diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
index 84516aff8de57..8a09e59b669b2 100644
--- a/.github/workflows/cygwin_build.yml
+++ b/.github/workflows/cygwin_build.yml
@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/qurt_build.yml b/.github/workflows/qurt_build.yml
index 9120c9f683c2f..dad3b3938ef72 100644
--- a/.github/workflows/qurt_build.yml
+++ b/.github/workflows/qurt_build.yml
@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index 7799d0317aec4..b67d8f537e228 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -13,6 +13,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -81,6 +82,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index ebd105943129d..2d4e59791c7d7 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 86fd5ecebada2..227fd187a1243 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index c65fd57a5d644..8c8c573de9396 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'
@@ -86,6 +87,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 3b1e41bd4c77b..4e1682260ced2 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 6adeb20060c1c..301d3b71e867b 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 427ba6c1f90b7..3f92e07f15051 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 278a2d446a86b..cbf5eb8f0e49c 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 6c04097dfd545..791ed59ae6e07 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -43,6 +43,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   pull_request:
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   workflow_dispatch:
diff --git a/.gitignore b/.gitignore
index 48dc8326f8d02..4c3968d0ebd77 100644
--- a/.gitignore
+++ b/.gitignore
@@ -172,3 +172,4 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
+.python-version
diff --git a/ArduCopter/AP_Arming_Copter.cpp b/ArduCopter/AP_Arming_Copter.cpp
index a34eb238bb26e..b1ed288d9e1f4 100644
--- a/ArduCopter/AP_Arming_Copter.cpp
+++ b/ArduCopter/AP_Arming_Copter.cpp
@@ -460,7 +460,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
 #endif
 
-    if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
+    if (mode_requires_gps || require_location == RequireLocation::YES) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 0b55d48e688e1..43c6d2bb759f4 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -451,6 +451,8 @@ AP_Vehicle::custom_mode_state* Copter::register_custom_mode(const uint8_t num, c
             }
             if (mode_guided_custom[i] == nullptr) {
                 // Allocation failure
+                free((void*)full_name_copy);
+                free((void*)short_name_copy);
                 return nullptr;
             }
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e3a9ac97862d1..eaa65fb82024d 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -632,7 +632,6 @@ class Copter : public AP_Vehicle {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
-        REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
 
     // type of fast rate attitude controller in operation
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 4ce47bcf60434..ecfff2862cc27 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1003,7 +1003,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),
 
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 1462454b78279..995330559393c 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -161,7 +161,8 @@ void ModeSystemId::exit()
 // should be called at 100hz or more
 void ModeSystemId::run()
 {
-    float target_roll, target_pitch;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
     float target_yaw_rate = 0.0f;
     float pilot_throttle_scaled = 0.0f;
     float target_climb_rate = 0.0f;
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index a258269779a39..184dfc611a66e 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -102,13 +102,19 @@ void Plane::Log_Write_Control_Tuning()
         synthetic_airspeed = logger.quiet_nan();
     }
 
+    int16_t pitch = ahrs.pitch_sensor - g.pitch_trim * 100;
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.show_vtol_view()) {
+        pitch = quadplane.ahrs_view->pitch_sensor;
+    }
+#endif      
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
         time_us         : AP_HAL::micros64(),
         nav_roll_cd     : (int16_t)nav_roll_cd,
         roll            : (int16_t)ahrs.roll_sensor,
         nav_pitch_cd    : (int16_t)nav_pitch_cd,
-        pitch           : (int16_t)ahrs.pitch_sensor,
+        pitch           : pitch,
         throttle_out    : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
         rudder_out      : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
         throttle_dem    : TECS_controller.get_throttle_demand(),
@@ -312,8 +318,8 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: TimeUS: Time since system startup
 // @Field: NavRoll: desired roll
 // @Field: Roll: achieved roll
-// @Field: NavPitch: desired pitch
-// @Field: Pitch: achieved pitch
+// @Field: NavPitch: desired pitch assuming pitch trims are already applied
+// @Field: Pitch: achieved pitch assuming pitch trims are already applied,ie "0deg" is level flight trimmed pitch attitude as shown on artifical horizon level line.
 // @Field: ThO: scaled output throttle
 // @Field: RdO: scaled output rudder
 // @Field: ThD: demanded speed-height-controller throttle
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 1de9159b45538..86783bed8c151 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -347,10 +347,6 @@ class Plane : public AP_Vehicle {
     // time of last mode change
     uint32_t last_mode_change_ms;
 
-    // Used to maintain the state of the previous control switch position
-    // This is set to 254 when we need to re-read the switch
-    uint8_t oldSwitchPosition = 254;
-
     // This is used to enable the inverted flight feature
     bool inverted_flight;
 
@@ -758,8 +754,6 @@ class Plane : public AP_Vehicle {
     // A starting value used to check the status of a conditional command.
     // For example in a delay command the condition_start records that start time for the delay
     uint32_t condition_start;
-    // A value used in condition commands.  For example the rate at which to change altitude.
-    int16_t condition_rate;
 
     // 3D Location vectors
     // Location structure defined in AP_Common
@@ -808,8 +802,6 @@ class Plane : public AP_Vehicle {
 
     float relative_altitude;
 
-    // loop performance monitoring:
-    AP::PerfInfo perf_info;
     struct {
         uint32_t last_trim_check;
         uint32_t last_trim_save;
@@ -904,7 +896,6 @@ class Plane : public AP_Vehicle {
     float relative_ground_altitude(bool use_rangefinder_if_available);
     float relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available);
     void set_target_altitude_current(void);
-    void set_target_altitude_current_adjusted(void);
     void set_target_altitude_location(const Location &loc);
     int32_t relative_target_altitude_cm(void);
     void change_target_altitude(int32_t change_cm);
@@ -1042,13 +1033,10 @@ class Plane : public AP_Vehicle {
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
 
     // control_modes.cpp
-    void read_control_switch();
-    uint8_t readSwitch(void) const;
     void autotune_start(void);
     void autotune_restore(void);
     void autotune_enable(bool enable);
     bool fly_inverted(void);
-    bool mode_allows_autotuning(void);
     uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
     Mode *mode_from_mode_num(const enum Mode::Number num);
     bool current_mode_requires_mission() const override {
@@ -1077,7 +1065,6 @@ class Plane : public AP_Vehicle {
     bool trigger_land_abort(const float climb_to_alt_m);
     void get_osd_roll_pitch_rad(float &roll, float &pitch) const override;
     float tecs_hgt_afe(void);
-    void efi_update(void);
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
@@ -1113,7 +1100,6 @@ class Plane : public AP_Vehicle {
     void calc_gndspeed_undershoot();
     void update_loiter(uint16_t radius);
     void update_loiter_update_nav(uint16_t radius);
-    void update_cruise();
     void update_fbwb_speed_height(void);
     void setup_turn_angle(void);
     bool reached_loiter_target(void);
@@ -1168,7 +1154,6 @@ class Plane : public AP_Vehicle {
     float apply_throttle_limits(float throttle_in);
     void set_throttle(void);
     void set_takeoff_expected(void);
-    void set_servos_old_elevons(void);
     void set_servos_flaps(void);
     void set_landing_gear(void);
     void dspoiler_update(void);
@@ -1196,7 +1181,6 @@ class Plane : public AP_Vehicle {
     // parachute.cpp
     void parachute_check();
 #if HAL_PARACHUTE_ENABLED
-    void do_parachute(const AP_Mission::Mission_Command& cmd);
     void parachute_release();
     bool parachute_manual_release();
 #endif
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index e96e778b82fa5..40219f26e6012 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -208,17 +208,6 @@ void Plane::set_target_altitude_current(void)
 #endif
 }
 
-/*
-  set the target altitude to the current altitude, with ALT_OFFSET adjustment
- */
-void Plane::set_target_altitude_current_adjusted(void)
-{
-    set_target_altitude_current();
-
-    // use adjusted_altitude_cm() to take account of ALTITUDE_OFFSET
-    target_altitude.amsl_cm = adjusted_altitude_cm();
-}
-
 /*
   set target altitude based on a location structure
  */
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 8480a19d03b3d..eaf767fdfb1c5 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4257,19 +4257,15 @@ float QuadPlane::get_land_airspeed(void)
     if (qstate == QPOS_APPROACH ||
         plane.control_mode == &plane.mode_rtl) {
         const float cruise_speed = plane.aparm.airspeed_cruise;
+        // assume cruise speed, but try to do better:
         float approach_speed = cruise_speed;
         float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
         if (is_positive(tecs_land_airspeed)) {
             approach_speed = tecs_land_airspeed;
-        } else {
-            if (qstate == QPOS_APPROACH) {
-                // default to half way between min airspeed and cruise
-                // airspeed when on the approach
-                approach_speed = 0.5*(cruise_speed+plane.aparm.airspeed_min);
-            } else {
-                // otherwise cruise
-                approach_speed = cruise_speed;
-            }
+        } else if (qstate == QPOS_APPROACH) {
+            // default to half way between min airspeed and cruise
+            // airspeed when on the approach
+            approach_speed = 0.5*(cruise_speed+plane.aparm.airspeed_min);
         }
         const float time_to_pos1 = (plane.auto_state.wp_distance - stopping_distance(sq(approach_speed))) / MAX(approach_speed, 5);
         /*
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 740daeaf05758..c07d9f293f52f 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -285,7 +285,7 @@ void Plane::takeoff_calc_throttle() {
     const float current_baro_alt = barometer.get_altitude();
     const bool below_lvl_alt = current_baro_alt < auto_state.baro_takeoff_alt + mode_takeoff.level_alt;
     // Set the minimum throttle limit.
-    const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
+    const bool use_throttle_range = tkoff_option_is_set(AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
     if (!use_throttle_range // We don't want to employ a throttle range.
         || !ahrs.using_airspeed_sensor() // We don't have an airspeed sensor.
         || below_lvl_alt // We are below TKOFF_LVL_ALT.
diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 002fbfbaad591..e2923db562ff3 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -91,6 +91,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,   10,    350,  51),
     SCHED_TASK(twentyfive_hz_logging, 25,    110,  54),
+    SCHED_TASK(loop_rate_logging, LOOP_RATE, 50,   55),
     SCHED_TASK_CLASS(AP_Logger,           &sub.logger,       periodic_tasks,     400, 300,  57),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,   &sub.ins,          periodic,           400,  50,  60),
@@ -234,7 +235,15 @@ void Sub::twentyfive_hz_logging()
     }
 
     // log IMU data if we're not already logging at the higher rate
-    if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
+    if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_FAST)) {
+        AP::ins().Write_IMU();
+    }
+}
+
+// Full rate logging of IMU
+void Sub::loop_rate_logging()
+{
+    if (should_log(MASK_LOG_IMU_FAST)) {
         AP::ins().Write_IMU();
     }
 }
diff --git a/ArduSub/Attitude.cpp b/ArduSub/Attitude.cpp
index de41b8833ec01..dc0a9f4cd6da9 100644
--- a/ArduSub/Attitude.cpp
+++ b/ArduSub/Attitude.cpp
@@ -94,7 +94,6 @@ float Sub::get_pilot_desired_climb_rate(float throttle_control)
         return 0.0f;
     }
 
-    float desired_rate = 0.0f;
     float mid_stick = channel_throttle->get_control_mid();
     float deadband_top = mid_stick + g.throttle_deadzone * gain;
     float deadband_bottom = mid_stick - g.throttle_deadzone * gain;
@@ -108,19 +107,41 @@ float Sub::get_pilot_desired_climb_rate(float throttle_control)
     // check throttle is above, below or in the deadband
     if (throttle_control < deadband_bottom) {
         // below the deadband
-        desired_rate = get_pilot_speed_dn() * (throttle_control-deadband_bottom) / deadband_bottom;
+        return get_pilot_speed_dn() * (throttle_control-deadband_bottom) / deadband_bottom;
     } else if (throttle_control > deadband_top) {
         // above the deadband
-        desired_rate = g.pilot_speed_up * (throttle_control-deadband_top) / (1000.0f-deadband_top);
+        return g.pilot_speed_up * (throttle_control-deadband_top) / (1000.0f-deadband_top);
     } else {
         // must be in the deadband
-        desired_rate = 0.0f;
+        return 0.0f;
+    }
+}
+
+// behavior is similar to Sub::get_pilot_desired_climb_rate
+float Sub::get_pilot_desired_horizontal_rate(RC_Channel *channel) const
+{
+    if (failsafe.pilot_input) {
+        return 0;
     }
 
-    // desired climb rate for logging
-    desired_climb_rate = desired_rate;
+    // forward and lateral sticks have center trim, unlike throttle
+    auto control = channel->norm_input();
 
-    return desired_rate;
+    // normalize deadzone
+    auto dz = (float)g.throttle_deadzone * 2.0f / (float)(channel->get_radio_max() - channel->get_radio_min());
+    auto deadband_top = dz * gain;
+    auto deadband_bottom = -dz * gain;
+
+    if (control < deadband_bottom) {
+        // below the deadband
+        return (float)g.pilot_speed * (control - deadband_bottom);
+    } else if (control > deadband_top) {
+        // above the deadband
+        return (float)g.pilot_speed * (control - deadband_top);
+    } else {
+        // must be in the deadband
+        return 0;
+    }
 }
 
 // rotate vector from vehicle's perspective to North-East frame
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index b31f77cf79427..f16b3cb212a64 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -175,6 +175,15 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(pilot_speed_dn,     "PILOT_SPEED_DN",   0),
 
+    // @Param: PILOT_SPEED
+    // @DisplayName: Pilot maximum horizontal speed
+    // @Description: The maximum horizontal velocity the pilot may request in cm/s
+    // @Units: cm/s
+    // @Range: 10 500
+    // @Increment: 10
+    // @User: Standard
+    GSCALAR(pilot_speed,     "PILOT_SPEED",   PILOT_SPEED_DEFAULT),
+
     // @Param: PILOT_ACCEL_Z
     // @DisplayName: Pilot vertical acceleration
     // @Description: The vertical acceleration used when pilot is controlling the altitude
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index fe176e400e6c9..e7a9937260e28 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -231,6 +231,7 @@ class Parameters {
         k_param_pilot_speed_dn,
         k_param_rangefinder_signal_min,
         k_param_surftrak_depth,
+        k_param_pilot_speed,
 
         k_param_vehicle = 257, // vehicle common block of parameters
     };
@@ -267,9 +268,10 @@ class Parameters {
 
     // Waypoints
     //
-    AP_Int16        pilot_speed_up;        // maximum vertical ascending velocity the pilot may request
-    AP_Int16        pilot_speed_dn;        // maximum vertical descending velocity the pilot may request
-    AP_Int16        pilot_accel_z;               // vertical acceleration the pilot may request
+    AP_Int16        pilot_speed_up;             // maximum vertical ascending velocity the pilot may request
+    AP_Int16        pilot_speed_dn;             // maximum vertical descending velocity the pilot may request
+    AP_Int16        pilot_speed;                // maximum horizontal (xy) velocity the pilot may request
+    AP_Int16        pilot_accel_z;              // vertical acceleration the pilot may request
 
     // Throttle
     //
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index bdf70e40d3fc1..3e07fbf3ee405 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -263,9 +263,6 @@ class Sub : public AP_Vehicle {
     // Stores initial bearing when armed
     int32_t initial_armed_bearing;
 
-    // Throttle variables
-    int16_t desired_climb_rate;          // pilot desired climb rate - for logging purposes only
-
     // Loiter control
     uint16_t loiter_time_max;                // How long we should stay in Loiter Mode for mission scripting (time in seconds)
     uint32_t loiter_time;                    // How long have we been loitering - The start time in millis
@@ -394,6 +391,7 @@ class Sub : public AP_Vehicle {
     void update_batt_compass(void);
     void ten_hz_logging_loop();
     void twentyfive_hz_logging();
+    void loop_rate_logging();
     void three_hz_loop();
     void one_hz_loop();
     void update_turn_counter();
@@ -406,6 +404,7 @@ class Sub : public AP_Vehicle {
     float get_roi_yaw();
     float get_look_ahead_yaw();
     float get_pilot_desired_climb_rate(float throttle_control);
+    float get_pilot_desired_horizontal_rate(RC_Channel *channel) const;
     void rotate_body_frame_to_NE(float &x, float &y);
 #if HAL_LOGGING_ENABLED
     // methods for AP_Vehicle:
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 7e2f5686266e3..b45c38534697f 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -167,10 +167,13 @@
 # define THR_DZ_DEFAULT         100             // the deadzone above and below mid throttle while in althold or loiter
 #endif
 
-// default maximum vertical velocity and acceleration the pilot may request
+// default maximum velocities and acceleration the pilot may request
 #ifndef PILOT_VELZ_MAX
 # define PILOT_VELZ_MAX    500     // maximum vertical velocity in cm/s
 #endif
+#ifndef PILOT_SPEED_DEFAULT
+# define PILOT_SPEED_DEFAULT 200 // maximum horizontal velocity in cm/s while under pilot control
+#endif
 #ifndef PILOT_ACCEL_Z_DEFAULT
 # define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
 #endif
diff --git a/ArduSub/mode.h b/ArduSub/mode.h
index 9907ee95b46b8..6bd47d55f3735 100644
--- a/ArduSub/mode.h
+++ b/ArduSub/mode.h
@@ -420,7 +420,7 @@ class ModePoshold : public ModeAlthold
 
     bool init(bool ignore_checks) override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_GPS() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
@@ -430,6 +430,10 @@ class ModePoshold : public ModeAlthold
     const char *name() const override { return "POSHOLD"; }
     const char *name4() const override { return "POSH"; }
     Mode::Number number() const override { return Mode::Number::POSHOLD; }
+
+private:
+
+    void control_horizontal();
 };
 
 
diff --git a/ArduSub/mode_poshold.cpp b/ArduSub/mode_poshold.cpp
index 479cdcb5435b6..559aa87f63296 100644
--- a/ArduSub/mode_poshold.cpp
+++ b/ArduSub/mode_poshold.cpp
@@ -15,8 +15,8 @@ bool ModePoshold::init(bool ignore_checks)
     }
 
     // initialize vertical speeds and acceleration
-    position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
-    position_control->set_correction_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
+    position_control->set_max_speed_accel_xy(g.pilot_speed, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_xy(g.pilot_speed, g.pilot_accel_z);
     position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
     position_control->set_correction_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
@@ -54,26 +54,6 @@ void ModePoshold::run()
     // set motors to full range
     motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
-    ///////////////////////
-    // update xy outputs //
-    float pilot_lateral = channel_lateral->norm_input();
-    float pilot_forward = channel_forward->norm_input();
-
-    float lateral_out = 0;
-    float forward_out = 0;
-
-    if (sub.position_ok()) {
-        // Allow pilot to reposition the sub
-        if (fabsf(pilot_lateral) > 0.1 || fabsf(pilot_forward) > 0.1) {
-            position_control->init_xy_controller_stopping_point();
-        }
-        sub.translate_pos_control_rp(lateral_out, forward_out);
-        position_control->update_xy_controller();
-    } else {
-        position_control->init_xy_controller_stopping_point();
-    }
-    motors.set_forward(forward_out + pilot_forward);
-    motors.set_lateral(lateral_out + pilot_lateral);
     /////////////////////
     // Update attitude //
 
@@ -103,12 +83,51 @@ void ModePoshold::run()
             attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
             sub.last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
 
-        } else { // call attitude controller holding absolute absolute bearing
+        } else { // call attitude controller holding absolute bearing
             attitude_control->input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, sub.last_pilot_heading, true);
         }
     }
 
-    // Update z axis //
+    // update z axis
     control_depth();
+
+    // update xy axis
+    // call this after Sub::get_pilot_desired_climb_rate is called so that THR_DZ is reasonable
+    control_horizontal();
+}
+
+void ModePoshold::control_horizontal() {
+    float lateral_out = 0;
+    float forward_out = 0;
+
+    // get desired rates in the body frame
+    Vector2f body_rates_cm_s = {
+        sub.get_pilot_desired_horizontal_rate(channel_forward),
+        sub.get_pilot_desired_horizontal_rate(channel_lateral)
+    };
+
+    if (sub.position_ok()) {
+        if (!position_control->is_active_xy()) {
+            // the xy controller timed out, re-initialize
+            position_control->init_xy_controller_stopping_point();
+        }
+
+        // convert to the earth frame and set target rates
+        auto earth_rates_cm_s = ahrs.body_to_earth2D(body_rates_cm_s);
+        position_control->input_vel_accel_xy(earth_rates_cm_s, {0, 0});
+
+        // convert pos control roll and pitch angles back to lateral and forward efforts
+        sub.translate_pos_control_rp(lateral_out, forward_out);
+
+        // udpate the xy controller
+        position_control->update_xy_controller();
+    } else if (g.pilot_speed > 0) {
+        // allow the pilot to reposition manually
+        forward_out = body_rates_cm_s.x / (float)g.pilot_speed;
+        lateral_out = body_rates_cm_s.y / (float)g.pilot_speed;
+    }
+
+    motors.set_forward(forward_out);
+    motors.set_lateral(lateral_out);
 }
 #endif  // POSHOLD_ENABLED
diff --git a/ArduSub/mode_surface.cpp b/ArduSub/mode_surface.cpp
index 6bab07a067b86..f554715076d22 100644
--- a/ArduSub/mode_surface.cpp
+++ b/ArduSub/mode_surface.cpp
@@ -50,9 +50,6 @@ void ModeSurface::run()
     // set target climb rate
     float cmb_rate = constrain_float(fabsf(sub.wp_nav.get_default_speed_up()), 1, position_control->get_max_speed_up_cms());
 
-    // record desired climb rate for logging
-    sub.desired_climb_rate = cmb_rate;
-
     // update altitude target and call position controller
     position_control->set_pos_target_z_from_climb_rate_cm(cmb_rate);
     position_control->update_z_controller();
diff --git a/Rover/AP_Arming_Rover.cpp b/Rover/AP_Arming_Rover.cpp
index 80534e3a93484..8cdf9555d45f3 100644
--- a/Rover/AP_Arming_Rover.cpp
+++ b/Rover/AP_Arming_Rover.cpp
@@ -34,7 +34,9 @@ bool AP_Arming_Rover::rc_calibration_checks(const bool display_failure)
 // performs pre_arm gps related checks and returns true if passed
 bool AP_Arming_Rover::gps_checks(bool display_failure)
 {
-    if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
+    if (!require_location &&
+        !rover.control_mode->requires_position() &&
+        !rover.control_mode->requires_velocity()) {
         // we don't care!
         return true;
     }
diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index ee99f778fdd63..dadc1ed9161ac 100755
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -300,6 +300,7 @@ AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
 AP_HW_CBU_StampH743_LC               1182
 AP_HW_NarinH7                        1183
+AP_HW_BrahmaF4                       1184
 
 AP_HW_JFB200                         1200
 
@@ -348,6 +349,8 @@ AP_HW_F4BY_F427                      1530
 
 AP_HW_MFT-SEMA100                    2000
 
+AP_HW_SULILGH7-P1-P2                 2005
+
 AP_HW_AET-H743-Basic                 2024
 
 AP_HW_SakuraRC-H743                  2714
@@ -359,6 +362,9 @@ AP_HW_KRSHKF7_MINI                   4000
 AP_HW_HAKRC_F405                     4200
 AP_HW_HAKRC_F405Wing                 4201
 
+# IDs 4500-4509 reserved for Lumenier
+AP_HW_LUMENIER_LUX_F765_NDAA         4500
+
 # IDs 5000-5099 reserved for Carbonix
 # IDs 5100-5199 reserved for SYPAQ Systems
 # IDs 5200-5209 reserved for Airvolute
@@ -390,6 +396,7 @@ AP_HW_TM-SYS-Airspeed                5244
 # IDs 5250-5269 reserved for Team Black Sheep
 AP_HW_TBS_LUCID_H7                   5250
 AP_HW_TBS_LUCID_PRO                  5251
+AP_HW_TBS_L431_PERIPH                5252
 
 #IDs 5301-5399 reserved for Sierra Aerospace
 AP_HW_Sierra-TrueNavPro-G4           5301
diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
index 4ad70e951cb67..dc5a25516ba0f 100644
--- a/Tools/AP_Bootloader/can.cpp
+++ b/Tools/AP_Bootloader/can.cpp
@@ -836,6 +836,35 @@ void can_start()
     if (stm32_was_watchdog_reset()) {
         node_status.vendor_specific_status_code = uint8_t(check_fw_result_t::FAIL_REASON_WATCHDOG);
     }
+
+    {
+        /*
+          support termination solder bridge or switch and optional LED
+         */
+#if defined(HAL_GPIO_PIN_GPIO_CAN1_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH)
+        const bool can1_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, can1_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_LED, can1_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+
+#if defined(HAL_GPIO_PIN_GPIO_CAN2_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH)
+        const bool can2_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, can2_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_LED, can2_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+
+#if defined(HAL_GPIO_PIN_GPIO_CAN3_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH)
+        const bool can3_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, can3_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_LED, can3_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+    }
 }
 
 
diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 3091751f0a154..d7bb3c69d7caf 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -164,7 +164,7 @@ void AP_Periph_FW::init()
     compass.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     baro.init();
 #endif
 
@@ -235,7 +235,7 @@ void AP_Periph_FW::init()
 
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     bool have_rangefinder = false;
     for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
         if ((rangefinder.get_type(i) != RangeFinder::Type::NONE) && (g.rangefinder_port[i] >= 0)) {
@@ -429,10 +429,10 @@ void AP_Periph_FW::update()
         const Vector3f &field = compass.get_field();
         hal.serial(0)->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         hal.serial(0)->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         hal.serial(0)->printf("Num RNG sens %u\n", rangefinder.num_sensors());
         for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
             AP_RangeFinder_Backend *backend = rangefinder.get_backend(i);
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 4faed8e5bf18d..10bc771119c68 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -178,7 +178,7 @@ class AP_Periph_FW {
     void can_imu_update();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     void can_rangefinder_update();
 #endif
     void can_battery_update();
@@ -231,7 +231,7 @@ class AP_Periph_FW {
     Compass compass;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Baro baro;
 #endif
 
@@ -298,7 +298,7 @@ class AP_Periph_FW {
     AP_Airspeed airspeed;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     RangeFinder rangefinder;
     uint32_t last_rangefinder_update_ms;
     uint32_t last_rangefinder_sample_ms[RANGEFINDER_MAX_INSTANCES];
@@ -457,7 +457,7 @@ class AP_Periph_FW {
     uint32_t last_gps_yaw_ms;
 #endif
     uint32_t last_relposheading_ms;
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     uint32_t last_baro_update_ms;
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index e9f9b54f26994..ace23b6df8429 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -269,7 +269,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(compass,         "COMPASS_",     Compass),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     // Baro driver
     // @Group: BARO
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
@@ -301,7 +301,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(airspeed, "ARSPD", AP_Airspeed),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     // @Param: RNGFND_BAUDRATE
     // @DisplayName: Rangefinder serial baudrate
     // @Description: Rangefinder serial baudrate.
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 56340380345bd..fff21ce8ffb9e 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -119,14 +119,14 @@ class Parameters {
 #ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
     AP_Int8 led_brightness;
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Int8 baro_enable;
 #endif
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
     AP_Int8 flash_bootloader;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     AP_Int32 rangefinder_baud[RANGEFINDER_MAX_INSTANCES];
     AP_Int8 rangefinder_port[RANGEFINDER_MAX_INSTANCES];
     AP_Int16 rangefinder_max_rate;
diff --git a/Tools/AP_Periph/baro.cpp b/Tools/AP_Periph/baro.cpp
index 61c296cd137fd..a4f089d633597 100644
--- a/Tools/AP_Periph/baro.cpp
+++ b/Tools/AP_Periph/baro.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 
 /*
   barometer support
@@ -60,4 +60,4 @@ void AP_Periph_FW::can_baro_update(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 5705b4e2b0200..d8cb8e28101bf 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -355,13 +355,13 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
 #if AP_PERIPH_MAG_ENABLED
         AP_Param::setup_object_defaults(&compass, compass.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         AP_Param::setup_object_defaults(&baro, baro.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
         AP_Param::setup_object_defaults(&airspeed, airspeed.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         AP_Param::setup_object_defaults(&rangefinder, rangefinder.var_info);
 #endif
     }
@@ -1616,15 +1616,45 @@ void AP_Periph_FW::can_start()
     }
 #endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz
 
+    {
+        /*
+          support termination parameters, and also a hardware switch
+          to force termination and an LED to indicate if termination
+          is active
+         */
 #ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, g.can_terminate[0]);
+        bool can1_term = g.can_terminate[0];
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH
+        can1_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, can1_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_LED, can1_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+
 #ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, g.can_terminate[1]);
+        bool can2_term = g.can_terminate[1];
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH
+        can2_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, can2_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_LED, can2_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+
 #ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, g.can_terminate[2]);
+        bool can3_term = g.can_terminate[2];
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH
+        can3_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, can3_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_LED, can3_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+    }
 
     for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
@@ -1894,13 +1924,13 @@ void AP_Periph_FW::can_update()
 #if AP_PERIPH_BATTERY_ENABLED
         can_battery_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         can_baro_update();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
         can_airspeed_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
         can_rangefinder_update();
 #endif
 #ifdef HAL_PERIPH_ENABLE_PROXIMITY
diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
index 3d89eedc55ada..e2a1a00e75fa6 100644
--- a/Tools/AP_Periph/msp.cpp
+++ b/Tools/AP_Periph/msp.cpp
@@ -48,7 +48,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 #if AP_PERIPH_GPS_ENABLED
     send_msp_GPS();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     send_msp_baro();
 #endif
 #if AP_PERIPH_MAG_ENABLED
@@ -125,7 +125,7 @@ void AP_Periph_FW::send_msp_GPS(void)
 #endif // AP_PERIPH_GPS_ENABLED
 
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 /*
   send MSP baro packet
  */
@@ -149,7 +149,7 @@ void AP_Periph_FW::send_msp_baro(void)
 
     send_msp_packet(MSP2_SENSOR_BAROMETER, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
 
 #if AP_PERIPH_MAG_ENABLED
 /*
diff --git a/Tools/AP_Periph/rangefinder.cpp b/Tools/AP_Periph/rangefinder.cpp
index 5ea1753ff9451..97381a7fca6f6 100644
--- a/Tools/AP_Periph/rangefinder.cpp
+++ b/Tools/AP_Periph/rangefinder.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
 
 /*
   rangefinder support
@@ -118,4 +118,4 @@ void AP_Periph_FW::can_rangefinder_update(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_RANGEFINDER
+#endif // AP_PERIPH_RANGEFINDER_ENABLED
diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp
index cae2860d86e22..c19acccbed369 100644
--- a/Tools/AP_Periph/serial_tunnel.cpp
+++ b/Tools/AP_Periph/serial_tunnel.cpp
@@ -48,7 +48,7 @@ int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const
         uart_num = g.gps_port;
     }
 #endif
-#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#if AP_PERIPH_RANGEFINDER_ENABLED
     if (uart_num == -1) {
         uart_num = g.rangefinder_port[0];
     }
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 79d8d4aa05ac3..388495c4f8283 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -287,9 +287,7 @@ def configure_env(self, cfg, env):
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
                 '-cl-single-precision-constant',
-            ]
-            env.CXXFLAGS += [
-                '-cl-single-precision-constant',
+                '-Wno-vla-extension',
             ]
         else:
             env.CFLAGS += [
@@ -422,8 +420,10 @@ def configure_env(self, cfg, env):
 
                 '-Wno-gnu-designator',
                 '-Wno-mismatched-tags',
+                '-Wno-vla-extension',
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
+                '-cl-single-precision-constant',
             ]
         else:
             env.CXXFLAGS += [
@@ -955,9 +955,9 @@ def configure_env(self, cfg, env):
             AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             AP_PERIPH_MAG_ENABLED = 1,
-            HAL_PERIPH_ENABLE_BARO = 1,
+            AP_PERIPH_BARO_ENABLED = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
-            HAL_PERIPH_ENABLE_RANGEFINDER = 1,
+            AP_PERIPH_RANGEFINDER_ENABLED = 1,
             AP_PERIPH_BATTERY_ENABLED = 1,
             AP_PERIPH_BATTERY_BALANCE_ENABLED = 0,
             HAL_PERIPH_ENABLE_EFI = 1,
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index b25ba2fb0666f..994b47a053fa1 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -12243,18 +12243,8 @@ def GripperReleaseOnThrustLoss(self):
         self.context_pop()
         self.reboot_sitl()
 
-    def assert_home_position_not_set(self):
-        try:
-            self.poll_home_position()
-        except NotAchievedException:
-            return
-
-        # if home.lng != 0: etc
-
-        raise NotAchievedException("Home is set when it shouldn't be")
-
-    def REQUIRE_POSITION_FOR_ARMING(self):
-        '''check FlightOption::REQUIRE_POSITION_FOR_ARMING works'''
+    def REQUIRE_LOCATION_FOR_ARMING(self):
+        '''check AP_Arming::Option::REQUIRE_LOCATION_FOR_ARMING works'''
         self.context_push()
         self.set_parameters({
             "SIM_GPS1_NUMSATS": 3,  # EKF does not like < 6
@@ -12270,7 +12260,7 @@ def REQUIRE_POSITION_FOR_ARMING(self):
 
         self.change_mode('STABILIZE')
         self.set_parameters({
-            "FLIGHT_OPTIONS": 8,
+            "ARMING_NEED_LOC": 1,
         })
         self.assert_prearm_failure("Need Position Estimate", other_prearm_failures_fatal=False)
         self.context_pop()
@@ -12685,7 +12675,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.GuidedWeatherVane,
             self.Clamp,
             self.GripperReleaseOnThrustLoss,
-            self.REQUIRE_POSITION_FOR_ARMING,
+            self.REQUIRE_LOCATION_FOR_ARMING,
             self.LoggingFormat,
             self.MissionRTLYawBehaviour,
             self.BatteryInternalUseOnly,
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 8c6721d8162e4..a05ac4f33c907 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4339,6 +4339,65 @@ def WatchdogHome(self):
 
     def AUTOTUNE(self):
         '''Test AutoTune mode'''
+        self.run_autotune()
+
+        # Values that are set to constants
+        # If these are changed then the expected tune paramters should also change
+        self.check_parameter_value("RLL2SRV_TCONST", 0.5, 0)
+        self.check_parameter_value("RLL2SRV_RMAX", 75, 0)
+        self.check_parameter_value("RLL_RATE_IMAX", 0.666, 0.01) # allow some small error to acount for floating point stuff
+        self.check_parameter_value("RLL_RATE_FLTT", 3.183, 0.01)
+        self.check_parameter_value("RLL_RATE_FLTE", 0, 0)
+        self.check_parameter_value("RLL_RATE_FLTD", 10.0, 0)
+        self.check_parameter_value("RLL_RATE_SMAX", 150.0, 0)
+
+        self.check_parameter_value("PTCH2SRV_TCONST", 0.75, 0)
+        self.check_parameter_value("PTCH2SRV_RMAX_UP", 75, 0)
+        self.check_parameter_value("PTCH2SRV_RMAX_DN", 75, 0)
+        self.check_parameter_value("PTCH_RATE_IMAX", 0.666, 0.01)
+        self.check_parameter_value("PTCH_RATE_FLTT", 2.122, 0.01)
+        self.check_parameter_value("PTCH_RATE_FLTE", 0, 0)
+        self.check_parameter_value("PTCH_RATE_FLTD", 10, 0)
+        self.check_parameter_value("PTCH_RATE_SMAX", 150, 0)
+
+        # Check tunned values, targets derived from running tests multiple times and taking average
+        # Expect within 2%
+        # Note that I is not checked directly, its value is derived from P, FF, and TCONST which are all checked.
+        self.check_parameter_value("RLL_RATE_P", 1.222702146, 2)
+        self.check_parameter_value("RLL_RATE_D", 0.070284024, 2)
+        self.check_parameter_value("RLL_RATE_FF", 0.229291457, 2)
+
+        self.check_parameter_value("PTCH_RATE_FF", 0.503520715, 5)
+
+        # There seem to be multiple solutions for pitch. I'm not sure why this is.
+        # Each value is quite consistent becasue of the fixed steps that autotune takes
+        try:
+            # Expect this about 84% of the time
+            self.check_parameter_value("PTCH_RATE_P", 1.746079683, 2)
+        except ValueError:
+            try:
+                # 12%
+                self.check_parameter_value("PTCH_RATE_P", 1.343138218, 2)
+            except ValueError:
+                # 4%
+                self.check_parameter_value("PTCH_RATE_P", 2.26990366, 2)
+
+        try:
+            # 64%
+            self.check_parameter_value("PTCH_RATE_D", 0.108, 2)
+        except ValueError:
+            try:
+                # 28%
+                self.check_parameter_value("PTCH_RATE_D", 0.141, 2)
+            except ValueError:
+                try:
+                    # 4%
+                    self.check_parameter_value("PTCH_RATE_D", 0.049, 2)
+                except ValueError:
+                    # 4%
+                    self.check_parameter_value("PTCH_RATE_D", 0.0836, 2)
+
+    def run_autotune(self):
         self.takeoff(100)
         self.change_mode('AUTOTUNE')
         self.context_collect('STATUSTEXT')
@@ -4354,6 +4413,14 @@ def AUTOTUNE(self):
                 self.progress("Got %s" % str(m))
                 if axis == "Roll":
                     axis = "Pitch"
+                    # Center sticks to allow roll to return to nuetral before starting pitch
+                    self.set_rc(1, 1500)
+                    self.set_rc(2, 1500)
+                    self.delay_sim_time(15)
+
+                    # Reset toggle value so the initial input is in a consistent directon
+                    rc_value = 1000
+
                 elif axis == "Pitch":
                     break
                 else:
@@ -4399,7 +4466,7 @@ def AutotuneFiltering(self):
             "RLL_RATE_FLTT": 20,
             "PTCH_RATE_FLTT": 20,
         })
-        self.AUTOTUNE()
+        self.run_autotune()
 
     def LandingDrift(self):
         '''Circuit with baro drift'''
@@ -6460,7 +6527,7 @@ def CompassLearnInFlight(self):
         self.set_parameters({
             "COMPASS_OFS_X": 1100,
         })
-        self.set_parameter("COMPASS_LEARN", 3)  # 3 is in-flight learning
+        self.send_set_parameter("COMPASS_LEARN", 3)  # 3 is in-flight learning
         self.wait_parameter_value("COMPASS_LEARN", 0)
         self.assert_parameter_value("COMPASS_OFS_X", old_compass_ofs_x, epsilon=30)
         self.fly_home_land_and_disarm()
diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 88b498721f6c8..eb8078af774f6 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -992,6 +992,61 @@ def INA3221(self):
                 }, epsilon=10) # allow rounding
                 seen_3 = True
 
+    def wait_for_stop(self):
+        """Watch the sub slow down and stop"""
+        tstart = self.get_sim_time_cached()
+        lstart = self.mav.location()
+
+        dmax = 0
+        dprev = 0
+
+        while True:
+            self.delay_sim_time(1)
+
+            dcurr = self.get_distance(lstart, self.mav.location())
+
+            if dcurr - dmax < -0.2:
+                raise NotAchievedException("Bounced back from %.2fm to %.2fm" % (dmax, dcurr))
+            if dcurr > dmax:
+                dmax = dcurr
+
+            if abs(dcurr - dprev) < 0.1:
+                self.progress("Stopping distance %.2fm, less than %.2fs" % (dcurr, self.get_sim_time_cached() - tstart))
+                return
+
+            if self.get_sim_time_cached() - tstart > 10:
+                raise NotAchievedException("Took to long to stop")
+
+            dprev = dcurr
+
+    def PosHoldBounceBack(self):
+        """Test for bounce back in POSHOLD mode"""
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        # dive a little
+        self.set_rc(Joystick.Throttle, 1300)
+        self.delay_sim_time(3)
+        self.set_rc(Joystick.Throttle, 1500)
+        self.delay_sim_time(2)
+
+        # hold position
+        self.change_mode('POSHOLD')
+
+        for pilot_speed in range(50, 251, 100):
+            # set max speed
+            self.set_parameter('PILOT_SPEED', pilot_speed)
+
+            # try different stick values, resulting speed is ~ max_speed * effort * gain
+            for pwm in range(1700, 1901, 100):
+                self.progress('PILOT_SPEED %d, forward pwm %d' % (pilot_speed, pwm))
+                self.set_rc(Joystick.Forward, pwm)
+                self.delay_sim_time(3)
+                self.set_rc(Joystick.Forward, 1500)
+                self.wait_for_stop()
+
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestSub, self).tests()
@@ -1024,6 +1079,7 @@ def tests(self):
             self.BackupOrigin,
             self.FuseMag,
             self.INA3221,
+            self.PosHoldBounceBack,
         ])
 
         return ret
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index ec6d8a5f4c7ab..c4be3f75075e8 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -2306,6 +2306,47 @@ def GCSFence(self):
         self.test_gcs_fence_via_mavproxy(target_system=target_system,
                                          target_component=target_component)
 
+    def GCSFenceInvalidPoint(self):
+        '''Test fetch non-existant fencepoint'''
+        target_system = 1
+        target_component = 1
+
+        here = self.mav.location()
+        self.upload_fences_from_locations([
+            (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [
+                # east
+                self.offset_location_ne(here, -50, 20), # bl
+                self.offset_location_ne(here, 50, 20), # br
+                self.offset_location_ne(here, 50, 40), # tr
+            ]),
+        ])
+        for i in 0, 1, 2:
+            self.assert_fetch_mission_item_int(target_system, target_component, i, mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+        self.progress("Requesting invalid point")
+        self.mav.mav.mission_request_int_send(
+            target_system,
+            target_component,
+            3,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.context_push()
+        self.context_collect('MISSION_COUNT')
+        m = self.assert_receive_mission_ack(
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
+            want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
+        )
+        self.delay_sim_time(0.1)
+        found = False
+        for m in self.context_collection('MISSION_COUNT'):
+            if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
+                continue
+            if m.count != 3:
+                raise NotAchievedException("Unexpected count in MISSION_COUNT")
+            found = True
+        self.context_pop()
+        if not found:
+            raise NotAchievedException("Did not see correction for fencepoint count")
+
     # explode the write_type_to_storage method
     # FIXME: test converting invalid fences / minimally valid fences / normal fences
     # FIXME: show that uploading smaller items take up less space
@@ -2533,6 +2574,7 @@ def assert_receive_mission_ack(self, mission_type,
         if m.type != want_type:
             raise NotAchievedException("Expected ack type %u got %u" %
                                        (want_type, m.type))
+        return m
 
     def assert_filepath_content(self, filepath, want):
         with open(filepath) as f:
@@ -6947,6 +6989,31 @@ def SDPolyFence(self):
 
         self.delay_sim_time(1000)
 
+    def REQUIRE_LOCATION_FOR_ARMING(self):
+        '''check DriveOption::REQUIRE_POSITION_FOR_ARMING works'''
+        self.context_push()
+        self.set_parameters({
+            "SIM_GPS1_NUMSATS": 3,  # EKF does not like < 6
+            "AHRS_GPS_USE": 0,  # stop DCM supplying home
+        })
+        self.reboot_sitl()
+        self.change_mode('MANUAL')
+        self.wait_prearm_sys_status_healthy()
+        self.assert_home_position_not_set()
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.change_mode('GUIDED')
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+
+        self.change_mode('MANUAL')
+        self.set_parameters({
+            "ARMING_NEED_LOC": 1,
+        })
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6990,6 +7057,7 @@ def tests(self):
             self.Offboard,
             self.MAVProxyParam,
             self.GCSFence,
+            self.GCSFenceInvalidPoint,
             self.GCSMission,
             self.GCSRally,
             self.MotorTest,
@@ -7045,6 +7113,7 @@ def tests(self):
             self.ClearMission,
             self.JammingSimulation,
             self.BatteryInvalid,
+            self.REQUIRE_LOCATION_FOR_ARMING,
         ])
         return ret
 
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index ecaf2b3d41919..0cb98ef1b43d1 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -3625,6 +3625,16 @@ def assert_bytes_equal(self, bytes1, bytes2, maxlen=None):
             if bytes1[i] != bytes2[i]:
                 raise NotAchievedException("differ at offset %u" % i)
 
+    def assert_home_position_not_set(self):
+        try:
+            self.poll_home_position()
+        except NotAchievedException:
+            return
+
+        # if home.lng != 0: etc
+
+        raise NotAchievedException("Home is set when it shouldn't be")
+
     def HIGH_LATENCY2(self):
         '''test sending of HIGH_LATENCY2'''
 
@@ -6271,6 +6281,35 @@ def add_param_value(mav, m):
             return
         raise ValueError("Failed to set parameters (%s)" % want)
 
+    def check_parameter_value(self, name, expected_value, max_error_percent):
+        value = self.get_parameter_direct(name, verbose=False)
+
+        # Convert to ratio and find limits
+        error_ratio = max_error_percent / 100
+        limits = [expected_value * (1 + error_ratio), expected_value * (1 - error_ratio)]
+
+        # Ensure that min and max are always the corret way round
+        upper_limit = max(limits)
+        lower_limit = min(limits)
+
+        # Work out the true error percentage
+        error_percent = math.nan
+        if expected_value != 0:
+            error_percent = abs(1.0 - (value / expected_value)) * 100
+
+        # Check value is within limits
+        if (value > upper_limit) or (value < lower_limit):
+            raise ValueError("%s expected %f ± %f%% (%f to %f) got %s with %f%% error" % (
+                name,
+                expected_value,
+                max_error_percent,
+                lower_limit,
+                upper_limit,
+                value,
+                error_percent))
+
+        self.progress("%s: (%f) check passed %f%% error less than %f%%" % (name, value, error_percent, max_error_percent))
+
     def get_parameter(self, *args, **kwargs):
         return self.get_parameter_direct(*args, **kwargs)
 
@@ -8331,8 +8370,8 @@ def assert_prearm_failure(self,
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
                 raise NotAchievedException(
-                    "Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
-                    (seen_statustext, seen_command_ack))
+                    f"Did not see failure-to-arm messages ({seen_statustext=} {expected_statustext=} {seen_command_ack=})"
+                )
             if now - arm_last_send > 1:
                 arm_last_send = now
                 self.send_mavlink_run_prearms_command()
@@ -9272,6 +9311,19 @@ def upload_using_mission_protocol(self, mission_type, items):
                                        (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
         self.progress("Upload of all %u items succeeded" % len(items))
 
+    def assert_fetch_mission_item_int(self, target_system, target_component, seq, mission_type):
+        self.mav.mav.mission_request_int_send(target_system,
+                                              target_component,
+                                              seq,
+                                              mission_type)
+        m = self.assert_receive_message(
+            'MISSION_ITEM_INT',
+            condition=f'MISSION_ITEM_INT.mission_type=={mission_type}',
+        )
+        if m is None:
+            raise NotAchievedException("Did not receive MISSION_ITEM_INT")
+        return m
+
     def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
         '''mavlink2 required'''
         target_system = 1
@@ -9323,16 +9375,7 @@ def download_using_mission_protocol(self, mission_type, verbose=False, timeout=1
                 return items
             self.progress("Requesting item %u (remaining=%u)" %
                           (next_to_request, len(remaining_to_receive)))
-            self.mav.mav.mission_request_int_send(target_system,
-                                                  target_component,
-                                                  next_to_request,
-                                                  mission_type)
-            m = self.mav.recv_match(type='MISSION_ITEM_INT',
-                                    blocking=True,
-                                    timeout=5,
-                                    condition='MISSION_ITEM_INT.mission_type==%u' % mission_type)
-            if m is None:
-                raise NotAchievedException("Did not receive MISSION_ITEM_INT")
+            m = self.assert_fetch_mission_item_int(target_system, target_component, next_to_request, mission_type)
             if m.target_system != self.mav.source_system:
                 raise NotAchievedException("Wrong target system (want=%u got=%u)" %
                                            (self.mav.source_system, m.target_system))
diff --git a/Tools/bootloaders/CubeNode-ETH_bl.bin b/Tools/bootloaders/CubeNode-ETH_bl.bin
index b857e8a7b883c..915762dde376f 100755
Binary files a/Tools/bootloaders/CubeNode-ETH_bl.bin and b/Tools/bootloaders/CubeNode-ETH_bl.bin differ
diff --git a/Tools/bootloaders/CubeNode-ETH_bl.hex b/Tools/bootloaders/CubeNode-ETH_bl.hex
index 8fabf09f9da32..7cb906f86651b 100644
--- a/Tools/bootloaders/CubeNode-ETH_bl.hex
+++ b/Tools/bootloaders/CubeNode-ETH_bl.hex
@@ -1,34 +1,34 @@
 :020000040800F2
 :1000000000070020F102000855CB00080DCB0008C6
 :1000100035CB00080DCB00082DCB0008F3020008FB
-:10002000F3020008F3020008F302000879F7000861
+:10002000F3020008F3020008F302000891F7000849
 :10003000F3020008F3020008F3020008F3020008CC
 :10004000F3020008F3020008F3020008F3020008BC
-:10005000F3020008F3020008153F0108413F0108C0
-:100060006D3F0108993F0108C53F0108F1FC0008F8
-:1000700019FD000845FD000871FD00089DFD000800
-:10008000C5FD0008F1FD0008F3020008F1C90008F1
-:10009000F302000801CA0008F3020008F13F01085A
+:10005000F3020008F30200082D3F0108593F010890
+:10006000853F0108B13F0108DD3F010809FD000897
+:1000700031FD00085DFD000889FD0008B5FD0008A0
+:10008000DDFD000809FE0008F3020008F1C90008C0
+:10009000F302000801CA0008F30200080940010841
 :1000A000F3020008F3020008F3020008F30200085C
 :1000B000F3020008F3020008F3020008F30200084C
 :1000C000F3020008F3020008F3020008F30200083C
 :1000D000F3020008F3020008F3020008F30200082C
-:1000E00055400108F3020008F3020008F30200087B
-:1000F000F3020008F3020008F30200081DFE0008E6
-:10010000F3020008F3020008DD400108F3020008D2
+:1000E0006D400108F3020008F3020008F302000863
+:1000F000F3020008F3020008F302000835FE0008CE
+:10010000F3020008F3020008F5400108F3020008BA
 :10011000F3020008F3020008F3020008F3020008EB
-:1001200049FE000871FE00089DFE0008C9FE000897
-:10013000F5FE0008D1010108F3020008F3020008EF
+:1001200061FE000889FE0008B5FE0008E1FE000837
+:100130000DFF0008E9010108F3020008F3020008BE
 :10014000F3020008F3020008F3020008F3020008BB
-:100150001DFF000849FF000875FF0008F3020008B2
+:1001500035FF000861FF00088DFF0008F30200086A
 :10016000F3020008F3020008F3020008F30200089B
-:10017000F30200085D330108F3020008F3020008EF
-:10018000F3020008F3020008C9400108F302000866
+:10017000F302000875330108F3020008F3020008D7
+:10018000F3020008F3020008E1400108F30200084E
 :10019000F3020008F3020008F3020008F30200086B
 :1001A000F3020008F3020008F3020008F30200085B
 :1001B000F3020008F3020008F3020008F30200084B
 :1001C000F3020008F3020008F3020008F30200083B
-:1001D000F302000849330108F3020008F3020008A3
+:1001D000F302000861330108F3020008F30200088B
 :1001E000F3020008F3020008F3020008F30200081B
 :1001F000F3020008F3020008F3020008F30200080B
 :10020000F3020008F3020008F3020008F3020008FA
@@ -52,22 +52,22 @@
 :100320004F8FBFF36F8F40F20000C0F2F0004EF627
 :100330008851CEF200010860BFF34F8FBFF36F8F7B
 :100340004FF00000E1EE100A4EF63C71CEF20001D3
-:100350000860062080F31488BFF36F8F12F074FAE0
-:1003600013F0A4FB4FF055301F491B4A91423CBF8C
+:100350000860062080F31488BFF36F8F12F080FAD4
+:1003600013F0B0FB4FF055301F491B4A91423CBF80
 :1003700041F8040BFAE71D49184A91423CBF41F885
 :10038000040BFAE71A491B4A1B4B9A423EBF51F82D
 :10039000040B42F8040BF8E700201849184A914270
-:1003A0003CBF41F8040BFAE712F08CFA13F004FC9E
+:1003A0003CBF41F8040BFAE712F098FA13F010FC86
 :1003B000144C154DAC4203DA54F8041B8847F9E796
 :1003C00000F094F8114C124DAC4203DA54F8041BBF
-:1003D0008847F9E712F074BA0007002000230020D4
+:1003D0008847F9E712F080BA0007002000230020C8
 :1003E0000000000808ED00E00001002000070020E8
-:1003F000908D010800230020F0230020F02300202E
+:1003F000B88A010800230020F0230020F023002009
 :1004000028800020E0020008EC020008EC0200084E
 :10041000EC0200082DE9F04F2DED108AC1F80CD048
 :10042000D0F80CD0BDEC108ABDE8F08F002383F328
-:1004300011882846A047002011F0B8FBFEE711F014
-:1004400081FA00DFFEE7000001F0FF01102A2BDB3C
+:1004300011882846A047002011F0C4FBFEE711F008
+:100440008DFA00DFFEE7000001F0FF01102A2BDB30
 :1004500010F0070F08D010F8013B013A8B422DD065
 :1004600010F0070F42B3F6D1F0B441EA012141EA9E
 :10047000014122F007047FF000070023F0E8025654
@@ -79,27 +79,27 @@
 :1004D000013015F4807F02BF013015F4C03F0130B8
 :1004E000F0BC0138704700BF704700002DE9F341B0
 :1004F00001F074FE02F032F8304801F053FC12F0C3
-:10050000FFF8074612F096F9054600283ED12C4B1D
+:100500000BF9074612F0A2F9054600283ED12C4B04
 :100510009F423BD001339F423BD027F0FF02294B43
 :100520009A4239D12E4642F21074F8B200F0D0FF50
 :1005300000F0D4FF08B10024264602F007FB8046F5
 :1005400070B30024032000F0ADF8424626461E4951
 :100550001A4801F037FC35B11C4B9F4203D00024F0
-:1005600012F060F92646002012F0D4F80EB100F027
+:1005600012F06CF92646002012F0E0F80EB100F00F
 :10057000AFF801F091FF00F0E5FF104801F0ECFB4F
 :10058000204600F057F900F0A3F8F9E72E460024C2
 :10059000CEE704460126CBE7064641F28834C7E79A
 :1005A00002F052FB0028D6D04169437E027E0091C2
 :1005B0000248074901F006FCCDE700BFF023002008
-:1005C000010007B0000008B07C530108263A09B0CA
-:1005D0009053010810B5084C04F108000CF07CFAA7
+:1005C000010007B0000008B094530108263A09B0B2
+:1005D000A853010810B5084C04F108000CF07CFA8F
 :1005E00004F134000CF078FA2046044A0449BDE8CE
-:1005F000104013F0C7BD00BFF02300200C5A0020AC
+:1005F000104013F0D3BD00BFF02300200C5A0020A0
 :10060000E904000808B501F0B5FDA0F12003584247
 :10061000584108BD07B541F21203022101A8ADF807
 :10062000043001F0C5FD03B05DF804FB38B530239C
-:1006300083F31188174803680BB111F083FB002383
-:10064000154A4FF47A71134811F072FB002383F3BB
+:1006300083F31188174803680BB111F08FFB002377
+:10064000154A4FF47A71134811F07EFB002383F3AF
 :100650001188124C236813B12368013B236063683F
 :1006600013B16368013B63600D4D2B7833B9636848
 :100670007BB9022001F066FE322363602B78032BE6
@@ -112,7 +112,7 @@
 :1006E0004C4B5A60F8BD4C4B4C4A1C4619680131C2
 :1006F000F8D004339342F9D16268494B9A42F1D958
 :10070000484B9B6803F1006303F580239A42E9D2CA
-:1007100012F05CF812F06EF8002001F085FD022066
+:1007100012F068F812F07AF8002001F085FD02204E
 :10072000FFF7C0FF404B00219A6C99641A6F19675C
 :100730001A6FDA6CD9645A6F59675A6F1A6D196556
 :100740009A6F99679B6F394BD3F8802042F0006213
@@ -133,8 +133,8 @@
 :1008300000ED00E02DE9F04F93B0B74B2022FF21EF
 :1008400000900AA89D6801F0D1FDB44A1378A3B9BD
 :100850000121B34811700360302383F311880368CA
-:100860000BB111F06FFA0023AE4A4FF47A71AC4825
-:1008700011F05EFA002383F31188009B13B1AA4B99
+:100860000BB111F07BFA0023AE4A4FF47A71AC4819
+:1008700011F06AFA002383F31188009B13B1AA4B8D
 :10088000009A1A60A94A1378032B03D0002313702F
 :10089000A54A53604FF0000A009CD3465646D14605
 :1008A000012001F04DFD24B19F4B1B68002B00F08F
@@ -207,11 +207,11 @@
 :100CD000FFF798FC00283FF449AE01F0DFFA002846
 :100CE00044D00A9B01330BD008220AA9002001F04E
 :100CF00085FB00283AD02022FF210AA801F076FBCC
-:100D0000FFF788FC1C4810F057FF13B0BDE8F08FC8
+:100D0000FFF788FC1C4810F063FF13B0BDE8F08FBC
 :100D1000002E3FF42BAE0BF00B030B2B7FF426AE13
 :100D20000023642105A8059301F038FA074600283E
 :100D30007FF41CAE0220FFF765FC804600283FF4DC
-:100D400015AEFFF767FC41F2883010F035FF0598CB
+:100D400015AEFFF767FC41F2883010F041FF0598BF
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 :100D60004EE64FF0000901E6BA467EE637467CE6DD
 :100D70005825002000230020A0860100094A49F2DE
@@ -224,14 +224,14 @@
 :100DE0000021204601F002FB0BF0C2FE4FF47A72A4
 :100DF000254BB0FBF2F0186093E80700022384E86B
 :100E000007000DF5E9702382FFF7D2FF43F2047368
-:100E10001E4906A8238413F051FA1A230DF2E32287
+:100E10001E4906A8238413F05DFA1A230DF2E3227B
 :100E20000DF1300C84F8323106AB1E46083203CE89
 :100E3000664542F8080C42F8041C3346F5D1338865
 :100E40000DAE204631461380012201F0E7FB00235E
 :100E500080B2E97E0393AB7E029305F119030193FF
 :100E60000123009306A3D3E90023CDE904603846AB
-:100E70000EF052F80DF54F7DF0BD00BFAFF30080CE
-:100E80009E6AC421818A46EE64260020AC53010884
+:100E70000EF05EF80DF54F7DF0BD00BFAFF30080C2
+:100E80009E6AC421818A46EE64260020C45301086C
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 :100EA00027A9284601F032FD0746002842D19DF8C7
 :100EB0009D60C82E3ED801464FF4A662204601F040
@@ -242,7 +242,7 @@
 :100F000001F074FA0122214627A801F045FD0023D3
 :100F100080B2E97E0393AB7E029305F1190301933E
 :100F20002823CDE904400093404605A3D3E90023DC
-:100F30000DF0F2FF5AB0BDE8F08100BFAFF30080C2
+:100F30000DF0FEFF5AB0BDE8F08100BFAFF30080B6
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@@ -251,19 +251,19 @@
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@@ -278,22 +278,22 @@
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@@ -342,10 +342,10 @@
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@@ -354,7 +354,7 @@
 :10160000ADF82C300993636000234FF0010A0DF10F
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@@ -365,7 +365,7 @@
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@@ -373,12 +373,12 @@
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diff --git a/Tools/bootloaders/CubeNode_bl.bin b/Tools/bootloaders/CubeNode_bl.bin
index bac972709f9b1..5632578b89c11 100755
Binary files a/Tools/bootloaders/CubeNode_bl.bin and b/Tools/bootloaders/CubeNode_bl.bin differ
diff --git a/Tools/bootloaders/CubeNode_bl.hex b/Tools/bootloaders/CubeNode_bl.hex
index 954f6b13fe092..0641d600dfc47 100644
--- a/Tools/bootloaders/CubeNode_bl.hex
+++ b/Tools/bootloaders/CubeNode_bl.hex
@@ -1,34 +1,34 @@
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diff --git a/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin b/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin
index 449a2062ae4df..af108e9c444f5 100755
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diff --git a/Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin b/Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin
index 37f809ca81c0e..ea37a306fd6c5 100755
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diff --git a/Tools/bootloaders/TBS-L431-Periph_bl.bin b/Tools/bootloaders/TBS-L431-Periph_bl.bin
new file mode 100755
index 0000000000000..2241cd3331002
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diff --git a/Tools/bootloaders/TBS-L431-Periph_bl.hex b/Tools/bootloaders/TBS-L431-Periph_bl.hex
new file mode 100644
index 0000000000000..f9c8d2409a7e9
--- /dev/null
+++ b/Tools/bootloaders/TBS-L431-Periph_bl.hex
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diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index c3455a5529d87..d6d85d58f0a89 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -407,6 +407,7 @@ def config_option(self):
     Feature('Airspeed Drivers', 'NMEA_AIRSPEED', 'AP_AIRSPEED_NMEA_ENABLED', 'Enable NMEA AIRSPEED', 0, 'AIRSPEED'),
     Feature('Airspeed Drivers', 'SDP3X', 'AP_AIRSPEED_SDP3X_ENABLED', 'Enable SDP3X AIRSPEED', 0, 'AIRSPEED'),
     Feature('Airspeed Drivers', 'DRONECAN_ASPD', 'AP_AIRSPEED_DRONECAN_ENABLED', 'Enable DroneCAN AIRSPEED', 0, 'AIRSPEED,DroneCAN'),   # NOQA: E501
+    Feature('Airspeed Drivers', 'AUAV_AIRSPEED', 'AP_AIRSPEED_AUAV_ENABLED', 'ENABLE AUAV AIRSPEED', 0, 'AIRSPEED'),
 
     Feature('Actuators', 'ServoTelem', 'AP_SERVO_TELEM_ENABLED', 'Enable servo telemetry library', 0, None),
     Feature('Actuators', 'Volz', 'AP_VOLZ_ENABLED', 'Enable Volz Protocol', 0, None),
diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index b52e49f2991ae..1e78630c40925 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -170,6 +170,7 @@ def linux_board_names(self):
         # grep 'class.*[(]linux' Tools/ardupilotwaf/boards.py  | perl -pe "s/class (.*)\(linux\).*/            '\\1',/"
         return [
             'navigator',
+            'navigator64',
             'erleboard',
             'navio',
             'navio2',
diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 24a8611bacf58..057669b703731 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -153,7 +153,12 @@ void AP_AutoTune::stop(void)
 
 const char *AP_AutoTune::axis_string(void) const
 {
-    switch (type) {
+    return axis_string(type);
+}
+
+const char *AP_AutoTune::axis_string(ATType _type)
+{
+    switch (_type) {
     case AUTOTUNE_ROLL:
         return "Roll";
     case AUTOTUNE_PITCH:
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index a1312bc4c9d71..a4bdba06aa9a8 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -64,6 +64,8 @@ class AP_AutoTune
     // are we running?
     bool running;
 
+    static const char *axis_string(ATType _type);
+
 private:
     // the current gains
     ATGains &current;
diff --git a/libraries/APM_Control/AP_FW_Controller.cpp b/libraries/APM_Control/AP_FW_Controller.cpp
new file mode 100644
index 0000000000000..22a51e75a787d
--- /dev/null
+++ b/libraries/APM_Control/AP_FW_Controller.cpp
@@ -0,0 +1,157 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+//	Code by Jon Challinger
+//  Modified by Paul Riseborough
+//
+
+
+#include "AP_FW_Controller.h"
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <GCS_MAVLink/GCS.h>
+
+AP_FW_Controller::AP_FW_Controller(const AP_FixedWing &parms, const AC_PID::Defaults &defaults, AP_AutoTune::ATType _autotune_type)
+    : aparm(parms),
+      rate_pid(defaults),
+      autotune_type(_autotune_type)
+{
+    rate_pid.set_slew_limit_scale(45);
+}
+
+/*
+  AC_PID based rate controller
+*/
+float AP_FW_Controller::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode)
+{
+    const float dt = AP::scheduler().get_loop_period_s();
+
+    const float eas2tas = AP::ahrs().get_EAS2TAS();
+    bool limit_I = fabsf(_last_out) >= 45;
+    const float rate = get_measured_rate();
+    const float old_I = rate_pid.get_i();
+
+    const bool underspeed = is_underspeed(aspeed);
+    if (underspeed) {
+        limit_I = true;
+    }
+
+    // the P and I elements are scaled by sq(scaler). To use an
+    // unmodified AC_PID object we scale the inputs and calculate FF separately
+    //
+    // note that we run AC_PID in radians so that the normal scaling
+    // range for IMAX in AC_PID applies (usually an IMAX value less than 1.0)
+    rate_pid.update_all(radians(desired_rate) * scaler * scaler, rate * scaler * scaler, dt, limit_I);
+
+    if (underspeed) {
+        // when underspeed we lock the integrator
+        rate_pid.set_integrator(old_I);
+    }
+
+    // FF should be scaled by scaler/eas2tas, but since we have scaled
+    // the AC_PID target above by scaler*scaler we need to instead
+    // divide by scaler*eas2tas to get the right scaling
+    const float ff = degrees(ff_scale * rate_pid.get_ff() / (scaler * eas2tas));
+    ff_scale = 1.0;
+
+    if (disable_integrator) {
+        rate_pid.reset_I();
+    }
+
+    // convert AC_PID info object to same scale as old controller
+    _pid_info = rate_pid.get_pid_info();
+    auto &pinfo = _pid_info;
+
+    const float deg_scale = degrees(1);
+    pinfo.FF = ff;
+    pinfo.P *= deg_scale;
+    pinfo.I *= deg_scale;
+    pinfo.D *= deg_scale;
+    pinfo.DFF *= deg_scale;
+
+    // fix the logged target and actual values to not have the scalers applied
+    pinfo.target = desired_rate;
+    pinfo.actual = degrees(rate);
+
+    // sum components
+    float out = pinfo.FF + pinfo.P + pinfo.I + pinfo.D + pinfo.DFF;
+    if (ground_mode) {
+        // when on ground suppress D and half P term to prevent oscillations
+        out -= pinfo.D + 0.5*pinfo.P;
+    }
+
+    // remember the last output to trigger the I limit
+    _last_out = out;
+
+    if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
+        // let autotune have a go at the values
+        autotune->update(pinfo, scaler, angle_err_deg);
+    }
+
+    // output is scaled to notional centidegrees of deflection
+    return constrain_float(out * 100, -4500, 4500);
+}
+
+/*
+ Function returns an equivalent control surface deflection in centi-degrees in the range from -4500 to 4500
+*/
+float AP_FW_Controller::get_rate_out(float desired_rate, float scaler)
+{
+    return _get_rate_out(desired_rate, scaler, false, get_airspeed(), false);
+}
+
+void AP_FW_Controller::reset_I()
+{
+    rate_pid.reset_I();
+}
+
+/*
+    reduce the integrator, used when we have a low scale factor in a quadplane hover
+*/
+void AP_FW_Controller::decay_I()
+{
+    // this reduces integrator by 95% over 2s
+    _pid_info.I *= 0.995f;
+    rate_pid.set_integrator(rate_pid.get_i() * 0.995);
+}
+
+/*
+  restore autotune gains
+ */
+void AP_FW_Controller::autotune_restore(void)
+{
+    if (autotune != nullptr) {
+        autotune->stop();
+    }
+}
+
+/*
+  start an autotune
+ */
+void AP_FW_Controller::autotune_start(void)
+{
+    if (autotune == nullptr) {
+        autotune = NEW_NOTHROW AP_AutoTune(gains, autotune_type, aparm, rate_pid);
+        if (autotune == nullptr) {
+            if (!failed_autotune_alloc) {
+                GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed %s allocation", AP_AutoTune::axis_string(autotune_type));
+            }
+            failed_autotune_alloc = true;
+        }
+    }
+    if (autotune != nullptr) {
+        autotune->start();
+    }
+}
+
diff --git a/libraries/APM_Control/AP_FW_Controller.h b/libraries/APM_Control/AP_FW_Controller.h
new file mode 100644
index 0000000000000..5cd81bdc41242
--- /dev/null
+++ b/libraries/APM_Control/AP_FW_Controller.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <AP_Common/AP_Common.h>
+#include "AP_AutoTune.h"
+#include <AC_PID/AC_PID.h>
+
+class AP_FW_Controller
+{
+public:
+    AP_FW_Controller(const AP_FixedWing &parms, const AC_PID::Defaults &defaults, AP_AutoTune::ATType _autotune_type);
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_FW_Controller);
+
+    float get_rate_out(float desired_rate, float scaler);
+    virtual float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode) = 0;
+
+    // setup a one loop FF scale multiplier. This replaces any previous scale applied
+    // so should only be used when only one source of scaling is needed
+    void set_ff_scale(float _ff_scale) { ff_scale = _ff_scale; }
+
+    void reset_I();
+
+    /*
+      reduce the integrator, used when we have a low scale factor in a quadplane hover
+    */
+    void decay_I();
+
+    void autotune_start(void);
+    void autotune_restore(void);
+
+    const AP_PIDInfo& get_pid_info(void) const
+    {
+        return _pid_info;
+    }
+
+    // set the PID notch sample rates
+    void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
+
+    AP_Float &kP(void) { return rate_pid.kP(); }
+    AP_Float &kI(void) { return rate_pid.kI(); }
+    AP_Float &kD(void) { return rate_pid.kD(); }
+    AP_Float &kFF(void) { return rate_pid.ff(); }
+    AP_Float &tau(void) { return gains.tau; }
+
+protected:
+    const AP_FixedWing &aparm;
+    AP_AutoTune::ATGains gains;
+    AP_AutoTune *autotune;
+    bool failed_autotune_alloc;
+    float _last_out;
+    AC_PID rate_pid;
+    float angle_err_deg;
+    float ff_scale = 1.0;
+
+    AP_PIDInfo _pid_info;
+
+    float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode);
+
+    virtual bool is_underspeed(const float aspeed) const = 0;
+
+    virtual float get_airspeed() const = 0;
+
+    virtual float get_measured_rate() const = 0;
+
+    const AP_AutoTune::ATType autotune_type;
+};
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 0bd2e9417e590..64908641d08fc 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -20,7 +20,6 @@
 #include "AP_PitchController.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Scheduler/AP_Scheduler.h>
-#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -162,105 +161,42 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
 };
 
 AP_PitchController::AP_PitchController(const AP_FixedWing &parms)
-    : aparm(parms)
+    : AP_FW_Controller(parms,
+      AC_PID::Defaults{
+        .p         = 0.04,
+        .i         = 0.15,
+        .d         = 0.0,
+        .ff        = 0.345,
+        .imax      = 0.666,
+        .filt_T_hz = 3.0,
+        .filt_E_hz = 0.0,
+        .filt_D_hz = 12.0,
+        .srmax     = 150.0,
+        .srtau     = 1.0
+    },
+    AP_AutoTune::ATType::AUTOTUNE_PITCH)
 {
     AP_Param::setup_object_defaults(this, var_info);
-    rate_pid.set_slew_limit_scale(45);
 }
 
-/*
-  AC_PID based rate controller
-*/
-float AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode)
+float AP_PitchController::get_measured_rate() const
 {
-    const float dt = AP::scheduler().get_loop_period_s();
-
-    const AP_AHRS &_ahrs = AP::ahrs();
-
-    const float eas2tas = _ahrs.get_EAS2TAS();
-    bool limit_I = fabsf(_last_out) >= 45;
-    float rate_y = _ahrs.get_gyro().y;
-    float old_I = rate_pid.get_i();
-
-    bool underspeed = aspeed <= 0.5*float(aparm.airspeed_min);
-    if (underspeed) {
-        limit_I = true;
-    }
-
-    // the P and I elements are scaled by sq(scaler). To use an
-    // unmodified AC_PID object we scale the inputs and calculate FF separately
-    //
-    // note that we run AC_PID in radians so that the normal scaling
-    // range for IMAX in AC_PID applies (usually an IMAX value less than 1.0)
-    rate_pid.update_all(radians(desired_rate) * scaler * scaler, rate_y * scaler * scaler, dt, limit_I);
-
-    if (underspeed) {
-        // when underspeed we lock the integrator
-        rate_pid.set_integrator(old_I);
-    }
-
-    // FF should be scaled by scaler/eas2tas, but since we have scaled
-    // the AC_PID target above by scaler*scaler we need to instead
-    // divide by scaler*eas2tas to get the right scaling
-    const float ff = degrees(ff_scale * rate_pid.get_ff() / (scaler * eas2tas));
-    ff_scale = 1.0;
-
-    if (disable_integrator) {
-        rate_pid.reset_I();
-    }
-
-    // convert AC_PID info object to same scale as old controller
-    _pid_info = rate_pid.get_pid_info();
-    auto &pinfo = _pid_info;
-
-    const float deg_scale = degrees(1);
-    pinfo.FF = ff;
-    pinfo.P *= deg_scale;
-    pinfo.I *= deg_scale;
-    pinfo.D *= deg_scale;
-    pinfo.DFF *= deg_scale;
-
-    // fix the logged target and actual values to not have the scalers applied
-    pinfo.target = desired_rate;
-    pinfo.actual = degrees(rate_y);
-
-    // sum components
-    float out = pinfo.FF + pinfo.P + pinfo.I + pinfo.D + pinfo.DFF;
-    if (ground_mode) {
-        // when on ground suppress D and half P term to prevent oscillations
-        out -= pinfo.D + 0.5*pinfo.P;
-    }
-
-    // remember the last output to trigger the I limit
-    _last_out = out;
-
-    if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
-        // let autotune have a go at the values
-        autotune->update(pinfo, scaler, angle_err_deg);
-    }
-
-    // output is scaled to notional centidegrees of deflection
-    return constrain_float(out * 100, -4500, 4500);
+    return AP::ahrs().get_gyro().y;
 }
 
-/*
- Function returns an equivalent elevator deflection in centi-degrees in the range from -4500 to 4500
- A positive demand is up
- Inputs are:
- 1) demanded pitch rate in degrees/second
- 2) control gain scaler = scaling_speed / aspeed
- 3) boolean which is true when stabilise mode is active
- 4) minimum FBW airspeed (metres/sec)
- 5) maximum FBW airspeed (metres/sec)
-*/
-float AP_PitchController::get_rate_out(float desired_rate, float scaler)
+float AP_PitchController::get_airspeed() const
 {
     float aspeed;
     if (!AP::ahrs().airspeed_estimate(aspeed)) {
         // If no airspeed available use average of min and max
         aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
     }
-    return _get_rate_out(desired_rate, scaler, false, aspeed, false);
+    return aspeed;
+}
+
+bool AP_PitchController::is_underspeed(const float aspeed) const
+{
+    return aspeed <= 0.5*float(aparm.airspeed_min);
 }
 
 /*
@@ -270,7 +206,7 @@ float AP_PitchController::get_rate_out(float desired_rate, float scaler)
   Also returns the inverted flag and the estimated airspeed in m/s for
   use by the rest of the pitch controller
  */
-float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inverted) const
+float AP_PitchController::_get_coordination_rate_offset(const float &aspeed, bool &inverted) const
 {
     float rate_offset;
     float bank_angle = AP::ahrs().get_roll();
@@ -288,10 +224,6 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
         }
     }
     const AP_AHRS &_ahrs = AP::ahrs();
-    if (!_ahrs.airspeed_estimate(aspeed)) {
-        // If no airspeed available use average of min and max
-        aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
-    }
     if (abs(_ahrs.pitch_sensor) > 7000) {
         // don't do turn coordination handling when at very high pitch angles
         rate_offset = 0;
@@ -318,7 +250,6 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
     // Calculate offset to pitch rate demand required to maintain pitch angle whilst banking
     // Calculate ideal turn rate from bank angle and airspeed assuming a level coordinated turn
     // Pitch rate offset is the component of turn rate about the pitch axis
-    float aspeed;
     float rate_offset;
     bool inverted;
 
@@ -326,6 +257,8 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
         gains.tau.set(0.05f);
     }
 
+    const float aspeed = get_airspeed();
+
     rate_offset = _get_coordination_rate_offset(aspeed, inverted);
 
     // Calculate the desired pitch rate (deg/sec) from the angle error
@@ -370,11 +303,6 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
     return _get_rate_out(desired_rate, scaler, disable_integrator, aspeed, ground_mode);
 }
 
-void AP_PitchController::reset_I()
-{
-    rate_pid.reset_I();
-}
-
 /*
   convert from old to new PIDs
   this is a temporary conversion function during development
@@ -405,32 +333,3 @@ void AP_PitchController::convert_pid()
     rate_pid.kD().set_and_save_ifchanged(0);
     rate_pid.kIMAX().set_and_save_ifchanged(old_imax/4500.0);
 }
-
-/*
-  start an autotune
- */
-void AP_PitchController::autotune_start(void)
-{
-    if (autotune == nullptr) {
-        autotune = NEW_NOTHROW AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_PITCH, aparm, rate_pid);
-        if (autotune == nullptr) {
-            if (!failed_autotune_alloc) {
-                GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed pitch allocation");
-            }
-            failed_autotune_alloc = true;
-        }
-    }
-    if (autotune != nullptr) {
-        autotune->start();
-    }
-}
-
-/*
-  restore autotune gains
- */
-void AP_PitchController::autotune_restore(void)
-{
-    if (autotune != nullptr) {
-        autotune->stop();
-    }
-}
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index e2900d15ad11a..1cef2b5ea9adf 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -1,11 +1,8 @@
 #pragma once
 
-#include <AP_Common/AP_Common.h>
-#include "AP_AutoTune.h"
-#include <AP_Math/AP_Math.h>
-#include <AC_PID/AC_PID.h>
+#include "AP_FW_Controller.h"
 
-class AP_PitchController
+class AP_PitchController : public AP_FW_Controller
 {
 public:
     AP_PitchController(const AP_FixedWing &parms);
@@ -13,60 +10,19 @@ class AP_PitchController
     /* Do not allow copies */
     CLASS_NO_COPY(AP_PitchController);
 
-    float get_rate_out(float desired_rate, float scaler);
-    float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode);
-
-    // setup a one loop FF scale multiplier. This replaces any previous scale applied
-    // so should only be used when only one source of scaling is needed
-    void set_ff_scale(float _ff_scale) { ff_scale = _ff_scale; }
-
-    void reset_I();
-
-    /*
-      reduce the integrator, used when we have a low scale factor in a quadplane hover
-    */
-    void decay_I()
-    {
-        // this reduces integrator by 95% over 2s
-        _pid_info.I *= 0.995f;
-        rate_pid.set_integrator(rate_pid.get_i() * 0.995);
-    }
-
-    void autotune_start(void);
-    void autotune_restore(void);
-
-    const AP_PIDInfo& get_pid_info(void) const
-    {
-        return _pid_info;
-    }
-
-    // set the PID notch sample rates
-    void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
+    float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode) override;
 
     static const struct AP_Param::GroupInfo var_info[];
 
-    AP_Float &kP(void) { return rate_pid.kP(); }
-    AP_Float &kI(void) { return rate_pid.kI(); }
-    AP_Float &kD(void) { return rate_pid.kD(); }
-    AP_Float &kFF(void) { return rate_pid.ff(); }
-    AP_Float &tau(void) { return gains.tau; }
-
     void convert_pid();
 
 private:
-    const AP_FixedWing &aparm;
-    AP_AutoTune::ATGains gains;
-    AP_AutoTune *autotune;
-    bool failed_autotune_alloc;
-    AP_Int16 _max_rate_neg;
     AP_Float _roll_ff;
-    float _last_out;
-    AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 150, 1};
-    float angle_err_deg;
-    float ff_scale = 1.0;
 
-    AP_PIDInfo _pid_info;
+    float _get_coordination_rate_offset(const float &aspeed, bool &inverted) const;
+
+    float get_airspeed() const override;
+    bool is_underspeed(const float aspeed) const override;
+    float get_measured_rate() const override;
 
-    float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode);
-    float _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
 };
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 6f16fd2b0245d..3cf2f2f978179 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -21,7 +21,6 @@
 #include "AP_RollController.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Scheduler/AP_Scheduler.h>
-#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -146,101 +145,42 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
 
 // constructor
 AP_RollController::AP_RollController(const AP_FixedWing &parms)
-    : aparm(parms)
+    : AP_FW_Controller(parms,
+      AC_PID::Defaults{
+        .p         = 0.08,
+        .i         = 0.15,
+        .d         = 0.0,
+        .ff        = 0.345,
+        .imax      = 0.666,
+        .filt_T_hz = 3.0,
+        .filt_E_hz = 0.0,
+        .filt_D_hz = 12.0,
+        .srmax     = 150.0,
+        .srtau     = 1.0
+    },
+    AP_AutoTune::ATType::AUTOTUNE_ROLL)
 {
     AP_Param::setup_object_defaults(this, var_info);
-    rate_pid.set_slew_limit_scale(45);
 }
 
-
-/*
-  AC_PID based rate controller
-*/
-float AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode)
+float AP_RollController::get_measured_rate() const
 {
-    const AP_AHRS &_ahrs = AP::ahrs();
+    return AP::ahrs().get_gyro().x;
+}
 
-    const float dt = AP::scheduler().get_loop_period_s();
-    const float eas2tas = _ahrs.get_EAS2TAS();
-    bool limit_I = fabsf(_last_out) >= 45;
-    float rate_x = _ahrs.get_gyro().x;
+float AP_RollController::get_airspeed() const
+{
     float aspeed;
-    float old_I = rate_pid.get_i();
-
-    if (!_ahrs.airspeed_estimate(aspeed)) {
-        aspeed = 0;
-    }
-    bool underspeed = aspeed <= float(aparm.airspeed_min);
-    if (underspeed) {
-        limit_I = true;
-    }
-
-    // the P and I elements are scaled by sq(scaler). To use an
-    // unmodified AC_PID object we scale the inputs and calculate FF separately
-    //
-    // note that we run AC_PID in radians so that the normal scaling
-    // range for IMAX in AC_PID applies (usually an IMAX value less than 1.0)
-    rate_pid.update_all(radians(desired_rate) * scaler * scaler, rate_x * scaler * scaler, dt, limit_I);
-
-    if (underspeed) {
-        // when underspeed we lock the integrator
-        rate_pid.set_integrator(old_I);
+    if (!AP::ahrs().airspeed_estimate(aspeed)) {
+        // If no airspeed available use 0
+        aspeed = 0.0;
     }
-
-    // FF should be scaled by scaler/eas2tas, but since we have scaled
-    // the AC_PID target above by scaler*scaler we need to instead
-    // divide by scaler*eas2tas to get the right scaling
-    const float ff = degrees(ff_scale * rate_pid.get_ff() / (scaler * eas2tas));
-    ff_scale = 1.0;
-
-    if (disable_integrator) {
-        rate_pid.reset_I();
-    }
-
-    // convert AC_PID info object to same scale as old controller
-    _pid_info = rate_pid.get_pid_info();
-    auto &pinfo = _pid_info;
-
-    const float deg_scale = degrees(1);
-    pinfo.FF = ff;
-    pinfo.P *= deg_scale;
-    pinfo.I *= deg_scale;
-    pinfo.D *= deg_scale;
-    pinfo.DFF *= deg_scale;
-
-    // fix the logged target and actual values to not have the scalers applied
-    pinfo.target = desired_rate;
-    pinfo.actual = degrees(rate_x);
-
-    // sum components
-    float out = pinfo.FF + pinfo.P + pinfo.I + pinfo.D + pinfo.DFF;
-    if (ground_mode) {
-        // when on ground suppress D term to prevent oscillations
-        out -= pinfo.D + 0.5*pinfo.P;
-    }
-
-    // remember the last output to trigger the I limit
-    _last_out = out;
-
-    if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
-        // let autotune have a go at the values
-        autotune->update(pinfo, scaler, angle_err_deg);
-    }
-
-    // output is scaled to notional centidegrees of deflection
-    return constrain_float(out * 100, -4500, 4500);
+    return aspeed;
 }
 
-/*
- Function returns an equivalent elevator deflection in centi-degrees in the range from -4500 to 4500
- A positive demand is up
- Inputs are:
- 1) desired roll rate in degrees/sec
- 2) control gain scaler = scaling_speed / aspeed
-*/
-float AP_RollController::get_rate_out(float desired_rate, float scaler)
+bool AP_RollController::is_underspeed(const float aspeed) const
 {
-    return _get_rate_out(desired_rate, scaler, false, false);
+    return aspeed <= float(aparm.airspeed_min);
 }
 
 /*
@@ -269,12 +209,7 @@ float AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool dis
         desired_rate = gains.rmax_pos;
     }
 
-    return _get_rate_out(desired_rate, scaler, disable_integrator, ground_mode);
-}
-
-void AP_RollController::reset_I()
-{
-    rate_pid.reset_I();
+    return _get_rate_out(desired_rate, scaler, disable_integrator, get_airspeed(), ground_mode);
 }
 
 /*
@@ -306,32 +241,3 @@ void AP_RollController::convert_pid()
     rate_pid.kD().set_and_save_ifchanged(0);
     rate_pid.kIMAX().set_and_save_ifchanged(old_imax/4500.0);
 }
-
-/*
-  start an autotune
- */
-void AP_RollController::autotune_start(void)
-{
-    if (autotune == nullptr) {
-        autotune = NEW_NOTHROW AP_AutoTune(gains, AP_AutoTune::AUTOTUNE_ROLL, aparm, rate_pid);
-        if (autotune == nullptr) {
-            if (!failed_autotune_alloc) {
-                GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AutoTune: failed roll allocation");
-            }
-            failed_autotune_alloc = true;
-        }
-    }
-    if (autotune != nullptr) {
-        autotune->start();
-    }
-}
-
-/*
-  restore autotune gains
- */
-void AP_RollController::autotune_restore(void)
-{
-    if (autotune != nullptr) {
-        autotune->stop();
-    }
-}
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index 35a8a331cc830..d625d3b533eb9 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -1,11 +1,8 @@
 #pragma once
 
-#include <AP_Common/AP_Common.h>
-#include "AP_AutoTune.h"
-#include <AP_Math/AP_Math.h>
-#include <AC_PID/AC_PID.h>
+#include "AP_FW_Controller.h"
 
-class AP_RollController
+class AP_RollController : public AP_FW_Controller
 {
 public:
     AP_RollController(const AP_FixedWing &parms);
@@ -13,59 +10,14 @@ class AP_RollController
     /* Do not allow copies */
     CLASS_NO_COPY(AP_RollController);
 
-    float get_rate_out(float desired_rate, float scaler);
-    float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode);
-
-    // setup a one loop FF scale multiplier. This replaces any previous scale applied
-    // so should only be used when only one source of scaling is needed
-    void set_ff_scale(float _ff_scale) { ff_scale = _ff_scale; }
-
-    void reset_I();
-
-    /*
-      reduce the integrator, used when we have a low scale factor in a quadplane hover
-    */
-    void decay_I()
-    {
-        // this reduces integrator by 95% over 2s
-        _pid_info.I *= 0.995f;
-        rate_pid.set_integrator(rate_pid.get_i() * 0.995);
-    }
-
-    void autotune_start(void);
-    void autotune_restore(void);
-
-    const AP_PIDInfo& get_pid_info(void) const
-    {
-        return _pid_info;
-    }
-
-    // set the PID notch sample rates
-    void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
+    float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode) override;
 
     static const struct AP_Param::GroupInfo var_info[];
 
-
-    // tuning accessors
-    AP_Float &kP(void) { return rate_pid.kP(); }
-    AP_Float &kI(void) { return rate_pid.kI(); }
-    AP_Float &kD(void) { return rate_pid.kD(); }
-    AP_Float &kFF(void) { return rate_pid.ff(); }
-    AP_Float &tau(void) { return gains.tau; }
-
     void convert_pid();
 
 private:
-    const AP_FixedWing &aparm;
-    AP_AutoTune::ATGains gains;
-    AP_AutoTune *autotune;
-    bool failed_autotune_alloc;
-    float _last_out;
-    AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 150, 1};
-    float angle_err_deg;
-    float ff_scale = 1.0;
-
-    AP_PIDInfo _pid_info;
-
-    float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode);
+    float get_airspeed() const override;
+    bool is_underspeed(const float aspeed) const override;
+    float get_measured_rate() const override;
 };
diff --git a/libraries/APM_Control/examples/AP_FW_Controller_test/AP_FW_Controller_test.cpp b/libraries/APM_Control/examples/AP_FW_Controller_test/AP_FW_Controller_test.cpp
new file mode 100644
index 0000000000000..731b8c73a86c7
--- /dev/null
+++ b/libraries/APM_Control/examples/AP_FW_Controller_test/AP_FW_Controller_test.cpp
@@ -0,0 +1,313 @@
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+
+#include <AP_Math/chirp.h>
+#include <APM_Control/AP_RollController.h>
+#include <APM_Control/AP_PitchController.h>
+#include <AP_Vehicle/AP_FixedWing.h>
+
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
+#include <AP_Logger/AP_Logger.h>
+#include <GCS_MAVLink/GCS_Dummy.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+#include <SITL/SITL.h>
+
+/* run with:
+    ./waf configure --board sitl
+    ./waf build --targets examples/AP_FW_Controller_test
+    ./build/sitl/examples/AP_FW_Controller_test
+*/
+
+void setup();
+void loop();
+void microsleep(uint32_t usec);
+float calc_speed_scaler();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+// Sim backend allows us to inject values into the AHRS
+SITL::SIM sim;
+
+// Need a scheduler so the controllers can get DT
+AP_Scheduler scheduler;
+
+// Controllers use AHRS, it also needs some supporting libs
+AP_AHRS ahrs;
+AP_InertialSensor ins;
+Compass compass;
+AP_GPS gps;
+AP_Baro baro;
+AP_ExternalAHRS ext_ahrs;
+AP_Logger logger;
+
+const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
+    AP_GROUPEND
+};
+GCS_Dummy _gcs;
+
+// When using stop clock the normal hal scheduler sleeps don't work.
+// We need to sleep to clear print buffer, so microsleep implementation is copied here
+void microsleep(uint32_t usec)
+{
+    struct timespec ts;
+    ts.tv_sec = 0;
+    ts.tv_nsec = usec*1000UL;
+    while (nanosleep(&ts, &ts) == -1 && errno == EINTR);
+}
+
+
+// Chirp object to generate test signal
+Chirp chirp;
+
+// Chirp setup params
+const float magnitude = 60.0; // deg - large magnitude means slew limit should kick in (very high values needed because of low default gains)
+const float duration = 60.0; // seconds
+const float frequency_start = 1.0; // hz
+const float frequency_stop = 20; // hz, stay under the 25Hz nyquist limit on a 50Hz loop rate
+const float time_fade_in = 15; // seconds
+const float time_fade_out = 10; // seconds
+const float time_const_freq = 2.0 / frequency_start; // seconds
+
+// Param object used by controllers
+AP_FixedWing params;
+
+// Controller objects to test
+AP_RollController roll_control { params };
+AP_PitchController pitch_control { params };
+
+// 50 hz loop, start at time 0
+// Loop rate must match SCHEDULER_DEFAULT_LOOP_RATE
+const uint16_t dt_us = 20000;
+uint64_t waveform_time_us = 0;
+
+// Scaling speed parameter value
+float scaling_speed = 15;
+
+// Default values for user provided configuration
+enum class Axis {
+    Roll = 0,
+    Pitch = 1,
+};
+Axis test_axis = Axis::Roll;
+bool ground_mode = false;
+bool disable_integrator = false;
+
+// Calculate the airspeed scaler based on airspeed and the configured param
+// Method from `Plane::calc_speed_scaler`
+float calc_speed_scaler()
+{
+    float aspeed;
+    if (!ahrs.airspeed_estimate(aspeed)) {
+        return 1.0;
+    }
+
+    // ensure we have scaling over the full configured airspeed
+    const float airspeed_min = MAX(params.airspeed_min, 5);
+    const float scale_min = MIN(0.5, scaling_speed / (2.0 * params.airspeed_max));
+    const float scale_max = MAX(2.0, scaling_speed / (0.7 * airspeed_min));
+    float speed_scaler = scale_max;
+    if (aspeed > 0.0001) {
+        speed_scaler = scaling_speed / aspeed;
+    }
+    return constrain_float(speed_scaler, scale_min, scale_max);
+}
+
+
+// setup function
+void setup()
+{
+    // Default values for user provided configuration
+    bool override_have_airspeed = true;
+    float override_airspeed = 10;
+    float override_roll = 0;
+    float override_pitch = 0;
+
+    // Read in user provided configuration
+    uint8_t argc;
+    char * const *argv;
+    hal.util->commandline_arguments(argc, argv);
+    if (argc > 1) {
+        for (uint8_t i = 1; i < argc; i++) {
+            const char *arg = argv[i];
+            const char *eq = strchr(arg, '=');
+
+            if (eq == NULL) {
+                ::printf("Expected argument with \"=\"\n");
+                exit(1);
+            }
+
+            char cmd[20] {};
+            strncpy(cmd, arg, eq-arg);
+            const float value = atof(eq+1);
+            if (strcmp(cmd, "axis") == 0) {
+                if (strcmp(eq+1, "roll") == 0) {
+                    test_axis = Axis::Roll;
+                } else if (strcmp(eq+1, "pitch") == 0) {
+                    test_axis = Axis::Pitch;
+
+                } else {
+                    ::printf("Unknown axis: %s\n", eq+1);
+                    exit(1);
+                }
+
+            } else if (strcmp(cmd, "roll") == 0) {
+                override_roll = radians(value);
+
+            } else if (strcmp(cmd, "pitch") == 0) {
+                override_pitch = radians(value);
+
+            } else if (strcmp(cmd, "airspeed") == 0) {
+                override_airspeed = value;
+
+            } else if (strcmp(cmd,"airspeed_fail") == 0) {
+                override_have_airspeed = value <= 0.0;
+
+            } else if (strcmp(cmd,"ground_mode") == 0) {
+                ground_mode = value > 0.0;
+
+            } else if (strcmp(cmd,"disable_integrator") == 0) {
+                disable_integrator = value > 0.0;
+
+            } else {
+                ::printf("Expected \"axis\", \"roll\", \"pitch\", \"airspeed\", \"airspeed_fail\",  \"ground_mode\",  \"disable_integrator\"\n");
+                exit(1);
+            }
+        }
+    }
+
+    // Set the configured values into the AHRS
+    ahrs.set_ekf_type(AP_AHRS::EKFType::SIM);
+    sim.state.airspeed = override_airspeed;
+    ahrs.set_wind_estimation_enabled(override_have_airspeed);
+    sim.state.quaternion.from_euler(override_roll, override_pitch, 0.0);
+    ahrs.update(true);
+
+    // Delay so GCS print clears
+    hal.scheduler->delay(1);
+
+    ::printf("FixedWing controller test - ");
+    switch (test_axis) {
+        case Axis::Roll:
+            ::printf("Roll");
+            break;
+
+        case Axis::Pitch:
+            ::printf("Pitch");
+            break;
+    }
+    ::printf(" - ground_mode: %i, disable_integrator: %i\n", ground_mode, disable_integrator);
+
+    // Set default values for the params used by the controllers
+    params.airspeed_min.set(9);
+    params.airspeed_max.set(22);
+    params.roll_limit.set(45);
+    params.pitch_limit_max.set(20);
+    params.pitch_limit_min.set(-25);
+    params.autotune_level.set(6);
+    params.autotune_options.set(0);
+
+    // Setup chirp object
+    chirp.init(duration, frequency_start, frequency_stop, time_fade_in, time_fade_out, time_const_freq);
+
+    // Force clock to start at 0
+    hal.scheduler->stop_clock(waveform_time_us);
+
+    // Print constant inputs
+    ::printf("Chirp - duration: %fs, magnitude: %f, start: %fHz, stop: %fHz, fade in: %fs, fade out:%fs, hold: %fs\n", duration, magnitude, frequency_start, frequency_stop, time_fade_in, time_fade_out, time_const_freq);
+
+    // Print AHRS state
+    float airspeed = -1;
+    bool airspeed_ok = ahrs.airspeed_estimate(airspeed);
+    ::printf("AHRS - roll: %f, pitch: %f, airspeed: %f, airspeed OK: %i, EAS2TAS %f, gyro: { %f, %f, %f }\n", ahrs.roll_sensor * 0.01, ahrs.pitch_sensor * 0.01, airspeed, airspeed_ok, ahrs.get_EAS2TAS(), ahrs.get_gyro().x, ahrs.get_gyro().y, ahrs.get_gyro().z);
+
+    // Header for results
+    ::printf("Time (s), angle error, output, PID target, PID actual, error, P, I, D, FF, DFF, Dmod, Slew rate, limit, PD limit, reset, I term set\n");
+
+}
+
+void loop(void)
+{
+    // Update the chirp to generate input for controller
+    const float waveform_time_s = waveform_time_us * 1.0e-6;
+    const float nav_angle_cd = chirp.update(waveform_time_s, magnitude) * 100.0;
+
+    // Calculate speed scaler
+    const float speed_scaler = calc_speed_scaler();
+
+    // Run the controller
+    float angle_error_cd;
+    float output;
+    const AP_PIDInfo* info = nullptr;
+
+    switch (test_axis) {
+        case Axis::Roll:
+            angle_error_cd = nav_angle_cd - ahrs.roll_sensor;
+            output = roll_control.get_servo_out(angle_error_cd, speed_scaler, disable_integrator, ground_mode);
+            info = &roll_control.get_pid_info();
+            break;
+
+        case Axis::Pitch:
+            angle_error_cd = nav_angle_cd - ahrs.pitch_sensor;
+            output = pitch_control.get_servo_out(angle_error_cd, speed_scaler, disable_integrator, ground_mode);
+            info = &pitch_control.get_pid_info();
+            break;
+    }
+
+    // Print results
+    ::printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%u,%u,%u,%u\n",
+        waveform_time_s,
+        angle_error_cd * 0.01,
+        output,
+        info->target,
+        info->actual,
+        info->error,
+        info->P,
+        info->I,
+        info->D,
+        info->FF,
+        info->DFF,
+        info->Dmod,
+        info->slew_rate,
+        info->limit,
+        info->PD_limit,
+        info->reset,
+        info->I_term_set);
+
+    if (chirp.completed()) {
+        // Sleep gives the print buffer a chance to keep up
+        microsleep(100);
+        exit(1);
+    }
+
+    // Force clock times so we can run faster than real time
+    waveform_time_us += dt_us;
+    hal.scheduler->stop_clock(waveform_time_us);
+
+    microsleep(5);
+
+}
+
+AP_HAL::HAL::FunCallbacks callbacks(setup, loop);
+extern "C" {
+    int AP_MAIN(int argc, char* const argv[]);
+    int AP_MAIN(int argc, char* const argv[]) {
+
+        // Turn off Serial 1 because it blocks annoyingly
+        HAL_SITL& hal_sitl = (HAL_SITL&)AP_HAL::get_HAL_mutable();
+
+        // Duplicate string so it can be freed
+        hal_sitl.get_sitl_state()->_serial_path[0] = strdup("none");
+
+        hal.run(argc, argv, &callbacks);
+        return 0;
+    }
+}
diff --git a/libraries/APM_Control/examples/AP_FW_Controller_test/TestMatrix.sh b/libraries/APM_Control/examples/AP_FW_Controller_test/TestMatrix.sh
new file mode 100755
index 0000000000000..f41e44d9b57ce
--- /dev/null
+++ b/libraries/APM_Control/examples/AP_FW_Controller_test/TestMatrix.sh
@@ -0,0 +1,48 @@
+#!/usr/bin/env bash
+# Fixedwing controller test and run over a range of inputs
+# Output results to files for comparison
+
+cd "$(dirname "$0")"
+cd ../../../..
+
+mkdir -p FW_Controller_matrix
+
+./waf configure --board sitl
+./waf build --target examples/AP_FW_Controller_test
+echo
+
+Axis="roll pitch"
+RollAngle="-170 -160 -150 -140 -130 -120 -110 -100 -90 -80 -70 -60 -50 -40 -30 -20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180"
+PitchAngle="-80 -70 -60 -50 -40 -30 -20 10 0 10 20 30 40 50 60 70 80"
+Airspeed="5 10 15 20 25"
+
+COUNTER=0
+# Range of roll angles
+for roll in $RollAngle; do
+    # Range of pitch angles
+    for pitch in $PitchAngle; do
+        # Both roll and piith
+        for ax in $Axis; do
+            # Range of airspeeds
+            for speed in $Airspeed; do
+                ./build/sitl/examples/AP_FW_Controller_test axis=$ax roll=$roll pitch=$pitch airspeed=$speed > FW_Controller_matrix/$COUNTER.csv
+                let COUNTER++
+            done
+
+            # Airspeed failure
+            ./build/sitl/examples/AP_FW_Controller_test axis=$ax roll=$roll pitch=$pitch airspeed_fail=1 > FW_Controller_matrix/$COUNTER.csv
+            let COUNTER++
+
+            # Ground mode and intergrator diable flags, only test at defualt airspeed
+            ./build/sitl/examples/AP_FW_Controller_test axis=$ax roll=$roll pitch=$pitch ground_mode=1 > FW_Controller_matrix/$COUNTER.csv
+            let COUNTER++
+
+            ./build/sitl/examples/AP_FW_Controller_test axis=$ax roll=$roll pitch=$pitch disable_integrator=1 > FW_Controller_matrix/$COUNTER.csv
+            let COUNTER++
+
+            ./build/sitl/examples/AP_FW_Controller_test axis=$ax roll=$roll pitch=$pitch ground_mode=1 disable_integrator=1 > FW_Controller_matrix/$COUNTER.csv
+            let COUNTER++
+        done
+    done
+done
+
diff --git a/libraries/APM_Control/examples/AP_FW_Controller_test/plot_results.py b/libraries/APM_Control/examples/AP_FW_Controller_test/plot_results.py
new file mode 100755
index 0000000000000..66399c23b52c2
--- /dev/null
+++ b/libraries/APM_Control/examples/AP_FW_Controller_test/plot_results.py
@@ -0,0 +1,87 @@
+
+# Plot the results of a controller test run
+# For example run test with:
+# ./build/linux/examples/AP_FW_Controller_test > results.csv
+# The plot with:
+# python3 libraries/APM_Control/examples/AP_FW_Controller_test/plot_results.py results.csv
+
+import csv
+from argparse import ArgumentParser
+from collections import defaultdict
+from matplotlib import pyplot as plt
+
+if __name__ == '__main__':
+
+    parser = ArgumentParser(description='Plot results of controller test run')
+    parser.add_argument('filename', help='csv file to read')
+    args = parser.parse_args()
+
+    with open(args.filename) as csv_file:
+        csv_reader = csv.DictReader(csv_file)
+
+        # Skip First few lines
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+        next(csv_file, None)
+
+        csv_data = [row for row in csv_reader]
+
+    # Reshape data from list of dicts to dict of lists
+    data = defaultdict(list)
+    for i in csv_data:
+        for key, value in i.items():
+            data[key.strip()].append(float(value))
+
+    # Make some plots!
+
+    fig, ax = plt.subplots(2)
+    fig.suptitle('Input => output')
+    ax[0].plot(data['Time (s)'], data['angle error'])
+    ax[0].set_ylabel('input angle error (deg)')
+    ax[1].plot(data['Time (s)'], data['output'])
+    ax[1].set_ylabel('output servo position')
+    ax[1].set_xlabel('Time (s)')
+
+    fig, ax = plt.subplots(2)
+    fig.suptitle('Rate controller')
+    ax[0].plot(data['Time (s)'], data['PID target'], label = "target")
+    ax[0].plot(data['Time (s)'], data['PID actual'], label = "actual")
+    ax[0].legend()
+    ax[0].set_ylabel('rate target and actual')
+    ax[1].plot(data['Time (s)'], data['error'])
+    ax[1].set_ylabel('rate error')
+    ax[1].set_xlabel('Time (s)')
+
+    fig = plt.figure()
+    plt.title('Rate controller PID components')
+    plt.plot(data['Time (s)'], data['P'], label = "P")
+    plt.plot(data['Time (s)'], data['I'], label = "I")
+    plt.plot(data['Time (s)'], data['D'], label = "D")
+    plt.plot(data['Time (s)'], data['FF'], label = "FF")
+    plt.plot(data['Time (s)'], data['DFF'], label = "DFF")
+    plt.legend()
+    plt.xlabel('Time (s)')
+
+    fig, ax = plt.subplots(2)
+    fig.suptitle('Rate controller')
+    ax[0].plot(data['Time (s)'], data['Slew rate'])
+    ax[0].set_ylabel('Slew rate')
+    ax[1].plot(data['Time (s)'], data['Dmod'])
+    ax[1].set_ylabel('Dmod')
+    ax[1].set_xlabel('Time (s)')
+
+    fig = plt.figure()
+    plt.title('Rate controller PID flags')
+    plt.plot(data['Time (s)'], data['limit'], label = "limit")
+    plt.plot(data['Time (s)'], data['PD limit'], label = "PD limit")
+    plt.plot(data['Time (s)'], data['reset'], label = "reset")
+    plt.plot(data['Time (s)'], data['I term set'], label = "I term set")
+    plt.legend()
+    plt.xlabel('Time (s)')
+
+    plt.show()
diff --git a/libraries/APM_Control/examples/AP_FW_Controller_test/wscript b/libraries/APM_Control/examples/AP_FW_Controller_test/wscript
new file mode 100644
index 0000000000000..613b2494a6171
--- /dev/null
+++ b/libraries/APM_Control/examples/AP_FW_Controller_test/wscript
@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+
+    if bld.env.BOARD != 'sitl':
+        return
+
+    bld.ap_stlib(
+        name='AP_FW_Controller_test_libs',
+        ap_vehicle='UNKNOWN',
+        ap_libraries=bld.ap_common_vehicle_libraries() + [
+            'SITL', 'APM_Control', 'AP_AdvancedFailsafe',
+        ],
+    )
+
+    bld.ap_program(
+        use='AP_FW_Controller_test_libs',
+        program_groups=['examples'],
+    )
+
diff --git a/libraries/AP_AIS/AP_AIS.cpp b/libraries/AP_AIS/AP_AIS.cpp
index afb141ec5356a..7742745b6dc61 100644
--- a/libraries/AP_AIS/AP_AIS.cpp
+++ b/libraries/AP_AIS/AP_AIS.cpp
@@ -32,6 +32,7 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/ExpandingString.h>
 
 const AP_Param::GroupInfo AP_AIS::var_info[] = {
 
@@ -145,21 +146,25 @@ void AP_AIS::update()
             } else if (_incoming.num == _incoming.total) {
                 // last part of a multi part message
                 uint8_t index = 0;
-                uint8_t msg_parts[_incoming.num - 1];
+
+                // We have the last part, need to find preceding fragments
+                const uint8_t parts = _incoming.num - 1;
+
+                uint8_t msg_parts[parts];
                 for  (uint8_t i = 0; i < AIVDM_BUFFER_SIZE; i++) {
                     // look for the rest of the message from the start of the buffer
                     // we assume the message has be received in the correct order
                     if (_AIVDM_buffer[i].num == (index + 1) && _AIVDM_buffer[i].total == _incoming.total && _AIVDM_buffer[i].ID == _incoming.ID) {
                         msg_parts[index] = i;
                         index++;
-                        if (index >= _incoming.num) {
+                        if (index >= parts) {
                             break;
                         }
                     }
                 }
 
                 // did we find the right number?
-                if (_incoming.num != index) {
+                if (parts != index) {
                     // could not find all of the message, save messages
 #if HAL_LOGGING_ENABLED
                     if (log_unsupported) {
@@ -177,16 +182,16 @@ void AP_AIS::update()
                 }
 
                 // combine packets
-                char multi[AIVDM_PAYLOAD_SIZE*_incoming.total];
-                strncpy(multi,_AIVDM_buffer[msg_parts[0]].payload,AIVDM_PAYLOAD_SIZE);
-                for (uint8_t i = 1; i < _incoming.total - 1; i++) {
-                    strncat(multi,_AIVDM_buffer[msg_parts[i]].payload,sizeof(multi));
+                ExpandingString s;
+                s.append(_AIVDM_buffer[msg_parts[0]].payload, strlen(_AIVDM_buffer[msg_parts[0]].payload));
+                for (uint8_t i = 1; i < index; i++) {
+                    s.append(_AIVDM_buffer[msg_parts[i]].payload, strlen(_AIVDM_buffer[msg_parts[i]].payload));
                 }
-                strncat(multi,_incoming.payload,sizeof(multi));
+                s.append(_incoming.payload, strlen(_incoming.payload));
 #if HAL_LOGGING_ENABLED
-                const bool decoded = payload_decode(multi);
+                const bool decoded = payload_decode(s.get_string());
 #endif
-                for (uint8_t i = 0; i < _incoming.total; i++) {
+                for (uint8_t i = 0; i < index; i++) {
 #if HAL_LOGGING_ENABLED
                     // unsupported type, log and discard
                     if (!decoded && log_unsupported) {
diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 9994d31f40fc6..9c0783bf83df1 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -52,6 +52,7 @@
 #include "AP_Airspeed_DroneCAN.h"
 #include "AP_Airspeed_NMEA.h"
 #include "AP_Airspeed_MSP.h"
+#include "AP_Airspeed_AUAV.h"
 #include "AP_Airspeed_External.h"
 #include "AP_Airspeed_SITL.h"
 extern const AP_HAL::HAL &hal;
@@ -439,6 +440,21 @@ void AP_Airspeed::allocate()
         case TYPE_EXTERNAL:
 #if AP_AIRSPEED_EXTERNAL_ENABLED
             sensor[i] = NEW_NOTHROW AP_Airspeed_External(*this, i);
+#endif
+            break;
+        case TYPE_AUAV_5IN:
+#if AP_AIRSPEED_AUAV_ENABLED
+            sensor[i] = NEW_NOTHROW AP_Airspeed_AUAV(*this, i, 5);
+#endif
+            break;
+        case TYPE_AUAV_10IN:
+#if AP_AIRSPEED_AUAV_ENABLED
+            sensor[i] = NEW_NOTHROW AP_Airspeed_AUAV(*this, i, 10);
+#endif
+            break;
+        case TYPE_AUAV_30IN:
+#if AP_AIRSPEED_AUAV_ENABLED
+            sensor[i] = NEW_NOTHROW AP_Airspeed_AUAV(*this, i, 30);
 #endif
             break;
         }
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index e4f9d760e01f5..b73404709157a 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -63,7 +63,6 @@ class Airspeed_Calibration {
     const float Q0; // process noise matrix top left and middle element
     const float Q1; // process noise matrix bottom right element
     Vector3f state; // state vector
-    const float DT; // time delta
 };
 
 class AP_Airspeed
@@ -192,6 +191,9 @@ class AP_Airspeed
         TYPE_MSP=14,
         TYPE_I2C_ASP5033=15,
         TYPE_EXTERNAL=16,
+        TYPE_AUAV_10IN=17,
+        TYPE_AUAV_5IN=18,
+        TYPE_AUAV_30IN=19,
         TYPE_SITL=100,
     };
 
diff --git a/libraries/AP_Airspeed/AP_Airspeed_AUAV.cpp b/libraries/AP_Airspeed/AP_Airspeed_AUAV.cpp
new file mode 100644
index 0000000000000..bc40782f78bdf
--- /dev/null
+++ b/libraries/AP_Airspeed/AP_Airspeed_AUAV.cpp
@@ -0,0 +1,234 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+  backend driver for airspeed from a I2C AUAV sensor
+ */
+#include "AP_Airspeed_AUAV.h"
+
+#if AP_AIRSPEED_AUAV_ENABLED
+
+#define AUAV_AIRSPEED_I2C_ADDR 0x26
+
+// the sensor supports a 2nd channel (2nd I2C address) for absolute pressure
+// we could use this as a baro driver but don't yet
+#define AUAV_AIRSPEED_I2C_ADDR_ABSOLUTE 0x27
+
+// max measurement time for 8x averaging differential is 16.2ms
+#define MEASUREMENT_TIME_MAX_MS 17
+
+#define MEASUREMENT_TIMEOUT_MS 200
+
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/I2CDevice.h>
+#include <AP_Math/AP_Math.h>
+#include <GCS_MAVLink/GCS.h>
+
+extern const AP_HAL::HAL &hal;
+
+
+AP_Airspeed_AUAV::AP_Airspeed_AUAV(AP_Airspeed &_frontend, uint8_t _instance, const float _range_inH2O) :
+    AP_Airspeed_Backend(_frontend, _instance),
+    range_inH2O(_range_inH2O)
+{
+}
+
+// probe for a sensor
+bool AP_Airspeed_AUAV::probe(uint8_t bus, uint8_t address)
+{
+    _dev = hal.i2c_mgr->get_device(bus, address);
+    if (!_dev) {
+        return false;
+    }
+
+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    _dev->set_retries(10);
+    _measure();
+    hal.scheduler->delay(20);
+    _collect();
+
+    return last_sample_time_ms != 0;
+
+}
+
+// probe and initialise the sensor
+bool AP_Airspeed_AUAV::init()
+{
+    const auto bus = get_bus();
+    if (!probe(bus, AUAV_AIRSPEED_I2C_ADDR)) {
+        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "AUAV AIRSPEED[%u]: no sensor found on bus %u", get_instance(), bus);
+        return false;
+    }
+
+    _dev->set_device_type(uint8_t(DevType::AUAV));
+    set_bus_id(_dev->get_bus_id());
+
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "AUAV AIRSPEED[%u]: Found bus %u addr 0x%02x", get_instance(), _dev->bus_num(), _dev->get_bus_address());
+
+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    // drop to 2 retries for runtime
+    _read_coefficients();
+    _dev->set_retries(2);
+    _dev->register_periodic_callback(20000,
+                                     FUNCTOR_BIND_MEMBER(&AP_Airspeed_AUAV::_timer, void));
+    return true;
+}
+
+// start a measurement
+void AP_Airspeed_AUAV::_measure()
+{
+    measurement_started_ms = 0;
+    uint8_t cmd = 0xAE; // start average8, max 16.2ms measurement time
+    if (_dev->transfer(&cmd, 1, nullptr, 0)) {
+        measurement_started_ms = AP_HAL::millis();
+    }
+}
+
+// read the values from the sensor
+void AP_Airspeed_AUAV::_collect()
+{
+    measurement_started_ms = 0; // It should always get reset by _measure. This is a safety to handle failures of i2c bus
+    uint8_t inbuf[7];
+    if (!_dev->read((uint8_t *)&inbuf, sizeof(inbuf))) {
+        return;
+    }
+    const uint8_t status = inbuf[0];
+    const uint8_t healthy_status = 0x50; // power on, not busy, differential normal, not out of range
+    if (status != healthy_status) {
+        // not ready or error
+        return;
+    }
+    const int32_t Tref_Counts = 7576807; // temperature counts at 25C
+    const float TC50Scale = 100.0f * 100.0f * 167772.2f; // scale TC50 to 1.0% FS0
+    float Pdiff, TC50;
+
+    // Convert unsigned 24-bit pressure value to signed +/- 23-bit:
+    const int32_t iPraw = (inbuf[1]<<16) + (inbuf[2]<<8) + inbuf[3] - 0x800000;
+
+    // Convert signed 23-bit valu11e to float, normalized to +/- 1.0:
+    const float Pnorm = float(iPraw) / float(0x7FFFFF);
+    const float AP3 = DLIN_A * Pnorm * Pnorm * Pnorm; // A*Pout^3
+    const float BP2 = DLIN_B * Pnorm * Pnorm; // B*Pout^2
+    const float CP = DLIN_C * Pnorm; // C*POut
+    const float Corr = AP3 + BP2 + CP + DLIN_D; // Linearity correction term
+    const float Pcorr = Pnorm + Corr; // Corrected P, range +/-1.0.
+
+    // Compute difference from reference temperature, in sensor counts:
+    const int32_t iTemp = (inbuf[4]<<16) + (inbuf[5]<<8) + inbuf[6]; // 24-bit temperature
+
+    // get temperature in degrees C
+    temp_C = (iTemp * 155) / float(1U<<24) - 45;
+
+    const int32_t Tdiff = iTemp - Tref_Counts; // see constant defined above.
+    const float Pnfso = (Pcorr + 1.0f) * 0.5;
+
+    //TC50: Select High/Low, based on current temp above/below 25C:
+    if (Tdiff > 0) {
+        TC50 = D_TC50H;
+    } else {
+        TC50 = D_TC50L;
+    }
+
+    // Find absolute difference between midrange and reading (abs(Pnfso-0.5)):
+    if (Pnfso > 0.5) {
+        Pdiff = Pnfso - 0.5;
+    } else {
+        Pdiff = 0.5f - Pnfso;
+    }
+
+    const float Tcorr = (1.0f - (D_Es * 2.5f * Pdiff)) * Tdiff * TC50 / TC50Scale;
+    const float PCorrt = Pnfso - Tcorr; // corrected P: float, [0 to +1.0)
+    const uint32_t PComp = (uint32_t) (PCorrt * (float)0xFFFFFF);
+    pressure_digital = PComp;
+
+    last_sample_time_ms = AP_HAL::millis();
+}
+
+uint32_t AP_Airspeed_AUAV::_read_register(uint8_t cmd)
+{
+    uint8_t raw_bytes1[3];
+    if (!_dev->transfer(&cmd,1,(uint8_t *)&raw_bytes1, sizeof(raw_bytes1))) {
+        return 0;
+    }
+    uint8_t raw_bytes2[3];
+    uint8_t cmd2 = cmd + 1;
+    if (!_dev->transfer(&cmd2,1,(uint8_t *)&raw_bytes2, sizeof(raw_bytes2))) {
+        return 0;
+    }
+    uint32_t result = ((uint32_t)raw_bytes1[1] << 24) | ((uint32_t)raw_bytes1[2] << 16) | ((uint32_t)raw_bytes2[1] << 8) | (uint32_t)raw_bytes2[2];
+    return result;
+}
+
+bool AP_Airspeed_AUAV::_read_coefficients()
+{
+    // Differential Coefficients
+    int32_t i32A = 0, i32B =0, i32C =0, i32D=0, i32TC50HLE=0;
+    int8_t i8TC50H = 0, i8TC50L = 0, i8Es = 0;
+    i32A = _read_register(0x2B);
+    DLIN_A = ((float)(i32A))/((float)(0x7FFFFFFF));
+
+    i32B = _read_register(0x2D);
+    DLIN_B = (float)(i32B)/(float)(0x7FFFFFFF);
+
+    i32C = _read_register(0x2F);
+    DLIN_C = (float)(i32C)/(float)(0x7FFFFFFF);
+
+    i32D = _read_register(0x31);
+    DLIN_D = (float)(i32D)/(float)(0x7FFFFFFF);
+
+    i32TC50HLE = _read_register(0x33);
+    i8TC50H = (i32TC50HLE >> 24) & 0xFF; // 55 H
+    i8TC50L = (i32TC50HLE >> 16) & 0xFF; // 55 L
+    i8Es = (i32TC50HLE ) & 0xFF; // 56 L
+    D_Es = (float)(i8Es)/(float)(0x7F);
+    D_TC50H = (float)(i8TC50H)/(float)(0x7F);
+    D_TC50L = (float)(i8TC50L)/(float)(0x7F);
+
+    return true; //Need to actually check
+}
+
+// 50Hz timer
+void AP_Airspeed_AUAV::_timer()
+{
+    if (measurement_started_ms == 0) {
+        _measure();
+    }
+    if ((AP_HAL::millis() - measurement_started_ms) > MEASUREMENT_TIME_MAX_MS) {
+        _collect();
+        // start a new measurement
+        _measure();
+    }
+}
+
+// return the current differential_pressure in Pascal
+bool AP_Airspeed_AUAV::get_differential_pressure(float &_pressure)
+{
+    WITH_SEMAPHORE(sem);
+    _pressure = 248.8f*1.25f*((pressure_digital-8388608)/16777216.0f) * 2 * range_inH2O;
+    return AP_HAL::millis() - last_sample_time_ms < MEASUREMENT_TIMEOUT_MS;
+}
+
+// return the current temperature in degrees C, if available
+bool AP_Airspeed_AUAV::get_temperature(float &_temperature)
+{
+    WITH_SEMAPHORE(sem);
+    _temperature = temp_C;
+    return AP_HAL::millis() - last_sample_time_ms < MEASUREMENT_TIMEOUT_MS;
+}
+
+#endif  // AP_AIRSPEED_AUAV_ENABLED
diff --git a/libraries/AP_Airspeed/AP_Airspeed_AUAV.h b/libraries/AP_Airspeed/AP_Airspeed_AUAV.h
new file mode 100644
index 0000000000000..41e75a18c6f80
--- /dev/null
+++ b/libraries/AP_Airspeed/AP_Airspeed_AUAV.h
@@ -0,0 +1,73 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "AP_Airspeed_config.h"
+
+#if AP_AIRSPEED_AUAV_ENABLED
+
+/*
+  backend driver for airspeed from I2C
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/utility/OwnPtr.h>
+#include <AP_HAL/I2CDevice.h>
+#include <utility>
+
+#include "AP_Airspeed_Backend.h"
+
+class AP_Airspeed_AUAV : public AP_Airspeed_Backend
+{
+public:
+    AP_Airspeed_AUAV(AP_Airspeed &frontend, uint8_t _instance, const float _range_inH2O);
+    ~AP_Airspeed_AUAV(void) {}
+    
+    // probe and initialise the sensor
+    bool init() override;
+
+    // return the current differential_pressure in Pascal
+    bool get_differential_pressure(float &pressure) override;
+
+    // return the current temperature in degrees C, if available
+    bool get_temperature(float &temperature) override;
+
+private:
+    bool probe(uint8_t bus, uint8_t address);
+    void _measure();
+    void _collect();
+    void _timer();
+    bool _read_coefficients();
+    uint32_t _read_register(uint8_t cmd);
+
+    uint32_t last_sample_time_ms;
+    uint32_t measurement_started_ms;
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
+
+    float DLIN_A;
+    float DLIN_B;
+    float DLIN_C;
+    float DLIN_D;
+    float D_Es;
+    float D_TC50H;
+    float D_TC50L; // Diff coeffs
+
+    float pressure_digital;
+    float pressure_abs_L;
+    float temp_C;
+    const float range_inH2O;
+};
+
+#endif  // AP_Airspeed_AUAV_ENABLED
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Backend.h b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
index bdb4dded5c562..3eb54c07ad7f2 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Backend.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
@@ -127,6 +127,7 @@ class AP_Airspeed_Backend {
         ANALOG   = 0x08,
         NMEA     = 0x09,
         ASP5033  = 0x0A,
+        AUAV     = 0x0B,
     };
     
 private:
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
index 97403e88b1358..0ddeda5553739 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
@@ -46,7 +46,7 @@ const AP_Param::GroupInfo AP_Airspeed_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Airspeed type
     // @Description: Type of airspeed sensor
-    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:DroneCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033,16:ExternalAHRS,100:SITL
+    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:DroneCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033,16:ExternalAHRS,17:AUAV-10in,18:AUAV-5in,19:AUAV-30in,100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_Airspeed_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 
diff --git a/libraries/AP_Airspeed/AP_Airspeed_config.h b/libraries/AP_Airspeed/AP_Airspeed_config.h
index f12db5cb16c4e..9e2c46e690837 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_config.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_config.h
@@ -55,6 +55,10 @@
 #define AP_AIRSPEED_SITL_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED
 #endif
 
+#ifndef AP_AIRSPEED_AUAV_ENABLED
+#define AP_AIRSPEED_AUAV_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
+#endif
+
 // other AP_Airspeed options:
 #ifndef AIRSPEED_MAX_SENSORS
 #define AIRSPEED_MAX_SENSORS 2
diff --git a/libraries/AP_Airspeed/Airspeed_Calibration.cpp b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
index 16170f9c81ea1..941fc9890a4e7 100644
--- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp
+++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
@@ -25,7 +25,6 @@ Airspeed_Calibration::Airspeed_Calibration()
     , Q0(0.01f)
     , Q1(0.0000005f)
     , state(0, 0, 0)
-    , DT(1)
 {
 }
 
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 796136c0d93b1..7c44eae1b608f 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -85,6 +85,26 @@
   #define ARMING_RUDDER_DEFAULT         (uint8_t)RudderArming::ARMDISARM
 #endif
 
+// find a default value for ARMING_NEED_POS parameter, and determine
+// whether the parameter should be shown:
+#ifndef AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+// determine whether ARMING_NEED_POS is shown:
+#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_Rover)
+#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 1
+#else
+#define AP_ARMING_NEED_LOC_PARAMETER_ENABLED 0
+#endif  // build types
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
+// if ARMING_NEED_POS is shown, determine what its default should be:
+#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_Rover)
+#define AP_ARMING_NEED_LOC_DEFAULT 0
+#else
+#error "Unable to find value for AP_ARMING_NEED_LOC_DEFAULT"
+#endif  // APM_BUILD_TYPE
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
 #ifndef PREARM_DISPLAY_PERIOD
 # define PREARM_DISPLAY_PERIOD 30
 #endif
@@ -166,6 +186,15 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     AP_GROUPINFO("CRSDP_IGN", 11, AP_Arming, crashdump_ack.acked, 0),
 #endif  // AP_ARMING_CRASHDUMP_ACK_ENABLED
 
+#if AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+    // @Param: NEED_LOC
+    // @DisplayName: Require vehicle location
+    // @Description: Require that the vehicle have an absolute position before it arms.  This can help ensure that the vehicle can Return To Launch.
+    // @User: Advanced
+    // @Values{Copter,Rover}: 0:Do not require location,1:Require Location
+    AP_GROUPINFO("NEED_LOC", 12, AP_Arming, require_location, float(AP_ARMING_NEED_LOC_DEFAULT)),
+#endif  // AP_ARMING_NEED_LOC_PARAMETER_ENABLED
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 69e693835b0e4..1ee68e93490d6 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -155,6 +155,12 @@ class AP_Arming {
     static bool method_is_GCS(Method method) {
         return (method == Method::MAVLINK || method == Method::DDS);
     }
+
+    enum class RequireLocation : uint8_t {
+        NO = 0,
+        YES = 1,
+    };
+
 protected:
 
     // Parameters
@@ -165,6 +171,7 @@ class AP_Arming {
     AP_Int32                _required_mission_items;
     AP_Int32                _arming_options;
     AP_Int16                magfield_error_threshold;
+    AP_Enum<RequireLocation> require_location;
 
     // internal members
     bool                    armed;
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index 46e3d8d2c39f0..533eb44ea7734 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -486,29 +486,37 @@ void AP_Baro_MS56XX::_calculate_5637()
 // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
 void AP_Baro_MS56XX::_calculate_5837()
 {
-    int32_t dT, TEMP;
-    int64_t OFF, SENS;
+    int32_t dT, TEMP, T2;
+    int64_t OFF, OFF2, SENS, SENS2;
     int32_t raw_pressure = _D1;
     int32_t raw_temperature = _D2;
 
-    // note that MS5837 has no compensation for temperatures below -15C in the datasheet
-
-    dT = raw_temperature - (((uint32_t)_cal_reg.c5) << 8);
+    dT = raw_temperature - ((uint32_t)_cal_reg.c5 << 8);
     TEMP = 2000 + ((int64_t)dT * (int64_t)_cal_reg.c6) / 8388608;
     OFF = (int64_t)_cal_reg.c2 * (int64_t)65536 + ((int64_t)_cal_reg.c4 * (int64_t)dT) / (int64_t)128;
     SENS = (int64_t)_cal_reg.c1 * (int64_t)32768 + ((int64_t)_cal_reg.c3 * (int64_t)dT) / (int64_t)256;
 
+    int64_t aux = sq(TEMP - 2000);
     if (TEMP < 2000) {
-        // second order temperature compensation when under 20 degrees C
-        int32_t T2 = ((int64_t)3 * ((int64_t)dT * (int64_t)dT) / (int64_t)8589934592);
-        int64_t aux = (TEMP - 2000) * (TEMP - 2000);
-        int64_t OFF2 = 3 * aux / 2;
-        int64_t SENS2 = 5 * aux / 8;
+        // second order "low temperature" compensation when under 20 degrees C
+        T2 = (int64_t)3 * sq((int64_t)dT) / (int64_t)8589934592;
+        OFF2 = 3 * aux / 2;
+        SENS2 = 5 * aux / 8;
 
-        TEMP = TEMP - T2;
-        OFF = OFF - OFF2;
-        SENS = SENS - SENS2;
+        if (TEMP < -1500) {
+            // "very low temperature" compensation, when under -15 degrees C
+            OFF2 += 7 * sq(TEMP+1500);
+            SENS2 += 4 * sq(TEMP+1500);
+        }
+    } else {
+        // "high temperature" compensation, when at or over 20 degrees C
+        T2 = (int64_t)2 * sq((int64_t)dT) / (int64_t)137438953472;
+        OFF2 = aux / 16;
+        SENS2 = 0;
     }
+    TEMP = TEMP - T2;
+    OFF = OFF - OFF2;
+    SENS = SENS - SENS2;
 
     int32_t pressure = ((int64_t)raw_pressure * SENS / (int64_t)2097152 - OFF) / (int64_t)8192;
     pressure = pressure * 10; // MS5837 only reports to 0.1 mbar
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp
index b0804de780275..7514c5ad79a28 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.cpp
@@ -207,10 +207,11 @@ void AP_BattMonitor_INA3221::init()
     }
 
     AddressDriver *d = &address_driver[address_driver_count];
-    d->dev = std::move(hal.i2c_mgr->get_device(i2c_bus, i2c_address, 100000, true, 20));
+    d->dev = hal.i2c_mgr->get_device_ptr(i2c_bus, i2c_address, 100000, true, 20);
     if (!d->dev) {
         return;
     }
+
     d->bus = i2c_bus;
     d->address = i2c_address;
 
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.h b/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.h
index 898753207c18e..5210e6e5d909e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA3221.h
@@ -81,7 +81,7 @@ class AP_BattMonitor_INA3221 : public AP_BattMonitor_Backend
         void timer(void);
         void register_timer();
 
-        AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
+        AP_HAL::I2CDevice *dev;
         uint8_t bus;
         uint8_t address;
         uint8_t channel_mask;
diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index 9efeb01654683..aeafeec7b7548 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -458,7 +458,7 @@ bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_com
 
     if (can_forward.callback_id == 0 &&
         !hal.can[bus]->register_frame_callback(
-            FUNCTOR_BIND_MEMBER(&AP_CANManager::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &), can_forward.callback_id)) {
+            FUNCTOR_BIND_MEMBER(&AP_CANManager::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &, AP_HAL::CANIface::CanIOFlags), can_forward.callback_id)) {
         // failed to register the callback
         return false;
     }
@@ -550,7 +550,7 @@ void AP_CANManager::process_frame_buffer(void)
         }
         const int16_t retcode = hal.can[frame.bus]->send(frame.frame,
                                                          AP_HAL::micros64() + timeout_us,
-                                                         AP_HAL::CANIface::IsMAVCAN);
+                                                         AP_HAL::CANIface::IsForwardedFrame);
         if (retcode == 0) {
             // no space in the CAN output slots, try again later
             break;
@@ -654,7 +654,7 @@ void AP_CANManager::handle_can_filter_modify(const mavlink_message_t &msg)
   handler for CAN frames from the registered callback, sending frames
   out as CAN_FRAME or CANFD_FRAME messages
  */
-void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
+void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags)
 {
     WITH_SEMAPHORE(can_forward.sem);
     if (bus != can_forward.callback_bus) {
@@ -713,7 +713,7 @@ void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
 /*
   handler for CAN frames for frame logging
  */
-void AP_CANManager::can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
+void AP_CANManager::can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags)
 {
 #if HAL_CANFD_SUPPORTED
     if (frame.canfd) {
@@ -754,7 +754,7 @@ void AP_CANManager::check_logging_enable(void)
         }
         if (enabled && logging_id == 0) {
             can->register_frame_callback(
-                FUNCTOR_BIND_MEMBER(&AP_CANManager::can_logging_callback, void, uint8_t, const AP_HAL::CANFrame &),
+                FUNCTOR_BIND_MEMBER(&AP_CANManager::can_logging_callback, void, uint8_t, const AP_HAL::CANFrame &, AP_HAL::CANIface::CanIOFlags),
                 logging_id);
         } else if (!enabled && logging_id != 0) {
             can->unregister_frame_callback(logging_id);
diff --git a/libraries/AP_CANManager/AP_CANManager.h b/libraries/AP_CANManager/AP_CANManager.h
index 561c9c468054a..ee45c57715284 100644
--- a/libraries/AP_CANManager/AP_CANManager.h
+++ b/libraries/AP_CANManager/AP_CANManager.h
@@ -187,7 +187,7 @@ class AP_CANManager
       handler for CAN frames from the registered callback, sending frames
       out as CAN_FRAME messages
     */
-    void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
+    void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
 
     struct {
         mavlink_channel_t chan;
@@ -216,7 +216,7 @@ class AP_CANManager
     /*
       handler for CAN frames for logging
     */
-    void can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
+    void can_logging_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
     void check_logging_enable(void);
 #endif
 };
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index f4ff9dea05a22..2b15c02f794fd 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -104,15 +104,12 @@ uint8_t AP_ESC_Telem::get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) con
 // ESC_TELEM_DATA_TIMEOUT_MS/ESC_RPM_DATA_TIMEOUT_US
 uint32_t AP_ESC_Telem::get_active_esc_mask() const {
     uint32_t ret = 0;
-    const uint32_t now = AP_HAL::millis();
-    uint32_t now_us = AP_HAL::micros();
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
         if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
             // have never seen telem from this ESC
             continue;
         }
-        if (_telem_data[i].stale(now)
-            && !rpm_data_within_timeout(_rpm_data[i], now_us, ESC_RPM_DATA_TIMEOUT_US)) {
+        if (_telem_data[i].stale() && !_rpm_data[i].data_valid) {
             continue;
         }
         ret |= (1U << i);
@@ -125,15 +122,12 @@ uint8_t AP_ESC_Telem::get_max_rpm_esc() const
 {
     uint32_t ret = 0;
     float max_rpm = 0;
-    const uint32_t now = AP_HAL::millis();
-    const uint32_t now_us = AP_HAL::micros();
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
         if (_telem_data[i].last_update_ms == 0 && !was_rpm_data_ever_reported(_rpm_data[i])) {
             // have never seen telem from this ESC
             continue;
         }
-        if (_telem_data[i].stale(now)
-            && !rpm_data_within_timeout(_rpm_data[i], now_us, ESC_RPM_DATA_TIMEOUT_US)) {
+        if (_telem_data[i].stale() && !_rpm_data[i].data_valid) {
             continue;
         }
         if (_rpm_data[i].rpm > max_rpm) {
@@ -153,13 +147,12 @@ uint8_t AP_ESC_Telem::get_num_active_escs() const {
 // return the whether all the motors in servo_channel_mask are running
 bool AP_ESC_Telem::are_motors_running(uint32_t servo_channel_mask, float min_rpm, float max_rpm) const
 {
-    const uint32_t now = AP_HAL::micros();
 
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
         if (BIT_IS_SET(servo_channel_mask, i)) {
             const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[i];
             // we choose a relatively strict measure of health so that failsafe actions can rely on the results
-            if (!rpm_data_within_timeout(rpmdata, now, ESC_RPM_CHECK_TIMEOUT_US)) {
+            if (!rpm_data_within_timeout(rpmdata, ESC_RPM_CHECK_TIMEOUT_US)) {
                 return false;
             }
             if (rpmdata.rpm < min_rpm) {
@@ -201,7 +194,7 @@ bool AP_ESC_Telem::get_rpm(uint8_t esc_index, float& rpm) const
     }
 
     const uint32_t now = AP_HAL::micros();
-    if (rpm_data_within_timeout(rpmdata, now, ESC_RPM_DATA_TIMEOUT_US)) {
+    if (rpmdata.data_valid) {
         const float slew = MIN(1.0f, (now - rpmdata.last_update_us) * rpmdata.update_rate_hz * (1.0f / 1e6f));
         rpm = (rpmdata.prev_rpm + (rpmdata.rpm - rpmdata.prev_rpm) * slew);
 
@@ -225,9 +218,7 @@ bool AP_ESC_Telem::get_raw_rpm(uint8_t esc_index, float& rpm) const
 
     const volatile AP_ESC_Telem_Backend::RpmData& rpmdata = _rpm_data[esc_index];
 
-    const uint32_t now = AP_HAL::micros();
-
-    if (!rpm_data_within_timeout(rpmdata, now, ESC_RPM_DATA_TIMEOUT_US)) {
+    if (!rpmdata.data_valid) {
         return false;
     }
 
@@ -412,9 +403,6 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
         return;
     }
 
-    const uint32_t now = AP_HAL::millis();
-    const uint32_t now_us = AP_HAL::micros();
-
     // loop through groups of 4 ESCs
     const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
 
@@ -435,8 +423,7 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
         for (uint8_t j=0; j<4; j++) {
             const uint8_t esc_id = (i * 4 + j) + esc_offset;
             if (esc_id < ESC_TELEM_MAX_ESCS &&
-                (!_telem_data[esc_id].stale(now) ||
-                 rpm_data_within_timeout(_rpm_data[esc_id], now_us, ESC_RPM_DATA_TIMEOUT_US))) {
+                (!_telem_data[esc_id].stale() || _rpm_data[esc_id].data_valid)) {
                 all_stale = false;
                 break;
             }
@@ -593,6 +580,7 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     telemdata.count++;
     telemdata.types |= data_mask;
     telemdata.last_update_ms = AP_HAL::millis();
+    telemdata.any_data_valid = true;
 }
 
 // record an update to the RPM together with timestamp, this allows the notch values to be slewed
@@ -808,23 +796,37 @@ void AP_ESC_Telem::update()
     }
 #endif  // HAL_LOGGING_ENABLED
 
-    const uint32_t now_us = AP_HAL::micros();
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
+        // copy the last_updated_us timestamp to avoid any race issues
+        const uint32_t last_updated_us = _rpm_data[i].last_update_us;
+        const uint32_t now_us = AP_HAL::micros();
         // Invalidate RPM data if not received for too long
-        if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
+        if (AP_HAL::timeout_expired(last_updated_us, now_us, ESC_RPM_DATA_TIMEOUT_US)) {
             _rpm_data[i].data_valid = false;
         }
+        const uint32_t last_telem_data_ms = _telem_data[i].last_update_ms;
+        const uint32_t now_ms = AP_HAL::millis();
+        // Invalidate telemetry data if not received for too long
+        if (AP_HAL::timeout_expired(last_telem_data_ms, now_ms, ESC_TELEM_DATA_TIMEOUT_MS)) {
+            _telem_data[i].any_data_valid = false;
+        }
     }
 }
 
-bool AP_ESC_Telem::rpm_data_within_timeout(const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us)
+// NOTE: This function should only be used to check timeouts other than 
+// ESC_RPM_DATA_TIMEOUT_US. Timeouts equal to ESC_RPM_DATA_TIMEOUT_US should
+// use RpmData::data_valid, which is cheaper and achieves the same result.
+bool AP_ESC_Telem::rpm_data_within_timeout(const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t timeout_us)
 {
+    // copy the last_update_us timestamp to avoid any race issues
+    const uint32_t last_update_us = instance.last_update_us;
+    const uint32_t now_us = AP_HAL::micros();
     // easy case, has the time window been crossed so it's invalid
-    if ((now_us - instance.last_update_us) > timeout_us) {
+    if (AP_HAL::timeout_expired(last_update_us, now_us, timeout_us)) {
         return false;
     }
     // we never got a valid data, to it's invalid
-    if (instance.last_update_us == 0) {
+    if (last_update_us == 0) {
         return false;
     }
     // check if things generally expired on us, this is done to handle time wrapping
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
index cf4a5a9cc2d57..7b39646b16032 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -134,7 +134,7 @@ class AP_ESC_Telem {
 private:
 
     // helper that validates RPM data
-    static bool rpm_data_within_timeout (const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us);
+    static bool rpm_data_within_timeout (const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t timeout_us);
     static bool was_rpm_data_ever_reported (const volatile AP_ESC_Telem_Backend::RpmData &instance);
 
 #if AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
index a63c0191c5c85..a197f6bdc1287 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
@@ -48,9 +48,9 @@ void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const Tele
 /*
   return true if the data is stale
  */
-bool AP_ESC_Telem_Backend::TelemetryData::stale(uint32_t now_ms) const volatile
+bool AP_ESC_Telem_Backend::TelemetryData::stale() const volatile
 {
-    return last_update_ms == 0 || now_ms - last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS;
+    return last_update_ms == 0 || !any_data_valid;
 }
 
 /*
@@ -62,7 +62,7 @@ bool AP_ESC_Telem_Backend::TelemetryData::valid(const uint16_t type_mask) const
         // Requested type not available
         return false;
     }
-    return !stale(AP_HAL::millis());
+    return !stale();
 }
 
 #endif
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
index f127c0d71ab92..b41dc48519e87 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
@@ -30,8 +30,11 @@ class AP_ESC_Telem_Backend {
         uint8_t power_percentage;   // Percentage of output power
 #endif // AP_EXTENDED_ESC_TELEM_ENABLED
 
+        // set to false if no data has been received within the timeout period
+        bool any_data_valid;
+
         // return true if the data is stale
-        bool stale(uint32_t now_ms) const volatile;
+        bool stale() const volatile;
 
         //  return true if the requested type of data is available and not stale
         bool valid(const uint16_t type_mask) const volatile;
diff --git a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
index f481d872558e5..d4eca8812fb82 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
@@ -32,6 +32,8 @@ int AP_Filesystem_ROMFS::open(const char *fname, int flags, bool allow_absolute_
         errno = EROFS;
         return -1;
     }
+
+    WITH_SEMAPHORE(record_sem); // search for free file record
     uint8_t idx;
     for (idx=0; idx<max_open_file; idx++) {
         if (file[idx].data == nullptr) {
@@ -42,10 +44,6 @@ int AP_Filesystem_ROMFS::open(const char *fname, int flags, bool allow_absolute_
         errno = ENFILE;
         return -1;
     }
-    if (file[idx].data != nullptr) {
-        errno = EBUSY;
-        return -1;
-    }
     file[idx].data = AP_ROMFS::find_decompress(fname, file[idx].size);
     if (file[idx].data == nullptr) {
         errno = ENOENT;
@@ -61,6 +59,8 @@ int AP_Filesystem_ROMFS::close(int fd)
         errno = EBADF;
         return -1;
     }
+
+    WITH_SEMAPHORE(record_sem); // release file record
     AP_ROMFS::free(file[fd].data);
     file[fd].data = nullptr;
     return 0;
@@ -142,6 +142,7 @@ int AP_Filesystem_ROMFS::mkdir(const char *pathname)
 
 void *AP_Filesystem_ROMFS::opendir(const char *pathname)
 {
+    WITH_SEMAPHORE(record_sem); // search for free directory record
     uint8_t idx;
     for (idx=0; idx<max_open_dir; idx++) {
         if (dir[idx].path == nullptr) {
@@ -216,6 +217,8 @@ int AP_Filesystem_ROMFS::closedir(void *dirp)
         errno = EBADF;
         return -1;
     }
+
+    WITH_SEMAPHORE(record_sem); // release directory record
     free(dir[idx].path);
     dir[idx].path = nullptr;
     return 0;
diff --git a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.h b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.h
index a5176aeaf44ba..07fd2ca9888cb 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.h
+++ b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.h
@@ -19,6 +19,8 @@
 
 #if AP_FILESYSTEM_ROMFS_ENABLED
 
+#include <AP_HAL/Semaphores.h>
+
 #include "AP_Filesystem_backend.h"
 
 class AP_Filesystem_ROMFS : public AP_Filesystem_Backend
@@ -56,6 +58,9 @@ class AP_Filesystem_ROMFS : public AP_Filesystem_Backend
     void unload_file(FileData *fd) override;
     
 private:
+    // protect searching for free file/dir records when opening/closing
+    HAL_Semaphore record_sem;
+
     // only allow up to 4 files at a time
     static constexpr uint8_t max_open_file = 4;
     static constexpr uint8_t max_open_dir = 4;
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 2c97c1ebff46c..c496eb4719709 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -188,6 +188,10 @@
 #define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT)
 #endif
 
+#ifndef AP_NOTIFY_TONEALARM_ENABLED
+#define AP_NOTIFY_TONEALARM_ENABLED 0
+#endif
+
 // support for Extended DShot Telemetry v2 is enabled only if any kind of such telemetry
 // can in principle arrive, either from servo outputs or from IOMCU
 
diff --git a/libraries/AP_HAL/CANIface.cpp b/libraries/AP_HAL/CANIface.cpp
index 74fa742f9cb77..bc57034921bba 100644
--- a/libraries/AP_HAL/CANIface.cpp
+++ b/libraries/AP_HAL/CANIface.cpp
@@ -54,11 +54,12 @@ bool AP_HAL::CANFrame::priorityHigherThan(const CANFrame& rhs) const
 }
 
 /*
-  parent class receive handling for MAVCAN
+  parent class receive handling for forwarding received frames to registered callbacks
  */
 int16_t AP_HAL::CANIface::receive(CANFrame& out_frame, uint64_t& out_ts_monotonic, CanIOFlags& out_flags)
 {
-    if ((out_flags & IsMAVCAN) != 0) {
+    if ((out_flags & IsForwardedFrame) != 0) {
+        // this frame was forwarded from another interface to this one, so we should not forward it back
         return 1;
     }
 #ifndef HAL_BOOTLOADER_BUILD
@@ -66,14 +67,15 @@ int16_t AP_HAL::CANIface::receive(CANFrame& out_frame, uint64_t& out_ts_monotoni
 #endif
     for (auto &cb : callbacks.cb) {
         if (cb != nullptr) {
-            cb(get_iface_num(), out_frame);
+            // forward the frame to the registered callbacks and mark it as forwarded
+            cb(get_iface_num(), out_frame, out_flags | IsForwardedFrame);
         }
     }
     return 1;
 }
 
 /*
-  parent class send handling for MAVCAN
+  parent class send handling for Forwarded frames
  */
 int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanIOFlags flags)
 {
@@ -85,13 +87,15 @@ int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanI
         if (cb == nullptr) {
             continue;
         }
-        if ((flags & IsMAVCAN) == 0) {
-            cb(get_iface_num(), frame);
+        if ((flags & IsForwardedFrame) == 0) {
+            // call the frame callback from send only if the frame originated from this node
+            cb(get_iface_num(), frame, flags);
         } else if (!added_to_rx_queue) {
+            // the frame was forwarded from another interface, so add it to the receive queue
             CanRxItem rx_item;
             rx_item.frame = frame;
             rx_item.timestamp_us = AP_HAL::micros64();
-            rx_item.flags = AP_HAL::CANIface::IsMAVCAN;
+            rx_item.flags = AP_HAL::CANIface::IsForwardedFrame;
             add_to_rx_queue(rx_item);
             added_to_rx_queue = true;
         }
diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index 629432bd1fac1..626c4d3f5950d 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -125,7 +125,7 @@ class AP_HAL::CANIface
     typedef uint16_t CanIOFlags;
     static const CanIOFlags Loopback = 1;
     static const CanIOFlags AbortOnError = 2;
-    static const CanIOFlags IsMAVCAN = 4;
+    static const CanIOFlags IsForwardedFrame = 4;
 
     // Single Rx Frame with related info
     struct CanRxItem {
@@ -259,7 +259,7 @@ class AP_HAL::CANIface
     // return true if init was called and successful
     virtual bool is_initialized() const = 0;
 
-    FUNCTOR_TYPEDEF(FrameCb, void, uint8_t, const AP_HAL::CANFrame &);
+    FUNCTOR_TYPEDEF(FrameCb, void, uint8_t, const AP_HAL::CANFrame &, CanIOFlags);
 
     // register a frame callback function
     virtual bool register_frame_callback(FrameCb cb, uint8_t &cb_id);
diff --git a/libraries/AP_HAL/I2CDevice.h b/libraries/AP_HAL/I2CDevice.h
index 1f6e6cf5b4352..6659a28ffd5a3 100644
--- a/libraries/AP_HAL/I2CDevice.h
+++ b/libraries/AP_HAL/I2CDevice.h
@@ -70,11 +70,21 @@ class I2CDevice : public Device {
 
 class I2CDeviceManager {
 public:
-    /* Get a device handle */
-    virtual OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
-                                                 uint32_t bus_clock=400000,
-                                                 bool use_smbus = false,
-                                                 uint32_t timeout_ms=4) = 0;
+    /* Get a pointer to a newly-allocated I2CDevice handle.  Lifetime
+     * is externally handled */
+    virtual AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
+                                              uint32_t bus_clock=400000,
+                                              bool use_smbus = false,
+                                              uint32_t timeout_ms=4) = 0;
+    /* Get a device handle.  Lifetime is handled by OwnPtr system.
+     * Progressively being eliminated */
+    OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
+                                         uint32_t bus_clock=400000,
+                                         bool use_smbus = false,
+                                         uint32_t timeout_ms=4) {
+        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(get_device_ptr(bus, address, bus_clock, use_smbus, timeout_ms));
+    }
+;
     /*
       get mask of bus numbers for all configured I2C buses
      */
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index e81b3e978bfd8..8bd4e0f1c2012 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -155,3 +155,7 @@
 #define HAL_INS_RATE_LOOP 0
 #endif
 #endif
+
+#ifndef AP_NOTIFY_TONEALARM_ENABLED
+#define AP_NOTIFY_TONEALARM_ENABLED ((defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM_ENABLED))
+#endif
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 705728aa68039..4a3b86d157502 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -28,6 +28,9 @@
     #define HAL_INS_DEFAULT HAL_INS_NONE
     #define HAL_BARO_DEFAULT HAL_BARO_NONE
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
+    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
+    #define AP_NOTIFY_TONEALARM_ENABLED 1
+    #endif
     #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
       #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
     #else
diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
index 4e8c6d961d6f5..d2296a6716507 100644
--- a/libraries/AP_HAL/board/sitl.h
+++ b/libraries/AP_HAL/board/sitl.h
@@ -104,3 +104,7 @@
 #ifndef HAL_INS_RATE_LOOP
 #define HAL_INS_RATE_LOOP 1
 #endif
+
+#ifndef AP_NOTIFY_TONEALARM_ENABLED
+#define AP_NOTIFY_TONEALARM_ENABLED 1
+#endif
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index 12bead827bdcb..c5cec1730dea9 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -449,18 +449,17 @@ bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint3
     return bus.adjust_timer(h, period_usec);
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus, uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     bus -= HAL_I2C_BUS_BASE;
     if (bus >= ARRAY_SIZE(I2CD)) {
-        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
+        return nullptr;
     }
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
-    return dev;
+    return NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms);
 }
 
 /*
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.h b/libraries/AP_HAL_ChibiOS/I2CDevice.h
index 143fe29f1d7ed..487646576398c 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.h
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.h
@@ -126,10 +126,12 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
         return static_cast<I2CDeviceManager*>(i2c_mgr);
     }
 
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
-                                                 uint32_t bus_clock=400000,
-                                                 bool use_smbus = false,
-                                                 uint32_t timeout_ms=4) override;
+    /* Get a pointer to a newly-allocated I2CDevice handle.  Lifetime
+     * is externally handled */
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
+                                  uint32_t bus_clock=400000,
+                                  bool use_smbus = false,
+                                  uint32_t timeout_ms=4) override;
 
     /*
       get mask of bus numbers for all configured I2C buses
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
index 72c70c13be38e..cb7303811768f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
@@ -112,7 +112,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
@@ -125,7 +125,7 @@ define HAL_WITH_ESC_TELEM 1
 define AP_SERIALLED_ENABLED 1
 
 # Rangefinder
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 # disable rangefinder by default
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
index adbe684dc7c16..136a58e71e372 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
@@ -112,7 +112,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
index 8efb3966cedcd..6d338b24b8724 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
@@ -124,7 +124,7 @@ define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
index 0fe5876f5e0fa..1eab1882778eb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
@@ -102,7 +102,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_BUZZER
 define HAL_PERIPH_NEOPIXEL_COUNT 8
 define HAL_PERIPH_NEOPIXEL_CHAN 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
index 81c3a4d238269..b0aa2d4737276 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -132,7 +132,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # do direct neopixel LED output to enable the 'rainbow' effect on
 # startup
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
index 0f7c4f28d8e78..65b41673111c0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -113,7 +113,7 @@ define HAL_NO_GCS
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 # enable ESC control
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
index f69d78995c082..4b2a9bf4dd537 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
@@ -116,7 +116,7 @@ define HAL_NO_GCS
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 # enable ESC control
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
index 55240ba00c83e..b9f93dcece617 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
@@ -26,7 +26,7 @@ env AP_PERIPH 1
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
index fcc4f21248c78..0bdd71f6a8220 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -19,7 +19,7 @@ define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_IMU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
index 2e12823414eac..f577bcd34d2f7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -19,7 +19,7 @@ define AP_CAN_SLCAN_ENABLED 1
 define AP_PERIPH_BATTERY_ENABLED 1
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_IMU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
index 6d8c4a9ebc59b..8165621df8bab 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@@ -124,7 +124,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
index d520476418710..aaf6c00113d64 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat
@@ -90,7 +90,7 @@ define HAL_USE_ADC FALSE
 define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
-define HAL_PERIPH_ENABLE_BARO TRUE
+define AP_PERIPH_BARO_ENABLED 1
 
 SPIDEV rm3100 SPI3 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
 COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
@@ -116,7 +116,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 
 
 define AP_PERIPH_GPS_ENABLED 1
-define AP_PERIPH_MAG_ENABLED 1 1
+define AP_PERIPH_MAG_ENABLED 1
 define GPS_MOVING_BASELINE 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
index afccf9e322ddf..2475d59785c8f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
@@ -140,7 +140,7 @@ env ROMFS_UNCOMPRESSED True
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # septentrio on com 3
 define HAL_GPS1_TYPE_DEFAULT 10
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
index 2f5cb43ec88e2..f9e7e762a2eef 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
@@ -143,7 +143,7 @@ define HAL_PERIPH_ENABLE_IMU
 # GPS+MAG+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_IMU
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
index 6ecb29d893431..a0deb7404843c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
@@ -139,7 +139,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
index 81d2f2ce43ba6..6df702eb61d3f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-Periph/hwdef.dat
@@ -28,7 +28,7 @@ define AIRSPEED_MAX_SENSORS 1
 
 
 # ----------- I2C Barometer
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 # BARO SPL06 I2C:0:0x76
@@ -64,5 +64,5 @@ define HAL_PROXIMITY_ENABLED 1
 
 
 # ----------- rangefinder
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
index a8e2bab91d074..5525c9a0f580a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
@@ -18,10 +18,10 @@ env AP_PERIPH 1
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_ADSB
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define AP_PERIPH_BATTERY_ENABLED 1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
index 575f1861d00bb..10636f8c16f0e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Periph/hwdef.dat
@@ -41,7 +41,7 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
 
 
 # --------------------- Barometer ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 BARO SPL06 I2C:0:0x76
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Rangefinder/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Rangefinder/hwdef.dat
index 99e189f4b3b39..a193955cc7771 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Rangefinder/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Rangefinder/hwdef.dat
@@ -5,7 +5,7 @@ define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
 # support all rangefinder types
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 define RANGEFINDER_MAX_INSTANCES 2
 
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
index 5ab040c8b3329..d8d132ba8d36a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
@@ -96,7 +96,7 @@ define AP_PERIPH_MAG_ENABLED 1
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 
 # bootloader embedding / bootloader flashing not available
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
index 6df88261149a4..85d0c1daf3b1a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
@@ -99,7 +99,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 
 BARO MS56XX SPI:ms5611
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
index 08114a20cca3c..db079fb254223 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
@@ -68,12 +68,12 @@ define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 define AP_PERIPH_BATTERY_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 1
 
 define HAL_PERIPH_ENABLE_NOTIFY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
index 8cbd900e6c1cb..b36072399e4ea 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
@@ -91,7 +91,7 @@ define AP_RM3100_REVERSAL_MASK 7
 define HAL_COMPASS_MAX_SENSORS 1
 
 # --------------------- DPS310 ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
 BARO DPS310 SPI:dps310
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
index c50ba5b1c874a..ef6affc57cdbe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
@@ -103,7 +103,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 define AP_PERIPH_GPS_ENABLED 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 3
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
index 3794a77a0d41a..d719b80c10a04 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
@@ -114,7 +114,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+Buzzer+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 define CONFIGURE_PPS_PIN TRUE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
index 258c27f6fa311..c789bc5a4f53e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef.dat
@@ -110,7 +110,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+NeoPixels
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
index 740a59454681f..9fae1fd5ce171 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -90,7 +90,7 @@ env ROMFS_UNCOMPRESSED True
 define AP_PERIPH_GPS_ENABLED 1
 define GPS_MAX_RATE_MS 200
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # disable dual GPS and GPS blending to save flash space
 define GPS_MAX_RECEIVERS 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
index 2764f8f9b7b1d..45e3d550e3cfd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -85,7 +85,7 @@ define HAL_COMPASS_MAX_SENSORS 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
 define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
 define DEFAULT_NTF_LED_TYPES 455
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
index 75351254e6c1a..9ce68a2696b2a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
@@ -88,7 +88,7 @@ env ROMFS_UNCOMPRESSED True
 # enable GPS and compass
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_RC_OUT
 define HAL_PERIPH_ENABLE_NOTIFY
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef-bl.dat
new file mode 100644
index 0000000000000..04f1494a272ab
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef-bl.dat
@@ -0,0 +1,2 @@
+include ../TBS-L431/hwdef-bl.inc
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef.dat
new file mode 100644
index 0000000000000..4f184a84c002d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431-Airspeed/hwdef.dat
@@ -0,0 +1,24 @@
+include ../TBS-L431/hwdef.inc
+
+USE_BOOTLOADER_FROM_BOARD TBS-L431-Periph
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+# ---------------------- I2C bus ------------------------
+I2C_ORDER I2C1
+
+PA9 I2C1_SCL I2C1
+PA10 I2C1_SDA I2C1
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 1
+
+# ------------------ I2C airspeed -------------------------
+define HAL_PERIPH_ENABLE_AIRSPEED
+
+# 10" DLVR sensor by default
+define HAL_AIRSPEED_TYPE_DEFAULT 9  
+define AIRSPEED_MAX_SENSORS 1
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef-bl.inc b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef-bl.inc
new file mode 100644
index 0000000000000..b37f849af1ec1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef-bl.inc
@@ -0,0 +1,65 @@
+# hw definition file Matek L431 CAN node
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# use LSE clock source
+OSCILLATOR_HZ 32768
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_L431_PERIPH
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# ---------------------------------------------
+PA15 LED_BOOTLOADER OUTPUT LOW  # blue
+define HAL_LED_ON 0
+
+# enable CAN support
+#PB8 CAN1_RX CAN1
+#PB9 CAN1_TX CAN1
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+PB1 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+PB3 GPIO_CAN1_TERM_LED OUTPUT PUSHPULL SPEED_LOW LOW
+PB0 GPIO_CAN1_TERM_SWITCH INPUT FLOAT
+
+CAN_ORDER 1
+
+# ---------------------------------------------
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 32
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+# Add CS pins to ensure they are high in bootloader
+PA4 MAG_CS CS
+PB2 SPARE_CS CS
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef.inc
new file mode 100644
index 0000000000000..ae88cbe842368
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS-L431/hwdef.inc
@@ -0,0 +1,84 @@
+# hw definition file for Matek L431 CAN node
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 256
+
+# store parameters in pages 18 and 19
+STORAGE_FLASH_PAGE 18
+define HAL_STORAGE_SIZE 800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_TBS_L431_PERIPH
+
+# use LSE clock source
+OSCILLATOR_HZ 32768
+
+env AP_PERIPH 1
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# blue LED0 marked as ACT
+PA15 LED OUTPUT HIGH
+define HAL_LED_ON 0
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+# termination control
+# the LED is used to indicate to user the termination status
+# the SWITCH is an override solder bridge, if high then force termination
+PB1 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+PB3 GPIO_CAN1_TERM_LED OUTPUT PUSHPULL SPEED_LOW LOW
+PB0 GPIO_CAN1_TERM_SWITCH INPUT FLOAT
+
+# PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_CAN_POOL_SIZE 6000
+
+# ---------------------- UARTs ---------------------------
+#           | sr0  | MSP | GPS  |
+SERIAL_ORDER USART1
+
+# USART1 for debug
+PB6  USART1_TX USART1 SPEED_HIGH
+PB7  USART1_RX USART1 SPEED_HIGH
+
+# allow for reboot command for faster development
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+define HAL_RCIN_THREAD_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
index 4a52289c9c114..bf964a239480f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
@@ -132,7 +132,7 @@ define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # reduce the number of CAN RX Buffer
 define HAL_CAN_RX_QUEUE_SIZE 32
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32l4_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32l4_mcuconf.h
index eccaa7551a9b5..ba747c0618185 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32l4_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32l4_mcuconf.h
@@ -32,6 +32,18 @@
 #define STM32_PLLM_VALUE                    2
 #define STM32_PLLSRC                        STM32_PLLSRC_HSI16
 
+#elif STM32_HSECLK == 32768U
+// low speed external oscillator
+#define STM32_LSE_ENABLED                   TRUE
+#define STM32_HSE_ENABLED                   FALSE
+#define STM32_HSI16_ENABLED                 FALSE
+#define STM32_MSI_ENABLED                   TRUE
+#define STM32_PLLM_VALUE                    1
+#define STM32_PLLN_VALUE                    40
+#define STM32_PLLSAI1N_VALUE                24
+#define STM32_PLLSRC                        STM32_PLLSRC_MSI
+#define STM32_MSIPLL_ENABLED                TRUE
+
 #elif STM32_HSECLK == 8000000U
 #define STM32_HSE_ENABLED                   TRUE
 #define STM32_HSI16_ENABLED                 FALSE
@@ -72,8 +84,12 @@
 #define STM32_PLS                           STM32_PLS_LEV0
 #define STM32_HSI48_ENABLED                 FALSE
 #define STM32_LSI_ENABLED                   FALSE
+#ifndef STM32_LSE_ENABLED
 #define STM32_LSE_ENABLED                   FALSE
+#endif
+#ifndef STM32_MSIPLL_ENABLED
 #define STM32_MSIPLL_ENABLED                FALSE
+#endif
 #define STM32_MSIRANGE                      STM32_MSIRANGE_4M
 #define STM32_MSISRANGE                     STM32_MSISRANGE_4M
 #define STM32_SW                            STM32_SW_PLL
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat
index f5d9a57489d9d..2586e78a8f6fb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-RangeFinder/hwdef.dat
@@ -4,7 +4,7 @@ include ../f103-periph/hwdef.inc
 define HAL_AIRSPEED_BUS_DEFAULT 0
 define AIRSPEED_MAX_SENSORS 1
 
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 3
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
index 367832906db64..bb0c1f9797834 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10025/hwdef.dat
@@ -13,7 +13,7 @@ BARO DPS310 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 # I2C Airspeed sensor must use a different address than 0x77
 define HAL_PERIPH_ENABLE_AIRSPEED
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
index 4f3716e2626db..d6056f2fcffbe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-M10070/hwdef.dat
@@ -16,7 +16,7 @@ BARO DPS280 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 # Optional I2C Airspeed sensor connected to I2C connector
 define HAL_PERIPH_ENABLE_AIRSPEED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
index fd9550bf37258..6c0fb64a27456 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat
@@ -123,9 +123,9 @@ BARO DPS310 I2C:0:0x76
 # also allow for airspeed on i2c port, and rangefinder on MSP port
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 define HAL_PERIPH_ENABLE_MSP
 
 # setup for MSP
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
index aac04b6822b42..a9552b3becdb6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
@@ -7,11 +7,11 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 # enable all features
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_AIRSPEED
 define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 
 # allow for F9P GPS modules with moving baseline
 define GPS_MOVING_BASELINE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
index dd3aaf21f212b..05727707bd956 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
@@ -156,7 +156,7 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
 
 
 # --------------------- DPS310 ---------------------------
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 BARO DPS310 I2C:0:0x76
@@ -175,7 +175,7 @@ define HAL_MSP_ENABLED 1
 define AP_PERIPH_MSP_PORT_DEFAULT 4
 
 # ----------------- rangefinder,ADSB ----------------------
-define HAL_PERIPH_ENABLE_RANGEFINDER
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 
 # disable rangefinder by default
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
index 82c206bfa6067..d1ade70103782 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
@@ -50,7 +50,7 @@ PB7 I2C1_SDA I2C1
 # an I2C baro (DPS310)
 BARO DPS280 I2C:0:0x77
 
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 
 PA0 VSENSE50  ADC1 SCALE(3)
 PA1 VSENSE3v3 ADC1 SCALE(2)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
index b5b5233e80e52..8ee3e76cc3c80 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
@@ -19,7 +19,7 @@ BARO DPS310 I2C:0:0x77
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
 define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 # I2C Airspeed sensor must use a different address than 0x77
 define HAL_PERIPH_ENABLE_AIRSPEED
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
index 69025f3ee3071..a02b974f73d27 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
@@ -116,7 +116,7 @@ define GPS_MOVING_BASELINE 1
 # GPS+MAG+BARO+LEDs
 define AP_PERIPH_GPS_ENABLED 1
 define AP_PERIPH_MAG_ENABLED 1
-define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLED 1
 define HAL_PERIPH_ENABLE_NOTIFY
 define HAL_PERIPH_ENABLE_RC_OUT
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
index c6bb94d097d91..9e2b04e09cd87 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
@@ -65,3 +65,5 @@
 #ifndef HAL_OS_POSIX_IO
 #define HAL_OS_POSIX_IO 0
 #endif
+
+#define AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 35d6d0789041e..6fc43ed702b05 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -175,6 +175,12 @@
 #ifdef HAL_PERIPH_ENABLE_MAG
 #error "Change 'define HAL_PERIPH_ENABLE_MAG' to 'define AP_PERIPH_MAG_ENABLED 1'"
 #endif
+#ifdef HAL_PERIPH_ENABLE_BARO
+#error "Change 'define HAL_PERIPH_ENABLE_BARO' to 'define AP_PERIPH_BARO_ENABLED 1'"
+#endif
+#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+#error "Change 'define HAL_PERIPH_ENABLE_RANGEFINDER' to 'define AP_PERIPH_RANGEFINDER_ENABLED 1'"
+#endif
 
 /*
  * defaults for various AP_Periph features:
@@ -194,6 +200,12 @@
 #ifndef AP_PERIPH_MAG_ENABLED
 #define AP_PERIPH_MAG_ENABLED 0
 #endif
+#ifndef AP_PERIPH_BARO_ENABLED
+#define AP_PERIPH_BARO_ENABLED 0
+#endif
+#ifndef AP_PERIPH_RANGEFINDER_ENABLED
+#define AP_PERIPH_RANGEFINDER_ENABLED 0
+#endif
 
 /*
  * turning on of ArduPilot features based on which AP_Periph features
@@ -203,6 +215,8 @@
 #define AP_GPS_ENABLED AP_PERIPH_GPS_ENABLED
 #define AP_AHRS_ENABLED AP_PERIPH_AHRS_ENABLED
 #define AP_COMPASS_ENABLED AP_PERIPH_MAG_ENABLED
+#define AP_BARO_ENABLED AP_PERIPH_BARO_ENABLED
+#define AP_RANGEFINDER_ENABLED AP_PERIPH_RANGEFINDER_ENABLED
 
 /*
  * GPS Backends - we selectively turn backends on.
@@ -388,8 +402,6 @@
 #define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 0
 #endif
 
-#define AP_BARO_ENABLED defined(HAL_PERIPH_ENABLE_BARO)
-#define AP_RANGEFINDER_ENABLED defined(HAL_PERIPH_ENABLE_RANGEFINDER)
 #define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
 #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/sw-spar-f407/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/sw-spar-f407/hwdef.dat
index 71ca187745994..fc2d9d46acc69 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/sw-spar-f407/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/sw-spar-f407/hwdef.dat
@@ -91,7 +91,7 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 
 # rangefinder
-define HAL_PERIPH_ENABLE_RANGEFINDER 2
+define AP_PERIPH_RANGEFINDER_ENABLED 1
 define AP_PERIPH_RANGEFINDER_PORT_DEFAULT 2
 
 # compass
diff --git a/libraries/AP_HAL_ESP32/I2CDevice.cpp b/libraries/AP_HAL_ESP32/I2CDevice.cpp
index e2bcc9071ec81..1d31619a43713 100644
--- a/libraries/AP_HAL_ESP32/I2CDevice.cpp
+++ b/libraries/AP_HAL_ESP32/I2CDevice.cpp
@@ -150,17 +150,16 @@ bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint3
     return bus.adjust_timer(h, period_usec);
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus, uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     if (bus >= ARRAY_SIZE(i2c_bus_desc)) {
-        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
+        return nullptr;
     }
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
-    return dev;
+    return NEW_NOTHROW I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms);
 }
 
 /*
diff --git a/libraries/AP_HAL_ESP32/I2CDevice.h b/libraries/AP_HAL_ESP32/I2CDevice.h
index 099de86d33bfe..3119f18d709f5 100644
--- a/libraries/AP_HAL_ESP32/I2CDevice.h
+++ b/libraries/AP_HAL_ESP32/I2CDevice.h
@@ -124,7 +124,7 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager
         return static_cast<I2CDeviceManager*>(i2c_mgr);
     }
 
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
             uint32_t bus_clock=400000,
             bool use_smbus = false,
             uint32_t timeout_ms=4) override;
diff --git a/libraries/AP_HAL_Empty/I2CDevice.h b/libraries/AP_HAL_Empty/I2CDevice.h
index 7f51e85ce00cd..bc2421e72a97b 100644
--- a/libraries/AP_HAL_Empty/I2CDevice.h
+++ b/libraries/AP_HAL_Empty/I2CDevice.h
@@ -83,10 +83,10 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
     I2CDeviceManager() { }
 
     /* AP_HAL::I2CDeviceManager implementation */
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
-                                                 uint32_t bus_clock=400000,
-                                                 bool use_smbus = false,
-                                                 uint32_t timeout_ms=4) override
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
+                                      uint32_t bus_clock=400000,
+                                      bool use_smbus = false,
+                                      uint32_t timeout_ms=4) override
     {
         return nullptr;
     }
diff --git a/libraries/AP_HAL_Linux/I2CDevice.cpp b/libraries/AP_HAL_Linux/I2CDevice.cpp
index 0418e2fcc9881..192388cc50e8a 100644
--- a/libraries/AP_HAL_Linux/I2CDevice.cpp
+++ b/libraries/AP_HAL_Linux/I2CDevice.cpp
@@ -280,11 +280,11 @@ I2CDeviceManager::I2CDeviceManager()
     _buses.reserve(4);
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus, uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
         if (_buses[i]->bus == bus) {
@@ -313,10 +313,10 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
 }
 
 /* Create a new device increasing the bus reference */
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
+AP_HAL::I2CDevice *
 I2CDeviceManager::_create_device(I2CBus &b, uint8_t address) const
 {
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(b, address));
+    auto *dev = NEW_NOTHROW I2CDevice(b, address);
     if (!dev) {
         return nullptr;
     }
diff --git a/libraries/AP_HAL_Linux/I2CDevice.h b/libraries/AP_HAL_Linux/I2CDevice.h
index 92c57c2534f00..73b049731389f 100644
--- a/libraries/AP_HAL_Linux/I2CDevice.h
+++ b/libraries/AP_HAL_Linux/I2CDevice.h
@@ -95,10 +95,10 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
     I2CDeviceManager();
 
     /* AP_HAL::I2CDeviceManager implementation */
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
-                                                 uint32_t bus_clock=400000,
-                                                 bool use_smbus = false,
-                                                 uint32_t timeout_ms=4) override;
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
+                                     uint32_t bus_clock=400000,
+                                     bool use_smbus = false,
+                                     uint32_t timeout_ms=4) override;
 
     /*
      * Stop all I2C threads and block until they are finalized. This doesn't
@@ -124,7 +124,7 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
     
 protected:
     void _unregister(I2CBus &b);
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _create_device(I2CBus &b, uint8_t address) const;
+    AP_HAL::I2CDevice *_create_device(I2CBus &b, uint8_t address) const;
 
     std::vector<I2CBus*> _buses;
 };
diff --git a/libraries/AP_HAL_QURT/I2CDevice.cpp b/libraries/AP_HAL_QURT/I2CDevice.cpp
index 0d5317f3f27ca..971b0fb1f3c6b 100644
--- a/libraries/AP_HAL_QURT/I2CDevice.cpp
+++ b/libraries/AP_HAL_QURT/I2CDevice.cpp
@@ -98,17 +98,16 @@ bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint3
     return bus.adjust_timer(h, period_usec);
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus, uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     if (bus >= ARRAY_SIZE(i2c_bus_ids)) {
-        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
+        return nullptr;
     }
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
-    return dev;
+    return new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms);
 }
 
 /*
diff --git a/libraries/AP_HAL_QURT/I2CDevice.h b/libraries/AP_HAL_QURT/I2CDevice.h
index 4e1c44e8f0130..56a02c9b43268 100644
--- a/libraries/AP_HAL_QURT/I2CDevice.h
+++ b/libraries/AP_HAL_QURT/I2CDevice.h
@@ -111,7 +111,7 @@ class I2CDeviceManager : public AP_HAL::I2CDeviceManager
         return static_cast<I2CDeviceManager*>(i2c_mgr);
     }
 
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
             uint32_t bus_clock=100000,
             bool use_smbus = false,
             uint32_t timeout_ms=4) override;
diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.h b/libraries/AP_HAL_SITL/HAL_SITL_Class.h
index 495405c62bfa4..fb9ded3887ad4 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.h
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.h
@@ -43,6 +43,8 @@ class HAL_SITL : public AP_HAL::HAL {
 
     uint32_t get_uart_output_full_queue_count() const;
 
+    HALSITL::SITL_State * get_sitl_state() { return _sitl_state; }
+
 private:
     HALSITL::SITL_State *_sitl_state;
 
diff --git a/libraries/AP_HAL_SITL/I2CDevice.cpp b/libraries/AP_HAL_SITL/I2CDevice.cpp
index 28c1f11e4073e..e0a59f0b802c2 100644
--- a/libraries/AP_HAL_SITL/I2CDevice.cpp
+++ b/libraries/AP_HAL_SITL/I2CDevice.cpp
@@ -106,18 +106,17 @@ I2CDeviceManager::I2CDeviceManager()
     }
 }
 
-AP_HAL::OwnPtr<AP_HAL::I2CDevice>
-I2CDeviceManager::get_device(uint8_t bus,
-                             uint8_t address,
-                             uint32_t bus_clock,
-                             bool use_smbus,
-                             uint32_t timeout_ms)
+AP_HAL::I2CDevice *
+I2CDeviceManager::get_device_ptr(uint8_t bus,
+                                 uint8_t address,
+                                 uint32_t bus_clock,
+                                 bool use_smbus,
+                                 uint32_t timeout_ms)
 {
     if (bus >= ARRAY_SIZE(buses)) {
-        return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
+        return nullptr;
     }
-    auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(NEW_NOTHROW I2CDevice(buses[bus], address));
-    return dev;
+    return NEW_NOTHROW I2CDevice(buses[bus], address);
 }
 
 void I2CDeviceManager::_timer_tick()
diff --git a/libraries/AP_HAL_SITL/I2CDevice.h b/libraries/AP_HAL_SITL/I2CDevice.h
index 828fd3efd48a8..c9a87fa2628c3 100644
--- a/libraries/AP_HAL_SITL/I2CDevice.h
+++ b/libraries/AP_HAL_SITL/I2CDevice.h
@@ -118,10 +118,10 @@ class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
     void _timer_tick(); // in lieu of a thread-per-bus
 
     /* AP_HAL::I2CDeviceManager implementation */
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
-                                                 uint32_t bus_clock=400000,
-                                                 bool use_smbus = false,
-                                                 uint32_t timeout_ms=4) override;
+    AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
+                                      uint32_t bus_clock=400000,
+                                      bool use_smbus = false,
+                                      uint32_t timeout_ms=4) override;
 
 protected:
 
diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index e32d293fa7621..07e417d19a390 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -67,7 +67,7 @@ void AP_Logger_File::ensure_log_directory_exists()
         ret = AP::FS().mkdir(_log_directory);
     }
     if (ret == -1 && errno != EEXIST) {
-        printf("Failed to create log directory %s : %s\n", _log_directory, strerror(errno));
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to create log directory %s : %s", _log_directory, strerror(errno));
     }
 }
 
diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 12b0fb1ae3f55..c5a8cb974f1cd 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Networking options
     // @Description: Networking options
-    // @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway
+    // @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast endpoint, 2:Enable CAN2 multicast endpoint, 3:Enable CAN1 multicast bridged, 4:Enable CAN2 multicast bridged
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 9,  AP_Networking,    param.options, 0),
@@ -199,14 +199,14 @@ void AP_Networking::init()
     start_tests();
 #endif
 
-#if AP_NETWORKING_CAN_MCAST_ENABLED && !defined(HAL_BOOTLOADER_BUILD)
-    if (option_is_set(OPTION::CAN1_MCAST_GATEWAY) || option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+    if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT) || option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
         // get mask of enabled buses
         uint8_t bus_mask = 0;
-        if (option_is_set(OPTION::CAN1_MCAST_GATEWAY)) {
+        if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
             bus_mask |= (1U<<0);
         }
-        if (option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
+        if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
             bus_mask |= (1U<<1);
         }
         mcast_server.start(bus_mask);
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 5c7e8ebca18d6..e9f4c781369f7 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -157,14 +157,25 @@ class AP_Networking
     enum class OPTION {
         PPP_ETHERNET_GATEWAY=(1U<<0),
 #if AP_NETWORKING_CAN_MCAST_ENABLED
-        CAN1_MCAST_GATEWAY=(1U<<1),
-        CAN2_MCAST_GATEWAY=(1U<<2),
+        CAN1_MCAST_ENDPOINT=(1U<<1),
+        CAN2_MCAST_ENDPOINT=(1U<<2),
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+        CAN1_MCAST_BRIDGED=(1U<<3),
+        CAN2_MCAST_BRIDGED=(1U<<4),
+#endif
 #endif
     };
     bool option_is_set(OPTION option) const {
         return (param.options.get() & int32_t(option)) != 0;
     }
 
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+    bool is_can_mcast_ep_bridged(uint8_t bus) const {
+        return (option_is_set(OPTION::CAN1_MCAST_BRIDGED) && bus == 0) ||
+               (option_is_set(OPTION::CAN2_MCAST_BRIDGED) && bus == 1);
+    }
+#endif
+
 private:
     static AP_Networking *singleton;
 
diff --git a/libraries/AP_Networking/AP_Networking_CAN.cpp b/libraries/AP_Networking/AP_Networking_CAN.cpp
index f1b1f7b0f0577..05237f767625b 100644
--- a/libraries/AP_Networking/AP_Networking_CAN.cpp
+++ b/libraries/AP_Networking/AP_Networking_CAN.cpp
@@ -117,7 +117,7 @@ void AP_Networking_CAN::mcast_server(void)
         }
 
         if (!cbus->register_frame_callback(
-                FUNCTOR_BIND_MEMBER(&AP_Networking_CAN::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &),
+                FUNCTOR_BIND_MEMBER(&AP_Networking_CAN::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &, AP_HAL::CANIface::CanIOFlags),
                 callback_id)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "CAN_MCAST[%u]: failed to register", unsigned(bus));
             goto de_allocate;
@@ -180,18 +180,30 @@ void AP_Networking_CAN::mcast_server(void)
             */
             AP_HAL::CANFrame frame;
             const uint16_t timeout_us = 2000;
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+            const bool bridged = AP::network().is_can_mcast_ep_bridged(bus);
+#endif
 
             while (frame_buffers[bus]->peek(frame)) {
                 auto *cbus = get_caniface(bus);
                 if (cbus == nullptr) {
                     break;
                 }
-                auto retcode = cbus->send(frame,
-                                                      AP_HAL::micros64() + timeout_us,
-                                                      AP_HAL::CANIface::IsMAVCAN);
-                if (retcode == 0) {
-                    break;
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+                if (bridged) {
+                    auto retcode = cbus->send(frame, AP_HAL::micros64() + timeout_us,
+                                                 AP_HAL::CANIface::IsForwardedFrame);
+                    if (retcode == 0) {
+                        break;
+                    }
+                } else
+#endif
+                {
+                    // only call the AP_HAL::CANIface send if we are not in bridged mode
+                    cbus->AP_HAL::CANIface::send(frame, AP_HAL::micros64() + timeout_us,
+                                                 AP_HAL::CANIface::IsForwardedFrame);
                 }
+
                 // we either sent it or there was an error, either way we discard the frame
                 frame_buffers[bus]->pop();
             }
@@ -203,12 +215,27 @@ void AP_Networking_CAN::mcast_server(void)
   handler for CAN frames from the registered callback, sending frames
   out as multicast UDP
  */
-void AP_Networking_CAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
+void AP_Networking_CAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags)
 {
     if (bus >= HAL_NUM_CAN_IFACES || mcast_sockets[bus] == nullptr) {
         return;
     }
 
+#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+    // check if bridged mode is enabled
+    const bool bridged = AP::network().is_can_mcast_ep_bridged(bus);
+#else
+    // never bridge in bootloader, as we can cause loops if multiple
+    // bootloaders with mcast are running on the same network and CAN Bus
+    const bool bridged = false;
+#endif
+
+    if ((flags & AP_HAL::CANIface::IsForwardedFrame) && !bridged) {
+        // we don't forward frames that we received from the multicast
+        // server if not in bridged mode
+        return;
+    }
+
     struct mcast_pkt pkt {};
     pkt.magic = MCAST_MAGIC;
     pkt.flags = 0;
diff --git a/libraries/AP_Networking/AP_Networking_CAN.h b/libraries/AP_Networking/AP_Networking_CAN.h
index 3e968e4fdb442..65f4ad393ecd4 100644
--- a/libraries/AP_Networking/AP_Networking_CAN.h
+++ b/libraries/AP_Networking/AP_Networking_CAN.h
@@ -9,7 +9,7 @@ class AP_Networking_CAN {
 
 private:
     void mcast_server(void);
-    void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
+    void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
     SocketAPM *mcast_sockets[HAL_NUM_CAN_IFACES];
 
     uint8_t bus_mask;
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index 342257972f8d7..74e5f98ece588 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -107,6 +107,10 @@
 #define AP_NETWORKING_CAN_MCAST_ENABLED 0
 #endif
 
+#ifndef AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
+#define AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED AP_NETWORKING_CAN_MCAST_ENABLED
+#endif
+
 #if AP_NETWORKING_TESTS_ENABLED
 #ifndef AP_NETWORKING_TEST_IP
 #define AP_NETWORKING_TEST_IP "192.168.144.2"
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index b103f13168d9b..8759b2330a4b8 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -421,9 +421,6 @@ void AP_Notify::add_backends(void)
 // ChibiOS noise makers
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     ADD_BACKEND(NEW_NOTHROW Buzzer());
-#if AP_NOTIFY_TONEALARM_ENABLED
-    ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm());
-#endif
 
 // ESP32 noise makers
 #elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
@@ -445,19 +442,19 @@ void AP_Notify::add_backends(void)
         CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \
         CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
     ADD_BACKEND(NEW_NOTHROW Buzzer());
-
-  #else // other linux
-    ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm());
   #endif
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm());
     ADD_BACKEND(NEW_NOTHROW Buzzer());
 #ifdef WITH_SITL_RGBLED
     ADD_BACKEND(NEW_NOTHROW SITL_SFML_LED());
 #endif
 #endif // Noise makers
 
+#if AP_NOTIFY_TONEALARM_ENABLED
+    ADD_BACKEND(NEW_NOTHROW AP_ToneAlarm());
+#endif
+
 }
 
 // initialisation
diff --git a/libraries/AP_Notify/AP_Notify_config.h b/libraries/AP_Notify/AP_Notify_config.h
index 0bc83f19051ea..4ac9425def47d 100644
--- a/libraries/AP_Notify/AP_Notify_config.h
+++ b/libraries/AP_Notify/AP_Notify_config.h
@@ -129,5 +129,5 @@
 #endif
 
 #ifndef AP_NOTIFY_TONEALARM_ENABLED
-#define AP_NOTIFY_TONEALARM_ENABLED ((defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM_ENABLED))
+#define AP_NOTIFY_TONEALARM_ENABLED 0
 #endif
diff --git a/libraries/AP_Notify/ToshibaLED_I2C.cpp b/libraries/AP_Notify/ToshibaLED_I2C.cpp
index cfacbbd1e9b2b..cbc502e833c78 100644
--- a/libraries/AP_Notify/ToshibaLED_I2C.cpp
+++ b/libraries/AP_Notify/ToshibaLED_I2C.cpp
@@ -49,7 +49,7 @@ ToshibaLED_I2C::ToshibaLED_I2C(uint8_t bus)
 bool ToshibaLED_I2C::init(void)
 {
     // first look for led on external bus
-    _dev = std::move(hal.i2c_mgr->get_device(_bus, TOSHIBA_LED_I2C_ADDR));
+    _dev = hal.i2c_mgr->get_device_ptr(_bus, TOSHIBA_LED_I2C_ADDR);
     if (!_dev) {
         return false;
     }
diff --git a/libraries/AP_Notify/ToshibaLED_I2C.h b/libraries/AP_Notify/ToshibaLED_I2C.h
index c82e77986f511..eecf6afe2816f 100644
--- a/libraries/AP_Notify/ToshibaLED_I2C.h
+++ b/libraries/AP_Notify/ToshibaLED_I2C.h
@@ -27,12 +27,13 @@ class ToshibaLED_I2C : public RGBLed
 {
 public:
     ToshibaLED_I2C(uint8_t bus);
+    ~ToshibaLED_I2C() { delete _dev; }
     bool init(void) override;
 protected:
     bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
 
 private:
-    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
+    AP_HAL::I2CDevice *_dev;
     void _timer(void);
     bool _need_update;
     struct {
diff --git a/libraries/AP_Scripting/applets/RockBlock.lua b/libraries/AP_Scripting/applets/RockBlock.lua
index 2c5e175b1be1c..9112fc0345e84 100644
--- a/libraries/AP_Scripting/applets/RockBlock.lua
+++ b/libraries/AP_Scripting/applets/RockBlock.lua
@@ -10,7 +10,7 @@ Usage:
 Use the MAVLink High Latency Control ("link hl on|off" in MAVProxy) to control
 whether to send or not (or use "force_hl_enable")
 Use the RCK_DEBUG param to view debugging statustexts at the GCS
-Use the RCK_FORCEHL param to force-enable high latency mode, instead of enabling from GCS
+Use the RCK_FORCEHL param to control the mode of operation: 0=Disabled, 1=Enabled, 2=Enabled on 5000ms telemetry loss
 
 Caveats:
 This will *only* send HIGH_LATENCY2 packets via the SBD modem. No heartbeats,
@@ -24,8 +24,6 @@ The param SCR_VM_I_COUNT may need to be increased in some circumstances
 Written by Stephen Dade (stephen_dade@hotmail.com)
 ]]--
 
----@diagnostic disable: cast-local-type
-
 local PARAM_TABLE_KEY = 10
 local PARAM_TABLE_PREFIX = "RCK_"
 
@@ -39,6 +37,9 @@ end
 port:begin(19200)
 port:set_flow_control(0)
 
+-- number of millsec that GCS telemetry has been lost for
+local link_lost_for = 0
+
 -- bind a parameter to a variable
 function bind_param(name)
     local p = Parameter()
@@ -58,7 +59,7 @@ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 4), 'could not add p
   // @Param: RCK_FORCEHL
   // @DisplayName: Force enable High Latency mode
   // @Description: Automatically enables High Latency mode if not already enabled
-  // @Values: 0:Disabled,1:Enabled
+  // @Values: 0:Disabled,1:Enabled,2:Enabled on 5000ms telemetry loss
   // @User: Standard
 --]]
 RCK_FORCEHL     = bind_add_param('FORCEHL', 1, 0)
@@ -91,6 +92,13 @@ RCK_DEBUG     = bind_add_param('DEBUG', 3, 0)
 --]]
 RCK_ENABLE     = bind_add_param('ENABLE', 4, 1)
 
+--[[
+Returns true if the value is NaN, false otherwise
+--]]
+local function isNaN (x)
+    return (x ~= x)
+  end
+
 --[[
 Lua Object for decoding and encoding MAVLink (V1 only) messages
 --]]
@@ -102,7 +110,8 @@ local function MAVLinkProcessor()
         COMMAND_INT = 75,
         HIGH_LATENCY2 = 235,
         MISSION_ITEM_INT = 73,
-        SET_MODE = 11
+        SET_MODE = 11,
+        MISSION_SET_CURRENT = 41
     }
 
     -- private fields
@@ -121,6 +130,7 @@ local function MAVLinkProcessor()
     _crc_extra[235] = 0xb3
     _crc_extra[73] = 0x26
     _crc_extra[11] = 0x59
+    _crc_extra[41] = 0x1c
     
     local _messages = {}
     _messages[75] = { -- COMMAND_INT
@@ -156,6 +166,9 @@ local function MAVLinkProcessor()
     _messages[11] = { -- SET_MODE
         { "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
     }
+    _messages[41] = { -- MISSION_SET_CURRENT
+        { "seq", "<I2" }, { "target_system", "<B" }, { "target_component", "<B" },
+    }
     function self.getSeqID() return _txseqid end
 
     function self.generateCRC(buffer)
@@ -190,8 +203,12 @@ local function MAVLinkProcessor()
             _payload_len, read_marker = string.unpack("<B", _mavbuffer,
                                                       read_marker) -- payload is always the second byte
             -- fetch seq/sysid/compid
-            _mavresult.seq, _mavresult.sysid, _mavresult.compid, read_marker =
-                string.unpack("<BBB", _mavbuffer, read_marker)
+            _mavresult.seq, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
+            _mavresult.sysid, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
+            _mavresult.compid, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
             -- fetch the message id
             _mavresult.msgid, _ = string.unpack("<B", _mavbuffer, read_marker)
 
@@ -269,53 +286,59 @@ local function MAVLinkProcessor()
                 end
             elseif _mavresult.msgid == self.SET_MODE then
                 vehicle:set_mode(_mavresult.custom_mode)
-            elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
-                self.COMMAND_INT then
-                if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM
-                    if _mavresult.param1 == 1 then
-                        arming:arm()
-                    elseif _mavresult.param1 == 0 then
-                        arming:disarm()
-                    end
-                elseif _mavresult.command == 176 then -- MAV_CMD_DO_SET_MODE
-                    vehicle:set_mode(_mavresult.param2)
-                elseif _mavresult.command == 20 then -- MAV_CMD_NAV_RETURN_TO_LAUNCH (Mode RTL) may vary depending on frame
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(6)
-                    elseif FWVersion:type() == 3 then -- plane
-                        vehicle:set_mode(11)
-                    elseif FWVersion:type() == 1 then -- rover
-                        vehicle:set_mode(11)
-                    end
-                elseif _mavresult.command == 21 then -- MAV_CMD_NAV_LAND (Mode LAND) may vary depending on frame
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(9)
-                    elseif FWVersion:type() == 12 then -- blimp
-                        vehicle:set_mode(0)
-                    end
-                elseif _mavresult.command == 22 then -- MAV_CMD_NAV_TAKEOFF
-                    vehicle:start_takeoff(_mavresult.param7)
-                elseif _mavresult.command == 84 then -- MAV_CMD_NAV_VTOL_TAKEOFF
-                    vehicle:start_takeoff(_mavresult.param7)
-                elseif _mavresult.command == 85 then -- MAV_CMD_NAV_VTOL_LAND (Mode QLAND)
-                    vehicle:set_mode(20)
-                elseif _mavresult.command == 300 then -- MAV_CMD_MISSION_START --mode auto and then start mission
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(3)
-                    elseif FWVersion:type() == 3 then -- plane
-                        vehicle:set_mode(10)
-                    elseif FWVersion:type() == 1 then -- rover
-                        vehicle:set_mode(10)
-                    elseif FWVersion:type() == 7 then -- sub
-                        vehicle:set_mode(3)
-                    end
-                elseif _mavresult.command == 2600 then -- MAV_CMD_CONTROL_HIGH_LATENCY
-                    if _mavresult.param1 == 1 then
-                        gcs:enable_high_latency_connections(true)
-                    else
-                        gcs:enable_high_latency_connections(false)
-                    end
+            elseif _mavresult.msgid == self.COMMAND_LONG then
+                --- need to do a little conversion here. Taken from convert_COMMAND_LONG_to_COMMAND_INT()
+                local command_long_stores_location = 0
+                if (_mavresult.command == 179 or       -- MAV_CMD_DO_SET_HOME
+                    _mavresult.command ==  201 or      -- MAV_CMD_DO_SET_ROI
+                    _mavresult.command ==  195 or      -- MAV_CMD_DO_SET_ROI_LOCATION
+                    _mavresult.command ==  192 or      -- MAV_CMD_DO_REPOSITION
+                    _mavresult.command ==  43003) then -- MAV_CMD_EXTERNAL_POSITION_ESTIMATE
+                    command_long_stores_location = 1
+                end
+                local int_frame_conv = 0       -- MAV_FRAME_GLOBAL
+                if (_mavresult.command ==  195) then       -- MAV_CMD_DO_SET_ROI_LOCATION
+                    int_frame_conv = 3         -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                elseif (_mavresult.command ==  179) then   -- MAV_CMD_DO_SET_HOME
+                    int_frame_conv = 0        -- MAV_FRAME_GLOBAL
+                elseif (_mavresult.command ==  201) then   -- MAV_CMD_DO_SET_ROI
+                    int_frame_conv = 3        -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                elseif (_mavresult.command ==  42006) then   -- MAV_CMD_FIXED_MAG_CAL_YAW
+                    int_frame_conv = 3        -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                end
+                local int_x = _mavresult.param5
+                local int_y = _mavresult.param6
+                if isNaN(int_x) then
+                    int_x = 0
+                end
+                if isNaN(int_y) then
+                    int_y = 0
+                end
+                if command_long_stores_location == 1 then
+                    int_x = 1E7 * int_x
+                    int_y = 1E7 * int_y
                 end
+                gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
+                                                          p2 = _mavresult.param2,
+                                                          p3 = _mavresult.param3,
+                                                          p4 = _mavresult.param4,
+                                                          x = int_x,
+                                                          y = int_y,
+                                                          z = _mavresult.param7,
+                                                          int_frame = int_frame_conv,
+                                                          current = 0,
+                                                          autocontinue = 0 })
+            elseif _mavresult.msgid == self.COMMAND_INT then
+                gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
+                                                          p2 = _mavresult.param2,
+                                                          p3 = _mavresult.param3,
+                                                          p4 = _mavresult.param4,
+                                                          x = _mavresult.x,
+                                                          y = _mavresult.y,
+                                                          z = _mavresult.z,
+                                                          frame = _mavresult.frame })
+            elseif _mavresult.msgid == self.MISSION_SET_CURRENT then
+                mission:set_current_cmd(_mavresult.seq)
             end
             _mavbuffer = ""
             return true
@@ -719,6 +742,22 @@ function HLSatcom()
         gcs:send_text(3, "Rockblock: Trying to detect modem")
         rockblock.checkmodem()
     end
+
+    --- check if GCS telemetry has been lost for 5000 millisec (if param enabled)
+    if RCK_FORCEHL:get() == 2 then
+        if last_seen == gcs:last_seen() then
+            link_lost_for = link_lost_for + 100
+        else
+            -- There has been a new heartbeat, update last_seen and reset link_lost_for
+            last_seen = gcs:last_seen()
+            link_lost_for = 0
+        end
+        if link_lost_for > 5000 and not gcs:get_high_latency_status() then
+            gcs:enable_high_latency_connections(true)
+        elseif link_lost_for < 5000 and gcs:get_high_latency_status() then
+            gcs:enable_high_latency_connections(false)
+        end
+    end
     
     -- send HL2 packet every 30 sec, if not aleady in a mailbox check
     if rockblock.modem_detected and gcs:get_high_latency_status() and
diff --git a/libraries/AP_Scripting/applets/RockBlock.md b/libraries/AP_Scripting/applets/RockBlock.md
index edd89643da929..ab6f0f0f39553 100644
--- a/libraries/AP_Scripting/applets/RockBlock.md
+++ b/libraries/AP_Scripting/applets/RockBlock.md
@@ -26,7 +26,10 @@ The script adds the following parameters:
 
 ## RCK_FORCEHL
 
-Automatically enables High Latency mode if not already enabled
+Mode of operation:
+- 0 = start disabled, can be enabled via MAV_CMD_CONTROL_HIGH_LATENCY
+- 1 = start enabled, can be disabled via MAV_CMD_CONTROL_HIGH_LATENCY
+- 2 = enabled on loss of telemetry (GCS) link for 5 seconds
 
 ## RCK_PERIOD
 
diff --git a/libraries/AP_Scripting/examples/MAVLinkHL.lua b/libraries/AP_Scripting/examples/MAVLinkHL.lua
index 21cc968a63ec6..7ec39a0e6ea69 100644
--- a/libraries/AP_Scripting/examples/MAVLinkHL.lua
+++ b/libraries/AP_Scripting/examples/MAVLinkHL.lua
@@ -5,9 +5,13 @@ This script requires 1 serial port:
 A "Script" serial port to connect directly to the GCS
 
 Usage:
+Use the "hl_mode" variable to control the behaviour of the script:
+0 = start enabled, can be disabled via MAV_CMD_CONTROL_HIGH_LATENCY
+1 = enabled on loss of telemetry link for 5 seconds (default)
+2 = start disabled, can be enabled via MAV_CMD_CONTROL_HIGH_LATENCY
+
 Use the MAVLink High Latency Control ("link hl on|off" in MAVProxy) to control
 whether to send or not
-The script will, however, automatically enable MAVLink High Latency Control upon start
 
 Caveats:
 -This will send HIGH_LATENCY2 packets in place of HEARTBEAT packets
@@ -19,7 +23,6 @@ Written by Stephen Dade (stephen_dade@hotmail.com)
 --]]
 
 ---@diagnostic disable: need-check-nil
----@diagnostic disable: cast-local-type
 
 
 local port = serial:find_serial(0)
@@ -34,8 +37,20 @@ port:set_flow_control(0)
 
 local time_last_tx = millis():tofloat() * 0.001
 
+local hl_mode = 0
+local link_lost_for = 0
+
 -- enable high latency mode from here, instead of having to enable from GCS
-gcs:enable_high_latency_connections(true)
+if hl_mode == 0 then
+    gcs:enable_high_latency_connections(true)
+end
+
+--[[
+Returns true if the value is NaN, false otherwise
+--]]
+local function isNaN (x)
+    return (x ~= x)
+  end
 
 --[[
 Lua Object for decoding and encoding MAVLink (V1 only) messages
@@ -48,7 +63,8 @@ local function MAVLinkProcessor()
         COMMAND_INT = 75,
         HIGH_LATENCY2 = 235,
         MISSION_ITEM_INT = 73,
-        SET_MODE = 11
+        SET_MODE = 11,
+        MISSION_SET_CURRENT = 41
     }
 
     -- private fields
@@ -67,6 +83,7 @@ local function MAVLinkProcessor()
     _crc_extra[235] = 0xb3
     _crc_extra[73] = 0x26
     _crc_extra[11] = 0x59
+    _crc_extra[41] = 0x1c
 
     local _messages = {}
     _messages[75] = { -- COMMAND_INT
@@ -102,6 +119,9 @@ local function MAVLinkProcessor()
     _messages[11] = { -- SET_MODE
         { "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
     }
+    _messages[41] = { -- MISSION_SET_CURRENT
+        { "seq", "<I2" }, { "target_system", "<B" }, { "target_component", "<B" },
+    }
     function self.getSeqID() return _txseqid end
 
     function self.generateCRC(buffer)
@@ -136,8 +156,12 @@ local function MAVLinkProcessor()
             _payload_len, read_marker = string.unpack("<B", _mavbuffer,
                                                       read_marker) -- payload is always the second byte
             -- fetch seq/sysid/compid
-            _mavresult.seq, _mavresult.sysid, _mavresult.compid, read_marker =
-                string.unpack("<BBB", _mavbuffer, read_marker)
+            _mavresult.seq, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
+            _mavresult.sysid, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
+            _mavresult.compid, read_marker =
+                string.unpack("<B", _mavbuffer, read_marker)
             -- fetch the message id
             _mavresult.msgid, _ =
                 string.unpack("<B", _mavbuffer, read_marker)
@@ -216,53 +240,59 @@ local function MAVLinkProcessor()
                 end
             elseif _mavresult.msgid == self.SET_MODE then
                 vehicle:set_mode(_mavresult.custom_mode)
-            elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
-                self.COMMAND_INT then
-                if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM
-                    if _mavresult.param1 == 1 then
-                        arming:arm()
-                    elseif _mavresult.param1 == 0 then
-                        arming:disarm()
-                    end
-                elseif _mavresult.command == 176 then -- MAV_CMD_DO_SET_MODE
-                    vehicle:set_mode(_mavresult.param2)
-                elseif _mavresult.command == 20 then -- MAV_CMD_NAV_RETURN_TO_LAUNCH (Mode RTL) may vary depending on frame
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(6)
-                    elseif FWVersion:type() == 3 then -- plane
-                        vehicle:set_mode(11)
-                    elseif FWVersion:type() == 1 then -- rover
-                        vehicle:set_mode(11)
-                    end
-                elseif _mavresult.command == 21 then -- MAV_CMD_NAV_LAND (Mode LAND) may vary depending on frame
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(9)
-                    elseif FWVersion:type() == 12 then -- blimp
-                        vehicle:set_mode(0)
-                    end
-                elseif _mavresult.command == 22 then -- MAV_CMD_NAV_TAKEOFF
-                    vehicle:start_takeoff(_mavresult.param7)
-                elseif _mavresult.command == 84 then -- MAV_CMD_NAV_VTOL_TAKEOFF
-                    vehicle:start_takeoff(_mavresult.param7)
-                elseif _mavresult.command == 85 then -- MAV_CMD_NAV_VTOL_LAND (Mode QLAND)
-                    vehicle:set_mode(20)
-                elseif _mavresult.command == 300 then -- MAV_CMD_MISSION_START --mode auto and then start mission
-                    if FWVersion:type() == 2 then -- copter
-                        vehicle:set_mode(3)
-                    elseif FWVersion:type() == 3 then -- plane
-                        vehicle:set_mode(10)
-                    elseif FWVersion:type() == 1 then -- rover
-                        vehicle:set_mode(10)
-                    elseif FWVersion:type() == 7 then -- sub
-                        vehicle:set_mode(3)
-                    end
-                elseif _mavresult.command == 2600 then -- MAV_CMD_CONTROL_HIGH_LATENCY
-                    if _mavresult.param1 == 1 then
-                        gcs:enable_high_latency_connections(true)
-                    else
-                        gcs:enable_high_latency_connections(false)
-                    end
+            elseif _mavresult.msgid == self.COMMAND_LONG then
+                --- need to do a little conversion here. Taken from convert_COMMAND_LONG_to_COMMAND_INT()
+                local command_long_stores_location = 0
+                if (_mavresult.command == 179 or       -- MAV_CMD_DO_SET_HOME
+                    _mavresult.command ==  201 or      -- MAV_CMD_DO_SET_ROI
+                    _mavresult.command ==  195 or      -- MAV_CMD_DO_SET_ROI_LOCATION
+                    _mavresult.command ==  192 or      -- MAV_CMD_DO_REPOSITION
+                    _mavresult.command ==  43003) then -- MAV_CMD_EXTERNAL_POSITION_ESTIMATE
+                    command_long_stores_location = 1
+                end
+                local int_frame_conv = 0       -- MAV_FRAME_GLOBAL
+                if (_mavresult.command ==  195) then       -- MAV_CMD_DO_SET_ROI_LOCATION
+                    int_frame_conv = 3         -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                elseif (_mavresult.command ==  179) then   -- MAV_CMD_DO_SET_HOME
+                    int_frame_conv = 0        -- MAV_FRAME_GLOBAL
+                elseif (_mavresult.command ==  201) then   -- MAV_CMD_DO_SET_ROI
+                    int_frame_conv = 3        -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                elseif (_mavresult.command ==  42006) then   -- MAV_CMD_FIXED_MAG_CAL_YAW
+                    int_frame_conv = 3        -- MAV_FRAME_GLOBAL_RELATIVE_ALT
+                end
+                local int_x = _mavresult.param5
+                local int_y = _mavresult.param6
+                if isNaN(int_x) then
+                    int_x = 0
+                end
+                if isNaN(int_y) then
+                    int_y = 0
                 end
+                if command_long_stores_location == 1 then
+                    int_x = 1E7 * int_x
+                    int_y = 1E7 * int_y
+                end
+                gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
+                                                          p2 = _mavresult.param2,
+                                                          p3 = _mavresult.param3,
+                                                          p4 = _mavresult.param4,
+                                                          x = int_x,
+                                                          y = int_y,
+                                                          z = _mavresult.param7,
+                                                          int_frame = int_frame_conv,
+                                                          current = 0,
+                                                          autocontinue = 0 })
+            elseif _mavresult.msgid == self.COMMAND_INT then
+                gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
+                                                          p2 = _mavresult.param2,
+                                                          p3 = _mavresult.param3,
+                                                          p4 = _mavresult.param4,
+                                                          x = _mavresult.x,
+                                                          y = _mavresult.y,
+                                                          z = _mavresult.z,
+                                                          frame = _mavresult.frame })
+            elseif _mavresult.msgid == self.MISSION_SET_CURRENT then
+                mission:set_current_cmd(_mavresult.seq)
             end
             _mavbuffer = ""
             return true
@@ -379,6 +409,22 @@ function HLSatcom()
         if mavlink.parseMAVLink(byte) then break end
     end
 
+    -- if mode 1 and there's been no mavlink traffic for 5000 ms, enable high latency
+    if hl_mode == 1 then
+        if last_seen == gcs:last_seen() then
+            link_lost_for = link_lost_for + 100
+        else
+            -- There has been a new heartbeat, update last_seen and reset link_lost_for
+            last_seen = gcs:last_seen()
+            link_lost_for = 0
+        end
+        if link_lost_for > 5000 and not gcs:get_high_latency_status() then
+            gcs:enable_high_latency_connections(true)
+        elseif link_lost_for < 5000 and gcs:get_high_latency_status() then
+            gcs:enable_high_latency_connections(false)
+        end
+    end
+
     -- send HL2 packet every 5 sec
     if gcs:get_high_latency_status() and (millis():tofloat() * 0.001) -
         time_last_tx > 5 then
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 9b9a931e733f5..856097a9be470 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -429,7 +429,7 @@ singleton serial manual find_serial lua_serial_find_serial 1 1
 singleton serial manual find_simulated_device lua_serial_find_simulated_device 2 1 depends AP_SCRIPTING_SERIALDEVICE_ENABLED
 
 include AP_Baro/AP_Baro.h
-singleton AP_Baro depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO))
+singleton AP_Baro depends AP_BARO_ENABLED
 singleton AP_Baro rename baro
 singleton AP_Baro method get_pressure float
 singleton AP_Baro method get_temperature float
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index b4f002d52e6fa..7436fd1da87fc 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -624,6 +624,8 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #endif
     SCHED_TASK(send_watchdog_reset_statustext,         0.1,     20, 225),
 #if HAL_WITH_ESC_TELEM
+    // This update function is responsible for checking timeouts and invalidating the ESC telemetry data.
+    // Be mindful of this if you are planning to reduce the frequency from 100Hz.
     SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem,      update,                  100,  50, 230),
 #endif
 #if AP_SERVO_TELEM_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 28df0943fd8eb..41edb3152ae36 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3469,6 +3469,11 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
             send_text(MAV_SEVERITY_WARNING,"deadlock passed");
             return MAV_RESULT_ACCEPTED;
         }
+        if (is_equal(packet.param4, 101.0f)) {
+            // the capital-U and ~ here are actually important for
+            // testing a MissionPlanner bug!
+            AP_BoardConfig::config_error("YOU~RE WELCOME!");
+        }
 #endif  // AP_MAVLINK_FAILURE_CREATION_ENABLED
 
 #if HAL_ENABLE_DFU_BOOT
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.cpp b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
index c7af789559e34..9e92377e0bb9c 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
@@ -155,9 +155,19 @@ void MissionItemProtocol::handle_mission_request_int(GCS_MAVLINK &_link,
     }
 
     mavlink_mission_item_int_t ret_packet;
-    const MAV_MISSION_RESULT result_code = get_item(_link, msg, packet, ret_packet);
-
+    const MAV_MISSION_RESULT result_code = get_item(packet.seq, ret_packet);
     if (result_code != MAV_MISSION_ACCEPTED) {
+        if (result_code == MAV_MISSION_INVALID_SEQUENCE) {
+            // try to educate the GCS on the actual size of the mission:
+            const mavlink_channel_t chan = _link.get_chan();
+            if (HAVE_PAYLOAD_SPACE(chan, MISSION_COUNT)) {
+                mavlink_msg_mission_count_send(chan,
+                                               msg.sysid,
+                                               msg.compid,
+                                               item_count(),
+                                               mission_type());
+            }
+        }
         // send failure message
         send_mission_ack(_link, msg, result_code);
         return;
@@ -179,15 +189,8 @@ void MissionItemProtocol::handle_mission_request(GCS_MAVLINK &_link,
         return;
     }
 
-    // convert into a MISSION_REQUEST_INT and reuse its handling code
-    mavlink_mission_request_int_t request_int;
-    request_int.target_system = packet.target_system;
-    request_int.target_component = packet.target_component;
-    request_int.seq = packet.seq;
-    request_int.mission_type = packet.mission_type;
-
     mavlink_mission_item_int_t item_int;
-    MAV_MISSION_RESULT ret = get_item(_link, msg, request_int, item_int);
+    MAV_MISSION_RESULT ret = get_item(packet.seq, item_int);
     if (ret != MAV_MISSION_ACCEPTED) {
         send_mission_ack(_link, msg, ret);
         return;
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.h b/libraries/GCS_MAVLink/MissionItemProtocol.h
index 37f37fd559716..ff8a6ae73adbf 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol.h
@@ -102,9 +102,7 @@ class MissionItemProtocol
     bool mission_item_warning_sent = false;
 
     // support for GCS getting waypoints etc from us:
-    virtual MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
-                                        const mavlink_message_t &msg,
-                                        const mavlink_mission_request_int_t &packet,
+    virtual MAV_MISSION_RESULT get_item(uint16_t seq,
                                         mavlink_mission_item_int_t &ret_packet) = 0;
 
     void init_send_requests(GCS_MAVLINK &_link,
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
index c50001cc12dd7..df945641c4d21 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
@@ -74,17 +74,13 @@ bool MissionItemProtocol_Fence::get_item_as_mission_item(uint16_t seq,
     return true;
 }
 
-MAV_MISSION_RESULT MissionItemProtocol_Fence::get_item(const GCS_MAVLINK &_link,
-                                                       const mavlink_message_t &msg,
-                                                       const mavlink_mission_request_int_t &packet,
-                                                       mavlink_mission_item_int_t &ret_packet)
+MAV_MISSION_RESULT MissionItemProtocol_Fence::get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet)
 {
-    const auto num_stored_items = _fence.polyfence().num_stored_items();
-    if (packet.seq > num_stored_items) {
+    if (seq >= _fence.polyfence().num_stored_items()) {
         return MAV_MISSION_INVALID_SEQUENCE;
     }
 
-    if (!get_item_as_mission_item(packet.seq, ret_packet)) {
+    if (!get_item_as_mission_item(seq, ret_packet)) {
         return MAV_MISSION_ERROR;
     }
 
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
index 58a984f60a821..e724891a6622e 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
@@ -42,10 +42,7 @@ class MissionItemProtocol_Fence : public MissionItemProtocol {
     MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
     MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
 
-    MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
-                                const mavlink_message_t &msg,
-                                const mavlink_mission_request_int_t &packet,
-                                mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
+    MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
 
     void free_upload_resources() override;
     MAV_MISSION_RESULT allocate_receive_resources(const uint16_t count) override WARN_IF_UNUSED;
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
index 0af495d7ff81a..ad330039c33f9 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
@@ -150,12 +150,13 @@ bool MissionItemProtocol_Rally::get_item_as_mission_item(uint16_t seq,
     return true;
 }
 
-MAV_MISSION_RESULT MissionItemProtocol_Rally::get_item(const GCS_MAVLINK &_link,
-                                                       const mavlink_message_t &msg,
-                                                       const mavlink_mission_request_int_t &packet,
-                                                       mavlink_mission_item_int_t &ret_packet)
+MAV_MISSION_RESULT MissionItemProtocol_Rally::get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet)
 {
-    if (!get_item_as_mission_item(packet.seq, ret_packet)) {
+    if (seq >= item_count()) {
+        return MAV_MISSION_INVALID_SEQUENCE;
+    }
+
+    if (!get_item_as_mission_item(seq, ret_packet)) {
         return MAV_MISSION_INVALID_SEQUENCE;
     }
     return MAV_MISSION_ACCEPTED;
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
index add6efa6ca53e..b2aaf1ff03af2 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
@@ -39,10 +39,7 @@ class MissionItemProtocol_Rally : public MissionItemProtocol {
     MAV_MISSION_RESULT replace_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
     MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t&) override WARN_IF_UNUSED;
 
-    MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
-                                const mavlink_message_t &msg,
-                                const mavlink_mission_request_int_t &packet,
-                                mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
+    MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
 
 };
 
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
index 7ce5787d46459..a1987c457cd12 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
@@ -64,29 +64,17 @@ MAV_MISSION_RESULT MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_l
     return MAV_MISSION_ACCEPTED;
 }
 
-MAV_MISSION_RESULT MissionItemProtocol_Waypoints::get_item(const GCS_MAVLINK &_link,
-                                                           const mavlink_message_t &msg,
-                                                           const mavlink_mission_request_int_t &packet,
-                                                           mavlink_mission_item_int_t &ret_packet)
+MAV_MISSION_RESULT MissionItemProtocol_Waypoints::get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet)
 {
-    if (packet.seq != 0 && // always allow HOME to be read
-        packet.seq >= mission.num_commands()) {
-        // try to educate the GCS on the actual size of the mission:
-        const mavlink_channel_t chan = _link.get_chan();
-        if (HAVE_PAYLOAD_SPACE(chan, MISSION_COUNT)) {
-            mavlink_msg_mission_count_send(chan,
-                                           msg.sysid,
-                                           msg.compid,
-                                           mission.num_commands(),
-                                           MAV_MISSION_TYPE_MISSION);
-        }
-        return MAV_MISSION_ERROR;
+    if (seq != 0 && // always allow HOME to be read
+        seq >= mission.num_commands()) {
+        return MAV_MISSION_INVALID_SEQUENCE;
     }
 
     AP_Mission::Mission_Command cmd;
 
     // retrieve mission from eeprom
-    if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
+    if (!mission.read_cmd_from_storage(seq, cmd)) {
         return MAV_MISSION_ERROR;
     }
 
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
index 5a7ee4e86ea36..b5592b776447d 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.h
@@ -45,14 +45,8 @@ class MissionItemProtocol_Waypoints : public MissionItemProtocol {
     // item to the end of the list of stored items.
     MAV_MISSION_RESULT append_item(const mavlink_mission_item_int_t &) override WARN_IF_UNUSED;
 
-    // get_item() fills in ret_packet based on packet; _link is the
-    // link the request was received on, and msg is the undecoded
-    // request.  Note that msg may not actually decode to a
-    // request_int_t!
-    MAV_MISSION_RESULT get_item(const GCS_MAVLINK &_link,
-                                const mavlink_message_t &msg,
-                                const mavlink_mission_request_int_t &packet,
-                                mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
+    // support for GCS getting waypoints etc from us:
+    MAV_MISSION_RESULT get_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
 
     // item_count() returns the number of stored items
     uint16_t item_count() const override;
diff --git a/libraries/SITL/SIM_Temperature_TSYS01.cpp b/libraries/SITL/SIM_Temperature_TSYS01.cpp
index 68f5f55e33260..949d7f266776d 100644
--- a/libraries/SITL/SIM_Temperature_TSYS01.cpp
+++ b/libraries/SITL/SIM_Temperature_TSYS01.cpp
@@ -6,7 +6,7 @@
 
 #include <stdio.h>
 
-constexpr const int32_t SITL::TSYS01::_k[5];
+constexpr const int32_t SITL::TSYS01::_k[6];
 
 int SITL::TSYS01::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
 {
@@ -34,7 +34,7 @@ int SITL::TSYS01::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
             if (data->msgs[1].len != 2) {
                 AP_HAL::panic("Unexpected prom read length");
             }
-            uint8_t offs = 5-((uint8_t(command) - uint8_t(Command::READ_PROM0))/2);
+            uint8_t offs = ARRAY_SIZE(_k)-((uint8_t(command) - uint8_t(Command::READ_PROM0))/2);
             const uint16_t k = _k[offs];
             data->msgs[1].buf[0] = k >> 8;
             data->msgs[1].buf[1] = k & 0xFF;
@@ -109,13 +109,16 @@ int SITL::TSYS01::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
 float SITL::TSYS01::temperature_for_adc(uint32_t _adc) const
 {
     const float adc16 = _adc/256.0;
-    // const uint32_t _k[] { 28446, 24926, 36016, 32791, 40781 };
+    // Note that the offsets used here start from 1 (PROM1), not like
+    // in the main codebase where they start from 0 (PROM1)!  The main
+    // code does not read PROM0 from the device (real or simulated),
+    // but the array in the simulator here reserves a space for it.
     return
-        -2   * _k[4] * powf(10, -21) * powf(adc16, 4) +
-        4    * _k[3] * powf(10, -16) * powf(adc16, 3) +
-        -2   * _k[2] * powf(10, -11) * powf(adc16, 2) +
-        1    * _k[1] * powf(10, -6)  * adc16 +
-        -1.5 * _k[0] * powf(10, -2);
+        -2   * _k[5] * powf(10, -21) * powf(adc16, 4) +
+        4    * _k[4] * powf(10, -16) * powf(adc16, 3) +
+        -2   * _k[3] * powf(10, -11) * powf(adc16, 2) +
+        1    * _k[2] * powf(10, -6)  * adc16 +
+        -1.5 * _k[1] * powf(10, -2);
 }
 
 uint32_t SITL::TSYS01::calculate_adc(float temperature) const
diff --git a/libraries/SITL/SIM_Temperature_TSYS01.h b/libraries/SITL/SIM_Temperature_TSYS01.h
index 8b7127d0a17db..273681592651e 100644
--- a/libraries/SITL/SIM_Temperature_TSYS01.h
+++ b/libraries/SITL/SIM_Temperature_TSYS01.h
@@ -63,7 +63,8 @@ class TSYS01 : public I2CDevice
         READ_ADC    = 0x00,
     };
 
-    static constexpr int32_t _k[] { 40781, 32791, 36016, 24926, 28446 };
+    // _k[0] is unused
+    static constexpr int32_t _k[] { 0, 40781, 32791, 36016, 24926, 28446 };
 };
 
 } // namespace SITL
diff --git a/libraries/SITL/SIM_XPlane.cpp b/libraries/SITL/SIM_XPlane.cpp
index e9c147c633043..637449b2809d4 100644
--- a/libraries/SITL/SIM_XPlane.cpp
+++ b/libraries/SITL/SIM_XPlane.cpp
@@ -206,6 +206,7 @@ bool XPlane::load_dref_map(const char *map_json)
     }
     AP_JSON::value *obj = AP_JSON::load_json(fname);
     if (obj == nullptr) {
+        free((void*)fname);
         return false;
     }
 
@@ -236,7 +237,8 @@ bool XPlane::load_dref_map(const char *map_json)
         const char *label = i->first.c_str();
         const auto &d = i->second;
         if (strchr(label, '/') != nullptr) {
-            const char *type_s = d.get("type").to_str().c_str();
+            const auto str = d.get("type").to_str();
+            const char *type_s = str.c_str();
             if (strcmp(type_s, "angle") == 0) {
                 add_dref(label, DRefType::ANGLE, d);
             } else if (strcmp(type_s, "range") == 0) {
diff --git a/libraries/SITL/examples/JSON/readme.md b/libraries/SITL/examples/JSON/readme.md
index 47b4a85674c53..306fb0abf5597 100644
--- a/libraries/SITL/examples/JSON/readme.md
+++ b/libraries/SITL/examples/JSON/readme.md
@@ -58,6 +58,7 @@ This is a example input frame, it should be preceded by and terminated with a ca
 {"timestamp":2500,"imu":{"gyro":[0,0,0],"accel_body":[0,0,0]},"position":[0,0,0],"attitude":[0,0,0],"velocity":[0,0,0]}
 ```
 The order of fields is not important.
+Note that the timestamp is the absolute physics time, not the timestep.
 
 It is possible to send optional fields to provide data for additional sensors, in most cases this will require setting the relevant sensor type param to the SITL driver.