete);
+    QVERIFY(parser.validateCrc());
+}
+
+void RTCMParserTest::testParserOverlengthRejected()
+{
+    // Length > 1023 (10-bit max) — set reserved bits in length field
+    QByteArray frame;
+    frame.append(static_cast<char>(RTCM3_PREAMBLE));
+    frame.append(static_cast<char>(0x04)); // bit 2 set = 1024 (exceeds 1023)
+    frame.append(static_cast<char>(0x00));
+
+    RTCMParser parser;
+    for (int i = 0; i < frame.size(); i++) {
+        QVERIFY(!parser.addByte(static_cast<uint8_t>(frame[i])));
+    }
+
+    // Parser should have reset; verify recovery
+    QByteArray valid = buildRtcmFrame(1077, 0);
+    bool complete = false;
+    for (int i = 0; i < valid.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(valid[i]))) {
+            complete = true;
+        }
+    }
+    QVERIFY(complete);
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(1077));
+}
+
+void RTCMParserTest::testParserMultipleMessages()
+{
+    QByteArray msg1 = buildRtcmFrame(1005, 4);
+    QByteArray msg2 = buildRtcmFrame(1077, 8);
+    QByteArray msg3 = buildRtcmFrame(1087, 2);
+
+    QByteArray stream = msg1 + msg2 + msg3;
+
+    RTCMParser parser;
+    int messageCount = 0;
+    QVector<uint16_t> ids;
+
+    for (int i = 0; i < stream.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(stream[i]))) {
+            QVERIFY(parser.validateCrc());
+            ids.append(parser.messageId());
+            messageCount++;
+            parser.reset();
+        }
+    }
+
+    QCOMPARE(messageCount, 3);
+    QCOMPARE(ids[0], static_cast<uint16_t>(1005));
+    QCOMPARE(ids[1], static_cast<uint16_t>(1077));
+    QCOMPARE(ids[2], static_cast<uint16_t>(1087));
+}
+
+void RTCMParserTest::testParserMaxLength()
+{
+    QByteArray frame;
+    frame.append(static_cast<char>(RTCM3_PREAMBLE));
+    frame.append(static_cast<char>(0x03)); // 1023 upper
+    frame.append(static_cast<char>(0xFF)); // 1023 lower
+
+    // 1023 bytes of payload
+    frame.append(static_cast<char>(0x3E)); // message ID 1005 upper
+    frame.append(static_cast<char>(0xD0)); // message ID 1005 lower
+    for (int i = 0; i < 1021; i++) {
+        frame.append(static_cast<char>(i & 0xFF));
+    }
+
+    const uint32_t crc = RTCMParser::crc24q(
+        reinterpret_cast<const uint8_t*>(frame.constData()),
+        static_cast<size_t>(frame.size()));
+    frame.append(static_cast<char>((crc >> 16) & 0xFF));
+    frame.append(static_cast<char>((crc >> 8) & 0xFF));
+    frame.append(static_cast<char>(crc & 0xFF));
+
+    RTCMParser parser;
+    bool complete = false;
+    for (int i = 0; i < frame.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(frame[i]))) {
+            complete = true;
+        }
+    }
+
+    QVERIFY(complete);
+    QCOMPARE(parser.messageLength(), static_cast<uint16_t>(1023));
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(1005));
+    QVERIFY(parser.validateCrc());
+}
+
+void RTCMParserTest::testParserTruncatedFrame()
+{
+    QByteArray frame = buildRtcmFrame(1005, 4);
+
+    // Feed only half the frame; parser should never report complete
+    RTCMParser parser;
+    const int halfSize = frame.size() / 2;
+    for (int i = 0; i < halfSize; i++) {
+        QVERIFY(!parser.addByte(static_cast<uint8_t>(frame[i])));
+    }
+
+    // After reset, a full valid frame should still parse
+    parser.reset();
+    bool complete = false;
+    for (int i = 0; i < frame.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(frame[i]))) {
+            complete = true;
+        }
+    }
+    QVERIFY(complete);
+    QVERIFY(parser.validateCrc());
+}
+
+void RTCMParserTest::testParserCorruptedPreamble()
+{
+    // Bytes that look like preamble but aren't, followed by a valid frame
+    QByteArray input;
+    // Near-miss preamble bytes
+    input.append(static_cast<char>(0xD2));
+    input.append(static_cast<char>(0xD4));
+    input.append(static_cast<char>(0x00));
+    input.append(static_cast<char>(0x02));
+
+    QByteArray valid = buildRtcmFrame(1033, 6);
+    input.append(valid);
+
+    RTCMParser parser;
+    bool complete = false;
+    for (int i = 0; i < input.size(); i++) {
+        if (parser.addByte(static_cast<uint8_t>(input[i]))) {
+            complete = true;
+            break;
+        }
+    }
+
+    QVERIFY(complete);
+    QCOMPARE(parser.messageId(), static_cast<uint16_t>(1033));
+    QVERIFY(parser.validateCrc());
+}
+
+UT_REGISTER_TEST(RTCMParserTest, TestLabel::Unit)
diff --git a/test/GPS/RTCMParserTest.h b/test/GPS/RTCMParserTest.h
new file mode 100644
index 000000000000..3a92d1244f22
--- /dev/null
+++ b/test/GPS/RTCMParserTest.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class RTCMParserTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // CRC-24Q
+    void testCrc24qEmpty();
+    void testCrc24qSingleByte();
+    void testCrc24qKnownVector();
+    void testCrc24qReferenceVector();
+    void testCrc24qIncremental();
+
+    // RTCMParser state machine
+    void testParserReset();
+    void testParserValidMessage();
+    void testParserCrcValidation();
+    void testParserInvalidCrc();
+    void testParserMessageId();
+    void testParserGarbageBeforePreamble();
+    void testParserInvalidLength();
+    void testParserOverlengthRejected();
+    void testParserMultipleMessages();
+    void testParserMaxLength();
+    void testParserTruncatedFrame();
+    void testParserCorruptedPreamble();
+};
diff --git a/test/MAVLink/CMakeLists.txt b/test/MAVLink/CMakeLists.txt
index 6484e8214891..1f7c81b0f323 100644
--- a/test/MAVLink/CMakeLists.txt
+++ b/test/MAVLink/CMakeLists.txt
@@ -5,6 +5,8 @@
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
+        MockLinkSigningTest.cc
+        MockLinkSigningTest.h
         SigningTest.cc
         SigningTest.h
         StatusTextHandlerTest.cc
diff --git a/test/MAVLink/MockLinkSigningTest.cc b/test/MAVLink/MockLinkSigningTest.cc
new file mode 100644
index 000000000000..05d21abe0b65
--- /dev/null
+++ b/test/MAVLink/MockLinkSigningTest.cc
@@ -0,0 +1,125 @@
+#include "MockLinkSigningTest.h"
+
+#include "MAVLinkSigningKeys.h"
+#include "MAVLinkSigning.h"
+#include "Vehicle.h"
+
+#include <QtTest/QSignalSpy>
+
+MockLinkSigningTest::MockLinkSigningTest(QObject* parent)
+    : VehicleTest(parent)
+{
+}
+
+void MockLinkSigningTest::init()
+{
+    VehicleTest::init();
+
+    // Ensure a clean key store before each test
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+    while (signingKeys->keys()->count() > 0) {
+        signingKeys->removeKey(0);
+    }
+}
+
+void MockLinkSigningTest::cleanup()
+{
+    // Always clean up keys even if the test failed
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+    while (signingKeys->keys()->count() > 0) {
+        signingKeys->removeKey(0);
+    }
+
+    VehicleTest::cleanup();
+}
+
+void MockLinkSigningTest::_testSendSetupSigning()
+{
+    QVERIFY(vehicle());
+    QVERIFY(mockLink());
+
+    // Add a key
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+    signingKeys->addKey("TestKey", "TestPassphrase");
+    QVERIFY(!signingKeys->keyBytesAt(0).isEmpty());
+
+    mockLink()->clearReceivedMavlinkMessageCounts();
+    QVERIFY(!mockLink()->signingEnabled());
+
+    QSignalSpy signingChangedSpy(vehicle(), &Vehicle::mavlinkSigningChanged);
+
+    // Send signing setup to vehicle with key index 0
+    vehicle()->sendSetupSigning(0);
+
+    // Verify MockLink received the SETUP_SIGNING message (sent twice for reliability)
+    QVERIFY_TRUE_WAIT(mockLink()->receivedMavlinkMessageCount(MAVLINK_MSG_ID_SETUP_SIGNING) >= 2, TestTimeout::mediumMs());
+    QVERIFY(mockLink()->signingEnabled());
+
+    // Verify the signal was emitted and the vehicle tracks the active key name
+    QVERIFY(signingChangedSpy.count() > 0);
+    QCOMPARE(vehicle()->mavlinkSigningKeyName(), QStringLiteral("TestKey"));
+}
+
+void MockLinkSigningTest::_testSendDisableSigning()
+{
+    QVERIFY(vehicle());
+    QVERIFY(mockLink());
+
+    // Add a key and send to vehicle first
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+    signingKeys->addKey("TestKey2", "TestPassphrase2");
+
+    QSignalSpy signingChangedSpy(vehicle(), &Vehicle::mavlinkSigningChanged);
+
+    vehicle()->sendSetupSigning(0);
+    QVERIFY_TRUE_WAIT(mockLink()->signingEnabled(), TestTimeout::mediumMs());
+    QVERIFY(signingChangedSpy.count() > 0);
+
+    // Now disable signing
+    signingChangedSpy.clear();
+    mockLink()->clearReceivedMavlinkMessageCounts();
+    vehicle()->sendDisableSigning();
+
+    // Verify MockLink received the disable message and signing is now off
+    QVERIFY_TRUE_WAIT(mockLink()->receivedMavlinkMessageCount(MAVLINK_MSG_ID_SETUP_SIGNING) >= 2, TestTimeout::mediumMs());
+    QVERIFY(!mockLink()->signingEnabled());
+
+    // Verify the signal was emitted and the vehicle cleared the active key name
+    QVERIFY(signingChangedSpy.count() > 0);
+    QVERIFY(vehicle()->mavlinkSigningKeyName().isEmpty());
+}
+
+void MockLinkSigningTest::_testSigningKeysAddRemove()
+{
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+
+    // Start with no keys
+    QCOMPARE(signingKeys->keys()->count(), 0);
+
+    // Add first key
+    QSignalSpy spy(signingKeys, &MAVLinkSigningKeys::keysChanged);
+    signingKeys->addKey("Key1", "pass1");
+    QCOMPARE(signingKeys->keys()->count(), 1);
+    QCOMPARE(signingKeys->keyNameAt(0), "Key1");
+    QVERIFY(!signingKeys->keyBytesAt(0).isEmpty());
+    QCOMPARE(signingKeys->keyBytesAt(0).size(), 32);
+    QVERIFY(spy.count() > 0);
+
+    // Add second key
+    spy.clear();
+    signingKeys->addKey("Key2", "pass2");
+    QCOMPARE(signingKeys->keys()->count(), 2);
+    QCOMPARE(signingKeys->keyNameAt(1), "Key2");
+    QVERIFY(spy.count() > 0);
+
+    // Remove first key
+    signingKeys->removeKey(0);
+    QCOMPARE(signingKeys->keys()->count(), 1);
+    QCOMPARE(signingKeys->keyNameAt(0), "Key2");
+
+    // Remove remaining key
+    signingKeys->removeKey(0);
+    QCOMPARE(signingKeys->keys()->count(), 0);
+}
+
+UT_REGISTER_TEST(MockLinkSigningTest, TestLabel::Integration, TestLabel::Vehicle)
diff --git a/test/MAVLink/MockLinkSigningTest.h b/test/MAVLink/MockLinkSigningTest.h
new file mode 100644
index 000000000000..e4f077bd3dca
--- /dev/null
+++ b/test/MAVLink/MockLinkSigningTest.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "BaseClasses/VehicleTest.h"
+
+class MockLinkSigningTest : public VehicleTest
+{
+    Q_OBJECT
+
+public:
+    explicit MockLinkSigningTest(QObject* parent = nullptr);
+
+private slots:
+    void init() override;
+    void cleanup() override;
+    void _testSendSetupSigning();
+    void _testSendDisableSigning();
+    void _testSigningKeysAddRemove();
+};
diff --git a/test/MAVLink/SigningTest.cc b/test/MAVLink/SigningTest.cc
index 07a2be7091ca..9d21049ae3a3 100644
--- a/test/MAVLink/SigningTest.cc
+++ b/test/MAVLink/SigningTest.cc
@@ -1,30 +1,34 @@
 #include "SigningTest.h"
 
 #include "MAVLinkSigning.h"
+#include "MAVLinkSigningKeys.h"
+#include "QmlObjectListModel.h"
 
 void SigningTest::_testInitSigning()
 {
-    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, "secret_key",
-                                        MAVLinkSigning::insecureConnectionAccceptUnsignedCallback));
+    // Create a 32-byte raw key
+    QByteArray rawKey(32, '\0');
+    rawKey[0] = 'A';
+    rawKey[1] = 'B';
+
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, rawKey,
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
     const mavlink_status_t* status = mavlink_get_channel_status(MAVLINK_COMM_0);
     const mavlink_signing_t* signing = status->signing;
-    QVERIFY(memcmp(signing->secret_key, QCryptographicHash::hash("secret_key", QCryptographicHash::Sha256).constData(),
-                   sizeof(signing->secret_key)) == 0);
-    QByteArray keyData(32, '\0');
-    keyData[0] = '1';
-    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, keyData,
-                                        MAVLinkSigning::insecureConnectionAccceptUnsignedCallback));
-    QVERIFY(memcmp(signing->secret_key,
-                   QCryptographicHash::hash(keyData, QCryptographicHash::Sha256).constData(),
-                   sizeof(signing->secret_key)) == 0);
+    QVERIFY(signing);
+    QVERIFY(memcmp(signing->secret_key, rawKey.constData(), sizeof(signing->secret_key)) == 0);
+
+    // Disable signing with empty key
     QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, QByteArrayView(),
-                                        MAVLinkSigning::insecureConnectionAccceptUnsignedCallback));
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
+    QVERIFY(!mavlink_get_channel_status(MAVLINK_COMM_0)->signing);
 }
 
 void SigningTest::_testCheckSigningLinkId()
 {
-    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, "secret_key",
-                                        MAVLinkSigning::insecureConnectionAccceptUnsignedCallback));
+    QByteArray rawKey(32, '\x01');
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, rawKey,
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
     const mavlink_heartbeat_t heartbeat{};
     mavlink_message_t message;
     (void)mavlink_msg_heartbeat_encode_chan(1, MAV_COMP_ID_USER1, MAVLINK_COMM_0, &message, &heartbeat);
@@ -33,16 +37,101 @@ void SigningTest::_testCheckSigningLinkId()
 
 void SigningTest::_testCreateSetupSigning()
 {
-    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, "secret_key",
-                                        MAVLinkSigning::insecureConnectionAccceptUnsignedCallback));
+    QByteArray rawKey(32, '\x02');
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_0, rawKey,
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
     mavlink_system_t target_system{};
     target_system.sysid = 1;
     target_system.compid = MAV_COMP_ID_AUTOPILOT1;
     mavlink_setup_signing_t setup_signing;
-    MAVLinkSigning::createSetupSigning(MAVLINK_COMM_0, target_system, setup_signing);
+    MAVLinkSigning::createSetupSigning(MAVLINK_COMM_0, target_system, rawKey, setup_signing);
     QVERIFY(setup_signing.initial_timestamp != 0);
     QCOMPARE(setup_signing.target_system, target_system.sysid);
     QCOMPARE(setup_signing.target_component, target_system.compid);
+    QVERIFY(memcmp(setup_signing.secret_key, rawKey.constData(), sizeof(setup_signing.secret_key)) == 0);
+}
+
+void SigningTest::_testVerifySignature()
+{
+    // Set up signing on MAVLINK_COMM_1 with a known key so the C library signs outgoing messages
+    QByteArray rawKey(32, '\0');
+    for (int i = 0; i < 32; ++i) {
+        rawKey[i] = static_cast<char>(i);
+    }
+
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_1, rawKey,
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
+
+    // Encode a heartbeat on the signing channel — the C library will sign it
+    const mavlink_heartbeat_t heartbeat{};
+    mavlink_message_t message;
+    (void) mavlink_msg_heartbeat_encode_chan(1, MAV_COMP_ID_AUTOPILOT1, MAVLINK_COMM_1, &message, &heartbeat);
+
+    // The message should be signed
+    QVERIFY(MAVLinkSigning::isMessageSigned(message));
+
+    // Our verifySignature should agree with the C library's signature
+    QVERIFY(MAVLinkSigning::verifySignature(rawKey, message));
+
+    // A different key should NOT verify
+    QByteArray wrongKey(32, '\xFF');
+    QVERIFY(!MAVLinkSigning::verifySignature(wrongKey, message));
+
+    // Too-short key should fail gracefully
+    QByteArray shortKey(16, '\x01');
+    QVERIFY(!MAVLinkSigning::verifySignature(shortKey, message));
+
+    // Disable signing on the channel to clean up
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_1, QByteArrayView(), nullptr));
+}
+
+void SigningTest::_testTryDetectKey()
+{
+    auto* signingKeys = MAVLinkSigningKeys::instance();
+
+    // Clean slate — remove any leftover keys
+    while (signingKeys->keys()->count() > 0) {
+        signingKeys->removeKey(0);
+    }
+
+    // Add three keys with different passphrases
+    signingKeys->addKey(QStringLiteral("KeyAlpha"),   QStringLiteral("passphrase-alpha"));
+    signingKeys->addKey(QStringLiteral("KeyBravo"),   QStringLiteral("passphrase-bravo"));
+    signingKeys->addKey(QStringLiteral("KeyCharlie"), QStringLiteral("passphrase-charlie"));
+    QCOMPARE(signingKeys->keys()->count(), 3);
+
+    // Sign a message using the second key ("KeyBravo")
+    const QByteArray bravoKey = signingKeys->keyBytesAt(1);
+    QCOMPARE(bravoKey.size(), 32);
+
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_2, bravoKey,
+                                        MAVLinkSigning::insecureConnectionAcceptUnsignedCallback));
+
+    const mavlink_heartbeat_t heartbeat{};
+    mavlink_message_t message;
+    (void) mavlink_msg_heartbeat_encode_chan(1, MAV_COMP_ID_AUTOPILOT1, MAVLINK_COMM_2, &message, &heartbeat);
+    QVERIFY(MAVLinkSigning::isMessageSigned(message));
+
+    // Disable signing on COMM_2 so it was only used to produce the signed message
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_2, QByteArrayView(), nullptr));
+
+    // COMM_3 has no signing configured — tryDetectKey should find "KeyBravo"
+    QVERIFY(!MAVLinkSigning::isSigningEnabled(MAVLINK_COMM_3));
+    const QString detected = MAVLinkSigning::tryDetectKey(MAVLINK_COMM_3, message);
+    QCOMPARE(detected, QStringLiteral("KeyBravo"));
+
+    // Signing should now be configured on COMM_3 with the bravo key
+    QVERIFY(MAVLinkSigning::isSigningEnabled(MAVLINK_COMM_3));
+
+    // Calling tryDetectKey again on an already-configured channel should return empty
+    const QString again = MAVLinkSigning::tryDetectKey(MAVLINK_COMM_3, message);
+    QVERIFY(again.isEmpty());
+
+    // Clean up
+    QVERIFY(MAVLinkSigning::initSigning(MAVLINK_COMM_3, QByteArrayView(), nullptr));
+    while (signingKeys->keys()->count() > 0) {
+        signingKeys->removeKey(0);
+    }
 }
 
 UT_REGISTER_TEST(SigningTest, TestLabel::Unit)
diff --git a/test/MAVLink/SigningTest.h b/test/MAVLink/SigningTest.h
index 65bfcdfa04f5..e33e29d6c26d 100644
--- a/test/MAVLink/SigningTest.h
+++ b/test/MAVLink/SigningTest.h
@@ -10,4 +10,6 @@ private slots:
     void _testInitSigning();
     void _testCheckSigningLinkId();
     void _testCreateSetupSigning();
+    void _testVerifySignature();
+    void _testTryDetectKey();
 };
diff --git a/test/MissionManager/CMakeLists.txt b/test/MissionManager/CMakeLists.txt
index d46e497396cb..57f7dab4f53c 100644
--- a/test/MissionManager/CMakeLists.txt
+++ b/test/MissionManager/CMakeLists.txt
@@ -14,6 +14,7 @@ target_sources(${CMAKE_PROJECT_NAME}
         MissionCommandTreeTest.cc MissionCommandTreeTest.h
         MissionControllerManagerTest.cc MissionControllerManagerTest.h
         MissionControllerTest.cc MissionControllerTest.h
+        MissionControllerTreeTest.cc MissionControllerTreeTest.h
         MissionItemTest.cc MissionItemTest.h
         MissionManagerTest.cc MissionManagerTest.h
         MissionSettingsTest.cc MissionSettingsTest.h
diff --git a/test/MissionManager/CameraCalcTest.cc b/test/MissionManager/CameraCalcTest.cc
index 1670f74c18fb..47fb14afe382 100644
--- a/test/MissionManager/CameraCalcTest.cc
+++ b/test/MissionManager/CameraCalcTest.cc
@@ -55,9 +55,9 @@ void CameraCalcTest::_testDirty()
         _multiSpy->clearAllSignals();
     }
     rgFacts.clear();
-    _cameraCalc->setDistanceMode(_cameraCalc->distanceMode() == QGroundControlQmlGlobal::AltitudeModeRelative
-                                     ? QGroundControlQmlGlobal::AltitudeModeAbsolute
-                                     : QGroundControlQmlGlobal::AltitudeModeRelative);
+    _cameraCalc->setDistanceMode(_cameraCalc->distanceMode() == QGroundControlQmlGlobal::AltitudeFrameRelative
+                                     ? QGroundControlQmlGlobal::AltitudeFrameAbsolute
+                                     : QGroundControlQmlGlobal::AltitudeFrameRelative);
     QVERIFY(_cameraCalc->dirty());
     _multiSpy->clearAllSignals();
     _cameraCalc->setCameraBrand(CameraCalc::canonicalManualCameraName());
diff --git a/test/MissionManager/MissionCommandTreeEditorTestWindow.qml b/test/MissionManager/MissionCommandTreeEditorTestWindow.qml
index 4b89eb13145e..c1f43b27bc9a 100644
--- a/test/MissionManager/MissionCommandTreeEditorTestWindow.qml
+++ b/test/MissionManager/MissionCommandTreeEditorTestWindow.qml
@@ -41,12 +41,13 @@ ApplicationWindow {
                 QGCLabel { text: modelData.commandName; color: "black" }
 
                 Loader {
-                    id:             editorLoader
-                    source:         modelData.editorQml
-
-                    property var    missionItem:        modelData
-                    property var    masterController:   planMasterController
-                    property real   availableWidth:     editorWidth
+                    id: editorLoader
+                    Component.onCompleted: {
+                        editorLoader.setSource(modelData.editorQml, {
+                            missionItem:    modelData,
+                            availableWidth: editorWidth
+                        })
+                    }
                 }
             }
         }
diff --git a/test/MissionManager/MissionControllerTest.cc b/test/MissionManager/MissionControllerTest.cc
index 410f6071be1f..9f30216871e6 100644
--- a/test/MissionManager/MissionControllerTest.cc
+++ b/test/MissionManager/MissionControllerTest.cc
@@ -12,6 +12,13 @@ using namespace TestFixtures;
 
 MissionControllerTest::~MissionControllerTest() = default;
 
+namespace {
+// Coordinate checks involve geodesic reconstruction so they use 0.5 m. Altitude
+// checks are direct arithmetic, so they use a much tighter 1e-4 m tolerance.
+constexpr double kCoordToleranceMeters = 0.5;
+constexpr double kAltToleranceMeters = 1e-4;
+}  // namespace
+
 void MissionControllerTest::cleanup()
 {
     _masterController.reset();
@@ -187,6 +194,162 @@ void MissionControllerTest::_testVehicleYawRecalc()
     }
 }
 
+void MissionControllerTest::_testMissionReposition()
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+
+    MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
+    QVERIFY(settingsItem);
+
+    const QGeoCoordinate home = Coord::zurich();
+    settingsItem->setCoordinate(home);
+
+    const QGeoCoordinate wp1 = home.atDistanceAndAzimuth(150.0, 15.0);
+    const QGeoCoordinate wp2 = home.atDistanceAndAzimuth(320.0, 120.0);
+    _missionController->insertSimpleMissionItem(wp1, 1);
+    _missionController->insertSimpleMissionItem(wp2, 2);
+
+    SimpleMissionItem* item1 = _missionController->visualItems()->value<SimpleMissionItem*>(1);
+    SimpleMissionItem* item2 = _missionController->visualItems()->value<SimpleMissionItem*>(2);
+    QVERIFY(item1);
+    QVERIFY(item2);
+
+    const double oldHomeAlt = settingsItem->editableAlt();
+    const double oldAlt1 = item1->editableAlt();
+    const double oldAlt2 = item2->editableAlt();
+
+    const QGeoCoordinate newHome = home.atDistanceAndAzimuth(200.0, 65.0);
+    const QGeoCoordinate expectedWp1 =
+        newHome.atDistanceAndAzimuth(home.distanceTo(wp1), home.azimuthTo(wp1));
+    const QGeoCoordinate expectedWp2 =
+        newHome.atDistanceAndAzimuth(home.distanceTo(wp2), home.azimuthTo(wp2));
+    _missionController->repositionMission(newHome, true, true);
+    QVERIFY_TRUE_WAIT((settingsItem->coordinate().distanceTo(newHome) <= kCoordToleranceMeters) &&
+                          (item1->coordinate().distanceTo(expectedWp1) <= kCoordToleranceMeters) &&
+                          (item2->coordinate().distanceTo(expectedWp2) <= kCoordToleranceMeters),
+                      TestTimeout::shortMs());
+
+    QCOMPARE_COORDS(settingsItem->coordinate(), newHome, kCoordToleranceMeters);
+    QCOMPARE_COORDS(item1->coordinate(), expectedWp1, kCoordToleranceMeters);
+    QCOMPARE_COORDS(item2->coordinate(), expectedWp2, kCoordToleranceMeters);
+    QCOMPARE_FUZZY(settingsItem->editableAlt(), oldHomeAlt, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item1->editableAlt(), oldAlt1, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item2->editableAlt(), oldAlt2, kAltToleranceMeters);
+}
+
+void MissionControllerTest::_testMissionOffset()
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+
+    MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
+    QVERIFY(settingsItem);
+
+    const QGeoCoordinate home = Coord::zurich();
+    settingsItem->setCoordinate(home);
+
+    const QGeoCoordinate wp1 = home.atDistanceAndAzimuth(150.0, 15.0);
+    const QGeoCoordinate wp2 = home.atDistanceAndAzimuth(320.0, 120.0);
+    _missionController->insertSimpleMissionItem(wp1, 1);
+    _missionController->insertSimpleMissionItem(wp2, 2);
+
+    SimpleMissionItem* item1 = _missionController->visualItems()->value<SimpleMissionItem*>(1);
+    SimpleMissionItem* item2 = _missionController->visualItems()->value<SimpleMissionItem*>(2);
+    QVERIFY(item1);
+    QVERIFY(item2);
+
+    const double oldHomeAlt = settingsItem->editableAlt();
+    const double oldAlt1 = item1->editableAlt();
+    const double oldAlt2 = item2->editableAlt();
+
+    _missionController->offsetMission(0.0, 0.0, 12.0, true, true);
+    QVERIFY_TRUE_WAIT(qAbs(settingsItem->editableAlt() - oldHomeAlt) <= kAltToleranceMeters &&
+                          qAbs(item1->editableAlt() - (oldAlt1 + 12.0)) <= kAltToleranceMeters &&
+                          qAbs(item2->editableAlt() - (oldAlt2 + 12.0)) <= kAltToleranceMeters,
+                      TestTimeout::shortMs());
+
+    QCOMPARE_FUZZY(settingsItem->editableAlt(), oldHomeAlt, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item1->editableAlt(), oldAlt1 + 12.0, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item2->editableAlt(), oldAlt2 + 12.0, kAltToleranceMeters);
+}
+
+void MissionControllerTest::_testMissionRotate()
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+
+    MissionSettingsItem* settingsItem = _missionController->visualItems()->value<MissionSettingsItem*>(0);
+    QVERIFY(settingsItem);
+
+    const QGeoCoordinate home = Coord::zurich();
+    settingsItem->setCoordinate(home);
+
+    const QGeoCoordinate wp1 = home.atDistanceAndAzimuth(180.0, 20.0);
+    const QGeoCoordinate wp2 = home.atDistanceAndAzimuth(260.0, 135.0);
+    _missionController->insertSimpleMissionItem(wp1, 1);
+    _missionController->insertSimpleMissionItem(wp2, 2);
+
+    SimpleMissionItem* item1 = _missionController->visualItems()->value<SimpleMissionItem*>(1);
+    SimpleMissionItem* item2 = _missionController->visualItems()->value<SimpleMissionItem*>(2);
+    QVERIFY(item1);
+    QVERIFY(item2);
+
+    const double oldHomeAlt = settingsItem->editableAlt();
+    const double oldAlt1 = item1->editableAlt();
+    const double oldAlt2 = item2->editableAlt();
+
+    const QGeoCoordinate expectedWp1 =
+        home.atDistanceAndAzimuth(home.distanceTo(wp1), home.azimuthTo(wp1) + 90.0);
+    const QGeoCoordinate expectedWp2 =
+        home.atDistanceAndAzimuth(home.distanceTo(wp2), home.azimuthTo(wp2) + 90.0);
+
+    _missionController->rotateMission(90.0, true, true);
+    QVERIFY_TRUE_WAIT((settingsItem->coordinate().distanceTo(home) <= kCoordToleranceMeters) &&
+                          (item1->coordinate().distanceTo(expectedWp1) <= kCoordToleranceMeters) &&
+                          (item2->coordinate().distanceTo(expectedWp2) <= kCoordToleranceMeters),
+                      TestTimeout::shortMs());
+
+    QCOMPARE_COORDS(settingsItem->coordinate(), home, kCoordToleranceMeters);
+    QCOMPARE_COORDS(item1->coordinate(), expectedWp1, kCoordToleranceMeters);
+    QCOMPARE_COORDS(item2->coordinate(), expectedWp2, kCoordToleranceMeters);
+    QCOMPARE_FUZZY(settingsItem->editableAlt(), oldHomeAlt, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item1->editableAlt(), oldAlt1, kAltToleranceMeters);
+    QCOMPARE_FUZZY(item2->editableAlt(), oldAlt2, kAltToleranceMeters);
+}
+
+void MissionControllerTest::_testMissionTransformsInvalidHome()
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+
+    MissionSettingsItem* settingsItem =
+        _missionController->visualItems()->value<MissionSettingsItem*>(0);
+    QVERIFY(settingsItem);
+
+    const QGeoCoordinate home = Coord::zurich();
+    settingsItem->setCoordinate(home);
+
+    const QGeoCoordinate wp1 = home.atDistanceAndAzimuth(180.0, 45.0);
+    _missionController->insertSimpleMissionItem(wp1, 1);
+
+    SimpleMissionItem* item1 = _missionController->visualItems()->value<SimpleMissionItem*>(1);
+    QVERIFY(item1);
+
+    const QGeoCoordinate oldItemCoord = item1->coordinate();
+    const double oldItemAlt = item1->editableAlt();
+
+    settingsItem->setCoordinate(QGeoCoordinate());
+    QVERIFY_TRUE_WAIT(!settingsItem->coordinate().isValid(), TestTimeout::shortMs());
+
+    // repositionMission and rotateMission require a valid home — they should be no-ops
+    _missionController->repositionMission(home.atDistanceAndAzimuth(100.0, 0.0), true, true);
+    _missionController->rotateMission(45.0, true, true);
+    QCOMPARE_COORDS(item1->coordinate(), oldItemCoord, kCoordToleranceMeters);
+    QCOMPARE_FUZZY(item1->editableAlt(), oldItemAlt, kAltToleranceMeters);
+
+    // offsetMission does not depend on home — it should still apply
+    _missionController->offsetMission(10.0, 5.0, 8.0, true, true);
+    QVERIFY(item1->coordinate().distanceTo(oldItemCoord) > kCoordToleranceMeters);
+    QCOMPARE_FUZZY(item1->editableAlt(), oldItemAlt + 8.0, kAltToleranceMeters);
+}
+
 void MissionControllerTest::_testLoadJsonSectionAvailable()
 {
     _initForFirmwareType(MAV_AUTOPILOT_PX4);
@@ -208,24 +371,24 @@ void MissionControllerTest::_testLoadJsonSectionAvailable()
     }
 }
 
-void MissionControllerTest::_testGlobalAltMode()
+void MissionControllerTest::_testGlobalAltFrame()
 {
     _initForFirmwareType(MAV_AUTOPILOT_PX4);
 
-    struct _globalAltMode_s
+    struct _globalAltFrame_s
     {
-        QGroundControlQmlGlobal::AltMode altMode;
+        QGroundControlQmlGlobal::AltitudeFrame altFrame;
         MAV_FRAME expectedMavFrame;
-    } altModeTestCases[] = {
-        {QGroundControlQmlGlobal::AltitudeModeRelative, MAV_FRAME_GLOBAL_RELATIVE_ALT},
-        {QGroundControlQmlGlobal::AltitudeModeAbsolute, MAV_FRAME_GLOBAL},
-        {QGroundControlQmlGlobal::AltitudeModeCalcAboveTerrain, MAV_FRAME_GLOBAL},
-        {QGroundControlQmlGlobal::AltitudeModeTerrainFrame, MAV_FRAME_GLOBAL_TERRAIN_ALT},
+    } altFrameTestCases[] = {
+        {QGroundControlQmlGlobal::AltitudeFrameRelative, MAV_FRAME_GLOBAL_RELATIVE_ALT},
+        {QGroundControlQmlGlobal::AltitudeFrameAbsolute, MAV_FRAME_GLOBAL},
+        {QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain, MAV_FRAME_GLOBAL},
+        {QGroundControlQmlGlobal::AltitudeFrameTerrain, MAV_FRAME_GLOBAL_TERRAIN_ALT},
     };
 
-    for (const _globalAltMode_s& testCase : altModeTestCases) {
+    for (const _globalAltFrame_s& testCase : altFrameTestCases) {
         _missionController->removeAll();
-        _missionController->setGlobalAltitudeMode(testCase.altMode);
+        _missionController->setGlobalAltitudeFrame(testCase.altFrame);
         // Use coordinate fixtures
         const QGeoCoordinate start = Coord::zurich();
         _missionController->insertTakeoffItem(start, 1);
@@ -234,13 +397,13 @@ void MissionControllerTest::_testGlobalAltMode()
         _missionController->insertSimpleMissionItem(start.atDistanceAndAzimuth(300, 0), 4);
         SimpleMissionItem* si =
             qobject_cast<SimpleMissionItem*>(_missionController->visualItems()->value<VisualMissionItem*>(1));
-        QCOMPARE(si->altitudeMode(), QGroundControlQmlGlobal::AltitudeModeRelative);
+        QCOMPARE(si->altitudeFrame(), QGroundControlQmlGlobal::AltitudeFrameRelative);
         QCOMPARE(si->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT);
         for (int i = 2; i < _missionController->visualItems()->count(); i++) {
-            TEST_DEBUG(QStringLiteral("Validating altitude mode index %1").arg(i));
+            TEST_DEBUG(QStringLiteral("Validating altitude frame index %1").arg(i));
             SimpleMissionItem* siLoop =
                 qobject_cast<SimpleMissionItem*>(_missionController->visualItems()->value<VisualMissionItem*>(i));
-            QCOMPARE(siLoop->altitudeMode(), testCase.altMode);
+            QCOMPARE(siLoop->altitudeFrame(), testCase.altFrame);
             QCOMPARE(siLoop->missionItem().frame(), testCase.expectedMavFrame);
         }
     }
diff --git a/test/MissionManager/MissionControllerTest.h b/test/MissionManager/MissionControllerTest.h
index 53a1f611434e..042de6a30582 100644
--- a/test/MissionManager/MissionControllerTest.h
+++ b/test/MissionManager/MissionControllerTest.h
@@ -20,9 +20,13 @@ private slots:
     void cleanup() override;
 
     void _testLoadJsonSectionAvailable();
-    void _testGlobalAltMode();
+    void _testGlobalAltFrame();
     void _testGimbalRecalc();
     void _testVehicleYawRecalc();
+    void _testMissionReposition();
+    void _testMissionOffset();
+    void _testMissionRotate();
+    void _testMissionTransformsInvalidHome();
 
     // Parameterized tests - runs once per autopilot type
     UT_PARAMETERIZED_TEST(_testEmptyVehicle);
diff --git a/test/MissionManager/MissionControllerTreeTest.cc b/test/MissionManager/MissionControllerTreeTest.cc
new file mode 100644
index 000000000000..5a250bb62f8f
--- /dev/null
+++ b/test/MissionManager/MissionControllerTreeTest.cc
@@ -0,0 +1,374 @@
+#include "MissionControllerTreeTest.h"
+
+#include "AppSettings.h"
+#include "MissionController.h"
+#include "MissionSettingsItem.h"
+#include "PlanMasterController.h"
+#include "QmlObjectTreeModel.h"
+#include "RallyPointController.h"
+#include "SettingsManager.h"
+#include "SimpleMissionItem.h"
+#include "TestFixtures.h"
+
+using namespace TestFixtures;
+
+MissionControllerTreeTest::~MissionControllerTreeTest() = default;
+
+void MissionControllerTreeTest::cleanup()
+{
+    _masterController.reset();
+    _missionController = nullptr;
+    MissionControllerManagerTest::cleanup();
+}
+
+void MissionControllerTreeTest::_initForTest()
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    SettingsManager::instance()->appSettings()->offlineEditingFirmwareClass()->setRawValue(
+        QGCMAVLink::firmwareClass(MAV_AUTOPILOT_PX4));
+
+    _masterController = std::make_unique<PlanMasterController>();
+    _masterController->setFlyView(false);
+    _missionController = _masterController->missionController();
+
+    SignalSpyFixture spy(_missionController);
+    QVERIFY(spy.spy());
+    spy.expect("visualItemsChanged");
+    _masterController->start();
+    QVERIFY(spy.waitAndVerify(TestTimeout::mediumMs()));
+
+    // Sanity — visualItems has MissionSettingsItem at index 0
+    QVERIFY(_missionController->visualItems());
+    QCOMPARE(_missionController->visualItems()->count(), 1);
+}
+
+// ===========================================================================
+// Tree structure after init
+// ===========================================================================
+
+void MissionControllerTreeTest::_testTreeStructureAfterInit()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+    QVERIFY(tree);
+
+    // Root should have all expected top-level groups
+    QCOMPARE(tree->rowCount(), kGroupCount);
+
+    // Verify group node types
+    const QModelIndex planFileGroup = tree->index(kPlanFileGroupRow, 0);
+    const QModelIndex defaultsGroup = tree->index(kDefaultsGroupRow, 0);
+    const QModelIndex missionGroup  = tree->index(kMissionGroupRow, 0);
+    const QModelIndex fenceGroup    = tree->index(kFenceGroupRow, 0);
+    const QModelIndex rallyGroup    = tree->index(kRallyGroupRow, 0);
+    QVERIFY(planFileGroup.isValid());
+    QVERIFY(defaultsGroup.isValid());
+    QVERIFY(missionGroup.isValid());
+    QVERIFY(fenceGroup.isValid());
+    QVERIFY(rallyGroup.isValid());
+
+    QCOMPARE(tree->data(planFileGroup, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("planFileGroup"));
+    QCOMPARE(tree->data(defaultsGroup, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("defaultsGroup"));
+    QCOMPARE(tree->data(missionGroup, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("missionGroup"));
+    QCOMPARE(tree->data(fenceGroup, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("fenceGroup"));
+    QCOMPARE(tree->data(rallyGroup, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("rallyGroup"));
+
+    // Plan File group should have 1 child (planFileInfo marker)
+    QCOMPARE(tree->rowCount(planFileGroup), 1);
+    const QModelIndex planFileChild = tree->index(0, 0, planFileGroup);
+    QCOMPARE(tree->data(planFileChild, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("planFileInfo"));
+
+    // Defaults group should have 1 child (defaultsInfo marker)
+    QCOMPARE(tree->rowCount(defaultsGroup), 1);
+    const QModelIndex defaultsChild = tree->index(0, 0, defaultsGroup);
+    QCOMPARE(tree->data(defaultsChild, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("defaultsInfo"));
+
+    // Mission group should contain 1 child (the MissionSettingsItem)
+    QCOMPARE(tree->rowCount(missionGroup), 1);
+
+    // Fence group should have 1 child (fenceEditor marker)
+    QCOMPARE(tree->rowCount(fenceGroup), 1);
+    const QModelIndex fenceChild = tree->index(0, 0, fenceGroup);
+    QCOMPARE(tree->data(fenceChild, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("fenceEditor"));
+
+    // Rally group should have 1 child (rallyHeader marker)
+    QCOMPARE(tree->rowCount(rallyGroup), 1);
+    const QModelIndex rallyChild = tree->index(0, 0, rallyGroup);
+    QCOMPARE(tree->data(rallyChild, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("rallyHeader"));
+}
+
+// ===========================================================================
+// Insert waypoints → tree sync
+// ===========================================================================
+
+void MissionControllerTreeTest::_testInsertWaypointUpdatesTree()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+    const QModelIndex missionGroup = tree->index(kMissionGroupRow, 0);
+
+    // Before insert: 1 mission item (MissionSettingsItem)
+    const int initialMissionChildren = tree->rowCount(missionGroup);
+    QCOMPARE(initialMissionChildren, _missionController->visualItems()->count());
+
+    // Insert 3 waypoints
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 3);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+
+    // _visualItems should have 4 items (settings + 3 waypoints)
+    QCOMPARE(_missionController->visualItems()->count(), 4);
+
+    // Tree's mission group should mirror that count
+    QCOMPARE(tree->rowCount(missionGroup), 4);
+
+    // Verify tree children correspond to visualItems
+    for (int i = 0; i < _missionController->visualItems()->count(); i++) {
+        QObject* listObj = _missionController->visualItems()->get(i);
+        const QModelIndex treeChild = tree->index(i, 0, missionGroup);
+        QObject* treeObj = tree->data(treeChild, Qt::UserRole).value<QObject*>();
+        QCOMPARE(treeObj, listObj);
+    }
+}
+
+// ===========================================================================
+// Remove waypoints → tree sync
+// ===========================================================================
+
+void MissionControllerTreeTest::_testRemoveWaypointUpdatesTree()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+    const QModelIndex missionGroup = tree->index(kMissionGroupRow, 0);
+
+    // Insert 3 waypoints
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 3);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+    QCOMPARE(tree->rowCount(missionGroup), 4); // settings + 3 waypoints
+
+    // Remove middle waypoint (visualItem index 2)
+    _missionController->removeVisualItem(2);
+
+    QCOMPARE(_missionController->visualItems()->count(), 3);
+    QCOMPARE(tree->rowCount(missionGroup), 3);
+
+    // Verify correspondence
+    for (int i = 0; i < _missionController->visualItems()->count(); i++) {
+        QObject* listObj = _missionController->visualItems()->get(i);
+        const QModelIndex treeChild = tree->index(i, 0, missionGroup);
+        QObject* treeObj = tree->data(treeChild, Qt::UserRole).value<QObject*>();
+        QCOMPARE(treeObj, listObj);
+    }
+}
+
+// ===========================================================================
+// removeAll → tree rebuilt
+// ===========================================================================
+
+void MissionControllerTreeTest::_testRemoveAllRebuildsTree()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+
+    // Insert waypoints
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 3);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+
+    const QModelIndex missionGroupBefore = tree->index(kMissionGroupRow, 0);
+    QCOMPARE(tree->rowCount(missionGroupBefore), 4);
+
+    // Remove all
+    _missionController->removeAll();
+
+    // After removeAll, tree should still have all groups
+    QCOMPARE(tree->rowCount(), kGroupCount);
+
+    // Mission group should have 1 child (the new MissionSettingsItem)
+    const QModelIndex missionGroupAfter = tree->index(kMissionGroupRow, 0);
+    QCOMPARE(tree->rowCount(missionGroupAfter), 1);
+
+    // That child should be the new settings item
+    const QModelIndex settingsChild = tree->index(0, 0, missionGroupAfter);
+    QObject* settingsObj = tree->data(settingsChild, Qt::UserRole).value<QObject*>();
+    QCOMPARE(settingsObj, static_cast<QObject*>(_missionController->visualItems()->get(0)));
+}
+
+// ===========================================================================
+// Persistent group indexes remain valid across operations
+// ===========================================================================
+
+void MissionControllerTreeTest::_testPersistentGroupIndexes()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+
+    // Capture persistent indexes for each group
+    QPersistentModelIndex planFilePersist(tree->index(kPlanFileGroupRow, 0));
+    QPersistentModelIndex defaultsPersist(tree->index(kDefaultsGroupRow, 0));
+    QPersistentModelIndex missionPersist(tree->index(kMissionGroupRow, 0));
+    QPersistentModelIndex fencePersist(tree->index(kFenceGroupRow, 0));
+    QPersistentModelIndex rallyPersist(tree->index(kRallyGroupRow, 0));
+
+    // Insert waypoints
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 5);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+
+    // All persistent indexes should still be valid
+    QVERIFY(planFilePersist.isValid());
+    QVERIFY(defaultsPersist.isValid());
+    QVERIFY(missionPersist.isValid());
+    QVERIFY(fencePersist.isValid());
+    QVERIFY(rallyPersist.isValid());
+
+    // They should still be at the same rows (group structure didn't change)
+    QCOMPARE(planFilePersist.row(), kPlanFileGroupRow);
+    QCOMPARE(defaultsPersist.row(), kDefaultsGroupRow);
+    QCOMPARE(missionPersist.row(), kMissionGroupRow);
+    QCOMPARE(fencePersist.row(), kFenceGroupRow);
+    QCOMPARE(rallyPersist.row(), kRallyGroupRow);
+
+    // Remove some waypoints
+    _missionController->removeVisualItem(3);
+    _missionController->removeVisualItem(2);
+
+    // Persistent indexes should still be valid
+    QVERIFY(planFilePersist.isValid());
+    QVERIFY(defaultsPersist.isValid());
+    QVERIFY(missionPersist.isValid());
+    QVERIFY(fencePersist.isValid());
+    QVERIFY(rallyPersist.isValid());
+}
+
+// ===========================================================================
+// recalcChildItems is a no-op for the tree (no crash)
+// ===========================================================================
+
+void MissionControllerTreeTest::_testRecalcChildItemsNoCrash()
+{
+    _initForTest();
+
+    // Insert enough waypoints to exercise child item recalc
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 4);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+    const QModelIndex missionGroup = tree->index(kMissionGroupRow, 0);
+
+    // Tree should be consistent — recalcChildItems happens automatically during insert
+    QCOMPARE(tree->rowCount(missionGroup), _missionController->visualItems()->count());
+
+    // Verify no crash and tree is still functional
+    QVERIFY(tree->index(0, 0, missionGroup).isValid());
+    QCOMPARE(tree->rowCount(), kGroupCount);
+}
+
+// ===========================================================================
+// Exposed Q_PROPERTY persistent index getters match tree model indices
+// ===========================================================================
+
+void MissionControllerTreeTest::_testExposedPersistentIndexGettersMatchTree()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+
+    QCOMPARE(QModelIndex(_missionController->planFileGroupIndex()), tree->index(kPlanFileGroupRow, 0));
+    QCOMPARE(QModelIndex(_missionController->defaultsGroupIndex()), tree->index(kDefaultsGroupRow, 0));
+    QCOMPARE(QModelIndex(_missionController->missionGroupIndex()),  tree->index(kMissionGroupRow, 0));
+    QCOMPARE(QModelIndex(_missionController->fenceGroupIndex()),    tree->index(kFenceGroupRow, 0));
+    QCOMPARE(QModelIndex(_missionController->rallyGroupIndex()),    tree->index(kRallyGroupRow, 0));
+}
+
+// ===========================================================================
+// Exposed persistent indexes survive removeAll rebuild
+// ===========================================================================
+
+void MissionControllerTreeTest::_testExposedIndexesSurviveRemoveAll()
+{
+    _initForTest();
+
+    // Insert some waypoints then removeAll to trigger tree rebuild
+    const QList<QGeoCoordinate> waypoints = Coord::waypointPath(Coord::zurich(), 3);
+    for (int i = 0; i < waypoints.count(); ++i) {
+        _missionController->insertSimpleMissionItem(waypoints[i], i + 1);
+    }
+
+    _missionController->removeAll();
+
+    // The CONSTANT Q_PROPERTY persistent indexes must still be valid
+    QVERIFY(_missionController->planFileGroupIndex().isValid());
+    QVERIFY(_missionController->defaultsGroupIndex().isValid());
+    QVERIFY(_missionController->missionGroupIndex().isValid());
+    QVERIFY(_missionController->fenceGroupIndex().isValid());
+    QVERIFY(_missionController->rallyGroupIndex().isValid());
+
+    // They should still point to the correct rows
+    QCOMPARE(_missionController->planFileGroupIndex().row(), kPlanFileGroupRow);
+    QCOMPARE(_missionController->defaultsGroupIndex().row(), kDefaultsGroupRow);
+    QCOMPARE(_missionController->missionGroupIndex().row(),  kMissionGroupRow);
+    QCOMPARE(_missionController->fenceGroupIndex().row(),    kFenceGroupRow);
+    QCOMPARE(_missionController->rallyGroupIndex().row(),    kRallyGroupRow);
+}
+
+// ===========================================================================
+// Rally header appears when no points, disappears when points added, reappears when removed
+// ===========================================================================
+
+void MissionControllerTreeTest::_testRallyHeaderDynamicVisibility()
+{
+    _initForTest();
+
+    QmlObjectTreeModel* tree = _missionController->visualItemsTree();
+    const QPersistentModelIndex rallyGroup(_missionController->rallyGroupIndex());
+    auto* rallyController = _masterController->rallyPointController();
+    QVERIFY(rallyController);
+
+    // Initially: rally group has 1 child — the header marker
+    QCOMPARE(tree->rowCount(rallyGroup), 1);
+    QCOMPARE(tree->data(tree->index(0, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyHeader"));
+
+    // Add a rally point → header removed, replaced by rallyItem
+    rallyController->addPoint(QGeoCoordinate(47.3977, 8.5456));
+    QCOMPARE(tree->rowCount(rallyGroup), 1);
+    QCOMPARE(tree->data(tree->index(0, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyItem"));
+
+    // Add a second rally point
+    rallyController->addPoint(QGeoCoordinate(47.3980, 8.5460));
+    QCOMPARE(tree->rowCount(rallyGroup), 2);
+    QCOMPARE(tree->data(tree->index(0, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyItem"));
+    QCOMPARE(tree->data(tree->index(1, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyItem"));
+
+    // Remove the first rally point — still 1 rallyItem, no header
+    rallyController->removePoint(rallyController->points()->get(0));
+    QCOMPARE(tree->rowCount(rallyGroup), 1);
+    QCOMPARE(tree->data(tree->index(0, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyItem"));
+
+    // Remove the last rally point → header marker reappears
+    rallyController->removePoint(rallyController->points()->get(0));
+    QCOMPARE(tree->rowCount(rallyGroup), 1);
+    QCOMPARE(tree->data(tree->index(0, 0, rallyGroup), QmlObjectTreeModel::NodeTypeRole).toString(),
+             QStringLiteral("rallyHeader"));
+}
+
+#include "UnitTest.h"
+
+UT_REGISTER_TEST(MissionControllerTreeTest, TestLabel::Integration, TestLabel::MissionManager)
diff --git a/test/MissionManager/MissionControllerTreeTest.h b/test/MissionManager/MissionControllerTreeTest.h
new file mode 100644
index 000000000000..c1579a548c5d
--- /dev/null
+++ b/test/MissionManager/MissionControllerTreeTest.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include <memory>
+
+#include "MissionControllerManagerTest.h"
+#include "MissionController.h"
+class PlanMasterController;
+
+/// Tests for the MissionController incremental tree model sync (PlanTreeView branch).
+/// Verifies that _visualItemsTree stays in sync with _visualItems when
+/// inserting/removing waypoints, calling removeAll, and loading plans.
+class MissionControllerTreeTest : public MissionControllerManagerTest
+{
+    Q_OBJECT
+
+public:
+    ~MissionControllerTreeTest() override;
+
+private slots:
+    void cleanup() override;
+
+    // Tree structure after init
+    void _testTreeStructureAfterInit();
+
+    // Insert waypoints → tree sync
+    void _testInsertWaypointUpdatesTree();
+
+    // Remove waypoints → tree sync
+    void _testRemoveWaypointUpdatesTree();
+
+    // removeAll → tree rebuilt
+    void _testRemoveAllRebuildsTree();
+
+    // Multiple inserts keep group persistent indexes valid
+    void _testPersistentGroupIndexes();
+
+    // recalcChildItems is a no-op for tree (no crash)
+    void _testRecalcChildItemsNoCrash();
+
+    // Exposed Q_PROPERTY persistent index getters match tree model indices
+    void _testExposedPersistentIndexGettersMatchTree();
+
+    // Exposed persistent indexes survive removeAll rebuild
+    void _testExposedIndexesSurviveRemoveAll();
+
+    // Rally header appears/disappears as rally points are added/removed
+    void _testRallyHeaderDynamicVisibility();
+
+private:
+    void _initForTest();
+
+    // Use canonical constants from MissionController
+    static constexpr int kPlanFileGroupRow = MissionController::kPlanFileGroupRow;
+    static constexpr int kDefaultsGroupRow = MissionController::kDefaultsGroupRow;
+    static constexpr int kMissionGroupRow  = MissionController::kMissionGroupRow;
+    static constexpr int kFenceGroupRow    = MissionController::kFenceGroupRow;
+    static constexpr int kRallyGroupRow    = MissionController::kRallyGroupRow;
+    static constexpr int kGroupCount       = MissionController::kGroupCount;
+
+    std::unique_ptr<PlanMasterController> _masterController;
+    MissionController* _missionController = nullptr;
+};
diff --git a/test/MissionManager/PlanMasterControllerTest.cc b/test/MissionManager/PlanMasterControllerTest.cc
index 5580e418b2fb..12cd9a941776 100644
--- a/test/MissionManager/PlanMasterControllerTest.cc
+++ b/test/MissionManager/PlanMasterControllerTest.cc
@@ -1,11 +1,19 @@
 #include "PlanMasterControllerTest.h"
 
+#include "AppSettings.h"
 #include "MissionManager.h"
 #include "MultiSignalSpy.h"
 #include "MultiVehicleManager.h"
 #include "PlanMasterController.h"
+#include "SettingsManager.h"
 #include "Vehicle.h"
 
+#include <QtCore/QDateTime>
+#include <QtCore/QDir>
+#include <QtCore/QFile>
+#include <QtCore/QTemporaryDir>
+#include <QtTest/QSignalSpy>
+
 void PlanMasterControllerTest::init()
 {
     UnitTest::init();
@@ -47,15 +55,413 @@ void PlanMasterControllerTest::_testActiveVehicleChanged()
     QVERIFY(spyMissionManager.onlyEmittedOnceByMask(missionManagerErrorSignalMask));
     spyMissionManager.clearSignal("error");
     QVERIFY(spyMissionManager.noneEmitted());
+
     _connectMockLink(MAV_AUTOPILOT_PX4);
     auto masterControllerMgrVehicleChanged = spyMasterController.mask("managerVehicleChanged");
     QVERIFY(spyMasterController.emittedOnceByMask(masterControllerMgrVehicleChanged));
+
     emit outgoingManagerVehicle->missionManager()->error(0, "");
     // This signal was affected by the defect - it wouldn't reach the subscriber. Here
     // we make sure it does.
     QVERIFY(spyMissionManager.onlyEmittedOnceByMask(missionManagerErrorSignalMask));
 }
 
+void PlanMasterControllerTest::_testDirtyFlagsMatrix_data()
+{
+    // Dirty-state transition matrix ("unchanged" means preserve prior value):
+    //
+    // | State \ Action | Upload OK | Clear | SaveDirty=true | Load plan | Save file OK | Clear save-dirty | Download w/ items | Download empty |
+    // |----------------|-----------|-------|----------------|-----------|--------------|------------------|-------------------|----------------|
+    // | dirtyForSave   | unchanged | false | true           | false     | false        | false            | true              | false          |
+    // | dirtyForUpload | false     | false | true           | true      | unchanged    | unchanged        | false             | false          |
+
+    // Data columns:
+    //  - scenario: DirtyScenario enum value selecting which action path to execute
+    //  - initialDirtyForSave: initial dirtyForSave state before action (DirtyStateTrue/False)
+    //  - initialDirtyForUpload: initial dirtyForUpload state before action (DirtyStateTrue/False)
+    //  - expectedDirtyForSave: expected final dirtyForSave state (DirtyState)
+    //  - expectedDirtyForUpload: expected final dirtyForUpload state (DirtyState)
+
+    QTest::addColumn<int>("scenario");
+    QTest::addColumn<int>("initialDirtyForSave");
+    QTest::addColumn<int>("initialDirtyForUpload");
+    QTest::addColumn<int>("expectedDirtyForSave");
+    QTest::addColumn<int>("expectedDirtyForUpload");
+
+    struct ScenarioExpectation {
+        DirtyScenario scenario;
+        const char* name;
+        DirtyState expectedDirtyForSave;
+        DirtyState expectedDirtyForUpload;
+    };
+
+    const QList<ScenarioExpectation> scenarioExpectations = {
+        { UploadPreservesSaveDirtyFalse,      "upload completion keeps save false",  DirtyStateUnchanged, DirtyStateFalse },
+        { UploadPreservesSaveDirtyTrue,       "upload completion keeps save true",   DirtyStateUnchanged, DirtyStateFalse },
+        { UploadFalseOnPlanClear,             "upload false on clear",               DirtyStateFalse,     DirtyStateFalse },
+        { UploadTrueWhenSaveTrue,             "upload true when save true",          DirtyStateTrue,      DirtyStateTrue },
+        { UploadTrueOnNewPlanLoad,            "upload true on new plan load",        DirtyStateFalse,     DirtyStateTrue },
+        { SaveToFilePreservesUploadDirtyTrue, "saveToFile keeps upload true",        DirtyStateFalse,     DirtyStateUnchanged },
+        { SaveToFilePreservesUploadDirtyFalse,"saveToFile keeps upload false",       DirtyStateFalse,     DirtyStateUnchanged },
+        { SaveFalseOnSuccessfulLoad,          "save false on successful load",       DirtyStateFalse,     DirtyStateTrue },
+        { ClearSaveDirtyPreservesUploadTrue,  "clear save dirty keeps upload true",  DirtyStateFalse,     DirtyStateUnchanged },
+        { ClearSaveDirtyPreservesUploadFalse, "clear save dirty keeps upload false", DirtyStateFalse,     DirtyStateUnchanged },
+        { DownloadWithItemsDirtyForSave,      "download with items marks save dirty",DirtyStateTrue,      DirtyStateFalse },
+        { DownloadEmptyNotDirtyForSave,       "download empty keeps save clean",     DirtyStateFalse,     DirtyStateFalse },
+    };
+
+    const QList<DirtyState> initialStates = {
+        DirtyStateFalse,
+        DirtyStateTrue,
+    };
+
+    for (const ScenarioExpectation& expectation : scenarioExpectations) {
+        for (const DirtyState initialDirtyForSave : initialStates) {
+            for (const DirtyState initialDirtyForUpload : initialStates) {
+                DirtyState expectedDirtyForSave = expectation.expectedDirtyForSave;
+                DirtyState expectedDirtyForUpload = expectation.expectedDirtyForUpload;
+
+                if ((expectation.scenario == UploadTrueWhenSaveTrue) && (initialDirtyForSave == DirtyStateTrue)) {
+                    // _setDirtyForSave(true) only drives dirtyForUpload when dirtyForSave transitions false->true.
+                    // If dirtyForSave already starts true, dirtyForUpload is preserved.
+                    expectedDirtyForUpload = DirtyStateUnchanged;
+                }
+
+                const QString rowName = QStringLiteral("%1 [init save=%2 upload=%3]")
+                                            .arg(expectation.name)
+                                            .arg(initialDirtyForSave == DirtyStateTrue ? QStringLiteral("true") : QStringLiteral("false"))
+                                            .arg(initialDirtyForUpload == DirtyStateTrue ? QStringLiteral("true") : QStringLiteral("false"));
+                QTest::newRow(rowName.toLatin1().constData())
+                    << +expectation.scenario
+                    << +initialDirtyForSave
+                    << +initialDirtyForUpload
+                    << +expectedDirtyForSave
+                    << +expectedDirtyForUpload;
+            }
+        }
+    }
+}
+
+void PlanMasterControllerTest::_testDirtyFlagsMatrix()
+{
+    QFETCH(int, scenario);
+    QFETCH(int, initialDirtyForSave);
+    QFETCH(int, initialDirtyForUpload);
+    QFETCH(int, expectedDirtyForSave);
+    QFETCH(int, expectedDirtyForUpload);
+
+    QVERIFY(initialDirtyForSave != DirtyStateUnchanged);
+    QVERIFY(initialDirtyForUpload != DirtyStateUnchanged);
+
+    // Pre-load items for scenarios that need containsItems() == true
+    if (scenario == DownloadWithItemsDirtyForSave) {
+        _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+    }
+
+    const auto dirtyStateToBool = [](int state) -> bool {
+        switch (state) {
+        case DirtyStateFalse:
+            return false;
+        case DirtyStateTrue:
+            return true;
+        default:
+            Q_ASSERT(false); // Invalid test data
+            return false;
+        }
+    };
+
+    _masterController->_setDirtyForSaveUnitTest(dirtyStateToBool(initialDirtyForSave));
+    _masterController->_setDirtyForUploadUnitTest(dirtyStateToBool(initialDirtyForUpload));
+
+    const bool initialDirtyForSaveBool = _masterController->dirtyForSave();
+    const bool initialDirtyForUploadBool = _masterController->dirtyForUpload();
+
+    QSignalSpy dirtyForSaveChangedSpy(_masterController, &PlanMasterController::dirtyForSaveChanged);
+    QSignalSpy dirtyForUploadChangedSpy(_masterController, &PlanMasterController::dirtyForUploadChanged);
+
+    switch (scenario) {
+    case UploadPreservesSaveDirtyFalse: {
+        const bool invoked = QMetaObject::invokeMethod(_masterController, "_sendRallyPointsComplete", Qt::DirectConnection);
+        QVERIFY(invoked);
+        break;
+    }
+    case UploadPreservesSaveDirtyTrue: {
+        const bool invoked = QMetaObject::invokeMethod(_masterController, "_sendRallyPointsComplete", Qt::DirectConnection);
+        QVERIFY(invoked);
+        break;
+    }
+    case UploadFalseOnPlanClear:
+        _masterController->removeAll();
+        break;
+    case UploadTrueWhenSaveTrue:
+        _masterController->_setDirtyForSave(true);
+        break;
+    case UploadTrueOnNewPlanLoad:
+        _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+        break;
+    case SaveToFilePreservesUploadDirtyTrue: {
+        const QString saveFile = QDir::temp().filePath(QStringLiteral("qgc_planmaster_test_%1.plan").arg(QDateTime::currentMSecsSinceEpoch()));
+        QVERIFY(_masterController->saveToFile(saveFile));
+        QFile::remove(saveFile);
+        break;
+    }
+    case SaveToFilePreservesUploadDirtyFalse: {
+        const QString saveFile = QDir::temp().filePath(QStringLiteral("qgc_planmaster_test_%1.plan").arg(QDateTime::currentMSecsSinceEpoch()));
+        QVERIFY(_masterController->saveToFile(saveFile));
+        QFile::remove(saveFile);
+        break;
+    }
+    case SaveFalseOnSuccessfulLoad:
+        _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+        break;
+    case ClearSaveDirtyPreservesUploadTrue:
+        _masterController->_setDirtyForSave(false);
+        break;
+    case ClearSaveDirtyPreservesUploadFalse:
+        _masterController->_setDirtyForSave(false);
+        break;
+    case DownloadWithItemsDirtyForSave: {
+        QVERIFY(_masterController->containsItems());
+        const bool invoked = QMetaObject::invokeMethod(_masterController, "_loadRallyPointsComplete", Qt::DirectConnection);
+        QVERIFY(invoked);
+        break;
+    }
+    case DownloadEmptyNotDirtyForSave: {
+        QVERIFY(!_masterController->containsItems());
+        const bool invoked = QMetaObject::invokeMethod(_masterController, "_loadRallyPointsComplete", Qt::DirectConnection);
+        QVERIFY(invoked);
+        break;
+    }
+    }
+
+    const auto resolveExpected = [](int expectedState, bool unchangedValue) -> bool {
+        switch (expectedState) {
+        case DirtyStateFalse:
+            return false;
+        case DirtyStateTrue:
+            return true;
+        case DirtyStateUnchanged:
+            return unchangedValue;
+        }
+        return unchangedValue;
+    };
+
+    const bool expectedDirtyForSaveBool = resolveExpected(expectedDirtyForSave, initialDirtyForSaveBool);
+    const bool expectedDirtyForUploadBool = resolveExpected(expectedDirtyForUpload, initialDirtyForUploadBool);
+    const int expectedDirtyForSaveSignalCount = (expectedDirtyForSaveBool != initialDirtyForSaveBool) ? 1 : 0;
+    const int expectedDirtyForUploadSignalCount = (expectedDirtyForUploadBool != initialDirtyForUploadBool) ? 1 : 0;
+
+    QCOMPARE(_masterController->dirtyForSave(), expectedDirtyForSaveBool);
+    QCOMPARE(_masterController->dirtyForUpload(), expectedDirtyForUploadBool);
+
+    QCOMPARE(dirtyForSaveChangedSpy.count(), expectedDirtyForSaveSignalCount);
+    QCOMPARE(dirtyForUploadChangedSpy.count(), expectedDirtyForUploadSignalCount);
+
+    if (dirtyForSaveChangedSpy.count() > 0) {
+        const QList<QVariant>& args = dirtyForSaveChangedSpy.at(dirtyForSaveChangedSpy.count() - 1);
+        QCOMPARE(args.count(), 1);
+        QCOMPARE(args.first().toBool(), _masterController->dirtyForSave());
+    }
+
+    if (dirtyForUploadChangedSpy.count() > 0) {
+        const QList<QVariant>& args = dirtyForUploadChangedSpy.at(dirtyForUploadChangedSpy.count() - 1);
+        QCOMPARE(args.count(), 1);
+        QCOMPARE(args.first().toBool(), _masterController->dirtyForUpload());
+    }
+}
+
+// ===========================================================================
+// File name property tests
+// ===========================================================================
+
+void PlanMasterControllerTest::_testFileNamesSetOnLoad()
+{
+    QSignalSpy currentNameSpy(_masterController, &PlanMasterController::currentPlanFileNameChanged);
+    QSignalSpy originalNameSpy(_masterController, &PlanMasterController::originalPlanFileNameChanged);
+
+    // Before load, names should be empty
+    QVERIFY(_masterController->currentPlanFileName().isEmpty());
+    QVERIFY(_masterController->originalPlanFileName().isEmpty());
+
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    // After successful load, both names should be set to the base name
+    QCOMPARE(_masterController->currentPlanFileName(), QStringLiteral("MissionPlanner"));
+    QCOMPARE(_masterController->originalPlanFileName(), QStringLiteral("MissionPlanner"));
+
+    // Signals should have fired
+    QVERIFY(currentNameSpy.count() >= 1);
+    QVERIFY(originalNameSpy.count() >= 1);
+}
+
+void PlanMasterControllerTest::_testCurrentPlanFileNameWritable()
+{
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    QSignalSpy currentNameSpy(_masterController, &PlanMasterController::currentPlanFileNameChanged);
+    QSignalSpy originalNameSpy(_masterController, &PlanMasterController::originalPlanFileNameChanged);
+
+    // Rename via the writable property
+    _masterController->setCurrentPlanFileName(QStringLiteral("RenamedPlan"));
+
+    QCOMPARE(_masterController->currentPlanFileName(), QStringLiteral("RenamedPlan"));
+    // Original should remain unchanged
+    QCOMPARE(_masterController->originalPlanFileName(), QStringLiteral("MissionPlanner"));
+
+    QCOMPARE(currentNameSpy.count(), 1);
+    QCOMPARE(originalNameSpy.count(), 0);
+
+    // Setting to the same value should not emit again
+    _masterController->setCurrentPlanFileName(QStringLiteral("RenamedPlan"));
+    QCOMPARE(currentNameSpy.count(), 1);
+}
+
+void PlanMasterControllerTest::_testPlanFileRenamed()
+{
+    // Before load, planFileRenamed should be false (both names empty)
+    QVERIFY(!_masterController->planFileRenamed());
+
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    // After load, current == original → not renamed
+    QVERIFY(!_masterController->planFileRenamed());
+
+    // Rename
+    _masterController->setCurrentPlanFileName(QStringLiteral("NewName"));
+    QVERIFY(_masterController->planFileRenamed());
+
+    // Rename back to original
+    _masterController->setCurrentPlanFileName(QStringLiteral("MissionPlanner"));
+    QVERIFY(!_masterController->planFileRenamed());
+}
+
+void PlanMasterControllerTest::_testSaveWithCurrentName()
+{
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    // First save to a real (writable) directory so _currentPlanFile points somewhere valid
+    QTemporaryDir tmpDir;
+    QVERIFY(tmpDir.isValid());
+    const QString initialPath = QStringLiteral("%1/MissionPlanner.%2").arg(tmpDir.path(), _masterController->fileExtension());
+    QVERIFY(_masterController->saveToFile(initialPath));
+
+    // Rename
+    _masterController->setCurrentPlanFileName(QStringLiteral("TestSaveRenamed"));
+
+    // Save with the renamed name
+    QVERIFY(_masterController->saveWithCurrentName());
+
+    // After save, original should now match the renamed name
+    QCOMPARE(_masterController->originalPlanFileName(), QStringLiteral("TestSaveRenamed"));
+    QCOMPARE(_masterController->currentPlanFileName(), QStringLiteral("TestSaveRenamed"));
+    QVERIFY(!_masterController->planFileRenamed());
+}
+
+void PlanMasterControllerTest::_testSaveWithCurrentNameNoFile()
+{
+    // No file loaded — saveWithCurrentName with empty name should fail
+    QVERIFY(!_masterController->saveWithCurrentName());
+
+    // Set a name without loading a file first (simulates typing a name in the UI)
+    _masterController->setCurrentPlanFileName(QStringLiteral("BrandNewPlan"));
+
+    // Should save to the default mission save directory
+    QVERIFY(_masterController->saveWithCurrentName());
+
+    const QString expectedDir = SettingsManager::instance()->appSettings()->missionSavePath();
+    const QString expectedPath = QStringLiteral("%1/BrandNewPlan.%2").arg(expectedDir, _masterController->fileExtension());
+    QCOMPARE(_masterController->currentPlanFile(), expectedPath);
+    QCOMPARE(_masterController->originalPlanFileName(), QStringLiteral("BrandNewPlan"));
+
+    // Clean up
+    QFile::remove(expectedPath);
+}
+
+void PlanMasterControllerTest::_testResolvedPlanFileExists()
+{
+    // Empty name → should return false
+    QVERIFY(!_masterController->resolvedPlanFileExists());
+
+    // Save a file so it exists on disk
+    QTemporaryDir tmpDir;
+    QVERIFY(tmpDir.isValid());
+    const QString savePath = QStringLiteral("%1/ExistingPlan.%2").arg(tmpDir.path(), _masterController->fileExtension());
+    QVERIFY(_masterController->saveToFile(savePath));
+
+    // Now rename to the same base name — file exists at resolved path
+    _masterController->setCurrentPlanFileName(QStringLiteral("ExistingPlan"));
+    QVERIFY(_masterController->resolvedPlanFileExists());
+
+    // Rename to something non-existent
+    _masterController->setCurrentPlanFileName(QStringLiteral("DoesNotExist"));
+    QVERIFY(!_masterController->resolvedPlanFileExists());
+}
+
+void PlanMasterControllerTest::_testFileNamesClearedOnRemoveAll()
+{
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    // Verify names are set
+    QVERIFY(!_masterController->currentPlanFileName().isEmpty());
+    QVERIFY(!_masterController->originalPlanFileName().isEmpty());
+
+    QSignalSpy currentNameSpy(_masterController, &PlanMasterController::currentPlanFileNameChanged);
+    QSignalSpy originalNameSpy(_masterController, &PlanMasterController::originalPlanFileNameChanged);
+
+    _masterController->removeAll();
+
+    // Names should be cleared
+    QVERIFY(_masterController->currentPlanFileName().isEmpty());
+    QVERIFY(_masterController->originalPlanFileName().isEmpty());
+    QVERIFY(_masterController->currentPlanFile().isEmpty());
+
+    QVERIFY(currentNameSpy.count() >= 1);
+    QVERIFY(originalNameSpy.count() >= 1);
+}
+
+void PlanMasterControllerTest::_testFileNamesClearedOnRemoveAllFromVehicle()
+{
+    _connectMockLink(MAV_AUTOPILOT_PX4);
+
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+
+    // Verify names are set
+    QVERIFY(!_masterController->currentPlanFileName().isEmpty());
+    QVERIFY(!_masterController->originalPlanFileName().isEmpty());
+
+    QSignalSpy currentNameSpy(_masterController, &PlanMasterController::currentPlanFileNameChanged);
+    QSignalSpy originalNameSpy(_masterController, &PlanMasterController::originalPlanFileNameChanged);
+
+    _masterController->removeAllFromVehicle();
+
+    // Names should be cleared
+    QVERIFY(_masterController->currentPlanFileName().isEmpty());
+    QVERIFY(_masterController->originalPlanFileName().isEmpty());
+    QVERIFY(_masterController->currentPlanFile().isEmpty());
+
+    QVERIFY(currentNameSpy.count() >= 1);
+    QVERIFY(originalNameSpy.count() >= 1);
+}
+
+void PlanMasterControllerTest::_testSaveUpdatesOriginalFileName()
+{
+    _masterController->loadFromFile(":/unittest/MissionPlanner.waypoints");
+    QCOMPARE(_masterController->originalPlanFileName(), QStringLiteral("MissionPlanner"));
+
+    // Save to a completely different path
+    const QString saveFile = QDir::temp().filePath(
+        QStringLiteral("qgc_planmaster_rename_%1.plan").arg(QDateTime::currentMSecsSinceEpoch()));
+    QVERIFY(_masterController->saveToFile(saveFile));
+
+    // Both names should now reflect the new file base name
+    const QString expectedBase = QFileInfo(saveFile).completeBaseName();
+    QCOMPARE(_masterController->currentPlanFileName(), expectedBase);
+    QCOMPARE(_masterController->originalPlanFileName(), expectedBase);
+
+    // Clean up
+    QFile::remove(saveFile);
+}
+
 #include "UnitTest.h"
 
 UT_REGISTER_TEST(PlanMasterControllerTest, TestLabel::Integration, TestLabel::MissionManager)
diff --git a/test/MissionManager/PlanMasterControllerTest.h b/test/MissionManager/PlanMasterControllerTest.h
index 3f2a3da3a193..34f1cc1f0bf5 100644
--- a/test/MissionManager/PlanMasterControllerTest.h
+++ b/test/MissionManager/PlanMasterControllerTest.h
@@ -14,7 +14,41 @@ private slots:
 
     void _testMissionPlannerFileLoad();
     void _testActiveVehicleChanged();
+    void _testDirtyFlagsMatrix_data();
+    void _testDirtyFlagsMatrix();
+
+    // File name property tests
+    void _testFileNamesSetOnLoad();
+    void _testCurrentPlanFileNameWritable();
+    void _testPlanFileRenamed();
+    void _testSaveWithCurrentName();
+    void _testSaveWithCurrentNameNoFile();
+    void _testResolvedPlanFileExists();
+    void _testFileNamesClearedOnRemoveAll();
+    void _testFileNamesClearedOnRemoveAllFromVehicle();
+    void _testSaveUpdatesOriginalFileName();
 
 private:
+    enum DirtyScenario {
+        UploadPreservesSaveDirtyTrue,
+        UploadPreservesSaveDirtyFalse,
+        UploadFalseOnPlanClear,
+        UploadTrueWhenSaveTrue,
+        UploadTrueOnNewPlanLoad,
+        SaveToFilePreservesUploadDirtyTrue,
+        SaveToFilePreservesUploadDirtyFalse,
+        SaveFalseOnSuccessfulLoad,
+        ClearSaveDirtyPreservesUploadTrue,
+        ClearSaveDirtyPreservesUploadFalse,
+        DownloadWithItemsDirtyForSave,
+        DownloadEmptyNotDirtyForSave,
+    };
+
+    enum DirtyState {
+        DirtyStateFalse,
+        DirtyStateTrue,
+        DirtyStateUnchanged
+    };
+
     PlanMasterController* _masterController = nullptr;
 };
diff --git a/test/MissionManager/QGCMapPolygonTest.cc b/test/MissionManager/QGCMapPolygonTest.cc
index 038c291b2559..fef01ac80d6b 100644
--- a/test/MissionManager/QGCMapPolygonTest.cc
+++ b/test/MissionManager/QGCMapPolygonTest.cc
@@ -252,6 +252,65 @@ void QGCMapPolygonTest::_testSegmentSplit()
     QVERIFY(_mapPolygon->selectedVertex() == _mapPolygon->count() - 2);
 }
 
+void QGCMapPolygonTest::_testCenterRectangle()
+{
+    // Simple rectangle — centroid should be the geometric center
+    const QGeoCoordinate topLeft(47.636, -122.093);
+    const QGeoCoordinate topRight(47.636, -122.085);
+    const QGeoCoordinate bottomRight(47.630, -122.085);
+    const QGeoCoordinate bottomLeft(47.630, -122.093);
+
+    _mapPolygon->appendVertices({topLeft, topRight, bottomRight, bottomLeft});
+    QCoreApplication::processEvents();
+
+    const QGeoCoordinate expectedCenter(47.633, -122.089);
+    const QGeoCoordinate center = _mapPolygon->center();
+
+    QVERIFY(center.isValid());
+    QCOMPARE_COORDS(center, expectedCenter);
+}
+
+void QGCMapPolygonTest::_testCenterExtraVertex()
+{
+    // Rectangle with an extra vertex at the midpoint of one side.
+    // The shape is identical to the rectangle so the area centroid should be the same,
+    // but a naive vertex average would shift toward the side with the extra vertex.
+    const QGeoCoordinate topLeft(47.636, -122.093);
+    const QGeoCoordinate topMid(47.636, -122.089);   // midpoint of top edge
+    const QGeoCoordinate topRight(47.636, -122.085);
+    const QGeoCoordinate bottomRight(47.630, -122.085);
+    const QGeoCoordinate bottomLeft(47.630, -122.093);
+
+    _mapPolygon->appendVertices({topLeft, topMid, topRight, bottomRight, bottomLeft});
+    QCoreApplication::processEvents();
+
+    const QGeoCoordinate expectedCenter(47.633, -122.089);
+    const QGeoCoordinate center = _mapPolygon->center();
+
+    QVERIFY(center.isValid());
+    QCOMPARE_COORDS(center, expectedCenter);
+}
+
+void QGCMapPolygonTest::_testCenterDegenerate()
+{
+    // Three collinear points — zero area polygon.
+    // The surveyor's formula produces zero area, so the fallback vertex average should be used.
+    const QGeoCoordinate left(47.633, -122.093);
+    const QGeoCoordinate middle(47.633, -122.089);
+    const QGeoCoordinate right(47.633, -122.085);
+
+    _mapPolygon->appendVertices({left, middle, right});
+    QCoreApplication::processEvents();
+
+    const QGeoCoordinate center = _mapPolygon->center();
+
+    const QGeoCoordinate expectedCenter(47.633, -122.089);
+
+    QVERIFY(center.isValid());
+    // Vertex average: latitude stays 47.633, longitude = mean of the three
+    QCOMPARE_COORDS(center, expectedCenter);
+}
+
 #include "UnitTest.h"
 
 UT_REGISTER_TEST(QGCMapPolygonTest, TestLabel::Unit, TestLabel::MissionManager)
diff --git a/test/MissionManager/QGCMapPolygonTest.h b/test/MissionManager/QGCMapPolygonTest.h
index 10fcc6295a3a..eed49f856bef 100644
--- a/test/MissionManager/QGCMapPolygonTest.h
+++ b/test/MissionManager/QGCMapPolygonTest.h
@@ -23,6 +23,9 @@ private slots:
     void _testKMLLoad();
     void _testSelectVertex();
     void _testSegmentSplit();
+    void _testCenterRectangle();
+    void _testCenterExtraVertex();
+    void _testCenterDegenerate();
 
 private:
     MultiSignalSpy* _multiSpyPolygon = nullptr;
diff --git a/test/MissionManager/SimpleMissionItemTest.cc b/test/MissionManager/SimpleMissionItemTest.cc
index 1644a3ad7d95..b75002e895d1 100644
--- a/test/MissionManager/SimpleMissionItemTest.cc
+++ b/test/MissionManager/SimpleMissionItemTest.cc
@@ -57,19 +57,19 @@ void SimpleMissionItemTest::_testEditorFactsWorker(QGCMAVLink::VehicleClass_t ve
         MAV_CMD command;
         MAV_FRAME frame;
         double altValue;
-        QGroundControlQmlGlobal::AltMode altMode;
+        QGroundControlQmlGlobal::AltitudeFrame altFrame;
     } TestCase_t;
 
     TestCase_t testCases[] = {
         {MAV_CMD_NAV_WAYPOINT, MAV_FRAME_GLOBAL_RELATIVE_ALT, 70.1234567,
-         QGroundControlQmlGlobal::AltitudeModeRelative},
-        {MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute},
+         QGroundControlQmlGlobal::AltitudeFrameRelative},
+        {MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeFrameAbsolute},
         {MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT, 70.1234567,
-         QGroundControlQmlGlobal::AltitudeModeRelative},
-        {MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute},
-        {MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT, 70.1234567, QGroundControlQmlGlobal::AltitudeModeRelative},
-        {MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeModeAbsolute},
-        {MAV_CMD_DO_JUMP, MAV_FRAME_MISSION, qQNaN(), QGroundControlQmlGlobal::AltitudeModeRelative},
+         QGroundControlQmlGlobal::AltitudeFrameRelative},
+        {MAV_CMD_NAV_LOITER_TIME, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeFrameAbsolute},
+        {MAV_CMD_NAV_LAND, MAV_FRAME_GLOBAL_RELATIVE_ALT, 70.1234567, QGroundControlQmlGlobal::AltitudeFrameRelative},
+        {MAV_CMD_NAV_TAKEOFF, MAV_FRAME_GLOBAL, 70.1234567, QGroundControlQmlGlobal::AltitudeFrameAbsolute},
+        {MAV_CMD_DO_JUMP, MAV_FRAME_MISSION, qQNaN(), QGroundControlQmlGlobal::AltitudeFrameRelative},
     };
     PlanMasterController planController(MAV_AUTOPILOT_PX4, QGCMAVLink::vehicleClassToMavType(vehicleClass));
     QGCMAVLink::VehicleClass_t commandVehicleClass =
@@ -167,7 +167,7 @@ void SimpleMissionItemTest::_testEditorFactsWorker(QGCMAVLink::VehicleClass_t ve
             QCOMPARE(fact->rawValue().toDouble(), (cExpectedAdvancedNaNFieldInfo[j].first * 10.0) + 0.1234567);
         }
         if (!qIsNaN(testCase.altValue)) {
-            QCOMPARE(simpleMissionItem.altitudeMode(), testCase.altMode);
+            QCOMPARE(simpleMissionItem.altitudeFrame(), testCase.altFrame);
             QCOMPARE(simpleMissionItem.altitude()->rawValue().toDouble(), testCase.altValue);
         }
     }
@@ -203,14 +203,14 @@ void SimpleMissionItemTest::_testSignals()
     // Check that actually changing coordinate signals correctly
     _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5() + 1, missionItem.param6(), missionItem.param7()));
     QVERIFY(_spyVisualItem->onlyEmittedOnceByMask(
-        _spyVisualItem->mask("coordinateChanged", "exitCoordinateChanged", "dirtyChanged", "amslEntryAltChanged",
-                             "amslExitAltChanged", "terrainAltitudeChanged")));
+        _spyVisualItem->mask("coordinateChanged", "entryCoordinateChanged", "exitCoordinateChanged", "dirtyChanged",
+                             "amslEntryAltChanged", "amslExitAltChanged", "terrainAltitudeChanged")));
     _spyVisualItem->clearAllSignals();
     _spySimpleItem->clearAllSignals();
     _simpleItem->setCoordinate(QGeoCoordinate(missionItem.param5(), missionItem.param6() + 1, missionItem.param7()));
     QVERIFY(_spyVisualItem->onlyEmittedOnceByMask(
-        _spyVisualItem->mask("coordinateChanged", "exitCoordinateChanged", "dirtyChanged", "amslEntryAltChanged",
-                             "amslExitAltChanged", "terrainAltitudeChanged")));
+        _spyVisualItem->mask("coordinateChanged", "entryCoordinateChanged", "exitCoordinateChanged", "dirtyChanged",
+                             "amslEntryAltChanged", "amslExitAltChanged", "terrainAltitudeChanged")));
     _spyVisualItem->clearAllSignals();
     _spySimpleItem->clearAllSignals();
     // Altitude in coordinate is not used in setCoordinate
@@ -240,12 +240,12 @@ void SimpleMissionItemTest::_testSignals()
     missionItem.setParam1(missionItem.param4() + 1);
     QVERIFY(_spyVisualItem->emitted("dirtyChanged"));
     _spyVisualItem->clearAllSignals();
-    // Changing altitude mode should emit these signals (may also emit other related signals)
-    _simpleItem->setAltitudeMode(_simpleItem->altitudeMode() == QGroundControlQmlGlobal::AltitudeModeRelative
-                                     ? QGroundControlQmlGlobal::AltitudeModeAbsolute
-                                     : QGroundControlQmlGlobal::AltitudeModeRelative);
+    // Changing altitude frame should emit these signals (may also emit other related signals)
+    _simpleItem->setAltitudeFrame(_simpleItem->altitudeFrame() == QGroundControlQmlGlobal::AltitudeFrameRelative
+                                     ? QGroundControlQmlGlobal::AltitudeFrameAbsolute
+                                     : QGroundControlQmlGlobal::AltitudeFrameRelative);
     QVERIFY(_spySimpleItem->emittedByMask(
-        _spySimpleItem->mask("dirtyChanged", "friendlyEditAllowedChanged", "altitudeModeChanged")));
+        _spySimpleItem->mask("dirtyChanged", "friendlyEditAllowedChanged", "altitudeFrameChanged")));
     _spySimpleItem->clearAllSignals();
     _spyVisualItem->clearAllSignals();
     // Check commandChanged signalling. Call setCommand should trigger:
@@ -318,14 +318,58 @@ void SimpleMissionItemTest::_testSpeedSection()
 void SimpleMissionItemTest::_testAltitudePropogation()
 {
     // Make sure that changes to altitude propogate to param 7 of the mission item
-    _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeRelative);
+    _simpleItem->setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameRelative);
     _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
     QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
     QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    _simpleItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeModeAbsolute);
+    _simpleItem->setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameAbsolute);
     _simpleItem->altitude()->setRawValue(_simpleItem->altitude()->rawValue().toDouble() + 1);
     QCOMPARE(_simpleItem->altitude()->rawValue().toDouble(), _simpleItem->missionItem().param7());
     QCOMPARE(_simpleItem->missionItem().frame(), MAV_FRAME_GLOBAL);
 }
 
+void SimpleMissionItemTest::_testCalcAboveTerrainSaveLoad()
+{
+    // Regression test for https://github.com/mavlink/qgroundcontrol/issues/13513
+    // When saving/loading a mission with CalcAboveTerrain altitude mode, the AMSL altitude
+    // must be preserved correctly rather than being overwritten with the above-terrain value.
+
+    const double terrainAlt         = 500.0;    // Terrain elevation at the waypoint
+    const double aboveTerrainAlt    = 250.0;    // User-specified height above terrain
+    const double amslAlt            = terrainAlt + aboveTerrainAlt;
+
+    // Setup the item with CalcAboveTerrain mode and simulate terrain calculation having completed
+    _simpleItem->setAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain);
+    _simpleItem->altitude()->setRawValue(aboveTerrainAlt);
+    _simpleItem->amslAltAboveTerrain()->setRawValue(amslAlt);
+    // For CalcAboveTerrain, param7 should be the AMSL altitude
+    _simpleItem->missionItem().setParam7(amslAlt);
+
+    // Save
+    QJsonArray missionItems;
+    _simpleItem->save(missionItems);
+    QVERIFY(missionItems.count() > 0);
+    QJsonObject savedJson = missionItems[0].toObject();
+
+    // Verify saved JSON contains the correct altitude data
+    QVERIFY(savedJson.contains("AltitudeMode"));
+    QVERIFY(savedJson.contains("Altitude"));
+    QVERIFY(savedJson.contains("AMSLAltAboveTerrain"));
+    QCOMPARE(savedJson["AltitudeMode"].toInt(), static_cast<int>(QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain));
+    QCOMPARE(savedJson["Altitude"].toDouble(), aboveTerrainAlt);
+    QCOMPARE(savedJson["AMSLAltAboveTerrain"].toDouble(), amslAlt);
+
+    // Load into a new SimpleMissionItem (forLoad=true matches production MissionController behavior)
+    QString errorString;
+    SimpleMissionItem loadedItem(planController(), false /* flyView */, true /* forLoad */);
+    QVERIFY(loadedItem.load(savedJson, 1, errorString));
+
+    // Verify state immediately after load — before any terrain query
+    QCOMPARE(loadedItem.altitudeFrame(), QGroundControlQmlGlobal::AltitudeFrameCalcAboveTerrain);
+    QCOMPARE(loadedItem.altitude()->rawValue().toDouble(), aboveTerrainAlt);
+    QCOMPARE(loadedItem.amslAltAboveTerrain()->rawValue().toDouble(), amslAlt);
+    QCOMPARE(loadedItem.missionItem().frame(), MAV_FRAME_GLOBAL);
+    QCOMPARE(loadedItem.missionItem().param7(), amslAlt);
+}
+
 UT_REGISTER_TEST(SimpleMissionItemTest, TestLabel::Unit, TestLabel::MissionManager)
diff --git a/test/MissionManager/SimpleMissionItemTest.h b/test/MissionManager/SimpleMissionItemTest.h
index f687e0fa6224..59d438c344af 100644
--- a/test/MissionManager/SimpleMissionItemTest.h
+++ b/test/MissionManager/SimpleMissionItemTest.h
@@ -28,6 +28,7 @@ private slots:
     void _testCameraSection();
     void _testSpeedSection();
     void _testAltitudePropogation();
+    void _testCalcAboveTerrainSaveLoad();
 
 private:
     void _testEditorFactsWorker(QGCMAVLink::VehicleClass_t vehicleClass, QGCMAVLink::VehicleClass_t vtolMode);
diff --git a/test/QmlControls/CMakeLists.txt b/test/QmlControls/CMakeLists.txt
index 8ce8cfd01c64..6cb5355a5fac 100644
--- a/test/QmlControls/CMakeLists.txt
+++ b/test/QmlControls/CMakeLists.txt
@@ -4,8 +4,14 @@
 
 target_sources(${CMAKE_PROJECT_NAME}
     PRIVATE
+        ObjectItemModelBaseTest.cc
+        ObjectItemModelBaseTest.h
+        ObjectListModelBaseTest.cc
+        ObjectListModelBaseTest.h
         QmlObjectListModelTest.cc
         QmlObjectListModelTest.h
+        QmlObjectTreeModelTest.cc
+        QmlObjectTreeModelTest.h
 )
 
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/test/QmlControls/ObjectItemModelBaseTest.cc b/test/QmlControls/ObjectItemModelBaseTest.cc
new file mode 100644
index 000000000000..1ce860591c4b
--- /dev/null
+++ b/test/QmlControls/ObjectItemModelBaseTest.cc
@@ -0,0 +1,264 @@
+#include "ObjectItemModelBaseTest.h"
+
+#include "ObjectItemModelBase.h"
+
+#include <QtTest/QSignalSpy>
+
+// ---------------------------------------------------------------------------
+// Concrete subclass — ObjectItemModelBase is abstract, so we need a minimal
+// implementation to test the base-class logic.
+// ---------------------------------------------------------------------------
+namespace {
+
+class ConcreteItemModel : public ObjectItemModelBase
+{
+    Q_OBJECT
+
+public:
+    explicit ConcreteItemModel(QObject* parent = nullptr)
+        : ObjectItemModelBase(parent)
+    {
+    }
+
+    // -- ObjectItemModelBase pure-virtuals --
+    int count() const override { return _count; }
+    void setDirty(bool dirty) override
+    {
+        if (_dirty == dirty) return;
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
+    void clear() override
+    {
+        beginResetModel();
+        _count = 0;
+        endResetModel();
+    }
+
+    // -- QAbstractItemModel pure-virtuals --
+    QModelIndex index(int row, int column = 0, const QModelIndex& parent = QModelIndex()) const override
+    {
+        Q_UNUSED(parent);
+        if (row < 0 || row >= _count || column != 0) return {};
+        return createIndex(row, 0);
+    }
+    QModelIndex parent(const QModelIndex& child) const override
+    {
+        Q_UNUSED(child);
+        return {};
+    }
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override
+    {
+        Q_UNUSED(parent);
+        return _count;
+    }
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override
+    {
+        Q_UNUSED(parent);
+        return 1;
+    }
+    QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override
+    {
+        Q_UNUSED(index); Q_UNUSED(role);
+        return {};
+    }
+
+    // Helper to manipulate count from tests
+    void setCount(int c) { _count = c; }
+
+    // Expose protected helpers for testing
+    using ObjectItemModelBase::_signalCountChangedIfNotNested;
+    using ObjectItemModelBase::_childDirtyChanged;
+    using ObjectItemModelBase::roleNames;
+
+private:
+    int _count = 0;
+};
+
+class DirtyObject : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
+
+public:
+    explicit DirtyObject(QObject* parent = nullptr) : QObject(parent) {}
+
+    bool dirty() const { return _dirty; }
+    void setDirty(bool dirty)
+    {
+        if (_dirty == dirty) return;
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
+
+signals:
+    void dirtyChanged(bool dirty);
+
+private:
+    bool _dirty = false;
+};
+
+} // namespace
+
+// ===========================================================================
+// Nested beginResetModel / endResetModel
+// ===========================================================================
+
+void ObjectItemModelBaseTest::_singleResetCallsBaseOnce()
+{
+    ConcreteItemModel model;
+
+    QSignalSpy resetBeginSpy(&model, &QAbstractItemModel::modelAboutToBeReset);
+    QSignalSpy resetEndSpy(&model, &QAbstractItemModel::modelReset);
+
+    model.beginResetModel();
+    QCOMPARE(resetBeginSpy.count(), 1);
+
+    model.endResetModel();
+    QCOMPARE(resetEndSpy.count(), 1);
+}
+
+void ObjectItemModelBaseTest::_nestedResetTwoDeep()
+{
+    ConcreteItemModel model;
+
+    QSignalSpy resetBeginSpy(&model, &QAbstractItemModel::modelAboutToBeReset);
+    QSignalSpy resetEndSpy(&model, &QAbstractItemModel::modelReset);
+
+    model.beginResetModel();
+    model.beginResetModel(); // nested — should NOT emit again
+    QCOMPARE(resetBeginSpy.count(), 1);
+
+    model.endResetModel(); // back to depth 1 — should NOT emit yet
+    QCOMPARE(resetEndSpy.count(), 0);
+
+    model.endResetModel(); // depth 0 — now emit
+    QCOMPARE(resetEndSpy.count(), 1);
+}
+
+void ObjectItemModelBaseTest::_nestedResetThreeDeep()
+{
+    ConcreteItemModel model;
+
+    QSignalSpy resetBeginSpy(&model, &QAbstractItemModel::modelAboutToBeReset);
+    QSignalSpy resetEndSpy(&model, &QAbstractItemModel::modelReset);
+
+    model.beginResetModel();
+    model.beginResetModel();
+    model.beginResetModel(); // depth 3
+    QCOMPARE(resetBeginSpy.count(), 1);
+
+    model.endResetModel(); // depth 2
+    model.endResetModel(); // depth 1
+    QCOMPARE(resetEndSpy.count(), 0);
+
+    model.endResetModel(); // depth 0 — emit
+    QCOMPARE(resetEndSpy.count(), 1);
+}
+
+void ObjectItemModelBaseTest::_endResetWithoutBeginLogsWarning()
+{
+    ConcreteItemModel model;
+
+    QSignalSpy resetEndSpy(&model, &QAbstractItemModel::modelReset);
+
+    // Should just log a warning and not crash
+    model.endResetModel();
+    QCOMPARE(resetEndSpy.count(), 0);
+}
+
+// ===========================================================================
+// Count signal suppression during reset
+// ===========================================================================
+
+void ObjectItemModelBaseTest::_countChangedSuppressedInsideReset()
+{
+    ConcreteItemModel model;
+    model.setCount(5);
+
+    QSignalSpy countSpy(&model, &ObjectItemModelBase::countChanged);
+
+    model.beginResetModel();
+
+    // _signalCountChangedIfNotNested should be suppressed while in reset
+    model._signalCountChangedIfNotNested();
+    QCOMPARE(countSpy.count(), 0);
+
+    model.endResetModel();
+    // endResetModel itself emits countChanged
+    QCOMPARE(countSpy.count(), 1);
+    QCOMPARE(countSpy.takeFirst().at(0).toInt(), 5);
+}
+
+void ObjectItemModelBaseTest::_countChangedEmittedOnEndReset()
+{
+    ConcreteItemModel model;
+    model.setCount(3);
+
+    model.beginResetModel();
+    model.setCount(7);
+
+    QSignalSpy countSpy(&model, &ObjectItemModelBase::countChanged);
+
+    model.endResetModel();
+    QCOMPARE(countSpy.count(), 1);
+    QCOMPARE(countSpy.takeFirst().at(0).toInt(), 7);
+}
+
+// ===========================================================================
+// Dirty tracking via _childDirtyChanged
+// ===========================================================================
+
+void ObjectItemModelBaseTest::_childDirtySetsDirtyTrue()
+{
+    ConcreteItemModel model;
+    QCOMPARE(model.dirty(), false);
+
+    model._childDirtyChanged(true);
+    QCOMPARE(model.dirty(), true);
+}
+
+void ObjectItemModelBaseTest::_childDirtyDoesNotClearDirty()
+{
+    ConcreteItemModel model;
+    model._childDirtyChanged(true);
+    QCOMPARE(model.dirty(), true);
+
+    // _childDirtyChanged(false) should NOT reset the model's dirty flag
+    // because _dirty |= dirty means it's sticky
+    model._childDirtyChanged(false);
+    QCOMPARE(model.dirty(), true);
+}
+
+void ObjectItemModelBaseTest::_childDirtyEmitsDirtyChanged()
+{
+    ConcreteItemModel model;
+
+    QSignalSpy dirtySpy(&model, &ObjectItemModelBase::dirtyChanged);
+
+    model._childDirtyChanged(true);
+    QCOMPARE(dirtySpy.count(), 1);
+    QCOMPARE(dirtySpy.takeFirst().at(0).toBool(), true);
+
+    // Calling again with true — dirty is already true, |= true is still true,
+    // but the signal is still emitted each time _childDirtyChanged is called
+    model._childDirtyChanged(true);
+    QCOMPARE(dirtySpy.count(), 1);
+}
+
+// ===========================================================================
+// roleNames
+// ===========================================================================
+
+void ObjectItemModelBaseTest::_roleNamesContainObjectAndText()
+{
+    ConcreteItemModel model;
+    const auto roles = model.roleNames();
+
+    QVERIFY(roles.values().contains("object"));
+    QVERIFY(roles.values().contains("text"));
+}
+
+UT_REGISTER_TEST(ObjectItemModelBaseTest, TestLabel::Unit)
+
+#include "ObjectItemModelBaseTest.moc"
diff --git a/test/QmlControls/ObjectItemModelBaseTest.h b/test/QmlControls/ObjectItemModelBaseTest.h
new file mode 100644
index 000000000000..f5c82ac4d63b
--- /dev/null
+++ b/test/QmlControls/ObjectItemModelBaseTest.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QtCore/QObject>
+
+#include "UnitTest.h"
+
+class ObjectItemModelBaseTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // Nested beginResetModel / endResetModel
+    void _singleResetCallsBaseOnce();
+    void _nestedResetTwoDeep();
+    void _nestedResetThreeDeep();
+    void _endResetWithoutBeginLogsWarning();
+
+    // Count signal suppression during reset
+    void _countChangedSuppressedInsideReset();
+    void _countChangedEmittedOnEndReset();
+
+    // Dirty tracking via _childDirtyChanged
+    void _childDirtySetsDirtyTrue();
+    void _childDirtyDoesNotClearDirty();
+    void _childDirtyEmitsDirtyChanged();
+
+    // roleNames
+    void _roleNamesContainObjectAndText();
+};
diff --git a/test/QmlControls/ObjectListModelBaseTest.cc b/test/QmlControls/ObjectListModelBaseTest.cc
new file mode 100644
index 000000000000..6d10ad25a9e8
--- /dev/null
+++ b/test/QmlControls/ObjectListModelBaseTest.cc
@@ -0,0 +1,139 @@
+#include "ObjectListModelBaseTest.h"
+
+#include "QmlObjectListModel.h"
+
+// ===========================================================================
+// index() overrides
+// ===========================================================================
+
+void ObjectListModelBaseTest::_indexValidRow()
+{
+    QmlObjectListModel model;
+    QObject a, b;
+    model.append(&a);
+    model.append(&b);
+
+    const QModelIndex idx0 = model.index(0, 0);
+    QVERIFY(idx0.isValid());
+    QCOMPARE(idx0.row(), 0);
+    QCOMPARE(idx0.column(), 0);
+
+    const QModelIndex idx1 = model.index(1, 0);
+    QVERIFY(idx1.isValid());
+    QCOMPARE(idx1.row(), 1);
+}
+
+void ObjectListModelBaseTest::_indexInvalidRow()
+{
+    QmlObjectListModel model;
+    QObject a;
+    model.append(&a);
+
+    // Negative row
+    QVERIFY(!model.index(-1, 0).isValid());
+
+    // Beyond count
+    QVERIFY(!model.index(1, 0).isValid());
+    QVERIFY(!model.index(100, 0).isValid());
+}
+
+void ObjectListModelBaseTest::_indexNonZeroColumnInvalid()
+{
+    QmlObjectListModel model;
+    QObject a;
+    model.append(&a);
+
+    // Column must be 0 for a list model
+    QVERIFY(!model.index(0, 1).isValid());
+    QVERIFY(!model.index(0, 2).isValid());
+}
+
+void ObjectListModelBaseTest::_indexWithValidParentInvalid()
+{
+    QmlObjectListModel model;
+    QObject a, b;
+    model.append(&a);
+    model.append(&b);
+
+    const QModelIndex parentIdx = model.index(0, 0);
+    QVERIFY(parentIdx.isValid());
+
+    // A flat list model should return invalid for any child of a valid parent
+    QVERIFY(!model.index(0, 0, parentIdx).isValid());
+}
+
+// ===========================================================================
+// parent() override
+// ===========================================================================
+
+void ObjectListModelBaseTest::_parentAlwaysInvalid()
+{
+    QmlObjectListModel model;
+    QObject a;
+    model.append(&a);
+
+    const QModelIndex idx = model.index(0, 0);
+    QVERIFY(idx.isValid());
+
+    // parent() should always return invalid for a flat list
+    QVERIFY(!model.parent(idx).isValid());
+}
+
+// ===========================================================================
+// columnCount() override
+// ===========================================================================
+
+void ObjectListModelBaseTest::_columnCountAlwaysOne()
+{
+    QmlObjectListModel model;
+
+    // Empty model
+    QCOMPARE(model.columnCount(), 1);
+    QCOMPARE(model.columnCount(QModelIndex()), 1);
+
+    // With items
+    QObject a;
+    model.append(&a);
+    QCOMPARE(model.columnCount(), 1);
+
+    // With a valid parent index — still 1
+    const QModelIndex idx = model.index(0, 0);
+    QCOMPARE(model.columnCount(idx), 1);
+}
+
+// ===========================================================================
+// hasChildren() override
+// ===========================================================================
+
+void ObjectListModelBaseTest::_hasChildrenRootEmpty()
+{
+    QmlObjectListModel model;
+
+    // Root of an empty list has no children
+    QVERIFY(!model.hasChildren(QModelIndex()));
+}
+
+void ObjectListModelBaseTest::_hasChildrenRootWithItems()
+{
+    QmlObjectListModel model;
+    QObject a;
+    model.append(&a);
+
+    // Root of a non-empty list has children
+    QVERIFY(model.hasChildren(QModelIndex()));
+}
+
+void ObjectListModelBaseTest::_hasChildrenNonRootAlwaysFalse()
+{
+    QmlObjectListModel model;
+    QObject a;
+    model.append(&a);
+
+    const QModelIndex idx = model.index(0, 0);
+    QVERIFY(idx.isValid());
+
+    // Non-root item should never have children in a flat list
+    QVERIFY(!model.hasChildren(idx));
+}
+
+UT_REGISTER_TEST(ObjectListModelBaseTest, TestLabel::Unit)
diff --git a/test/QmlControls/ObjectListModelBaseTest.h b/test/QmlControls/ObjectListModelBaseTest.h
new file mode 100644
index 000000000000..0bcf270207e4
--- /dev/null
+++ b/test/QmlControls/ObjectListModelBaseTest.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <QtCore/QObject>
+
+#include "UnitTest.h"
+
+class ObjectListModelBaseTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // index() overrides
+    void _indexValidRow();
+    void _indexInvalidRow();
+    void _indexNonZeroColumnInvalid();
+    void _indexWithValidParentInvalid();
+
+    // parent() override
+    void _parentAlwaysInvalid();
+
+    // columnCount() override
+    void _columnCountAlwaysOne();
+
+    // hasChildren() override
+    void _hasChildrenRootEmpty();
+    void _hasChildrenRootWithItems();
+    void _hasChildrenNonRootAlwaysFalse();
+};
diff --git a/test/QmlControls/QmlObjectTreeModelTest.cc b/test/QmlControls/QmlObjectTreeModelTest.cc
new file mode 100644
index 000000000000..b31d5c29fb1d
--- /dev/null
+++ b/test/QmlControls/QmlObjectTreeModelTest.cc
@@ -0,0 +1,764 @@
+#include "QmlObjectTreeModelTest.h"
+
+#include <QtTest/QSignalSpy>
+#include <QtCore/QPersistentModelIndex>
+#include <QtCore/QAbstractItemModel>
+
+// ---------------------------------------------------------------------------
+// DirtyObject — minimal QObject with a dirty property for signal testing
+// ---------------------------------------------------------------------------
+namespace {
+
+class DirtyObject : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
+
+public:
+    explicit DirtyObject(QObject* parent = nullptr) : QObject(parent) {}
+
+    bool dirty() const { return _dirty; }
+    void setDirty(bool dirty)
+    {
+        if (_dirty == dirty) return;
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
+
+signals:
+    void dirtyChanged(bool dirty);
+
+private:
+    bool _dirty = false;
+};
+
+} // namespace
+
+// ===========================================================================
+// Construction & empty state
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_emptyModelDefaults()
+{
+    QmlObjectTreeModel model;
+    QCOMPARE(model.count(), 0);
+    QCOMPARE(model.rowCount(), 0);
+    QVERIFY(model.isEmpty());
+    QCOMPARE(model.dirty(), false);
+}
+
+void QmlObjectTreeModelTest::_roleNamesIncludeNodeType()
+{
+    QmlObjectTreeModel model;
+    const auto roles = model.roleNames();
+    QVERIFY(roles.values().contains("object"));
+    QVERIFY(roles.values().contains("text"));
+    QVERIFY(roles.values().contains("nodeType"));
+    QVERIFY(roles.values().contains("separator"));
+}
+
+// ===========================================================================
+// Insert / Append
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_appendToRoot()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    obj.setObjectName("item1");
+
+    const QModelIndex idx = model.appendItem(&obj);
+    QVERIFY(idx.isValid());
+    QCOMPARE(idx.row(), 0);
+    QCOMPARE(model.count(), 1);
+    QCOMPARE(model.rowCount(), 1);
+    QCOMPARE(model.getObject(idx), &obj);
+}
+
+void QmlObjectTreeModelTest::_appendWithNodeType()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+
+    const QModelIndex idx = model.appendItem(&obj, QModelIndex(), QStringLiteral("myType"));
+    QVERIFY(idx.isValid());
+    QCOMPARE(model.data(idx, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("myType"));
+}
+
+void QmlObjectTreeModelTest::_insertAtPositions()
+{
+    QmlObjectTreeModel model;
+    QObject a, b, c;
+    a.setObjectName("a");
+    b.setObjectName("b");
+    c.setObjectName("c");
+
+    model.appendItem(&b);               // [b]
+    model.insertItem(0, &a);            // [a, b]
+    model.insertItem(2, &c);            // [a, b, c]
+
+    QCOMPARE(model.rowCount(), 3);
+    QCOMPARE(model.getObject(model.index(0, 0)), &a);
+    QCOMPARE(model.getObject(model.index(1, 0)), &b);
+    QCOMPARE(model.getObject(model.index(2, 0)), &c);
+}
+
+void QmlObjectTreeModelTest::_appendToChild()
+{
+    QmlObjectTreeModel model;
+    QObject parent, child;
+
+    const QModelIndex parentIdx = model.appendItem(&parent);
+    const QModelIndex childIdx  = model.appendItem(&child, parentIdx);
+
+    QVERIFY(childIdx.isValid());
+    QCOMPARE(model.rowCount(parentIdx), 1);
+    QCOMPARE(model.getObject(childIdx), &child);
+    QCOMPARE(model.count(), 2); // parent + child
+}
+
+void QmlObjectTreeModelTest::_insertInvalidParentLogsWarning()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+
+    // Create a stale index from another model — will be invalid for this model
+    const QModelIndex badIndex = model.index(999, 0);
+    QVERIFY(!badIndex.isValid());
+
+    // appendItem with invalid index -> inserts at root (valid behavior)
+    const QModelIndex idx = model.appendItem(&obj, badIndex);
+    // Should still succeed since invalid parent = root
+    QVERIFY(idx.isValid());
+}
+
+void QmlObjectTreeModelTest::_insertOutOfRangeLogsWarning()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+
+    const QModelIndex idx = model.insertItem(5, &obj); // row 5, but 0 children
+    QVERIFY(!idx.isValid()); // should fail gracefully
+    QCOMPARE(model.count(), 0);
+}
+
+// ===========================================================================
+// Remove
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_removeItemReturnsObject()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+
+    const QModelIndex idx = model.appendItem(&obj);
+    QObject* removed = model.removeItem(idx);
+
+    QCOMPARE(removed, &obj);
+    QCOMPARE(model.count(), 0);
+}
+
+void QmlObjectTreeModelTest::_removeSubtreeDecrementsCount()
+{
+    QmlObjectTreeModel model;
+    QObject parentObj, child1, child2, grandchild;
+
+    const QModelIndex parentIdx = model.appendItem(&parentObj);
+    const QModelIndex child1Idx = model.appendItem(&child1, parentIdx);
+    model.appendItem(&child2, parentIdx);
+    model.appendItem(&grandchild, child1Idx);
+
+    QCOMPARE(model.count(), 4);
+
+    // Remove parentObj — should remove parent + 2 children + 1 grandchild = 4
+    model.removeItem(parentIdx);
+    QCOMPARE(model.count(), 0);
+}
+
+void QmlObjectTreeModelTest::_removeAtConvenience()
+{
+    QmlObjectTreeModel model;
+    QObject a, b;
+
+    model.appendItem(&a);
+    model.appendItem(&b);
+
+    QObject* removed = model.removeAt(QModelIndex(), 0);
+    QCOMPARE(removed, &a);
+    QCOMPARE(model.count(), 1);
+}
+
+void QmlObjectTreeModelTest::_removeChildrenKeepsParent()
+{
+    QmlObjectTreeModel model;
+    QObject parentObj, child1, child2;
+
+    const QModelIndex parentIdx = model.appendItem(&parentObj);
+    model.appendItem(&child1, parentIdx);
+    model.appendItem(&child2, parentIdx);
+
+    QCOMPARE(model.count(), 3);
+    model.removeChildren(parentIdx);
+    QCOMPARE(model.rowCount(parentIdx), 0);
+    QCOMPARE(model.count(), 1); // parent still there
+    QVERIFY(model.contains(&parentObj));
+}
+
+void QmlObjectTreeModelTest::_removeInvalidIndexReturnsNull()
+{
+    QmlObjectTreeModel model;
+    QObject* removed = model.removeItem(QModelIndex());
+    QVERIFY(removed == nullptr);
+}
+
+// ===========================================================================
+// Count cache
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_countStaysConsistentAfterMixedOps()
+{
+    QmlObjectTreeModel model;
+    QObject objects[10];
+
+    // Insert 10
+    for (int i = 0; i < 10; i++) {
+        model.appendItem(&objects[i]);
+    }
+    QCOMPARE(model.count(), 10);
+
+    // Remove 5 (from end to avoid index shifting)
+    for (int i = 9; i >= 5; i--) {
+        model.removeAt(QModelIndex(), i);
+    }
+    QCOMPARE(model.count(), 5);
+
+    // Add 3 more
+    QObject extras[3];
+    for (int i = 0; i < 3; i++) {
+        model.appendItem(&extras[i]);
+    }
+    QCOMPARE(model.count(), 8);
+
+    // Clear
+    model.clear();
+    QCOMPARE(model.count(), 0);
+}
+
+void QmlObjectTreeModelTest::_countReflectsNestedChildren()
+{
+    QmlObjectTreeModel model;
+    QObject root, c1, c2, gc1, gc2, gc3;
+
+    const QModelIndex rootIdx = model.appendItem(&root);
+    const QModelIndex c1Idx   = model.appendItem(&c1, rootIdx);
+    model.appendItem(&c2, rootIdx);
+    model.appendItem(&gc1, c1Idx);
+    model.appendItem(&gc2, c1Idx);
+    model.appendItem(&gc3, c1Idx);
+
+    QCOMPARE(model.count(), 6); // root + 2 children + 3 grandchildren
+}
+
+// ===========================================================================
+// Clear
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_clearResetsToEmpty()
+{
+    QmlObjectTreeModel model;
+    QObject a, b, c;
+    model.appendItem(&a);
+    model.appendItem(&b);
+    model.appendItem(&c);
+
+    model.clear();
+    QCOMPARE(model.count(), 0);
+    QCOMPARE(model.rowCount(), 0);
+    QVERIFY(model.isEmpty());
+}
+
+void QmlObjectTreeModelTest::_clearAndDeleteContentsDeletesObjects()
+{
+    QmlObjectTreeModel model;
+
+    auto* obj1 = new QObject;
+    auto* obj2 = new QObject;
+
+    model.appendItem(obj1);
+    model.appendItem(obj2);
+
+    QSignalSpy destroyed1(obj1, &QObject::destroyed);
+    QSignalSpy destroyed2(obj2, &QObject::destroyed);
+
+    model.clearAndDeleteContents();
+    QCOMPARE(model.count(), 0);
+
+    // deleteLater requires the event loop to process deferred deletions
+    QCoreApplication::sendPostedEvents(nullptr, QEvent::DeferredDelete);
+    QCOMPARE(destroyed1.count(), 1);
+    QCOMPARE(destroyed2.count(), 1);
+}
+
+void QmlObjectTreeModelTest::_clearOnEmptyIsNoop()
+{
+    QmlObjectTreeModel model;
+    QSignalSpy resetSpy(&model, &QAbstractItemModel::modelReset);
+    model.clear();
+    QCOMPARE(resetSpy.count(), 0); // no-op — no reset emitted
+}
+
+// ===========================================================================
+// Tree navigation
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_parentOfRootChildIsInvalid()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj);
+    QVERIFY(!model.parent(idx).isValid());
+}
+
+void QmlObjectTreeModelTest::_parentOfNestedChild()
+{
+    QmlObjectTreeModel model;
+    QObject parentObj, childObj;
+
+    const QModelIndex parentIdx = model.appendItem(&parentObj);
+    const QModelIndex childIdx  = model.appendItem(&childObj, parentIdx);
+
+    const QModelIndex retrievedParent = model.parent(childIdx);
+    QVERIFY(retrievedParent.isValid());
+    QCOMPARE(model.getObject(retrievedParent), &parentObj);
+}
+
+void QmlObjectTreeModelTest::_depthValues()
+{
+    QmlObjectTreeModel model;
+    QObject root, child, grandchild;
+
+    const QModelIndex rootIdx  = model.appendItem(&root);
+    const QModelIndex childIdx = model.appendItem(&child, rootIdx);
+    const QModelIndex gcIdx    = model.appendItem(&grandchild, childIdx);
+
+    QCOMPARE(model.depth(rootIdx), 0);
+    QCOMPARE(model.depth(childIdx), 1);
+    QCOMPARE(model.depth(gcIdx), 2);
+    QCOMPARE(model.depth(QModelIndex()), -1); // invalid
+}
+
+void QmlObjectTreeModelTest::_indexForObjectFindsNested()
+{
+    QmlObjectTreeModel model;
+    QObject root, child, grandchild;
+
+    const QModelIndex rootIdx  = model.appendItem(&root);
+    const QModelIndex childIdx = model.appendItem(&child, rootIdx);
+    model.appendItem(&grandchild, childIdx);
+
+    const QModelIndex found = model.indexForObject(&grandchild);
+    QVERIFY(found.isValid());
+    QCOMPARE(model.getObject(found), &grandchild);
+}
+
+void QmlObjectTreeModelTest::_indexForObjectNotFound()
+{
+    QmlObjectTreeModel model;
+    QObject notInModel;
+    QVERIFY(!model.indexForObject(&notInModel).isValid());
+    QVERIFY(!model.indexForObject(nullptr).isValid());
+}
+
+void QmlObjectTreeModelTest::_containsWorks()
+{
+    QmlObjectTreeModel model;
+    QObject inModel, notInModel;
+    model.appendItem(&inModel);
+
+    QVERIFY(model.contains(&inModel));
+    QVERIFY(!model.contains(&notInModel));
+}
+
+void QmlObjectTreeModelTest::_columnCountAlwaysOne()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj);
+
+    QCOMPARE(model.columnCount(), 1);
+    QCOMPARE(model.columnCount(idx), 1);
+}
+
+void QmlObjectTreeModelTest::_hasChildrenLeafVsParent()
+{
+    QmlObjectTreeModel model;
+    QObject parentObj, childObj;
+
+    const QModelIndex parentIdx = model.appendItem(&parentObj);
+    QVERIFY(!model.hasChildren(parentIdx)); // no children yet
+
+    const QModelIndex childIdx = model.appendItem(&childObj, parentIdx);
+    QVERIFY(model.hasChildren(parentIdx));  // now has children
+    QVERIFY(!model.hasChildren(childIdx));  // leaf
+    QVERIFY(model.hasChildren());           // root has children
+}
+
+// ===========================================================================
+// Data & SetData
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_dataObjectRole()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj);
+
+    const QVariant val = model.data(idx, Qt::UserRole); // ObjectRole
+    QCOMPARE(val.value<QObject*>(), &obj);
+}
+
+void QmlObjectTreeModelTest::_dataTextRole()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    obj.setObjectName("hello");
+    const QModelIndex idx = model.appendItem(&obj);
+
+    QCOMPARE(model.data(idx, Qt::UserRole + 1).toString(), QStringLiteral("hello")); // TextRole
+}
+
+void QmlObjectTreeModelTest::_dataNodeTypeRole()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj, QModelIndex(), QStringLiteral("missionItem"));
+
+    QCOMPARE(model.data(idx, QmlObjectTreeModel::NodeTypeRole).toString(), QStringLiteral("missionItem"));
+}
+
+void QmlObjectTreeModelTest::_dataSeparatorRole()
+{
+    QmlObjectTreeModel model;
+
+    // Build a parent with three leaf children
+    QObject parent;
+    QObject child1, child2, child3;
+    const QModelIndex parentIdx = model.appendItem(&parent, QModelIndex(), QStringLiteral("group"));
+    const QModelIndex c1 = model.appendItem(&child1, parentIdx, QStringLiteral("item"));
+    const QModelIndex c2 = model.appendItem(&child2, parentIdx, QStringLiteral("item"));
+    const QModelIndex c3 = model.appendItem(&child3, parentIdx, QStringLiteral("item"));
+
+    // First two children are not last → separator = true
+    QCOMPARE(model.data(c1, QmlObjectTreeModel::SeparatorRole).toBool(), true);
+    QCOMPARE(model.data(c2, QmlObjectTreeModel::SeparatorRole).toBool(), true);
+    // Last child → separator = false
+    QCOMPARE(model.data(c3, QmlObjectTreeModel::SeparatorRole).toBool(), false);
+
+    // Parent node has children → separator = false regardless of position
+    QCOMPARE(model.data(parentIdx, QmlObjectTreeModel::SeparatorRole).toBool(), false);
+
+    // Remove last child — c2 is now last and should emit dataChanged with SeparatorRole
+    QSignalSpy dataChangedSpy(&model, &QAbstractItemModel::dataChanged);
+    model.removeItem(c3);
+
+    // c2 should now be the last child → separator = false
+    const QModelIndex c2New = model.index(1, 0, parentIdx);
+    QCOMPARE(model.data(c2New, QmlObjectTreeModel::SeparatorRole).toBool(), false);
+
+    // Verify dataChanged was emitted with SeparatorRole
+    bool foundSeparatorChange = false;
+    for (const auto& call : dataChangedSpy) {
+        const QList<int> roles = call.at(2).value<QList<int>>();
+        if (roles.contains(QmlObjectTreeModel::SeparatorRole)) {
+            foundSeparatorChange = true;
+            break;
+        }
+    }
+    QVERIFY(foundSeparatorChange);
+
+    // Insert a new child at the end — c2 should flip back to separator = true
+    QObject child4;
+    model.appendItem(&child4, parentIdx, QStringLiteral("item"));
+    QCOMPARE(model.data(c2New, QmlObjectTreeModel::SeparatorRole).toBool(), true);
+}
+
+void QmlObjectTreeModelTest::_dataInvalidIndexReturnsEmpty()
+{
+    QmlObjectTreeModel model;
+    QVERIFY(!model.data(QModelIndex(), Qt::UserRole).isValid());
+}
+
+void QmlObjectTreeModelTest::_setDataReplacesObject()
+{
+    QmlObjectTreeModel model;
+    QObject obj1, obj2;
+
+    const QModelIndex idx = model.appendItem(&obj1);
+    QSignalSpy dataChangedSpy(&model, &QAbstractItemModel::dataChanged);
+
+    bool ok = model.setData(idx, QVariant::fromValue<QObject*>(&obj2), Qt::UserRole);
+    QVERIFY(ok);
+    QCOMPARE(model.getObject(idx), &obj2);
+    QCOMPARE(dataChangedSpy.count(), 1);
+}
+
+void QmlObjectTreeModelTest::_setDataNonObjectRoleReturnsFalse()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj);
+
+    QVERIFY(!model.setData(idx, QVariant("test"), Qt::DisplayRole));
+}
+
+// ===========================================================================
+// Dirty tracking
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_insertSetsDirty()
+{
+    QmlObjectTreeModel model;
+    model.setDirty(false);
+
+    QObject obj;
+    model.appendItem(&obj);
+    QVERIFY(model.dirty());
+}
+
+void QmlObjectTreeModelTest::_childDirtyPropagates()
+{
+    QmlObjectTreeModel model;
+    DirtyObject obj;
+
+    QSignalSpy dirtySpy(&model, &QmlObjectTreeModel::dirtyChanged);
+    QVERIFY(dirtySpy.isValid());
+
+    model.appendItem(&obj);
+    model.setDirty(false);
+    dirtySpy.clear();
+
+    obj.setDirty(true);
+    QCOMPARE(dirtySpy.count(), 1);
+    QCOMPARE(dirtySpy.takeFirst().at(0).toBool(), true);
+    QVERIFY(model.dirty());
+}
+
+void QmlObjectTreeModelTest::_removeDisconnectsDirty()
+{
+    QmlObjectTreeModel model;
+    DirtyObject obj;
+
+    model.appendItem(&obj);
+    const QModelIndex idx = model.indexForObject(&obj);
+    model.removeItem(idx);
+    model.setDirty(false);
+
+    QSignalSpy dirtySpy(&model, &QmlObjectTreeModel::dirtyChanged);
+    obj.setDirty(true);
+
+    QCOMPARE(dirtySpy.count(), 0);
+    QVERIFY(!model.dirty());
+}
+
+// ===========================================================================
+// Model signals
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_insertEmitsRowsInserted()
+{
+    QmlObjectTreeModel model;
+    QSignalSpy spy(&model, &QAbstractItemModel::rowsInserted);
+
+    QObject obj;
+    model.appendItem(&obj);
+
+    QCOMPARE(spy.count(), 1);
+    QCOMPARE(spy.at(0).at(1).toInt(), 0); // first = 0
+    QCOMPARE(spy.at(0).at(2).toInt(), 0); // last = 0
+}
+
+void QmlObjectTreeModelTest::_removeEmitsRowsRemoved()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    const QModelIndex idx = model.appendItem(&obj);
+
+    QSignalSpy spy(&model, &QAbstractItemModel::rowsRemoved);
+    model.removeItem(idx);
+
+    QCOMPARE(spy.count(), 1);
+    QCOMPARE(spy.at(0).at(1).toInt(), 0); // first = 0
+    QCOMPARE(spy.at(0).at(2).toInt(), 0); // last = 0
+}
+
+void QmlObjectTreeModelTest::_clearEmitsModelReset()
+{
+    QmlObjectTreeModel model;
+    QObject obj;
+    model.appendItem(&obj);
+
+    QSignalSpy spy(&model, &QAbstractItemModel::modelReset);
+    model.clear();
+
+    QCOMPARE(spy.count(), 1);
+}
+
+void QmlObjectTreeModelTest::_countChangedEmitted()
+{
+    QmlObjectTreeModel model;
+    QSignalSpy spy(&model, &QmlObjectTreeModel::countChanged);
+
+    QObject obj;
+    model.appendItem(&obj);
+    QVERIFY(spy.count() >= 1);
+
+    spy.clear();
+    model.removeItem(model.index(0, 0));
+    QVERIFY(spy.count() >= 1);
+}
+
+// ===========================================================================
+// Nested reset
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_nestedResetOnlyEmitsOnce()
+{
+    QmlObjectTreeModel model;
+    QSignalSpy resetSpy(&model, &QAbstractItemModel::modelReset);
+
+    model.beginResetModel();
+    model.beginResetModel(); // nested — should NOT emit again
+
+    QObject a, b;
+    model.appendItem(&a);
+    model.appendItem(&b);
+
+    model.endResetModel(); // inner — no-op
+    model.endResetModel(); // outer — actually emits
+
+    QCOMPARE(resetSpy.count(), 1);
+}
+
+void QmlObjectTreeModelTest::_insertDuringResetNoSignals()
+{
+    QmlObjectTreeModel model;
+    model.beginResetModel();
+
+    QSignalSpy insertSpy(&model, &QAbstractItemModel::rowsInserted);
+    QSignalSpy countSpy(&model, &QmlObjectTreeModel::countChanged);
+
+    QObject obj;
+    model.appendItem(&obj);
+
+    QCOMPARE(insertSpy.count(), 0); // suppressed during reset
+    QCOMPARE(countSpy.count(), 0);  // suppressed during reset
+
+    model.endResetModel();
+    QCOMPARE(model.count(), 1); // but count is correct
+}
+
+// ===========================================================================
+// insertRows / removeRows guard
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_insertRowsReturnsFalse()
+{
+    QmlObjectTreeModel model;
+    QVERIFY(!model.insertRows(0, 1));
+}
+
+void QmlObjectTreeModelTest::_removeRowsReturnsFalse()
+{
+    QmlObjectTreeModel model;
+    QVERIFY(!model.removeRows(0, 1));
+}
+
+// ===========================================================================
+// QPersistentModelIndex stability
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_persistentIndexSurvivesInsertBefore()
+{
+    QmlObjectTreeModel model;
+    QObject a, b;
+
+    model.appendItem(&a);
+    QPersistentModelIndex persistentIdx(model.index(0, 0));
+    QCOMPARE(model.getObject(persistentIdx), &a);
+
+    // Insert before — persistent index should shift to row 1
+    model.insertItem(0, &b);
+    QVERIFY(persistentIdx.isValid());
+    QCOMPARE(persistentIdx.row(), 1);
+    QCOMPARE(model.getObject(persistentIdx), &a);
+}
+
+void QmlObjectTreeModelTest::_persistentIndexSurvivesRemoveOther()
+{
+    QmlObjectTreeModel model;
+    QObject a, b, c;
+
+    model.appendItem(&a);
+    model.appendItem(&b);
+    model.appendItem(&c);
+
+    QPersistentModelIndex persistentIdx(model.index(2, 0)); // points to c
+    QCOMPARE(model.getObject(persistentIdx), &c);
+
+    // Remove a (row 0) — persistent should shift to row 1
+    model.removeAt(QModelIndex(), 0);
+    QVERIFY(persistentIdx.isValid());
+    QCOMPARE(persistentIdx.row(), 1);
+    QCOMPARE(model.getObject(persistentIdx), &c);
+}
+
+// ===========================================================================
+// Null object edge case
+// ===========================================================================
+
+void QmlObjectTreeModelTest::_insertNullObject()
+{
+    QmlObjectTreeModel model;
+    const QModelIndex idx = model.appendItem(nullptr);
+
+    QVERIFY(idx.isValid());
+    QCOMPARE(model.count(), 1);
+    QVERIFY(model.getObject(idx) == nullptr);
+    QVERIFY(!model.data(idx, Qt::UserRole).isValid()); // null object → invalid variant
+}
+
+// ---------------------------------------------------------------------------
+// Destructor safety: external objects outlive the model
+// ---------------------------------------------------------------------------
+
+void QmlObjectTreeModelTest::_destructorSafeWithExternalObjects()
+{
+    QObject externalObj;
+    {
+        QmlObjectTreeModel model;
+        model.appendItem(&externalObj, QModelIndex(), QStringLiteral("test"));
+        // model destroyed here — must not crash or double-free externalObj
+    }
+    // externalObj still alive — reaching here means no crash
+    QVERIFY(true);
+}
+
+// ---------------------------------------------------------------------------
+// Destructor safety: objects destroyed before the model (shutdown scenario)
+// ---------------------------------------------------------------------------
+
+void QmlObjectTreeModelTest::_destructorSafeWithDestroyedObjects()
+{
+    QmlObjectTreeModel model;
+    {
+        QObject tempObj;
+        model.appendItem(&tempObj, QModelIndex(), QStringLiteral("test"));
+        // tempObj destroyed here while model still holds a pointer to it
+    }
+    // model destroyed after tempObj — must not crash during ~QmlObjectTreeModel
+    QVERIFY(true);
+}
+
+UT_REGISTER_TEST(QmlObjectTreeModelTest, TestLabel::Unit)
+
+#include "QmlObjectTreeModelTest.moc"
diff --git a/test/QmlControls/QmlObjectTreeModelTest.h b/test/QmlControls/QmlObjectTreeModelTest.h
new file mode 100644
index 000000000000..e7203771a544
--- /dev/null
+++ b/test/QmlControls/QmlObjectTreeModelTest.h
@@ -0,0 +1,91 @@
+#pragma once
+
+#include <QtCore/QObject>
+
+#include "QmlObjectTreeModel.h"
+#include "UnitTest.h"
+
+class QmlObjectTreeModelTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    // Construction & empty state
+    void _emptyModelDefaults();
+    void _roleNamesIncludeNodeType();
+
+    // Insert / Append
+    void _appendToRoot();
+    void _appendWithNodeType();
+    void _insertAtPositions();
+    void _appendToChild();
+    void _insertInvalidParentLogsWarning();
+    void _insertOutOfRangeLogsWarning();
+
+    // Remove
+    void _removeItemReturnsObject();
+    void _removeSubtreeDecrementsCount();
+    void _removeAtConvenience();
+    void _removeChildrenKeepsParent();
+    void _removeInvalidIndexReturnsNull();
+
+    // Count cache
+    void _countStaysConsistentAfterMixedOps();
+    void _countReflectsNestedChildren();
+
+    // Clear
+    void _clearResetsToEmpty();
+    void _clearAndDeleteContentsDeletesObjects();
+    void _clearOnEmptyIsNoop();
+
+    // Tree navigation
+    void _parentOfRootChildIsInvalid();
+    void _parentOfNestedChild();
+    void _depthValues();
+    void _indexForObjectFindsNested();
+    void _indexForObjectNotFound();
+    void _containsWorks();
+    void _columnCountAlwaysOne();
+    void _hasChildrenLeafVsParent();
+
+    // Data & SetData
+    void _dataObjectRole();
+    void _dataTextRole();
+    void _dataNodeTypeRole();
+    void _dataSeparatorRole();
+    void _dataInvalidIndexReturnsEmpty();
+    void _setDataReplacesObject();
+    void _setDataNonObjectRoleReturnsFalse();
+
+    // Dirty tracking
+    void _insertSetsDirty();
+    void _childDirtyPropagates();
+    void _removeDisconnectsDirty();
+
+    // Model signals
+    void _insertEmitsRowsInserted();
+    void _removeEmitsRowsRemoved();
+    void _clearEmitsModelReset();
+    void _countChangedEmitted();
+
+    // Nested reset
+    void _nestedResetOnlyEmitsOnce();
+    void _insertDuringResetNoSignals();
+
+    // insertRows / removeRows guard
+    void _insertRowsReturnsFalse();
+    void _removeRowsReturnsFalse();
+
+    // QPersistentModelIndex stability
+    void _persistentIndexSurvivesInsertBefore();
+    void _persistentIndexSurvivesRemoveOther();
+
+    // Null object edge case
+    void _insertNullObject();
+
+    // Destructor safe when external objects outlive the model
+    void _destructorSafeWithExternalObjects();
+
+    // Destructor safe when objects destroyed before the model
+    void _destructorSafeWithDestroyedObjects();
+};
diff --git a/test/QtLocationPlugin/QGCTileCacheDatabaseTest.cc b/test/QtLocationPlugin/QGCTileCacheDatabaseTest.cc
index 56f9d84dd49a..36515a754425 100644
--- a/test/QtLocationPlugin/QGCTileCacheDatabaseTest.cc
+++ b/test/QtLocationPlugin/QGCTileCacheDatabaseTest.cc
@@ -2,6 +2,7 @@
 
 #include <QtCore/QDateTime>
 #include <QtCore/QFile>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QSettings>
 #include <QtSql/QSqlDatabase>
 #include <QtSql/QSqlQuery>
@@ -59,6 +60,9 @@ void QGCTileCacheDatabaseTest::_testInitWithValidPath()
 
 void QGCTileCacheDatabaseTest::_testInitWithEmptyPath()
 {
+    // Expected: critical about missing cache directory
+    expectLogMessage(QtCriticalMsg, QRegularExpression("Could not find suitable cache directory"));
+
     const QString emptyPath;
     QGCTileCacheDatabase db(emptyPath);
     QVERIFY(!db.init());
diff --git a/test/UnitTestFramework/Fixtures/RAIIFixtures.cc b/test/UnitTestFramework/Fixtures/RAIIFixtures.cc
index 7380adff5a15..54c5d9f3d4b4 100644
--- a/test/UnitTestFramework/Fixtures/RAIIFixtures.cc
+++ b/test/UnitTestFramework/Fixtures/RAIIFixtures.cc
@@ -150,11 +150,6 @@ void SettingsFixture::setOfflineVehicleType(MAV_TYPE vehicleType)
     appSettings->offlineEditingVehicleClass()->setRawValue(QGCMAVLink::vehicleClass(vehicleType));
 }
 
-void SettingsFixture::setAltitudeMode(int altitudeMode)
-{
-    Q_UNUSED(altitudeMode);
-}
-
 void SettingsFixture::setFactValue(Fact* fact, const QVariant& value)
 {
     if (!fact) {
diff --git a/test/UnitTestFramework/Fixtures/RAIIFixtures.h b/test/UnitTestFramework/Fixtures/RAIIFixtures.h
index 34d8a7269dcc..18c7f790f749 100644
--- a/test/UnitTestFramework/Fixtures/RAIIFixtures.h
+++ b/test/UnitTestFramework/Fixtures/RAIIFixtures.h
@@ -113,9 +113,6 @@ class SettingsFixture
     /// Set offline editing vehicle type
     void setOfflineVehicleType(MAV_TYPE vehicleType);
 
-    /// Set global altitude mode
-    void setAltitudeMode(int altitudeMode);
-
     /// Set a Fact value (will be restored on destruction)
     void setFactValue(Fact* fact, const QVariant& value);
 
diff --git a/test/UnitTestFramework/Tests/TestBaseClassesTest.h b/test/UnitTestFramework/Tests/TestBaseClassesTest.h
index c3ecd7342cbf..2a8c876e93d9 100644
--- a/test/UnitTestFramework/Tests/TestBaseClassesTest.h
+++ b/test/UnitTestFramework/Tests/TestBaseClassesTest.h
@@ -30,12 +30,12 @@ class SimpleVehicleTest : public VehicleTest
 
     bool wasInitCalled() const
     {
-        return _initCalled;
+        return _initWasCalled;
     }
 
     bool wasCleanupCalled() const
     {
-        return _cleanupCalled;
+        return _cleanupWasCalled;
     }
 
     bool hadVehicle() const
@@ -43,17 +43,14 @@ class SimpleVehicleTest : public VehicleTest
         return _hadVehicle;
     }
 
-    // Public wrappers for testing
     void doInit()
     {
-        UnitTest::initTestCase();
         init();
     }
 
     void doCleanup()
     {
         cleanup();
-        UnitTest::cleanupTestCase();
     }
 
 public slots:
@@ -61,26 +58,19 @@ public slots:
     void init() override
     {
         VehicleTest::init();
-        _initCalled = true;
+        _initWasCalled = true;
         _hadVehicle = (vehicle() != nullptr);
     }
 
     void cleanup() override
     {
-        _cleanupCalled = true;
+        _cleanupWasCalled = true;
         VehicleTest::cleanup();
     }
 
-private slots:
-
-    void _dummyTest()
-    {
-        // Just a placeholder test method
-    }
-
 private:
-    bool _initCalled = false;
-    bool _cleanupCalled = false;
+    bool _initWasCalled = false;
+    bool _cleanupWasCalled = false;
     bool _hadVehicle = false;
 };
 
@@ -98,17 +88,14 @@ class SimpleOfflineMissionTest : public OfflineMissionTest
         return missionController() != nullptr;
     }
 
-    // Public wrappers for testing
     void doInit()
     {
-        UnitTest::initTestCase();
         init();
     }
 
     void doCleanup()
     {
         cleanup();
-        UnitTest::cleanupTestCase();
     }
 
 public slots:
@@ -122,12 +109,6 @@ public slots:
     {
         OfflineMissionTest::cleanup();
     }
-
-private slots:
-
-    void _dummyTest()
-    {
-    }
 };
 
 /// Simple derived class to test CommsTest base
@@ -144,17 +125,14 @@ class SimpleCommsTest : public CommsTest
         return linkManager() != nullptr;
     }
 
-    // Public wrappers for testing - expose protected methods
     void doInit()
     {
-        UnitTest::initTestCase();
         init();
     }
 
     void doCleanup()
     {
         cleanup();
-        UnitTest::cleanupTestCase();
     }
 
     SharedLinkInterfacePtr doCreateMockLink(const QString& name)
@@ -178,10 +156,4 @@ public slots:
     {
         CommsTest::cleanup();
     }
-
-private slots:
-
-    void _dummyTest()
-    {
-    }
 };
diff --git a/test/UnitTestFramework/UnitTest.cc b/test/UnitTestFramework/UnitTest.cc
index b97ebb35157c..006df0227537 100644
--- a/test/UnitTestFramework/UnitTest.cc
+++ b/test/UnitTestFramework/UnitTest.cc
@@ -19,6 +19,7 @@
 #include "MultiVehicleManager.h"
 #include "QGC.h"
 #include "QGCApplication.h"
+#include "QGCLogging.h"
 #include "QGCLoggingCategory.h"
 #include "QmlObjectListModel.h"
 #include "SettingsManager.h"
@@ -626,21 +627,61 @@ int UnitTest::run(QStringView singleTest, const QString& outputFile, TestLabels
     return ret;
 }
 
+// ============================================================================
+// Test‑time capture handler
+// ============================================================================
+// QTest::qExec() replaces the application message handler with its own.
+// Our QGCLogging::msgHandler is therefore NOT called during test execution.
+// We work around this by installing a thin wrapper ON TOP of QTest's handler
+// inside initTestCase() and restoring it in cleanupTestCase().
+// The wrapper captures messages for the test log‑capture API and then chains
+// to QTest's handler so QWARN / QCRITICAL output keeps working.
+
+static QtMessageHandler s_qtestHandler = nullptr;
+
+static void testCaptureHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg)
+{
+    // Capture for unit‑test introspection
+    QGCLogging::captureIfEnabled(type, context, msg);
+
+    // Chain to QTest's handler for normal test output
+    if (s_qtestHandler) {
+        s_qtestHandler(type, context, msg);
+    }
+}
+
 void UnitTest::initTestCase()
 {
     // Reset test tracking state at start of each test class
     _resetTestState();
+
+    // Install the capture wrapper on top of QTest's handler
+    s_qtestHandler = qInstallMessageHandler(testCaptureHandler);
 }
 
 void UnitTest::cleanupTestCase()
 {
-    // Override in derived classes for one-time teardown
+    // Restore QTest's handler so qExec teardown stays consistent
+    if (s_qtestHandler) {
+        (void) qInstallMessageHandler(s_qtestHandler);
+        s_qtestHandler = nullptr;
+    }
+}
+
+void UnitTest::expectLogMessage(QtMsgType type, const QRegularExpression &pattern)
+{
+    _expectedLogMessages.append({type, pattern});
 }
 
 void UnitTest::init()
 {
     _initCalled = true;
     _failureContextDumped = false;
+    _expectedLogMessages.clear();
+
+    // Start capturing log messages for this test (cleared from previous test)
+    QGCLogging::clearCapturedMessages();
+    QGCLogging::setCaptureEnabled(true);
 
     // Force offline vehicle back to defaults
     AppSettings* const appSettings = SettingsManager::instance()->appSettings();
@@ -655,10 +696,58 @@ void UnitTest::cleanup()
     _cleanupCalled = true;
     dumpFailureContextIfTestFailed(QStringLiteral("cleanup"));
 
+    // Stop capturing log messages after the test finishes
+    QGCLogging::setCaptureEnabled(false);
+
     _cleanupTempFiles();
 
     // Process any lingering events to prevent cross-test contamination
     settleEventLoopForCleanup(3, 0);
+
+    // Fail the test if any uncategorized or critical log messages were captured.
+    // Skip if the test already failed to avoid noisy double-failure reports.
+    if (!QTest::currentTestFailed()) {
+        QString uncategorizedDetails;
+        QString criticalDetails;
+
+        auto isExpected = [this](const CapturedLogMessage &m) {
+            for (const auto &e : _expectedLogMessages) {
+                if (e.type == m.type && e.pattern.match(m.message).hasMatch()) {
+                    return true;
+                }
+            }
+            return false;
+        };
+
+        const auto allMsgs = QGCLogging::capturedMessages();
+        for (const auto &m : allMsgs) {
+            if (isExpected(m)) {
+                continue;
+            }
+            if (m.category.isEmpty() || m.category == QStringLiteral("default")) {
+                const char *level = (m.type == QtDebugMsg)   ? "debug"
+                                  : (m.type == QtWarningMsg) ? "warning"
+                                  : (m.type == QtInfoMsg)    ? "info"
+                                                             : "other";
+                uncategorizedDetails += QStringLiteral("  [%1] %2\n").arg(QLatin1String(level), m.message);
+            }
+            if (m.type == QtCriticalMsg) {
+                criticalDetails += QStringLiteral("  [%1] %2\n").arg(m.category, m.message);
+            }
+        }
+
+        if (!uncategorizedDetails.isEmpty() || !criticalDetails.isEmpty()) {
+            QString msg;
+            if (!uncategorizedDetails.isEmpty()) {
+                msg += QStringLiteral("Uncategorized log messages (use qCDebug/qCWarning with a category):\n%1")
+                           .arg(uncategorizedDetails);
+            }
+            if (!criticalDetails.isEmpty()) {
+                msg += QStringLiteral("Critical log messages:\n%1").arg(criticalDetails);
+            }
+            QFAIL(qPrintable(msg));
+        }
+    }
 }
 
 void UnitTest::dumpFailureContextIfTestFailed(QStringView reason)
diff --git a/test/UnitTestFramework/UnitTest.h b/test/UnitTestFramework/UnitTest.h
index b47e1f0ade88..42f233c0a10f 100644
--- a/test/UnitTestFramework/UnitTest.h
+++ b/test/UnitTestFramework/UnitTest.h
@@ -4,6 +4,7 @@
 #include <QtCore/QLoggingCategory>
 #include <QtCore/QObject>
 #include <QtCore/QPointer>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QStringView>
 #include <QtCore/QTemporaryDir>
 #include <QtCore/QTemporaryFile>
@@ -436,7 +437,17 @@ protected slots:
     /// Allows derived fixtures to append state to failure dumps.
     virtual QString failureContextSummary() const;
 
+    /// Declare that a captured log message matching @a pattern at level @a type
+    /// is expected and should not cause a test failure in cleanup().
+    /// Call this before the code that emits the message.
+    void expectLogMessage(QtMsgType type, const QRegularExpression &pattern);
+
 private:
+    struct ExpectedLogMessage {
+        QtMsgType type;
+        QRegularExpression pattern;
+    };
+
     void _cleanupTempFiles();
     void _resetTestState();
 
@@ -445,6 +456,7 @@ protected slots:
 
     QList<QTemporaryFile*> _tempFiles;
     QList<QTemporaryDir*> _tempDirs;
+    QList<ExpectedLogMessage> _expectedLogMessages;
 
     TestLabels _labels;
     bool _unitTestRun = false;
diff --git a/test/Utilities/Compression/QGCStreamingDecompressionTest.cc b/test/Utilities/Compression/QGCStreamingDecompressionTest.cc
index bfe8cafab980..73167f9043b9 100644
--- a/test/Utilities/Compression/QGCStreamingDecompressionTest.cc
+++ b/test/Utilities/Compression/QGCStreamingDecompressionTest.cc
@@ -4,6 +4,7 @@
 #include <QtCore/QFile>
 #include <QtCore/QJsonDocument>
 #include <QtCore/QJsonObject>
+#include <QtCore/QRegularExpression>
 #include <QtCore/QTextStream>
 
 #include "QGCArchiveFile.h"
@@ -123,6 +124,7 @@ void QGCStreamingDecompressionTest::_testDecompressDeviceErrors()
     // Test writeData returns -1
     QGCDecompressDevice device4(":/unittest/manifest.json.gz");
     QVERIFY(device4.open(QIODevice::ReadOnly));
+    expectLogMessage(QtWarningMsg, QRegularExpression("ReadOnly device"));
     QCOMPARE(device4.write("test", 4), qint64(-1));
     device4.close();
 }
@@ -238,6 +240,7 @@ void QGCStreamingDecompressionTest::_testArchiveFileErrors()
     // Test writeData returns -1
     QGCArchiveFile device4(":/unittest/manifest.json.zip", "manifest.json");
     QVERIFY(device4.open(QIODevice::ReadOnly));
+    expectLogMessage(QtWarningMsg, QRegularExpression("ReadOnly device"));
     QCOMPARE(device4.write("test", 4), qint64(-1));
     device4.close();
 }
diff --git a/test/Utilities/StateMachine/QGCStateMachineTest.cc b/test/Utilities/StateMachine/QGCStateMachineTest.cc
index 62c59059b554..dbc8afc8a589 100644
--- a/test/Utilities/StateMachine/QGCStateMachineTest.cc
+++ b/test/Utilities/StateMachine/QGCStateMachineTest.cc
@@ -4,6 +4,7 @@
 #include "QGCStateMachine.h"
 #include "WaitStateBase.h"
 
+#include <QtCore/QRegularExpression>
 #include <QtCore/QTimer>
 #include <QtTest/QSignalSpy>
 #include <QtTest/QTest>
@@ -75,6 +76,9 @@ void QGCStateMachineTest::_testGlobalErrorState()
     });
     machine.setGlobalErrorState(errorState);
 
+    // The async state has no completion connection and no timeout — expected critical
+    expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+
     auto* asyncState = machine.addAsyncFunctionState(QStringLiteral("Async"), [](AsyncFunctionState* state) {
         QTimer::singleShot(50, state, [state]() { state->fail(); });
     });
@@ -141,6 +145,9 @@ void QGCStateMachineTest::_testLocalErrorState()
         localErrorHandled = true;
     });
 
+    // The async state has no completion connection and no timeout — expected critical
+    expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+
     auto* asyncState = new AsyncFunctionState(QStringLiteral("Async"), &machine, [](AsyncFunctionState* state) {
         QTimer::singleShot(50, state, [state]() { state->fail(); });
     });
@@ -319,6 +326,10 @@ void QGCStateMachineTest::_testErrorHandlerFactories()
         auto* errorState = machine.addLogAndContinueErrorState(QStringLiteral("ErrorContinue"), finalState);
         machine.setGlobalErrorState(errorState);
 
+        // Expected: async state critical (no completion connection) + error handler warning
+        expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+        expectLogMessage(QtWarningMsg, QRegularExpression("error handled in"));
+
         auto* failingState = machine.addAsyncFunctionState(QStringLiteral("Failing"), [](AsyncFunctionState* state) {
             QTimer::singleShot(0, state, [state]() { state->fail(); });
         });
@@ -336,6 +347,10 @@ void QGCStateMachineTest::_testErrorHandlerFactories()
         auto* errorState = machine.addLogAndStopErrorState(QStringLiteral("ErrorStop"));
         machine.setGlobalErrorState(errorState);
 
+        // Expected: async state critical (no completion connection) + error handler warning
+        expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+        expectLogMessage(QtWarningMsg, QRegularExpression("stopping due to error in"));
+
         auto* failingState = machine.addAsyncFunctionState(QStringLiteral("Failing"), [](AsyncFunctionState* state) {
             QTimer::singleShot(0, state, [state]() { state->fail(); });
         });
diff --git a/test/Utilities/StateMachine/states/AsyncFunctionStateTest.cc b/test/Utilities/StateMachine/states/AsyncFunctionStateTest.cc
index ed5e259716a8..a69bfef2da11 100644
--- a/test/Utilities/StateMachine/states/AsyncFunctionStateTest.cc
+++ b/test/Utilities/StateMachine/states/AsyncFunctionStateTest.cc
@@ -1,6 +1,8 @@
 #include "AsyncFunctionStateTest.h"
 #include "StateTestCommon.h"
 
+#include <QtCore/QRegularExpression>
+
 
 void AsyncFunctionStateTest::_testAsyncFunctionState()
 {
@@ -8,6 +10,9 @@ void AsyncFunctionStateTest::_testAsyncFunctionState()
     bool setupCalled = false;
     AsyncFunctionState* capturedState = nullptr;
 
+    // Expected: async state has no completion connection and no timeout
+    expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+
     auto* asyncState = new AsyncFunctionState(
         QStringLiteral("TestAsync"),
         &machine,
@@ -76,6 +81,9 @@ void AsyncFunctionStateTest::_testErrorTransition()
     QStateMachine machine;
     bool errorHandled = false;
 
+    // Expected: async state has no completion connection and no timeout
+    expectLogMessage(QtCriticalMsg, QRegularExpression("has no completion connection"));
+
     auto* asyncState = new AsyncFunctionState(
         QStringLiteral("TestError"),
         &machine,
diff --git a/test/Utilities/StateMachine/states/SendMavlinkCommandStateTest.cc b/test/Utilities/StateMachine/states/SendMavlinkCommandStateTest.cc
index 844e4f0d562e..dd9c2d8c0e33 100644
--- a/test/Utilities/StateMachine/states/SendMavlinkCommandStateTest.cc
+++ b/test/Utilities/StateMachine/states/SendMavlinkCommandStateTest.cc
@@ -1,6 +1,8 @@
 #include "SendMavlinkCommandStateTest.h"
 #include "StateTestCommon.h"
 
+#include <QtCore/QRegularExpression>
+
 #include "SendMavlinkCommandState.h"
 
 
@@ -40,6 +42,10 @@ void SendMavlinkCommandStateTest::_testUnconfiguredStateFails()
 {
     QStateMachine machine;
 
+    // Expected: unconfigured state emits critical + Qt warns about null connect
+    expectLogMessage(QtWarningMsg, QRegularExpression("invalid nullptr parameter"));
+    expectLogMessage(QtCriticalMsg, QRegularExpression("SendMavlinkCommandState not configured"));
+
     // Create without configuration
     auto* state = new SendMavlinkCommandState(&machine);
     auto* errorState = new FunctionState(QStringLiteral("Error"), &machine, []() {});
diff --git a/test/Vehicle/ComponentInformation/ComponentInformationTranslationTest.cc b/test/Vehicle/ComponentInformation/ComponentInformationTranslationTest.cc
index 3d63461fb42f..13726c3b20ac 100644
--- a/test/Vehicle/ComponentInformation/ComponentInformationTranslationTest.cc
+++ b/test/Vehicle/ComponentInformation/ComponentInformationTranslationTest.cc
@@ -42,6 +42,12 @@ void ComponentInformationTranslationTest::_downloadAndTranslateFromSummary_test(
 {
     const QString summaryPath = tempPath(QStringLiteral("summary.json"));
     const QString locale = QLocale::system().name();
+
+    // Skip test on English locales since translation is intentionally skipped
+    if (locale.startsWith(QLatin1String("en"))) {
+        QSKIP("Translation is skipped for English locales");
+    }
+
     QFile summaryFile(summaryPath);
     QVERIFY(summaryFile.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text));
     QTextStream summaryStream(&summaryFile);
@@ -58,7 +64,7 @@ void ComponentInformationTranslationTest::_downloadAndTranslateFromSummary_test(
     QSignalSpy completeSpy(&translation, &ComponentInformationTranslation::downloadComplete);
     QVERIFY(completeSpy.isValid());
 
-    QVERIFY(translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600));
+    QVERIFY(translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600, QStringLiteral("TEST")));
     QVERIFY_SIGNAL_WAIT(completeSpy, TestTimeout::mediumMs());
     QCOMPARE(completeSpy.count(), 1);
 
@@ -93,7 +99,7 @@ void ComponentInformationTranslationTest::_downloadAndTranslateMissingLocale_tes
     ComponentInformationTranslation translation(this, &cachedDownloader);
 
     QSignalSpy completeSpy(&translation, &ComponentInformationTranslation::downloadComplete);
-    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600));
+    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600, QStringLiteral("TEST")));
     QCOMPARE(completeSpy.count(), 0);
 }
 
@@ -116,7 +122,7 @@ void ComponentInformationTranslationTest::_downloadAndTranslateMissingUrl_test()
     ComponentInformationTranslation translation(this, &cachedDownloader);
 
     QSignalSpy completeSpy(&translation, &ComponentInformationTranslation::downloadComplete);
-    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600));
+    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600, QStringLiteral("TEST")));
     QCOMPARE(completeSpy.count(), 0);
 }
 
@@ -132,7 +138,7 @@ void ComponentInformationTranslationTest::_downloadAndTranslateInvalidSummaryJso
     ComponentInformationTranslation translation(this, &cachedDownloader);
 
     QSignalSpy completeSpy(&translation, &ComponentInformationTranslation::downloadComplete);
-    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600));
+    QVERIFY(!translation.downloadAndTranslate(summaryPath, QStringLiteral(":/unittest/TranslationTest.json"), 3600, QStringLiteral("TEST")));
     QCOMPARE(completeSpy.count(), 0);
 }
 
diff --git a/test/Vehicle/InitialConnectTest.cc b/test/Vehicle/InitialConnectTest.cc
index c038cb9ab2b8..781aaf0e49cf 100644
--- a/test/Vehicle/InitialConnectTest.cc
+++ b/test/Vehicle/InitialConnectTest.cc
@@ -10,6 +10,7 @@
 #include "MAVLinkProtocol.h"
 #include "MultiVehicleManager.h"
 #include "MockConfiguration.h"
+#include "MockLink.h"
 #include "MockLinkMissionItemHandler.h"
 #include "MissionManager.h"
 #include "ParameterManager.h"
@@ -21,11 +22,6 @@
 
 #include <QtTest/QTest>
 
-void InitialConnectTest::init()
-{
-    VehicleTestManualConnect::init();
-}
-
 void InitialConnectTest::_performTestCases_data()
 {
     QTest::addColumn<int>("failureMode");
@@ -247,6 +243,133 @@ void InitialConnectTest::_rallyTimeoutPathDoesNotLeakCompletionHandler()
     _disconnectMockLink();
 }
 
+void InitialConnectTest::_stateTimeoutFallsThrough_data()
+{
+    QTest::addColumn<QList<uint32_t>>("blockedMessageIds");
+    QTest::addColumn<int>("configFailureMode");
+    QTest::addColumn<bool>("blockMissionProtocolImmediately");
+    QTest::addColumn<bool>("blockMissionProtocolAfterMissionLoad");
+    QTest::addColumn<QStringList>("timeoutOverrideStates");
+    QTest::addColumn<bool>("expectParametersReady");
+    QTest::addColumn<bool>("expectPlanRequestComplete");
+
+    // Timeout matrix:
+    // +----------------+-------------------+------------------+---------+--------+
+    // | State          | Failure Injection | Timeout States   | Params? | Plans? |
+    // +----------------+-------------------+------------------+---------+--------+
+    // | StandardModes  | Block AVAIL_MODES | StdModes         | Yes     | Yes    |
+    // | CompInfo       | Block COMP_META   | CompInfo         | Yes     | Yes    |
+    // | Parameters     | No param response | Parameters       | No      | Yes    |
+    // | Mission        | Block mission req | Msn+Fence+Rally  | Yes     | No     |
+    // | GeoFence       | Block after msn   | Fence+Rally      | Yes     | No     |
+    // +----------------+-------------------+------------------+---------+--------+
+
+    QTest::addRow("StandardModes")
+        << QList<uint32_t>{MAVLINK_MSG_ID_AVAILABLE_MODES}
+        << static_cast<int>(MockConfiguration::FailNone)
+        << false << false
+        << QStringList{QStringLiteral("RequestStandardModes")}
+        << true << true;
+
+    QTest::addRow("CompInfo")
+        << QList<uint32_t>{MAVLINK_MSG_ID_COMPONENT_METADATA}
+        << static_cast<int>(MockConfiguration::FailNone)
+        << false << false
+        << QStringList{QStringLiteral("RequestCompInfo")}
+        << true << true;
+
+    QTest::addRow("Parameters")
+        << QList<uint32_t>{}
+        << static_cast<int>(MockConfiguration::FailParamNoResponseToRequestList)
+        << false << false
+        << QStringList{QStringLiteral("RequestParameters")}
+        << false << true;
+
+    QTest::addRow("Mission")
+        << QList<uint32_t>{}
+        << static_cast<int>(MockConfiguration::FailNone)
+        << true << false
+        << QStringList{QStringLiteral("RequestMission"),
+                       QStringLiteral("RequestGeoFence"),
+                       QStringLiteral("RequestRallyPoints")}
+        << true << false;
+
+    QTest::addRow("GeoFence")
+        << QList<uint32_t>{}
+        << static_cast<int>(MockConfiguration::FailNone)
+        << false << true
+        << QStringList{QStringLiteral("RequestGeoFence"),
+                       QStringLiteral("RequestRallyPoints")}
+        << true << false;
+}
+
+void InitialConnectTest::_stateTimeoutFallsThrough()
+{
+    QFETCH(QList<uint32_t>, blockedMessageIds);
+    QFETCH(int, configFailureMode);
+    QFETCH(bool, blockMissionProtocolImmediately);
+    QFETCH(bool, blockMissionProtocolAfterMissionLoad);
+    QFETCH(QStringList, timeoutOverrideStates);
+    QFETCH(bool, expectParametersReady);
+    QFETCH(bool, expectPlanRequestComplete);
+
+    LinkManager::instance()->setConnectionsAllowed();
+
+    auto* mvm = MultiVehicleManager::instance();
+    QSignalSpy activeVehicleSpy{mvm, &MultiVehicleManager::activeVehicleChanged};
+    auto* mockConfig = new MockConfiguration(QStringLiteral("TimeoutFallthroughMock"));
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    if (configFailureMode != static_cast<int>(MockConfiguration::FailNone)) {
+        mockConfig->setFailureMode(static_cast<MockConfiguration::FailureMode_t>(configFailureMode));
+    }
+    mockConfig->setDynamic(true);
+
+    SharedLinkConfigurationPtr linkConfig = LinkManager::instance()->addConfiguration(mockConfig);
+    QVERIFY(LinkManager::instance()->createConnectedLink(linkConfig));
+
+    _mockLink = qobject_cast<MockLink*>(linkConfig->link());
+    QVERIFY(_mockLink);
+
+    for (const uint32_t messageId : blockedMessageIds) {
+        _mockLink->setRequestMessageNoResponse(messageId);
+    }
+
+    if (blockMissionProtocolImmediately) {
+        _mockLink->setMissionItemFailureMode(
+            MockLinkMissionItemHandler::FailReadRequestListNoResponse, MAV_MISSION_ACCEPTED);
+    }
+
+    QVERIFY(activeVehicleSpy.wait(TestTimeout::longMs()));
+    _vehicle = mvm->activeVehicle();
+    QVERIFY(_vehicle);
+
+    auto* initialConnectStateMachine = _vehicle->findChild<InitialConnectStateMachine*>();
+    QVERIFY(initialConnectStateMachine);
+
+    for (const QString& stateName : timeoutOverrideStates) {
+        initialConnectStateMachine->setTimeoutOverride(stateName, 100);
+    }
+
+    if (blockMissionProtocolAfterMissionLoad) {
+        auto* missionManager = _vehicle->findChild<MissionManager*>();
+        QVERIFY(missionManager);
+        connect(missionManager, &MissionManager::newMissionItemsAvailable, this, [this]() {
+            _mockLink->setMissionItemFailureMode(
+                MockLinkMissionItemHandler::FailReadRequestListNoResponse, MAV_MISSION_ACCEPTED);
+        });
+    }
+
+    QSignalSpy initialConnectCompleteSpy{_vehicle, &Vehicle::initialConnectComplete};
+    if (!_vehicle->isInitialConnectComplete()) {
+        QVERIFY(initialConnectCompleteSpy.wait(60000));
+    }
+    QCOMPARE(_vehicle->parameterManager()->parametersReady(), expectParametersReady);
+    QCOMPARE(_vehicle->initialPlanRequestComplete(), expectPlanRequestComplete);
+
+    _disconnectMockLink();
+}
+
 void InitialConnectTest::_stateRunMatrix_data()
 {
     QTest::addColumn<bool>("highLatency");
diff --git a/test/Vehicle/InitialConnectTest.h b/test/Vehicle/InitialConnectTest.h
index 9bbd17d159ed..4f1764c6d351 100644
--- a/test/Vehicle/InitialConnectTest.h
+++ b/test/Vehicle/InitialConnectTest.h
@@ -7,7 +7,6 @@ class InitialConnectTest : public VehicleTestManualConnect
     Q_OBJECT
 
 private slots:
-    void init() override;
     void _performTestCases_data();
     void _performTestCases();
     void _boardVendorProductId();
@@ -16,6 +15,8 @@ private slots:
     void _genericAutopilotVersionFailureSkipsUnsupportedPlanTypes();
     void _multipleReconnects();
     void _rallyTimeoutPathDoesNotLeakCompletionHandler();
+    void _stateTimeoutFallsThrough_data();
+    void _stateTimeoutFallsThrough();
     void _stateRunMatrix_data();
     void _stateRunMatrix();
 };
diff --git a/test/VideoManager/CMakeLists.txt b/test/VideoManager/CMakeLists.txt
new file mode 100644
index 000000000000..5b13ca02bc99
--- /dev/null
+++ b/test/VideoManager/CMakeLists.txt
@@ -0,0 +1,5 @@
+# ============================================================================
+# VideoManager Tests
+# ============================================================================
+
+add_subdirectory(GStreamer)
diff --git a/test/VideoManager/GStreamer/CMakeLists.txt b/test/VideoManager/GStreamer/CMakeLists.txt
new file mode 100644
index 000000000000..fb0a5e84e485
--- /dev/null
+++ b/test/VideoManager/GStreamer/CMakeLists.txt
@@ -0,0 +1,12 @@
+# ============================================================================
+# GStreamer Integration Tests
+# Requires GStreamer runtime; tests skip gracefully when GST is disabled.
+# ============================================================================
+
+target_sources(${CMAKE_PROJECT_NAME}
+    PRIVATE
+        GStreamerTest.cc
+        GStreamerTest.h
+)
+
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/test/VideoManager/GStreamer/GStreamerTest.cc b/test/VideoManager/GStreamer/GStreamerTest.cc
new file mode 100644
index 000000000000..60194f0f5f99
--- /dev/null
+++ b/test/VideoManager/GStreamer/GStreamerTest.cc
@@ -0,0 +1,252 @@
+#include "GStreamerTest.h"
+
+#ifdef QGC_GST_STREAMING
+
+#include "GStreamer.h"
+#include "GStreamerHelpers.h"
+#include "GStreamerLogging.h"
+
+#include <QtCore/QDir>
+#include <QtCore/QFileInfo>
+#include <gst/gst.h>
+
+void GStreamerTest::init()
+{
+    UnitTest::init();
+
+    if (!gst_is_initialized()) {
+        GStreamer::prepareEnvironment();
+        GStreamer::redirectGLibLogging();
+
+        GError *error = nullptr;
+        if (!gst_init_check(nullptr, nullptr, &error)) {
+            const QString msg = error ? QString::fromUtf8(error->message) : QStringLiteral("unknown error");
+            g_clear_error(&error);
+            QSKIP(qPrintable(QStringLiteral("GStreamer unavailable: %1").arg(msg)));
+        }
+    }
+}
+
+void GStreamerTest::_testIsValidRtspUri()
+{
+    QVERIFY(GStreamer::isValidRtspUri("rtsp://127.0.0.1:8554/test"));
+    QVERIFY(GStreamer::isValidRtspUri("rtsp://user:pass@10.0.0.1/stream"));
+    QVERIFY(GStreamer::isValidRtspUri("rtspu://192.168.1.1:554/video"));
+    QVERIFY(GStreamer::isValidRtspUri("rtspt://example.com/live"));
+
+    QVERIFY(!GStreamer::isValidRtspUri(nullptr));
+    QVERIFY(!GStreamer::isValidRtspUri(""));
+    QVERIFY(!GStreamer::isValidRtspUri("not-a-uri"));
+    QVERIFY(!GStreamer::isValidRtspUri("http://example.com"));
+    QVERIFY(!GStreamer::isValidRtspUri("udp://127.0.0.1:5600"));
+    QVERIFY(!GStreamer::isValidRtspUri("rtsp://"));
+}
+
+void GStreamerTest::_testIsHardwareDecoderFactory()
+{
+    GList *factories = gst_element_factory_list_get_elements(
+        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
+        GST_RANK_NONE);
+
+    if (!factories) {
+        QSKIP("No video decoder factories available on this system");
+    }
+
+    int total = 0;
+    int hwCount = 0;
+    int swCount = 0;
+
+    for (GList *node = factories; node != nullptr; node = node->next) {
+        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
+        QVERIFY(factory != nullptr);
+
+        const gchar *name = gst_plugin_feature_get_name(GST_PLUGIN_FEATURE(factory));
+        QVERIFY(name != nullptr);
+
+        if (GStreamer::isHardwareDecoderFactory(factory)) {
+            ++hwCount;
+        } else {
+            ++swCount;
+        }
+        ++total;
+    }
+
+    qCDebug(GStreamerLog) << "Decoder factory classification:" << total << "total,"
+                          << hwCount << "hardware," << swCount << "software";
+
+    QVERIFY(total > 0);
+    QVERIFY(swCount > 0);
+    QVERIFY(!GStreamer::isHardwareDecoderFactory(nullptr));
+
+    gst_plugin_feature_list_free(factories);
+}
+
+void GStreamerTest::_testSetCodecPrioritiesDefault()
+{
+    GStreamer::setCodecPriorities(GStreamer::ForceVideoDecoderDefault);
+
+    GstRegistry *registry = gst_registry_get();
+    QVERIFY(registry != nullptr);
+}
+
+void GStreamerTest::_testSetCodecPrioritiesSoftware()
+{
+    GStreamer::setCodecPriorities(GStreamer::ForceVideoDecoderSoftware);
+
+    GList *factories = gst_element_factory_list_get_elements(
+        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
+        GST_RANK_NONE);
+
+    if (!factories) {
+        QSKIP("No video decoder factories available on this system");
+    }
+
+    bool foundPrioritizedSoftware = false;
+    for (GList *node = factories; node != nullptr; node = node->next) {
+        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
+        if (!factory) continue;
+
+        if (!GStreamer::isHardwareDecoderFactory(factory)) {
+            const guint rank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(factory));
+            if (rank > GST_RANK_MARGINAL) {
+                foundPrioritizedSoftware = true;
+                break;
+            }
+        }
+    }
+
+    QVERIFY(foundPrioritizedSoftware);
+
+    gst_plugin_feature_list_free(factories);
+}
+
+void GStreamerTest::_testSetCodecPrioritiesHardware()
+{
+    GStreamer::setCodecPriorities(GStreamer::ForceVideoDecoderHardware);
+
+    GList *factories = gst_element_factory_list_get_elements(
+        static_cast<GstElementFactoryListType>(GST_ELEMENT_FACTORY_TYPE_DECODER | GST_ELEMENT_FACTORY_TYPE_MEDIA_VIDEO),
+        GST_RANK_NONE);
+
+    if (!factories) {
+        QSKIP("No video decoder factories available on this system");
+    }
+
+    for (GList *node = factories; node != nullptr; node = node->next) {
+        GstElementFactory *factory = GST_ELEMENT_FACTORY(node->data);
+        if (!factory) continue;
+
+        if (!GStreamer::isHardwareDecoderFactory(factory)) {
+            const guint rank = gst_plugin_feature_get_rank(GST_PLUGIN_FEATURE(factory));
+            QCOMPARE(rank, static_cast<guint>(GST_RANK_NONE));
+        }
+    }
+
+    gst_plugin_feature_list_free(factories);
+}
+
+void GStreamerTest::_testRedirectGLibLogging()
+{
+    GStreamer::redirectGLibLogging();
+
+    g_log("TestDomain", G_LOG_LEVEL_DEBUG, "GStreamerTest debug message");
+    g_log("TestDomain", G_LOG_LEVEL_WARNING, "GStreamerTest warning message");
+}
+
+void GStreamerTest::_testVerifyRequiredPlugins()
+{
+    GstRegistry *registry = gst_registry_get();
+    QVERIFY(registry != nullptr);
+
+    // coreelements comes from system/bundled GStreamer and should always be
+    // available after gst_init_check().
+    GstPlugin *corePlugin = gst_registry_find_plugin(registry, "coreelements");
+    QVERIFY2(corePlugin, "Required plugin not found: coreelements");
+    gst_clear_object(&corePlugin);
+
+    // qml6 and qgc are QGC-built static plugins only registered by
+    // _registerPlugins() during GStreamer::completeInit(). They aren't in the
+    // registry from a bare gst_init_check(), so just verify the registry
+    // loaded *some* plugins and that playbin is available (from system GStreamer).
+    GList *plugins = gst_registry_get_plugin_list(registry);
+    const int pluginCount = g_list_length(plugins);
+    gst_plugin_list_free(plugins);
+    QVERIFY2(pluginCount > 0, "GStreamer registry contains no plugins at all");
+
+    GstElementFactory *playbinFactory = gst_element_factory_find("playbin");
+    QVERIFY2(playbinFactory, "Required factory not found: playbin");
+    gst_object_unref(playbinFactory);
+}
+
+void GStreamerTest::_testEnvironmentSetup()
+{
+    // Save and clear relevant env vars
+    struct EnvBackup {
+        const char *name;
+        QByteArray value;
+        bool wasSet;
+    };
+    static constexpr const char *envVars[] = {
+        "GST_PLUGIN_PATH", "GST_PLUGIN_PATH_1_0",
+        "GST_PLUGIN_SYSTEM_PATH", "GST_PLUGIN_SYSTEM_PATH_1_0",
+        "GST_PLUGIN_SCANNER", "GST_PLUGIN_SCANNER_1_0",
+        "PYTHONHOME", "PYTHONPATH", "PYTHONUSERBASE",
+        "VIRTUAL_ENV", "CONDA_PREFIX", "CONDA_DEFAULT_ENV",
+    };
+    QList<EnvBackup> backups;
+    for (const char *var : envVars) {
+        backups.append({var, qgetenv(var), qEnvironmentVariableIsSet(var)});
+        qunsetenv(var);
+    }
+
+    GStreamer::prepareEnvironment();
+
+    // On desktop builds with bundled plugins, env vars should be set.
+    // On dev builds without bundles, they remain unset (which is correct).
+    // Either way, if any plugin path is set, it should point to an existing directory.
+    for (const char *var : {"GST_PLUGIN_PATH", "GST_PLUGIN_PATH_1_0",
+                            "GST_PLUGIN_SYSTEM_PATH", "GST_PLUGIN_SYSTEM_PATH_1_0"}) {
+        if (qEnvironmentVariableIsSet(var)) {
+            const QString path = qEnvironmentVariable(var);
+            // Paths may be colon-separated; check each component
+            const QStringList parts = path.split(QDir::listSeparator(), Qt::SkipEmptyParts);
+            for (const QString &part : parts) {
+                QVERIFY2(QDir(part).exists(),
+                    qPrintable(QStringLiteral("%1 contains non-existent path: %2").arg(var, part)));
+            }
+        }
+    }
+
+    for (const char *var : {"GST_PLUGIN_SCANNER", "GST_PLUGIN_SCANNER_1_0"}) {
+        if (qEnvironmentVariableIsSet(var)) {
+            const QString path = qEnvironmentVariable(var);
+            QVERIFY2(QFileInfo(path).isExecutable(),
+                qPrintable(QStringLiteral("%1 is not executable: %2").arg(var, path)));
+        }
+    }
+
+    // Restore env vars
+    for (const EnvBackup &backup : backups) {
+        if (backup.wasSet) {
+            qputenv(backup.name, backup.value);
+        } else {
+            qunsetenv(backup.name);
+        }
+    }
+}
+
+#else
+
+void GStreamerTest::init() { UnitTest::init(); QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testIsValidRtspUri() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testIsHardwareDecoderFactory() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testSetCodecPrioritiesDefault() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testSetCodecPrioritiesSoftware() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testSetCodecPrioritiesHardware() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testRedirectGLibLogging() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testVerifyRequiredPlugins() { QSKIP("GStreamer not enabled"); }
+void GStreamerTest::_testEnvironmentSetup() { QSKIP("GStreamer not enabled"); }
+
+#endif
+
+UT_REGISTER_TEST(GStreamerTest, TestLabel::Integration)
diff --git a/test/VideoManager/GStreamer/GStreamerTest.h b/test/VideoManager/GStreamer/GStreamerTest.h
new file mode 100644
index 000000000000..43f01e4a9ff3
--- /dev/null
+++ b/test/VideoManager/GStreamer/GStreamerTest.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "UnitTest.h"
+
+class GStreamerTest : public UnitTest
+{
+    Q_OBJECT
+
+private slots:
+    void init() override;
+
+    void _testIsValidRtspUri();
+    void _testIsHardwareDecoderFactory();
+    void _testSetCodecPrioritiesDefault();
+    void _testSetCodecPrioritiesSoftware();
+    void _testSetCodecPrioritiesHardware();
+    void _testRedirectGLibLogging();
+    void _testVerifyRequiredPlugins();
+    void _testEnvironmentSetup();
+};
diff --git a/tools/README.md b/tools/README.md
index 629a3e953a3f..d4c26961e46b 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -7,13 +7,13 @@ This directory contains development tools, scripts, and configuration files for
 ```
 tools/
 ├── analyze.py               # Static analysis and formatting (clang-format, clang-tidy, cppcheck, clazy)
-├── check-deps.sh            # Check for outdated dependencies
+├── check_deps.py            # Check for outdated dependencies
 ├── clean.sh                 # Clean build artifacts and caches
 ├── configure.py             # CMake configuration wrapper
-├── coverage.sh              # Code coverage reports
-├── generate-docs.sh         # Generate API docs (Doxygen)
+├── coverage.py              # Code coverage reports
+├── generate_docs.py         # Generate API docs (Doxygen)
 ├── param-docs.py            # Generate parameter documentation
-├── pre-commit.sh            # Pre-commit hook runner
+├── pre_commit.py            # Pre-commit hook runner
 ├── release.sh               # Semantic versioning and release automation
 ├── run_tests.py             # Qt unit test runner
 ├── configs/                 # Tool configuration files
@@ -106,15 +106,15 @@ Clean build artifacts and caches.
 ./tools/clean.sh --dry-run    # Show what would be removed
 ```
 
-### coverage.sh
+### coverage.py
 
 Generate code coverage reports. Wrapper around CMake coverage targets.
 
 ```bash
-./tools/coverage.sh              # Build with coverage, run tests, generate report
-./tools/coverage.sh --report     # Generate report only (after tests)
-./tools/coverage.sh --open       # Generate and open in browser
-./tools/coverage.sh --clean      # Clean coverage data
+python3 ./tools/coverage.py              # Build with coverage, run tests, generate report
+python3 ./tools/coverage.py --report     # Generate report only (after tests)
+python3 ./tools/coverage.py --open       # Generate and open in browser
+python3 ./tools/coverage.py --clean      # Clean coverage data
 ```
 
 Requires: `gcovr` (`pip install gcovr`)
@@ -143,26 +143,26 @@ Profile QGC for performance and memory issues.
 ./tools/debuggers/profile.sh --sanitize     # Build with AddressSanitizer
 ```
 
-### check-deps.sh
+### check_deps.py
 
 Check for outdated dependencies and submodules.
 
 ```bash
-./tools/check-deps.sh              # Check all dependencies
-./tools/check-deps.sh --submodules # Check git submodules only
-./tools/check-deps.sh --qt         # Check Qt version
-./tools/check-deps.sh --update     # Update submodules to latest
+python3 ./tools/check_deps.py              # Check all dependencies
+python3 ./tools/check_deps.py --submodules # Check git submodules only
+python3 ./tools/check_deps.py --qt         # Check Qt version
+python3 ./tools/check_deps.py --update     # Update submodules to latest
 ```
 
-### generate-docs.sh
+### generate_docs.py
 
 Generate API documentation using Doxygen.
 
 ```bash
-./tools/generate-docs.sh          # Generate HTML docs
-./tools/generate-docs.sh --open   # Generate and open in browser
-./tools/generate-docs.sh --pdf    # Generate PDF (requires LaTeX)
-./tools/generate-docs.sh --clean  # Clean generated docs
+python3 ./tools/generate_docs.py          # Generate HTML docs
+python3 ./tools/generate_docs.py --open   # Generate and open in browser
+python3 ./tools/generate_docs.py --pdf    # Generate PDF (requires LaTeX)
+python3 ./tools/generate_docs.py --clean  # Clean generated docs
 ```
 
 Requires: `doxygen`, `graphviz`
@@ -190,7 +190,7 @@ Scripts in `setup/` help configure development environments. They read configura
 | `install_dependencies.py --platform windows` | Windows | Install GStreamer (Vulkan SDK optional) |
 | `install_python.py` | All | Install Python tools via uv or pip |
 | `build-gstreamer.py` | All | Build GStreamer from source (optional) |
-| `download_artifacts.py` | All | Download build artifacts from GitHub Actions |
+| `download_artifacts.py` | All | Download build artifacts (in `.github/scripts/`) |
 | `read_config.py` | All | Read `.github/build-config.json` (Python, cross-platform) |
 
 ### Usage Examples
@@ -206,9 +206,9 @@ python3 ./tools/setup/install_dependencies.py --platform macos
 python .\tools\setup\install_dependencies.py --platform windows
 
 # Install Python tooling (pre-commit, test, coverage, etc.)
-python3 ./tools/setup/install_python.py --groups precommit test coverage
+python3 ./tools/setup/install_python.py precommit,test,coverage
 
-# Build GStreamer from source (Linux, optional)
+# Build GStreamer from source (optional — CMake auto-downloads pre-built SDKs)
 python3 ./tools/setup/build-gstreamer.py --platform linux --prefix /opt/gstreamer
 
 # Read build config values
@@ -285,7 +285,7 @@ Common utilities in `common/` are used by multiple tools:
 
 - `patterns.py` - QGC-specific regex patterns (Fact, FactGroup, MAVLink)
 - `file_traversal.py` - File discovery with proper filtering
-- `gh_actions.py` - Shared `gh api` helpers for workflow runs and artifacts
+- `gh_actions.py` - GitHub API helpers (httpx with `gh` CLI fallback) for workflow runs and artifacts
 
 See [common/README.md](common/README.md) for API documentation.
 
@@ -441,7 +441,7 @@ Version numbers and build settings are centralized in `.github/build-config.json
 {
   "qt_version": "6.10.1",
   "qt_modules": "qtcharts qtlocation ...",
-  "gstreamer_version": "1.24.12",
+  "gstreamer_default_version": "1.24.13",
   "ndk_version": "r27c",
   ...
 }
diff --git a/tools/_bootstrap.py b/tools/_bootstrap.py
new file mode 100644
index 000000000000..22dd025181d7
--- /dev/null
+++ b/tools/_bootstrap.py
@@ -0,0 +1,18 @@
+"""Shared import bootstrap for Python entrypoints under tools/."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def ensure_tools_dir(start: str | Path) -> Path:
+    """Ensure the top-level ``tools`` directory is importable."""
+    path = Path(start).resolve()
+    current = path if path.is_dir() else path.parent
+    for candidate in [current] + list(current.parents):
+        if candidate.name == "tools":
+            if str(candidate) not in sys.path:
+                sys.path.insert(0, str(candidate))
+            return candidate
+    raise RuntimeError(f"Could not locate tools directory from {start}")
diff --git a/tools/analyze.py b/tools/analyze.py
index 6920d973cc2d..9443fed478f8 100755
--- a/tools/analyze.py
+++ b/tools/analyze.py
@@ -199,7 +199,8 @@ def run(self, files: list[Path], fix: bool = False) -> AnalysisResult:
             capture_output=True,
             text=True,
         )
-        version_match = version_result.stdout.split()[2] if version_result.stdout else "unknown"
+        parts = version_result.stdout.split() if version_result.stdout else []
+        version_match = parts[2] if len(parts) > 2 else "unknown"
         log_info(f"Using clang-format version {version_match}")
 
         if not files:
diff --git a/tools/check-deps.sh b/tools/check-deps.sh
deleted file mode 100755
index 33c0e63df85a..000000000000
--- a/tools/check-deps.sh
+++ /dev/null
@@ -1,261 +0,0 @@
-#!/usr/bin/env bash
-#
-# Check for outdated dependencies and submodules
-#
-# Usage:
-#   ./tools/check-deps.sh              # Check all dependencies
-#   ./tools/check-deps.sh --submodules # Check only git submodules
-#   ./tools/check-deps.sh --qt         # Check Qt version
-#   ./tools/check-deps.sh --update     # Update submodules to latest
-#
-# Checks:
-#   - Git submodules vs upstream
-#   - Qt version vs latest
-#   - GStreamer version vs latest
-#   - Python dependencies
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
-
-# Defaults
-CHECK_ALL=true
-CHECK_SUBMODULES=false
-CHECK_QT=false
-UPDATE_DEPS=false
-
-show_help() {
-    head -15 "$0" | tail -13
-    exit 0
-}
-
-# Parse arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        -h|--help)
-            show_help
-            ;;
-        --submodules)
-            CHECK_ALL=false
-            CHECK_SUBMODULES=true
-            shift
-            ;;
-        --qt)
-            CHECK_ALL=false
-            CHECK_QT=true
-            shift
-            ;;
-        --update)
-            UPDATE_DEPS=true
-            shift
-            ;;
-        *)
-            log_error "Unknown option: $1"
-            exit 1
-            ;;
-    esac
-done
-
-check_submodules() {
-    log_info "Checking git submodules..."
-
-    cd "$REPO_ROOT"
-
-    # Initialize submodules if needed
-    git submodule update --init --recursive 2>/dev/null || true
-
-    local outdated=0
-
-    while IFS= read -r line; do
-        if [[ -z "$line" ]]; then
-            continue
-        fi
-
-        # Parse submodule status (status and hash reserved for future use)
-        local _status="${line:0:1}"
-        local _hash="${line:1:40}"
-        local path
-        path=$(echo "$line" | awk '{print $2}')
-
-        if [[ ! -d "$REPO_ROOT/$path" ]]; then
-            continue
-        fi
-
-        cd "$REPO_ROOT/$path"
-
-        # Get current and remote info (reserved for future verbose output)
-        local _current_hash _branch
-        _current_hash=$(git rev-parse HEAD 2>/dev/null || echo "unknown")
-        _branch=$(git symbolic-ref --short HEAD 2>/dev/null || echo "detached")
-
-        # Fetch updates quietly
-        git fetch --quiet 2>/dev/null || true
-
-        # Check if behind
-        local behind=0
-        # shellcheck disable=SC1083  # @{u} is valid git syntax for upstream
-        if git rev-parse '@{u}' &>/dev/null; then
-            behind=$(git rev-list --count 'HEAD..@{u}' 2>/dev/null || echo "0")
-        fi
-
-        if [[ "$behind" -gt 0 ]]; then
-            log_warn "$path: $behind commits behind upstream"
-            ((outdated++)) || true
-        else
-            echo -e "  ${GREEN}✓${NC} $path (up to date)"
-        fi
-
-        cd "$REPO_ROOT"
-    done < <(git submodule status --recursive 2>/dev/null)
-
-    if [[ "$outdated" -eq 0 ]]; then
-        log_ok "All submodules up to date"
-    else
-        log_warn "$outdated submodule(s) have updates available"
-        if [[ "$UPDATE_DEPS" == true ]]; then
-            log_info "Updating submodules..."
-            git submodule update --remote --merge
-            log_ok "Submodules updated"
-        else
-            log_info "Run with --update to update submodules"
-        fi
-    fi
-}
-
-check_qt_version() {
-    log_info "Checking Qt version..."
-
-    # Read current version from config
-    local config_file="$REPO_ROOT/.github/build-config.json"
-    if [[ ! -f "$config_file" ]]; then
-        log_warn "build-config.json not found"
-        return
-    fi
-
-    local current_version
-    current_version=$(python3 -c "import json; print(json.load(open('$config_file')).get('qt_version', 'unknown'))")
-
-    echo "  Current: Qt $current_version"
-
-    # Check latest Qt version (from qt.io)
-    local latest_info
-    if command -v curl &> /dev/null; then
-        # Try to get latest version info
-        # Extract Qt 6.x versions (portable grep)
-        latest_info=$(curl -s "https://download.qt.io/official_releases/qt/" 2>/dev/null | \
-            grep -Eo '6\.[0-9]+' | sort -V | tail -1 || echo "")
-
-        if [[ -n "$latest_info" ]]; then
-            echo "  Latest minor: Qt $latest_info.x"
-
-            local current_minor="${current_version%.*}"
-            if [[ "$current_minor" != "$latest_info" ]]; then
-                log_warn "Newer Qt minor version available: $latest_info"
-            else
-                log_ok "Using latest Qt minor version"
-            fi
-        fi
-    fi
-
-    # Check installed Qt
-    if command -v qmake &> /dev/null; then
-        local installed
-        installed=$(qmake --version 2>/dev/null | grep -Eo '[0-9]+\.[0-9]+\.[0-9]+' || echo "not found")
-        echo "  Installed: Qt $installed"
-    elif [[ -n "${QT_ROOT_DIR:-}" ]]; then
-        echo "  QT_ROOT_DIR: $QT_ROOT_DIR"
-    fi
-}
-
-check_gstreamer_version() {
-    log_info "Checking GStreamer version..."
-
-    # Read current version from config
-    local config_file="$REPO_ROOT/.github/build-config.json"
-    if [[ ! -f "$config_file" ]]; then
-        return
-    fi
-
-    local current_version
-    current_version=$(python3 -c "import json; print(json.load(open('$config_file')).get('gstreamer_version', 'unknown'))")
-
-    echo "  Configured: GStreamer $current_version"
-
-    # Check installed version
-    if command -v gst-launch-1.0 &> /dev/null; then
-        local installed
-        installed=$(gst-launch-1.0 --version 2>/dev/null | head -1 | grep -Eo '[0-9]+\.[0-9]+\.[0-9]+' || echo "not found")
-        echo "  Installed: GStreamer $installed"
-    fi
-}
-
-check_python_deps() {
-    log_info "Checking Python dependencies..."
-
-    local req_files=("requirements.txt" "docs/requirements.txt")
-
-    for req in "${req_files[@]}"; do
-        if [[ -f "$REPO_ROOT/$req" ]]; then
-            echo "  Checking $req..."
-            if command -v pip &> /dev/null; then
-                # Check for outdated packages
-                local outdated
-                outdated=$(pip list --outdated --format=columns 2>/dev/null | tail -n +3 || echo "")
-                if [[ -n "$outdated" ]]; then
-                    echo "$outdated" | while read -r line; do
-                        echo "    $line"
-                    done
-                fi
-            fi
-        fi
-    done
-}
-
-check_build_tools() {
-    log_info "Checking build tools..."
-
-    local tools=("cmake" "ninja" "ccache" "clang-format" "clang-tidy")
-
-    for tool in "${tools[@]}"; do
-        if command -v "$tool" &> /dev/null; then
-            local version
-            version=$("$tool" --version 2>/dev/null | head -1 || echo "unknown")
-            echo -e "  ${GREEN}✓${NC} $tool: $version"
-        else
-            echo -e "  ${YELLOW}✗${NC} $tool: not installed"
-        fi
-    done
-}
-
-# Main
-cd "$REPO_ROOT"
-
-if [[ "$CHECK_ALL" == true ]]; then
-    check_submodules
-    echo ""
-    check_qt_version
-    echo ""
-    check_gstreamer_version
-    echo ""
-    check_build_tools
-elif [[ "$CHECK_SUBMODULES" == true ]]; then
-    check_submodules
-elif [[ "$CHECK_QT" == true ]]; then
-    check_qt_version
-fi
-
-echo ""
-log_ok "Dependency check complete"
diff --git a/tools/check_deps.py b/tools/check_deps.py
new file mode 100644
index 000000000000..82961db05a2e
--- /dev/null
+++ b/tools/check_deps.py
@@ -0,0 +1,256 @@
+#!/usr/bin/env python3
+"""Check dependency and tool versions used by QGroundControl development."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import re
+import subprocess
+import sys
+from pathlib import Path
+from urllib.error import URLError
+from urllib.request import urlopen
+
+from _bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.build_config import get_build_config_value
+from common.logging import log_error, log_info, log_ok, log_warn
+
+QT_RELEASES_URL = "https://download.qt.io/official_releases/qt/"
+REQ_FILES = [
+    Path("requirements.txt"),
+    Path("docs/requirements.txt"),
+    Path("tools/pyproject.toml"),
+]
+BUILD_TOOLS = ["cmake", "ninja", "ccache", "clang-format", "clang-tidy"]
+
+
+def run_git(args: list[str], cwd: Path) -> subprocess.CompletedProcess[str]:
+    """Run a git command and capture stdout/stderr."""
+    return subprocess.run(
+        ["git", *args],
+        cwd=cwd,
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+
+
+def parse_submodule_paths(repo_root: Path) -> list[Path]:
+    """Return existing submodule paths from ``git submodule status``."""
+    result = run_git(["submodule", "status", "--recursive"], repo_root)
+    if result.returncode != 0:
+        return []
+
+    paths: list[Path] = []
+    for line in result.stdout.splitlines():
+        parts = line.strip().split()
+        if len(parts) < 2:
+            continue
+        path = repo_root / parts[1]
+        if path.is_dir():
+            paths.append(path)
+    return paths
+
+
+def check_submodules(repo_root: Path, *, update: bool) -> None:
+    """Check whether git submodules are behind their upstream branch."""
+    log_info("Checking git submodules...")
+    run_git(["submodule", "update", "--init", "--recursive"], repo_root)
+
+    outdated: list[tuple[Path, int]] = []
+    for submodule in parse_submodule_paths(repo_root):
+        run_git(["fetch", "--quiet"], submodule)
+        upstream = run_git(["rev-parse", "@{u}"], submodule)
+        if upstream.returncode != 0:
+            print(f"  - {submodule.relative_to(repo_root)} (no upstream)")
+            continue
+
+        behind_result = run_git(["rev-list", "--count", "HEAD..@{u}"], submodule)
+        behind = int(behind_result.stdout.strip() or "0") if behind_result.returncode == 0 else 0
+        if behind > 0:
+            outdated.append((submodule, behind))
+            log_warn(f"{submodule.relative_to(repo_root)}: {behind} commits behind upstream")
+        else:
+            print(f"  - {submodule.relative_to(repo_root)} (up to date)")
+
+    if not outdated:
+        log_ok("All submodules up to date")
+        return
+
+    log_warn(f"{len(outdated)} submodule(s) have updates available")
+    if update:
+        log_info("Updating submodules...")
+        result = run_git(["submodule", "update", "--remote", "--merge"], repo_root)
+        if result.returncode == 0:
+            log_ok("Submodules updated")
+        else:
+            log_error("Submodule update failed")
+            if result.stderr:
+                print(result.stderr.strip(), file=sys.stderr)
+    else:
+        log_info("Run with --update to update submodules")
+
+
+def fetch_latest_qt_minor() -> str | None:
+    """Return the latest Qt 6 minor version available on download.qt.io."""
+    try:
+        with urlopen(QT_RELEASES_URL, timeout=15) as response:
+            body = response.read().decode("utf-8", errors="ignore")
+    except (OSError, URLError):
+        return None
+
+    versions = re.findall(r">6\.(\d+)/<", body)
+    if not versions:
+        versions = re.findall(r"6\.(\d+)", body)
+    if not versions:
+        return None
+    latest_minor = max(int(version) for version in versions)
+    return f"6.{latest_minor}"
+
+
+def check_qt_version() -> None:
+    """Check configured and installed Qt versions."""
+    log_info("Checking Qt version...")
+    current_version = get_build_config_value("qt_version", "unknown", start=Path(__file__).resolve())
+    print(f"  Current: Qt {current_version}")
+
+    latest_minor = fetch_latest_qt_minor()
+    if latest_minor:
+        print(f"  Latest minor: Qt {latest_minor}.x")
+        if current_version and current_version != "unknown":
+            current_minor = ".".join(current_version.split(".")[:2])
+            if current_minor != latest_minor:
+                log_warn(f"Newer Qt minor version available: {latest_minor}")
+            else:
+                log_ok("Using latest Qt minor version")
+
+    for candidate in (["qmake", "--version"], ["qtpaths", "--qt-version"]):
+        result = subprocess.run(candidate, capture_output=True, text=True, check=False)
+        if result.returncode != 0:
+            continue
+        match = re.search(r"\d+\.\d+\.\d+", result.stdout)
+        if match:
+            print(f"  Installed: Qt {match.group(0)}")
+            return
+
+
+def check_gstreamer_version() -> None:
+    """Check configured and installed GStreamer versions."""
+    log_info("Checking GStreamer version...")
+    current_version = get_build_config_value(
+        "gstreamer_version",
+        "unknown",
+        start=Path(__file__).resolve(),
+    )
+    print(f"  Configured: GStreamer {current_version}")
+
+    result = subprocess.run(
+        ["gst-launch-1.0", "--version"],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+    if result.returncode != 0:
+        return
+    match = re.search(r"\d+\.\d+\.\d+", result.stdout)
+    if match:
+        print(f"  Installed: GStreamer {match.group(0)}")
+
+
+def find_python_manifests(repo_root: Path) -> list[Path]:
+    """Return dependency manifest files present in the repo."""
+    return [path for path in REQ_FILES if (repo_root / path).exists()]
+
+
+def check_python_deps(repo_root: Path) -> None:
+    """Check installed Python packages for available updates."""
+    log_info("Checking Python dependencies...")
+    manifests = find_python_manifests(repo_root)
+    if not manifests:
+        log_warn("No Python dependency manifests found")
+        return
+
+    print("  Manifests:")
+    for manifest in manifests:
+        print(f"    - {manifest}")
+
+    result = subprocess.run(
+        [sys.executable, "-m", "pip", "list", "--outdated", "--format=json"],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+    if result.returncode != 0:
+        log_warn("Could not query installed Python package updates")
+        return
+
+    try:
+        outdated = json.loads(result.stdout or "[]")
+    except json.JSONDecodeError:
+        log_warn("Could not parse pip outdated output")
+        return
+
+    if not outdated:
+        log_ok("No outdated installed Python packages reported")
+        return
+
+    print("  Outdated installed packages:")
+    for package in outdated:
+        name = package.get("name", "unknown")
+        current = package.get("version", "?")
+        latest = package.get("latest_version", "?")
+        print(f"    - {name}: {current} -> {latest}")
+
+
+def check_build_tools() -> None:
+    """Print installed build tool versions."""
+    log_info("Checking build tools...")
+    for tool in BUILD_TOOLS:
+        result = subprocess.run([tool, "--version"], capture_output=True, text=True, check=False)
+        if result.returncode != 0:
+            print(f"  - {tool}: not installed")
+            continue
+        first_line = result.stdout.splitlines()[0] if result.stdout else "unknown"
+        print(f"  - {tool}: {first_line}")
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Check dependency versions and tool availability.")
+    parser.add_argument("--submodules", action="store_true", help="Check only git submodules")
+    parser.add_argument("--qt", action="store_true", help="Check only Qt version")
+    parser.add_argument("--update", action="store_true", help="Update submodules to latest upstream")
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Run the requested dependency checks."""
+    args = parse_args(argv)
+    repo_root = Path(__file__).resolve().parent.parent
+
+    check_all = not args.submodules and not args.qt
+    if check_all or args.submodules:
+        check_submodules(repo_root, update=args.update)
+    if check_all:
+        print()
+        check_qt_version()
+        print()
+        check_gstreamer_version()
+        print()
+        check_python_deps(repo_root)
+        print()
+        check_build_tools()
+    elif args.qt:
+        check_qt_version()
+
+    print()
+    log_ok("Dependency check complete")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/clean.sh b/tools/clean.sh
index 9dde8c0dd343..37592722d7ea 100755
--- a/tools/clean.sh
+++ b/tools/clean.sh
@@ -18,18 +18,7 @@ set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*"; }
+source "$REPO_ROOT/tools/common/shell-utils.sh"
 
 # Defaults
 CLEAN_ALL=false
diff --git a/tools/common/__init__.py b/tools/common/__init__.py
index 7f47d8497c68..5798fdcfe815 100644
--- a/tools/common/__init__.py
+++ b/tools/common/__init__.py
@@ -34,6 +34,22 @@
     parse_json_documents,
     list_workflow_runs_for_sha,
     list_run_artifacts,
+    write_github_output,
+)
+
+from .build_config import (
+    find_build_config,
+    load_build_config,
+    get_build_config_value,
+    export_build_config_values,
+    derive_ios_qt_modules,
+)
+
+from .github_runs import (
+    parse_created_at,
+    is_newer_run,
+    select_latest_runs_by_name,
+    group_runs_by_name,
 )
 
 from .logging import (
@@ -89,6 +105,16 @@
     'parse_json_documents',
     'list_workflow_runs_for_sha',
     'list_run_artifacts',
+    'write_github_output',
+    'find_build_config',
+    'load_build_config',
+    'get_build_config_value',
+    'export_build_config_values',
+    'derive_ios_qt_modules',
+    'parse_created_at',
+    'is_newer_run',
+    'select_latest_runs_by_name',
+    'group_runs_by_name',
     # Logging
     'Color',
     'Colors',
diff --git a/tools/common/build_config.py b/tools/common/build_config.py
new file mode 100644
index 000000000000..9af1553b61d6
--- /dev/null
+++ b/tools/common/build_config.py
@@ -0,0 +1,127 @@
+"""Shared helpers for reading and exporting .github/build-config.json."""
+
+from __future__ import annotations
+
+import json
+import os
+from pathlib import Path
+from typing import Any
+
+CONFIG_ENV_VAR = "CONFIG_FILE"
+CONFIG_RELATIVE_PATH = Path(".github") / "build-config.json"
+DEFAULT_EXPORT_KEYS = [
+    "qt_version",
+    "qt_minimum_version",
+    "qt_modules",
+    "gstreamer_minimum_version",
+    "gstreamer_default_version",
+    "gstreamer_macos_version",
+    "gstreamer_android_version",
+    "gstreamer_windows_version",
+    "xcode_version",
+    "xcode_ios_version",
+    "ndk_version",
+    "ndk_full_version",
+    "java_version",
+    "android_platform",
+    "android_min_sdk",
+    "android_build_tools",
+    "android_cmdline_tools",
+    "cmake_minimum_version",
+    "macos_deployment_target",
+    "ios_deployment_target",
+    "platform_workflows",
+]
+IOS_QT_MODULE_EXCLUDES = {"qtserialport", "qtscxml"}
+
+
+def find_build_config(
+    start: Path | None = None,
+    *,
+    extra_candidates: list[Path] | None = None,
+) -> Path:
+    """Find build-config.json by env override, extra candidates, or repo search."""
+    if env_path := os.environ.get(CONFIG_ENV_VAR):
+        return Path(env_path)
+
+    for candidate in extra_candidates or []:
+        if candidate.exists():
+            return candidate
+
+    current = (start or Path(__file__).resolve()).resolve()
+    if current.is_file():
+        current = current.parent
+
+    while current != current.parent:
+        config_path = current / CONFIG_RELATIVE_PATH
+        if config_path.exists():
+            return config_path
+        current = current.parent
+
+    raise FileNotFoundError(f"Could not find {CONFIG_RELATIVE_PATH}")
+
+
+def load_build_config(
+    config_file: Path | None = None,
+    *,
+    start: Path | None = None,
+    extra_candidates: list[Path] | None = None,
+) -> dict[str, Any]:
+    """Load and parse the build config JSON file."""
+    path = config_file or find_build_config(start, extra_candidates=extra_candidates)
+    with path.open(encoding="utf-8") as f:
+        data = json.load(f)
+    if not isinstance(data, dict):
+        raise ValueError(f"Expected JSON object in {path}")
+    return data
+
+
+def get_build_config_value(
+    key: str,
+    default: str = "",
+    *,
+    config_file: Path | None = None,
+    start: Path | None = None,
+    extra_candidates: list[Path] | None = None,
+) -> str:
+    """Return a string value from the build config or *default*."""
+    try:
+        config = load_build_config(config_file, start=start, extra_candidates=extra_candidates)
+    except (FileNotFoundError, OSError, json.JSONDecodeError, ValueError):
+        return default
+    value = config.get(key, default)
+    return str(value) if value is not None else default
+
+
+def derive_ios_qt_modules(qt_modules: str) -> str:
+    """Return the iOS-safe Qt module list."""
+    modules = [module for module in qt_modules.split() if module not in IOS_QT_MODULE_EXCLUDES]
+    return " ".join(modules)
+
+
+_EXPORT_KEY_ALIASES: dict[str, str] = {
+    "gstreamer_default_version": "GSTREAMER_VERSION",
+}
+
+
+def export_build_config_values(
+    config: dict[str, Any],
+    *,
+    keys: list[str] | None = None,
+) -> dict[str, str]:
+    """Return uppercase env-style values exported from the config."""
+    exported: dict[str, str] = {}
+    for key in keys or DEFAULT_EXPORT_KEYS:
+        if key in config:
+            export_name = _EXPORT_KEY_ALIASES.get(key, key.upper())
+            exported[export_name] = str(config[key])
+    return exported
+
+
+def format_github_output(values: dict[str, str]) -> str:
+    """Format values for writing to $GITHUB_OUTPUT."""
+    lines = [f"{key.lower()}={value}" for key, value in sorted(values.items())]
+    qt_modules = values.get("QT_MODULES", "")
+    if qt_modules:
+        lines.append(f"qt_modules_ios={derive_ios_qt_modules(qt_modules)}")
+    return "\n".join(lines)
diff --git a/tools/common/gh_actions.py b/tools/common/gh_actions.py
index f30aab74e132..e4253addec68 100644
--- a/tools/common/gh_actions.py
+++ b/tools/common/gh_actions.py
@@ -8,10 +8,6 @@
 import subprocess
 import time
 from typing import Any
-from urllib import error as urllib_error
-from urllib import parse as urllib_parse
-from urllib import request as urllib_request
-
 
 def gh(*args: str, check: bool = True) -> subprocess.CompletedProcess:
     """Run a gh CLI command and return the process result."""
@@ -32,62 +28,65 @@ def _should_use_http_api() -> bool:
     return mode == "http" and bool(_github_token())
 
 
-def _extract_next_link(link_header: str) -> str:
-    for part in link_header.split(","):
-        section = part.strip()
-        if 'rel="next"' not in section:
-            continue
-        start = section.find("<")
-        end = section.find(">", start + 1)
-        if start != -1 and end != -1:
-            return section[start + 1:end]
-    return ""
+def _build_http_client():
+    import httpx
+    transport = httpx.HTTPTransport(retries=3)
+    base_url = os.environ.get("GITHUB_API_URL", "https://api.github.com").rstrip("/")
+    return httpx.Client(
+        base_url=base_url,
+        transport=transport,
+        timeout=30.0,
+        headers={
+            "Accept": "application/vnd.github+json",
+            "User-Agent": "qgc-ci-gh-actions/1.0",
+            "X-GitHub-Api-Version": "2022-11-28",
+            "Authorization": f"Bearer {_github_token()}",
+        },
+    )
+
+
+def _retry_after_seconds(value: str, fallback: float) -> float:
+    """Parse a Retry-After header value, falling back to a simple backoff."""
+    try:
+        retry_after = float(value)
+    except (TypeError, ValueError):
+        return fallback
+    return retry_after if retry_after > 0 else fallback
+
+
+def _http_get_with_retries(client, url: str, **kwargs) -> Any:
+    """GET a GitHub API endpoint with retries for transient status failures."""
+    import httpx
 
+    retryable_statuses = {429, 500, 502, 503, 504}
 
-def _http_get_json(url: str, headers: dict[str, str], retries: int = 3) -> tuple[dict[str, Any], str]:
-    for attempt in range(1, retries + 1):
-        req = urllib_request.Request(url, headers=headers, method="GET")
+    for attempt in range(1, 4):
         try:
-            with urllib_request.urlopen(req, timeout=30) as resp:
-                payload = resp.read().decode("utf-8")
-                doc = json.loads(payload)
-                if not isinstance(doc, dict):
-                    raise ValueError(f"Unexpected non-object response from GitHub API at {url}")
-                next_url = _extract_next_link(resp.headers.get("Link", ""))
-                return doc, next_url
-        except urllib_error.HTTPError as exc:
-            if attempt < retries and exc.code in {429, 500, 502, 503, 504}:
-                time.sleep(attempt)
-                continue
-            raise RuntimeError(f"GitHub API request failed ({exc.code}) for {url}: {exc.reason}") from exc
-        except (urllib_error.URLError, TimeoutError, json.JSONDecodeError, ValueError) as exc:
-            if attempt < retries:
-                time.sleep(attempt)
-                continue
-            raise RuntimeError(f"GitHub API request failed for {url}: {exc}") from exc
-
-    raise RuntimeError(f"GitHub API request failed for {url}: exhausted retries")
+            resp = client.get(url, **kwargs)
+            resp.raise_for_status()
+            return resp
+        except httpx.HTTPStatusError as exc:
+            status_code = exc.response.status_code
+            if attempt >= 3 or status_code not in retryable_statuses:
+                raise
+            delay = _retry_after_seconds(exc.response.headers.get("Retry-After", ""), float(attempt))
+        except httpx.RequestError:
+            if attempt >= 3:
+                raise
+            delay = float(attempt)
+
+        time.sleep(delay)
 
 
 def _http_paginated_docs(path: str, params: dict[str, str]) -> list[dict[str, Any]]:
-    base_url = os.environ.get("GITHUB_API_URL", "https://api.github.com").rstrip("/")
-    headers = {
-        "Accept": "application/vnd.github+json",
-        "User-Agent": "qgc-ci-gh-actions/1.0",
-        "X-GitHub-Api-Version": "2022-11-28",
-        "Authorization": f"Bearer {_github_token()}",
-    }
-
-    query = urllib_parse.urlencode(params)
-    url = f"{base_url}/{path.lstrip('/')}"
-    if query:
-        url = f"{url}?{query}"
-
     docs: list[dict[str, Any]] = []
-    while url:
-        doc, next_url = _http_get_json(url, headers=headers)
-        docs.append(doc)
-        url = next_url
+    with _build_http_client() as client:
+        resp = _http_get_with_retries(client, f"/{path.lstrip('/')}", params=params)
+        docs.append(resp.json())
+
+        while "next" in resp.links:
+            resp = _http_get_with_retries(client, resp.links["next"]["url"])
+            docs.append(resp.json())
     return docs
 
 
@@ -181,3 +180,74 @@ def list_run_artifacts(repo: str, run_id: int | str) -> list[dict[str, Any]]:
         if isinstance(items, list):
             artifacts.extend(item for item in items if isinstance(item, dict))
     return artifacts
+
+
+def parse_csv_list(value: str) -> list[str]:
+    """Parse comma-separated values into a trimmed non-empty list."""
+    return [item.strip() for item in value.split(",") if item.strip()]
+
+
+def is_fork_pr() -> bool:
+    """Check if the current event is a PR from a fork repository."""
+    event = os.environ.get("EVENT_NAME", os.environ.get("GITHUB_EVENT_NAME", ""))
+    if event != "pull_request":
+        return False
+    pr_repo = os.environ.get("PR_REPO", "").strip()
+    this_repo = os.environ.get("THIS_REPO", os.environ.get("GITHUB_REPOSITORY", "")).strip()
+    return bool(pr_repo and this_repo and pr_repo != this_repo)
+
+
+def resolve_cache_policy(requested: str) -> str:
+    """Resolve cache save policy.
+
+    Args:
+        requested: "auto", "true", or "false"
+
+    Returns:
+        "true" or "false"
+    """
+    if requested != "auto":
+        return requested
+    return "false" if is_fork_pr() else "true"
+
+
+def write_github_output(outputs: dict[str, str]) -> None:
+    """Write key=value pairs to $GITHUB_OUTPUT for GitHub Actions.
+
+    Handles multiline values using hash-based heredoc delimiters.
+    """
+    import hashlib
+
+    github_output = os.environ.get('GITHUB_OUTPUT')
+    if not github_output:
+        return
+
+    with open(github_output, 'a', encoding="utf-8") as f:
+        for key, value in outputs.items():
+            if "\n" in value:
+                value_hash = hashlib.sha256(value.encode("utf-8")).hexdigest()[:12]
+                delim = f"EOF_{key}_{value_hash}"
+                while delim in value:
+                    delim = f"{delim}_X"
+                f.write(f"{key}<<{delim}\n{value}\n{delim}\n")
+            else:
+                f.write(f"{key}={value}\n")
+
+
+def write_step_summary(markdown: str) -> None:
+    """Append markdown content to $GITHUB_STEP_SUMMARY."""
+    path = os.environ.get("GITHUB_STEP_SUMMARY")
+    if not path:
+        return
+    with open(path, "a", encoding="utf-8") as f:
+        f.write(markdown)
+
+
+def append_github_env(values: dict[str, str]) -> None:
+    """Append environment variables to $GITHUB_ENV."""
+    path = os.environ.get("GITHUB_ENV")
+    if not path:
+        return
+    with open(path, "a", encoding="utf-8") as f:
+        for key, value in values.items():
+            f.write(f"{key}={value}\n")
diff --git a/tools/common/github_runs.py b/tools/common/github_runs.py
new file mode 100644
index 000000000000..f29093708015
--- /dev/null
+++ b/tools/common/github_runs.py
@@ -0,0 +1,90 @@
+"""Shared helpers for selecting and grouping GitHub workflow runs."""
+
+from __future__ import annotations
+
+from datetime import datetime
+from typing import Any
+
+
+def parse_created_at(created_at: Any) -> datetime | None:
+    """Parse GitHub ISO-8601 timestamps into datetimes."""
+    value = str(created_at).strip()
+    if not value:
+        return None
+    if value.endswith("Z"):
+        value = f"{value[:-1]}+00:00"
+    try:
+        return datetime.fromisoformat(value)
+    except ValueError:
+        return None
+
+
+def is_newer_run(candidate: dict[str, Any], existing: dict[str, Any]) -> bool:
+    """Return True when *candidate* is newer than *existing*."""
+    candidate_created_at = str(candidate.get("created_at", ""))
+    existing_created_at = str(existing.get("created_at", ""))
+    candidate_dt = parse_created_at(candidate_created_at)
+    existing_dt = parse_created_at(existing_created_at)
+    if candidate_dt is not None and existing_dt is not None:
+        return candidate_dt > existing_dt
+    return candidate_created_at > existing_created_at
+
+
+def select_latest_runs_by_name(
+    runs: list[dict[str, Any]],
+    names: set[str],
+    *,
+    event: str = "",
+    status: str = "",
+    conclusion: str = "",
+) -> dict[str, dict[str, Any]]:
+    """Return the latest workflow run per name after optional filtering."""
+    latest: dict[str, dict[str, Any]] = {}
+    for run in runs:
+        name = str(run.get("name", ""))
+        if name not in names:
+            continue
+        if event and str(run.get("event", "")) != event:
+            continue
+        if status and str(run.get("status", "")) != status:
+            continue
+        if conclusion and str(run.get("conclusion", "")) != conclusion:
+            continue
+        existing = latest.get(name)
+        if existing is None or is_newer_run(run, existing):
+            latest[name] = run
+    return latest
+
+
+def group_runs_by_name(
+    runs: list[dict[str, Any]],
+    names: list[str],
+    *,
+    event: str = "",
+    status: str = "",
+    conclusion: str = "",
+) -> dict[str, list[dict[str, Any]]]:
+    """Group workflow runs by name after optional filtering, newest first."""
+    target = set(names)
+    grouped: dict[str, list[dict[str, Any]]] = {name: [] for name in names}
+    for run in runs:
+        name = str(run.get("name", ""))
+        if name not in target:
+            continue
+        if event and str(run.get("event", "")) != event:
+            continue
+        if status and str(run.get("status", "")) != status:
+            continue
+        if conclusion and str(run.get("conclusion", "")) != conclusion:
+            continue
+        grouped[name].append(run)
+
+    for name in grouped:
+        grouped[name].sort(
+            key=lambda run: (
+                parse_created_at(run.get("created_at")) is not None,
+                str(run.get("created_at", "")),
+            ),
+            reverse=True,
+        )
+    return grouped
diff --git a/tools/common/shell-utils.sh b/tools/common/shell-utils.sh
new file mode 100644
index 000000000000..591741656f04
--- /dev/null
+++ b/tools/common/shell-utils.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+# Shared shell utilities for QGC developer tools.
+# Source this file at the top of shell scripts:
+#   source "$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/common/shell-utils.sh"
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
+log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
+log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
+log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
diff --git a/tools/coverage.py b/tools/coverage.py
new file mode 100644
index 000000000000..01b004cdb34a
--- /dev/null
+++ b/tools/coverage.py
@@ -0,0 +1,216 @@
+#!/usr/bin/env python3
+"""Generate code coverage reports for QGroundControl."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+from _bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.logging import log_error, log_info, log_ok
+
+LINE_COVERAGE_RE = re.compile(r"lines:\s*(.+)")
+BRANCH_COVERAGE_RE = re.compile(r"branches:\s*(.+)")
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Build and report test coverage.")
+    parser.add_argument(
+        "--mode",
+        choices=["full", "report-only"],
+        default="full",
+        help="Coverage generation mode (default: full)",
+    )
+    parser.add_argument("-r", "--report", action="store_true", help="Generate report only")
+    parser.add_argument("-o", "--open", dest="open_report", action="store_true", help="Open HTML report")
+    parser.add_argument("-c", "--clean", action="store_true", help="Clean coverage data")
+    parser.add_argument("--xml", action="store_true", help="Generate coverage report and highlight XML output path")
+    parser.add_argument("--log-file", default="", help="Write coverage target output to a file")
+    parser.add_argument(
+        "--step-summary",
+        action="store_true",
+        help="Append a coverage summary to GITHUB_STEP_SUMMARY if available",
+    )
+    parser.add_argument(
+        "-b",
+        "--build-dir",
+        default="build-coverage",
+        help="Coverage build directory (default: build-coverage)",
+    )
+    return parser.parse_args(argv)
+
+
+def run_command(
+    cmd: list[str],
+    *,
+    cwd: Path | None = None,
+    capture_output: bool = False,
+) -> subprocess.CompletedProcess[str]:
+    """Run a subprocess and fail fast on errors."""
+    return subprocess.run(cmd, cwd=cwd, check=True, capture_output=capture_output, text=True)
+
+
+def check_dependencies() -> None:
+    """Ensure required tooling is installed."""
+    if shutil.which("gcovr") is None:
+        raise RuntimeError("gcovr not found. Install with: pip install gcovr")
+
+
+def clean_coverage(build_dir: Path) -> None:
+    """Remove coverage build artifacts."""
+    log_info("Cleaning coverage data...")
+    shutil.rmtree(build_dir, ignore_errors=True)
+    log_ok("Coverage data cleaned")
+
+
+def configure_build(repo_root: Path, build_dir: Path) -> None:
+    """Configure the coverage build directory."""
+    cache_path = build_dir / "CMakeCache.txt"
+    if cache_path.exists():
+        cache_text = cache_path.read_text(encoding="utf-8", errors="ignore")
+        if "QGC_ENABLE_COVERAGE:BOOL=ON" in cache_text:
+            log_info("Using existing coverage build configuration")
+            return
+
+    log_info("Configuring build with coverage...")
+    run_command(
+        [
+            "cmake",
+            "-B",
+            str(build_dir),
+            "-S",
+            str(repo_root),
+            "-DCMAKE_BUILD_TYPE=Debug",
+            "-DQGC_ENABLE_COVERAGE=ON",
+            "-DQGC_BUILD_TESTING=ON",
+            "-G",
+            "Ninja",
+        ]
+    )
+    log_ok("Build configured")
+
+
+def build_project(build_dir: Path) -> None:
+    """Build the coverage target."""
+    log_info("Building project...")
+    run_command(["cmake", "--build", str(build_dir), "--parallel"])
+    log_ok("Build complete")
+
+
+def run_tests(build_dir: Path) -> None:
+    """Run tests and fail if any test fails."""
+    log_info("Running tests...")
+    run_command(["ctest", "--test-dir", str(build_dir), "--output-on-failure", "--timeout", "300"])
+
+
+def build_step_summary(log_text: str, mode: str) -> str:
+    """Build a GitHub Step Summary section from gcovr output."""
+    lines = ["## Code Coverage", "", f"Mode: `{mode}`", ""]
+    line_match = LINE_COVERAGE_RE.search(log_text)
+    branch_match = BRANCH_COVERAGE_RE.search(log_text)
+    if line_match:
+        lines.extend(
+            [
+                "| Metric | Coverage |",
+                "|--------|----------|",
+                f"| Lines | {line_match.group(1).strip()} |",
+                f"| Branches | {(branch_match.group(1).strip() if branch_match else 'N/A')} |",
+                "",
+                "[View detailed report](coverage.html)",
+            ]
+        )
+    else:
+        lines.append("Coverage data not available")
+    return "\n".join(lines) + "\n"
+
+
+def maybe_write_step_summary(log_text: str, mode: str) -> None:
+    """Append coverage markdown to GITHUB_STEP_SUMMARY when requested."""
+    summary_path = os.environ.get("GITHUB_STEP_SUMMARY")
+    if not summary_path:
+        return
+    with open(summary_path, "a", encoding="utf-8") as handle:
+        handle.write(build_step_summary(log_text, mode))
+
+
+def generate_report(build_dir: Path, *, xml_only: bool, log_file: Path | None = None, mode: str = "full") -> str:
+    """Generate coverage artifacts from existing coverage data."""
+    log_info("Generating coverage report...")
+    result = run_command(
+        ["cmake", "--build", str(build_dir), "--target", "coverage-report"],
+        capture_output=True,
+    )
+    if result.stdout:
+        print(result.stdout, end="")
+    if result.stderr:
+        print(result.stderr, end="", file=sys.stderr)
+    if log_file is not None:
+        log_file.write_text((result.stdout or "") + (result.stderr or ""), encoding="utf-8")
+    print()
+    log_ok("Coverage report generated")
+    log_info(f"  XML:  {build_dir / 'coverage.xml'}")
+    if not xml_only:
+        log_info(f"  HTML: {build_dir / 'coverage.html'}")
+    return (result.stdout or "") + (result.stderr or "")
+
+
+def open_report(build_dir: Path) -> None:
+    """Open the generated HTML coverage report."""
+    report = build_dir / "coverage.html"
+    if not report.exists():
+        raise FileNotFoundError(f"Report not found: {report}")
+
+    log_info("Opening coverage report...")
+    opener = shutil.which("xdg-open") or shutil.which("open")
+    if opener is None:
+        raise RuntimeError(f"Could not find a browser opener. Report at: {report}")
+    subprocess.run([opener, str(report)], check=False)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Run the requested coverage workflow."""
+    args = parse_args(argv)
+    repo_root = Path(__file__).resolve().parent.parent
+    build_dir = Path(args.build_dir)
+    mode = "report-only" if args.report else args.mode
+    if not build_dir.is_absolute():
+        build_dir = repo_root / build_dir
+    log_file = Path(args.log_file) if args.log_file else None
+    if log_file is not None and not log_file.is_absolute():
+        log_file = repo_root / log_file
+
+    try:
+        check_dependencies()
+        if args.clean:
+            clean_coverage(build_dir)
+            return 0
+
+        if mode == "report-only":
+            report_output = generate_report(build_dir, xml_only=args.xml, log_file=log_file, mode=mode)
+        else:
+            configure_build(repo_root, build_dir)
+            build_project(build_dir)
+            run_tests(build_dir)
+            report_output = generate_report(build_dir, xml_only=args.xml, log_file=log_file, mode=mode)
+
+        if args.open_report:
+            open_report(build_dir)
+        if args.step_summary:
+            maybe_write_step_summary(report_output, mode)
+        return 0
+    except (RuntimeError, FileNotFoundError, subprocess.CalledProcessError) as exc:
+        log_error(str(exc))
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/coverage.sh b/tools/coverage.sh
deleted file mode 100755
index 3f8df907a96f..000000000000
--- a/tools/coverage.sh
+++ /dev/null
@@ -1,185 +0,0 @@
-#!/usr/bin/env bash
-#
-# Generate code coverage reports for QGroundControl
-#
-# Usage:
-#   ./tools/coverage.sh                    # Build with coverage and run tests
-#   ./tools/coverage.sh --report           # Generate report only (after tests)
-#   ./tools/coverage.sh --open             # Generate and open report in browser
-#   ./tools/coverage.sh --clean            # Clean coverage data
-#   ./tools/coverage.sh --xml              # Generate XML only (for CI tools)
-#
-# Requirements:
-#   - gcovr (pip install gcovr)
-#
-# This script wraps CMake coverage targets defined in cmake/modules/Coverage.cmake
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
-
-# Defaults
-BUILD_DIR="$REPO_ROOT/build-coverage"
-REPORT_ONLY=false
-OPEN_REPORT=false
-CLEAN_ONLY=false
-XML_ONLY=false
-
-show_help() {
-    head -14 "$0" | tail -12
-    exit 0
-}
-
-# Parse arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        -h|--help)
-            show_help
-            ;;
-        -r|--report)
-            REPORT_ONLY=true
-            shift
-            ;;
-        -o|--open)
-            OPEN_REPORT=true
-            shift
-            ;;
-        -c|--clean)
-            CLEAN_ONLY=true
-            shift
-            ;;
-        --xml)
-            XML_ONLY=true
-            shift
-            ;;
-        -b|--build-dir)
-            BUILD_DIR="$2"
-            shift 2
-            ;;
-        *)
-            log_error "Unknown option: $1"
-            exit 1
-            ;;
-    esac
-done
-
-check_dependencies() {
-    if ! command -v gcovr &> /dev/null; then
-        log_error "gcovr not found"
-        log_info "Install with: pip install gcovr"
-        exit 1
-    fi
-}
-
-clean_coverage() {
-    log_info "Cleaning coverage data..."
-    rm -rf "$BUILD_DIR"
-    log_ok "Coverage data cleaned"
-}
-
-configure_build() {
-    if [[ -f "$BUILD_DIR/CMakeCache.txt" ]]; then
-        # Check if already configured with coverage
-        if grep -q "QGC_ENABLE_COVERAGE:BOOL=ON" "$BUILD_DIR/CMakeCache.txt" 2>/dev/null; then
-            log_info "Using existing coverage build configuration"
-            return
-        fi
-    fi
-
-    log_info "Configuring build with coverage..."
-    cmake -B "$BUILD_DIR" -S "$REPO_ROOT" \
-        -DCMAKE_BUILD_TYPE=Debug \
-        -DQGC_ENABLE_COVERAGE=ON \
-        -DQGC_BUILD_TESTING=ON \
-        -G Ninja
-
-    log_ok "Build configured"
-}
-
-build_project() {
-    log_info "Building project..."
-    cmake --build "$BUILD_DIR" --parallel
-    log_ok "Build complete"
-}
-
-run_tests() {
-    log_info "Running tests..."
-    # Run via ctest for proper test discovery
-    ctest --test-dir "$BUILD_DIR" --output-on-failure --timeout 300 || true
-    log_ok "Tests complete"
-}
-
-generate_report() {
-    log_info "Generating coverage report..."
-
-    if [[ "$XML_ONLY" == true ]]; then
-        cmake --build "$BUILD_DIR" --target coverage-report
-    else
-        cmake --build "$BUILD_DIR" --target coverage-report
-    fi
-
-    echo ""
-    log_ok "Coverage report generated:"
-    log_info "  HTML: $BUILD_DIR/coverage.html"
-    log_info "  XML:  $BUILD_DIR/coverage.xml"
-}
-
-open_report() {
-    local report="$BUILD_DIR/coverage.html"
-    if [[ ! -f "$report" ]]; then
-        log_error "Report not found. Run coverage first."
-        exit 1
-    fi
-
-    log_info "Opening coverage report..."
-
-    if command -v xdg-open &> /dev/null; then
-        xdg-open "$report"
-    elif command -v open &> /dev/null; then
-        open "$report"
-    else
-        log_warn "Could not open browser. Report at: $report"
-    fi
-}
-
-# Main
-cd "$REPO_ROOT"
-check_dependencies
-
-if [[ "$CLEAN_ONLY" == true ]]; then
-    clean_coverage
-    exit 0
-fi
-
-if [[ "$REPORT_ONLY" == true ]]; then
-    generate_report
-    if [[ "$OPEN_REPORT" == true ]]; then
-        open_report
-    fi
-    exit 0
-fi
-
-# Full coverage workflow
-configure_build
-build_project
-run_tests
-generate_report
-
-if [[ "$OPEN_REPORT" == true ]]; then
-    open_report
-fi
-
-log_ok "Coverage complete!"
diff --git a/tools/debuggers/profile.sh b/tools/debuggers/profile.sh
index 1fa225bdac53..2cdbea93f0aa 100755
--- a/tools/debuggers/profile.sh
+++ b/tools/debuggers/profile.sh
@@ -23,19 +23,8 @@
 set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
+REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
+source "$REPO_ROOT/tools/common/shell-utils.sh"
 
 # Defaults
 BUILD_DIR="$REPO_ROOT/build"
@@ -122,8 +111,8 @@ run_memcheck() {
         --track-origins=yes \
         --verbose \
         --log-file="$output" \
-        --suppressions="$REPO_ROOT/tools/debuggers/valgrind.supp" 2>/dev/null || true \
-        "$EXECUTABLE" $EXTRA_ARGS
+        --suppressions="$REPO_ROOT/tools/debuggers/valgrind.supp" \
+        "$EXECUTABLE" $EXTRA_ARGS || true
 
     log_ok "Memcheck complete. Results: $output"
 
diff --git a/tools/generate-docs.sh b/tools/generate-docs.sh
deleted file mode 100755
index a879d9f8493a..000000000000
--- a/tools/generate-docs.sh
+++ /dev/null
@@ -1,239 +0,0 @@
-#!/usr/bin/env bash
-#
-# Generate API documentation using Doxygen
-#
-# Usage:
-#   ./tools/generate-docs.sh              # Generate HTML docs
-#   ./tools/generate-docs.sh --open       # Generate and open in browser
-#   ./tools/generate-docs.sh --pdf        # Generate PDF (requires LaTeX)
-#   ./tools/generate-docs.sh --clean      # Clean generated docs
-#
-# Requirements:
-#   - doxygen
-#   - graphviz (for diagrams)
-#   - Optional: texlive (for PDF output)
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
-
-# Defaults
-OUTPUT_DIR="$REPO_ROOT/docs/api"
-DOXYFILE="$REPO_ROOT/Doxyfile"
-GENERATE_PDF=false
-OPEN_DOCS=false
-CLEAN_ONLY=false
-
-show_help() {
-    head -14 "$0" | tail -12
-    exit 0
-}
-
-# Parse arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        -h|--help)
-            show_help
-            ;;
-        -o|--open)
-            OPEN_DOCS=true
-            shift
-            ;;
-        --pdf)
-            GENERATE_PDF=true
-            shift
-            ;;
-        -c|--clean)
-            CLEAN_ONLY=true
-            shift
-            ;;
-        *)
-            log_error "Unknown option: $1"
-            exit 1
-            ;;
-    esac
-done
-
-check_dependencies() {
-    if ! command -v doxygen &> /dev/null; then
-        log_error "doxygen not found. Install with: sudo apt install doxygen"
-        exit 1
-    fi
-
-    if ! command -v dot &> /dev/null; then
-        log_warn "graphviz not found. Diagrams will be disabled."
-        log_info "Install with: sudo apt install graphviz"
-    fi
-
-    if [[ "$GENERATE_PDF" == true ]] && ! command -v pdflatex &> /dev/null; then
-        log_error "pdflatex not found. Install with: sudo apt install texlive-latex-base"
-        exit 1
-    fi
-}
-
-clean_docs() {
-    log_info "Cleaning generated documentation..."
-    rm -rf "$OUTPUT_DIR"
-    log_ok "Documentation cleaned"
-}
-
-generate_doxyfile() {
-    log_info "Generating Doxyfile..."
-
-    cat > "$DOXYFILE" << 'DOXYFILE_CONTENT'
-# Doxyfile for QGroundControl
-
-PROJECT_NAME           = "QGroundControl"
-PROJECT_BRIEF          = "Ground Control Station for MAVLink Drones"
-PROJECT_NUMBER         =
-OUTPUT_DIRECTORY       = docs/api
-
-# Input
-INPUT                  = src
-INPUT_ENCODING         = UTF-8
-FILE_PATTERNS          = *.h *.cc *.cpp *.hpp *.qml *.md
-RECURSIVE              = YES
-EXCLUDE_PATTERNS       = */test/* */libs/* */_deps/* */build/*
-
-# Output formats
-GENERATE_HTML          = YES
-HTML_OUTPUT            = html
-GENERATE_LATEX         = NO
-GENERATE_XML           = NO
-
-# HTML settings
-HTML_COLORSTYLE_HUE    = 220
-HTML_COLORSTYLE_SAT    = 100
-HTML_COLORSTYLE_GAMMA  = 80
-HTML_DYNAMIC_SECTIONS  = YES
-DISABLE_INDEX          = NO
-GENERATE_TREEVIEW      = YES
-FULL_SIDEBAR           = YES
-
-# Extraction settings
-EXTRACT_ALL            = YES
-EXTRACT_PRIVATE        = NO
-EXTRACT_STATIC         = YES
-EXTRACT_LOCAL_CLASSES  = YES
-
-# Source browser
-SOURCE_BROWSER         = YES
-INLINE_SOURCES         = NO
-STRIP_CODE_COMMENTS    = YES
-REFERENCED_BY_RELATION = YES
-REFERENCES_RELATION    = YES
-
-# Diagrams (requires graphviz)
-HAVE_DOT               = YES
-DOT_NUM_THREADS        = 0
-CLASS_DIAGRAMS         = YES
-COLLABORATION_GRAPH    = YES
-GROUP_GRAPHS           = YES
-INCLUDE_GRAPH          = YES
-INCLUDED_BY_GRAPH      = YES
-CALL_GRAPH             = NO
-CALLER_GRAPH           = NO
-GRAPHICAL_HIERARCHY    = YES
-DIRECTORY_GRAPH        = YES
-DOT_IMAGE_FORMAT       = svg
-INTERACTIVE_SVG        = YES
-
-# Preprocessing
-ENABLE_PREPROCESSING   = YES
-MACRO_EXPANSION        = YES
-EXPAND_ONLY_PREDEF     = NO
-PREDEFINED             = Q_OBJECT Q_PROPERTY Q_INVOKABLE Q_SIGNAL Q_SLOT
-
-# Warnings
-QUIET                  = NO
-WARNINGS               = YES
-WARN_IF_UNDOCUMENTED   = NO
-WARN_IF_DOC_ERROR      = YES
-
-# Other
-ALPHABETICAL_INDEX     = YES
-GENERATE_TODOLIST      = YES
-GENERATE_BUGLIST       = YES
-SHOW_USED_FILES        = YES
-SHOW_FILES             = YES
-SHOW_NAMESPACES        = YES
-DOXYFILE_CONTENT
-
-    log_ok "Doxyfile generated"
-}
-
-generate_docs() {
-    log_info "Generating documentation..."
-
-    mkdir -p "$OUTPUT_DIR"
-
-    # Generate Doxyfile if it doesn't exist
-    if [[ ! -f "$DOXYFILE" ]]; then
-        generate_doxyfile
-    fi
-
-    # Enable LaTeX if PDF requested
-    if [[ "$GENERATE_PDF" == true ]]; then
-        sed -i 's/GENERATE_LATEX.*= NO/GENERATE_LATEX = YES/' "$DOXYFILE"
-    fi
-
-    # Run doxygen
-    cd "$REPO_ROOT"
-    doxygen "$DOXYFILE"
-
-    log_ok "Documentation generated: $OUTPUT_DIR/html/index.html"
-
-    # Generate PDF if requested
-    if [[ "$GENERATE_PDF" == true ]]; then
-        log_info "Generating PDF..."
-        cd "$OUTPUT_DIR/latex"
-        make pdf
-        log_ok "PDF generated: $OUTPUT_DIR/latex/refman.pdf"
-    fi
-}
-
-open_docs() {
-    local index="$OUTPUT_DIR/html/index.html"
-    if [[ ! -f "$index" ]]; then
-        log_error "Documentation not found. Generate first."
-        exit 1
-    fi
-
-    log_info "Opening documentation..."
-
-    if command -v xdg-open &> /dev/null; then
-        xdg-open "$index"
-    elif command -v open &> /dev/null; then
-        open "$index"
-    else
-        log_warn "Could not open browser. Docs at: $index"
-    fi
-}
-
-# Main
-cd "$REPO_ROOT"
-
-if [[ "$CLEAN_ONLY" == true ]]; then
-    clean_docs
-    exit 0
-fi
-
-check_dependencies
-generate_docs
-
-if [[ "$OPEN_DOCS" == true ]]; then
-    open_docs
-fi
diff --git a/tools/generate_docs.py b/tools/generate_docs.py
new file mode 100644
index 000000000000..b15aafeba7c7
--- /dev/null
+++ b/tools/generate_docs.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+"""Generate API documentation using Doxygen."""
+
+from __future__ import annotations
+
+import argparse
+import shutil
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+from _bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.logging import log_error, log_info, log_ok, log_warn
+
+DEFAULT_DOXYFILE = """# Doxyfile for QGroundControl
+
+PROJECT_NAME           = "QGroundControl"
+PROJECT_BRIEF          = "Ground Control Station for MAVLink Drones"
+OUTPUT_DIRECTORY       = docs/api
+INPUT                  = src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.h *.cc *.cpp *.hpp *.qml *.md
+RECURSIVE              = YES
+EXCLUDE_PATTERNS       = */test/* */libs/* */_deps/* */build/*
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+GENERATE_LATEX         = NO
+GENERATE_XML           = NO
+HAVE_DOT               = YES
+QUIET                  = NO
+WARNINGS               = YES
+"""
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    """Parse command-line arguments."""
+    parser = argparse.ArgumentParser(description="Generate QGroundControl API documentation.")
+    parser.add_argument("-o", "--open", dest="open_docs", action="store_true", help="Open docs after generating")
+    parser.add_argument("--pdf", action="store_true", help="Generate PDF output")
+    parser.add_argument("-c", "--clean", action="store_true", help="Clean generated docs")
+    parser.add_argument("--output-dir", default="docs/api", help="Output directory (default: docs/api)")
+    parser.add_argument("--doxyfile", default="Doxyfile", help="Path to Doxyfile (default: Doxyfile)")
+    return parser.parse_args(argv)
+
+
+def build_doxyfile_text(base_text: str, output_dir: Path, *, generate_pdf: bool) -> str:
+    """Return a Doxygen config with safe per-run overrides appended."""
+    latex_value = "YES" if generate_pdf else "NO"
+    override = (
+        "\n"
+        f'OUTPUT_DIRECTORY       = "{output_dir.as_posix()}"\n'
+        f"GENERATE_LATEX         = {latex_value}\n"
+    )
+    return base_text.rstrip() + override
+
+
+def check_dependencies(*, generate_pdf: bool) -> None:
+    """Ensure the required tooling is installed."""
+    if shutil.which("doxygen") is None:
+        raise RuntimeError("doxygen not found. Install with: sudo apt install doxygen")
+    if shutil.which("dot") is None:
+        log_warn("graphviz not found. Diagrams will be disabled.")
+    if generate_pdf and shutil.which("pdflatex") is None:
+        raise RuntimeError("pdflatex not found. Install with: sudo apt install texlive-latex-base")
+
+
+def clean_docs(output_dir: Path) -> None:
+    """Remove generated documentation."""
+    log_info("Cleaning generated documentation...")
+    shutil.rmtree(output_dir, ignore_errors=True)
+    log_ok("Documentation cleaned")
+
+
+def load_base_doxyfile(doxyfile_path: Path) -> str:
+    """Load the repo Doxyfile or fall back to a generated default."""
+    if doxyfile_path.exists():
+        return doxyfile_path.read_text(encoding="utf-8")
+    log_warn(f"{doxyfile_path.name} not found. Using generated default configuration.")
+    return DEFAULT_DOXYFILE
+
+
+def generate_docs(repo_root: Path, output_dir: Path, doxyfile_path: Path, *, generate_pdf: bool) -> None:
+    """Generate HTML docs and optionally PDF docs without mutating tracked files."""
+    log_info("Generating documentation...")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    base_text = load_base_doxyfile(doxyfile_path)
+    effective_text = build_doxyfile_text(base_text, output_dir, generate_pdf=generate_pdf)
+
+    with tempfile.NamedTemporaryFile("w", encoding="utf-8", suffix=".doxyfile", delete=False) as handle:
+        handle.write(effective_text)
+        temp_doxyfile = Path(handle.name)
+
+    try:
+        subprocess.run(["doxygen", str(temp_doxyfile)], cwd=repo_root, check=True)
+    finally:
+        temp_doxyfile.unlink(missing_ok=True)
+
+    log_ok(f"Documentation generated: {output_dir / 'html' / 'index.html'}")
+
+    if generate_pdf:
+        latex_dir = output_dir / "latex"
+        log_info("Generating PDF...")
+        subprocess.run(["make", "pdf"], cwd=latex_dir, check=True)
+        log_ok(f"PDF generated: {latex_dir / 'refman.pdf'}")
+
+
+def open_docs(output_dir: Path) -> None:
+    """Open the generated HTML documentation."""
+    index = output_dir / "html" / "index.html"
+    if not index.exists():
+        raise FileNotFoundError(f"Documentation not found: {index}")
+
+    log_info("Opening documentation...")
+    opener = shutil.which("xdg-open") or shutil.which("open")
+    if opener is None:
+        raise RuntimeError(f"Could not find a browser opener. Docs at: {index}")
+    subprocess.run([opener, str(index)], check=False)
+
+
+def main(argv: list[str] | None = None) -> int:
+    """Run the requested documentation workflow."""
+    args = parse_args(argv)
+    repo_root = Path(__file__).resolve().parent.parent
+    output_dir = Path(args.output_dir)
+    doxyfile_path = Path(args.doxyfile)
+    if not output_dir.is_absolute():
+        output_dir = repo_root / output_dir
+    if not doxyfile_path.is_absolute():
+        doxyfile_path = repo_root / doxyfile_path
+
+    try:
+        if args.clean:
+            clean_docs(output_dir)
+            return 0
+
+        check_dependencies(generate_pdf=args.pdf)
+        generate_docs(repo_root, output_dir, doxyfile_path, generate_pdf=args.pdf)
+        if args.open_docs:
+            open_docs(output_dir)
+        return 0
+    except (RuntimeError, FileNotFoundError, subprocess.CalledProcessError) as exc:
+        log_error(str(exc))
+        return 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/param-docs.py b/tools/param-docs.py
index be95aecabf9f..d294bc401b74 100755
--- a/tools/param-docs.py
+++ b/tools/param-docs.py
@@ -285,7 +285,7 @@ def generate_json_output(params: list[Parameter]) -> str:
     return json.dumps(output, indent=2)
 
 
-def main():
+def main() -> int:
     parser = argparse.ArgumentParser(
         description="Generate parameter documentation from FactMetaData JSON files",
         formatter_class=argparse.RawDescriptionHelpFormatter,
diff --git a/tools/pre-commit.sh b/tools/pre-commit.sh
deleted file mode 100755
index 04a0b906e151..000000000000
--- a/tools/pre-commit.sh
+++ /dev/null
@@ -1,228 +0,0 @@
-#!/usr/bin/env bash
-#
-# Run pre-commit checks with formatted output
-#
-# Usage:
-#   ./tools/pre-commit.sh              # Run on all files
-#   ./tools/pre-commit.sh --changed    # Run only on changed files (vs master)
-#   ./tools/pre-commit.sh --install    # Install pre-commit hooks
-#   ./tools/pre-commit.sh --update     # Update hook versions
-#   ./tools/pre-commit.sh --ci         # CI mode (machine-readable output)
-#
-# Environment:
-#   PRE_COMMIT_OUTPUT  - File to write output (default: stdout)
-#   GITHUB_STEP_SUMMARY - GitHub Actions step summary file
-#
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
-
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
-
-# Defaults
-MODE="all"
-CI_MODE=false
-OUTPUT_FILE=""
-
-show_help() {
-    head -13 "$0" | tail -11
-    exit 0
-}
-
-# Parse arguments
-while [[ $# -gt 0 ]]; do
-    case $1 in
-        -h|--help)
-            show_help
-            ;;
-        -c|--changed)
-            MODE="changed"
-            shift
-            ;;
-        -i|--install)
-            MODE="install"
-            shift
-            ;;
-        -u|--update)
-            MODE="update"
-            shift
-            ;;
-        --ci)
-            CI_MODE=true
-            shift
-            ;;
-        -o|--output)
-            OUTPUT_FILE="$2"
-            shift 2
-            ;;
-        *)
-            log_error "Unknown option: $1"
-            show_help
-            ;;
-    esac
-done
-
-cd "$REPO_ROOT"
-
-# Check for pre-commit
-if ! command -v pre-commit &> /dev/null; then
-    log_error "pre-commit not found"
-    log_info "Install with: pip install pre-commit"
-    log_info "Or run: ./tools/pre-commit.sh --install"
-    exit 1
-fi
-
-# Handle install/update modes
-if [[ "$MODE" == "install" ]]; then
-    log_info "Installing pre-commit and hooks..."
-    pip install pre-commit
-    pre-commit install
-    pre-commit install --hook-type commit-msg
-    log_ok "Pre-commit hooks installed"
-    exit 0
-fi
-
-if [[ "$MODE" == "update" ]]; then
-    log_info "Updating pre-commit hooks..."
-    pre-commit autoupdate
-    log_ok "Hooks updated. Review changes in .pre-commit-config.yaml"
-    exit 0
-fi
-
-# Build pre-commit arguments
-ARGS=(
-    "--show-diff-on-failure"
-    "--color=always"
-)
-
-if [[ "$MODE" == "changed" ]]; then
-    # Check if we can compare against master
-    # SECURITY: Branch name "master" is hardcoded to prevent command injection.
-    # If making this dynamic, validate: [[ "$branch" =~ ^[a-zA-Z0-9/_-]+$ ]]
-    if git rev-parse --verify master &>/dev/null || git rev-parse --verify origin/master &>/dev/null; then
-        log_info "Running on files changed vs master..."
-        ARGS+=("--from-ref" "master" "--to-ref" "HEAD")
-    else
-        log_warn "master branch not available, running on all files"
-        ARGS+=("--all-files")
-    fi
-else
-    ARGS+=("--all-files")
-fi
-
-# Create temp file for output capture
-TEMP_OUTPUT=$(mktemp)
-trap 'rm -f "$TEMP_OUTPUT"' EXIT
-
-log_info "Running pre-commit checks..."
-echo ""
-
-# Run pre-commit and capture output
-set +e
-pre-commit run "${ARGS[@]}" 2>&1 | tee "$TEMP_OUTPUT"
-EXIT_CODE=${PIPESTATUS[0]}
-set -e
-
-echo ""
-
-# Parse results - single awk pass for efficiency
-read -r PASSED FAILED SKIPPED < <(awk '/Passed/{p++} /Failed/{f++} /Skipped/{s++} END{print p+0, f+0, s+0}' "$TEMP_OUTPUT" 2>/dev/null || echo "0 0 0")
-
-# Summary
-if [[ $EXIT_CODE -eq 0 ]]; then
-    log_ok "All checks passed ($PASSED passed)"
-else
-    log_error "Some checks failed ($PASSED passed, $FAILED failed)"
-fi
-
-# Write to output file if specified
-if [[ -n "$OUTPUT_FILE" ]] || [[ -n "${PRE_COMMIT_OUTPUT:-}" ]]; then
-    OUTPUT_FILE="${OUTPUT_FILE:-$PRE_COMMIT_OUTPUT}"
-    cp "$TEMP_OUTPUT" "$OUTPUT_FILE"
-    log_info "Output written to: $OUTPUT_FILE"
-fi
-
-# CI mode: write structured output
-if [[ "$CI_MODE" == true ]]; then
-    # Write to GITHUB_OUTPUT if available
-    if [[ -n "${GITHUB_OUTPUT:-}" ]]; then
-        {
-            echo "exit_code=$EXIT_CODE"
-            echo "passed=$PASSED"
-            echo "failed=$FAILED"
-            echo "skipped=$SKIPPED"
-        } >> "$GITHUB_OUTPUT"
-
-        # Write summary to GITHUB_OUTPUT (multiline with unique delimiter)
-        DELIMITER="PRECOMMIT_SUMMARY_$(date +%s)"
-        {
-            echo "summary<<${DELIMITER}"
-            grep -E '\.\.\.\.\.\.\.\.\.\.' "$TEMP_OUTPUT" 2>/dev/null | head -40 | sed 's/\x1b\[[0-9;]*m//g' || echo "No results"
-            echo "${DELIMITER}"
-        } >> "$GITHUB_OUTPUT"
-    fi
-
-    # Write to GITHUB_STEP_SUMMARY if available
-    if [[ -n "${GITHUB_STEP_SUMMARY:-}" ]]; then
-        {
-            echo "## Pre-commit Results"
-            echo ""
-            if [[ $EXIT_CODE -eq 0 ]]; then
-                echo "**All checks passed**"
-            else
-                echo "**Some checks failed**"
-            fi
-            echo ""
-            echo "| Status | Count |"
-            echo "|--------|-------|"
-            echo "| Passed | $PASSED |"
-            echo "| Failed | $FAILED |"
-            if [[ $SKIPPED -gt 0 ]]; then
-                echo "| Skipped | $SKIPPED |"
-            fi
-            echo ""
-            echo "<details>"
-            echo "<summary>Hook Results</summary>"
-            echo ""
-            echo '```'
-            grep -E '\.\.\.\.\.\.\.\.\.\.' "$TEMP_OUTPUT" 2>/dev/null | head -40 | sed 's/\x1b\[[0-9;]*m//g' || echo "No results"
-            echo '```'
-            echo "</details>"
-
-            # Show modified files if any
-            if ! git diff --quiet 2>/dev/null; then
-                echo ""
-                echo "<details>"
-                echo "<summary>Files Modified by Hooks</summary>"
-                echo ""
-                echo '```'
-                git diff --stat 2>/dev/null || true
-                echo '```'
-                echo "</details>"
-            fi
-        } >> "$GITHUB_STEP_SUMMARY"
-    fi
-fi
-
-# Show fix instructions on failure
-if [[ $EXIT_CODE -ne 0 ]]; then
-    echo ""
-    log_info "To fix issues locally:"
-    echo "  1. Run: pre-commit run --all-files"
-    echo "  2. Review and stage changes: git add -u"
-    echo "  3. Amend your commit: git commit --amend --no-edit"
-fi
-
-exit $EXIT_CODE
diff --git a/tools/pre_commit.py b/tools/pre_commit.py
new file mode 100644
index 000000000000..85b7c57a6208
--- /dev/null
+++ b/tools/pre_commit.py
@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+"""Run pre-commit checks with CI-friendly summaries."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+from _bootstrap import ensure_tools_dir
+
+ensure_tools_dir(__file__)
+
+from common.gh_actions import write_github_output as _write_github_output, write_step_summary as _write_step_summary
+from common.logging import log_error, log_info, log_ok, log_warn
+
+HOOK_RESULT_RE = re.compile(r"\b(Passed|Failed|Skipped)\b")
+ANSI_ESCAPE_RE = re.compile(r"\x1b\[[0-9;]*m")
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Run pre-commit checks.")
+    parser.add_argument("-c", "--changed", action="store_true", help="Run only files changed vs master")
+    parser.add_argument("-i", "--install", action="store_true", help="Install pre-commit hooks")
+    parser.add_argument("-u", "--update", action="store_true", help="Update hook versions")
+    parser.add_argument("--ci", action="store_true", help="Enable GitHub Actions outputs")
+    parser.add_argument("-o", "--output", default="", help="Write raw output to file")
+    return parser.parse_args(argv)
+
+
+def repo_root() -> Path:
+    return Path(__file__).resolve().parent.parent
+
+
+def ensure_precommit_available() -> bool:
+    return shutil.which("pre-commit") is not None
+
+
+def strip_ansi(value: str) -> str:
+    return ANSI_ESCAPE_RE.sub("", value)
+
+
+def summarize_output(output: str) -> tuple[int, int, int]:
+    passed = failed = skipped = 0
+    for line in output.splitlines():
+        match = HOOK_RESULT_RE.search(line)
+        if not match:
+            continue
+        state = match.group(1)
+        if state == "Passed":
+            passed += 1
+        elif state == "Failed":
+            failed += 1
+        elif state == "Skipped":
+            skipped += 1
+    return passed, failed, skipped
+
+
+def extract_hook_lines(output: str, *, limit: int = 40) -> list[str]:
+    lines = [strip_ansi(line) for line in output.splitlines() if ".........." in line]
+    return lines[:limit] or ["No results"]
+
+
+def git_has_master_ref() -> bool:
+    commands = [
+        ["git", "rev-parse", "--verify", "master"],
+        ["git", "rev-parse", "--verify", "origin/master"],
+    ]
+    return any(subprocess.run(cmd, capture_output=True, check=False).returncode == 0 for cmd in commands)
+
+
+def build_precommit_args(args: argparse.Namespace) -> list[str]:
+    result = ["pre-commit", "run", "--show-diff-on-failure", "--color=always"]
+    if args.changed:
+        if git_has_master_ref():
+            log_info("Running on files changed vs master...")
+            result.extend(["--from-ref", "master", "--to-ref", "HEAD"])
+        else:
+            log_warn("master branch not available, running on all files")
+            result.append("--all-files")
+    else:
+        result.append("--all-files")
+    return result
+
+
+def run_command(cmd: list[str]) -> subprocess.CompletedProcess[str]:
+    return subprocess.run(cmd, capture_output=True, text=True, check=False)
+
+
+def write_github_output(exit_code: int, passed: int, failed: int, skipped: int, summary_lines: list[str]) -> None:
+    _write_github_output({
+        "exit_code": str(exit_code),
+        "passed": str(passed),
+        "failed": str(failed),
+        "skipped": str(skipped),
+        "summary": "\n".join(summary_lines),
+    })
+
+
+def write_step_summary(exit_code: int, passed: int, failed: int, skipped: int, output: str) -> None:
+    parts = ["## Pre-commit Results\n"]
+    parts.append("**All checks passed**\n" if exit_code == 0 else "**Some checks failed**\n")
+    parts.append("| Status | Count |\n|--------|-------|")
+    parts.append(f"| Passed | {passed} |")
+    parts.append(f"| Failed | {failed} |")
+    if skipped > 0:
+        parts.append(f"| Skipped | {skipped} |")
+    hook_lines = "\n".join(extract_hook_lines(output))
+    parts.append(f"\n<details>\n<summary>Hook Results</summary>\n\n```\n{hook_lines}\n```\n</details>")
+
+    diff = subprocess.run(["git", "diff", "--stat"], capture_output=True, text=True, check=False)
+    if diff.stdout.strip():
+        parts.append(f"\n<details>\n<summary>Files Modified by Hooks</summary>\n\n```\n{diff.stdout}```\n</details>")
+
+    _write_step_summary("\n".join(parts) + "\n")
+
+
+def handle_install() -> int:
+    log_info("Installing pre-commit and hooks...")
+    subprocess.run([sys.executable, "-m", "pip", "install", "pre-commit"], check=True)
+    subprocess.run(["pre-commit", "install"], check=True)
+    subprocess.run(["pre-commit", "install", "--hook-type", "commit-msg"], check=True)
+    log_ok("Pre-commit hooks installed")
+    return 0
+
+
+def handle_update() -> int:
+    log_info("Updating pre-commit hooks...")
+    subprocess.run(["pre-commit", "autoupdate"], check=True)
+    log_ok("Hooks updated. Review changes in .pre-commit-config.yaml")
+    return 0
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = parse_args(argv)
+    os.chdir(repo_root())
+
+    try:
+        if args.install:
+            return handle_install()
+        if args.update:
+            if not ensure_precommit_available():
+                log_error("pre-commit not found")
+                return 1
+            return handle_update()
+
+        if not ensure_precommit_available():
+            log_error("pre-commit not found")
+            log_info("Install with: pip install pre-commit")
+            log_info("Or run: python3 ./tools/pre_commit.py --install")
+            return 1
+
+        command = build_precommit_args(args)
+        log_info("Running pre-commit checks...")
+        print()
+        result = run_command(command)
+        if result.stdout:
+            print(result.stdout, end="")
+        if result.stderr:
+            print(result.stderr, end="", file=sys.stderr)
+        print()
+
+        passed, failed, skipped = summarize_output(result.stdout + result.stderr)
+        if args.output or os.environ.get("PRE_COMMIT_OUTPUT"):
+            output_path = Path(args.output or os.environ["PRE_COMMIT_OUTPUT"])
+            output_path.write_text(result.stdout + result.stderr, encoding="utf-8")
+            log_info(f"Output written to: {output_path}")
+
+        if result.returncode == 0:
+            log_ok(f"All checks passed ({passed} passed)")
+        else:
+            log_error(f"Some checks failed ({passed} passed, {failed} failed)")
+
+        if args.ci:
+            summary_lines = extract_hook_lines(result.stdout + result.stderr)
+            write_github_output(result.returncode, passed, failed, skipped, summary_lines)
+            write_step_summary(result.returncode, passed, failed, skipped, result.stdout + result.stderr)
+
+        if result.returncode != 0:
+            print()
+            log_info("To fix issues locally:")
+            print("  1. Run: pre-commit run --all-files")
+            print("  2. Review and stage changes: git add -u")
+            print("  3. Amend your commit: git commit --amend --no-edit")
+
+        return result.returncode
+    except subprocess.CalledProcessError as exc:
+        log_error(str(exc))
+        return exc.returncode or 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/pyproject.toml b/tools/pyproject.toml
new file mode 100644
index 000000000000..aa70bb12ca55
--- /dev/null
+++ b/tools/pyproject.toml
@@ -0,0 +1,43 @@
+[project]
+name = "qgc-tools"
+version = "0.0.0"
+requires-python = ">=3.12"
+
+[project.optional-dependencies]
+scripts = [
+  "defusedxml>=0.7.1",
+  "httpx>=0.28",
+  "jinja2>=3.1",
+]
+precommit = [
+  "pre-commit",
+]
+test = [
+  "pytest",
+  "jinja2",
+  "pyyaml",
+]
+ci = [
+  "pre-commit",
+  "meson",
+  "ninja",
+]
+qt = [
+  "aqtinstall",
+]
+coverage = [
+  "gcovr",
+]
+dev = [
+  "jinja2",
+  "pyyaml",
+  "pymavlink",
+]
+lsp = [
+  "pygls",
+  "lsprotocol",
+]
+
+[tool.pytest.ini_options]
+pythonpath = ["."]
+testpaths = ["tests"]
diff --git a/tools/release.sh b/tools/release.sh
index 5bcd86a515c6..8f7bad1e337c 100755
--- a/tools/release.sh
+++ b/tools/release.sh
@@ -17,17 +17,7 @@ set -euo pipefail
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
 
-# Colors
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m'
-
-log_info()  { echo -e "${BLUE}[INFO]${NC} $*"; }
-log_ok()    { echo -e "${GREEN}[OK]${NC} $*"; }
-log_warn()  { echo -e "${YELLOW}[WARN]${NC} $*"; }
-log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
+source "$REPO_ROOT/tools/common/shell-utils.sh"
 
 DRY_RUN=true
 INSTALL_DEPS=false
diff --git a/tools/run_tests.py b/tools/run_tests.py
index 4e5960e2d5a3..afca33ce8783 100755
--- a/tools/run_tests.py
+++ b/tools/run_tests.py
@@ -27,6 +27,7 @@
 from typing import Sequence
 
 from common import find_repo_root, Logger
+from common.gh_actions import write_github_output as _write_github_output
 
 
 @dataclass
@@ -281,20 +282,15 @@ def _build_command(self, binary: Path, test_args: list[str]) -> tuple[list[str],
 
     def write_github_output(self, result: TestResult) -> None:
         """Write results to GITHUB_OUTPUT for CI integration."""
-        github_output = os.environ.get("GITHUB_OUTPUT")
-        if not github_output:
-            return
-
-        try:
-            with open(github_output, "a") as f:
-                f.write(f"exit_code={result.exit_code}\n")
-                f.write(f"passed={'true' if result.exit_code == 0 else 'false'}\n")
-                if result.xml_path:
-                    f.write(f"output_file={result.xml_path}\n")
-                if result.log_path:
-                    f.write(f"log_file={result.log_path}\n")
-        except OSError as e:
-            self.log.warn(f"Failed to write GITHUB_OUTPUT: {e}")
+        outputs: dict[str, str] = {
+            "exit_code": str(result.exit_code),
+            "passed": "true" if result.exit_code == 0 else "false",
+        }
+        if result.xml_path:
+            outputs["output_file"] = str(result.xml_path)
+        if result.log_path:
+            outputs["log_file"] = str(result.log_path)
+        _write_github_output(outputs)
 
 
 def parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace:
diff --git a/tools/setup/build-gstreamer.py b/tools/setup/build-gstreamer.py
index 250147d1a539..c881d33890b0 100755
--- a/tools/setup/build-gstreamer.py
+++ b/tools/setup/build-gstreamer.py
@@ -39,6 +39,12 @@
 from dataclasses import dataclass, field
 from pathlib import Path
 
+_tools_dir = Path(__file__).resolve().parents[1]
+if str(_tools_dir) not in sys.path:
+    sys.path.insert(0, str(_tools_dir))
+
+from common.logging import log_info, log_ok, log_warn, log_error
+
 
 # ============================================================================
 # Shared Utilities
@@ -47,25 +53,6 @@
 MESON_VERSION = "1.10.1"
 NINJA_VERSION = "1.13.0"
 
-class Colors:
-    RED = '\033[0;31m'
-    GREEN = '\033[0;32m'
-    YELLOW = '\033[1;33m'
-    BLUE = '\033[0;34m'
-    NC = '\033[0m'
-
-def log_info(msg: str) -> None:
-    print(f"{Colors.BLUE}[INFO]{Colors.NC} {msg}")
-
-def log_ok(msg: str) -> None:
-    print(f"{Colors.GREEN}[OK]{Colors.NC} {msg}")
-
-def log_warn(msg: str) -> None:
-    print(f"{Colors.YELLOW}[WARN]{Colors.NC} {msg}", file=sys.stderr)
-
-def log_error(msg: str) -> None:
-    print(f"{Colors.RED}[ERROR]{Colors.NC} {msg}", file=sys.stderr)
-
 def run_cmd(cmd: list, cwd: Path | None = None, check: bool = True,
             env: dict | None = None) -> subprocess.CompletedProcess:
     """Run a command with optional working directory and environment."""
@@ -112,8 +99,11 @@ def read_config(key: str, default: str = '') -> str:
         with open(config_file) as f:
             config = json.load(f)
         return config.get(key, default)
-    except Exception:
+    except FileNotFoundError:
         return default
+    except json.JSONDecodeError as error:
+        log_error(f"Failed to parse JSON config '{config_file}': {error}")
+        raise
 
 def write_github_output(outputs: dict) -> None:
     """Write outputs for GitHub Actions."""
@@ -632,7 +622,7 @@ def main() -> int:
     args = parse_args()
 
     # Resolve defaults
-    version = args.version or read_config('gstreamer_version', '1.24.10')
+    version = args.version or read_config('gstreamer_default_version', '1.24.13')
     arch = args.arch or get_default_arch(args.platform)
     prefix = Path(args.prefix) if args.prefix else None
     work_dir = Path(args.work_dir)
diff --git a/tools/setup/install_dependencies.py b/tools/setup/install_dependencies.py
index e72466407b41..2ac7575f20cf 100644
--- a/tools/setup/install_dependencies.py
+++ b/tools/setup/install_dependencies.py
@@ -16,6 +16,7 @@
 import argparse
 import json
 import os
+import re
 import shlex
 import shutil
 import subprocess
@@ -155,6 +156,7 @@
     "-o", "DPkg::Lock::Timeout=300",
     "-o", "Acquire::Retries=3",
 ]
+PACKAGE_NAME_RE = re.compile(r"^[a-zA-Z0-9][a-zA-Z0-9.+-]*$")
 
 
 def get_repo_root() -> Path:
@@ -285,6 +287,21 @@ def check_apt_package_available(package: str) -> bool:
     return result.returncode == 0
 
 
+def get_available_debian_packages(category: str) -> list[str]:
+    """Return packages in *category* that exist in apt metadata."""
+    return [pkg for pkg in get_debian_packages(category) if check_apt_package_available(pkg)]
+
+
+def validate_extra_packages(packages: list[str]) -> list[str]:
+    """Validate extra package names passed from CI inputs."""
+    validated: list[str] = []
+    for package in packages:
+        if not PACKAGE_NAME_RE.match(package):
+            raise ValueError(f"Invalid package name '{package}'")
+        validated.append(package)
+    return validated
+
+
 def get_gstreamer_macos_urls(version: str) -> tuple[str, str]:
     """Get GStreamer download URLs for macOS."""
     base_url = f"https://gstreamer.freedesktop.org/data/pkg/osx/{version}"
@@ -769,6 +786,17 @@ def parse_args(args: list[str] | None = None) -> argparse.Namespace:
         action="store_true",
         help="Install Vulkan SDK (Windows only)",
     )
+    parser.add_argument(
+        "--print-available-packages",
+        action="store_true",
+        help="Print available apt packages in the selected Debian category",
+    )
+    parser.add_argument(
+        "--validate-extra-packages",
+        nargs="*",
+        default=None,
+        help="Validate extra apt package names and print them back",
+    )
 
     return parser.parse_args(args)
 
@@ -787,6 +815,24 @@ def main() -> int:
         print_packages(platform or "debian", args.category)
         return 0
 
+    if args.print_available_packages:
+        if (platform or "debian") != "debian":
+            print("Error: --print-available-packages is only supported for debian", file=sys.stderr)
+            return 1
+        if not args.category:
+            print("Error: --category is required with --print-available-packages", file=sys.stderr)
+            return 1
+        print(" ".join(get_available_debian_packages(args.category)))
+        return 0
+
+    if args.validate_extra_packages is not None:
+        try:
+            print(" ".join(validate_extra_packages(args.validate_extra_packages)))
+        except ValueError as e:
+            print(f"Error: {e}", file=sys.stderr)
+            return 1
+        return 0
+
     if platform is None:
         print("Error: Could not detect platform", file=sys.stderr)
         print("Use --platform to specify: debian, macos, windows", file=sys.stderr)
diff --git a/tools/setup/install_python.py b/tools/setup/install_python.py
index ce2e277b3ff8..cce6366e51fa 100755
--- a/tools/setup/install_python.py
+++ b/tools/setup/install_python.py
@@ -14,61 +14,44 @@
 from __future__ import annotations
 
 import argparse
+import functools
+import os
 import shutil
 import subprocess
 import sys
+import tomllib
 from pathlib import Path
 
-PACKAGE_GROUPS: dict[str, list[str]] = {
-    "precommit": [
-        "pre-commit",
-    ],
-    "test": [
-        "pytest",
-        "jinja2",
-        "pyyaml",
-    ],
-    "ci": [
-        "pre-commit",
-        "meson",
-        "ninja",
-    ],
-    "qt": [
-        "aqtinstall",
-    ],
-    "coverage": [
-        "gcovr",
-    ],
-    "dev": [
-        "jinja2",
-        "pyyaml",
-        "pymavlink",
-    ],
-    "lsp": [
-        "pygls",
-        "lsprotocol",
-    ],
-    "all": [],  # Populated below
-}
-
-# 'all' includes everything from other groups
-PACKAGE_GROUPS["all"] = list(
-    set(
-        pkg
-        for group, packages in PACKAGE_GROUPS.items()
-        if group != "all"
-        for pkg in packages
+_tools_dir = Path(__file__).resolve().parents[1]
+if str(_tools_dir) not in sys.path:
+    sys.path.insert(0, str(_tools_dir))
+
+from common.file_traversal import find_repo_root
+
+
+@functools.lru_cache(maxsize=1)
+def load_package_groups() -> dict[str, list[str]]:
+    """Load dependency groups from tools/pyproject.toml."""
+    pyproject_path = find_repo_root() / "tools" / "pyproject.toml"
+    data = tomllib.loads(pyproject_path.read_text(encoding="utf-8"))
+    optional = data.get("project", {}).get("optional-dependencies", {})
+    if not isinstance(optional, dict):
+        raise ValueError("project.optional-dependencies is missing from tools/pyproject.toml")
+
+    groups: dict[str, list[str]] = {}
+    for group, packages in optional.items():
+        if isinstance(packages, list):
+            groups[group] = [str(pkg) for pkg in packages]
+
+    groups["all"] = sorted(
+        {
+            package
+            for group, packages in groups.items()
+            if group != "all"
+            for package in packages
+        }
     )
-)
-
-
-def get_repo_root() -> Path:
-    """Find repository root directory."""
-    current = Path(__file__).resolve()
-    for parent in [current] + list(current.parents):
-        if (parent / ".git").exists():
-            return parent
-    return Path.cwd()
+    return groups
 
 
 def has_uv() -> bool:
@@ -76,9 +59,19 @@ def has_uv() -> bool:
     return shutil.which("uv") is not None
 
 
+def get_lockfile_path() -> Path:
+    """Return the uv lockfile path for the tools project."""
+    return find_repo_root() / "tools" / "uv.lock"
+
+
+def get_project_path() -> Path:
+    """Return the tools project path."""
+    return find_repo_root() / "tools"
+
+
 def get_venv_path() -> Path:
     """Get path to virtual environment."""
-    return get_repo_root() / ".venv"
+    return find_repo_root() / ".venv"
 
 
 def get_activate_script(venv_path: Path) -> Path:
@@ -132,25 +125,52 @@ def install_packages(venv_path: Path, packages: list[str]) -> None:
     subprocess.run(cmd, check=True)
 
 
+def sync_groups_with_uv(venv_path: Path, group_spec: str) -> None:
+    """Sync dependency groups from the locked tools project into the repo venv."""
+    lockfile_path = get_lockfile_path()
+    if not lockfile_path.exists():
+        raise FileNotFoundError(f"uv lockfile not found at {lockfile_path}")
+
+    groups = [group.strip() for group in group_spec.split(",") if group.strip()]
+    cmd = [
+        "uv",
+        "sync",
+        "--project",
+        str(get_project_path()),
+        "--active",
+        "--no-install-project",
+        "--frozen",
+    ]
+
+    if "all" in groups:
+        cmd.append("--all-extras")
+    else:
+        for group in groups:
+            cmd.extend(["--extra", group])
+
+    env = os.environ.copy()
+    env["VIRTUAL_ENV"] = str(venv_path)
+    scripts_dir = venv_path / ("Scripts" if sys.platform == "win32" else "bin")
+    env["PATH"] = f"{scripts_dir}{os.pathsep}{env.get('PATH', '')}"
+    subprocess.run(cmd, check=True, env=env)
+
+
 def list_packages(venv_path: Path) -> None:
     """List installed packages."""
     python = get_python_executable(venv_path)
-
-    if has_uv():
-        subprocess.run(["uv", "pip", "list", "--python", str(python)])
-    else:
-        subprocess.run([str(python), "-m", "pip", "list"])
+    subprocess.run([str(python), "-m", "pip", "list"])
 
 
 def get_packages_for_groups(group_spec: str) -> list[str]:
     """Get packages for comma-separated group specification."""
+    package_groups = load_package_groups()
     groups = [g.strip() for g in group_spec.split(",")]
     packages: set[str] = set()
 
     for group in groups:
-        if group not in PACKAGE_GROUPS:
-            raise ValueError(f"Unknown group: {group}. Valid groups: {', '.join(PACKAGE_GROUPS.keys())}")
-        packages.update(PACKAGE_GROUPS[group])
+        if group not in package_groups:
+            raise ValueError(f"Unknown group: {group}. Valid groups: {', '.join(package_groups.keys())}")
+        packages.update(package_groups[group])
 
     return sorted(packages)
 
@@ -206,8 +226,9 @@ def main() -> int:
     args = parse_args()
 
     if args.list_groups:
+        package_groups = load_package_groups()
         print("Available package groups:")
-        for group, packages in sorted(PACKAGE_GROUPS.items()):
+        for group, packages in sorted(package_groups.items()):
             print(f"  {group}:")
             for pkg in sorted(packages):
                 print(f"    - {pkg}")
@@ -230,10 +251,17 @@ def main() -> int:
 
     try:
         create_venv(venv_path)
-        install_packages(venv_path, packages)
+        if has_uv():
+            print("Using uv sync (locked mode)")
+            sync_groups_with_uv(venv_path, args.group)
+        else:
+            install_packages(venv_path, packages)
     except subprocess.CalledProcessError as e:
         print(f"Error: Command failed with exit code {e.returncode}", file=sys.stderr)
         return 1
+    except FileNotFoundError as e:
+        print(f"Error: {e}", file=sys.stderr)
+        return 1
 
     print()
     print("Done! Activate the environment with:")
diff --git a/tools/setup/install_qt.py b/tools/setup/install_qt.py
new file mode 100644
index 000000000000..31f1af146d5d
--- /dev/null
+++ b/tools/setup/install_qt.py
@@ -0,0 +1,217 @@
+#!/usr/bin/env python3
+"""
+Install Qt SDK using aqtinstall with architecture resolution.
+
+Wraps aqtinstall with QGC-specific arch-directory mapping, cache key
+generation, and path resolution. Used by the qt-install GitHub Action.
+
+Usage:
+    python tools/setup/install_qt.py --version 6.8.3 --host linux --arch linux_gcc_64
+    python tools/setup/install_qt.py --version 6.8.3 --host mac --arch clang_64 --modules "qtcharts qtlocation"
+    python tools/setup/install_qt.py cache-key --arch linux_gcc_64 --modules "qtcharts"
+    python tools/setup/install_qt.py resolve-arch --arch win64_msvc2022_64
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import os
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+_tools_dir = str(Path(__file__).resolve().parent.parent)
+if _tools_dir not in sys.path:
+    sys.path.insert(0, _tools_dir)
+
+from common.gh_actions import write_github_output
+
+# aqtinstall creates directories that differ from the arch parameter.
+# This mapping resolves the actual on-disk directory name.
+_ARCH_DIR_MAP: dict[str, str] = {
+    "win64_msvc2022_arm64_cross_compiled": "msvc2022_arm64",
+}
+
+_ARCH_DIR_PREFIXES = [
+    ("linux_", ""),
+    ("win64_", ""),
+]
+
+
+def resolve_arch_dir(arch: str) -> str:
+    """Map a Qt arch identifier to the on-disk directory name aqtinstall creates."""
+    if arch in _ARCH_DIR_MAP:
+        return _ARCH_DIR_MAP[arch]
+    for prefix, replacement in _ARCH_DIR_PREFIXES:
+        if arch.startswith(prefix):
+            return replacement + arch[len(prefix):]
+    if arch == "clang_64":
+        return "macos"
+    return arch
+
+
+def compute_cache_digest(modules: str, archives: str) -> str:
+    """Generate a SHA-256 digest for cache key differentiation."""
+    content = f"{modules}\n{archives}"
+    return hashlib.sha256(content.encode()).hexdigest()
+
+
+def resolve_qt_root(outdir: Path, version: str, arch_dir: str) -> Path:
+    """Resolve and validate the Qt root directory after installation."""
+    qt_root = outdir / version / arch_dir
+    if not qt_root.is_dir():
+        available = "none"
+        version_dir = outdir / version
+        if version_dir.is_dir():
+            available = ", ".join(sorted(p.name for p in version_dir.iterdir() if p.is_dir())) or "none"
+        print(f"::error::Qt root not found at {qt_root}")
+        print(f"Expected arch_dir '{arch_dir}' from arch, available: {available}")
+        sys.exit(1)
+    return qt_root
+
+
+def install_qt(
+    host: str,
+    target: str,
+    version: str,
+    arch: str,
+    outdir: Path,
+    modules: str = "",
+    archives: str = "",
+) -> Path:
+    """Install Qt using aqtinstall and return the resolved root directory."""
+    aqt = shutil.which("aqt")
+    if not aqt:
+        subprocess.run(
+            [sys.executable, "-m", "pip", "install", "aqtinstall", "--quiet"],
+            check=True,
+        )
+        aqt = shutil.which("aqt")
+        if not aqt:
+            print("::error::aqtinstall not found after pip install")
+            sys.exit(1)
+
+    args = [aqt, "install-qt", host, target, version, arch, "--outputdir", str(outdir)]
+
+    if modules:
+        args.extend(["--modules", *modules.split()])
+    if archives:
+        args.extend(["--archives", *archives.split()])
+
+    print(f"Running: {' '.join(args)}")
+    subprocess.run(args, check=True)
+
+    arch_dir = resolve_arch_dir(arch)
+    return resolve_qt_root(outdir, version, arch_dir)
+
+
+# Android ABI → aqtinstall arch mapping (priority order for resolution)
+_ANDROID_ABI_ORDER = [
+    ("arm64-v8a", "arm64"),
+    ("armeabi-v7a", "armv7"),
+    ("x86_64", "x86_64"),
+    ("x86", "x86"),
+]
+
+
+def resolve_android_qt_root(abis: str, roots: dict[str, str]) -> str:
+    """Pick the primary Android Qt root from installed ABIs.
+
+    Args:
+        abis: Semicolon-separated ABI list (e.g. "arm64-v8a;x86_64")
+        roots: Mapping of short ABI key → Qt root path (e.g. {"arm64": "/path/to/qt"})
+
+    Returns:
+        The Qt root path for the highest-priority installed ABI.
+
+    Raises:
+        SystemExit: If no matching ABI is found.
+    """
+    abi_set = {a.strip() for a in abis.split(";") if a.strip()}
+    for abi, key in _ANDROID_ABI_ORDER:
+        if abi in abi_set and roots.get(key):
+            return roots[key]
+    print(f"::error::Failed to resolve an installed Android Qt root for ABIs: {abis}")
+    sys.exit(1)
+
+
+def _add_arch_args(p: argparse.ArgumentParser) -> None:
+    p.add_argument("--arch", required=True)
+    p.add_argument("--modules", default="")
+    p.add_argument("--archives", default="")
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description="Install Qt SDK using aqtinstall.")
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    install_p = sub.add_parser("install", help="Install Qt")
+    install_p.add_argument("--version", required=True)
+    install_p.add_argument("--host", default="linux")
+    install_p.add_argument("--target", default="desktop")
+    install_p.add_argument("--outdir", type=Path, default=Path(".qt"))
+    _add_arch_args(install_p)
+
+    cache_p = sub.add_parser("cache-key", help="Output arch_dir and cache digest")
+    _add_arch_args(cache_p)
+
+    resolve_p = sub.add_parser("resolve-arch", help="Print resolved arch directory name")
+    resolve_p.add_argument("--arch", required=True)
+
+    android_p = sub.add_parser("resolve-android-root", help="Pick primary Android Qt root from installed ABIs")
+    android_p.add_argument("--abis", required=True, help="Semicolon-separated ABI list")
+    android_p.add_argument("--arm64", default="")
+    android_p.add_argument("--armv7", default="")
+    android_p.add_argument("--x86-64", default="", dest="x86_64")
+    android_p.add_argument("--x86", default="")
+
+    return parser.parse_args(argv)
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = parse_args(argv)
+
+    if args.command == "resolve-arch":
+        print(resolve_arch_dir(args.arch))
+        return 0
+
+    if args.command == "resolve-android-root":
+        roots = {"arm64": args.arm64, "armv7": args.armv7, "x86_64": args.x86_64, "x86": args.x86}
+        qt_root = resolve_android_qt_root(args.abis, roots)
+        write_github_output({"qt_root_dir": qt_root})
+        print(f"qt_root_dir={qt_root}")
+        return 0
+
+    if args.command == "cache-key":
+        arch_dir = resolve_arch_dir(args.arch)
+        digest = compute_cache_digest(args.modules, args.archives)
+        write_github_output({"arch_dir": arch_dir, "digest": digest})
+        print(f"arch_dir={arch_dir}")
+        print(f"digest={digest}")
+        return 0
+
+    # Default: install
+    arch_dir = resolve_arch_dir(args.arch)
+    qt_root = install_qt(
+        host=args.host,
+        target=args.target,
+        version=args.version,
+        arch=args.arch,
+        outdir=args.outdir,
+        modules=args.modules,
+        archives=args.archives,
+    )
+
+    write_github_output({
+        "arch_dir": arch_dir,
+        "qt_root_dir": str(qt_root),
+        "qt_bin_dir": str(qt_root / "bin"),
+    })
+    print(f"Qt installed at {qt_root}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/tools/setup/read_config.py b/tools/setup/read_config.py
index 3799e817e9e9..e9a90fe81114 100755
--- a/tools/setup/read_config.py
+++ b/tools/setup/read_config.py
@@ -62,8 +62,9 @@ def load_config(config_file: Path) -> dict[str, Any]:
     "qt_minimum_version",
     "qt_modules",
     "gstreamer_minimum_version",
-    "gstreamer_version",
+    "gstreamer_default_version",
     "gstreamer_macos_version",
+    "gstreamer_ios_version",
     "gstreamer_android_version",
     "gstreamer_windows_version",
     "xcode_version",
@@ -88,6 +89,8 @@ def get_export_values(config: dict[str, Any]) -> dict[str, str]:
         if key in config:
             env_name = key.upper()
             result[env_name] = str(config[key])
+            if key == "gstreamer_default_version":
+                result["GSTREAMER_VERSION"] = str(config[key])
     return result
 
 
@@ -181,6 +184,9 @@ def main() -> int:
     # Handle --get for single value
     if args.get:
         key = args.get.lower()  # Normalize to lowercase
+        if key == "gstreamer_version" and "gstreamer_default_version" in config:
+            print(config["gstreamer_default_version"])
+            return 0
         if key in config:
             print(config[key])
             return 0
diff --git a/tools/simulation/mock_ntrip_caster.py b/tools/simulation/mock_ntrip_caster.py
new file mode 100755
index 000000000000..7932a746f3d9
--- /dev/null
+++ b/tools/simulation/mock_ntrip_caster.py
@@ -0,0 +1,346 @@
+#!/usr/bin/env python3
+"""
+Mock NTRIP Caster for QGroundControl Testing
+
+Simulates an NTRIP caster that serves a source table and streams RTCM3
+corrections. Useful for testing the QGC NTRIP client without a real caster
+or internet connection.
+
+Usage:
+    ./mock_ntrip_caster.py                          # Default: localhost:2101
+    ./mock_ntrip_caster.py --port 2102              # Custom port
+    ./mock_ntrip_caster.py --auth user:pass          # Require basic auth
+    ./mock_ntrip_caster.py --rate 5                  # 5 RTCM messages/sec
+    ./mock_ntrip_caster.py --error bad_crc           # Inject bad CRC every 10th msg
+    ./mock_ntrip_caster.py --error drop              # Drop connection after 10 msgs
+    ./mock_ntrip_caster.py --error http_401          # Always return 401
+    ./mock_ntrip_caster.py --error http_500          # Always return 500
+
+Real caster for comparison:
+    Host: rtk2go.com  Port: 2101  Password: ntrip@  (or your email)
+"""
+
+import argparse
+import base64
+import logging
+import select
+import socket
+import struct
+import threading
+import time
+
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(message)s",
+    datefmt="%H:%M:%S",
+)
+log = logging.getLogger("mock-ntrip")
+
+# ---------------------------------------------------------------------------
+# RTCM3 frame builder
+# ---------------------------------------------------------------------------
+
+# CRC-24Q lookup table (same algorithm as RTCMParser::crc24q)
+_CRC24Q_TABLE = [0] * 256
+
+
+def _init_crc_table():
+    for i in range(256):
+        crc = i << 16
+        for _ in range(8):
+            crc <<= 1
+            if crc & 0x1000000:
+                crc ^= 0x1864CFB
+        _CRC24Q_TABLE[i] = crc & 0xFFFFFF
+
+
+_init_crc_table()
+
+
+def crc24q(data: bytes) -> int:
+    crc = 0
+    for b in data:
+        crc = ((crc << 8) & 0xFFFFFF) ^ _CRC24Q_TABLE[((crc >> 16) ^ b) & 0xFF]
+    return crc
+
+
+def make_rtcm_frame(message_id: int, payload: bytes = b"") -> bytes:
+    """Build a complete RTCM3 frame with preamble, length, message ID, payload, and CRC."""
+    # Message body = 12-bit message ID (big-endian in first 2 bytes) + payload
+    id_high = (message_id >> 4) & 0xFF
+    id_low = (message_id & 0x0F) << 4
+    if payload:
+        # Merge low nibble of ID with first nibble of payload
+        body = bytes([id_high, id_low | (payload[0] >> 4)]) + payload[1:]
+    else:
+        body = bytes([id_high, id_low])
+
+    length = len(body)
+    if length > 1023:
+        raise ValueError(f"RTCM payload too large: {length}")
+
+    # Header: preamble (0xD3) + 6 reserved bits (0) + 10-bit length
+    header = bytes([0xD3, (length >> 8) & 0x03, length & 0xFF])
+
+    frame_without_crc = header + body
+    crc = crc24q(frame_without_crc)
+    crc_bytes = struct.pack(">I", crc)[1:]  # 3 bytes big-endian
+
+    return frame_without_crc + crc_bytes
+
+
+def make_rtcm_1005() -> bytes:
+    """RTCM 1005 - Stationary RTK Reference Station ARP (compact, 19 bytes payload).
+    Uses a fixed position near 0,0,0 for testing."""
+    # Reference Station ID (12 bits) = 1
+    # ITRF Realization Year (6 bits) = 0
+    # GPS indicator (1) = 1, GLONASS (1) = 0, Galileo (1) = 0, Reference-Station (1) = 0
+    # ECEF-X (38 bits signed, 0.0001m) = 0
+    # Single Receiver Oscillator (1) = 0, Reserved (1) = 0
+    # ECEF-Y (38 bits signed) = 0
+    # Quarter Cycle Indicator (2) = 0
+    # ECEF-Z (38 bits signed) = 0
+    # Total payload: 152 bits = 19 bytes
+    payload = bytearray(19)
+    # Station ID = 1 in bits 0..11 -> byte 0 high nibble will be merged with msg ID
+    payload[0] = 0x00  # station ID high 4 bits (will merge with msg id low nibble)
+    payload[1] = 0x11  # station ID low 8 bits = 0x01, shifted: 0001 + GPS=1,GLO=0,GAL=0,REF=0
+    # Rest is zeros (ECEF 0,0,0)
+    return make_rtcm_frame(1005, bytes(payload))
+
+
+def make_rtcm_1077() -> bytes:
+    """RTCM 1077 - GPS MSM7 (minimal/empty observation for testing)."""
+    # Minimal MSM header: station ID + epoch + flags, rest zeros
+    payload = bytearray(25)  # minimum MSM7 header size
+    return make_rtcm_frame(1077, bytes(payload))
+
+
+def make_bad_crc_frame() -> bytes:
+    """Build a valid-looking RTCM3 frame with intentionally bad CRC."""
+    frame = bytearray(make_rtcm_1005())
+    # Corrupt the last CRC byte
+    frame[-1] ^= 0xFF
+    return bytes(frame)
+
+
+# ---------------------------------------------------------------------------
+# Source table
+# ---------------------------------------------------------------------------
+
+SOURCE_TABLE = """\
+STR;MOCK1;MOCK1;RTCM 3.3;1005(1),1077(1),1087(1);2;GPS+GLO;MOCK;USA;0.00;0.00;0;0;sNTRIP;none;N;N;0;
+STR;MOCK2;MOCK2;RTCM 3.3;1005(1),1077(1);2;GPS;MOCK;USA;37.77;-122.42;0;0;sNTRIP;none;N;N;0;
+STR;MOCK_AUTH;MOCK_AUTH;RTCM 3.3;1005(1);2;GPS;MOCK;USA;0.00;0.00;0;0;sNTRIP;none;B;N;0;
+ENDSOURCETABLE\r\n"""
+
+
+# ---------------------------------------------------------------------------
+# Client handler
+# ---------------------------------------------------------------------------
+
+
+class ClientHandler(threading.Thread):
+    def __init__(self, conn, addr, args):
+        super().__init__(daemon=True)
+        self.conn = conn
+        self.addr = addr
+        self.args = args
+        self.running = True
+
+    def run(self):
+        try:
+            self._handle()
+        except (ConnectionResetError, BrokenPipeError):
+            log.info("%s disconnected", self.addr)
+        except Exception as e:
+            log.error("%s error: %s", self.addr, e)
+        finally:
+            self.conn.close()
+
+    def _handle(self):
+        # Read HTTP request
+        buf = b""
+        while b"\r\n\r\n" not in buf:
+            chunk = self.conn.recv(4096)
+            if not chunk:
+                return
+            buf += chunk
+            if len(buf) > 16384:
+                log.warning("%s request too large", self.addr)
+                return
+
+        header_end = buf.index(b"\r\n\r\n")
+        header = buf[:header_end].decode("utf-8", errors="replace")
+        lines = header.split("\r\n")
+        request_line = lines[0] if lines else ""
+        log.info("%s >> %s", self.addr, request_line)
+
+        # Parse headers
+        headers = {}
+        for line in lines[1:]:
+            if ":" in line:
+                k, v = line.split(":", 1)
+                headers[k.strip().lower()] = v.strip()
+
+        # Error injection: HTTP errors
+        if self.args.error == "http_401":
+            self._send(b"HTTP/1.1 401 Unauthorized\r\n\r\n")
+            return
+        if self.args.error == "http_500":
+            self._send(b"HTTP/1.1 500 Internal Server Error\r\n\r\n")
+            return
+
+        # Auth check
+        if self.args.auth:
+            expected = base64.b64encode(self.args.auth.encode()).decode()
+            auth = headers.get("authorization", "")
+            if not auth or auth.split()[-1] != expected:
+                log.warning("%s auth failed", self.addr)
+                self._send(b"HTTP/1.1 401 Unauthorized\r\n\r\n")
+                return
+
+        # Parse request path
+        parts = request_line.split()
+        if len(parts) < 2:
+            self._send(b"HTTP/1.1 400 Bad Request\r\n\r\n")
+            return
+
+        path = parts[1]
+
+        if path == "/":
+            # Source table request
+            log.info("%s serving source table", self.addr)
+            body = SOURCE_TABLE.encode()
+            resp = (
+                f"HTTP/1.1 200 OK\r\n"
+                f"Content-Type: text/plain\r\n"
+                f"Content-Length: {len(body)}\r\n"
+                f"\r\n"
+            ).encode() + body
+            self._send(resp)
+            return
+
+        # Mountpoint stream
+        mountpoint = path.lstrip("/")
+        valid_mounts = {"MOCK1", "MOCK2", "MOCK_AUTH"}
+        if mountpoint not in valid_mounts:
+            log.warning("%s unknown mount: %s", self.addr, mountpoint)
+            self._send(b"HTTP/1.1 404 Not Found\r\n\r\n")
+            return
+
+        log.info("%s streaming %s @ %s msg/sec", self.addr, mountpoint, self.args.rate)
+        # ICY 200 OK (like real NTRIP casters)
+        self._send(b"ICY 200 OK\r\n\r\n")
+
+        self._stream_rtcm(mountpoint)
+
+    def _stream_rtcm(self, mountpoint):
+        interval = 1.0 / self.args.rate
+        msg_count = 0
+
+        while self.running:
+            msg_count += 1
+
+            # Error injection: bad CRC every 10th message
+            if self.args.error == "bad_crc" and msg_count % 10 == 0:
+                log.info("%s injecting bad CRC (msg #%d)", self.addr, msg_count)
+                self._send(make_bad_crc_frame())
+                time.sleep(interval)
+                continue
+
+            # Error injection: drop connection
+            if self.args.error == "drop" and msg_count > 10:
+                log.info("%s dropping connection after %d msgs", self.addr, msg_count)
+                return
+
+            # Alternate between 1005 and 1077
+            if msg_count % 2 == 1:
+                frame = make_rtcm_1005()
+            else:
+                frame = make_rtcm_1077()
+
+            try:
+                self._send(frame)
+            except (ConnectionResetError, BrokenPipeError):
+                return
+
+            # Check for incoming NMEA from client (GGA)
+            try:
+                ready, _, _ = select.select([self.conn], [], [], 0)
+                if ready:
+                    nmea = self.conn.recv(4096)
+                    if nmea:
+                        log.info("%s << NMEA: %s", self.addr, nmea.decode("ascii", errors="replace").strip())
+                    else:
+                        log.info("%s client closed", self.addr)
+                        return
+            except Exception:
+                pass
+
+            time.sleep(interval)
+
+    def _send(self, data: bytes):
+        self.conn.sendall(data)
+
+
+# ---------------------------------------------------------------------------
+# Server
+# ---------------------------------------------------------------------------
+
+
+def run_server(args):
+    srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    srv.bind((args.host, args.port))
+    srv.listen(5)
+
+    log.info("Mock NTRIP caster listening on %s:%d", args.host, args.port)
+    log.info("Mountpoints: MOCK1, MOCK2, MOCK_AUTH")
+    if args.auth:
+        log.info("Auth required: %s", args.auth)
+    if args.error:
+        log.info("Error injection: %s", args.error)
+    log.info("RTCM rate: %s msg/sec", args.rate)
+    log.info("")
+    log.info("QGC settings:")
+    log.info("  Host: %s", args.host if args.host != "0.0.0.0" else "127.0.0.1")
+    log.info("  Port: %d", args.port)
+    log.info("  Mountpoint: MOCK1")
+    if args.auth:
+        user, passwd = args.auth.split(":", 1)
+        log.info("  Username: %s", user)
+        log.info("  Password: %s", passwd)
+    log.info("")
+
+    try:
+        while True:
+            conn, addr = srv.accept()
+            log.info("Connection from %s:%d", *addr)
+            handler = ClientHandler(conn, addr, args)
+            handler.start()
+    except KeyboardInterrupt:
+        log.info("Shutting down")
+    finally:
+        srv.close()
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Mock NTRIP caster for QGroundControl testing"
+    )
+    parser.add_argument("--host", default="0.0.0.0", help="Bind address (default: 0.0.0.0)")
+    parser.add_argument("--port", type=int, default=2101, help="Port (default: 2101)")
+    parser.add_argument("--auth", metavar="USER:PASS", help="Require basic auth (e.g. user:pass)")
+    parser.add_argument("--rate", type=float, default=1.0, help="Messages per second (default: 1)")
+    parser.add_argument(
+        "--error",
+        choices=["bad_crc", "drop", "http_401", "http_500"],
+        help="Inject errors: bad_crc (every 10th), drop (after 10), http_401, http_500",
+    )
+    args = parser.parse_args()
+    run_server(args)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tools/simulation/mock_vehicle.py b/tools/simulation/mock_vehicle.py
index d1e112d27dc6..582358c731d5 100755
--- a/tools/simulation/mock_vehicle.py
+++ b/tools/simulation/mock_vehicle.py
@@ -389,7 +389,7 @@ def run(self, rate=10):
             self.running = False
 
 
-def main():
+def main() -> None:
     parser = argparse.ArgumentParser(
         description="Mock MAVLink vehicle for QGroundControl testing",
         formatter_class=argparse.RawDescriptionHelpFormatter,
diff --git a/tools/simulation/run-arducopter-sitl.sh b/tools/simulation/run-arducopter-sitl.sh
index a2710d9d4a15..ad790806eab3 100755
--- a/tools/simulation/run-arducopter-sitl.sh
+++ b/tools/simulation/run-arducopter-sitl.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # ArduCopter SITL Test Environment
 # Runs ArduCopter in Docker for testing QGC without hardware
 #
@@ -7,7 +7,7 @@
 # Options:
 #   --with-latency  Simulate 100ms round-trip latency (Herelink-like conditions)
 
-set -e
+set -euo pipefail
 
 COPTER_VERSION="Copter-4.5.6"
 IMAGE_NAME="ardupilot-sitl-4.5.6"
@@ -36,7 +36,7 @@ DOCKER_CMD="docker run -d --name $CONTAINER_NAME -p 5760:5760"
 ARDUPILOT_CMD="/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --defaults /ardupilot/Tools/autotest/default_params/copter.parm --home 42.3898,-71.1476,14.0,270.0 --serial0 tcp:0:5760:wait"
 
 # Check for latency simulation flag
-if [[ "$1" == "--with-latency" ]]; then
+if [[ "${1:-}" == "--with-latency" ]]; then
     echo ""
     echo "Starting SITL with simulated latency (100ms round-trip)..."
     echo "This simulates Herelink-like network conditions."
diff --git a/tools/tests/conftest.py b/tools/tests/conftest.py
new file mode 100644
index 000000000000..7bb0b2fa7e98
--- /dev/null
+++ b/tools/tests/conftest.py
@@ -0,0 +1,11 @@
+"""Shared pytest setup for tools tests."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+# Ensure the tools directory is importable (for common.*, setup.*, etc.)
+tools_dir = str(Path(__file__).resolve().parent.parent)
+if tools_dir not in sys.path:
+    sys.path.insert(0, tools_dir)
diff --git a/tools/tests/test_common.py b/tools/tests/test_common.py
index 386d3418f57c..ec4d5342a56c 100644
--- a/tools/tests/test_common.py
+++ b/tools/tests/test_common.py
@@ -1,16 +1,10 @@
 #!/usr/bin/env python3
 """Tests for common utilities."""
 
-import sys
 from pathlib import Path
 
 import pytest
 
-TOOLS_DIR = Path(__file__).parent.parent
-
-# Add tools to path for imports
-sys.path.insert(0, str(TOOLS_DIR))
-
 from common.patterns import (
     FACT_MEMBER_PATTERN,
     FACTGROUP_CLASS_PATTERN,
diff --git a/tools/tests/test_coverage.py b/tools/tests/test_coverage.py
new file mode 100644
index 000000000000..6e2be0f2627b
--- /dev/null
+++ b/tools/tests/test_coverage.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+"""Tests for tools/coverage.py."""
+
+from __future__ import annotations
+
+from coverage import build_step_summary
+
+
+def test_build_step_summary_includes_metrics() -> None:
+    markdown = build_step_summary("lines: 42.0% (42 out of 100)\nbranches: 10.0% (1 out of 10)\n", "report-only")
+    assert "| Lines | 42.0% (42 out of 100) |" in markdown
+    assert "| Branches | 10.0% (1 out of 10) |" in markdown
diff --git a/tools/tests/test_factgroup_generator.py b/tools/tests/test_factgroup_generator.py
index 50142b18df27..aac66c37fb9e 100644
--- a/tools/tests/test_factgroup_generator.py
+++ b/tools/tests/test_factgroup_generator.py
@@ -8,12 +8,8 @@
 
 import pytest
 
-TOOLS_DIR = Path(__file__).parent.parent
 FIXTURES_DIR = Path(__file__).parent / "fixtures"
 
-# Add tools to path for imports
-sys.path.insert(0, str(TOOLS_DIR))
-
 from generators.factgroup.generator import (
     FactSpec,
     MavlinkMessageSpec,
@@ -281,7 +277,8 @@ class TestCLI:
     def run_cli(self, *args):
         """Run the CLI and return result."""
         cmd = [sys.executable, "-m", "tools.generators.factgroup.cli"] + list(args)
-        return subprocess.run(cmd, capture_output=True, text=True, cwd=TOOLS_DIR.parent)
+        repo_root = Path(__file__).resolve().parent.parent.parent
+        return subprocess.run(cmd, capture_output=True, text=True, cwd=repo_root)
 
     def test_cli_help(self):
         """--help should show usage."""
diff --git a/tools/tests/test_generate_docs.py b/tools/tests/test_generate_docs.py
new file mode 100644
index 000000000000..53e7daf390ab
--- /dev/null
+++ b/tools/tests/test_generate_docs.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python3
+"""Tests for tools/generate_docs.py."""
+
+from __future__ import annotations
+
+from generate_docs import build_doxyfile_text
+
+
+def test_build_doxyfile_text_overrides_output_and_pdf(tmp_path) -> None:
+    base = "OUTPUT_DIRECTORY = docs/api\nGENERATE_LATEX = NO\n"
+    rendered = build_doxyfile_text(base, tmp_path / "api", generate_pdf=True)
+
+    assert 'OUTPUT_DIRECTORY       = "' in rendered
+    assert (tmp_path / "api").as_posix() in rendered
+    assert "GENERATE_LATEX         = YES" in rendered
+
diff --git a/tools/tests/test_gh_actions.py b/tools/tests/test_gh_actions.py
index bd75e5fa1887..aff63550f98a 100644
--- a/tools/tests/test_gh_actions.py
+++ b/tools/tests/test_gh_actions.py
@@ -6,12 +6,9 @@
 import json
 import os
 import subprocess
-import sys
-from pathlib import Path
 from unittest.mock import patch
 
-TOOLS_DIR = Path(__file__).parent.parent
-sys.path.insert(0, str(TOOLS_DIR))
+import httpx
 
 from common import gh_actions as mod
 
@@ -20,19 +17,20 @@ def _cp(stdout: str = "", stderr: str = "", returncode: int = 0) -> subprocess.C
     return subprocess.CompletedProcess(args=["gh"], returncode=returncode, stdout=stdout, stderr=stderr)
 
 
-class _FakeHttpResponse:
-    def __init__(self, payload: dict[str, object], link: str = "") -> None:
-        self._payload = payload
-        self.headers = {"Link": link}
-
-    def read(self) -> bytes:
-        return json.dumps(self._payload).encode("utf-8")
-
-    def __enter__(self) -> _FakeHttpResponse:
-        return self
-
-    def __exit__(self, exc_type, exc, tb) -> None:
-        return None
+def _mock_response(
+    data: dict,
+    next_url: str = "",
+    status_code: int = 200,
+    extra_headers: dict[str, str] | None = None,
+) -> httpx.Response:
+    headers = {}
+    if next_url:
+        headers["link"] = f'<{next_url}>; rel="next"'
+    if extra_headers:
+        headers.update(extra_headers)
+    request = httpx.Request("GET", "https://api.github.com/test")
+    resp = httpx.Response(status_code, json=data, headers=headers, request=request)
+    return resp
 
 
 def test_parse_json_documents_handles_paginated_stream() -> None:
@@ -68,19 +66,43 @@ def test_list_workflow_runs_for_sha_uses_get_method() -> None:
 
 
 def test_list_workflow_runs_for_sha_http_mode() -> None:
-    first = _FakeHttpResponse(
+    first = _mock_response(
         {"workflow_runs": [{"id": 1, "name": "Linux"}]},
-        '<https://api.github.com/next>; rel="next"',
+        next_url="https://api.github.com/next",
     )
-    second = _FakeHttpResponse({"workflow_runs": [{"id": 2, "name": "Windows"}]})
+    second = _mock_response({"workflow_runs": [{"id": 2, "name": "Windows"}]})
+
     with patch.dict(os.environ, {"QGC_GH_API_MODE": "http", "GH_TOKEN": "token"}, clear=False):
-        with patch.object(mod.urllib_request, "urlopen", side_effect=[first, second]), patch.object(mod, "gh") as gh_mock:
-            runs = mod.list_workflow_runs_for_sha("owner/repo", "abc123")
+        with patch.object(mod, "_build_http_client") as mock_client:
+            client = mock_client.return_value.__enter__.return_value
+            client.get.side_effect = [first, second]
+            with patch.object(mod, "gh") as gh_mock:
+                runs = mod.list_workflow_runs_for_sha("owner/repo", "abc123")
 
     assert [run["id"] for run in runs] == [1, 2]
     gh_mock.assert_not_called()
 
 
+def test_list_workflow_runs_for_sha_http_mode_retries_retryable_status() -> None:
+    first = _mock_response(
+        {"message": "try again"},
+        status_code=503,
+        extra_headers={"Retry-After": "0"},
+    )
+    second = _mock_response({"workflow_runs": [{"id": 7, "name": "Linux"}]})
+
+    with patch.dict(os.environ, {"QGC_GH_API_MODE": "http", "GH_TOKEN": "token"}, clear=False):
+        with patch.object(mod, "_build_http_client") as mock_client:
+            client = mock_client.return_value.__enter__.return_value
+            client.get.side_effect = [first, second]
+            with patch.object(mod.time, "sleep") as sleep_mock:
+                runs = mod.list_workflow_runs_for_sha("owner/repo", "abc123")
+
+    assert runs == [{"id": 7, "name": "Linux"}]
+    assert client.get.call_count == 2
+    sleep_mock.assert_called_once_with(1.0)
+
+
 def test_list_run_artifacts_parses_paginated_stream() -> None:
     payload = (
         json.dumps({"artifacts": [{"name": "QGroundControl", "size_in_bytes": 1}]})
@@ -101,3 +123,98 @@ def test_list_run_artifacts_rejects_invalid_run_id() -> None:
         assert "run_id must be an integer" in str(exc)
     else:
         raise AssertionError("Expected ValueError for invalid run_id")
+
+
+class TestIsForkPr:
+    def test_not_pr_event(self) -> None:
+        with patch.dict(os.environ, {"EVENT_NAME": "push"}, clear=False):
+            assert mod.is_fork_pr() is False
+
+    def test_same_repo_pr(self) -> None:
+        env = {"EVENT_NAME": "pull_request", "PR_REPO": "owner/repo", "THIS_REPO": "owner/repo"}
+        with patch.dict(os.environ, env, clear=False):
+            assert mod.is_fork_pr() is False
+
+    def test_fork_pr(self) -> None:
+        env = {"EVENT_NAME": "pull_request", "PR_REPO": "fork/repo", "THIS_REPO": "owner/repo"}
+        with patch.dict(os.environ, env, clear=False):
+            assert mod.is_fork_pr() is True
+
+    def test_empty_pr_repo(self) -> None:
+        env = {"EVENT_NAME": "pull_request", "PR_REPO": "", "THIS_REPO": "owner/repo"}
+        with patch.dict(os.environ, env, clear=False):
+            assert mod.is_fork_pr() is False
+
+
+class TestResolveCachePolicy:
+    def test_explicit_true(self) -> None:
+        assert mod.resolve_cache_policy("true") == "true"
+
+    def test_explicit_false(self) -> None:
+        assert mod.resolve_cache_policy("false") == "false"
+
+    def test_auto_non_pr(self) -> None:
+        with patch.dict(os.environ, {"EVENT_NAME": "push"}, clear=False):
+            assert mod.resolve_cache_policy("auto") == "true"
+
+    def test_auto_same_repo_pr(self) -> None:
+        env = {"EVENT_NAME": "pull_request", "PR_REPO": "owner/repo", "THIS_REPO": "owner/repo"}
+        with patch.dict(os.environ, env, clear=False):
+            assert mod.resolve_cache_policy("auto") == "true"
+
+    def test_auto_fork_pr(self) -> None:
+        env = {"EVENT_NAME": "pull_request", "PR_REPO": "fork/repo", "THIS_REPO": "owner/repo"}
+        with patch.dict(os.environ, env, clear=False):
+            assert mod.resolve_cache_policy("auto") == "false"
+
+
+class TestWriteGithubOutput:
+    def test_simple_values(self, tmp_path) -> None:
+        out = tmp_path / "output"
+        out.touch()
+        with patch.dict(os.environ, {"GITHUB_OUTPUT": str(out)}, clear=False):
+            mod.write_github_output({"key1": "val1", "key2": "val2"})
+        content = out.read_text()
+        assert "key1=val1\n" in content
+        assert "key2=val2\n" in content
+
+    def test_multiline_value(self, tmp_path) -> None:
+        out = tmp_path / "output"
+        out.touch()
+        with patch.dict(os.environ, {"GITHUB_OUTPUT": str(out)}, clear=False):
+            mod.write_github_output({"body": "line1\nline2"})
+        content = out.read_text()
+        assert "body<<EOF_body_" in content
+        assert "line1\nline2\n" in content
+
+    def test_noop_without_env(self) -> None:
+        with patch.dict(os.environ, {}, clear=True):
+            mod.write_github_output({"key": "val"})
+
+
+class TestWriteStepSummary:
+    def test_writes_markdown(self, tmp_path) -> None:
+        out = tmp_path / "summary"
+        out.touch()
+        with patch.dict(os.environ, {"GITHUB_STEP_SUMMARY": str(out)}, clear=False):
+            mod.write_step_summary("## Hello\n")
+        assert out.read_text() == "## Hello\n"
+
+    def test_noop_without_env(self) -> None:
+        with patch.dict(os.environ, {}, clear=True):
+            mod.write_step_summary("test")
+
+
+class TestAppendGithubEnv:
+    def test_writes_env_vars(self, tmp_path) -> None:
+        out = tmp_path / "env"
+        out.touch()
+        with patch.dict(os.environ, {"GITHUB_ENV": str(out)}, clear=False):
+            mod.append_github_env({"FOO": "bar", "BAZ": "qux"})
+        content = out.read_text()
+        assert "FOO=bar\n" in content
+        assert "BAZ=qux\n" in content
+
+    def test_noop_without_env(self) -> None:
+        with patch.dict(os.environ, {}, clear=True):
+            mod.append_github_env({"FOO": "bar"})
diff --git a/tools/tests/test_install_dependencies.py b/tools/tests/test_install_dependencies.py
index e8f1e1d7ff49..a213132453b4 100644
--- a/tools/tests/test_install_dependencies.py
+++ b/tools/tests/test_install_dependencies.py
@@ -3,26 +3,24 @@
 
 from __future__ import annotations
 
-import sys
 from pathlib import Path
 from unittest.mock import MagicMock, call, patch
 
 import pytest
 
-TOOLS_DIR = Path(__file__).parent.parent
-sys.path.insert(0, str(TOOLS_DIR))
-
 from setup.install_dependencies import (
     DEBIAN_PACKAGES,
     MACOS_PACKAGES,
     PIPX_PACKAGES,
     detect_platform,
+    get_available_debian_packages,
     get_apt_install_command,
     get_apt_update_command,
     get_debian_packages,
     get_macos_packages,
     parse_args,
     run_apt_install_with_retry,
+    validate_extra_packages,
 )
 
 
@@ -75,6 +73,11 @@ def test_get_debian_packages_no_duplicates() -> None:
     assert len(pkgs) == len(set(pkgs))
 
 
+def test_get_available_debian_packages_filters_unavailable() -> None:
+    with patch("setup.install_dependencies.check_apt_package_available", side_effect=lambda pkg: pkg == "cmake"):
+        assert get_available_debian_packages("core") == ["cmake"]
+
+
 def test_get_macos_packages() -> None:
     pkgs = get_macos_packages()
     assert "cmake" in pkgs
@@ -145,6 +148,11 @@ def test_parse_args_category() -> None:
     assert args.category == "qt"
 
 
+def test_parse_args_validate_extra_packages() -> None:
+    args = parse_args(["--validate-extra-packages", "foo", "bar"])
+    assert args.validate_extra_packages == ["foo", "bar"]
+
+
 def test_parse_args_gstreamer_version() -> None:
     args = parse_args(["--platform", "windows", "--gstreamer-version", "1.24.0"])
     assert args.gstreamer_version == "1.24.0"
@@ -160,6 +168,15 @@ def test_parse_args_vulkan() -> None:
     assert args.vulkan is True
 
 
+def test_validate_extra_packages_accepts_valid_names() -> None:
+    assert validate_extra_packages(["foo", "libbar-dev", "baz+1"]) == ["foo", "libbar-dev", "baz+1"]
+
+
+def test_validate_extra_packages_rejects_invalid_names() -> None:
+    with pytest.raises(ValueError, match="Invalid package name"):
+        validate_extra_packages(["good", "bad;rm"])
+
+
 # ---------------------------------------------------------------------------
 # download_file (network call mocked)
 # ---------------------------------------------------------------------------
diff --git a/tools/tests/test_install_python.py b/tools/tests/test_install_python.py
index 606c55b11e9d..98ab77db5b31 100644
--- a/tools/tests/test_install_python.py
+++ b/tools/tests/test_install_python.py
@@ -3,15 +3,12 @@
 
 from __future__ import annotations
 
-import sys
 from pathlib import Path
+from unittest.mock import patch
 
 import pytest
 
-TOOLS_DIR = Path(__file__).parent.parent
-sys.path.insert(0, str(TOOLS_DIR))
-
-from setup.install_python import get_packages_for_groups
+from setup.install_python import get_packages_for_groups, sync_groups_with_uv
 
 
 def test_test_group_contains_pytest() -> None:
@@ -21,6 +18,11 @@ def test_test_group_contains_pytest() -> None:
     assert "pyyaml" in packages
 
 
+def test_scripts_group_contains_defusedxml() -> None:
+    packages = get_packages_for_groups("scripts")
+    assert "defusedxml>=0.7.1" in packages
+
+
 def test_multiple_groups_are_merged() -> None:
     packages = get_packages_for_groups("precommit,test")
     assert "pre-commit" in packages
@@ -39,3 +41,18 @@ def test_all_group_includes_test_and_ci_tools() -> None:
 def test_unknown_group_raises() -> None:
     with pytest.raises(ValueError, match="Unknown group"):
         get_packages_for_groups("nope")
+
+
+def test_sync_groups_with_uv_uses_locked_active_env(tmp_path: Path) -> None:
+    venv = tmp_path / ".venv"
+    (tmp_path / "tools").mkdir()
+    lockfile = tmp_path / "tools" / "uv.lock"
+    lockfile.write_text("", encoding="utf-8")
+    with patch("setup.install_python.find_repo_root", return_value=tmp_path), \
+         patch("setup.install_python.subprocess.run") as mock_run:
+        sync_groups_with_uv(venv, "scripts,test")
+
+    args = mock_run.call_args.args[0]
+    assert args[:5] == ["uv", "sync", "--project", str(tmp_path / "tools"), "--active"]
+    assert "--frozen" in args
+    assert args.count("--extra") == 2
diff --git a/tools/tests/test_install_qt.py b/tools/tests/test_install_qt.py
new file mode 100644
index 000000000000..3b64cf7ffa22
--- /dev/null
+++ b/tools/tests/test_install_qt.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+"""Tests for tools/setup/install_qt.py."""
+
+from __future__ import annotations
+
+import pytest
+
+from setup.install_qt import compute_cache_digest, resolve_android_qt_root, resolve_arch_dir, resolve_qt_root
+
+
+class TestResolveArchDir:
+    def test_linux_gcc_64(self) -> None:
+        assert resolve_arch_dir("linux_gcc_64") == "gcc_64"
+
+    def test_linux_arm64(self) -> None:
+        assert resolve_arch_dir("linux_arm64") == "arm64"
+
+    def test_win64_msvc2022_64(self) -> None:
+        assert resolve_arch_dir("win64_msvc2022_64") == "msvc2022_64"
+
+    def test_win64_msvc2022_arm64_cross_compiled(self) -> None:
+        assert resolve_arch_dir("win64_msvc2022_arm64_cross_compiled") == "msvc2022_arm64"
+
+    def test_clang_64_maps_to_macos(self) -> None:
+        assert resolve_arch_dir("clang_64") == "macos"
+
+    def test_android_arm64_v8a_unchanged(self) -> None:
+        assert resolve_arch_dir("android_arm64_v8a") == "android_arm64_v8a"
+
+    def test_ios_unchanged(self) -> None:
+        assert resolve_arch_dir("ios") == "ios"
+
+
+class TestComputeCacheDigest:
+    def test_deterministic(self) -> None:
+        a = compute_cache_digest("qtcharts qtlocation", "")
+        b = compute_cache_digest("qtcharts qtlocation", "")
+        assert a == b
+
+    def test_different_modules_differ(self) -> None:
+        a = compute_cache_digest("qtcharts", "")
+        b = compute_cache_digest("qtlocation", "")
+        assert a != b
+
+    def test_archives_affect_digest(self) -> None:
+        a = compute_cache_digest("qtcharts", "")
+        b = compute_cache_digest("qtcharts", "icu")
+        assert a != b
+
+    def test_returns_hex_string(self) -> None:
+        d = compute_cache_digest("", "")
+        assert len(d) == 64
+        assert all(c in "0123456789abcdef" for c in d)
+
+
+class TestResolveQtRoot:
+    def test_valid_path(self, tmp_path: "pytest.TempPathFactory") -> None:
+        qt_root = tmp_path / "6.8.3" / "gcc_64"
+        qt_root.mkdir(parents=True)
+        result = resolve_qt_root(tmp_path, "6.8.3", "gcc_64")
+        assert result == qt_root
+
+    def test_missing_path_exits(self, tmp_path: "pytest.TempPathFactory") -> None:
+        with pytest.raises(SystemExit):
+            resolve_qt_root(tmp_path, "6.8.3", "gcc_64")
+
+
+class TestResolveAndroidQtRoot:
+    def test_arm64_preferred(self) -> None:
+        roots = {"arm64": "/qt/arm64", "armv7": "/qt/armv7"}
+        assert resolve_android_qt_root("arm64-v8a;armeabi-v7a", roots) == "/qt/arm64"
+
+    def test_armv7_fallback(self) -> None:
+        roots = {"arm64": "", "armv7": "/qt/armv7"}
+        assert resolve_android_qt_root("arm64-v8a;armeabi-v7a", roots) == "/qt/armv7"
+
+    def test_x86_64_only(self) -> None:
+        roots = {"x86_64": "/qt/x86_64"}
+        assert resolve_android_qt_root("x86_64", roots) == "/qt/x86_64"
+
+    def test_x86_only(self) -> None:
+        roots = {"x86": "/qt/x86"}
+        assert resolve_android_qt_root("x86", roots) == "/qt/x86"
+
+    def test_no_match_exits(self) -> None:
+        with pytest.raises(SystemExit):
+            resolve_android_qt_root("mips", {})
+
+    def test_empty_root_skipped(self) -> None:
+        roots = {"arm64": "", "x86_64": "/qt/x86_64"}
+        assert resolve_android_qt_root("arm64-v8a;x86_64", roots) == "/qt/x86_64"
+
+    def test_semicolon_parsing(self) -> None:
+        roots = {"armv7": "/qt/armv7"}
+        assert resolve_android_qt_root("armeabi-v7a", roots) == "/qt/armv7"
diff --git a/tools/tests/test_pre_commit.py b/tools/tests/test_pre_commit.py
new file mode 100644
index 000000000000..4f3ecbdbe001
--- /dev/null
+++ b/tools/tests/test_pre_commit.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+"""Tests for tools/pre_commit.py."""
+
+from __future__ import annotations
+
+from unittest.mock import patch
+
+from pre_commit import build_precommit_args, extract_hook_lines, parse_args, summarize_output
+
+
+def test_summarize_output_counts_states() -> None:
+    passed, failed, skipped = summarize_output(
+        "hook-a........................Passed\nhook-b........................Failed\nhook-c........................Skipped\n"
+    )
+    assert (passed, failed, skipped) == (1, 1, 1)
+
+
+def test_extract_hook_lines_strips_ansi() -> None:
+    lines = extract_hook_lines("\x1b[31mhook-a........................Failed\x1b[0m\n")
+    assert lines == ["hook-a........................Failed"]
+
+
+def test_build_precommit_args_all_files() -> None:
+    args = parse_args([])
+    with patch("pre_commit.git_has_master_ref", return_value=True):
+        assert build_precommit_args(args)[-1] == "--all-files"
+
+
+def test_build_precommit_args_changed_mode() -> None:
+    args = parse_args(["--changed"])
+    with patch("pre_commit.git_has_master_ref", return_value=True):
+        built = build_precommit_args(args)
+    assert built[-4:] == ["--from-ref", "master", "--to-ref", "HEAD"]
diff --git a/tools/tests/test_read_config.py b/tools/tests/test_read_config.py
index 7463bf986811..5668f6d92eee 100644
--- a/tools/tests/test_read_config.py
+++ b/tools/tests/test_read_config.py
@@ -32,6 +32,7 @@ def _write_config(path: Path) -> None:
         "qt_version": "6.10.2",
         "qt_minimum_version": "6.8.0",
         "qt_modules": "qtpositioning qtserialport qtscxml",
+        "gstreamer_default_version": "1.28.0",
         "gstreamer_windows_version": "1.26.6",
         "android_platform": "35",
     }
@@ -58,6 +59,16 @@ def test_missing_key_returns_error(tmp_path: Path) -> None:
     assert "not found" in result.stderr
 
 
+def test_legacy_gstreamer_version_alias_returns_default_version(tmp_path: Path) -> None:
+    config = tmp_path / "build-config.json"
+    config.write_text(json.dumps({"gstreamer_default_version": "1.28.0"}), encoding="utf-8")
+
+    result = _run_read_config("--get", "gstreamer_version", env={"CONFIG_FILE": str(config)})
+
+    assert result.returncode == 0
+    assert result.stdout.strip() == "1.28.0"
+
+
 def test_export_bash_format(tmp_path: Path) -> None:
     config = tmp_path / "build-config.json"
     _write_config(config)
@@ -67,6 +78,7 @@ def test_export_bash_format(tmp_path: Path) -> None:
     assert result.returncode == 0
     assert 'export QT_VERSION="6.10.2"' in result.stdout
     assert 'export QT_MODULES="qtpositioning qtserialport qtscxml"' in result.stdout
+    assert 'export GSTREAMER_VERSION="1.28.0"' in result.stdout
 
 
 def test_export_bash_preserves_bang_character(tmp_path: Path) -> None:
@@ -101,6 +113,7 @@ def test_github_output_includes_ios_modules(tmp_path: Path) -> None:
     output_text = github_output.read_text(encoding="utf-8")
     assert "qt_version=6.10.2" in output_text
     assert "qt_minimum_version=6.8.0" in output_text
+    assert "gstreamer_version=1.28.0" in output_text
     assert "gstreamer_windows_version=1.26.6" in output_text
     # Derived value excludes qtserialport and qtscxml and normalizes spacing.
     assert "qt_modules_ios=qtpositioning" in output_text
diff --git a/tools/translations/README.md b/tools/translations/README.md
index b079356ad469..f21f5c0215c7 100644
--- a/tools/translations/README.md
+++ b/tools/translations/README.md
@@ -10,9 +10,9 @@ Crowdin is configured to automatically sychronize the qgc.ts file once a day. So
 
 Add the new language from the CrowdIn settings as the first step.
 
-### Periodically update the base transation files during the release cycle
+### Periodically update the base translation files during the release cycle
 
-You do this by running the `source tools/translations/qgc-lupdate.sh` script to update the translations files for both Qt and Json. Crowdin will automatically pull these up and submit a pull request back when new translations are available.
+The `lupdate.yml` workflow runs automatically every Sunday to regenerate the `.ts` source files and open a PR with any changes. You can also trigger it manually from the Actions tab or run it locally with `./tools/translations/qgc-lupdate.sh` from the repository root. Crowdin will automatically pull these up and submit a pull request back when new translations are available.
 
 ## C++ and Qml code strings
 
diff --git a/tools/translations/qgc-lupdate-json.py b/tools/translations/qgc-lupdate-json.py
index e9665f2c4bed..27fa5cdd7583 100755
--- a/tools/translations/qgc-lupdate-json.py
+++ b/tools/translations/qgc-lupdate-json.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import json
 import os
 import sys
@@ -108,7 +108,7 @@ def walkDirectoryTreeForJsonFiles(dir, multiFileLocArray):
             walkDirectoryTreeForJsonFiles(path, multiFileLocArray)
 
 
-def writeJsonTSFile(multiFileLocArray):
+def writeJsonTSFile(output_path, multiFileLocArray):
     ts_root = ET.Element("TS", version="2.1")
 
     for entry in multiFileLocArray:
@@ -146,7 +146,7 @@ def writeJsonTSFile(multiFileLocArray):
             ET.SubElement(message, "source").text = sourceStr
             ET.SubElement(message, "translation", type="unfinished")
 
-    with open("translations/qgc-json.ts", "w", encoding="utf-8") as jsonTSFile:
+    with open(output_path, "w", encoding="utf-8") as jsonTSFile:
         jsonTSFile.write('<?xml version="1.0" encoding="utf-8"?>\n')
         jsonTSFile.write("<!DOCTYPE TS>\n")
         jsonTSFile.write(ET.tostring(ts_root, encoding="unicode"))
@@ -154,9 +154,13 @@ def writeJsonTSFile(multiFileLocArray):
 
 
 def main():
+    # Resolve repo root from script location so CWD doesn't matter
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    repo_root = os.path.normpath(os.path.join(script_dir, "..", ".."))
+
     multiFileLocArray = []
-    walkDirectoryTreeForJsonFiles("../src", multiFileLocArray)
-    writeJsonTSFile(multiFileLocArray)
+    walkDirectoryTreeForJsonFiles(os.path.join(repo_root, "src"), multiFileLocArray)
+    writeJsonTSFile(os.path.join(repo_root, "translations", "qgc-json.ts"), multiFileLocArray)
 
 
 if __name__ == "__main__":
diff --git a/tools/uv.lock b/tools/uv.lock
new file mode 100644
index 000000000000..f869054d19d7
--- /dev/null
+++ b/tools/uv.lock
@@ -0,0 +1,1310 @@
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+revision = 3
+requires-python = ">=3.12"
+resolution-markers = [
+    "python_full_version >= '3.13'",
+    "python_full_version < '3.13'",
+]
+
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+name = "anyio"
+version = "4.12.1"
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+]
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+version = "3.3.0"
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+    { name = "defusedxml" },
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